Source Code
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These source-code files are part of a reconstructed copy of Luminary 178, the
final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Zerlina 56, Luminary 210, and
Luminary 131, previously transcribed from digitized copies of those programs.
The code was created by combining the three, using Zerlina 56 as a base, since
it was based off of Luminary 183. The differences between the three were
carefully merged using the Luminary memos as a guide, with all changes made
after Luminary 178 being backed out. 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 178 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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040040,000002: ## Copyright: Public domain.
040041,000003: ## Filename: P51-P53.agc
040042,000004: ## Purpose: A section of Luminary revision 178.
040043,000005: ## It is part of the reconstructed source code for the final
040044,000006: ## release of the flight software for the Lunar Module's
040045,000007: ## (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
040046,000008: ## code has been recreated from copies of Zerlina 56, Luminary
040047,000009: ## 210, and Luminary 131, as well as many Luminary memos.
040048,000010: ## It has been adapted such that the resulting bugger words
040049,000011: ## exactly match those specified for Luminary 178 in NASA
040050,000012: ## drawing 2021152N, which gives relatively high confidence
040051,000013: ## that the reconstruction is correct.
040052,000014: ## Reference: pp. 918-974
040053,000015: ## Assembler: yaYUL
040054,000016: ## Contact: Ron Burkey <info@sandroid.org>.
040055,000017: ## Website: www.ibiblio.org/apollo/index.html
040056,000018: ## Mod history: 2019-08-14 MAS Created from Zerlina 56.
040057,000019: ## 2019-09-15 MAS Updated for Luminary 178. Restored definitions
040058,000020: ## of SPIRAL, CURSOR, and POSCODE.
040059,000021:
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Page 918
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040061,000023: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
040062,000024: # MOD NO- 0 LOG SECTION- P51-P53
040063,000025: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
040064,000026:
040065,000027: # FUNCTIONAL DESCRIPTION-
040066,000028:
040067,000029: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040068,000030: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040069,000031:
040070,000032: # (A) PREFERRED ORIENTATION
040071,000033:
040072,000034: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040073,000035: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040074,000036:
040075,000037: # (B) NOMINAL ORIENTATION
040076,000038:
040077,000039: # X = UNIT ( R )
040078,000040: # -SM
040079,000041:
040080,000042: # Y = UNIT (V X R)
040081,000043: # SM
040082,000044:
040083,000045: # Z = UNIT (X X Y )
040084,000046: # SM SM SM
040085,000047:
040086,000048: # WHERE_
040087,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040088,000050: # -
040089,000051:
040090,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040091,000053: # -
040092,000054:
040093,000055: # (C) REFSMMAT ORIENTATION
040094,000056:
040095,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040096,000058:
040097,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040098,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040099,000061: # SINCE THE LAST ALIGNMENT).
040100,000062:
040101,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040102,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040103,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040104,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040105,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040106,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040107,000069: # REQUESTED.
040108,000070:
040109,000071: # CALLING SEQUENCE-
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Page 919
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040111,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040112,000074:
040113,000075: # SUBROUTINES CALLED-
040114,000076:
040115,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040116,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040117,000079: # 3. GOPERF4 9. FLAGUP
040118,000080: # 4. MATMOVE 10. R56
040119,000081: # 5. GOFLASH 11. R51
040120,000082: # 6. S52.3 12. GOPERF3
040121,000083:
040122,000084: # NORMAL EXIT MODES-
040123,000085:
040124,000086: # EXITS TO ENDOFJOB
040125,000087:
040126,000088: # ALARM OR ABORT EXIT MODES-
040127,000089:
040128,000090: # NONE
040129,000091:
040130,000092: # OUTPUT-
040131,000093:
040132,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040133,000095: # 1. IMU ORIENTATION CODE
040134,000096: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
040135,000097: # 3. TIME OF NEXT IGNITION
040136,000098: # 4. GIMBAL ANGLES
040137,000099: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
040138,000100: # 6. PLEASE PERFORM P00
040139,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
040140,000102:
040141,000103: # ERASABLE INITIALIZATION REQUIRED-
040142,000104:
040143,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
040144,000106: # XSMD,YSMD,ZSMD.
040145,000107: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040146,000108:
040147,000109: # DEBRIS-
040148,000110:
040149,000111: # WORK AREA
040150,000112: 33,3560 BANK 33
040151,000113: 15,2000 SETLOC P50S
040152,000114: 15,2000 BANK
040153,000115:
040154,000116: 15,2067 E5,1755 EBANK= BESTI
040155,000117: 15,2067 COUNT* $$/P52
040156,000118: 15,2067 04616 PROG52 TC BANKCALL
040157,000119: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
040158,000120: 15,2071 34750 CAF PFRATBIT
040159,000121: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040160,000122: 15,2073 10000 CCS A
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Page 920
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040162,000124: 15,2074 02077 TC P52A # YES
040163,000125: 15,2075 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
040164,000126: 15,2076 02100 TC P52A +1
040165,000127: 15,2077 34753 P52A CAF BIT1
040166,000128: 15,2100 55144 TS OPTION2
040167,000129: 15,2101 34753 P52B CAF BIT1
040168,000130: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040169,000131: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
040170,000132: 15,2104 06001 TC GOTOPOOH
040171,000133: 15,2105 12112 TCF +5 # V33-PROCEED
040172,000134: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040173,000135: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
040174,000136: 15,2110 00014 OCT 00014
040175,000137: 15,2111 05155 TC ENDOFJOB
040176,000138:
040177,000139: 15,2112 31144 CA OPTION2
040178,000140: 15,2113 76250 MASK THREE
040179,000141: 15,2114 50000 INDEX A
040180,000142: 15,2115 02116 TC +1
040181,000143: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
040182,000144: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
040183,000145: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
040184,000146: 15,2121 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
040185,000147: 15,2122 77650 GOTO
040186,000148: 15,2123 32207 P52F # GO DO R51
040187,000149:
040188,000150: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
040189,000151: 15,2125 54003 TS EBANK
040190,000152: 15,2126 E4,1426 EBANK= TLAND
040191,000153: 15,2126 00006 EXTEND
040192,000154: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040193,000155: 15,2130 12133 TCF P52T +2
040194,000156:
040195,000157: 15,2131 00006 P52T EXTEND
040196,000158: 15,2132 34755 DCA NEG0
040197,000159: 15,2133 53045 DXCH DSPTEM1
040198,000160: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
040199,000161: 15,2135 54003 TS EBANK
040200,000162: 15,2136 E5,1774 EBANK= TALIGN
040201,000163: 15,2136 32213 CAF V06N34*
040202,000164: 15,2137 04616 TC BANKCALL
040203,000165: 15,2140 20477 CADR GOFLASH
040204,000166: 15,2141 06001 TC GOTOPOOH
040205,000167: 15,2142 02144 TC +2
040206,000168: 15,2143 02136 TC -5
040207,000169: 15,2144 53045 DXCH DSPTEM1
040208,000170: 15,2145 00006 EXTEND
040209,000171: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040210,000172: 15,2147 12152 TCF +3
040211,000173: 15,2150 00006 EXTEND
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Page 921
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040213,000175: 15,2151 30025 DCA TIME2
040214,000176: 15,2152 53775 DXCH TALIGN
040215,000177: 15,2153 31144 P52V CA OPTION2
040216,000178: 15,2154 74752 MASK BIT2
040217,000179: 15,2155 10000 CCS A
040218,000180: 15,2156 02162 TC P52W
040219,000181: 15,2157 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040220,000182: 15,2160 77650 GOTO
040221,000183: 15,2161 32243 P52LS
040222,000184:
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Page 922
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040224,000186: # START ALIGNMENT
040225,000187:
040226,000188: 15,2162 06042 P52W TC INTPRET
040227,000189: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
040228,000190: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
040229,000191: 15,2165 31651 S52.3 # ORIENTATION
040230,000192: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040231,000193: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
040232,000194: 15,2170 77776 EXIT
040233,000195: 15,2171 35010 CAF V06N22
040234,000196: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040235,000197: 15,2173 20477 CADR GOFLASH
040236,000198: 15,2174 06001 TC GOTOPOOH
040237,000199: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
040238,000200: 15,2176 06042 P52H TC INTPRET
040239,000201: 15,2177 77650 GOTO
040240,000202: 15,2200 32166 P52D
040241,000203: 15,2201 06042 REGCOARS TC INTPRET
040242,000204: 15,2202 77624 CALL # DO COARSE ALIGN
040243,000205: 15,2203 31321 CAL53A # ROUTINE
040244,000206: 15,2204 43014 COARSRET SET CLEAR
040245,000207: 15,2205 01462 REFSMFLG
040246,000208: 15,2206 01273 PFRATFLG
040247,000209: 15,2207 77624 P52F CALL
040248,000210: 15,2210 31007 R51
040249,000211: 15,2211 77776 P52OUT EXIT
040250,000212: 15,2212 06001 TC GOTOPOOH
040251,000213: 15,2213 5006 VB05N09 = V05N09
040252,000214: 15,2213 01442 V06N34* VN 634
040253,000215:
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Page 923
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040255,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040256,000218: 15,2214 32242 COARSTYP CAF OCT13
040257,000219: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040258,000220: 15,2216 20624 CADR GOPERF1
040259,000221: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
040260,000222: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
040261,000223: 15,2221 06042 TC INTPRET # V32-GYRO TORQUE COARSE
040262,000224: 15,2222 64375 VLOAD MXV
040263,000225: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040264,000226: 15,2224 01732 REFSMMAT
040265,000227: 15,2225 77656 UNIT
040266,000228: 15,2226 26665 STOVL XDC
040267,000229: 15,2227 03615 YSMD
040268,000230: 15,2230 53521 MXV UNIT
040269,000231: 15,2231 01732 REFSMMAT
040270,000232: 15,2232 26673 STOVL YDC
040271,000233: 15,2233 03623 ZSMD
040272,000234: 15,2234 53521 MXV UNIT
040273,000235: 15,2235 01732 REFSMMAT
040274,000236: 15,2236 36701 STCALL ZDC
040275,000237: 15,2237 31156 GYCOARS
040276,000238: 15,2240 77650 GOTO
040277,000239: 15,2241 32211 P52OUT
040278,000240: 15,2242 00013 OCT13 OCT 13
040279,000241:
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Page 924
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040281,000243: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040282,000244: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040283,000245: 15,2244 01463 LUNAFLAG
040284,000246: 15,2245 00662 ERADFLAG # TO PICK UP RLS
040285,000247: 15,2246 77201 SETPD VLOAD
040286,000248: 15,2247 00001 0
040287,000249: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
040288,000250: 15,2251 41525 PDDL PUSH # RLS PD 0-5
040289,000251: 15,2252 02775 TALIGN
040290,000252: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040291,000253:
040292,000254: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
040293,000255: 15,2255 77742 VSR2
040294,000256: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
040295,000257: 15,2257 02775 TALIGN
040296,000258: 15,2260 77624 CALL
040297,000259: 15,2261 30440 N89DISP
040298,000260: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040299,000261: 15,2263 02032 ALPHAV
040300,000262: 15,2264 37607 STCALL XSMD
040301,000263: 15,2265 10765 LSORIENT
040302,000264: 15,2266 77650 GOTO
040303,000265: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
040304,000266:
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Page 925
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040306,000268: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040307,000269:
040308,000270: 14,2000 SETLOC P50S1
040309,000271: 14,2000 BANK
040310,000272: 14,2440 E5,1642 EBANK= XSM
040311,000273:
040312,000274: 14,2440 77620 N89DISP STQ
040313,000275: 14,2441 02746 QMAJ
040314,000276: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040315,000277: 14,2443 26347 LAT-LONG
040316,000278: 14,2444 70545 DLOAD SR1
040317,000279: 14,2445 01122 LONG
040318,000280: 14,2446 16711 STODL LANDLONG
040319,000281: 14,2447 01124 ALT
040320,000282: 14,2450 16713 STODL LANDALT
040321,000283: 14,2451 01120 LAT
040322,000284: 14,2452 02707 STORE LANDLAT
040323,000285: 14,2453 77776 EXIT
040324,000286:
040325,000287: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040326,000288: 14,2455 04616 TC BANKCALL
040327,000289: 14,2456 20477 CADR GOFLASH
040328,000290: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040329,000291: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040330,000292: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040331,000293:
040332,000294: 14,2462 06042 TC INTPRET
040333,000295: 14,2463 72545 DLOAD SL1
040334,000296: 14,2464 02711 LANDLONG
040335,000297: 14,2465 15122 STODL LONG
040336,000298: 14,2466 02713 LANDALT
040337,000299: 14,2467 15124 STODL ALT
040338,000300: 14,2470 02707 LANDLAT
040339,000301: 14,2471 15120 STODL LAT
040340,000302: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040341,000303: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
040342,000304: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040343,000305: 14,2475 77650 GOTO
040344,000306: 14,2476 02746 QMAJ
040345,000307: 14,2477 01531 V06N89* VN 689
040346,000308:
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Page 926
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040348,000310: # NAME -S50 ALIAS LOCSAM
040349,000311: # BY
040350,000312: # VINCENT
040351,000313: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040352,000314:
040353,000315: # DEFINE
040354,000316:
040355,000317:
040356,000318: # U = UNIT( SUN WRT EARTH)
040357,000319: # ES
040358,000320:
040359,000321: # U =UNIT( MOON WRT EARTH)
040360,000322: # EM
040361,000323:
040362,000324: # R =POSITION VECTOR OF LEM
040363,000325: # L
040364,000326:
040365,000327: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040366,000328: # EM
040367,000329:
040368,000330: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
040369,000331: # EM
040370,000332:
040371,000333: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040372,000334: # E
040373,000335:
040374,000336: # LOCSAM COMPUTES IN EARTH INFLUENCE
040375,000337:
040376,000338: # VSUN = U
040377,000339: # ES
040378,000340:
040379,000341: # VEARTH = -UNIT( R )
040380,000342: # L
040381,000343:
040382,000344: # VMOON = UNIT(R .U - R )
040383,000345: # EM EM L
040384,000346:
040385,000347: # CSUN = COS 90
040386,000348:
040387,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040388,000350: # E L
040389,000351:
040390,000352: # CMOON = COS 5
040391,000353:
040392,000354:
040393,000355: # INPUT - TIME IN MPAC
040394,000356: # OUTPUT - LISTED ABOVE
040395,000357: # SUBROUTINES -LSPOS,LEMPREC
040396,000358: # DEBRIS - VAC AREA ,TSIGHT
040397,000359:
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Page 927
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040399,000361: 14,2500 COUNT* $$/LOSAM
040400,000362:
040401,000363: 14,2500 14,2500 S50 = LOCSAM
040402,000364: 14,2500 77620 LOCSAM STQ
040403,000365: 14,2501 02745 QMIN
040404,000366: 14,2502 37562 STCALL TSIGHT
040405,000367: 14,2503 33660 LSPOS
040406,000368: 14,2504 77745 DLOAD
040407,000369: 14,2505 03562 TSIGHT
040408,000370: 14,2506 34041 STCALL TDEC1
040409,000371: 14,2507 27056 LEMPREC
040410,000372: 14,2510 61131 SSP TIX,2
040411,000373: 14,2511 00052 S2
040412,000374: 14,2512 00000 0
040413,000375: 14,2513 30535 MOONCNTR
040414,000376: 14,2514 74375 EARTCNTR VLOAD VXSC
040415,000377: 14,2515 02723 VMOON
040416,000378: 14,2516 30001 RSUBEM
040417,000379: 14,2517 52372 VSL1 VSU
040418,000380: 14,2520 00001 RATT
040419,000381: 14,2521 77656 UNIT
040420,000382: 14,2522 26723 STOVL VMOON
040421,000383: 14,2523 00001 RATT
040422,000384: 14,2524 57456 UNIT VCOMP
040423,000385: 14,2525 16707 STODL VEARTH
040424,000386: 14,2526 30005 RSUBE
040425,000387: 14,2527 77624 CALL
040426,000388: 14,2530 30567 OCCOS
040427,000389: 14,2531 14017 STODL CEARTH
040428,000390: 14,2532 30576 CSS5
040429,000391: 14,2533 34023 STCALL CMOON
040430,000392: 14,2534 30562 ENDSAM
040431,000393: 14,2535 74375 MOONCNTR VLOAD VXSC
040432,000394: 14,2536 02723 VMOON
040433,000395: 14,2537 30007 ROE
040434,000396: 14,2540 53445 BVSU UNIT
040435,000397: 14,2541 02715 VSUN
040436,000398: 14,2542 26715 STOVL VSUN
040437,000399: 14,2543 02723 VMOON
040438,000400: 14,2544 53361 VXSC VAD
040439,000401: 14,2545 30001 RSUBEM
040440,000402: 14,2546 00001 RATT
040441,000403: 14,2547 57456 UNIT VCOMP
040442,000404: 14,2550 26707 STOVL VEARTH
040443,000405: 14,2551 00001 RATT
040444,000406: 14,2552 57456 UNIT VCOMP
040445,000407: 14,2553 16723 STODL VMOON
040446,000408: 14,2554 30003 RSUBM
040447,000409: 14,2555 77624 CALL
040448,000410: 14,2556 30567 OCCOS
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Page 928
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040450,000412: 14,2557 14023 STODL CMOON
040451,000413: 14,2560 30576 CSS5
040452,000414: 14,2561 00017 STORE CEARTH
040453,000415: 14,2562 77745 ENDSAM DLOAD
040454,000416: 14,2563 30600 CSSUN
040455,000417: 14,2564 00021 STORE CSUN
040456,000418: 14,2565 77650 GOTO
040457,000419: 14,2566 02745 QMIN
040458,000420: 14,2567 70471 OCCOS DDV SR1
040459,000421: 14,2570 00045 36D
040460,000422: 14,2571 43336 ASIN DAD
040461,000423: 14,2572 30602 5DEGREES
040462,000424: 14,2573 70546 COS SR1
040463,000425: 14,2574 77616 RVQ
040464,000426: 14,2575 CEARTH = 14D
040465,000427: 14,2575 CSUN = 16D
040466,000428: 14,2575 CMOON = 18D
040467,000429: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040468,000430:
040469,000431: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040470,000432:
040471,000433: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040472,000434:
|
|
Page 929
|
040474,000436: # PROGRAM NAME - R56 DATE DEC 20 66
040475,000437: # MOD 1 LOG SECTION P51-P53
040476,000438: # ASSEMBLY SUNDISK REV40
040477,000439: # BY KEN VINCENT
040478,000440:
040479,000441: # FUNCTION
040480,000442: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040481,000443: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040482,000444: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040483,000445: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040484,000446: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040485,000447: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040486,000448: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040487,000449: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040488,000450: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040489,000451: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040490,000452: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040491,000453: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
040492,000454:
040493,000455: # CALLING SEQUENCE
040494,000456: # L TC BANKCALL
040495,000457: # L+1 CADR R56
040496,000458: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040497,000459: # L+3 NORMAL RETURN
040498,000460:
040499,000461: # OUTPUT
040500,000462: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040501,000463: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040502,000464:
040503,000465: # INITIALIZATION
040504,000466: # 1)A CALL TO LOCSAM MUST BE MADE
040505,000467:
040506,000468: # DEBRIS
040507,000469: # WORK AREA
040508,000470: # X,Y,ZNB
040509,000471: # SINCDU,COSCDU
040510,000472: # STARAD - STAR +5
040511,000473:
040512,000474: 14,2603 14,2603 R56 = PICAPAR
040513,000475: 14,2603 COUNT* $$/R56
040514,000476: 14,2603 04645 PICAPAR TC MAKECADR
040515,000477: 14,2604 55745 TS QMIN
040516,000478: 14,2605 06042 TC INTPRET
040517,000479: 14,2606 77624 CALL
040518,000480: 14,2607 47505 CDUTRIG
040519,000481: 14,2610 77624 CALL
040520,000482: 14,2611 20030 CALCSMSC
040521,000483: 14,2612 77601 SETPD
040522,000484: 14,2613 00001 0
040523,000485: 14,2614 71214 SET DLOAD # VFLAG = 1
040524,000486: 14,2615 01465 VFLAG
|
|
Page 930
|
040526,000488: 14,2616 24007 DPZERO
040527,000489: 14,2617 26756 STOVL BESTI
040528,000490: 14,2620 02665 XNB
040529,000491: 14,2621 63361 VXSC PDVL
040530,000492: 14,2622 24005 HALFDP
040531,000493: 14,2623 02701 ZNB
040532,000494: 14,2624 74370 AXT,1 VXSC
040533,000495: 14,2625 00344 228D # X1 = 37 X 6 +6
040534,000496: 14,2626 24005 HALFDP
040535,000497: 14,2627 77655 VAD
040536,000498: 14,2630 53505 VXM UNIT
040537,000499: 14,2631 01732 REFSMMAT
040538,000500: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040539,000501: 14,2633 66331 SSP SSP # S1=S2=6
040540,000502: 14,2634 00051 S1
040541,000503: 14,2635 00006 6
040542,000504: 14,2636 00052 S2
040543,000505: 14,2637 00006 6
040544,000506: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040545,000507: 14,2641 30643 PIC2
040546,000508: 14,2642 30760 PICEND
040547,000509: 14,2643 50373 PIC2 VLOAD* DOT
040548,000510: 14,2644 30347 CATLOG,1
040549,000511: 14,2645 02731 SAX
040550,000512: 14,2646 50025 DSU BMN
040551,000513: 14,2647 30757 CSS33
040552,000514: 14,2650 30640 PIC1
040553,000515: 14,2651 77754 LXA,2
040554,000516: 14,2652 00046 X1
040555,000517: 14,2653 52104 PIC3 TIX,2 GOTO
040556,000518: 14,2654 30656 PIC4
040557,000519: 14,2655 30640 PIC1
040558,000520: 14,2656 50373 PIC4 VLOAD* DOT
040559,000521: 14,2657 47430 CATLOG,2
040560,000522: 14,2660 02731 SAX
040561,000523: 14,2661 50025 DSU BMN
040562,000524: 14,2662 30757 CSS33
040563,000525: 14,2663 30653 PIC3
040564,000526: 14,2664 47773 VLOAD* DOT*
040565,000527: 14,2665 30347 CATLOG,1
040566,000528: 14,2666 47430 CATLOG,2
040567,000529: 14,2667 51025 DSU BPL
040568,000530: 14,2670 30755 CSS40
040569,000531: 14,2671 30653 PIC3
040570,000532: 14,2672 45173 VLOAD* CALL
040571,000533: 14,2673 30347 CATLOG,1
040572,000534: 14,2674 30732 OCCULT
040573,000535: 14,2675 77614 BON
040574,000536: 14,2676 01710 CULTFLAG
040575,000537: 14,2677 30640 PIC1
|
|
Page 931
|
040577,000539: 14,2700 45173 VLOAD* CALL
040578,000540: 14,2701 47430 CATLOG,2
040579,000541: 14,2702 30732 OCCULT
040580,000542: 14,2703 77614 BON
040581,000543: 14,2704 01710 CULTFLAG
040582,000544: 14,2705 30653 PIC3
040583,000545: 14,2706 77614 STRATGY BONCLR
040584,000546: 14,2707 01605 VFLAG
040585,000547: 14,2710 30725 NEWPAR
040586,000548: 14,2711 65120 XCHX,1 XCHX,2
040587,000549: 14,2712 02755 BESTI
040588,000550: 14,2713 02756 BESTJ
040589,000551: 14,2714 47773 STRAT VLOAD* DOT*
040590,000552: 14,2715 30347 CATLOG,1
040591,000553: 14,2716 47430 CATLOG,2
040592,000554: 14,2717 43006 PUSH BOFINV
040593,000555: 14,2720 01545 VFLAG
040594,000556: 14,2721 30711 STRAT -3
040595,000557: 14,2722 45345 DLOAD DSU
040596,000558: 14,2723 77644 BPL
040597,000559: 14,2724 30653 PIC3
040598,000560: 14,2725 67130 NEWPAR SXA,1 SXA,2
040599,000561: 14,2726 02755 BESTI
040600,000562: 14,2727 02756 BESTJ
040601,000563: 14,2730 77650 GOTO
040602,000564: 14,2731 30653 PIC3
040603,000565: 14,2732 51321 OCCULT MXV BVSU
040604,000566: 14,2733 02707 CULTRIX
040605,000567: 14,2734 00017 CSS
040606,000568: 14,2735 77654 BZE
040607,000569: 14,2736 30751 CULTED
040608,000570: 14,2737 75240 BMN SIGN
040609,000571: 14,2740 30751 CULTED
040610,000572: 14,2741 00160 MPAC +3
040611,000573: 14,2742 75240 BMN SIGN
040612,000574: 14,2743 30751 CULTED
040613,000575: 14,2744 00162 MPAC +5
040614,000576: 14,2745 43040 BMN CLRGO
040615,000577: 14,2746 30751 CULTED
040616,000578: 14,2747 01630 CULTFLAG
040617,000579: 14,2750 00052 QPRET
040618,000580: 14,2751 77614 CULTED SETGO
040619,000581: 14,2752 01430 CULTFLAG
040620,000582: 14,2753 00052 QPRET
040621,000583: 14,2754 0000016 CSS = CEARTH
040622,000584: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
040623,000585:
040624,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
040625,000587:
040626,000588: 14,2760 77414 PICEND BOFF EXIT
|
|
Page 932
|
040628,000590: 14,2761 01745 VFLAG
040629,000591: 14,2762 30764 PICGXT
040630,000592: 14,2763 03005 TC PICBXT
040631,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
040632,000594: 14,2765 02755 BESTI
040633,000595: 14,2766 02756 BESTJ
040634,000596: 14,2767 47775 VLOAD DOT*
040635,000597: 14,2770 02731 SAX
040636,000598: 14,2771 30347 CATLOG,1
040637,000599: 14,2772 47715 PDVL DOT*
040638,000600: 14,2773 02731 SAX
040639,000601: 14,2774 47430 CATLOG,2
040640,000602: 14,2775 77625 DSU
040641,000603: 14,2776 66044 BPL SXA,1
040642,000604: 14,2777 31003 PICNSWP
040643,000605: 14,3000 02756 BESTJ
040644,000606: 14,3001 77734 SXA,2
040645,000607: 14,3002 02755 BESTI
040646,000608: 14,3003 77776 PICNSWP EXIT
040647,000609: 14,3004 25745 INCR QMIN
040648,000610: 14,3005 31745 PICBXT CA QMIN
040649,000611: 14,3006 04622 TC SWCALL
040650,000612: 14,3007 VPD = 0D
040651,000613: 14,3007 V0 = 6D
040652,000614: 14,3007 V1 = 12D
040653,000615: 14,3007 V2 = 18D
040654,000616: 14,3007 V3 = 24D
040655,000617: 14,3007 DP0 = 30D
040656,000618: 14,3007 DP1 = 32D
040657,000619:
|
|
Page 933
|
040659,000621: # NAME-R51 FINE ALIGN
040660,000622: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040661,000623: # CALLING SEQ- CALL R51
040662,000624: # INPUT - REFSMMAT
040663,000625: # OUTPUT- GYRO TORQUE PULSES
040664,000626: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040665,000627: 14,3007 COUNT* $$/R51
040666,000628: 14,3007 77620 R51 STQ
040667,000629: 14,3010 02746 QMAJ
040668,000630: 14,3011 77776 R51.1 EXIT
040669,000631: 14,3012 05364 TC PHASCHNG
040670,000632: 14,3013 04024 OCT 04024
040671,000633:
040672,000634: 14,3014 34761 R51C CAF OCT15
040673,000635: 14,3015 04616 TC BANKCALL
040674,000636: 14,3016 20624 CADR GOPERF1
040675,000637: 14,3017 06001 TC GOTOPOOH
040676,000638: 14,3020 03022 TC +2 # V33E
040677,000639: 14,3021 03045 TC R51E # ENTER
040678,000640: 14,3022 06042 TC INTPRET
040679,000641: 14,3023 43234 RTB DAD
040680,000642: 14,3024 21574 LOADTIME
040681,000643: 14,3025 31155 TSIGHT1
040682,000644: 14,3026 77624 CALL
040683,000645: 14,3027 30500 LOCSAM
040684,000646: 14,3030 77776 EXIT
040685,000647: 14,3031 04616 TC BANKCALL
040686,000648: 14,3032 30603 CADR R56
040687,000649: 14,3033 03035 TC R51I
040688,000650: 14,3034 03045 R51F TC R51E
040689,000651: 14,3035 05600 R51I TC ALARM
040690,000652: 14,3036 00405 OCT 405
040691,000653: 14,3037 35006 CAF VB05N09
040692,000654: 14,3040 04616 TC BANKCALL
040693,000655: 14,3041 20477 CADR GOFLASH
040694,000656: 14,3042 06001 TC GOTOPOOH
040695,000657: 14,3043 03045 TC R51E
040696,000658: 14,3044 03014 TC R51C
040697,000659: 14,3045 34755 R51E CAF ZERO
040698,000660: 14,3046 55757 TS STARIND
040699,000661: 14,3047 06042 R51.2 TC INTPRET
040700,000662: 14,3050 77776 R51.3 EXIT
040701,000663: 14,3051 05364 TC PHASCHNG
040702,000664: 14,3052 04024 OCT 04024
040703,000665:
040704,000666: 14,3053 06042 TC INTPRET
040705,000667: 14,3054 77624 CALL
040706,000668: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040707,000669: 14,3056 77776 EXIT
040708,000670: 14,3057 04616 TC BANKCALL
|
|
Page 934
|
040710,000672: 14,3060 16000 CADR AOTMARK
040711,000673: 14,3061 04616 TC BANKCALL
040712,000674: 14,3062 17716 CADR OPTSTALL
040713,000675: 14,3063 05712 TC CURTAINS
040714,000676: 14,3064 11757 CCS STARIND
040715,000677: 14,3065 13067 TCF +2
040716,000678: 14,3066 03137 TC R51.4
040717,000679: 14,3067 06042 TC INTPRET
040718,000680: 14,3070 77775 VLOAD
040719,000681: 14,3071 02715 STARAD +6
040720,000682: 14,3072 02767 STORE STARSAV2
040721,000683: 14,3073 77776 EXIT
040722,000684: 14,3074 05364 TC PHASCHNG
040723,000685: 14,3075 04024 OCT 04024
040724,000686:
040725,000687: 14,3076 06042 TC INTPRET
040726,000688: 14,3077 45145 DLOAD CALL
040727,000689: 14,3100 03562 TSIGHT
040728,000690: 14,3101 32500 PLANET
040729,000691: 14,3102 53521 MXV UNIT
040730,000692: 14,3103 01732 REFSMMAT
040731,000693: 14,3104 26715 STOVL STARAD +6
040732,000694: 14,3105 03554 PLANVEC
040733,000695: 14,3106 53521 MXV UNIT
040734,000696: 14,3107 01732 REFSMMAT
040735,000697: 14,3110 26707 STOVL STARAD
040736,000698: 14,3111 02761 STARSAV1
040737,000699: 14,3112 24007 STOVL 6D
040738,000700: 14,3113 02767 STARSAV2
040739,000701: 14,3114 34015 STCALL 12D
040740,000702: 14,3115 31250 R54 # STAR DATA TEST
040741,000703: 14,3116 45014 BOFF CALL
040742,000704: 14,3117 00354 FREEFLAG
040743,000705: 14,3120 31126 R51K
040744,000706: 14,3121 47407 AXISGEN
040745,000707: 14,3122 77624 CALL
040746,000708: 14,3123 31216 R55 # GYRO TORQUE
040747,000709: 14,3124 77614 CLEAR
040748,000710: 14,3125 01273 PFRATFLG
040749,000711: 14,3126 77776 R51K EXIT
040750,000712: 14,3127 35752 R51P63 CAF OCT14
040751,000713: 14,3130 04616 TC BANKCALL
040752,000714: 14,3131 20624 CADR GOPERF1
040753,000715: 14,3132 06001 TC GOTOPOOH
040754,000716: 14,3133 03014 TC R51C
040755,000717: 14,3134 06042 TC INTPRET
040756,000718: 14,3135 77650 GOTO
040757,000719: 14,3136 02746 QMAJ
040758,000720: 14,3137 06042 R51.4 TC INTPRET
040759,000721: 14,3140 77775 VLOAD
|
|
Page 935
|
040761,000723: 14,3141 02715 STARAD +6
040762,000724: 14,3142 02761 STORE STARSAV1
040763,000725: 14,3143 45145 DLOAD CALL
040764,000726: 14,3144 03562 TSIGHT
040765,000727: 14,3145 32500 PLANET
040766,000728: 14,3146 03554 STORE PLANVEC
040767,000729: 14,3147 77731 SSP
040768,000730: 14,3150 02760 STARIND
040769,000731: 14,3151 00001 1
040770,000732: 14,3152 77650 GOTO
040771,000733: 14,3153 31050 R51.3
040772,000734: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040773,000735:
|
|
Page 936
|
040775,000737: # GYRO TORQUE COARSE ALIGNMENT
040776,000738: 14,3156 45020 GYCOARS STQ CALL
040777,000739: 14,3157 02746 QMAJ
040778,000740: 14,3160 47215 CALCGTA
040779,000741: 14,3161 43014 CLEAR CLEAR
040780,000742: 14,3162 01260 DRIFTFLG
040781,000743: 14,3163 01662 REFSMFLG
040782,000744: 14,3164 77776 EXIT
040783,000745: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040784,000746: 14,3166 04616 TC BANKCALL
040785,000747: 14,3167 20452 CADR GODSPR
040786,000748: 14,3170 33247 CA R55CDR
040787,000749: 14,3171 04616 TC BANKCALL
040788,000750: 14,3172 17307 CADR IMUPULSE
040789,000751: 14,3173 04616 TC BANKCALL
040790,000752: 14,3174 17722 CADR IMUSTALL
040791,000753: 14,3175 05712 TC CURTAINS
040792,000754: 14,3176 05364 TC PHASCHNG
040793,000755: 14,3177 04024 OCT 04024
040794,000756:
040795,000757: 14,3200 06042 TC INTPRET
040796,000758: 14,3201 75160 AXC,1 AXC,2
040797,000759: 14,3202 03606 XSMD
040798,000760: 14,3203 01731 REFSMMAT
040799,000761: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040800,000762: 14,3205 31371 MATMOVE
040801,000763: 14,3206 43014 CLEAR SET
040802,000764: 14,3207 01273 PFRATFLG
040803,000765: 14,3210 01462 REFSMFLG
040804,000766: 14,3211 77624 CALL
040805,000767: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040806,000768: 14,3213 77650 GOTO
040807,000769: 14,3214 31126 R51K
040808,000770: 14,3215 04024 V16N20 VN 1620
040809,000771:
|
|
Page 937
|
040811,000773: # R55 GYRO TORQUE
040812,000774: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040813,000775: # CALLING SEQ- CALL R55
040814,000776: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040815,000777: # OUTPUT- GYRO PULSES
040816,000778: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040817,000779: 14,3216 COUNT* $$/R55
040818,000780: 14,3216 77620 R55 STQ
040819,000781: 14,3217 02745 QMIN
040820,000782: 14,3220 77624 CALL
040821,000783: 14,3221 47215 CALCGTA
040822,000784: 14,3222 77776 PULSEM EXIT
040823,000785: 14,3223 33246 R55.1 CAF V06N93
040824,000786: 14,3224 04616 TC BANKCALL
040825,000787: 14,3225 20477 CADR GOFLASH
040826,000788: 14,3226 06001 TC GOTOPOOH
040827,000789: 14,3227 03231 TC R55.2
040828,000790: 14,3230 03243 TC R55RET
040829,000791: 14,3231 05364 R55.2 TC PHASCHNG
040830,000792: 14,3232 00214 OCT 00214
040831,000793: 14,3233 33247 CA R55CDR
040832,000794: 14,3234 04616 TC BANKCALL
040833,000795: 14,3235 17307 CADR IMUPULSE
040834,000796: 14,3236 04616 TC BANKCALL
040835,000797: 14,3237 17722 CADR IMUSTALL
040836,000798: 14,3240 05712 TC CURTAINS
040837,000799: 14,3241 05364 TC PHASCHNG
040838,000800: 14,3242 04024 OCT 04024
040839,000801:
040840,000802: 14,3243 06042 R55RET TC INTPRET
040841,000803: 14,3244 77650 GOTO
040842,000804: 14,3245 02745 QMIN
040843,000805: 14,3246 01535 V06N93 VN 0693
040844,000806: 14,3247 02737 R55CDR ECADR OGC
040845,000807: 14,3250 14,3250 R54 = CHKSDATA
040846,000808: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040847,000809: # MOD NO- 0 LOG SECTION- P51-P53
040848,000810: # MODIFICATION BY- LONSKE ASSEMBLY-
040849,000811:
040850,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040851,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040852,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040853,000815:
040854,000816: # OS1 = OBSERVED STAR 1 VECTOR
040855,000817: # OS2 = OBSERVED STAR 2 VECTOR
040856,000818: # SS1 = STORED STAR 1 VECTOR
040857,000819: # SS2 = STORED STAR 2 VECTOR
040858,000820: # A1 = ARCCOS(OS1 - OS2)
040859,000821: # A2 = ARCCOS(SS1 - SS2)
040860,000822: # A = ABS(2(A1 - A2))
|
|
Page 938
|
040862,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040863,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040864,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040865,000827: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040866,000828: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040867,000829:
040868,000830: # ERASABLE INITIALIZATION REQUIRED -
040869,000831: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040870,000832: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040871,000833: # DEBRIS -
040872,000834: 14,3250 COUNT* $$/R54
040873,000835: 14,3250 43020 CHKSDATA STQ SET
040874,000836: 14,3251 02745 QMIN
040875,000837: 14,3252 00074 FREEFLAG
040876,000838: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040877,000839: 14,3254 02706 STARAD
040878,000840:
040879,000841: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040880,000842: 14,3256 00001 0,1
040881,000843: 14,3257 00007 6,1
040882,000844: 14,3260 65552 SL1 ACOS
040883,000845: 14,3261 00025 STORE THETA
040884,000846: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040885,000847: 14,3263 00354 FREEFLAG
040886,000848: 14,3264 31274 CHKSD
040887,000849: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040888,000850: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040889,000851: 14,3267 00006 6D
040890,000852: 14,3270 00025 THETA
040891,000853: 14,3271 00023 STORE 18D
040892,000854: 14,3272 77650 GOTO
040893,000855: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040894,000856: 14,3274 45345 CHKSD DLOAD DSU
040895,000857: 14,3275 00025 THETA
040896,000858: 14,3276 00023 18D
040897,000859: 14,3277 77634 RTB # COMPUTE POS DIFF
040898,000860: 14,3300 21613 SGNAGREE
040899,000861: 14,3301 01045 STORE NORMTEM1
040900,000862: 14,3302 77414 SET EXIT
040901,000863: 14,3303 00074 FREEFLAG
040902,000864: 14,3304 33320 CAF VB6N5
040903,000865: 14,3305 04616 TC BANKCALL
040904,000866: 14,3306 20477 CADR GOFLASH
040905,000867: 14,3307 16001 TCF GOTOPOOH
040906,000868: 14,3310 03315 TC CHKSDA # PROCEED
040907,000869: 14,3311 06042 TC INTPRET
040908,000870: 14,3312 52014 CLEAR GOTO
040909,000871: 14,3313 00274 FREEFLAG
040910,000872: 14,3314 02745 QMIN
040911,000873: 14,3315 06042 CHKSDA TC INTPRET
|
|
Page 939
|
040913,000875: 14,3316 77650 GOTO
040914,000876: 14,3317 02745 QMIN
040915,000877: 14,3320 01405 VB6N5 VN 605
040916,000878: # NAME - CAL53A
040917,000879: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040918,000880: # CALLING SEQUENCE - CALL CAL53A
040919,000881: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040920,000882: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040921,000883: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040922,000884: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040923,000885: 14,3321 COUNT* $$/R50
040924,000886: 14,3321 77624 CAL53A CALL
040925,000887: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040926,000888: 14,3323 66234 RTB SSP
040927,000889: 14,3324 31405 RDCDUS # READ CDUS
040928,000890: 14,3325 00051 S1
040929,000891: 14,3326 00001 1
040930,000892: 14,3327 40370 AXT,1 SETPD
040931,000893: 14,3330 00003 3
040932,000894: 14,3331 00005 4
040933,000895: 14,3332 70543 CALOOP DLOAD* SR1
040934,000896: 14,3333 00325 THETAD +3D,1
040935,000897: 14,3334 70523 PDDL* SR1
040936,000898: 14,3335 00005 4,1
040937,000899: 14,3336 51425 DSU ABS
040938,000900: 14,3337 45206 PUSH DSU
040939,000901: 14,3340 31404 DEGREE1
040940,000902: 14,3341 71240 BMN DLOAD
040941,000903: 14,3342 31360 CALOOP1
040942,000904: 14,3343 51025 DSU BPL
040943,000905: 14,3344 31405 DEG359
040944,000906: 14,3345 31360 CALOOP1
040945,000907: 14,3346 77776 EXIT
040946,000908: 14,3347 05364 TC PHASCHNG
040947,000909: 14,3350 04024 OCT 04024
040948,000910:
040949,000911: 14,3351 06042 TC INTPRET
040950,000912: 14,3352 77624 COARFINE CALL
040951,000913: 14,3353 31557 COARSE
040952,000914: 14,3354 77624 CALL
040953,000915: 14,3355 31603 NCOARSE
040954,000916: 14,3356 77650 GOTO
040955,000917: 14,3357 31362 FINEONLY
040956,000918: 14,3360 77700 CALOOP1 TIX,1
040957,000919: 14,3361 31332 CALOOP
040958,000920: 14,3362 75160 FINEONLY AXC,1 AXC,2
040959,000921: 14,3363 02642 XSM
040960,000922: 14,3364 01731 REFSMMAT
040961,000923: 14,3365 77624 CALL
040962,000924: 14,3366 31371 MATMOVE
|
|
Page 940
|
040964,000926: 14,3367 77650 GOTO
040965,000927: 14,3370 32204 COARSRET
040966,000928: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040967,000929: 14,3372 00001 0,1
040968,000930: 14,3373 10001 STORE 0,2
040969,000931: 14,3374 77773 VLOAD*
040970,000932: 14,3375 00007 6D,1
040971,000933: 14,3376 10007 STORE 6D,2
040972,000934: 14,3377 77773 VLOAD*
040973,000935: 14,3400 00015 12D,1
040974,000936: 14,3401 10015 STORE 12D,2
040975,000937: 14,3402 77616 RVQ
040976,000938: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040977,000939: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040978,000940: 14,3405 00004 RDCDUS INHINT # READ CDUS
040979,000941: 14,3406 30032 CA CDUX
040980,000942: 14,3407 50120 INDEX FIXLOC
040981,000943: 14,3410 54001 TS 1
040982,000944: 14,3411 30033 CA CDUY
040983,000945: 14,3412 50120 INDEX FIXLOC
040984,000946: 14,3413 54002 TS 2
040985,000947: 14,3414 30034 CA CDUZ
040986,000948: 14,3415 50120 INDEX FIXLOC
040987,000949: 14,3416 54003 TS 3
040988,000950: 14,3417 00003 RELINT
040989,000951: 14,3420 06064 TC DANZIG # +
040990,000952: 14,3421 COUNT* $$/INFLT
040991,000953:
|
|
Page 941
|
040993,000955: # NAME - P51 - IMU ORIENTATION DETERMINATION
040994,000956: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040995,000957: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040996,000958:
040997,000959: # FUNCTIONAL DESCRIPTION
040998,000960:
040999,000961: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041000,000962: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041001,000963: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041002,000964: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041003,000965:
041004,000966: # CALLING SEQUENCE
041005,000967:
041006,000968: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041007,000969:
041008,000970: # SUBROUTINES CALLED.
041009,000971:
041010,000972: # GOPERF3
041011,000973: # GOPERF1
041012,000974: # GODSPR
041013,000975: # IMUCOARS
041014,000976: # IMUFIN20
041015,000977: # AOTMARK(R53)
041016,000978: # CHKSDATA(R54)
041017,000979: # MKRELEAS
041018,000980: # AXISGEN
041019,000981: # MATMOVE
041020,000982:
041021,000983: # ALARMS
041022,000984:
041023,000985: # NONE.
041024,000986:
041025,000987: # ERASABLE INITIALIZATION
041026,000988:
041027,000989: # IMU ZERO FLAG SHOULD BE SET.
041028,000990:
041029,000991: # OUTPUT
041030,000992:
041031,000993: # REFSMMAT
041032,000994: # REFSMFLG
041033,000995:
041034,000996: # DEBRIS
041035,000997:
041036,000998: # WORK AREA
041037,000999: # STARAD
041038,001000: # STARIND
041039,001001: # BESTI
041040,001002: # BESTJ
041041,001003:
041042,001004: 14,3421 COUNT* $$/P51
|
|
Page 942
|
041044,001006: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041045,001007: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041046,001008:
041047,001009: 14,3423 34761 CAF OCT15
041048,001010: 14,3424 04616 TC BANKCALL
041049,001011: 14,3425 20624 CADR GOPERF1
041050,001012: 14,3426 06001 TC GOTOPOOH # TERM.
041051,001013: 14,3427 13453 TCF P51B # V33
041052,001014: 14,3430 05364 TC PHASCHNG
041053,001015: 14,3431 04024 OCT 04024
041054,001016:
041055,001017: 14,3432 34755 CAF ZERO
041056,001018: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
041057,001019: 14,3434 54322 TS THETAD +1
041058,001020: 14,3435 54323 TS THETAD +2
041059,001021: 14,3436 35010 CAF V06N22
041060,001022: 14,3437 04616 TC BANKCALL
041061,001023: 14,3440 20447 CADR GODSPRET
041062,001024: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041063,001025: 14,3442 04616 TC BANKCALL
041064,001026: 14,3443 20447 CADR GODSPRET
041065,001027: 14,3444 06042 TC INTPRET
041066,001028: 14,3445 77624 CALL
041067,001029: 14,3446 31557 COARSE
041068,001030: 14,3447 77776 EXIT
041069,001031: 14,3450 05364 TC PHASCHNG
041070,001032: 14,3451 04024 OCT 04024
041071,001033: 14,3452 13423 TCF P51 +2
041072,001034:
041073,001035: 14,3453 05364 P51B TC PHASCHNG
041074,001036: 14,3454 00014 OCT 00014
041075,001037: 14,3455 06042 TC INTPRET
041076,001038: 14,3456 77624 CALL
041077,001039: 14,3457 31603 NCOARSE
041078,001040: 14,3460 40331 SSP SETPD
041079,001041: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
041080,001042: 14,3462 00000 0
041081,001043: 14,3463 00001 0
041082,001044: 14,3464 77776 P51C EXIT
041083,001045: 14,3465 05364 TC PHASCHNG
041084,001046: 14,3466 04024 OCT 04024
041085,001047:
041086,001048: 14,3467 04616 TC BANKCALL
041087,001049: 14,3470 16000 CADR AOTMARK # R53
041088,001050: 14,3471 04616 TC BANKCALL
041089,001051: 14,3472 17716 CADR AOTSTALL
041090,001052: 14,3473 05712 TC CURTAINS
041091,001053: 14,3474 11757 CCS STARIND
041092,001054: 14,3475 13503 TCF P51D +1
041093,001055: 14,3476 06042 TC INTPRET
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|
Page 943
|
041095,001057: 14,3477 77775 VLOAD
041096,001058: 14,3500 02715 STARAD +6
041097,001059: 14,3501 02761 STORE STARSAV1
041098,001060: 14,3502 77776 P51D EXIT
041099,001061: 14,3503 05364 TC PHASCHNG
041100,001062: 14,3504 04024 OCT 04024
041101,001063:
041102,001064: 14,3505 11757 CCS STARIND
041103,001065: 14,3506 13522 TCF P51E
041104,001066: 14,3507 05364 TC PHASCHNG
041105,001067: 14,3510 04024 OCT 04024
041106,001068:
041107,001069: 14,3511 06042 TC INTPRET
041108,001070: 14,3512 45145 DLOAD CALL
041109,001071: 14,3513 03562 TSIGHT
041110,001072: 14,3514 32500 PLANET
041111,001073: 14,3515 03554 STORE PLANVEC
041112,001074: 14,3516 77776 EXIT
041113,001075: 14,3517 34753 CAF BIT1
041114,001076: 14,3520 55757 TS STARIND
041115,001077: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
041116,001078: 14,3522 05364 P51E TC PHASCHNG
041117,001079: 14,3523 04024 OCT 04024
041118,001080:
041119,001081: 14,3524 06042 TC INTPRET
041120,001082: 14,3525 45145 DLOAD CALL
041121,001083: 14,3526 03562 TSIGHT
041122,001084: 14,3527 32500 PLANET
041123,001085: 14,3530 24015 STOVL 12D
041124,001086: 14,3531 03554 PLANVEC
041125,001087: 14,3532 24007 STOVL 6D
041126,001088: 14,3533 02761 STARSAV1
041127,001089: 14,3534 26707 STOVL STARAD
041128,001090: 14,3535 02767 STARSAV2
041129,001091: 14,3536 36715 STCALL STARAD +6
041130,001092: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041131,001093: 14,3540 77414 BON EXIT
041132,001094: 14,3541 00314 FREEFLAG
041133,001095: 14,3542 31544 P51G
041134,001096: 14,3543 03423 TC P51 +2
041135,001097: 14,3544 77624 P51G CALL
041136,001098: 14,3545 47407 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041137,001099: 14,3546 75160 AXC,1 AXC,2
041138,001100: 14,3547 02664 XDC
041139,001101: 14,3550 01731 REFSMMAT
041140,001102: 14,3551 77624 CALL
041141,001103: 14,3552 31371 MATMOVE
041142,001104: 14,3553 77414 SET EXIT
041143,001105: 14,3554 01462 REFSMFLG
041144,001106: 14,3555 06001 TC GOTOPOOH # FINIS
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|
Page 944
|
041146,001108: 14,3556 12200 V41K VN 4100
041147,001109: 14,3557 77776 COARSE EXIT
041148,001110: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
041149,001111: 14,3561 00006 EXTEND
041150,001112: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
041151,001113: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
041152,001114: 14,3564 04616 TC BANKCALL
041153,001115: 14,3565 01736 CADR DELAYJOB
041154,001116: 14,3566 13560 TCF COARSE +1
041155,001117: 14,3567 04616 DOCORS TC BANKCALL
041156,001118: 14,3570 16764 CADR IMUCOARS
041157,001119: 14,3571 04616 TC BANKCALL
041158,001120: 14,3572 17722 CADR IMUSTALL
041159,001121: 14,3573 05712 TC CURTAINS
041160,001122: 14,3574 04616 TC BANKCALL
041161,001123: 14,3575 17174 CADR IMUFINE
041162,001124: 14,3576 04616 TC BANKCALL
041163,001125: 14,3577 17722 CADR IMUSTALL
041164,001126: 14,3600 05712 TC CURTAINS
041165,001127: 14,3601 06042 TC INTPRET
041166,001128: 14,3602 77616 RVQ
041167,001129: 14,3603 77776 NCOARSE EXIT
041168,001130: 14,3604 30025 CA TIME1
041169,001131: 14,3605 55074 TS 1/PIPADT
041170,001132: 14,3606 44755 CS ZERO
041171,001133: 14,3607 54037 TS PIPAX
041172,001134: 14,3610 54040 TS PIPAY
041173,001135: 14,3611 54041 TS PIPAZ
041174,001136: 14,3612 06042 TC INTPRET
041175,001137: 14,3613 77775 VLOAD
041176,001138: 14,3614 24007 ZEROVEC
041177,001139: 14,3615 01472 STORE GCOMP
041178,001140: 14,3616 43414 SET RVQ
041179,001141: 14,3617 01060 DRIFTFLG
041180,001142:
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|
Page 945
|
041182,001144: # NAME-S52.2
041183,001145: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041184,001146: # CALL- CALL S52.2
041185,001147: # INPUT- X,Y,ZSMD
041186,001148: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
041187,001149: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
041188,001150: 14,3620 COUNT* $$/S52.1
041189,001151: 14,3620 45020 S52.2 STQ CALL
041190,001152: 14,3621 02746 QMAJ
041191,001153: 14,3622 47505 CDUTRIG
041192,001154: 14,3623 77624 CALL
041193,001155: 14,3624 20030 CALCSMSC
041194,001156: 14,3625 66370 AXT,1 SSP
041195,001157: 14,3626 00022 18D
041196,001158: 14,3627 00051 S1
041197,001159: 14,3630 00006 6D
041198,001160: 14,3631 61373 S52.2A VLOAD* VXM
041199,001161: 14,3632 02707 XNB +18D,1
041200,001162: 14,3633 01732 REFSMMAT
041201,001163: 14,3634 77656 UNIT
041202,001164: 14,3635 06707 STORE XNB +18D,1
041203,001165: 14,3636 77700 TIX,1
041204,001166: 14,3637 31631 S52.2A
041205,001167: 14,3640 75160 S52.2.1 AXC,1 AXC,2
041206,001168: 14,3641 03606 XSMD
041207,001169: 14,3642 02642 XSM
041208,001170: 14,3643 77624 CALL
041209,001171: 14,3644 31371 MATMOVE
041210,001172: 14,3645 77624 CALL
041211,001173: 14,3646 47321 CALCGA
041212,001174: 14,3647 77650 GOTO
041213,001175: 14,3650 02746 QMAJ
041214,001176:
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|
Page 946
|
041216,001178: # NAME-S52.3
041217,001179: # FUNCTION XSMD= UNIT R
041218,001180: # YSMD= UNIT(V X R)
041219,001181: # ZSMD= UNIT(XSMD X YSMD)
041220,001182: # CALL DLOAD CALL
041221,001183: # TALIGN
041222,001184: # S52.3
041223,001185: # INPUT- TIME OF ALIGNMENT IN MPAC
041224,001186: # OUTPUT- X,Y,ZSMD
041225,001187: # SUBROUTINES- CSMCONIC
041226,001188: 14,3651 COUNT* $$/S52.3
041227,001189: 14,3651 77620 S52.3 STQ
041228,001190: 14,3652 02746 QMAJ
041229,001191: 14,3653 34041 STCALL TDEC1
041230,001192: 14,3654 27077 LEMCONIC
041231,001193: 14,3655 53575 VLOAD UNIT
041232,001194: 14,3656 00001 RATT
041233,001195: 14,3657 27607 STOVL XSMD
041234,001196: 14,3660 00007 VATT
041235,001197: 14,3661 53435 VXV UNIT
041236,001198: 14,3662 00001 RATT
041237,001199: 14,3663 27615 STOVL YSMD
041238,001200: 14,3664 03607 XSMD
041239,001201: 14,3665 53435 VXV UNIT
041240,001202: 14,3666 03615 YSMD
041241,001203: 14,3667 37623 STCALL ZSMD
041242,001204: 14,3670 02746 QMAJ
041243,001205:
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|
Page 947
|
041245,001207: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041246,001208:
041247,001209: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041248,001210: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041249,001211:
041250,001212: # CALLING -CALL R52
041251,001213:
041252,001214: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
041253,001215: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
041254,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041255,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041256,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041257,001219:
041258,001220: # SUBROUT -R60LEM
041259,001221:
041260,001222: 14,3671 COUNT* $$/R52
041261,001223: 14,3671 77420 R52 STQ EXIT
041262,001224: 14,3672 03665 SAVQR52
041263,001225: 14,3673 51757 INDEX STARIND
041264,001226: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041265,001227: 14,3675 00006 EXTEND
041266,001228: 14,3676 73772 MP 1/6TH
041267,001229: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041268,001230: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041269,001231:
041270,001232: 14,3701 33773 R52A CAF V01N70
041271,001233: 14,3702 04616 TC BANKCALL
041272,001234: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041273,001235: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041274,001236: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041275,001237: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041276,001238:
041277,001239: 14,3707 05527 R52B TC DOWNFLAG
041278,001240: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041279,001241: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041280,001242: 14,3712 77747 MASK HIGH9
041281,001243: 14,3713 00006 EXTEND
041282,001244: 14,3714 74743 MP BIT9
041283,001245: 14,3715 54001 TS L # TEMP STORE DETENT
041284,001246:
041285,001247: 14,3716 00006 EXTEND
041286,001248: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041287,001249:
041288,001250: 14,3720 65661 AD NEG7
041289,001251: 14,3721 00006 EXTEND
041290,001252: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041291,001253:
041292,001254: 14,3723 E7,1551 EBANK= XYMARK
041293,001255: 14,3723 35016 CA EBANK7
041294,001256: 14,3724 54003 TS EBANK
041295,001257:
|
|
Page 948
|
041297,001259: 14,3725 50001 INDEX L
041298,001260: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041299,001261: 14,3727 54001 TS L
041300,001262: 14,3730 E5,1642 EBANK= XSM
041301,001263: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041302,001264: 14,3731 54003 TS EBANK
041303,001265: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041304,001266: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041305,001267: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041306,001268:
041307,001269: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041308,001270: 14,3736 04616 TC BANKCALL
041309,001271: 14,3737 20477 CADR GOFLASH
041310,001272: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041311,001273: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041312,001274: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041313,001275:
041314,001276: 14,3743 00006 EXTEND
041315,001277: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041316,001278: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041317,001279: 14,3746 52011 DXCH 8D
041318,001280: 14,3747 06042 TC INTPRET
041319,001281: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041320,001282: 14,3751 10530 OANB # SCAXIS IN NB COORDS
041321,001283: 14,3752 45034 RTB CALL
041322,001284: 14,3753 21574 LOADTIME
041323,001285: 14,3754 32500 PLANET
041324,001286: 14,3755 53521 MXV UNIT
041325,001287: 14,3756 01732 REFSMMAT
041326,001288: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041327,001289:
041328,001290: 14,3760 77776 EXIT
041329,001291: 14,3761 04616 TC BANKCALL
041330,001292: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041331,001293:
041332,001294: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041333,001295: 14,3764 70734 MASK STARCODE
041334,001296: 14,3765 00006 EXTEND
041335,001297: 14,3766 13701 BZF R52A
041336,001298:
041337,001299: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041338,001300: 14,3770 77650 GOTO
041339,001301: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041340,001302:
041341,001303: 14,3772 05253 1/6TH DEC .1666667
041342,001304: 14,3773 00306 V01N70 VN 0170
041343,001305: 14,3774 01527 V06N87 VN 687
041344,001306:
|
|
Page 949
|
041346,001308: # LUNAR SURFACE STAR AQUISITION
041347,001309:
041348,001310: 15,2270 BANK 15
041349,001311: 15,2000 SETLOC P50S
041350,001312: 15,2000 BANK
041351,001313: 15,2270 COUNT* $$/R59
041352,001314:
041353,001315: 15,2270 40077 R59 CS FLAGWRD3
041354,001316: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041355,001317: 15,2272 10000 CCS A
041356,001318: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041357,001319:
041358,001320: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041359,001321: 15,2275 04616 TC BANKCALL
041360,001322: 15,2276 20477 CADR GOFLASH
041361,001323: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
041362,001324: 15,2300 12302 TCF R59A # V33-PROCEED
041363,001325: 15,2301 12270 TCF R59 # V32-RECYCLE
041364,001326:
041365,001327: 15,2302 06042 R59A TC INTPRET
041366,001328: 15,2303 45034 RTB CALL
041367,001329: 15,2304 21574 LOADTIME
041368,001330: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
041369,001331: 15,2306 53521 MXV UNIT
041370,001332: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
041371,001333: 15,2310 77624 CALL
041372,001334: 15,2311 47623 CDU*SMNB
041373,001335: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041374,001336: 15,2313 77776 EXIT
041375,001337:
041376,001338: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041377,001339: 15,2315 55241 TS POSCODE
041378,001340:
041379,001341: 15,2316 E7,1551 EBANK= XYMARK
041380,001342: 15,2316 35016 INCAZ CA EBANK7
041381,001343: 15,2317 54003 TS EBANK
041382,001344:
041383,001345: 15,2320 51241 INDEX POSCODE
041384,001346: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041385,001347: 15,2322 54001 TS L
041386,001348:
041387,001349: 15,2323 E5,1642 EBANK= XSM
041388,001350: 15,2323 35014 CA EBANK5
041389,001351: 15,2324 54003 TS EBANK
041390,001352:
041391,001353: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
041392,001354: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041393,001355: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041394,001356: 15,2330 50120 INDEX FIXLOC
041395,001357: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041396,001358:
|
|
Page 950
|
041398,001360: 15,2332 06042 TC INTPRET
041399,001361: 15,2333 77624 CALL
041400,001362: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
041401,001363: 15,2335 50375 VLOAD DOT
041402,001364: 15,2336 02731 STAR # DOT STAR WITH OA
041403,001365: 15,2337 03765 SCAXIS
041404,001366: 15,2340 65552 SL1 ARCCOS
041405,001367: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041406,001368:
041407,001369: 15,2342 51025 DSU BPL
041408,001370: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041409,001371: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
041410,001372: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041411,001373: 15,2346 00031 24D
041412,001374: 15,2347 32476 DEG.5
041413,001375: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041414,001376: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
041415,001377: 15,2352 00031 24D # GET SPIRAL
041416,001378: 15,2353 42405 DMP SL4
041417,001379: 15,2354 11226 3/4 # 12 SCALED AT 16
041418,001380: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041419,001381:
041420,001382: 15,2356 03765 SCAXIS # OA
041421,001383: 15,2357 53435 VXV UNIT
041422,001384: 15,2360 24005 XUNIT
041423,001385: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
041424,001386: 15,2362 03765 SCAXIS
041425,001387: 15,2363 77676 VCOMP
041426,001388: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041427,001389: 15,2365 03765 SCAXIS
041428,001390: 15,2366 53435 VXV UNIT
041429,001391: 15,2367 02731 STAR
041430,001392: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041431,001393: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041432,001394: 15,2372 65552 SL1 ARCCOS
041433,001395: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
041434,001396:
041435,001397: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
041436,001398: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041437,001399: 15,2376 32403 R59D
041438,001400: 15,2377 32047 ABOUTONE
041439,001401: 15,2400 77625 DSU
041440,001402: 15,2401 00033 26D
041441,001403: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
041442,001404:
041443,001405: 15,2403 70535 R59D SLOAD SR1
041444,001406: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
041445,001407: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041446,001408: 15,2406 00033 26D
041447,001409: 15,2407 77634 RTB
|
|
Page 951
|
041449,001411: 15,2410 21615 1STO2S
041450,001412: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
041451,001413: 15,2412 00031 24D # LOAD SROT IN REVS
041452,001414: 15,2413 77615 DAD # 12(SEP) + YROT
041453,001415: 15,2414 77634 RTB
041454,001416: 15,2415 21615 1STO2S
041455,001417: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
041456,001418: 15,2417 77776 EXIT
041457,001419: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041458,001420:
041459,001421: 15,2421 77776 ZSPCR EXIT
041460,001422: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
041461,001423: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
041462,001424: 15,2424 55236 TS SPIRAL
041463,001425: 15,2425 12445 TCF 79DISP
041464,001426:
041465,001427: 15,2426 77776 NXAX EXIT
041466,001428: 15,2427 25241 INCR POSCODE
041467,001429: 15,2430 41241 CS POSCODE
041468,001430: 15,2431 64757 AD SEVEN
041469,001431: 15,2432 00006 EXTEND
041470,001432: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041471,001433: 15,2434 12316 TCF INCAZ
041472,001434:
041473,001435: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041474,001436: 15,2436 00404 OCT 404
041475,001437: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
041476,001438: 15,2440 04616 TC BANKCALL
041477,001439: 15,2441 20477 CADR GOFLASH
041478,001440: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
041479,001441: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041480,001442: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041481,001443:
041482,001444: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041483,001445: 15,2446 04616 TC BANKCALL
041484,001446: 15,2447 20477 CADR GOFLASH
041485,001447: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
041486,001448: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
041487,001449: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041488,001450:
041489,001451: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041490,001452: 15,2454 71241 MASK POSCODE
041491,001453: 15,2455 00006 EXTEND
041492,001454: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
041493,001455: 15,2457 47747 CS HIGH9
041494,001456: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041495,001457: 15,2461 60001 AD L
041496,001458: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
041497,001459:
041498,001460: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
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|
Page 952
|
041500,001462: 15,2464 16000 CADR AOTMARK
041501,001463: 15,2465 04616 TC BANKCALL
041502,001464: 15,2466 17716 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041503,001465: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
041504,001466: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041505,001467:
041506,001468: 15,2471 00306 V01N70* VN 170
041507,001469: 15,2472 01517 V06N79 VN 679
041508,001470: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041509,001471:
041510,001472: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041511,001473:
041512,001474: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041513,001475:
041514,001476: 15,2500 1235 CURSOR EQUALS GDT/2
041515,001477: 15,2500 1236 SPIRAL EQUALS GDT/2 +1
041516,001478: 15,2500 1241 POSCODE EQUALS GDT/2 +4
041517,001479:
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|
Page 953
|
041519,001481: # NAME - PLANET
041520,001482: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041521,001483: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041522,001484: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041523,001485: # BY DSDY INPUT
041524,001486: # CALL - CALL
041525,001487: # PLANET
041526,001488: # INPUT - TIME IN MPAC
041527,001489: # OUTPUT - VECTOR IN MPAC
041528,001490: # SUBROUTINES - LOCSAM
041529,001491: # DEBRIS - VAC ,STARAD - STARAD +17
041530,001492:
041531,001493: 15,2000 SETLOC P50S
041532,001494: 15,2000 BANK
041533,001495: 15,2500 COUNT* $$/R58
041534,001496:
041535,001497: 15,2500 03562 PLANET STORE TSIGHT
041536,001498: 15,2501 77420 STQ EXIT
041537,001499: 15,2502 02736 GCTR
041538,001500: 15,2503 47747 CS HIGH9
041539,001501: 15,2504 70734 MASK AOTCODE
041540,001502: 15,2505 00006 EXTEND
041541,001503: 15,2506 76245 MP REVCNT
041542,001504: 15,2507 56001 XCH L
041543,001505: 15,2510 51757 INDEX STARIND
041544,001506: 15,2511 55755 TS BESTI
041545,001507: 15,2512 10000 CCS A
041546,001508: 15,2513 12530 TCF NOTPLAN
041547,001509: 15,2514 32567 CAF VNPLANV
041548,001510: 15,2515 04616 TC BANKCALL
041549,001511: 15,2516 20477 CADR GOFLASH
041550,001512: 15,2517 02514 TC -3
041551,001513: 15,2520 02522 TC +2
041552,001514: 15,2521 02514 TC -5
041553,001515: 15,2522 06042 TC INTPRET
041554,001516: 15,2523 74375 VLOAD VXSC
041555,001517: 15,2524 02707 STARAD
041556,001518: 15,2525 32571 1/SQR3
041557,001519: 15,2526 52056 UNIT GOTO
041558,001520: 15,2527 02736 GCTR
041559,001521:
041560,001522: 15,2530 40000 NOTPLAN CS A
041561,001523: 15,2531 62566 AD DEC227
041562,001524: 15,2532 00006 EXTEND
041563,001525: 15,2533 62544 BZMF CALSAM1
041564,001526: 15,2534 51757 INDEX STARIND
041565,001527: 15,2535 31755 CA BESTI
041566,001528: 15,2536 50120 INDEX FIXLOC
041567,001529: 15,2537 54046 TS X1
041568,001530: 15,2540 06042 TC INTPRET
|
|
Page 954
|
041570,001532: 15,2541 52173 VLOAD* GOTO
041571,001533: 15,2542 30347 CATLOG,1
041572,001534: 15,2543 02736 GCTR
041573,001535: 15,2544 06042 CALSAM1 TC INTPRET
041574,001536: 15,2545 45145 CALSAM DLOAD CALL
041575,001537: 15,2546 03562 TSIGHT
041576,001538: 15,2547 30500 LOCSAM
041577,001539: 15,2550 77340 LXC,1 VLOAD
041578,001540: 15,2551 02757 STARIND
041579,001541: 15,2552 02707 VEARTH
041580,001542: 15,2553 24001 STOVL 0D
041581,001543: 15,2554 02715 VSUN
041582,001544: 15,2555 26707 STOVL VEARTH
041583,001545: 15,2556 00001 0D
041584,001546: 15,2557 02715 STORE VSUN
041585,001547: 15,2560 70143 DLOAD* LXC,1
041586,001548: 15,2561 02756 BESTI,1
041587,001549: 15,2562 00154 MPAC
041588,001550: 15,2563 52173 VLOAD* GOTO
041589,001551: 15,2564 02343 STARAD -228D,1
041590,001552: 15,2565 02736 GCTR
041591,001553: 15,2566 00343 DEC227 DEC 227 B-14
041592,001554: 15,2567 01530 VNPLANV VN 0688
041593,001555: 15,2570 37,3543 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041594,001556: 15,2570 22363 11623 1/SQR3 2DEC .57735021
041595,001557:
|
|
Page 955
|
041597,001559: # GRAVITY VECTOR DETERMINATION ROUTINE
041598,001560: # BY KEN VINCENT
041599,001561: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041600,001562: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041601,001563: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041602,001564: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041603,001565: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041604,001566: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041605,001567: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041606,001568: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041607,001569: # READINGS.
041608,001570:
041609,001571: # CALL-
041610,001572: # TC BANKCALL
041611,001573: # CADR GVDETER
041612,001574: # INPUTS-
041613,001575: # PIPAS,CDUS
041614,001576: # OUTPUTS-
041615,001577: # STARSAV1 = UNIT GRAVITY
041616,001578: # GSAV = DITTO
041617,001579: # GRAVBIT = 1
041618,001580: # SUBROUTINES-
041619,001581: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041620,001582: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
041621,001583: # DEBRIS-
041622,001584: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041623,001585: 15,2572 32773 GVDETER CAF 42DEG
041624,001586: 15,2573 54321 TS THETAD
041625,001587: 15,2574 40000 COM
041626,001588: 15,2575 54322 TS THETAD +1
041627,001589: 15,2576 32774 CAF 35DEG
041628,001590: 15,2577 54323 TS THETAD +2
041629,001591: 15,2600 06042 TC INTPRET
041630,001592: 15,2601 45014 CLEAR CALL
041631,001593: 15,2602 01662 REFSMFLG
041632,001594: 15,2603 32677 LUNG
041633,001595: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041634,001596:
041635,001597: # DEFINE G COOR SYS
041636,001598: # -
041637,001599: # X UNIT G
041638,001600: # * - -
041639,001601: # M= Y = UNITEZSM * X )
041640,001602: # - - -
041641,001603: # Z UNIT(X * Y )
041642,001604: # THEN ROTATED SM WRT PRESENT IS
041643,001605:
041644,001606:
041645,001607: # 1, 0 , 0
041646,001608: # * *T * * *
|
|
Page 956
|
041648,001610: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041649,001611: # I J
041650,001612: # 0, 0 ,-1
041651,001613:
041652,001614: # ALSO NB WRT PRES SM IS
041653,001615:
041654,001616: # * * *
041655,001617: # XNB = NBSM I
041656,001618: # * *
041657,001619: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041658,001620:
041659,001621: 15,2000 SETLOC P50S
041660,001622: 15,2000 BANK
041661,001623: 15,2604 COUNT* $$/P57
041662,001624: 15,2604 66370 AXT,1 SSP # X1=18
041663,001625: 15,2605 00022 18D # S1= 6
041664,001626: 15,2606 00051 S1 # X2, -2
041665,001627: 15,2607 00006 6D
041666,001628: 15,2610 77744 LXC,2
041667,001629: 15,2611 00050 S1
041668,001630: 15,2612 45173 GRAVEL VLOAD* CALL
041669,001631: 15,2613 54000 XUNIT -6,2
041670,001632: 15,2614 47650 *NBSM* # SIN AND COS COMPUTED IN LUNG
041671,001633: 15,2615 06707 STORE XNB +18D,1
041672,001634: 15,2616 77775 VLOAD
041673,001635: 15,2617 02731 STAR
041674,001636: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041675,001637: 15,2621 00047 X2
041676,001638: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
041677,001639: 15,2623 71152 VSL2 LXC,2
041678,001640: 15,2624 00047 X2
041679,001641: 15,2625 63047 VSU* INCR,2
041680,001642: 15,2626 54000 XUNIT -6,2
041681,001643: 15,2627 00002 2D
041682,001644: 15,2630 06665 STORE XSM +18D,1
041683,001645: 15,2631 45100 TIX,1 CALL
041684,001646: 15,2632 32612 GRAVEL
041685,001647: 15,2633 47321 CALCGA
041686,001648: 15,2634 74575 VLOAD VSR1
041687,001649: 15,2635 02715 GOUT
041688,001650: 15,2636 36723 STCALL STARAD +12D
041689,001651: 15,2637 32677 LUNG
041690,001652: 15,2640 74575 VLOAD VSR1
041691,001653: 15,2641 02715 GOUT
041692,001654: 15,2642 53455 VAD UNIT
041693,001655: 15,2643 02723 STARAD +12D
041694,001656: 15,2644 02761 STORE STARSAV1
041695,001657: 15,2645 77641 DOT
041696,001658: 15,2646 02231 GSAV
041697,001659: 15,2647 65552 SL1 ACOS
|
|
Page 957
|
041699,001661: 15,2650 01045 STORE DSPTEM1
041700,001662: 15,2651 77776 EXIT
041701,001663: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041702,001664: 15,2653 00014 ADRES FREEFLAG
041703,001665:
041704,001666: 15,2654 32772 CA DISGRVER
041705,001667: 15,2655 04616 TC BANKCALL
041706,001668: 15,2656 20477 CADR GOFLASH
041707,001669: 15,2657 06001 TC GOTOPOOH
041708,001670: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
041709,001671: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041710,001672: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041711,001673:
041712,001674: 15,2663 05364 PROGRAV TC PHASCHNG
041713,001675: 15,2664 04024 OCT 04024
041714,001676:
041715,001677: 15,2665 06042 TC INTPRET
041716,001678: 15,2666 77775 VLOAD
041717,001679: 15,2667 02761 STARSAV1
041718,001680: 15,2670 02231 STORE GSAV
041719,001681: 15,2671 77776 EXIT
041720,001682: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041721,001683: 15,2673 70074 MASK FLAGWRD0
041722,001684: 15,2674 10000 CCS A
041723,001685: 15,2675 12572 TCF GVDETER # SET
041724,001686: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
041725,001687:
041726,001688: 15,2677 77220 LUNG STQ VLOAD
041727,001689: 15,2700 02745 QMIN
041728,001690: 15,2701 24007 ZEROVEC
041729,001691: 15,2702 02707 STORE GACC
041730,001692: 15,2703 77776 EXIT
041731,001693: 15,2704 05364 TC PHASCHNG
041732,001694: 15,2705 04024 OCT 04024
041733,001695:
041734,001696: 15,2706 06042 TC INTPRET
041735,001697: 15,2707 77624 CALL
041736,001698: 15,2710 31557 COARSE
041737,001699: 15,2711 77776 EXIT
041738,001700: 15,2712 32771 CA T/2SEC
041739,001701: 15,2713 55736 TS GCTR
041740,001702: 15,2714 37721 CA PRIO31
041741,001703: 15,2715 55074 TS 1/PIPADT
041742,001704: 15,2716 04616 TC BANKCALL
041743,001705: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041744,001706: 15,2720 05364 TC PHASCHNG
041745,001707: 15,2721 04024 OCT 04024
041746,001708:
041747,001709: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041748,001710: 15,2723 77543 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
|
|
Page 958
|
041750,001712: 15,2724 06042 TC INTPRET
041751,001713: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041752,001714: 15,2726 35000 CAF 2SECS
041753,001715: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041754,001716: 15,2730 02732 ADRES GRABGRAV
041755,001717:
041756,001718: 15,2731 05155 TC ENDOFJOB
041757,001719:
041758,001720: 15,2732 04674 GRABGRAV TC IBNKCALL
041759,001721: 15,2733 77543 CADR PIPSRINE
041760,001722: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041761,001723: 15,2735 05105 TC FINDVAC
041762,001724: 15,2736 E5,1706 EBANK= STARAD
041763,001725: 15,2736 02741 32065 2CADR ADDGRAV
041764,001726:
041765,001727:
041766,001728: 15,2740 05272 TC TASKOVER
041767,001729:
041768,001730: 15,2741 04616 ADDGRAV TC BANKCALL
041769,001731: 15,2742 15271 CADR 1/PIPA
041770,001732: 15,2743 25736 INCR GCTR
041771,001733: 15,2744 06042 TC INTPRET
041772,001734: 15,2745 53375 VLOAD VAD
041773,001735: 15,2746 00325 DELV
041774,001736: 15,2747 02707 GACC
041775,001737: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
041776,001738: 15,2751 50135 SLOAD BMN
041777,001739: 15,2752 02737 GCTR
041778,001740: 15,2753 32725 GREED
041779,001741: 15,2754 53575 VLOAD UNIT
041780,001742: 15,2755 02707 GACC
041781,001743: 15,2756 36731 STCALL STAR
041782,001744: 15,2757 47505 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041783,001745: 15,2760 77624 CALL # IN OUTPUT
041784,001746: 15,2761 47646 *SMNB*
041785,001747: 15,2762 02715 STORE GOUT
041786,001748: 15,2763 77776 EXIT
041787,001749: 15,2764 05364 TC PHASCHNG
041788,001750: 15,2765 04024 OCT 04024
041789,001751:
041790,001752: 15,2766 06042 QMINEXIT TC INTPRET
041791,001753: 15,2767 77650 GOTO
041792,001754: 15,2770 02745 QMIN
041793,001755: 15,2771 77753 T/2SEC DEC -20 B-14
041794,001756: 15,2772 01404 DISGRVER VN 0604
041795,001757: 15,2773 07357 42DEG OCT 07357
041796,001758: 15,2774 06211 35DEG OCT 06211
041797,001759:
|
|
Page 959
|
041799,001761: # NAME GYROTRIM
041800,001762:
041801,001763: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041802,001764: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041803,001765: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041804,001766:
041805,001767: # CALL CALL
041806,001768: # GYROTRIM
041807,001769:
041808,001770: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041809,001771: # CDUX,CDUY,CDUZ
041810,001772:
041811,001773: # OUTPUT - GYRO TORQUE PULSES
041812,001774:
041813,001775: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041814,001776: # IMPULSE,IMUSTALL
041815,001777: # - - - * * -
041816,001778: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
041817,001779: 15,2775 COUNT* $$/P57
041818,001780: 15,2775 71220 GYROTRIM STQ DLOAD
041819,001781: 15,2776 02745 QMIN
041820,001782: 15,2777 00322 THETAD
041821,001783: 15,3000 65325 PDDL PDDL
041822,001784: 15,3001 00324 THETAD +2
041823,001785: 15,3002 00323 THETAD +1
041824,001786: 15,3003 77666 VDEF
041825,001787: 15,3004 24766 STOVL CDUSPOT
041826,001788: 15,3005 24005 XUNIT
041827,001789: 15,3006 77624 CALL
041828,001790: 15,3007 47641 TRG*NBSM
041829,001791: 15,3010 26707 STOVL STARAD
041830,001792: 15,3011 24003 YUNIT
041831,001793: 15,3012 77624 CALL
041832,001794: 15,3013 47650 *NBSM*
041833,001795: 15,3014 36715 STCALL STARAD +6
041834,001796: 15,3015 47505 CDUTRIG
041835,001797: 15,3016 77624 CALL
041836,001798: 15,3017 20030 CALCSMSC
041837,001799: 15,3020 77775 VLOAD
041838,001800: 15,3021 02665 XNB
041839,001801: 15,3022 24007 STOVL 6D
041840,001802: 15,3023 02673 YNB
041841,001803: 15,3024 34015 STCALL 12D
041842,001804: 15,3025 47407 AXISGEN
041843,001805: 15,3026 77624 CALL
041844,001806: 15,3027 47215 CALCGTA
041845,001807: 15,3030 77776 JUSTTRIM EXIT
041846,001808: 15,3031 33040 CA GYRCDR
041847,001809: 15,3032 04616 TC BANKCALL
041848,001810: 15,3033 17307 CADR IMUPULSE
|
|
Page 960
|
041850,001812: 15,3034 04616 TC BANKCALL
041851,001813: 15,3035 17722 CADR IMUSTALL
041852,001814: 15,3036 05712 TC CURTAINS
041853,001815: 15,3037 12766 TCF QMINEXIT
041854,001816:
041855,001817: 15,3040 02737 GYRCDR ECADR OGC
041856,001818:
|
|
Page 961
|
041858,001820: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041859,001821:
041860,001822: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
041861,001823: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041862,001824: 15,3043 34753 1STAR CAF BIT1
041863,001825: 15,3044 55757 TS STARIND
041864,001826:
041865,001827: 15,3045 05364 TC PHASCHNG
041866,001828: 15,3046 04024 OCT 04024
041867,001829:
041868,001830: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041869,001831:
041870,001832: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041871,001833: 15,3051 00006 EXTEND
041872,001834: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
041873,001835:
041874,001836: 15,3053 05364 TC PHASCHNG
041875,001837: 15,3054 04024 OCT 04024
041876,001838:
041877,001839: 15,3055 06042 TC INTPRET
041878,001840: 15,3056 45145 DLOAD CALL
041879,001841: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
041880,001842: 15,3060 32500 PLANET
041881,001843: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041882,001844: 15,3062 33075 SURFLINE
041883,001845:
041884,001846: 15,3063 06042 ASTAR TC INTPRET
041885,001847: 15,3064 77775 VLOAD
041886,001848: 15,3065 02715 STARAD +6
041887,001849: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041888,001850: 15,3067 45145 DLOAD CALL
041889,001851: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
041890,001852: 15,3071 32500 PLANET
041891,001853: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041892,001854: 15,3073 77776 EXIT
041893,001855: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
041894,001856:
|
|
Page 962
|
041896,001858: # DO FINE OR COARSE ALIGNMENT OF IMU
041897,001859:
041898,001860: 15,3075 77131 SURFLINE SSP AXT,2
041899,001861: 15,3076 00052 S2
041900,001862: 15,3077 00006 6
041901,001863: 15,3100 00014 12D
041902,001864: 15,3101 64373 WRTDESIR VLOAD* MXV
041903,001865: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041904,001866: 15,3103 03607 XSMD
041905,001867: 15,3104 77656 UNIT
041906,001868: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
041907,001869: 15,3106 77773 VLOAD*
041908,001870: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041909,001871: 15,3110 10023 STORE 18D,2
041910,001872: 15,3111 43104 TIX,2 BON
041911,001873: 15,3112 33101 WRTDESIR
041912,001874: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041913,001875: 15,3114 33122 INITBY
041914,001876: 15,3115 77624 DOALIGN CALL
041915,001877: 15,3116 31250 R54 # DO CHKSDATA
041916,001878: 15,3117 77614 BOFF
041917,001879: 15,3120 00354 FREEFLAG
041918,001880: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041919,001881: 15,3122 77624 INITBY CALL
041920,001882: 15,3123 47407 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041921,001883: 15,3124 77624 CALL
041922,001884: 15,3125 47215 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041923,001885: 15,3126 77776 EXIT
041924,001886: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041925,001887: 15,3130 70104 MASK FLAGWRD8
041926,001888: 15,3131 10000 CCS A
041927,001889: 15,3132 13141 TCF 5DEGTEST
041928,001890: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041929,001891: 15,3134 04616 TC BANKCALL
041930,001892: 15,3135 20477 CADR GOFLASH
041931,001893: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
041932,001894: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041933,001895: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041934,001896:
041935,001897: 15,3141 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041936,001898: 15,3142 40175 VLOAD BOV
041937,001899: 15,3143 02740 OGC
041938,001900: 15,3144 33145 SURFSUP
041939,001901: 15,3145 02750 SURFSUP STORE OGCT
041940,001902: 15,3146 40141 V/SC BOV
041941,001903: 15,3147 30602 5DEGREES
041942,001904: 15,3150 33250 COATRIM
041943,001905: 15,3151 52131 SSP GOTO
041944,001906: 15,3152 02746 QMIN
041945,001907: 15,3153 33155 SURFDISP
|
|
Page 963
|
041947,001909: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041948,001910:
041949,001911: 15,3155 77776 SURFDISP EXIT
041950,001912: 15,3156 05364 TC PHASCHNG
041951,001913: 15,3157 04024 OCT 04024
041952,001914:
041953,001915: 15,3160 06042 TC INTPRET
041954,001916: 15,3161 75160 AXC,1 AXC,2
041955,001917: 15,3162 03606 XSMD
041956,001918: 15,3163 01731 REFSMMAT
041957,001919: 15,3164 45014 SET CALL
041958,001920: 15,3165 01462 REFSMFLG
041959,001921: 15,3166 31371 MATMOVE
041960,001922: 15,3167 77776 EXIT
041961,001923: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041962,001924: 15,3171 13173 TCF B2F8
041963,001925: 15,3172 13203 TCF P57POST +1
041964,001926:
041965,001927: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041966,001928: 15,3174 70104 MASK FLAGWRD8
041967,001929: 15,3175 10000 CCS A
041968,001930: 15,3176 13555 TCF P57JUMP # ITS SET
041969,001931: 15,3177 06042 TC INTPRET
041970,001932: 15,3200 77624 CALL
041971,001933: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041972,001934: 15,3202 77776 P57POST EXIT
041973,001935: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041974,001936: 15,3204 04616 TC BANKCALL
041975,001937: 15,3205 20624 CADR GOPERF1
041976,001938: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
041977,001939: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041978,001940: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041979,001941: 15,3211 61144 AD OPTION2
041980,001942: 15,3212 00006 EXTEND
041981,001943: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
041982,001944: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
041983,001945: 15,3215 05364 TC PHASCHNG # RESTART PLACE
041984,001946: 15,3216 04024 OCT 04024
041985,001947: 15,3217 06042 TC INTPRET
041986,001948: 15,3220 45175 VLOAD CALL # USE GNB
041987,001949: 15,3221 02231 GSAV
041988,001950: 15,3222 47636 CDU*NBSM # GO TO SM COORDS
041989,001951: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
041990,001952: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041991,001953: 15,3225 01463 LUNAFLAG
041992,001954: 15,3226 51515 PDVL ABVAL
041993,001955: 15,3227 02021 RLS
041994,001956: 15,3230 45561 VXSC STADR
041995,001957: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041996,001958: 15,3232 47014 CLEAR RTB
|
|
Page 964
|
041998,001960: 15,3233 00662 ERADFLAG
041999,001961: 15,3234 21574 LOADTIME
042000,001962: 15,3235 77624 CALL
042001,001963: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042002,001964: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
042003,001965: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042004,001966: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042005,001967: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
042006,001968: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
042007,001969: 15,3244 51642 R-TO-RP
042008,001970: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
042009,001971: 15,3246 77776 EXIT
042010,001972: 15,3247 16001 TCF GOTOPOOH # EXIT P57
042011,001973:
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|
Page 965
|
042013,001975: # COARSE AND FINE ALIGN IMU
042014,001976: 15,3250 75160 COATRIM AXC,1 AXC,2
042015,001977: 15,3251 02664 XDC
042016,001978: 15,3252 02642 XSM
042017,001979: 15,3253 77624 CALL
042018,001980: 15,3254 31371 MATMOVE
042019,001981: 15,3255 77624 CALL
042020,001982: 15,3256 47505 CDUTRIG
042021,001983: 15,3257 77624 CALL
042022,001984: 15,3260 20030 CALCSMSC
042023,001985: 15,3261 77624 CALL
042024,001986: 15,3262 47321 CALCGA
042025,001987: 15,3263 77414 BOFF EXIT
042026,001988: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042027,001989: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042028,001990: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
042029,001991: 15,3267 04616 TC BANKCALL
042030,001992: 15,3270 20477 CADR GOFLASH
042031,001993: 15,3271 06001 TC GOTOPOOH
042032,001994: 15,3272 13274 TCF +2
042033,001995: 15,3273 13266 TCF -5
042034,001996: 15,3274 05364 TC PHASCHNG
042035,001997: 15,3275 04024 OCT 04024
042036,001998:
042037,001999: 15,3276 06042 TC INTPRET
042038,002000: 15,3277 77624 CORSIT CALL
042039,002001: 15,3300 31557 COARSE
042040,002002: 15,3301 77624 CALL
042041,002003: 15,3302 31603 NCOARSE
042042,002004: 15,3303 77624 CALL
042043,002005: 15,3304 32775 GYROTRIM
042044,002006: 15,3305 77650 GOTO
042045,002007: 15,3306 33155 SURFDISP
042046,002008: 15,3307 01535 DISPGYRO VN 0693
042047,002009:
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|
Page 966
|
042049,002011: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042050,002012:
042051,002013: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042052,002014: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042053,002015:
042054,002016: 15,3312 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042055,002017: 15,3313 55144 TS OPTION2
042056,002018: 15,3314 34753 P57OPT CAF BIT1
042057,002019: 15,3315 04616 TC BANKCALL
042058,002020: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042059,002021: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
042060,002022: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
042061,002023: 15,3321 13314 TCF P57OPT # V32 RECYCLE
042062,002024:
042063,002025: 15,3322 05364 TC PHASCHNG
042064,002026: 15,3323 00014 OCT 00014
042065,002027: 15,3324 05155 TC ENDOFJOB
042066,002028:
042067,002029: 15,3325 31144 ALIGNOPT CA OPTION2
042068,002030: 15,3326 76250 MASK THREE
042069,002031: 15,3327 50000 INDEX A
042070,002032: 15,3330 13331 TCF +1
042071,002033: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
042072,002034: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
042073,002035: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042074,002036: 15,3334 06042 TC INTPRET # OPTION 3 REFSMMAT
042075,002037: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042076,002038: 15,3336 01731 REFSMMAT
042077,002039: 15,3337 03606 XSMD
042078,002040: 15,3340 77624 CALL
042079,002041: 15,3341 31371 MATMOVE
042080,002042: 15,3342 77650 GOTO
042081,002043: 15,3343 33404 PACKOPTN -1
042082,002044:
042083,002045: 15,3344 06042 TDISP TC INTPRET
042084,002046: 15,3345 77745 DLOAD
042085,002047: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042086,002048: 15,3347 01045 P57A STORE DSPTEM1
042087,002049: 15,3350 77776 EXIT
042088,002050: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042089,002051: 15,3352 04616 TC BANKCALL
042090,002052: 15,3353 20477 CADR GOFLASH
042091,002053: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
042092,002054: 15,3355 13357 TCF +2
042093,002055: 15,3356 13351 TCF P57AA # VB32-RECYCLE
042094,002056:
042095,002057: 15,3357 06042 TC INTPRET
042096,002058: 15,3360 65234 RTB PDDL
042097,002059: 15,3361 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042098,002060: 15,3362 01045 DSPTEM1
|
|
Page 967
|
042100,002062: 15,3363 65254 BZE PDDL
042101,002063: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
042102,002064: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042103,002065: 15,3366 01045 DSPTEM1
042104,002066: 15,3367 33374 P57C
042105,002067: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042106,002068: 15,3371 74335 STORE TIG # STORE IT IN TIG
042107,002069: 15,3372 36775 STCALL TALIGN
042108,002070: 15,3373 33376 P57D
042109,002071: 15,3374 45545 P57C DLOAD STADR
042110,002072: 15,3375 75002 STORE TALIGN
042111,002073: 15,3376 34041 P57D STCALL TDEC1
042112,002074: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042113,002075: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
042114,002076: 15,3401 00001 RATT
042115,002077: 15,3402 37607 STCALL XSMD
042116,002078: 15,3403 10765 LSORIENT
042117,002079: 15,3404 77776 EXIT
042118,002080: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042119,002081: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042120,002082: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042121,002083: 15,3410 34737 CAF REFSMBIT
042122,002084: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
042123,002085: 15,3412 10000 CCS A
042124,002086: 15,3413 34745 CAF BIT7 # SET
042125,002087: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
042126,002088: 15,3415 34753 CAF ATTFLBIT
042127,002089: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
042128,002090: 15,3417 10000 CCS A
042129,002091: 15,3420 34750 CAF BIT4 # SET
042130,002092: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
042131,002093: 15,3422 34750 CAF BIT4
042132,002094: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042133,002095:
042134,002096: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042135,002097: 15,3425 04616 TC BANKCALL
042136,002098: 15,3426 20477 CADR GOFLASH
042137,002099: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
042138,002100: 15,3430 13432 TCF +2 # V33-PROCEED
042139,002101: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
042140,002102:
042141,002103: 15,3432 34737 CAF REFSMBIT
042142,002104: 15,3433 70077 MASK FLAGWRD3
042143,002105: 15,3434 10000 CCS A
042144,002106: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042145,002107: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
042146,002108: 15,3437 70102 MASK FLAGWRD6
042147,002109: 15,3440 10000 CCS A
042148,002110: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042149,002111: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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|
Page 968
|
042151,002113: 15,3443 71144 MASK OPTION2
042152,002114: 15,3444 10000 CCS A
042153,002115: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042154,002116: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
042155,002117: 15,3447 00701 OCT 701
042156,002118: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042157,002119: 15,3451 04616 TC BANKCALL
042158,002120: 15,3452 20477 CADR GOFLASH
042159,002121: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
042160,002122: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
042161,002123: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
042162,002124:
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|
Page 969
|
042164,002126: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042165,002127:
042166,002128: 15,3456 40220 MFREF STQ SETPD
042167,002129: 15,3457 02746 QMAJ
042168,002130: 15,3460 00001 0
042169,002131: 15,3461 77634 RTB
042170,002132: 15,3462 21574 LOADTIME
042171,002133: 15,3463 27562 STOVL TSIGHT
042172,002134: 15,3464 03246 VEC1
042173,002135: 15,3465 41525 PDDL PUSH
042174,002136: 15,3466 03562 TSIGHT
042175,002137: 15,3467 77624 CALL
042176,002138: 15,3470 55720 RP-TO-R
042177,002139: 15,3471 27246 STOVL VEC1
042178,002140: 15,3472 03254 VEC2
042179,002141: 15,3473 65201 SETPD PDDL
042180,002142: 15,3474 00001 0
042181,002143: 15,3475 03562 TSIGHT
042182,002144: 15,3476 45006 PUSH CALL
042183,002145: 15,3477 55720 RP-TO-R
042184,002146: 15,3500 37254 STCALL VEC2
042185,002147: 15,3501 02746 QMAJ
042186,002148:
|
|
Page 970
|
042188,002150: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042189,002151: # STORE IN YNBSAV AND ZNBSAV
042190,002152:
042191,002153: 15,3502 45020 REFMF STQ CALL
042192,002154: 15,3503 02746 QMAJ
042193,002155: 15,3504 47505 CDUTRIG # GET SIN AND COS OF CDUS
042194,002156: 15,3505 40234 RTB SETPD
042195,002157: 15,3506 21574 LOADTIME
042196,002158: 15,3507 00001 0
042197,002159: 15,3510 37562 STCALL TSIGHT
042198,002160: 15,3511 20030 CALCSMSC # GET YNB IN SM
042199,002161: 15,3512 61375 VLOAD VXM
042200,002162: 15,3513 02673 YNB
042201,002163: 15,3514 01732 REFSMMAT # YNB TO REF
042202,002164: 15,3515 65256 UNIT PDDL
042203,002165: 15,3516 03562 TSIGHT
042204,002166: 15,3517 45006 PUSH CALL
042205,002167: 15,3520 51642 R-TO-RP
042206,002168: 15,3521 26237 STOVL YNBSAV # YNB TO MF
042207,002169: 15,3522 02701 ZNB
042208,002170: 15,3523 53505 VXM UNIT
042209,002171: 15,3524 01732 REFSMMAT # ZNB TO REF
042210,002172: 15,3525 41525 PDDL PUSH
042211,002173: 15,3526 03562 TSIGHT
042212,002174: 15,3527 77624 CALL
042213,002175: 15,3530 51642 R-TO-RP # ZNB TO MF
042214,002176: 15,3531 02245 STORE ZNBSAV
042215,002177: 15,3532 77614 SETGO
042216,002178: 15,3533 03036 ATTFLAG
042217,002179: 15,3534 02746 QMAJ
042218,002180:
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|
Page 971
|
042220,002182: # BRANCH TO ALIGNMENT OPTION
042221,002183:
042222,002184: 15,3535 06042 GETLMATT TC INTPRET
042223,002185: 15,3536 77624 CALL
042224,002186: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
042225,002187: 15,3540 77776 EXIT
042226,002188:
042227,002189: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042228,002190: 15,3542 00205 ADRES INITALGN
042229,002191: 15,3543 34753 CAF BIT1
042230,002192: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
042231,002193: 15,3545 10000 CCS A
042232,002194: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042233,002195:
042234,002196: 15,3547 05364 ATTCHK TC PHASCHNG
042235,002197: 15,3550 04024 OCT 04024
042236,002198:
042237,002199: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042238,002200: 15,3552 70102 MASK FLAGWRD6
042239,002201: 15,3553 10000 CCS A
042240,002202: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042241,002203: 15,3555 05364 P57JUMP TC PHASCHNG
042242,002204: 15,3556 04024 OCT 04024
042243,002205:
042244,002206: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
042245,002207: 15,3560 00205 ADRES INITALGN
042246,002208: 15,3561 36250 CAF THREE
042247,002209: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
042248,002210: 15,3563 50000 INDEX A
042249,002211: 15,3564 13565 TCF +1
042250,002212: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
042251,002213: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
042252,002214: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
042253,002215: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
042254,002216:
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|
Page 972
|
042256,002218: # OPTION 0, GET TWO ATTITUDE VECS
042257,002219:
042258,002220: 15,3571 06042 P57OPT0 TC INTPRET
042259,002221: 15,3572 77775 VLOAD
042260,002222: 15,3573 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042261,002223: 15,3574 27246 STOVL VEC1
042262,002224: 15,3575 02245 ZNBSAV
042263,002225: 15,3576 37254 STCALL VEC2
042264,002226: 15,3577 47505 CDUTRIG
042265,002227: 15,3600 77624 CALL
042266,002228: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042267,002229: 15,3602 77775 VLOAD
042268,002230: 15,3603 02673 YNB
042269,002231: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042270,002232: 15,3605 02701 ZNB
042271,002233: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042272,002234: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042273,002235: 15,3610 77650 GOTO
042274,002236: 15,3611 33075 SURFLINE
042275,002237:
042276,002238: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042277,002239:
042278,002240: 15,3612 06042 P57OPT1 TC INTPRET
042279,002241: 15,3613 53575 VLOAD UNIT
042280,002242: 15,3614 02021 RLS # LANDING SITE VEC
042281,002243: 15,3615 27246 STOVL VEC1
042282,002244: 15,3616 02245 ZNBSAV # Z ATTITUDE VEC
042283,002245: 15,3617 37254 STCALL VEC2
042284,002246: 15,3620 47505 CDUTRIG
042285,002247: 15,3621 77624 CALL
042286,002248: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042287,002249: 15,3623 45175 VLOAD CALL
042288,002250: 15,3624 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042289,002251: 15,3625 47636 CDU*NBSM
042290,002252: 15,3626 77650 GOTO
042291,002253: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
042292,002254:
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|
Page 973
|
042294,002256: # OPTION 2, GET TWO STAR SIGHTINGS
042295,002257:
042296,002258: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042297,002259:
042298,002260: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042299,002261:
042300,002262: 15,3631 06042 P57OPT3 TC INTPRET
042301,002263: 15,3632 53575 VLOAD UNIT
042302,002264: 15,3633 02021 RLS # LANDING SITE VEC
042303,002265: 15,3634 03246 STORE VEC1
042304,002266: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042305,002267: 15,3636 02231 GSAV # GRAVITY VEC NB
042306,002268: 15,3637 77624 CALL
042307,002269: 15,3640 47636 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042308,002270: 15,3641 36761 STCALL STARSAV1
042309,002271: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042310,002272: 15,3643 77776 EXIT
042311,002273: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042312,002274:
042313,002275: 15,3645 01206 VB05N06 VN 506
042314,002276:
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|
Page 974
|
042316,002278: # CHECK IMODES30 TO VARIFY IMU IS ON
042317,002279:
042318,002280: 15,3646 41277 IMUCHK CS IMODES30
042319,002281: 15,3647 74743 MASK BIT9
042320,002282: 15,3650 10000 CCS A # IS IMU ON
042321,002283: 15,3651 13655 TCF +4 # YES
042322,002284:
042323,002285: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
042324,002286: 15,3653 00210 OCT 210
042325,002287: 15,3654 06001 TC GOTOPOOH
042326,002288:
042327,002289: 15,3655 05515 TC UPFLAG
042328,002290: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
042329,002291:
042330,002292: 15,3657 04631 TC SWRETURN
042331,002293:
042332,002294: 04,2765 BANK 04
042333,002295: 04,2000 SETLOC AOTMARK2
042334,002296: 04,2000 BANK
042335,002297: 04,2765 COUNT* $$/P57
042336,002298:
042337,002299: 04,2765 77220 LSORIENT STQ VLOAD
042338,002300: 04,2766 02746 QMAJ
042339,002301: 04,2767 01555 RRECTCSM
042340,002302: 04,2770 47235 VXV VXV
042341,002303: 04,2771 01563 VRECTCSM
042342,002304: 04,2772 03607 XSMD
042343,002305: 04,2773 77656 UNIT
042344,002306: 04,2774 03623 STORE ZSMD
042345,002307: 04,2775 53435 VXV UNIT
042346,002308: 04,2776 03607 XSMD
042347,002309: 04,2777 37615 STCALL YSMD
042348,002310: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc