Source Code
![]() |
These source-code files were obtained by digitally photographing the
Colossus 237 program listing from the private collection of original
AGC developer Fred Martin, and then modifying pre-existing Colossus 249
(Apollo 9) source files to incorporate changes. Note that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968 |
030156,000002: # Copyright: Public domain.
030157,000003: # Filename: P51-P53.agc
030158,000004: # Purpose: Part of the source code for Colossus build 237.
030159,000005: # This is for the Command Module's (CM) Apollo Guidance
030160,000006: # Computer (AGC), we believe for Apollo 8.
030161,000007: # Assembler: yaYUL
030162,000008: # Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
030163,000009: # Website: www.ibiblio.org/apollo/index.html
030164,000010: # Page scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030165,000011: # Mod history: 2011-02-23 JL Adapted from corresponding Colossus 249 file.
030166,000012: # 2011-04-17 JL Removed temporary line.
030167,000013:
030168,000014: # # Page 690
030169,000015: # PROGRAM NAME- PROG52 DATE- NOV 30, 1966
030170,000016: # MOD NO- 2 LOG SECTION- P51-P53
030171,000017: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDISK REV 30
030172,000018:
030173,000019: # FUNCTIONAL DESCRIPTION-
030174,000020:
030175,000021: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030176,000022: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030177,000023:
030178,000024: # (A) PREFERRED ORIENTATION
030179,000025:
030180,000026: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND
030181,000027: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
030182,000028:
030183,000029: # (B) NOMINAL ORIENTATION
030184,000030:
030185,000031: # X = UNIT(Y x Z )
030186,000032: # -SM -SM -SM
030187,000033:
030188,000034: # Y = UNIT(V X R)
030189,000035: # -SM - -
030190,000036:
030191,000037: # Z = UNIT(-R)
030192,000038: # -SM -
030193,000039:
030194,000040: # WHERE_
030195,000041: # R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030196,000042: # -
030197,000043:
030198,000044: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030199,000045: # -
030200,000046:
030201,000047: # (C) RERSMMAT ORIENTATION
030202,000048:
030203,000049: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030204,000050: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HAS OCCURED
030205,000051: # SINCE THE LAST ALIGNMENT).
030206,000052:
030207,000053: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030208,000054: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030209,000055: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030210,000056: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS
030211,000057: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030212,000058: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030213,000059: # REQUESTED.
030214,000060:
030215,000061: # CALLING SEQUENCE-
030216,000062:
030217,000063: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030218,000064:
030219,000065: # # Page 691
030220,000066: # SUBROUTINES CALLED-
030221,000067:
030222,000068: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
030223,000069: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
030224,000070: # 3. GOPERF4 9. FLAGUP
030225,000071: # 4. MATMOVE 10. R56
030226,000072: # 5. GOFLASH 11. R51
030227,000073: # 6. S52.3 12. GOPERF3
030228,000074:
030229,000075: # NORMAL EXIT MODES-
030230,000076:
030231,000077: # EXITS TO ENDOFJOB
030232,000078:
030233,000079: # ALARM OR ABORT EXIT MODES-
030234,000080:
030235,000081: # NONE
030236,000082:
030237,000083: # OUTPUT-
030238,000084:
030239,000085: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
030240,000086: # 1. IMU ORIENTATION CODE
030241,000087: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030242,000088: # 3. TIME OF NEXT IGNITION
030243,000089: # 4. GIMBAL ANGLES
030244,000090: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030245,000091: # 6. PLEASE PERFORM P00
030246,000092: # THE MODE DISPLAY MAY BE CHANGED TO 20
030247,000093:
030248,000094: # ERASABLE INITIALIZATION REQUIRED-
030249,000095:
030250,000096: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030251,000097: # XSMD,YSMD,ZSMD.
030252,000098: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030253,000099:
030254,000100: # DEBRIS-
030255,000101:
030256,000102: # WORK AREA
030257,000103: ??????? 15,2000 P54 = PROG52
030258,000104: 33,3773 BANK 33
030259,000105: 15,2000 SETLOC P50S
030260,000106: 15,2000 BANK
030261,000107:
030262,000108: 15,2000 30,2000 SBANK= LOWSUPER
030263,000109: 15,2000 0002773 EBANK= SAC
030264,000110: 15,2000 COUNT 15/P52
030265,000111:
030266,000112: 15,2000 05301 PROG52 TC PHASCHNG
030267,000113: 15,2001 00254 OCT 00254
030268,000114: 15,2002 05447 TC DOWNFLAG
030269,000115: 15,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
030270,000116: # # Page 692
030271,000117: 15,2004 05447 TC DOWNFLAG
030272,000118: 15,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
030273,000119: 15,2006 04555 TC BANKCALL
030274,000120: 15,2007 17573 CADR R02BOTH # IMU STATUS CHECK
030275,000121: 15,2010 34707 CAF BIT4
030276,000122: 15,2011 70076 MASK STATE +2 # IS PFRATFLG SET(PREFERRED ORIENTATION)
030277,000123: 15,2012 10000 CCS A
030278,000124: 15,2013 02016 TC P52A # YES
030279,000125: 15,2014 34711 CAF BIT2 # NO
030280,000126: 15,2015 02017 TC P52A +1
030281,000127: 15,2016 34712 P52A CAF BIT1
030282,000128: 15,2017 55132 TS OPTION2
030283,000129: 15,2020 34712 P52B CAF BIT1
030284,000130: 15,2021 04555 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
030285,000131: 15,2022 21041 CADR GOPERF4R
030286,000132: 15,2023 04106 TC GOTOPOOH
030287,000133: 15,2024 02031 TC +5
030288,000134: 15,2025 02020 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
030289,000135: 15,2026 05301 TC PHASCHNG
030290,000136: 15,2027 00014 OCT 00014
030291,000137: 15,2030 05112 TC ENDOFJOB
030292,000138: 15,2031 31132 CA OPTION2
030293,000139: 15,2032 76214 MASK THREE
030294,000140: 15,2033 50000 INDEX A
030295,000141: 15,2034 02035 TC +1
030296,000142: 15,2035 02041 TC P52T # L.S.
030297,000143: 15,2036 02110 TC P52J # PREF
030298,000144: 15,2037 02041 TC P52T # NORM
030299,000145: 15,2040 12120 TCF P52C # REF
030300,000146: 15,2041 00006 P52T EXTEND
030301,000147: 15,2042 34714 DCA NEG0
030302,000148: 15,2043 53046 DXCH DSPTEM1
030303,000149: 15,2044 32155 CAF V06N34
030304,000150: 15,2045 04555 TC BANKCALL
030305,000151: 15,2046 20624 CADR GOFLASH
030306,000152: 15,2047 04106 TC GOTOPOOH
030307,000153: 15,2050 02052 TC +2
030308,000154: 15,2051 02044 TC -5
030309,000155: 15,2052 00006 EXTEND
030310,000156: 15,2053 31046 DCA DSPTEM1
030311,000157: 15,2054 00006 EXTEND
030312,000158: 15,2055 12057 BZF +2
030313,000159: 15,2056 12062 TCF +4
030314,000160:
030315,000161: 15,2057 00006 EXTEND
030316,000162: 15,2060 30025 DCA TIME2
030317,000163: 15,2061 53046 DXCH DSPTEM1
030318,000164: 15,2062 31132 CA OPTION2
030319,000165: 15,2063 74711 MASK BIT2
030320,000166: 15,2064 10000 CCS A
030321,000167: # # Page 693
030322,000168: 15,2065 12073 TCF +6 # NOM
030323,000169: 15,2066 06006 TC INTPRET # LS
030324,000170: 15,2067 77624 CALL
030325,000171: 15,2070 34506 P52LS
030326,000172: 15,2071 77650 GOTO
030327,000173: 15,2072 32100 P52D
030328,000174: 15,2073 06006 TC INTPRET
030329,000175: 15,2074 77745 DLOAD
030330,000176: 15,2075 01046 DSPTEM1
030331,000177: 15,2076 77624 CALL # COMPUTE NOMINAL IMU
030332,000178: 15,2077 34636 S52.3 # ORIENTATION
030333,000179: 15,2100 77624 P52D CALL # READ VEHICLE ATTITUDE AND
030334,000180: 15,2101 22256 S52.2 # COMPUTE GIMBAL ANGLES
030335,000181: 15,2102 77776 EXIT
030336,000182: 15,2103 32156 CAF VB06N22
030337,000183: 15,2104 04555 TC BANKCALL # DISPLAY GIMBAL ANGLES
030338,000184: 15,2105 20624 CADR GOFLASH
030339,000185: 15,2106 04106 TC GOTOPOOH
030340,000186: 15,2107 02113 TC +4 # PROCEED
030341,000187: 15,2110 06006 P52J TC INTPRET # RECYCLE- VEHICLE HAS BEEN MENUEVERED
030342,000188: 15,2111 77650 GOTO
030343,000189: 15,2112 32100 P52D
030344,000190: 15,2113 06006 TC INTPRET
030345,000191: 15,2114 77624 CALL # DO COARSE ALIGN
030346,000192: 15,2115 30763 CAL53A # ROUTINE
030347,000193: 15,2116 77414 SET EXIT
030348,000194: 15,2117 01462 REFSMFLG
030349,000195: 15,2120 34720 P52C CAF ALRM15
030350,000196: 15,2121 04555 TC BANKCALL
030351,000197: 15,2122 20751 CADR GOPERF1
030352,000198: 15,2123 04106 TC GOTOPOOH
030353,000199: 15,2124 02126 TC +2 # V33
030354,000200: 15,2125 02140 TC P52F # E
030355,000201: 15,2126 06006 TC INTPRET
030356,000202: 15,2127 43234 RTB DAD
030357,000203: 15,2130 45505 LOADTIME
030358,000204: 15,2131 32176 TSIGHT1
030359,000205: 15,2132 77624 CALL
030360,000206: 15,2133 30216 LOCSAM
030361,000207: 15,2134 77776 EXIT
030362,000208: 15,2135 04555 P52E TC BANKCALL # DO STAR SELECTION
030363,000209: 15,2136 30324 CADR PICAPAR
030364,000210: 15,2137 02145 TC P52I # 2 STARS NOT AVAILABLE
030365,000211: 15,2140 06006 P52F TC INTPRET # 2 STARS AVAILABLE
030366,000212: 15,2141 77624 CALL
030367,000213: 15,2142 30523 R51
030368,000214: 15,2143 77776 ENDP50S EXIT
030369,000215: 15,2144 04106 TC GOTOPOOH
030370,000216: 15,2145 05537 P52I TC ALARM
030371,000217: 15,2146 00405 OCT 405
030372,000218: # # Page 694
030373,000219: 15,2147 34743 CAF V05N09
030374,000220: 15,2150 04555 TC BANKCALL
030375,000221: 15,2151 20624 CADR GOFLASH
030376,000222: 15,2152 04106 TC GOTOPOOH
030377,000223: 15,2153 02140 TC P52F # PROCEED - DO FINE ALIGN-R51
030378,000224: 15,2154 02120 TC P52C # RECYCLE- VEHICLE HAS BEEN MANUEVERED
030379,000225: 15,2155 01442 V06N34 VN 00634
030380,000226: 15,2156 01426 VB06N22 VN 00622
030381,000227: 15,2157 4720 ALRM15 EQUALS OCT15
030382,000228: 16,2000 SETLOC P50S2
030383,000229: 16,2000 BANK
030384,000230: 16,2505 01531 V06N89* VN 0689
030385,000231: # NAME-P52LS
030386,000232: # FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030387,000233: # LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030388,000234: # THE KEYBOARD. TO COMPUTE THE LANDING SITE
030389,000235: # ORIENTATIION FOR P52 OR P54
030390,000236:
030391,000237: # LET:
030392,000238: # RLS = LANDING SITE VECTOR IN REF COORDINATES
030393,000239: # R = CSM POSITION VECTOR IN REF COORDINATES
030394,000240: # V = CSM VELOCITY VECTOR IN REF COORDINATES
030395,000241: # THEN THE LANDING SITE ORIENTATION IS:
030396,000242: # XSMD = UNIT(RLS)
030397,000243: # YSMD = UNIT(ZSMD*XSMD)
030398,000244: # ZSMD = UNIT((R*V)*RLS)
030399,000245: # CALL - CALL
030400,000246: # P52LS
030401,000247: # INPUTS- DSPTEM1=TIME OF ALIGNMENT
030402,000248: # RLS=LANDING SITE VECTOR IN MOON FIXED COORDINATES
030403,000249: # OUTPUTS- XSMD,YSMD,ZSMD
030404,000250: # SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030405,000251: # DEBRIS- VAC, SEE SUBROUTINES
030406,000252:
030407,000253: 16,2506 43020 P52LS STQ SET
030408,000254: 16,2507 00300 QMAJ
030409,000255: 16,2510 01463 LUNAFLAG
030410,000256: 16,2511 77745 DLOAD
030411,000257: 16,2512 01046 DSPTEM1
030412,000258: 16,2513 02607 STORE TSIGHT
030413,000259: 16,2514 43175 VLOAD SET
030414,000260: 16,2515 02026 RLS
030415,000261: 16,2516 00462 ERADFLAG
030416,000262: 16,2517 14001 STODL 0D
030417,000263: 16,2520 02607 TSIGHT
030418,000264: 16,2521 34007 STCALL 6D
030419,000265: 16,2522 55341 RP-TO-R
030420,000266: 16,2523 77742 VSR2
030421,000267: 16,2524 16152 STODL ALPHAV
030422,000268: 16,2525 02607 TSIGHT
030423,000269: # # Page 695
030424,000270: 16,2526 77624 CALL
030425,000271: 16,2527 26322 LAT-LONG
030426,000272: 16,2530 77624 CALL
030427,000273: 16,2531 61336 LLASRD
030428,000274: 16,2532 77776 EXIT
030429,000275: 16,2533 32505 LSDISP CAF V06N89*
030430,000276: 16,2534 04555 TC BANKCALL
030431,000277: 16,2535 20624 CADR GOFLASH
030432,000278: 16,2536 04106 TC GOTOPOOH
030433,000279: 16,2537 02541 TC +2
030434,000280: 16,2540 02533 TC LSDISP
030435,000281: 16,2541 06006 TC INTPRET
030436,000282: 16,2542 77624 CALL
030437,000283: 16,2543 61345 LLASRDA
030438,000284: 16,2544 45145 DLOAD CALL
030439,000285: 16,2545 02607 TSIGHT
030440,000286: 16,2546 26373 LALOTORV
030441,000287: 16,2547 53575 VLOAD UNIT
030442,000288: 16,2550 02152 ALPHAV
030443,000289: 16,2551 14307 STODL XSMD
030444,000290: 16,2552 02607 TSIGHT
030445,000291: 16,2553 34041 STCALL TDEC1
030446,000292: 16,2554 27022 CSMPREC
030447,000293: 16,2555 47375 VLOAD VXV
030448,000294: 16,2556 00001 RATT
030449,000295: 16,2557 00007 VATT
030450,000296: 16,2560 53435 VXV UNIT
030451,000297: 16,2561 00307 XSMD
030452,000298: 16,2562 00323 STORE ZSMD
030453,000299: 16,2563 53435 VXV UNIT
030454,000300: 16,2564 00307 XSMD
030455,000301: 16,2565 34315 STCALL YSMD
030456,000302: 16,2566 00300 QMAJ
030457,000303: 14,2000 SETLOC P50S1
030458,000304: 14,2000 BANK
030459,000305: # NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030460,000306:
030461,000307: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030462,000308: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030463,000309:
030464,000310: # CALLING SEQUENCE- CALL R52
030465,000311:
030466,000312: # INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030467,000313: # 2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030468,000314: # 3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030469,000315: # 4. LAT, LONG, AND ALT OF LANDMARK- INPUT THROUGH DSKY
030470,000316: # 5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030471,000317:
030472,000318: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
030473,000319:
030474,000320: # # Page 696
030475,000321: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
030476,000322: # 2. GOPERF1 8. GODSPR
030477,000323: # 3. GOFLASH 9. REFLASHR
030478,000324: # 4. R53 10. R52.2
030479,000325: # 5. ALARM 11. R52.3
030480,000326: # 6. SR52.1
030481,000327:
030482,000328: 14,2002 COUNT 15/R52
030483,000329:
030484,000330: 14,2002 43020 R52 STQ CLEAR
030485,000331: 14,2003 02576 SAVQR52
030486,000332: 14,2004 04265 ADVTRK
030487,000333: 14,2005 77776 R52VRB EXIT
030488,000334: 14,2006 00006 EXTEND
030489,000335: 14,2007 30036 DCA CDUT
030490,000336: 14,2010 53161 DXCH DESOPTT
030491,000337: 14,2011 06006 TC INTPRET
030492,000338: 14,2012 43131 SSP CLEAR
030493,000339: 14,2013 01304 OPTIND
030494,000340: 14,2014 00000 0
030495,000341: 14,2015 00271 R53FLAG
030496,000342: 14,2016 77776 EXIT
030497,000343: 14,2017 06006 R52A TC INTPRET
030498,000344: 14,2020 43014 SET BON
030499,000345: 14,2021 00073 TRUNFLAG
030500,000346: 14,2022 00705 TARG1FLG
030501,000347: 14,2023 30103 R52H
030502,000348: 14,2024 77414 CLEAR EXIT
030503,000349: 14,2025 03660 TERMIFLG
030504,000350: 14,2026 31314 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
030505,000351: 14,2027 00006 EXTEND
030506,000352: 14,2030 62131 BZMF R52M # MANUAL
030507,000353: 14,2031 04555 R52D TC BANKCALL # AGC
030508,000354: 14,2032 26176 CADR SR52.1
030509,000355: 14,2033 12161 TCF R52L # GR 90 DEGREES
030510,000356: 14,2034 12124 TCF R52J # GR 50 DEGREES
030511,000357: 14,2035 05435 TC UPFLAG # LS 50 DEGREES
030512,000358: 14,2036 00013 ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
030513,000359: 14,2037 34701 R52JA CAF BIT10 # IS THIS A LEM
030514,000360: 14,2040 70075 MASK STATE +1
030515,000361: 14,2041 10000 CCS A
030516,000362: 14,2042 02052 TC R52E # YES
030517,000363: 14,2043 34705 CAF BIT6 # NO, IS R53FLAG SET
030518,000364: 14,2044 70074 MASK STATE
030519,000365: 14,2045 10000 CCS A
030520,000366: 14,2046 12052 TCF R52E # YES
030521,000367: 14,2047 32151 CAF V06N92 # NO
030522,000368: 14,2050 04555 TC BANKCALL
030523,000369: 14,2051 20602 CADR GODSPR
030524,000370: 14,2052 31314 R52E CA SWSAMPLE # IS OSS IN CMC MODE
030525,000371: # # Page 697
030526,000372: 14,2053 00006 EXTEND
030527,000373: 14,2054 62065 BZMF R52F # NO
030528,000374: 14,2055 40074 CS STATE # YES- IS TRUNFLAG SET
030529,000375: 14,2056 74707 MASK BIT4
030530,000376: 14,2057 10000 CCS A
030531,000377: 14,2060 02063 TC +3 # NO
030532,000378: 14,2061 31775 CA PAC # YES
030533,000379: 14,2062 55160 TS DESOPTT
030534,000380: 14,2063 31773 CA SAC
030535,000381: 14,2064 55161 TS DESOPTS
030536,000382: 14,2065 34731 R52F CAF .5SEC # WAIT 1/2 SEC
030537,000383: 14,2066 04555 TC BANKCALL
030538,000384: 14,2067 01730 CADR DELAYJOB
030539,000385: 14,2070 34701 CAF BIT10
030540,000386: 14,2071 70075 MASK STATE +1
030541,000387: 14,2072 10000 CCS A
030542,000388: 14,2073 12104 TCF R52HA # YES, LEM
030543,000389: 14,2074 34674 CAF BIT15 # NO
030544,000390: 14,2075 70103 MASK STATE +7 # IS TERMIFLG SET
030545,000391: 14,2076 00006 EXTEND
030546,000392: 14,2077 12026 BZF R52C # NO
030547,000393: 14,2100 06006 R52Q TC INTPRET # YES
030548,000394: 14,2101 77650 GOTO
030549,000395: 14,2102 02576 SAVQR52
030550,000396: 14,2103 77776 R52H EXIT # LEM
030551,000397: 14,2104 04555 R52HA TC BANKCALL
030552,000398: 14,2105 76536 CADR R61CSM
030553,000399: 14,2106 30075 CA STATE +1
030554,000400: 14,2107 74706 MASK BIT5
030555,000401: 14,2110 00006 EXTEND # TRACKFLG
030556,000402: 14,2111 12100 BZF R52Q
030557,000403:
030558,000404: 14,2112 40075 CS STATE +1
030559,000405: 14,2113 74704 MASK BIT7 # UPDATFLG
030560,000406: 14,2114 10000 CCS A
030561,000407: 14,2115 12122 TCF R52SYNC
030562,000408:
030563,000409: 14,2116 30101 R52I CA STATE +5
030564,000410: 14,2117 74701 MASK BIT10
030565,000411: 14,2120 10000 CCS A
030566,000412: 14,2121 02031 TC R52D # PRFTRKAT = 1
030567,000413: 14,2122 32175 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
030568,000414: 14,2123 12066 TCF R52F +1
030569,000415:
030570,000416: 14,2124 05447 R52J TC DOWNFLAG # CLEAR TRUNFLAG
030571,000417: 14,2125 00013 ADRES TRUNFLAG # BIT 4 FLAG 0
030572,000418: 14,2126 05537 TC ALARM # SET 407 ALARM
030573,000419: 14,2127 00407 OCT 407
030574,000420: 14,2130 02037 TC R52JA
030575,000421: 14,2131 34705 R52M CAF BIT6 # IS R53FLAG SET
030576,000422: # # Page 698
030577,000423: 14,2132 70074 MASK STATE
030578,000424: 14,2133 10000 CCS A
030579,000425: 14,2134 02065 TC R52F # YES
030580,000426: 14,2135 00004 INHINT # NO
030581,000427: 14,2136 37661 CAF PRIO24
030582,000428: 14,2137 05042 TC FINDVAC
030583,000429: 14,2140 0002773 EBANK= SAC
030584,000430: 14,2140 02144 30065 2CADR R53JOB
030585,000431: 14,2142 00003 RELINT
030586,000432: 14,2143 12065 TCF R52F
030587,000433: 14,2144 06006 R53JOB TC INTPRET
030588,000434: 14,2145 77624 CALL
030589,000435: 14,2146 31327 R53
030590,000436: 14,2147 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030591,000437: 14,2150 05112 TC ENDOFJOB
030592,000438: 14,2151 01534 V06N92 VN 00692
030593,000439: 14,2152 01531 V06N89A VN 0689
030594,000440: 14,2153 10464 12470 SHAXIS 2DEC .5376381241 B-1
030595,000441:
030596,000442: 14,2155 00000 00000 2DEC 0 B-28
030597,000443: 14,2157 15373 11554 2DEC .8431766920 B-1
030598,000444: 14,2161 34701 R52L CAF BIT10 # IS THIS A LEM
030599,000445: 14,2162 70075 MASK STATE +1
030600,000446: 14,2163 10000 CCS A
030601,000447: 14,2164 02124 TC R52J # YES
030602,000448: 14,2165 32174 CAF OCT404
030603,000449: 14,2166 04555 TC BANKCALL
030604,000450: 14,2167 21671 CADR PRIOLARM
030605,000451: 14,2170 12176 TCF TERM52 # TERMINATE
030606,000452: 14,2171 12065 TCF R52F # PROCEED
030607,000453: 14,2172 12065 TCF R52F # NO PROVISION FOR NEW DATA
030608,000454: 14,2173 15112 TCF ENDOFJOB
030609,000455:
030610,000456: 14,2174 00404 OCT404 OCT 404
030611,000457:
030612,000458: 14,2175 00264 1.8SEC DEC 180 B-14
030613,000459:
030614,000460: 14,2176 05425 TERM52 TC CLEARMRK
030615,000461:
030616,000462: 14,2177 04555 TC BANKCALL # KILL MARK SYSTEM
030617,000463: 14,2200 16063 CADR MKRELEAS
030618,000464:
030619,000465: 14,2201 34714 CAF ZERO
030620,000466: 14,2202 55323 TS OPTCADR
030621,000467:
030622,000468: 14,2203 04555 TC BANKCALL # CLEAR OUT EXTENDED VERBS
030623,000469: # # Page 699
030624,000470: 14,2204 20464 CADR KLEENEX
030625,000471:
030626,000472: 14,2205 04106 TC GOTOPOOH # NO GO TO POO
030627,000473:
030628,000474: 14,2206 43020 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
030629,000475: 14,2207 02576 SAVQR52
030630,000476: 14,2210 04065 ADVTRK
030631,000477: 14,2211 43014 SET SET
030632,000478: 14,2212 01463 LUNAFLAG
030633,000479: 14,2213 00462 ERADFLAG
030634,000480: 14,2214 77650 GOTO
030635,000481: 14,2215 30005 R52VRB
030636,000482:
030637,000483: # # Page 700
030638,000484: # NAME -S50 ALIAS LOCSAM
030639,000485: # NAME- LOCSAM
030640,000486: # FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030641,000487: # IMU ALIGNMENT PROGRAMS
030642,000488: # DEFINE:
030643,000489: # RATT=POSITION VECTOR OF CM WRT PRIMARY BODY
030644,000490: # VATT=VELOCITY VECTOR OF CM WRT PRIMARY BODY
030645,000491: # RE =RADIUS OF EARTH
030646,000492: # RM =RADIUS OF MOON
030647,000493: # ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030648,000494: # WRT TO SUN OVER THE VELOCITY OF LIGHT
030649,000495: # REM =POSITION OF MOON WRT EARTH
030650,000496: # RES =POSITION OF SUN WRT EARTH
030651,000497: # C = VELOCITY OF LIGHT
030652,000498:
030653,000499:
030654,000500: # EARTH IS PRIMARY MOON IS PRIMARY
030655,000501: # - -
030656,000502: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
030657,000503:
030658,000504: # - -
030659,000505: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
030660,000506:
030661,000507: # - -
030662,000508: # VSUN = 1(RES) VSUN = 1(RES-REM)
030663,000509:
030664,000510: # -1
030665,000511: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
030666,000512:
030667,000513: # -1
030668,000514: # CMOON= COS 5 CMOON=COS(SIN CRM/RATT)+5)
030669,000515:
030670,000516:
030671,000517: # CSUN = COS 15 CSUN = COS 15
030672,000518:
030673,000519:
030674,000520: # VEL/C = VSUN X ECLIPOL + VATT/C
030675,000521:
030676,000522:
030677,000523:
030678,000524: # CALL - DLOAD CALL
030679,000525: # DESIRED TIME
030680,000526: # LOCSAM
030681,000527: # INPUTS - MPAC = TIME
030682,000528:
030683,000529: # OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030684,000530:
030685,000531: # SUBROUTINES- LSPOS,CSMCONIC
030686,000532:
030687,000533: # DEBRIS - VAC AREA,SEE SUBROUTINES
030688,000534:
030689,000535: # # Page 701
030690,000536: 14,2000 SETLOC P50S1
030691,000537: 14,2000 BANK
030692,000538:
030693,000539: 14,2216 COUNT* $$/S50
030694,000540:
030695,000541: 14,2216 14,2216 LOCSAM = S50
030696,000542: 14,2216 77620 S50 STQ
030697,000543: 14,2217 00300 QMAJ
030698,000544: 14,2220 36607 STCALL TSIGHT
030699,000545: 14,2221 54110 LSPOS
030700,000546: 14,2222 26752 STOVL VMOON
030701,000547: 14,2223 00003 2D
030702,000548: 14,2224 16744 STODL VSUN
030703,000549: 14,2225 02607 TSIGHT
030704,000550: 14,2226 34041 STCALL TDEC1
030705,000551: 14,2227 27045 CSMCONIC
030706,000552: 14,2230 61131 SSP TIX,2
030707,000553: 14,2231 00052 S2
030708,000554: 14,2232 00000 0
030709,000555: 14,2233 30256 MOONCNTR
030710,000556: 14,2234 52375 EARTCNTR VLOAD VSU
030711,000557: 14,2235 02752 VMOON
030712,000558: 14,2236 00001 RATT
030713,000559: 14,2237 77656 UNIT
030714,000560: 14,2240 26752 STOVL VMOON
030715,000561: 14,2241 00001 RATT
030716,000562: 14,2242 57456 UNIT VCOMP
030717,000563: 14,2243 16736 STODL VEARTH
030718,000564: 14,2244 32162 RSUBE
030719,000565: 14,2245 77624 CALL
030720,000566: 14,2246 30316 OCCOS
030721,000567: 14,2247 14017 STODL CEARTH
030722,000568: 14,2250 32200 CSS5
030723,000569: 14,2251 24023 STOVL CMOON
030724,000570: 14,2252 02744 VSUN
030725,000571: 14,2253 77656 UNIT
030726,000572: 14,2254 36744 STCALL VSUN
030727,000573: 14,2255 30303 ENDSAM
030728,000574: 14,2256 40575 MOONCNTR VLOAD VSR8
030729,000575: 14,2257 02752 VMOON
030730,000576: 14,2260 51362 VSR1 BVSU
030731,000577: 14,2261 02744 VSUN
030732,000578: 14,2262 77656 UNIT
030733,000579: 14,2263 26744 STOVL VSUN
030734,000580: 14,2264 02752 VMOON
030735,000581: 14,2265 53455 VAD UNIT
030736,000582: 14,2266 00001 RATT
030737,000583: 14,2267 77676 VCOMP
030738,000584: 14,2270 26736 STOVL VEARTH
030739,000585: # # Page 702
030740,000586: 14,2271 00001 RATT
030741,000587: 14,2272 57456 UNIT VCOMP
030742,000588: 14,2273 16752 STODL VMOON
030743,000589: 14,2274 32160 RSUBM
030744,000590: 14,2275 77624 CALL
030745,000591: 14,2276 30316 OCCOS
030746,000592: 14,2277 14023 STODL CMOON
030747,000593: 14,2300 32200 CSS5
030748,000594: 14,2301 24017 STOVL CEARTH
030749,000595: 14,2302 02744 VSUN
030750,000596: 14,2303 77635 ENDSAM VXV
030751,000597: 14,2304 32170 ECLIPOL
030752,000598: 14,2305 27474 STOVL VEL/C
030753,000599: 14,2306 00007 VATT
030754,000600: 14,2307 53361 VXSC VAD
030755,000601: 14,2310 32166 1/C
030756,000602: 14,2311 03474 VEL/C
030757,000603: 14,2312 17474 STODL VEL/C
030758,000604: 14,2313 32202 CSSUN
030759,000605: 14,2314 34021 STCALL CSUN
030760,000606: 14,2315 00300 QMAJ
030761,000607: 14,2316 70471 OCCOS DDV SR1
030762,000608: 14,2317 00045 36D
030763,000609: 14,2320 43336 ASIN DAD
030764,000610: 14,2321 32164 5DEGREES
030765,000611: 14,2322 70546 COS SR1
030766,000612: 14,2323 77616 RVQ
030767,000613: 15,2000 SETLOC P50S
030768,000614: 15,2000 BANK
030769,000615: 15,2157 00065 01265 RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
030770,000616: 15,2161 00302 24533 RSUBE 2DEC 6378166 B-29
030771,000617: 15,2163 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
030772,000618: 15,2165 00000 13143 1/C 2DEC .000042699 B-1 # *
030773,000619: 15,2167 00000 00000 ECLIPOL 2DEC 0 B-28 # *
030774,000620: 15,2171 77777 53231 2DEC -.00007896 B-1 # *
030775,000621: 15,2173 00001 17570 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
030776,000622: 15,2175 00001 16700 TSIGHT1 2DEC 24000 B-28
030777,000623: 15,2177 CEARTH = 14D
030778,000624: 15,2177 CSUN = 16D
030779,000625: 15,2177 CMOON = 18D
030780,000626: 15,2177 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
030781,000627: # # Page 703
030782,000628: 15,2201 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
030783,000629:
030784,000630: # # Page 704
030785,000631: # PROGRAM NAME - PICAPAR DATE DEC 20 66
030786,000632: # MOD 1 LOG SECTION P51-P53
030787,000633: # ASSEMBLY SUNDISK REV40
030788,000634: # BY KEN VINCENT
030789,000635:
030790,000636: # FUNCTION
030791,000637: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030792,000638: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030793,000639: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030794,000640: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030795,000641: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030796,000642: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030797,000643: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030798,000644: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030799,000645: # AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030800,000646: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030801,000647: # 33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030802,000648: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
030803,000649:
030804,000650: # CALLING SEQUENCE
030805,000651: # L TC BANKCALL
030806,000652: # L+1 CADR PICAPAR
030807,000653: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
030808,000654: # L+3 NORMAL RETURN
030809,000655:
030810,000656: # OUTPUT
030811,000657: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030812,000658: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
030813,000659:
030814,000660: # INITIALIZATION
030815,000661: # 1)A CALL TO LOCSAM MUST BE MADE
030816,000662: # 2)VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030817,000663: # SIGHTINGS.
030818,000664:
030819,000665: # DEBRIS
030820,000666: # WORK AREA
030821,000667: # X,Y,ZNB
030822,000668: # SINCDU,COSCDU
030823,000669: # STARAD - STAR +5
030824,000670: 15,2203 COUNT 14/PICAP
030825,000671:
030826,000672: 14,2000 SETLOC P50S1
030827,000673: 14,2000 BANK
030828,000674: 14,2324 04604 PICAPAR TC MAKECADR
030829,000675: 14,2325 55777 TS QMIN
030830,000676: 14,2326 06006 TC INTPRET
030831,000677: 14,2327 77624 CALL
030832,000678: 14,2330 47432 CDUTRIG
030833,000679: 14,2331 77624 CALL
030834,000680: 14,2332 34567 CALCSMSC
030835,000681: # # Page 705
030836,000682: 14,2333 77601 SETPD
030837,000683: 14,2334 00001 0
030838,000684: 14,2335 71214 SET DLOAD # VFLAG = 1
030839,000685: 14,2336 01465 VFLAG
030840,000686: 14,2337 11453 DPZERO
030841,000687: 14,2340 24303 STOVL BESTI
030842,000688: 14,2341 02714 XNB
030843,000689: 14,2342 63361 VXSC PDVL
030844,000690: 14,2343 30502 SIN33
030845,000691: 14,2344 02730 ZNB
030846,000692: 14,2345 74370 AXT,1 VXSC
030847,000693: 14,2346 00344 228D # X1 = 37 X 6 + 6
030848,000694: 14,2347 30504 COS33
030849,000695: 14,2350 77655 VAD
030850,000696: 14,2351 53505 VXM UNIT
030851,000697: 14,2352 01736 REFSMMAT
030852,000698: 14,2353 02760 STORE SAX # SAX = SHAFT AXIS
030853,000699: 14,2354 66331 SSP SSP # S1=S2=6
030854,000700: 14,2355 00051 S1
030855,000701: 14,2356 00006 6
030856,000702: 14,2357 00052 S2
030857,000703: 14,2360 00006 6
030858,000704: 14,2361 52100 PIC1 TIX,1 GOTO # MAJOR STAR
030859,000705: 14,2362 30364 PIC2
030860,000706: 14,2363 30513 PICEND
030861,000707: 14,2364 45173 PIC2 VLOAD* CALL
030862,000708: 14,2365 31751 CATLOG,1
030863,000709: 14,2366 30457 OCCULT
030864,000710: 14,2367 73014 BON LXA,2
030865,000711: 14,2370 01710 CULTFLAG
030866,000712: 14,2371 30361 PIC1
030867,000713: 14,2372 00046 X1
030868,000714: 14,2373 52104 PIC3 TIX,2 GOTO
030869,000715: 14,2374 30376 PIC4
030870,000716: 14,2375 30361 PIC1
030871,000717: 14,2376 45173 PIC4 VLOAD* CALL
030872,000718: 14,2377 46026 CATLOG,2
030873,000719: 14,2400 30457 OCCULT
030874,000720: 14,2401 76614 BON VLOAD*
030875,000721: 14,2402 01710 CULTFLAG
030876,000722: 14,2403 30373 PIC3
030877,000723: 14,2404 31751 CATLOG,1
030878,000724: 14,2405 45237 DOT* DSU
030879,000725: 14,2406 46026 CATLOG,2
030880,000726: 14,2407 30506 CSS66 # SEPERATION LESS THAN 66 DEG.
030881,000727: 14,2410 43240 BMN DAD
030882,000728: 14,2411 30373 PIC3
030883,000729: 14,2412 30510 CSS6640 # SEPERATION MORE THAN 40 DEG.
030884,000730: 14,2413 77644 BPL
030885,000731: 14,2414 30373 PIC3
030886,000732: # # Page 706
030887,000733: 14,2415 50373 VLOAD* DOT
030888,000734: 14,2416 31751 CATLOG,1
030889,000735: 14,2417 02760 SAX
030890,000736: 14,2420 50025 DSU BMN # MAJOR STAR IN CONE
030891,000737: 14,2421 30512 CSS33
030892,000738: 14,2422 30361 PIC1
030893,000739: 14,2423 50373 VLOAD* DOT
030894,000740: 14,2424 46026 CATLOG,2
030895,000741: 14,2425 02760 SAX
030896,000742: 14,2426 51025 DSU BPL
030897,000743: 14,2427 30512 CSS33
030898,000744: 14,2430 30433 STRATGY
030899,000745: 14,2431 77650 GOTO
030900,000746: 14,2432 30373 PIC3
030901,000747: 14,2433 77614 STRATGY BONCLR
030902,000748: 14,2434 01605 VFLAG
030903,000749: 14,2435 30452 NEWPAR
030904,000750: 14,2436 65120 XCHX,1 XCHX,2
030905,000751: 14,2437 00302 BESTI
030906,000752: 14,2440 00303 BESTJ
030907,000753: 14,2441 47773 STRAT VLOAD* DOT*
030908,000754: 14,2442 31751 CATLOG,1
030909,000755: 14,2443 46026 CATLOG,2
030910,000756: 14,2444 43006 PUSH BOFINV
030911,000757: 14,2445 01545 VFLAG
030912,000758: 14,2446 30436 STRAT -3
030913,000759: 14,2447 45345 DLOAD DSU
030914,000760: 14,2450 77644 BPL
030915,000761: 14,2451 30373 PIC3
030916,000762: 14,2452 67130 NEWPAR SXA,1 SXA,2
030917,000763: 14,2453 00302 BESTI
030918,000764: 14,2454 00303 BESTJ
030919,000765: 14,2455 77650 GOTO
030920,000766: 14,2456 30373 PIC3
030921,000767: 14,2457 51321 OCCULT MXV BVSU
030922,000768: 14,2460 02736 CULTRIX
030923,000769: 14,2461 00017 CSS
030924,000770: 14,2462 77654 BZE
030925,000771: 14,2463 30476 CULTED
030926,000772: 14,2464 75240 BMN SIGN
030927,000773: 14,2465 30476 CULTED
030928,000774: 14,2466 00160 MPAC +3
030929,000775: 14,2467 75240 BMN SIGN
030930,000776: 14,2470 30476 CULTED
030931,000777: 14,2471 00162 MPAC +5
030932,000778: 14,2472 43040 BMN CLRGO
030933,000779: 14,2473 30476 CULTED
030934,000780: 14,2474 01630 CULTFLAG
030935,000781: 14,2475 00052 QPRET
030936,000782: 14,2476 77614 CULTED SETGO
030937,000783: # # Page 707
030938,000784: 14,2477 01430 CULTFLAG
030939,000785: 14,2500 00052 QPRET
030940,000786: 14,2501 0000016 CSS = CEARTH
030941,000787: 14,2501 21150 25157 SIN33 2DEC .5376381241
030942,000788: 14,2503 32766 22713 COS33 2DEC .8431756920
030943,000789: 14,2505 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
030944,000790: 14,2507 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
030945,000791: 14,2511 06233 26112 CSS33 2DEC .197002688 # (COS(1/2(76))/4
030946,000792: 14,2513 77414 PICEND BOFF EXIT
030947,000793: 14,2514 01745 VFLAG
030948,000794: 14,2515 30517 PICGXT
030949,000795: 14,2516 02521 TC PICBXT
030950,000796: 14,2517 77776 PICGXT EXIT
030951,000797: 14,2520 25777 INCR QMIN
030952,000798: 14,2521 31777 PICBXT CA QMIN
030953,000799: 14,2522 04561 TC SWCALL
030954,000800: # V1 = 12D
030955,000801:
030956,000802: # # Page 708
030957,000803: # NAME-R51 FINE ALIGN
030958,000804: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSSMAT
030959,000805: # CALLING SEQ- CALL R51
030960,000806: # INPUT- BESTI,BESTJ(PAIR OF STAR NO )
030961,000807: # OUTPUT- GYRO TORQUE PULSES
030962,000808: # SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN)
030963,000809: 14,2523 COUNT 14/R51
030964,000810:
030965,000811: 14,2523 77776 R51 EXIT
030966,000812: 14,2524 34712 CAF BIT1
030967,000813: 14,2525 54304 TS STARIND
030968,000814: 14,2526 54301 TS MARKINDX
030969,000815: 14,2527 06006 R51.2 TC INTPRET
030970,000816: 14,2530 43014 R51.3 CLEAR CLEAR
030971,000817: 14,2531 00666 TARG2FLG
030972,000818: 14,2532 00665 TARG1FLG
030973,000819: 14,2533 77776 EXIT
030974,000820: 14,2534 05301 TC PHASCHNG
030975,000821: 14,2535 05024 OCT 05024 # RESTART GR 4 FOR R52 - R53
030976,000822: 14,2536 13000 OCT 13000
030977,000823: 14,2537 50304 INDEX STARIND
030978,000824: 14,2540 30302 CA BESTI
030979,000825: 14,2541 00006 EXTEND
030980,000826: 14,2542 72706 MP 1/6TH
030981,000827: 14,2543 54735 TS STARCODE
030982,000828: 14,2544 32705 CAF V01N70
030983,000829: 14,2545 04555 TC BANKCALL
030984,000830: 14,2546 20763 CADR GOFLASHR
030985,000831: 14,2547 04106 TC GOTOPOOH
030986,000832: 14,2550 02555 TC +5
030987,000833: 14,2551 02544 TC -5
030988,000834: 14,2552 36211 CAF SIX
030989,000835: 14,2553 05415 TC BLANKET
030990,000836: 14,2554 15112 TCF ENDOFJOB
030991,000837: 14,2555 06006 TC INTPRET
030992,000838: 14,2556 45034 RTB CALL
030993,000839: 14,2557 45505 LOADTIME
030994,000840: 14,2560 32363 PLANET
030995,000841: 14,2561 72131 SSP LXA,1
030996,000842: 14,2562 00051 S1
030997,000843: 14,2563 00000 0
030998,000844: 14,2564 00304 STARIND
030999,000845: 14,2565 77700 TIX,1
031000,000846: 14,2566 30571 R51ST
031001,000847: 14,2567 36617 STCALL STARSAV2 # 2ND STAR
031002,000848: 14,2570 30572 R51ST +1
031003,000849: 14,2571 02611 R51ST STORE STARSAV1 # 1ST STAR
031004,000850: 14,2572 77776 EXIT
031005,000851: 14,2573 41011 CS MODREG # IS THIS P54
031006,000852: 14,2574 62704 AD OCT66
031007,000853: # # Page 709
031008,000854: 14,2575 00006 EXTEND
031009,000855: 14,2576 12677 BZF R51B # YES
031010,000856: 14,2577 06006 TC INTPRET
031011,000857: 14,2600 77624 CALL
031012,000858: 14,2601 30002 R52 # AOP WILL MAKE CALLS TO SIGHTING
031013,000859: 14,2602 77624 R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
031014,000860: 14,2603 31273 SXTSM
031015,000861: 14,2604 02617 STORE STARSAV2
031016,000862: 14,2605 77776 EXIT
031017,000863: 14,2606 04555 TC BANKCALL
031018,000864: 14,2607 16063 CADR MKRELEAS
031019,000865: 14,2610 06006 TC INTPRET
031020,000866: 14,2611 45145 DLOAD CALL
031021,000867: 14,2612 02607 TSIGHT
031022,000868: 14,2613 32363 PLANET
031023,000869: 14,2614 77776 EXIT
031024,000870: 14,2615 10304 CCS STARIND
031025,000871: 14,2616 02664 TC R51.4
031026,000872: 14,2617 06006 TC INTPRET
031027,000873: 14,2620 53521 MXV UNIT
031028,000874: 14,2621 01736 REFSMMAT
031029,000875: 14,2622 02736 STORE STARAD
031030,000876: 14,2623 77776 EXIT
031031,000877: 14,2624 05301 TC PHASCHNG
031032,000878: 14,2625 05024 OCT 05024 # RESTART THIS GROUP 4 JOB
031033,000879: 14,2626 13000 OCT 13000 # WITH PRIORITY 13
031034,000880: 14,2627 06006 TC INTPRET
031035,000881: 14,2630 77775 VLOAD
031036,000882: 14,2631 02617 STARSAV2
031037,000883: 14,2632 24007 STOVL 6D
031038,000884: 14,2633 02611 STARSAV1
031039,000885: 14,2634 24015 STOVL 12D
031040,000886: 14,2635 02601 PLANVEC
031041,000887: 14,2636 36744 STCALL STARAD +6
031042,000888: 14,2637 30707 R54 # STAR DATA TEST
031043,000889: 14,2640 45014 BOFF CALL
031044,000890: 14,2641 00354 FREEFLAG
031045,000891: 14,2642 30650 R51K
031046,000892: 14,2643 47334 AXISGEN
031047,000893: 14,2644 77624 CALL
031048,000894: 14,2645 32203 R55 # GYRO TORQUE
031049,000895: 14,2646 77614 CLEAR
031050,000896: 14,2647 01273 PFRATFLG
031051,000897: 14,2650 77776 R51K EXIT
031052,000898: 14,2651 35660 CAF OCT14
031053,000899: 14,2652 04555 TC BANKCALL
031054,000900: 14,2653 20751 CADR GOPERF1
031055,000901: 14,2654 04106 TC GOTOPOOH
031056,000902: 14,2655 02657 TC +2 # V33
031057,000903: 14,2656 02661 TC +3
031058,000904: # # Page 710
031059,000905: 14,2657 04555 TC BANKCALL
031060,000906: 14,2660 32120 CADR P52C
031061,000907: 14,2661 06006 TC INTPRET
031062,000908: 14,2662 77650 GOTO
031063,000909: 14,2663 32143 ENDP50S
031064,000910: 14,2664 06006 R51.4 TC INTPRET
031065,000911: 14,2665 53521 MXV UNIT
031066,000912: 14,2666 01736 REFSMMAT
031067,000913: 14,2667 26601 STOVL PLANVEC
031068,000914: 14,2670 02617 STARSAV2
031069,000915: 14,2671 02611 STORE STARSAV1
031070,000916: 14,2672 77731 SSP
031071,000917: 14,2673 00305 STARIND
031072,000918: 14,2674 00000 0
031073,000919: 14,2675 77650 GOTO
031074,000920: 14,2676 30530 R51.3
031075,000921: 14,2677 06006 R51B TC INTPRET
031076,000922: 14,2700 77624 CALL
031077,000923: 14,2701 32252 R56
031078,000924: 14,2702 77650 GOTO
031079,000925: 14,2703 30602 R51A
031080,000926: 14,2704 00066 OCT66 OCT 00066
031081,000927: 14,2705 00306 V01N70 VN 0170
031082,000928: 14,2706 05253 1/6TH DEC .1666667
031083,000929:
031084,000930: # # Page 711
031085,000931: # NAME-R55 GYRO TORQUE
031086,000932: # FUNCTION-COMPUTE AND SEND GYRO PULSES
031087,000933: # CALLING SEQ- CALL R55
031088,000934: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031089,000935: # OUTPUT- GYRO PULSES
031090,000936: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031091,000937: 15,2000 SETLOC P50S
031092,000938: 15,2000 BANK
031093,000939: 15,2203 COUNT* $$/R55
031094,000940: 15,2203 77620 R55 STQ
031095,000941: 15,2204 02777 QMIN
031096,000942: 15,2205 77624 CALL
031097,000943: 15,2206 47140 CALCGTA
031098,000944: 15,2207 77776 PULSEM EXIT
031099,000945: 15,2210 32234 R55.1 CAF V06N93
031100,000946: 15,2211 04555 TC BANKCALL
031101,000947: 15,2212 20624 CADR GOFLASH
031102,000948: 15,2213 04106 TC GOTOPOOH
031103,000949: 15,2214 02216 TC R55.2
031104,000950: 15,2215 02231 TC R55RET
031105,000951: 15,2216 05301 R55.2 TC PHASCHNG
031106,000952: 15,2217 00314 OCT 00314
031107,000953: 15,2220 32235 CA R55CDR
031108,000954: 15,2221 04555 TC BANKCALL
031109,000955: 15,2222 17125 CADR IMUPULSE
031110,000956: 15,2223 04555 TC BANKCALL
031111,000957: 15,2224 17516 CADR IMUSTALL
031112,000958: 15,2225 05646 TC CURTAINS
031113,000959: 15,2226 05301 TC PHASCHNG
031114,000960: 15,2227 05024 OCT 05024
031115,000961: 15,2230 13000 OCT 13000
031116,000962: 15,2231 06006 R55RET TC INTPRET
031117,000963: 15,2232 77650 GOTO
031118,000964: 15,2233 02777 QMIN
031119,000965: 15,2234 01535 V06N93 VN 0693
031120,000966: 15,2235 02757 R55CDR ECADR OGC
031121,000967: 15,2236 14,2707 R54 = CHKSDATA
031122,000968: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
031123,000969: # MOD NO- 0 LOG SECTION- P51-P53
031124,000970: # MODIFICATION BY- LONSKE ASSEMBLY-
031125,000971:
031126,000972: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031127,000973: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031128,000974: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031129,000975:
031130,000976: # OS1 = OBSERVED STAR 1 VECTOR
031131,000977: # OS2 = OBSERVED STAR 2 VECTOR
031132,000978: # SS1 = STORED STAR 1 VECTOR
031133,000979: # SS2 = STORED STAR 2 VECTOR
031134,000980: # A1 = ARCCOS(OS1 - OS2)
031135,000981: # # Page 712
031136,000982: # A2 = ARCCOS(SS1 - SS2)
031137,000983: # A = ABS(2(A1 - A2))
031138,000984:
031139,000985: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE
031140,000986: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
031141,000987: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
031142,000988: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031143,000989: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031144,000990:
031145,000991: # ERASABLE INITIALIZATION REQUIRED -
031146,000992: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031147,000993: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031148,000994: # DEBRIS -
031149,000995: 14,2000 SETLOC P50S1
031150,000996: 14,2000 BANK
031151,000997: 14,2707 COUNT* $$/R50
031152,000998: 14,2707 43020 CHKSDATA STQ SET
031153,000999: 14,2710 02777 QMIN
031154,001000: 14,2711 00074 FREEFLAG
031155,001001: 14,2712 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
031156,001002: 14,2713 02735 STARAD
031157,001003:
031158,001004: 14,2714 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
031159,001005: 14,2715 00001 0,1
031160,001006: 14,2716 00007 6,1
031161,001007: 14,2717 65552 SL1 ACOS
031162,001008: 14,2720 00025 STORE THETA
031163,001009: 14,2721 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
031164,001010: 14,2722 00354 FREEFLAG
031165,001011: 14,2723 30733 CHKSD
031166,001012: 14,2724 00174 FREEFLAG # CLEAR FREEFLAG
031167,001013: 14,2725 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
031168,001014: 14,2726 00006 6D
031169,001015: 14,2727 00025 THETA
031170,001016: 14,2730 00023 STORE 18D
031171,001017: 14,2731 77650 GOTO
031172,001018: 14,2732 30714 CHKSB # RETURN TO CAL. 2ND ANGLE
031173,001019: 14,2733 45345 CHKSD DLOAD DSU
031174,001020: 14,2734 00025 THETA
031175,001021: 14,2735 00023 18D # COMPUTE POS DIFF
031176,001022: 14,2736 47046 ABS RTB
031177,001023: 14,2737 45541 SGNAGREE
031178,001024: 14,2740 01046 STORE NORMTEM1
031179,001025: 14,2741 77414 SET EXIT
031180,001026: 14,2742 00074 FREEFLAG
031181,001027: 14,2743 34714 CAF ZERO
031182,001028: 14,2744 04555 TC BANKCALL
031183,001029: 14,2745 20607 CADR CLEANDSP
031184,001030:
031185,001031: 14,2746 32762 CAF VB6N5
031186,001032: # # Page 713
031187,001033: 14,2747 04555 TC BANKCALL
031188,001034: 14,2750 20624 CADR GOFLASH
031189,001035: 14,2751 14106 TCF GOTOPOOH
031190,001036: 14,2752 02757 TC CHKSDA # PROCEED
031191,001037: 14,2753 06006 TC INTPRET
031192,001038: 14,2754 52014 CLEAR GOTO
031193,001039: 14,2755 00274 FREEFLAG
031194,001040: 14,2756 02777 QMIN
031195,001041: 14,2757 06006 CHKSDA TC INTPRET
031196,001042: 14,2760 77650 GOTO
031197,001043: 14,2761 02777 QMIN
031198,001044: 14,2762 01405 VB6N5 VN 605
031199,001045: # NAME - CAL53A
031200,001046: # NAME - CAL53A
031201,001047: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY.
031202,001048: # CALLING SEQUENCE - CALL CAL53A
031203,001049: # INPUT - PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031204,001050: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
031205,001051: # OUTPUT - THE IMU COORDINATES AT STORED IN REFSMMAT
031206,001052: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031207,001053: 14,2763 COUNT 14/R50
031208,001054:
031209,001055: 14,2763 45020 CAL53A STQ CALL
031210,001056: 14,2764 00035 29D
031211,001057: 14,2765 22256 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
031212,001058: 14,2766 66234 RTB SSP
031213,001059: 14,2767 32236 RDCDUS # READ CDUS
031214,001060: 14,2770 00051 S1
031215,001061: 14,2771 00001 1
031216,001062: 14,2772 40370 AXT,1 SETPD
031217,001063: 14,2773 00003 3
031218,001064: 14,2774 00005 4
031219,001065: 14,2775 70543 CALOOP DLOAD* SR1
031220,001066: 14,2776 01161 THETAD +3D,1
031221,001067: 14,2777 70523 PDDL* SR1
031222,001068: 14,3000 00005 4,1
031223,001069: 14,3001 51425 DSU ABS
031224,001070: 14,3002 45206 PUSH DSU
031225,001071: 14,3003 31060 DEGREE1
031226,001072: 14,3004 71240 BMN DLOAD
031227,001073: 14,3005 31034 CALOOP1
031228,001074: 14,3006 51025 DSU BPL
031229,001075: 14,3007 31061 DEG359
031230,001076: 14,3010 31034 CALOOP1
031231,001077: 14,3011 77776 COARFINE EXIT
031232,001078: 14,3012 04555 TC BANKCALL
031233,001079: 14,3013 16602 CADR IMUCOARS # PERFORM COARSE ALIGNMENT
031234,001080: 14,3014 04555 TC BANKCALL
031235,001081: 14,3015 17516 CADR IMUSTALL # REQUEST MODE SWITCH
031236,001082: 14,3016 05646 TC CURTAINS
031237,001083: # # Page 714
031238,001084: 14,3017 04555 TC BANKCALL
031239,001085: 14,3020 17012 CADR IMUFIN20
031240,001086: 14,3021 04555 TC BANKCALL
031241,001087: 14,3022 17516 CADR IMUSTALL
031242,001088: 14,3023 05646 TC CURTAINS # TEST FOR MALFUNCTION
031243,001089: 14,3024 06006 TC INTPRET
031244,001090: 14,3025 77234 RTB VLOAD
031245,001091: 14,3026 31270 SET1/PDT
031246,001092: 14,3027 11453 ZEROVEC
031247,001093: 14,3030 01472 STORE GCOMP
031248,001094: 14,3031 52014 SET GOTO
031249,001095: 14,3032 01060 DRIFTFLG
031250,001096: 14,3033 31036 FINEONLY
031251,001097: 14,3034 77700 CALOOP1 TIX,1
031252,001098: 14,3035 30775 CALOOP
031253,001099: 14,3036 75160 FINEONLY AXC,1 AXC,2
031254,001100: 14,3037 02671 XSM
031255,001101: 14,3040 01735 REFSMMAT
031256,001102: 14,3041 77624 CALL
031257,001103: 14,3042 31045 MATMOVE
031258,001104: 14,3043 77650 GOTO
031259,001105: 14,3044 00035 29D
031260,001106: 14,3045 77773 MATMOVE VLOAD* # TRANSFER MATRIX
031261,001107: 14,3046 00001 0,1
031262,001108: 14,3047 10001 STORE 0,2
031263,001109: 14,3050 77773 VLOAD*
031264,001110: 14,3051 00007 6D,1
031265,001111: 14,3052 10007 STORE 6D,2
031266,001112: 14,3053 77773 VLOAD*
031267,001113: 14,3054 00015 12D,1
031268,001114: 14,3055 10015 STORE 12D,2
031269,001115: 14,3056 77616 RVQ
031270,001116: 14,3057 00056 DEGREE1 DEC 46 B-14
031271,001117: 14,3060 37722 DEG359 DEC 16338 B-14
031272,001118: 15,2000 SETLOC P50S
031273,001119: 15,2000 BANK
031274,001120: 15,2236 00004 RDCDUS INHINT # READ CDUS
031275,001121: 15,2237 30032 CA CDUX
031276,001122: 15,2240 50120 INDEX FIXLOC
031277,001123: 15,2241 54001 TS 1
031278,001124: 15,2242 30033 CA CDUY
031279,001125: 15,2243 50120 INDEX FIXLOC
031280,001126: 15,2244 54002 TS 2
031281,001127: 15,2245 30034 CA CDUZ
031282,001128: 15,2246 50120 INDEX FIXLOC
031283,001129: 15,2247 54003 TS 3
031284,001130: 15,2250 00003 RELINT
031285,001131: 15,2251 06030 TC DANZIG
031286,001132: # NAME - GIMB
031287,001133: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
031288,001134: # # Page 715
031289,001135: # CALLING SEQUENCE - CALL GIMB
031290,001136: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031291,001137: # OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2
031292,001138: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031293,001139: 16,2000 SETLOC P50S2
031294,001140: 16,2000 BANK
031295,001141: 16,2567 COUNT 14/INFLT
031296,001142:
031297,001143: 16,2567 41345 CALCSMSC DLOAD DMP
031298,001144: 16,2570 00737 SINCDUY
031299,001145: 16,2571 00747 COSCDUZ
031300,001146: 16,2572 77676 DCOMP
031301,001147: 16,2573 70525 PDDL SR1
031302,001148: 16,2574 00741 SINCDUZ
031303,001149: 16,2575 41325 PDDL DMP
031304,001150: 16,2576 00745 COSCDUY
031305,001151: 16,2577 00747 COSCDUZ
031306,001152: 16,2600 76466 VDEF VSL1
031307,001153: 16,2601 02714 STORE XNB
031308,001154: 16,2602 41345 DLOAD DMP
031309,001155: 16,2603 00743 SINCDUX
031310,001156: 16,2604 00741 SINCDUZ
031311,001157: 16,2605 77752 SL1
031312,001158: 16,2606 00033 STORE 26D
031313,001159: 16,2607 77605 DMP
031314,001160: 16,2610 00737 SINCDUY
031315,001161: 16,2611 41325 PDDL DMP
031316,001162: 16,2612 00751 COSCDUX
031317,001163: 16,2613 00745 COSCDUY
031318,001164: 16,2614 77625 DSU
031319,001165: 16,2615 41325 PDDL DMP
031320,001166: 16,2616 00743 SINCDUX
031321,001167: 16,2617 00747 COSCDUZ
031322,001168: 16,2620 77676 DCOMP
031323,001169: 16,2621 41325 PDDL DMP
031324,001170: 16,2622 00751 COSCDUX
031325,001171: 16,2623 00737 SINCDUY
031326,001172: 16,2624 41325 PDDL DMP
031327,001173: 16,2625 00745 COSCDUY
031328,001174: 16,2626 00033 26D
031329,001175: 16,2627 55415 DAD VDEF
031330,001176: 16,2630 77772 VSL1
031331,001177: 16,2631 02730 STORE ZNB
031332,001178: 16,2632 76435 VXV VSL1
031333,001179: 16,2633 02714 XNB
031334,001180: 16,2634 02722 STORE YNB
031335,001181: 16,2635 77616 RVQ
031336,001182: # NAME - P51 - IMU ORIENTATION DETERMINATION
031337,001183: # MOD.NO.2 21 DEC 66 LOG SECTION - P51-P53
031338,001184: # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
031339,001185: # # Page 716
031340,001186: # FUNCTIONAL DESCRIPTION
031341,001187:
031342,001188: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031343,001189: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031344,001190: # THEN PROCESSED AS FOLLOWS.
031345,001191:
031346,001192: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031347,001193: # TRUNNION ANGLES, RESPECTIVELY. THEN,
031348,001194:
031349,001195: # -
031350,001196: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
031351,001197: # NB
031352,001198: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031353,001199:
031354,001200: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031355,001201:
031356,001202: # - T T T -
031357,001203: # V = Q *Q *Q *V , WHERE
031358,001204: # 1 2 3 NB
031359,001205:
031360,001206: # ( COS(IG) 0 -SIN(IG) )
031361,001207: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
031362,001208: # Q = ( 0 1 0 ), IG=INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
031363,001209: # 1 ( ) ROT AND CDULOGIC)
031364,001210: # ( SIN(IG) 0 COS(IG) )
031365,001211:
031366,001212:
031367,001213: # ( COS(MG) SIN(MG) 0 )
031368,001214: # ( )
031369,001215: # Q = (-SIN(MG) COS(MG) 0 ), MG=MIDDLE GIMBAL ANGLE
031370,001216: # 2 ( )
031371,001217: # ( 0 0 1 )
031372,001218:
031373,001219:
031374,001220: # ( 1 0 0 )
031375,001221: # ( )
031376,001222: # Q = ( 0 COS(OG) SIN(OG) ), OG=OUTER GIMBAL ANGLE
031377,001223: # 3 ( )
031378,001224: # ( 0 -SIN(OG) COS(OG) )
031379,001225:
031380,001226: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031381,001227:
031382,001228: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031383,001229:
031384,001230: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031385,001231: # - -
031386,001232: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031387,001233: # 1 2
031388,001234:
031389,001235: # DEFINE, - -
031390,001236: # # Page 717
031391,001237: # U = S
031392,001238: # A A1
031393,001239:
031394,001240: # - - -
031395,001241: # V = UNIT(S X S )
031396,001242: # A A1 A2
031397,001243:
031398,001244: # - - -
031399,001245: # W = U X V
031400,001246: # A A A
031401,001247: # AND
031402,001248: # - -
031403,001249: # U = S
031404,001250: # B B1
031405,001251:
031406,001252: # - - -
031407,001253: # V = UNIT(S X S )
031408,001254: # B B1 B2
031409,001255:
031410,001256: # - - -
031411,001257: # W = U X V
031412,001258: # B B B
031413,001259:
031414,001260: # THEN - - - -
031415,001261: # X = U *U + V *V + W *W
031416,001262: # B1 A B1 A B1 A
031417,001263:
031418,001264: # _ _ _ _ (REFSMMAT)
031419,001265: # Y = U *U + V *V + W *W
031420,001266: # B2 A B2 A B2 A
031421,001267:
031422,001268: # _ _ _ _
031423,001269: # Z = U *U + V *V + W *W
031424,001270: # B3 A B3 A B3 A
031425,001271:
031426,001272: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031427,001273:
031428,001274: # -
031429,001275: # S IN 6-11 OF THE VAC AREA
031430,001276: # A1
031431,001277:
031432,001278: # -
031433,001279: # S IN 12-17 OF THE VAC AREA
031434,001280: # A2
031435,001281:
031436,001282: # -
031437,001283: # S IN STARAD
031438,001284: # B1
031439,001285:
031440,001286: # -
031441,001287: # # Page 718
031442,001288: # S IN STARAD +6
031443,001289: # B2
031444,001290:
031445,001291: # CALLING SEQUENCE
031446,001292:
031447,001293: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031448,001294:
031449,001295: # SUBROUTINES CALLED.
031450,001296:
031451,001297: # GOPERF3
031452,001298: # GOPERF1R
031453,001299: # GODSPR
031454,001300: # IMUCOARS
031455,001301: # IMUFIN20
031456,001302: # R53
031457,001303: # SXTNB
031458,001304: # NBSM
031459,001305: # MKRELEAS
031460,001306: # CHKSDATA
031461,001307: # MATMOVE
031462,001308:
031463,001309: # ALARMS
031464,001310:
031465,001311: # NONE.
031466,001312: # ERASABLE INITIALIZATION
031467,001313:
031468,001314: # IMU ZERO FLAG SHOULD BE SET.
031469,001315:
031470,001316: # OUTPUT
031471,001317:
031472,001318: # REFSMMAT
031473,001319: # REFSMFLG
031474,001320:
031475,001321: # DEBRIS
031476,001322:
031477,001323: # WORK AREA
031478,001324: # STARAD
031479,001325: # STARIND
031480,001326: # BESTI
031481,001327: # BESTJ
031482,001328:
031483,001329: 14,2000 SETLOC P50S1
031484,001330: 14,2000 BANK
031485,001331: 14,3061 COUNT 14/P5153
031486,001332:
031487,001333: 14,3061 14,3061 P53 EQUALS P51
031488,001334: 14,3061 41320 P51 CS IMODES30
031489,001335: 14,3062 74702 MASK BIT9
031490,001336: 14,3063 10000 CCS A
031491,001337: 14,3064 03070 TC P51A
031492,001338: # # Page 719
031493,001339: 14,3065 05537 TC ALARM
031494,001340: 14,3066 00210 OCT 210
031495,001341: 14,3067 04106 TC GOTOPOOH
031496,001342: 14,3070 04555 P51A TC BANKCALL
031497,001343: 14,3071 17607 CADR R02ZERO
031498,001344:
031499,001345: 14,3072 34720 P51AA CAF PRFMSTAQ
031500,001346: 14,3073 04555 TC BANKCALL
031501,001347: 14,3074 20751 CADR GOPERF1
031502,001348: 14,3075 04106 TC GOTOPOOH # TERM.
031503,001349: 14,3076 03141 TC P51B # V 33
031504,001350: 14,3077 05301 TC PHASCHNG
031505,001351: 14,3100 05024 OCT 05024
031506,001352: 14,3101 13000 OCT 13000
031507,001353: 14,3102 34714 CAF P51ZERO
031508,001354: 14,3103 55155 TS THETAD # ZERO THE GIMBALS
031509,001355: 14,3104 55156 TS THETAD +1
031510,001356: 14,3105 55157 TS THETAD +2
031511,001357: 14,3106 33266 CAF V6N22
031512,001358: 14,3107 04555 TC BANKCALL
031513,001359: 14,3110 20577 CADR GODSPRET
031514,001360: 14,3111 33267 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
031515,001361: 14,3112 04555 TC BANKCALL
031516,001362: 14,3113 20577 CADR GODSPRET
031517,001363: 14,3114 04555 TC BANKCALL
031518,001364: 14,3115 16602 CADR IMUCOARS
031519,001365: 14,3116 04555 TC BANKCALL
031520,001366: 14,3117 17516 CADR IMUSTALL
031521,001367: 14,3120 05646 TC CURTAINS # CAGING OR BAD END
031522,001368: 14,3121 04555 TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031523,001369: 14,3122 17012 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
031524,001370: 14,3123 04555 TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031525,001371: 14,3124 17516 CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
031526,001372: 14,3125 05646 TC CURTAINS # UP.
031527,001373: 14,3126 06006 TC INTPRET
031528,001374: 14,3127 77234 RTB VLOAD
031529,001375: 14,3130 31270 SET1/PDT
031530,001376: 14,3131 11453 ZEROVEC
031531,001377: 14,3132 01472 STORE GCOMP
031532,001378: 14,3133 77414 SET EXIT
031533,001379: 14,3134 01060 DRIFTFLG
031534,001380: 14,3135 05301 TC PHASCHNG
031535,001381: 14,3136 05024 OCT 05024
031536,001382: 14,3137 13000 OCT 13000
031537,001383: 14,3140 13072 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
031538,001384: # # Page 720
031539,001385: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031540,001386:
031541,001387: 14,3141 05301 P51B TC PHASCHNG
031542,001388: 14,3142 00014 OCT 00014
031543,001389: 14,3143 06006 TC INTPRET
031544,001390: 14,3144 40331 SSP SETPD
031545,001391: 14,3145 00305 STARIND # INDEX-STAR 1 OR 2
031546,001392: 14,3146 00000 0
031547,001393: 14,3147 00001 0
031548,001394: 14,3150 77414 CLEAR EXIT
031549,001395: 14,3151 00666 TARG2FLG # SHOW START MARK-NOT LAND MARK
031550,001396: 14,3152 34712 CAF BIT1
031551,001397: 14,3153 54301 TS MARKINDX # INITIALIZE FOR ONE MARK
031552,001398:
031553,001399: 14,3154 05301 P51C TC PHASCHNG
031554,001400: 14,3155 05024 OCT 05024
031555,001401: 14,3156 13000 OCT 13000
031556,001402: 14,3157 05253 TC CHECKMM
031557,001403: 14,3160 00065 MM 53 B-14 # BACKUP PROGRAM
031558,001404: 14,3161 13167 TCF P51C.1 # NOT P53
031559,001405: 14,3162 06006 TC INTPRET
031560,001406: 14,3163 77624 CALL
031561,001407: 14,3164 32252 R56
031562,001408: 14,3165 77650 GOTO
031563,001409: 14,3166 31172 P51C.2
031564,001410: 14,3167 06006 P51C.1 TC INTPRET
031565,001411: 14,3170 77624 CALL
031566,001412: 14,3171 31327 R53 # SIGHTING ROUTINE
031567,001413: 14,3172 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
031568,001414: 14,3173 31273 SXTSM
031569,001415: 14,3174 77606 PUSH
031570,001416: 14,3175 53135 SLOAD BZE
031571,001417: 14,3176 00305 STARIND
031572,001418: 14,3177 31204 P51D
031573,001419: 14,3200 45575 VLOAD STADR
031574,001420: 14,3201 75160 STORE STARSAV2 # DOWNLINK
031575,001421: 14,3202 77650 GOTO
031576,001422: 14,3203 31212 P51E
031577,001423: 14,3204 45575 P51D VLOAD STADR
031578,001424: 14,3205 61166 STODL STARSAV1
031579,001425: 14,3206 02607 TSIGHT
031580,001426: 14,3207 77624 CALL
031581,001427: 14,3210 32363 PLANET
031582,001428: 14,3211 02601 STORE PLANVEC
031583,001429: 14,3212 77776 P51E EXIT
031584,001430: 14,3213 05301 TC PHASCHNG
031585,001431: 14,3214 05024 OCT 05024
031586,001432: 14,3215 13000 OCT 13000
031587,001433: 14,3216 04555 TC BANKCALL
031588,001434: 14,3217 16063 CADR MKRELEAS # ZERO MARKSTAT
031589,001435: # # Page 721
031590,001436: 14,3220 10304 CCS STARIND
031591,001437: 14,3221 13230 TCF P51F # STAR 2
031592,001438: 14,3222 05301 TC PHASCHNG
031593,001439: 14,3223 05024 OCT 05024
031594,001440: 14,3224 13000 OCT 13000
031595,001441: 14,3225 34712 CAF BIT1
031596,001442: 14,3226 54304 TS STARIND
031597,001443: 14,3227 13154 TCF P51C # GO DO SECOND STAR
031598,001444: 14,3230 05301 P51F TC PHASCHNG
031599,001445: 14,3231 05024 OCT 05024
031600,001446: 14,3232 13000 OCT 13000
031601,001447: 14,3233 06006 TC INTPRET
031602,001448: 14,3234 45145 DLOAD CALL
031603,001449: 14,3235 02607 TSIGHT
031604,001450: 14,3236 32363 PLANET
031605,001451: 14,3237 24015 STOVL 12D
031606,001452: 14,3240 02601 PLANVEC
031607,001453: 14,3241 24007 STOVL 6D
031608,001454: 14,3242 02611 STARSAV1
031609,001455: 14,3243 26736 STOVL STARAD
031610,001456: 14,3244 02617 STARSAV2
031611,001457: 14,3245 36744 STCALL STARAD +6
031612,001458: 14,3246 30707 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
031613,001459: 14,3247 77414 BON EXIT
031614,001460: 14,3250 00314 FREEFLAG
031615,001461: 14,3251 31253 P51G
031616,001462: 14,3252 03072 TC P51AA
031617,001463: 14,3253 77624 P51G CALL
031618,001464: 14,3254 47334 AXISGEN # COME BACK WITH REFSMMAT IN XDC
031619,001465: 14,3255 75160 AXC,1 AXC,2
031620,001466: 14,3256 02713 XDC
031621,001467: 14,3257 01735 REFSMMAT
031622,001468: 14,3260 45014 CLEAR CALL
031623,001469: 14,3261 01662 REFSMFLG
031624,001470: 14,3262 31045 MATMOVE
031625,001471: 14,3263 52014 SET GOTO
031626,001472: 14,3264 01462 REFSMFLG
031627,001473: 14,3265 32143 ENDP50S
031628,001474: 14,3266 4720 PRFMSTAQ = OCT15
031629,001475: 14,3266 4714 P51ZERO = ZERO
031630,001476: 14,3266 4715 P51FIVE = FIVE
031631,001477: 14,3266 01426 V6N22 VN 0622
031632,001478: 14,3267 12200 V41K VN 4100
031633,001479: 14,3270 30025 SET1/PDT CA TIME1
031634,001480: 14,3271 55074 TS 1/PIPADT
031635,001481: 14,3272 16030 TCF DANZIG
031636,001482:
031637,001483: # # Page 722
031638,001484: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031639,001485:
031640,001486: 14,3273 77620 SXTSM STQ
031641,001487: 14,3274 00300 QMAJ
031642,001488: 14,3275 70740 LXC,1 DLOAD*
031643,001489: 14,3276 01330 MARKSTAT
031644,001490: 14,3277 00001 0D,1
031645,001491: 14,3300 02607 STORE TSIGHT
031646,001492: 14,3301 66764 AXC,2 SLOAD*
031647,001493: 14,3302 00304 STARIND
031648,001494: 14,3303 46451 MKDNCDR,2
031649,001495: 14,3304 76764 AXC,2 VLOAD*
031650,001496: 14,3305 00154 MPAC
031651,001497: 14,3306 00001 0,1
031652,001498: 14,3307 10001 STORE 0,2
031653,001499: 14,3310 77743 DLOAD*
031654,001500: 14,3311 00006 5,1
031655,001501: 14,3312 10006 STORE 5,2
031656,001502: 14,3313 77624 CALL
031657,001503: 14,3314 46000 SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031658,001504: 14,3315 62150 LXA,1 INCR,1
031659,001505: 14,3316 01330 MARKSTAT
031660,001506: 14,3317 00002 2 # INCREMENT TO BASE ADR OF ICDU
031661,001507: 14,3320 45130 SXA,1 CALL
031662,001508: 14,3321 00050 S1
031663,001509: 14,3322 47541 NBSM # TRANSFORM LOS TO SM
031664,001510: 14,3323 77650 GOTO
031665,001511: 14,3324 00300 QMAJ
031666,001512: 14,3325 03674 MKDNCDR ECADR MARKDOWN
031667,001513: 14,3326 03502 ECADR MARK2DWN
031668,001514:
031669,001515: # # Page 723
031670,001516: # PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031671,001517: # MOD.NO.2 21 DEC 66
031672,001518: # MOD BY STURLAUGSON
031673,001519:
031674,001520: # FUNCTIONAL DESCRIPTIION:
031675,001521: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031676,001522: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031677,001523: # OCDUS) AND THE TIME OF THE MARK.
031678,001524:
031679,001525: # CALLING SEQUENCE
031680,001526: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031681,001527: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031682,001528:
031683,001529: # SUBROUTINES CALLED
031684,001530: # SXTMARK
031685,001531: # OPTSTALL
031686,001532: # GOFLASH
031687,001533:
031688,001534: # ERASABLE INITIALIZATION
031689,001535: # TARGET FLAG - STAR OR LANDMARK
031690,001536: # MARKINDX - NUMBER OF MARKS WANTED
031691,001537: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031692,001538: # OUTPUT
031693,001539: # MARKSTAT CONTAINS INDEX TO VACANT AREA WEHRE MARK DATA IS STORED
031694,001540: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031695,001541: # DEBRIS
031696,001542: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031697,001543: 14,2000 SETLOC RT53
031698,001544: 14,2000 BANK
031699,001545:
031700,001546: 14,3327 COUNT 14/R53
031701,001547:
031702,001548: 14,3327 43020 R53 STQ SET # SET SIGHTING MARK FLAG
031703,001549: 14,3330 03501 R53EXIT
031704,001550: 14,3331 00071 R53FLAG
031705,001551: 14,3332 77776 EXIT
031706,001552: 14,3333 30301 R53A CA MARKINDX # NUMBER OF MARKS
031707,001553: 14,3334 74716 MASK LOW3
031708,001554: 14,3335 04555 TC BANKCALL
031709,001555: 14,3336 16002 CADR SXTMARK
031710,001556: 14,3337 04555 TC BANKCALL
031711,001557: 14,3340 17512 CADR OPTSTALL
031712,001558: 14,3341 05646 TC CURTAINS
031713,001559: 14,3342 51330 INDEX MARKSTAT
031714,001560: 14,3343 10052 CCS QPRET # NUMNBER OF MARKS ACTUALLY DONE
031715,001561: 14,3344 13355 TCF R53B
031716,001562: 14,3345 13347 TCF +2 # ZERO
031717,001563: 14,3346 13347 TCF +1 # CCS HOLE
031718,001564: 14,3347 34714 CAF ZERO # HOUSEKEEP VAC AREA SAVE
031719,001565: 14,3350 57330 XCH MARKSTAT # AND MARKSTAT
031720,001566: # # Page 724
031721,001567: 14,3351 10000 CCS A
031722,001568: 14,3352 50000 INDEX A
031723,001569: 14,3353 54000 TS 0
031724,001570: 14,3354 13333 TCF R53A
031725,001571: 14,3355 05253 R53B TC CHECKMM
031726,001572: 14,3356 00026 MM 22 B-14
031727,001573: 14,3357 13361 TCF +2
031728,001574: 14,3360 13405 TCF R53D
031729,001575: 14,3361 05253 TC CHECKMM
031730,001576: 14,3362 00027 MM 23 B-14
031731,001577: 14,3363 13365 TCF R53C
031732,001578: 14,3364 13405 TCF R53D
031733,001579: 14,3365 33411 R53C CAF V01N71
031734,001580: 14,3366 04555 TC BANKCALL
031735,001581: 14,3367 20763 CADR GOFLASHR
031736,001582: 14,3370 04106 TC GOTOPOOH # TERM.
031737,001583: 14,3371 13376 TCF R53Z
031738,001584: 14,3372 03365 TC R53C # RECYCLE
031739,001585: 14,3373 36211 CAF SIX
031740,001586: 14,3374 05415 TC BLANKET
031741,001587: 14,3375 05112 TC ENDOFJOB
031742,001588: 14,3376 47713 R53Z CS HIGH9
031743,001589: 14,3377 70735 MASK STARCODE
031744,001590: 14,3400 00006 EXTEND
031745,001591: 14,3401 76211 MP SIGHTSIX
031746,001592: 14,3402 56001 XCH L
031747,001593: 14,3403 50304 INDEX STARIND
031748,001594: 14,3404 54302 TS BESTI
031749,001595: 14,3405 06006 R53D TC INTPRET
031750,001596: 14,3406 77614 R53OUT SETGO
031751,001597: 14,3407 03420 TERMIFLG # SET TERMINATE FOR R52
031752,001598: 14,3410 03501 R53EXIT
031753,001599: 14,3411 6211 SIGHTSIX = SIX
031754,001600: 14,3411 00307 V01N71 VN 0171
031755,001601:
031756,001602: # # Page 725
031757,001603: # NAME-S52.2
031758,001604: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031759,001605: # CALL- CALL S52.2
031760,001606: # INPUT- X,Y,ZSMD
031761,001607: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031762,001608: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031763,001609: 11,2000 SETLOC S52/2
031764,001610: 11,2000 BANK
031765,001611:
031766,001612: 11,2256 COUNT 13/S52.2
031767,001613: 11,2256 77620 S52.2 STQ
031768,001614: 11,2257 00300 QMAJ
031769,001615: 11,2260 77624 CALL
031770,001616: 11,2261 47432 CDUTRIG
031771,001617: 11,2262 77624 CALL
031772,001618: 11,2263 34567 CALCSMSC
031773,001619: 11,2264 66370 AXT,1 SSP
031774,001620: 11,2265 00022 18D
031775,001621: 11,2266 00051 S1
031776,001622: 11,2267 00006 6D
031777,001623: 11,2270 61373 S52.2A VLOAD* VXM
031778,001624: 11,2271 02736 XNB +18D,1
031779,001625: 11,2272 01736 REFSMMAT
031780,001626: 11,2273 77656 UNIT
031781,001627: 11,2274 06736 STORE XNB +18D,1
031782,001628: 11,2275 77700 TIX,1
031783,001629: 11,2276 22270 S52.2A
031784,001630: 11,2277 75160 S52.2.1 AXC,1 AXC,2
031785,001631: 11,2300 00306 XSMD
031786,001632: 11,2301 02671 XSM
031787,001633: 11,2302 77624 CALL
031788,001634: 11,2303 31045 MATMOVE
031789,001635: 11,2304 77624 CALL
031790,001636: 11,2305 47244 CALCGA
031791,001637: 11,2306 77650 GOTO
031792,001638: 11,2307 00300 QMAJ
031793,001639:
031794,001640: # # Page 726
031795,001641: # PROGRAM NAME - SR52.1 DATE DEC 20 66
031796,001642: # MOD 1 LOG SEC P51-P53
031797,001643: # BY KEN VINCENT ASSEMBLY SUNDISK REV 40
031798,001644:
031799,001645: # FUNCTION
031800,001646: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031801,001647: # LEM, STAR, OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031802,001648: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS
031803,001649: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
031804,001650: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031805,001651: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
031806,001652: # COMMON PART OF THIS PROGRAM.
031807,001653: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031808,001654: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031809,001655: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031810,001656: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031811,001657: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031812,001658: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031813,001659: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031814,001660: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
031815,001661: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031816,001662: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031817,001663: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
031818,001664: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031819,001665:
031820,001666: # CALLING SEQUENCE
031821,001667: # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031822,001668: # L TC BANKCALL
031823,001669: # L+1 CADR SR52.1
031824,001670: # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG
031825,001671: # L+3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
031826,001672: # L+4 NORMAL RETURN
031827,001673:
031828,001674: # OUTPUT
031829,001675: # SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031830,001676: # PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031831,001677:
031832,001678: # INITIALIZATION
031833,001679: # IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031834,001680: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031835,001681: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031836,001682: # ARE 6 TIMES STAR NUMBER.
031837,001683: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031838,001684: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031839,001685: # RADIUS
031840,001686:
031841,001687: # DEBRIS
031842,001688: # WORK AREA
031843,001689: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
031844,001690: 11,2310 COUNT* $$/SR521
031845,001691: # # Page 727
031846,001692: 13,2000 SETLOC SR52/1
031847,001693: 13,2000 BANK
031848,001694:
031849,001695: 13,2176 04604 SR52.1 TC MAKECADR
031850,001696: 13,2177 55777 TS QMIN
031851,001697: 13,2200 06006 TC INTPRET
031852,001698: 13,2201 43234 RTB DAD
031853,001699: 13,2202 45505 LOADTIME
031854,001700: 13,2203 26317 1.3SECDP
031855,001701: 13,2204 02356 STORE AOPTIME
031856,001702: 13,2205 43014 BON BON
031857,001703: 13,2206 00705 TARG1FLG
031858,001704: 13,2207 26214 LEM52
031859,001705: 13,2210 00706 TARG2FLG
031860,001706: 13,2211 26224 LMK52
031861,001707: 13,2212 77650 GOTO
031862,001708: 13,2213 26245 STAR52
031863,001709: 13,2214 77745 LEM52 DLOAD
031864,001710: 13,2215 02356 AOPTIME
031865,001711: 13,2216 34041 STCALL TDEC1
031866,001712: 13,2217 27057 LEMCONIC
031867,001713: 13,2220 77775 VLOAD
031868,001714: 13,2221 00001 RATT
031869,001715: 13,2222 77650 GOTO
031870,001716: 13,2223 26234 LMKLMCOM
031871,001717: 13,2224 71214 LMK52 BON DLOAD
031872,001718: 13,2225 04305 ADVTRK
031873,001719: 13,2226 54000 ADVTRACK
031874,001720: 13,2227 02356 AOPTIME
031875,001721: 13,2230 77624 CALL
031876,001722: 13,2231 26373 LALOTORV
031877,001723: 13,2232 77775 VLOAD
031878,001724: 13,2233 02152 ALPHAV
031879,001725: 13,2234 16766 LMKLMCOM STODL STAR
031880,001726: 13,2235 02356 AOPTIME
031881,001727: 13,2236 34041 STCALL TDEC1
031882,001728: 13,2237 27045 CSMCONIC
031883,001729: 13,2240 52375 VLOAD VSU
031884,001730: 13,2241 02766 STAR
031885,001731: 13,2242 00001 RATT
031886,001732: 13,2243 52056 UNIT GOTO
031887,001733: 13,2244 26260 COM52
031888,001734: 13,2245 72131 STAR52 SSP LXA,1
031889,001735: 13,2246 00051 S1
031890,001736: 13,2247 00000 0
031891,001737: 13,2250 00304 STARIND
031892,001738: 13,2251 77700 TIX,1
031893,001739: 13,2252 26256 ST52ST
031894,001740: 13,2253 52175 VLOAD GOTO
031895,001741: 13,2254 02617 STARSAV2
031896,001742: # # Page 728
031897,001743: 13,2255 26260 COM52
031898,001744: 13,2256 77775 ST52ST VLOAD
031899,001745: 13,2257 02611 STARSAV1
031900,001746: 13,2260 53521 COM52 MXV UNIT
031901,001747: 13,2261 01736 REFSMMAT
031902,001748: 13,2262 02766 STORE STAR
031903,001749: 13,2263 45001 SETPD CALL
031904,001750: 13,2264 00001 0
031905,001751: 13,2265 47432 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
031906,001752: 13,2266 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES.
031907,001753: 13,2267 46034 CALCSXA
031908,001754: 13,2270 77414 BOFF EXIT
031909,001755: 13,2271 01750 CULTFLAG
031910,001756: 13,2272 26274 TRUN38
031911,001757: 13,2273 02312 TC SR52E1
031912,001758: 13,2274 45345 TRUN38 DLOAD DSU
031913,001759: 13,2275 02776 PAC
031914,001760: 13,2276 26315 38TRDEG
031915,001761: 13,2277 71244 BPL DLOAD
031916,001762: 13,2300 26305 SR52E22
031917,001763: 13,2301 02776 PAC
031918,001764: 13,2302 51025 DSU BPL
031919,001765: 13,2303 26321 20DEGSMN
031920,001766: 13,2304 26307 SR52E3
031921,001767: 13,2305 77776 SR52E22 EXIT
031922,001768: 13,2306 02311 TC SR52E2
031923,001769: 13,2307 77776 SR52E3 EXIT
031924,001770: 13,2310 25777 INCR QMIN
031925,001771: 13,2311 25777 SR52E2 INCR QMIN
031926,001772: 13,2312 31777 SR52E1 CA QMIN
031927,001773: 13,2313 04561 TC SWCALL
031928,001774: 13,2314 25252 25254 38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNION
031929,001775: 13,2316 00000 00202 1.3SECDP 2DEC 130 B-28
031930,001776: 13,2320 61740 20DEGSMN DEC -07199 B-14
031931,001777: 13,2321 77777 DEC -0 B-14
031932,001778:
031933,001779: # # Page 729
031934,001780: # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
031935,001781: # A POINT ON THE GROUND TRACK 60 DEGREES FORWARD OF THE LOCAL VERTICAL
031936,001782: # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
031937,001783:
031938,001784: 26,2000 SETLOC 26P50S
031939,001785: 26,2000 BANK
031940,001786: 26,2000 77601 ADVTRACK SETPD
031941,001787: 26,2001 00001 0
031942,001788: 26,2002 41575 VLOAD PUSH # INITIALIZE FOR RP-TO-R
031943,001789: 26,2003 15324 UNITZ # UZ VEC IN PD 0-5
031944,001790: 26,2004 41434 RTB PUSH # TIME IN PD 6-7
031945,001791: 26,2005 45505 LOADTIME
031946,001792: 26,2006 36356 STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
031947,001793: 26,2007 55341 RP-TO-R # GET MOON ROTATION VEC IN REF
031948,001794: 26,2010 16766 STODL STAR
031949,001795: 26,2011 02356 AOPTIME # PICK UP TIME
031950,001796: 26,2012 34041 STCALL TDEC1 # UPDATE STATE TO TIME
031951,001797: 26,2013 27045 CSMCONIC
031952,001798: 26,2014 47375 VLOAD VXV
031953,001799: 26,2015 00007 VATT
031954,001800: 26,2016 00001 RATT
031955,001801: 26,2017 77656 UNIT
031956,001802: 26,2020 24031 STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
031957,001803: 26,2021 00001 RATT
031958,001804: 26,2022 57456 UNIT VCOMP
031959,001805: 26,2023 41401 SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
031960,001806: 26,2024 00001 0
031961,001807: 26,2025 77776 EXIT
031962,001808: 26,2026 31751 CA LANDMARK
031963,001809: 26,2027 74716 MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
031964,001810: 26,2030 00006 EXTEND
031965,001811: 26,2031 74700 MP BIT11 # GET N/16
031966,001812: 26,2032 56001 XCH L
031967,001813: 26,2033 50120 INDEX FIXLOC
031968,001814: 26,2034 54036 TS 30D # TEMP STORE N/16
031969,001815: 26,2035 06006 TC INTPRET
031970,001816: 26,2036 41335 SLOAD DMP
031971,001817: 26,2037 00037 30D
031972,001818: 26,2040 14107 MPERIOD
031973,001819: 26,2041 36356 STCALL AOPTIME # ROTATE ANG ABOUT UR
031974,001820: 26,2042 54057 ROTA
031975,001821: 26,2043 77775 VLOAD
031976,001822: 26,2044 00031 24D # PICK UP 2ND ROTATION AXIS
031977,001823: 26,2045 16766 STODL STAR
031978,001824: 26,2046 14105 DP1/6
031979,001825: 26,2047 77625 DSU
031980,001826: 26,2050 02356 AOPTIME # 2ND RAT ANGLE = 60 - A
031981,001827: 26,2051 36356 STCALL AOPTIME
031982,001828: 26,2052 54057 ROTA # GO ROTATE 2ND TIME
031983,001829: 26,2053 77775 VLOAD
031984,001830: # # Page 730
031985,001831: 26,2054 00001 0
031986,001832: 26,2055 36766 STCALL STAR # STORE FINAL LOS IN STAR
031987,001833: 26,2056 26260 COM52 # RETURN TO SR52.1
031988,001834:
031989,001835: 26,2057 73545 ROTA DLOAD SIN
031990,001836: 26,2060 02356 AOPTIME
031991,001837: 26,2061 47315 PDVL VXV # PUSH 1/2SIN(A) PD 6-7
031992,001838: 26,2062 02766 STAR # UR VEC
031993,001839: 26,2063 00001 0 # LOS
031994,001840: 26,2064 72561 VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
031995,001841: 26,2065 50315 PDVL DOT
031996,001842: 26,2066 02766 STAR
031997,001843: 26,2067 00001 0
031998,001844: 26,2070 72561 VXSC VSL2
031999,001845: 26,2071 02766 STAR
032000,001846: 26,2072 71525 PDDL COS # 1/2(UR . LOS)UR 12-17
032001,001847: 26,2073 02356 AOPTIME
032002,001848: 26,2074 51315 PDVL BVSU # PUSH 1/2COS(A) 18-19
032003,001849: 26,2075 00015 12D
032004,001850: 26,2076 00001 0
032005,001851: 26,2077 76561 VXSC VSL1 # UP 18-19
032006,001852: 26,2100 53255 VAD VAD # UP 12-17 UP 6-11
032007,001853: 26,2101 40256 UNIT SETPD
032008,001854: 26,2102 00001 0
032009,001855: 26,2103 43406 PUSH RVQ
032010,001856:
032011,001857: 26,2104 05252 25251 DP1/6 2DEC .16666666
032012,001858: 26,2106 11446 02760 MPERIOD 2DEC .2992 # APPROX LUNAR ROT ANG IN 2HRS X 16
032013,001859:
032014,001860: # # Page 731
032015,001861: # NAME-S52.3
032016,001862: # FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032017,001863: # YSMD= UNIT(V X R)
032018,001864: # ZSMD= UNIT(-R)
032019,001865: # CALL DLOAD CALL
032020,001866: # TALIGN
032021,001867: # S52.3
032022,001868: # INPUT- TIME OF ALIGNMENT IN MPAC
032023,001869: # OUTPUT- X,Y,ZSMD
032024,001870: # SUBROUTINES- CSMCONIC
032025,001871: 16,2000 SETLOC P50S2
032026,001872: 16,2000 BANK
032027,001873:
032028,001874: 16,2636 COUNT 15/S52.3
032029,001875: 16,2636 77620 S52.3 STQ
032030,001876: 16,2637 00300 QMAJ
032031,001877: 16,2640 34041 STCALL TDEC1
032032,001878: 16,2641 27045 CSMCONIC
032033,001879: 16,2642 77601 SETPD
032034,001880: 16,2643 00001 0
032035,001881: 16,2644 57575 VLOAD VCOMP
032036,001882: 16,2645 00001 RATT
032037,001883: 16,2646 77656 UNIT
032038,001884: 16,2647 24323 STOVL ZSMD
032039,001885: 16,2650 00007 VATT
032040,001886: 16,2651 53435 VXV UNIT
032041,001887: 16,2652 00001 RATT
032042,001888: 16,2653 00315 STORE YSMD
032043,001889: 16,2654 53435 VXV UNIT
032044,001890: 16,2655 00323 ZSMD
032045,001891: 16,2656 34307 STCALL XSMD
032046,001892: 16,2657 00300 QMAJ
032047,001893:
032048,001894: # # Page 732
032049,001895: # PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032050,001896:
032051,001897: # FUNCTIONAL DESCRIPTION
032052,001898: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
032053,001899: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
032054,001900: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032055,001901: # IN N92.
032056,001902:
032057,001903: # CALLING SEQUENCE
032058,001904: # CALL
032059,001905: # R56
032060,001906:
032061,001907: # SUBROUTINES CALLED
032062,001908: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
032063,001909: # GOFLASH
032064,001910: # GOPERF1
032065,001911:
032066,001912: # ERASABLE INITIALIZATION
032067,001913: # STARIND-INDEX TO STAR NUMBER
032068,001914:
032069,001915: # OUTPUT
032070,001916: # MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032071,001917: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032072,001918: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032073,001919: # VAC +2 CDUY
032074,001920: # VAC +3 CDUS
032075,001921: # VAC +4 CDUZ
032076,001922: # VAC +5 CDUT
032077,001923: # VAC +6 CDUX
032078,001924:
032079,001925: 16,2660 COUNT* $$/R56
032080,001926: 15,2000 SETLOC P50S
032081,001927: 15,2000 BANK
032082,001928: 15,2252 77776 R56 EXIT
032083,001929: 15,2253 32362 CAF V06N94B
032084,001930: 15,2254 04555 TC BANKCALL
032085,001931: 15,2255 20624 CADR GOFLASH
032086,001932: 15,2256 04106 TC GOTOPOOH # TERM.
032087,001933: 15,2257 02261 TC R56A # PROCEED - ANGLES OK
032088,001934: 15,2260 02253 TC -5 # ENTER - NEW ANGLES
032089,001935: 15,2261 04555 R56A TC BANKCALL
032090,001936: 15,2262 16004 CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
032091,001937:
032092,001938: 15,2263 34714 CAF ZERO
032093,001939: 15,2264 04555 TC BANKCALL
032094,001940: 15,2265 20607 CADR CLEANDSP
032095,001941:
032096,001942: 15,2266 32360 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
032097,001943: 15,2267 04555 TC BANKCALL
032098,001944: 15,2270 20470 CADR GOMARK2
032099,001945: # # Page 733
032100,001946: 15,2271 14106 TCF GOTOPOOH # V34-TERMINATE
032101,001947: 15,2272 12263 TCF R56A +2 # V33-DONT PROCEED-JUST ENTER TO MARK
032102,001948: 15,2273 06006 TC INTPRET
032103,001949: 15,2274 77745 DLOAD
032104,001950: 15,2275 03731 MRKBUF1 +3
032105,001951: 15,2276 16774 STODL SAC
032106,001952: 15,2277 03733 MRKBUF1 +5
032107,001953: 15,2300 02776 STORE PAC
032108,001954: 15,2301 77776 EXIT
032109,001955: 15,2302 00004 INHINT
032110,001956: 15,2303 00006 EXTEND
032111,001957: 15,2304 30025 DCA TIME2
032112,001958: 15,2305 51330 INDEX MARKSTAT
032113,001959: 15,2306 52001 DXCH 0
032114,001960: 15,2307 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
032115,001961: 15,2310 51330 INDEX MARKSTAT
032116,001962: 15,2311 54002 TS 2
032117,001963: 15,2312 31773 CA SAC
032118,001964: 15,2313 51330 INDEX MARKSTAT
032119,001965: 15,2314 54003 TS 3
032120,001966: 15,2315 30034 CA CDUZ
032121,001967: 15,2316 51330 INDEX MARKSTAT
032122,001968: 15,2317 54004 TS 4
032123,001969: 15,2320 31775 CA PAC
032124,001970: 15,2321 51330 INDEX MARKSTAT
032125,001971: 15,2322 54005 TS 5
032126,001972: 15,2323 30032 CA CDUX
032127,001973: 15,2324 51330 INDEX MARKSTAT
032128,001974: 15,2325 54006 TS 6
032129,001975: 15,2326 00003 RELINT
032130,001976: 15,2327 05425 TC CLEARMRK # ENABLE EXTENDED VERBS
032131,001977: 15,2330 34333 CAF OCT16
032132,001978: 15,2331 04555 TC BANKCALL
032133,001979: 15,2332 20751 CADR GOPERF1
032134,001980: 15,2333 04106 TC GOTOPOOH # TERM.
032135,001981: 15,2334 12336 TCF R56B # PROCEED-MARK COMPLETED
032136,001982: 15,2335 12263 TCF R56A +2 # RECYCLE - DO ANOTHER MARK - LIKE REJECT
032137,001983: 15,2336 34714 R56B CAF ZERO
032138,001984: 15,2337 04555 TC BANKCALL
032139,001985: 15,2340 20607 CADR CLEANDSP
032140,001986:
032141,001987: 15,2341 32361 CAF V01N71B
032142,001988: 15,2342 04555 TC BANKCALL
032143,001989: 15,2343 20624 CADR GOFLASH
032144,001990: 15,2344 04106 TC GOTOPOOH
032145,001991: 15,2345 02347 TC +2
032146,001992: 15,2346 12336 TCF R56B # RECYCLE
032147,001993: 15,2347 47713 CS HIGH9
032148,001994: 15,2350 70735 MASK STARCODE
032149,001995: 15,2351 00006 EXTEND
032150,001996: # # Page 734
032151,001997: 15,2352 76211 MP SIX
032152,001998: 15,2353 56001 XCH L
032153,001999: 15,2354 50304 INDEX STARIND
032154,002000: 15,2355 54302 TS BESTI
032155,002001: 15,2356 06006 TC INTPRET
032156,002002: 15,2357 77616 RVQ
032157,002003: 15,2360 15200 VB53 VN 05300 # ALTERNATE MARK VERB
032158,002004: 15,2361 00307 V01N71B VN 00171
032159,002005: 15,2362 01536 V06N94B VN 00694
032160,002006: 15,2363 02607 PLANET STORE TSIGHT
032161,002007: 15,2364 45020 STQ CALL
032162,002008: 15,2365 02777 QMIN
032163,002009: 15,2366 30216 LOCSAM
032164,002010: 15,2367 77775 VLOAD
032165,002011: 15,2370 02736 VEARTH
032166,002012: 15,2371 24001 STOVL 0D
032167,002013: 15,2372 02744 VSUN
032168,002014: 15,2373 26736 STOVL VEARTH
032169,002015: 15,2374 00001 0D
032170,002016: 15,2375 02744 STORE VSUN
032171,002017: 15,2376 77776 NOSAM EXIT
032172,002018: 15,2377 47713 CS HIGH9
032173,002019: 15,2400 70735 MASK STARCODE
032174,002020: 15,2401 00006 EXTEND
032175,002021: 15,2402 76211 MP SIGHTSIX
032176,002022: 15,2403 56001 XCH L
032177,002023: 15,2404 50304 INDEX STARIND
032178,002024: 15,2405 54302 TS BESTI
032179,002025: 15,2406 10000 CCS A
032180,002026: 15,2407 12423 TCF NOTPLAN
032181,002027: 15,2410 32453 CAF VNPLANV
032182,002028: 15,2411 04555 TC BANKCALL
032183,002029: 15,2412 20624 CADR GOFLASH
032184,002030: 15,2413 04106 TC GOTOPOOH
032185,002031: 15,2414 02416 TC +2
032186,002032: 15,2415 02410 TC -5
032187,002033: 15,2416 06006 TC INTPRET
032188,002034: 15,2417 53575 VLOAD UNIT
032189,002035: 15,2420 02766 STAR
032190,002036: 15,2421 77650 GOTO
032191,002037: 15,2422 32446 CORPLAN
032192,002038: 15,2423 40000 NOTPLAN CS A
032193,002039: 15,2424 62452 AD DEC227
032194,002040: 15,2425 00006 EXTEND
032195,002041: 15,2426 62437 BZMF CALSAM1
032196,002042: 15,2427 50304 INDEX STARIND
032197,002043: 15,2430 30302 CA BESTI
032198,002044: 15,2431 50120 INDEX FIXLOC
032199,002045: 15,2432 54046 TS X1
032200,002046: 15,2433 06006 TC INTPRET
032201,002047: # # Page 735
032202,002048: 15,2434 52173 VLOAD* GOTO
032203,002049: 15,2435 31751 CATLOG,1
032204,002050: 15,2436 32446 CORPLAN
032205,002051: 15,2437 06006 CALSAM1 TC INTPRET
032206,002052: 15,2440 70740 LXC,1 DLOAD*
032207,002053: 15,2441 00304 STARIND
032208,002054: 15,2442 00303 BESTI,1
032209,002055: 15,2443 76740 LXC,1 VLOAD*
032210,002056: 15,2444 00154 MPAC
032211,002057: 15,2445 02372 STARAD -228D,1
032212,002058: 15,2446 53455 CORPLAN VAD UNIT
032213,002059: 15,2447 03474 VEL/C
032214,002060: 15,2450 77650 GOTO
032215,002061: 15,2451 02777 QMIN
032216,002062: 15,2452 00343 DEC227 DEC 227 B-14
032217,002063: 15,2453 01530 VNPLANV VN 0688
End of include-file P51-P53.agc. Parent file is MAIN.agc