Source Code

039037,000001: # Copyright: Public domain. 039038,000002: # Filename: P51-P53.agc 039039,000003: # Purpose: A section of Luminary 1C, revision 131. 039040,000004: # It is part of the source code for the Lunar Module's (LM) 039041,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14. 039042,000006: # This file is intended to be a faithful transcription, except 039043,000007: # that the code format has been changed to conform to the 039044,000008: # requirements of the yaYUL assembler rather than the 039045,000009: # original YUL assembler. 039046,000010: # Reference: pp. 926-982 of 1729.pdf. 039047,000011: # Contact: Ron Burkey <info@sandroid.org>. 039048,000012: # Website: www.ibiblio.org/apollo 039049,000013: # Mod history: 05/29/03 RSB. Began transcribing. 039050,000014: # 2010-10-25 JL Indentation fixes. 039051,000015: 039052,000016: # Page 926 039053,000017: # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967 039054,000018: # MOD NO -- 0 LOG SECTION -- P51-P53 039055,000019: # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46 039056,000020: 039057,000021: # FUNCTIONAL DESCRIPTION -- 039058,000022: 039059,000023: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN 039060,000024: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE: 039061,000025: 039062,000026: # (A) PREFERRED ORIENTATION 039063,000027: 039064,000028: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND 039065,000029: # STORED BY A PREVIOUSLY SELECTED PROGRAM. 039066,000030: 039067,000031: # (B) NOMINAL ORIENTATION 039068,000032: 039069,000033: # X = UNIT ( R ) 039070,000034: # -SM 039071,000035: 039072,000036: # Y = UNIT (V X R) 039073,000037: # SM 039074,000038: 039075,000039: # Z = UNIT (X X Y ) 039076,000040: # SM SM SM 039077,000041: 039078,000042: # WHERE: 039079,000043: 039080,000044: # R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT 039081,000045: # - 039082,000046: 039083,000047: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT 039084,000048: # - 039085,000049: 039086,000050: # (C) RERSMMAT ORIENTATION 039087,000051: 039088,000052: # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE 039089,000053: 039090,000054: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT 039091,000055: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIVE (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HAS OCCURRED 039092,000056: # SINCE THE LAST ALIGNMENT). 039093,000057: 039094,000058: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE 039095,000059: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO 039096,000060: # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM 039097,000061: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS 039098,000062: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF 039099,000063: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS 039100,000064: # REQUESTED. 039101,000065: 039102,000066: # CALLING SEQUENCE -- 039103,000067: 039104,000068: # Page 927 039105,000069: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. 039106,000070: 039107,000071: # SUBROUTINES CALLED -- 039108,000072: 039109,000073: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX 039110,000074: # 2. R02BOTH 8. CAL53A 14. PRIOLARM 039111,000075: # 3. GOPERF4 9. FLAGUP 039112,000076: # 4. MATMOVE 10. R56 039113,000077: # 5. GOFLASH 11. R51 039114,000078: # 6. S52.3 12. GOPERF3 039115,000079: 039116,000080: # NORMAL EXIT MODES -- 039117,000081: 039118,000082: # EXITS TO ENDOFJOB 039119,000083: 039120,000084: # ALARM OR ABORT EXIT MODES -- 039121,000085: 039122,000086: # NONE 039123,000087: 039124,000088: # OUTPUT -- 039125,000089: 039126,000090: # THE FOLLOWING MAY BE FLASHED ON THE DSKY 039127,000091: # 1. IMU ORIENTATION CODE 039128,000092: # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED 039129,000093: # 3. TIME OF NEXT IGNITION 039130,000094: # 4. GIMBAL ANGLES 039131,000095: # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE 039132,000096: # 6. PLEASE PERFORM P00 039133,000097: # THE MODE DISPLAY MAY BE CHANGED TO 20 039134,000098: 039135,000099: # ERASABLE INITIALIZATION REQUIRED -- 039136,000100: 039137,000101: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN 039138,000102: # XSMD, YSMD, ZSMD. 039139,000103: 039140,000104: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING. 039141,000105: 039142,000106: # DEBRIS -- 039143,000107: 039144,000108: # WORKAREA 039145,000109: 039146,000110: 33,3760 BANK 33 039147,000111: 15,2000 SETLOC P50S 039148,000112: 15,2000 BANK 039149,000113: 039150,000114: 15,2050 E5,1755 EBANK= BESTI 039151,000115: 15,2050 COUNT* $$/P52 039152,000116: 15,2050 04616 PROG52 TC BANKCALL 039153,000117: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK 039154,000118: 15,2052 34750 CAF PFRATBIT 039155,000119: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET? 039156,000120: 15,2054 10000 CCS A 039157,000121: # Page 928 039158,000122: 15,2055 02060 TC P52A # YES 039159,000123: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3 039160,000124: 15,2057 02061 TC P52A +1 039161,000125: 15,2060 34753 P52A CAF BIT1 039162,000126: 15,2061 55144 TS OPTION2 039163,000127: 15,2062 34753 P52B CAF BIT1 039164,000128: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE 039165,000129: 15,2064 20714 CADR GOPERF4R # FLASH V04N06 039166,000130: 15,2065 06001 TC GOTOP00H 039167,000131: 15,2066 12073 TCF +5 # V33 -- PROCEED 039168,000132: 15,2067 02062 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT 039169,000133: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN 039170,000134: 15,2071 00014 OCT 00014 039171,000135: 15,2072 05155 TC ENDOFJOB 039172,000136: 039173,000137: 15,2073 31144 CA OPTION2 039174,000138: 15,2074 76250 MASK THREE 039175,000139: 15,2075 50000 INDEX A 039176,000140: 15,2076 02077 TC +1 039177,000141: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE 039178,000142: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED 039179,000143: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL 039180,000144: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT 039181,000145: 15,2103 77650 GOTO 039182,000146: 15,2104 32164 P52F # GO DO R51 039183,000147: 039184,000148: 15,2105 00006 OPT4 EXTEND 039185,000149: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND 039186,000150: 15,2107 12112 TCF P52T +2 039187,000151: 039188,000152: 15,2110 00006 P52T EXTEND 039189,000153: 15,2111 34755 DCA NEG0 039190,000154: 15,2112 53045 DXCH DSPTEM1 039191,000155: 15,2113 32170 CAF V06N34* 039192,000156: 15,2114 04616 TC BANKCALL 039193,000157: 15,2115 20477 CADR GOFLASH 039194,000158: 15,2116 06001 TC GOTOP00H 039195,000159: 15,2117 02121 TC +2 039196,000160: 15,2120 02113 TC -5 039197,000161: 15,2121 53045 DXCH DSPTEM1 039198,000162: 15,2122 00006 EXTEND 039199,000163: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2 039200,000164: 15,2124 12127 TCF +3 039201,000165: 15,2125 00006 EXTEND 039202,000166: 15,2126 30025 DCA TIME2 039203,000167: 15,2127 53775 DXCH TALIGN 039204,000168: 15,2130 31144 P52V CA OPTION2 039205,000169: 15,2131 74752 MASK BIT2 039206,000170: 15,2132 10000 CCS A 039207,000171: 15,2133 02137 TC P52W 039208,000172: # Page 929 039209,000173: 15,2134 06042 TC INTPRET # OPTION 4 -- GET LS ORIENTATION 039210,000174: 15,2135 77650 GOTO 039211,000175: 15,2136 32220 P52LS 039212,000176: 039213,000177: # Page 930 039214,000178: 15,2137 06042 P52W TC INTPRET 039215,000179: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME 039216,000180: 15,2141 02775 TALIGN # COMPUTED NOMINAL IMU 039217,000181: 15,2142 31651 S52.3 # ORIENTATION 039218,000182: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND 039219,000183: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES 039220,000184: 15,2145 77776 EXIT 039221,000185: 15,2146 35010 CAF V06N22 039222,000186: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES 039223,000187: 15,2150 20477 CADR GOFLASH 039224,000188: 15,2151 06001 TC GOTOP00H 039225,000189: 15,2152 12171 TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE 039226,000190: 15,2153 06042 P52H TC INTPRET 039227,000191: 15,2154 77650 GOTO 039228,000192: 15,2155 32143 P52D 039229,000193: 15,2156 06042 REGCOARS TC INTPRET 039230,000194: 15,2157 77624 CALL # DO COARSE ALIGN 039231,000195: 15,2160 31321 CAL53A # ROUTINE 039232,000196: 15,2161 43014 COARSRET SET CLEAR 039233,000197: 15,2162 01462 REFSMFLG 039234,000198: 15,2163 01273 PFRATFLG 039235,000199: 15,2164 77624 P52F CALL 039236,000200: 15,2165 31007 R51 039237,000201: 15,2166 77776 P52OUT EXIT 039238,000202: 15,2167 06001 TC GOTOP00H 039239,000203: 15,2170 5006 VB05N09 = V05N09 039240,000204: 15,2170 01442 V06N34* VN 634 039241,000205: 039242,000206: # Page 931 039243,000207: # CHECK FOR GYRO TORQUE COARSE ALIGNMENT 039244,000208: 039245,000209: 15,2171 32217 COARSTYP CAF OCT13 039246,000210: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION 039247,000211: 15,2173 20624 CADR GOPERF1 039248,000212: 15,2174 16001 TCF GOTOP00H # V34 -- TERMIN&OE 039249,000213: 15,2175 12156 TCF REGCOARS # V33 -- NORMAL COARSE 039250,000214: 15,2176 06042 TC INTPRET # V32 -- GYRO TORQUE COARSE 039251,000215: 15,2177 64375 VLOAD MXV 039252,000216: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT) 039253,000217: 15,2201 01734 REFSMMAT 039254,000218: 15,2202 77656 UNIT 039255,000219: 15,2203 26665 STOVL XDC 039256,000220: 15,2204 03615 YSMD 039257,000221: 15,2205 53521 MXV UNIT 039258,000222: 15,2206 01734 REFSMMAT 039259,000223: 15,2207 26673 STOVL YDC 039260,000224: 15,2210 03623 ZSMD 039261,000225: 15,2211 53521 MXV UNIT 039262,000226: 15,2212 01734 REFSMMAT 039263,000227: 15,2213 36701 STCALL ZDC 039264,000228: 15,2214 31156 GYCOARS 039265,000229: 15,2215 77650 GOTO 039266,000230: 15,2216 32166 P52OUT 039267,000231: 15,2217 00013 OCT13 OCT 13 039268,000232: 039269,000233: # Page 932 039270,000234: # COMPUTE LANDING ORIENTATION FOR OPTION 4 039271,000235: 039272,000236: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION 039273,000237: 15,2221 01463 LUNAFLAG 039274,000238: 15,2222 00662 ERADFLAG # TO PICK UP RLS 039275,000239: 15,2223 77201 SETPD VLOAD 039276,000240: 15,2224 00001 0 039277,000241: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF 039278,000242: 15,2226 41525 PDDL PUSH # RLS PD 0-5 039279,000243: 15,2227 02775 TALIGN 039280,000244: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4 039281,000245: 15,2231 55716 RP-TO-R # TRANS RLS TO REF 039282,000246: 15,2232 77742 VSR2 039283,000247: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG 039284,000248: 15,2234 02775 TALIGN 039285,000249: 15,2235 77624 CALL 039286,000250: 15,2236 30440 N89DISP 039287,000251: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD) 039288,000252: 15,2240 02032 ALPHAV 039289,000253: 15,2241 37607 STCALL XSMD 039290,000254: 15,2242 10757 LSORIENT 039291,000255: 15,2243 77650 GOTO 039292,000256: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES. 039293,000257: 039294,000258: # Page 933 039295,000259: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE 039296,000260: 039297,000261: 14,2000 SETLOC P50S1 039298,000262: 14,2000 BANK 039299,000263: 14,2440 E5,1642 EBANK= XSM 039300,000264: 039301,000265: 14,2440 77620 N89DISP STQ 039302,000266: 14,2441 02746 QMAJ 039303,000267: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME 039304,000268: 14,2443 26347 LAT-LONG 039305,000269: 14,2444 70545 DLOAD SR1 039306,000270: 14,2445 01122 LONG 039307,000271: 14,2446 16711 STODL LANDLONG 039308,000272: 14,2447 01124 ALT 039309,000273: 14,2450 16713 STODL LANDALT 039310,000274: 14,2451 01120 LAT 039311,000275: 14,2452 02707 STORE LANDLAT 039312,000276: 14,2453 77776 EXIT 039313,000277: 039314,000278: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT 039315,000279: 14,2455 04616 TC BANKCALL 039316,000280: 14,2456 20477 CADR GOFLASH 039317,000281: 14,2457 16001 TCF GOTOP00H # V32 -- TERMINATE -- EXIT P57 039318,000282: 14,2460 12462 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA 039319,000283: 14,2461 12454 TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS 039320,000284: 039321,000285: 14,2462 06042 TC INTPRET 039322,000286: 14,2463 72545 DLOAD SL1 039323,000287: 14,2464 02711 LANDLONG 039324,000288: 14,2465 15122 STODL LONG 039325,000289: 14,2466 02713 LANDALT 039326,000290: 14,2467 15124 STODL ALT 039327,000291: 14,2470 02707 LANDLAT 039328,000292: 14,2471 15120 STODL LAT 039329,000293: 14,2472 01242 GDT/2 +4 # PICK UP TIME 039330,000294: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT 039331,000295: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAT 039332,000296: 14,2475 77650 GOTO 039333,000297: 14,2476 02746 QMAJ 039334,000298: 14,2477 01531 V06N89* VN 689 039335,000299: 039336,000300: # Page 934 039337,000301: # NAME -- S50 ALIAS LOCSAM 039338,000302: # BY 039339,000303: # VINCENT 039340,000304: 039341,000305: # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET 039342,000306: 039343,000307: # DEFINE 039344,000308: 039345,000309: # U = UNIT( SUN WRT EARTH ) 039346,000310: # ES 039347,000311: 039348,000312: # U = UNIT( MOON WRT EARTH ) 039349,000313: # EM 039350,000314: 039351,000315: # R = POSITION VECTOR OF LEM 039352,000316: # L 039353,000317: 039354,000318: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON 039355,000319: # EM 039356,000320: 039357,000321: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125 039358,000322: # EM 039359,000323: 039360,000324: # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH 039361,000325: # E 039362,000326: 039363,000327: # LOCSAM COMPUTES IN EARTH INFLUENCE 039364,000328: 039365,000329: # VSUN = U 039366,000330: # ES 039367,000331: 039368,000332: # VEARTH = -UNIT( R ) 039369,000333: # l 039370,000334: 039371,000335: # VMOON = UNIT(R .U - R ) 039372,000336: # EM EM L 039373,000337: 039374,000338: # CSUN = COS 90 039375,000339: 039376,000340: # CEARTH = COS(5 + ARCSIN(R /MAG(R ))) 039377,000341: # E L 039378,000342: 039379,000343: # CMOON = COS 5 039380,000344: 039381,000345: # INPUT -- TIME IN MPAC 039382,000346: 039383,000347: # OUTPUT -- LISTED ABOVE 039384,000348: 039385,000349: # SUBROUTINES -- LSPOS, LEMPREC 039386,000350: 039387,000351: # DEBRIS -- VAC AREA, TSIGHT 039388,000352: 039389,000353: # Page 935 039390,000354: 14,2500 COUNT* $$/LOSAM 039391,000355: 039392,000356: 14,2500 14,2500 S50 = LOCSAM 039393,000357: 14,2500 77620 LOCSAM STQ 039394,000358: 14,2501 02745 QMIN 039395,000359: 14,2502 37562 STCALL TSIGHT 039396,000360: 14,2503 33647 LSPOS 039397,000361: 14,2504 77745 DLOAD 039398,000362: 14,2505 03562 TSIGHT 039399,000363: 14,2506 34041 STCALL TDEC1 039400,000364: 14,2507 27056 LEMPREC 039401,000365: 14,2510 61131 SSP TIX,2 039402,000366: 14,2511 00052 S2 039403,000367: 14,2512 00000 0 039404,000368: 14,2513 30535 MOONCNTR 039405,000369: 14,2514 74375 EARTCNTR VLOAD VXSC 039406,000370: 14,2515 02723 VMOON 039407,000371: 14,2516 30001 RSUBEM 039408,000372: 14,2517 52372 VSL1 VSU 039409,000373: 14,2520 00001 RATT 039410,000374: 14,2521 77656 UNIT 039411,000375: 14,2522 26723 STOVL VMOON 039412,000376: 14,2523 00001 RATT 039413,000377: 14,2524 57456 UNIT VCOMP 039414,000378: 14,2525 16707 STODL VEARTH 039415,000379: 14,2526 30005 RSUBE 039416,000380: 14,2527 77624 CALL 039417,000381: 14,2530 30567 OCCOS 039418,000382: 14,2531 14017 STODL CEARTH 039419,000383: 14,2532 30576 CSS5 039420,000384: 14,2533 34023 STCALL CMOON 039421,000385: 14,2534 30562 ENDSAM 039422,000386: 14,2535 74375 MOONCNTR VLOAD VXSC 039423,000387: 14,2536 02723 VMOON 039424,000388: 14,2537 30007 ROE 039425,000389: 14,2540 53445 BVSU UNIT 039426,000390: 14,2541 02715 VSUN 039427,000391: 14,2542 26715 STOVL VSUN 039428,000392: 14,2543 02723 VMOON 039429,000393: 14,2544 53361 VXSC VAD 039430,000394: 14,2545 30001 RSUBEM 039431,000395: 14,2546 00001 RATT 039432,000396: 14,2547 57456 UNIT VCOMP 039433,000397: 14,2550 26707 STOVL VEARTH 039434,000398: 14,2551 00001 RATT 039435,000399: 14,2552 57456 UNIT VCOMP 039436,000400: 14,2553 16723 STODL VMOON 039437,000401: 14,2554 30003 RSUBM 039438,000402: 14,2555 77624 CALL 039439,000403: 14,2556 30567 OCCOS 039440,000404: # Page 936 039441,000405: 14,2557 14023 STODL CMOON 039442,000406: 14,2560 30576 CSS5 039443,000407: 14,2561 00017 STORE CEARTH 039444,000408: 14,2562 77745 ENDSAM DLOAD 039445,000409: 14,2563 30600 CSSUN 039446,000410: 14,2564 00021 STORE CSUN 039447,000411: 14,2565 77650 GOTO 039448,000412: 14,2566 02745 QMIN 039449,000413: 14,2567 70471 OCCOS DDV SR1 039450,000414: 14,2570 00045 36D 039451,000415: 14,2571 43336 ASIN DAD 039452,000416: 14,2572 30602 5DEGREES 039453,000417: 14,2573 70546 COS SR1 039454,000418: 14,2574 77616 RVQ 039455,000419: 14,2575 CEARTH = 14D 039456,000420: 14,2575 CSUN = 16D 039457,000421: 14,2575 CMOON = 18D 039458,000422: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4 039459,000423: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4 039460,000424: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS 039461,000425: 039462,000426: # Page 937 039463,000427: # PROGRAM NAME -- R56 DATE: DEC 20 66 039464,000428: # MOD 1 LOG SECTION: P51-P53 039465,000429: # ASSEMBLY: SUNDISK REV4D 039466,000430: # BY KEN VINCENT 039467,000431: 039468,000432: # FUNCTION 039469,000433: # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION 039470,000434: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX) 039471,000435: # WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED 039472,000436: # TO DETERMIN IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A 039473,000437: # START IS NOT OCCULTED THEN IT IS PARIED WITH ALL STARS OF LOWER INDEX. 039474,000438: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS 039475,000439: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS 039476,000440: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES 039477,000441: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION 039478,000442: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN 039479,000443: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM 039480,000444: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW. 039481,000445: 039482,000446: # CALLING SEQUENCE 039483,000447: # L TC BANKCALL 039484,000448: # L+1 CADR P56 039485,000449: # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW 039486,000450: # L+3 NORMAL RETURN 039487,000451: 039488,000452: # OUTPUT 039489,000453: # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6 039490,000454: # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW 039491,000455: 039492,000456: # INITIALIZATION 039493,000457: # 1) A CALL TO LOCSAM MUST BE MADE 039494,000458: 039495,000459: # DEBRIS 039496,000460: # WORKAREA 039497,000461: # X,Y,ZNB 039498,000462: # SINCDU, COSCDU 039499,000463: # STARAD -- STAR +5 039500,000464: 039501,000465: 14,2603 14,2603 R56 = PICAPAR 039502,000466: 14,2603 COUNT* $$/R56 039503,000467: 14,2603 04645 PICAPAR TC MAKECADR 039504,000468: 14,2604 55745 TS QMIN 039505,000469: 14,2605 06042 TC INTPRET 039506,000470: 14,2606 77624 CALL 039507,000471: 14,2607 47541 CDUTRIG 039508,000472: 14,2610 77624 CALL 039509,000473: 14,2611 20030 CALCSMSC 039510,000474: 14,2612 77601 SETPD 039511,000475: 14,2613 00001 0 039512,000476: 14,2614 71214 SET DLOAD # VFLAG = 1 039513,000477: 14,2615 01465 VFLAG 039514,000478: # Page 938 039515,000479: 14,2616 24007 DPZERO 039516,000480: 14,2617 26756 STOVL BESTI 039517,000481: 14,2620 02665 XNB 039518,000482: 14,2621 63361 VXSC PDVL 039519,000483: 14,2622 24005 HALFDP 039520,000484: 14,2623 02701 ZNB 039521,000485: 14,2624 74370 AXT,1 VXSC 039522,000486: 14,2625 00344 228D # X1 = 37 X 6 + 6 039523,000487: 14,2626 24005 HALFDP 039524,000488: 14,2627 77655 VAD 039525,000489: 14,2630 53505 VXM UNIT 039526,000490: 14,2631 01734 REFSMMAT 039527,000491: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS 039528,000492: 14,2633 66331 SSP SSP # S1 = S2 = 6 039529,000493: 14,2634 00051 S1 039530,000494: 14,2635 00006 6 039531,000495: 14,2636 00052 S2 039532,000496: 14,2637 00006 6 039533,000497: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR 039534,000498: 14,2641 30643 PIC2 039535,000499: 14,2642 30760 PICEND 039536,000500: 14,2643 50373 PIC2 VLOAD* DOT 039537,000501: 14,2644 30347 CATLOG,1 039538,000502: 14,2645 02731 SAX 039539,000503: 14,2646 50025 DSU BMN 039540,000504: 14,2647 30757 CSS33 039541,000505: 14,2650 30640 PIC1 039542,000506: 14,2651 77754 LXA,2 039543,000507: 14,2652 00046 X1 039544,000508: 14,2653 52104 PIC3 TIX,2 GOTO 039545,000509: 14,2654 30656 PIC4 039546,000510: 14,2655 30640 PIC1 039547,000511: 14,2656 50373 PIC4 VLOAD* DOT 039548,000512: 14,2657 47430 CATLOG,2 039549,000513: 14,2660 02731 SAX 039550,000514: 14,2661 50025 DSU BMN 039551,000515: 14,2662 30757 CSS33 039552,000516: 14,2663 30653 PIC3 039553,000517: 14,2664 47773 VLOAD* DOT* 039554,000518: 14,2665 30347 CATLOG,1 039555,000519: 14,2666 47430 CATLOG,2 039556,000520: 14,2667 51025 DSU BPL 039557,000521: 14,2670 30755 CSS40 039558,000522: 14,2671 30653 PIC3 039559,000523: 14,2672 45173 VLOAD* CALL 039560,000524: 14,2673 30347 CATLOG,1 039561,000525: 14,2674 30732 OCCULT 039562,000526: 14,2675 77614 BON 039563,000527: 14,2676 01710 CULTFLAG 039564,000528: 14,2677 30640 PIC1 039565,000529: # Page 939 039566,000530: 14,2700 45173 VLOAD* CALL 039567,000531: 14,2701 47430 CATLOG,2 039568,000532: 14,2702 30732 OCCULT 039569,000533: 14,2703 77614 BON 039570,000534: 14,2704 01710 CULTFLAG 039571,000535: 14,2705 30653 PIC3 039572,000536: 14,2706 77614 STRATGY BONCLR 039573,000537: 14,2707 01605 VFLAG 039574,000538: 14,2710 30725 NEWPAR 039575,000539: 14,2711 65120 XCHX,1 XCHX,2 039576,000540: 14,2712 02755 BESTI 039577,000541: 14,2713 02756 BESTJ 039578,000542: 14,2714 47773 STRAT VLOAD* DOT* 039579,000543: 14,2715 30347 CATLOG,1 039580,000544: 14,2716 47430 CATLOG,2 039581,000545: 14,2717 43006 PUSH BOFINV 039582,000546: 14,2720 01545 VFLAG 039583,000547: 14,2721 30711 STRAT -3 039584,000548: 14,2722 45345 DLOAD DSU 039585,000549: 14,2723 77644 BPL 039586,000550: 14,2724 30653 PIC3 039587,000551: 14,2725 67130 NEWPAR SXA,1 SXA,2 039588,000552: 14,2726 02755 BESTI 039589,000553: 14,2727 02756 BESTJ 039590,000554: 14,2730 77650 GOTO 039591,000555: 14,2731 30653 PIC3 039592,000556: 14,2732 51321 OCCULT MXV BVSU 039593,000557: 14,2733 02707 CULTRIX 039594,000558: 14,2734 00017 CSS 039595,000559: 14,2735 77654 BZE 039596,000560: 14,2736 30751 CULTED 039597,000561: 14,2737 75240 BMN SIGN 039598,000562: 14,2740 30751 CULTED 039599,000563: 14,2741 00160 MPAC +3 039600,000564: 14,2742 75240 BMN SIGN 039601,000565: 14,2743 30751 CULTED 039602,000566: 14,2744 00162 MPAC +5 039603,000567: 14,2745 43040 BMN CLRGO 039604,000568: 14,2746 30751 CULTED 039605,000569: 14,2747 01630 CULTFLAG 039606,000570: 14,2750 00052 QPRET 039607,000571: 14,2751 77614 CULTED SETGO 039608,000572: 14,2752 01430 CULTFLAG 039609,000573: 14,2753 00052 QPRET 039610,000574: 14,2754 0000016 CSS = CEARTH 039611,000575: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4 039612,000576: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4 039613,000577: 14,2760 77414 PICEND BOFF EXIT 039614,000578: 039615,000579: # Page 940 039616,000580: 14,2761 01745 VFLAG 039617,000581: 14,2762 30764 PICGXT 039618,000582: 14,2763 03005 TC PICBXT 039619,000583: 14,2764 73150 PICGXT LXA,1 LXA,2 039620,000584: 14,2765 02755 BESTI 039621,000585: 14,2766 02756 BESTJ 039622,000586: 14,2767 47775 VLOAD DOT* 039623,000587: 14,2770 02731 SAX 039624,000588: 14,2771 30347 CATLOG,1 039625,000589: 14,2772 47715 PDVL DOT* 039626,000590: 14,2773 02731 SAX 039627,000591: 14,2774 47430 CATLOG,2 039628,000592: 14,2775 77625 DSU 039629,000593: 14,2776 66044 BPL SXA,1 039630,000594: 14,2777 31003 PICNSWP 039631,000595: 14,3000 02756 BESTJ 039632,000596: 14,3001 77734 SXA,2 039633,000597: 14,3002 02755 BESTI 039634,000598: 14,3003 77776 PICNSWP EXIT 039635,000599: 14,3004 25745 INCR QMIN 039636,000600: 14,3005 31745 PICBXT CA QMIN 039637,000601: 14,3006 04622 TC SWCALL 039638,000602: 14,3007 VPD = 0D 039639,000603: 14,3007 V0 = 6D 039640,000604: 14,3007 V1 = 12D 039641,000605: 14,3007 V2 = 18D 039642,000606: 14,3007 V3 = 24D 039643,000607: 14,3007 DP0 = 30D 039644,000608: 14,3007 DP1 = 32D 039645,000609: 039646,000610: # Page 941 039647,000611: # NAME -- R51 FINE ALIGN 039648,000612: # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT 039649,000613: # CALLING SEQ -- CALL R51 039650,000614: # INPUT -- REFSMMAT 039651,000615: # OUTPUT -- GYRO TORQUE PULSES 039652,000616: # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55 039653,000617: 039654,000618: 14,3007 COUNT* $$/R51 039655,000619: 14,3007 77620 R51 STQ 039656,000620: 14,3010 02746 QMAJ 039657,000621: 14,3011 77776 R51.1 EXIT 039658,000622: 14,3012 05353 TC PHASCHNG 039659,000623: 14,3013 04024 OCT 04024 039660,000624: 039661,000625: 14,3014 34761 R51C CAF OCT15 039662,000626: 14,3015 04616 TC BANKCALL 039663,000627: 14,3016 20624 CADR GOPERF1 039664,000628: 14,3017 06001 TC GOTOP00H 039665,000629: 14,3020 03022 TC +2 # V33E 039666,000630: 14,3021 03045 TC R51E # ENTER 039667,000631: 14,3022 06042 TC INTPRET 039668,000632: 14,3023 43234 RTB DAD 039669,000633: 14,3024 21574 LOADTIME 039670,000634: 14,3025 31155 TSIGHT1 039671,000635: 14,3026 77624 CALL 039672,000636: 14,3027 30500 LOCSAM 039673,000637: 14,3030 77776 EXIT 039674,000638: 14,3031 04616 TC BANKCALL 039675,000639: 14,3032 30603 CADR R56 039676,000640: 14,3033 03035 TC R51I 039677,000641: 14,3034 03045 R51F TC R51E 039678,000642: 14,3035 05567 R51I TC ALARM 039679,000643: 14,3036 00405 OCT 405 039680,000644: 14,3037 35006 CAF VB05N09 039681,000645: 14,3040 04616 TC BANKCALL 039682,000646: 14,3041 20477 CADR GOFLASH 039683,000647: 14,3042 06001 TC GOTOP00H 039684,000648: 14,3043 03045 TC R51E 039685,000649: 14,3044 03014 TC R51C 039686,000650: 14,3045 34755 R51E CAF ZERO 039687,000651: 14,3046 55757 TS STARIND 039688,000652: 14,3047 06042 R51.2 TC INTPRET 039689,000653: 14,3050 77776 R51.3 EXIT 039690,000654: 14,3051 05353 TC PHASCHNG 039691,000655: 14,3052 04024 OCT 04024 039692,000656: 039693,000657: 14,3053 06042 TC INTPRET 039694,000658: 14,3054 77624 CALL 039695,000659: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING 039696,000660: 14,3056 77776 EXIT 039697,000661: 14,3057 04616 TC BANKCALL 039698,000662: # Page 942 039699,000663: 14,3060 16000 CADR AOTMARK 039700,000664: 14,3061 04616 TC BANKCALL 039701,000665: 14,3062 17703 CADR OPTSTALL 039702,000666: 14,3063 05701 TC CURTAINS 039703,000667: 14,3064 11757 CCS STARIND 039704,000668: 14,3065 13067 TCF +2 039705,000669: 14,3066 03137 TC R51.4 039706,000670: 14,3067 06042 TC INTPRET 039707,000671: 14,3070 77775 VLOAD 039708,000672: 14,3071 02715 STARAD +6 039709,000673: 14,3072 02767 STORE STARSAV2 039710,000674: 14,3073 77776 EXIT 039711,000675: 14,3074 05353 TC PHASCHNG 039712,000676: 14,3075 04024 OCT 04024 039713,000677: 039714,000678: 14,3076 06042 TC INTPRET 039715,000679: 14,3077 45145 DLOAD CALL 039716,000680: 14,3100 03562 TSIGHT 039717,000681: 14,3101 32472 PLANET 039718,000682: 14,3102 53521 MXV UNIT 039719,000683: 14,3103 01734 REFSMMAT 039720,000684: 14,3104 26715 STOVL STARAD +6 039721,000685: 14,3105 03554 PLANVEC 039722,000686: 14,3106 53521 MXV UNIT 039723,000687: 14,3107 01734 REFSMMAT 039724,000688: 14,3110 26707 STOVL STARAD 039725,000689: 14,3111 02761 STARSAV1 039726,000690: 14,3112 24007 STOVL 6D 039727,000691: 14,3113 02767 STARSAV2 039728,000692: 14,3114 34015 STCALL 12D 039729,000693: 14,3115 31250 R54 # STAR DATA TEST 039730,000694: 14,3116 45014 BOFF CALL 039731,000695: 14,3117 00354 FREEFLAG 039732,000696: 14,3120 31126 R51K 039733,000697: 14,3121 47443 AXISGEN 039734,000698: 14,3122 77624 CALL 039735,000699: 14,3123 31216 R55 # GYRO TORQUE 039736,000700: 14,3124 77614 CLEAR 039737,000701: 14,3125 01273 PFRATFLG 039738,000702: 14,3126 77776 R51K EXIT 039739,000703: 14,3127 35741 R51P63 CAF OCT14 039740,000704: 14,3130 04616 TC BANKCALL 039741,000705: 14,3131 20624 CADR GOPERF1 039742,000706: 14,3132 06001 TC GOTOP00H 039743,000707: 14,3133 03014 TC R51C 039744,000708: 14,3134 06042 TC INTPRET 039745,000709: 14,3135 77650 GOTO 039746,000710: 14,3136 02746 QMAJ 039747,000711: 14,3137 06042 R51.4 TC INTPRET 039748,000712: 14,3140 77775 VLOAD 039749,000713: # Page 943 039750,000714: 14,3141 02715 STARAD +6 039751,000715: 14,3142 02761 STORE STARSAV1 039752,000716: 14,3143 45145 DLOAD CALL 039753,000717: 14,3144 03562 TSIGHT 039754,000718: 14,3145 32472 PLANET 039755,000719: 14,3146 03554 STORE PLANVEC 039756,000720: 14,3147 77731 SSP 039757,000721: 14,3150 02760 STARIND 039758,000722: 14,3151 00001 1 039759,000723: 14,3152 77650 GOTO 039760,000724: 14,3153 31050 R51.3 039761,000725: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING 039762,000726: 039763,000727: # Page 944 039764,000728: # GYRO TORQUE COARSE ALGNMENT 039765,000729: 039766,000730: 14,3156 45020 GYCOARS STQ CALL 039767,000731: 14,3157 02746 QMAJ 039768,000732: 14,3160 47251 CALCGTA 039769,000733: 14,3161 43014 CLEAR CLEAR 039770,000734: 14,3162 01260 DRIFTFLG 039771,000735: 14,3163 01662 REFSMFLG 039772,000736: 14,3164 77776 EXIT 039773,000737: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS 039774,000738: 14,3166 04616 TC BANKCALL 039775,000739: 14,3167 20452 CADR GODSPR 039776,000740: 14,3170 33247 CA R55CDR 039777,000741: 14,3171 04616 TC BANKCALL 039778,000742: 14,3172 17314 CADR IMUPULSE 039779,000743: 14,3173 04616 TC BANKCALL 039780,000744: 14,3174 17707 CADR IMUSTALL 039781,000745: 14,3175 05701 TC CURTAINS 039782,000746: 14,3176 05353 TC PHASCHNG 039783,000747: 14,3177 04024 OCT 04024 039784,000748: 039785,000749: 14,3200 06042 TC INTPRET 039786,000750: 14,3201 75160 AXC,1 AXC,2 039787,000751: 14,3202 03606 XSMD 039788,000752: 14,3203 01733 REFSMMAT 039789,000753: 14,3204 77624 CALL # STORE DESIRED REFSMMAT 039790,000754: 14,3205 31371 MATMOVE 039791,000755: 14,3206 43014 CLEAR SET 039792,000756: 14,3207 01273 PFRATFLG 039793,000757: 14,3210 01462 REFSMFLG 039794,000758: 14,3211 77624 CALL 039795,000759: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT 039796,000760: 14,3213 77650 GOTO 039797,000761: 14,3214 31126 R51K 039798,000762: 14,3215 04024 V16N20 VN 1620 039799,000763: 039800,000764: # Page 945 039801,000765: # R55 GYROTORQUE 039802,000766: # FUNCTION -- COMPUTE AND SEND GYRO PULSES 039803,000767: # CALLING SEQ -- CALL R55 039804,000768: # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER 039805,000769: # OUTPUT -- GYRO PULSES 039806,000770: # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1 039807,000771: 039808,000772: 14,3216 COUNT* $$/R55 039809,000773: 14,3216 77620 R55 STQ 039810,000774: 14,3217 02745 QMIN 039811,000775: 14,3220 77624 CALL 039812,000776: 14,3221 47251 CALCGTA 039813,000777: 14,3222 77776 PULSEM EXIT 039814,000778: 14,3223 33246 R55.1 CAF V06N93 039815,000779: 14,3224 04616 TC BANKCALL 039816,000780: 14,3225 20477 CADR GOFLASH 039817,000781: 14,3226 06001 TC GOTOP00H 039818,000782: 14,3227 03231 TC R55.2 039819,000783: 14,3230 03243 TC R55RET 039820,000784: 14,3231 05353 R55.2 TC PHASCHNG 039821,000785: 14,3232 00214 OCT 00214 039822,000786: 14,3233 33247 CA R55CDR 039823,000787: 14,3234 04616 TC BANKCALL 039824,000788: 14,3235 17314 CADR IMUPULSE 039825,000789: 14,3236 04616 TC BANKCALL 039826,000790: 14,3237 17707 CADR IMUSTALL 039827,000791: 14,3240 05701 TC CURTAINS 039828,000792: 14,3241 05353 TC PHASCHNG 039829,000793: 14,3242 04024 OCT 04024 039830,000794: 039831,000795: 14,3243 06042 R55RET TC INTPRET 039832,000796: 14,3244 77650 GOTO 039833,000797: 14,3245 02745 QMIN 039834,000798: 14,3246 01535 V06N93 VN 0693 039835,000799: 14,3247 02737 R55CDR ECADR OGC 039836,000800: 14,3250 14,3250 R54 = CHKSDATA 039837,000801: 039838,000802: # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967 039839,000803: # MOD NO -- 0 LOG SECTION -- P51-P53 039840,000804: # MODIFICATION BY -- LONSKE ASSEMBLY -- 039841,000805: 039842,000806: # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE 039843,000807: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINS STORED STAR VECTORS IN THE 039844,000808: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED -- 039845,000809: # OS1 = OBSERVED STAR 1 VECTOR 039846,000810: # OS2 = OBSERVED STAR 2 VECTOR 039847,000811: # SS1 = STORED STAR 1 VECTOR 039848,000812: # SS2 = STORED STAR 2 VECTOR 039849,000813: # A1 = ARCCOS(OS1 - OS2) 039850,000814: # A2 = ARCCOS(SS1 - SS2) 039851,000815: # A = ABS(2(A1 - A2)) 039852,000816: # Page 946 039853,000817: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE. 039854,000818: 039855,000819: # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED 039856,000820: # 2. FREEFLAT REST IMPLIES ASTRONAUT WANTS TO RECYCLE 039857,000821: 039858,000822: # OUTPUT -- 1. VERB 5,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS. 039859,000823: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D. 039860,000824: 039861,000825: # ERASABLE INITIALIZATION REQUIRED -- 039862,000826: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +5. 039863,000827: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D. 039864,000828: 039865,000829: # DEBRIS -- 039866,000830: 039867,000831: 14,3250 COUNT* $$/R54 039868,000832: 14,3250 43020 CHKSDATA STQ SET 039869,000833: 14,3251 02745 QMIN 039870,000834: 14,3252 00074 FREEFLAG 039871,000835: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA 039872,000836: 14,3254 02706 STARAD 039873,000837: 039874,000838: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA 039875,000839: 14,3256 00001 0,1 039876,000840: 14,3257 00007 6,1 039877,000841: 14,3260 65552 SL1 ACOS 039878,000842: 14,3261 00025 STORE THETA 039879,000843: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS 039880,000844: 14,3263 00354 FREEFLAG 039881,000845: 14,3264 31274 CHKSD 039882,000846: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG 039883,000847: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES 039884,000848: 14,3267 00006 6D 039885,000849: 14,3270 00025 THETA 039886,000850: 14,3271 00023 STORE 18D 039887,000851: 14,3272 77650 GOTO 039888,000852: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE 039889,000853: 14,3274 45345 CHKSD DLOAD DSU 039890,000854: 14,3275 00025 THETA 039891,000855: 14,3276 00023 18D 039892,000856: 14,3277 77634 RTB # COMPUTE POS DIFF 039893,000857: 14,3300 21613 SGNAGREE 039894,000858: 14,3301 01045 STORE NORMTEM1 039895,000859: 14,3302 77414 SET EXIT 039896,000860: 14,3303 00074 FREEFLAG 039897,000861: 14,3304 33320 CAF VB6N5 039898,000862: 14,3305 04616 TC BANKCALL 039899,000863: 14,3306 20477 CADR GOFLASH 039900,000864: 14,3307 16001 TCF GOTOP00H 039901,000865: 14,3310 03315 TC CHKSDA # PROCEED 039902,000866: 14,3311 06042 TC INTPRET 039903,000867: 14,3312 52014 CLEAR GOTO 039904,000868: 14,3313 00274 FREEFLAG 039905,000869: 14,3314 02745 QMIN 039906,000870: 14,3315 06042 CHKSDA TC INTPRET 039907,000871: # Page 947 039908,000872: 14,3316 77650 GOTO 039909,000873: 14,3317 02745 QMIN 039910,000874: 14,3320 01405 VB6N5 VN 605 039911,000875: 039912,000876: # NAME -- CAL53A 039913,000877: # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY 039914,000878: # CALLING SEQUENCE -- CALL CAL53A 039915,000879: # INPUT -- X,Y,ZSMD, CDUX,Y,Z 039916,000880: # DESIRED GIMBAL ANGLES -- THETAD,+1,+2 039917,000881: # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT 039918,000882: # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE 039919,000883: 039920,000884: 14,3321 COUNT* $$/R50 039921,000885: 14,3321 77624 CAL53A CALL 039922,000886: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES 039923,000887: 14,3323 66234 RTB SSP 039924,000888: 14,3324 31405 RDCDUS # READ CDUS 039925,000889: 14,3325 00051 S1 039926,000890: 14,3326 00001 1 039927,000891: 14,3327 40370 AXT,1 SETPD 039928,000892: 14,3330 00003 3 039929,000893: 14,3331 00005 4 039930,000894: 14,3332 70543 CALOOP DLOAD* SR1 039931,000895: 14,3333 00325 THETAD +3D,1 039932,000896: 14,3334 70523 PDDL* SR1 039933,000897: 14,3335 00005 4,1 039934,000898: 14,3336 51425 DSU ABS 039935,000899: 14,3337 45206 PUSH DSU 039936,000900: 14,3340 31404 DEGREE1 039937,000901: 14,3341 71240 BMN DLOAD 039938,000902: 14,3342 31360 CALOOP1 039939,000903: 14,3343 51025 DSU BPL 039940,000904: 14,3344 31405 DEG359 039941,000905: 14,3345 31360 CALOOP1 039942,000906: 14,3346 77776 EXIT 039943,000907: 14,3347 05353 TC PHASCHNG 039944,000908: 14,3350 04024 OCT 04024 039945,000909: 039946,000910: 14,3351 06042 TC INTPRET 039947,000911: 14,3352 77624 COARFINE CALL 039948,000912: 14,3353 31557 COARSE 039949,000913: 14,3354 77624 CALL 039950,000914: 14,3355 31603 NCOARSE 039951,000915: 14,3356 77650 GOTO 039952,000916: 14,3357 31362 FINEONLY 039953,000917: 14,3360 77700 CALOOP1 TIX,1 039954,000918: 14,3361 31332 CALOOP 039955,000919: 14,3362 75160 FINEONLY AXC,1 AXC,2 039956,000920: 14,3363 02642 XSM 039957,000921: 14,3364 01733 REFSMMAT 039958,000922: 14,3365 77624 CALL 039959,000923: 14,3366 31371 MATMOVE 039960,000924: # Page 948 039961,000925: 14,3367 77650 GOTO 039962,000926: 14,3370 32161 COARSRET 039963,000927: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX 039964,000928: 14,3372 00001 0,1 039965,000929: 14,3373 10001 STORE 0,2 039966,000930: 14,3374 77773 VLOAD* 039967,000931: 14,3375 00007 6D,1 039968,000932: 14,3376 10007 STORE 6D,2 039969,000933: 14,3377 77773 VLOAD* 039970,000934: 14,3400 00015 12D,1 039971,000935: 14,3401 10015 STORE 12D,2 039972,000936: 14,3402 77616 RVQ 039973,000937: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2 039974,000938: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2 039975,000939: 14,3405 00004 RDCDUS INHINT # READ CDUS 039976,000940: 14,3406 30032 CA CDUX 039977,000941: 14,3407 50120 INDEX FIXLOC 039978,000942: 14,3410 54001 TS 1 039979,000943: 14,3411 30033 CA CDUY 039980,000944: 14,3412 50120 INDEX FIXLOC 039981,000945: 14,3413 54002 TS 2 039982,000946: 14,3414 30034 CA CDUZ 039983,000947: 14,3415 50120 INDEX FIXLOC 039984,000948: 14,3416 54003 TS 3 039985,000949: 14,3417 00003 RELINT 039986,000950: 14,3420 06064 TC DANZIG 039987,000951: 14,3421 COUNT* $$/INFLT 039988,000952: 039989,000953: # Page 949 039990,000954: # NAME -- P51 -- IMU ORIENTATION DETERMINATION 039991,000955: # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53 039992,000956: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56 039993,000957: 039994,000958: # FUNCTIONAL DESCRIPTION 039995,000959: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING 039996,000960: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE 039997,000961: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT 039998,000962: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN. 039999,000963: 040000,000964: # CALLING SEQUENCE 040001,000965: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY. 040002,000966: 040003,000967: # SUBROUTINES CALLED 040004,000968: # GOPERF3 040005,000969: # GOPERF1 040006,000970: # GODSPR 040007,000971: # IMUCOARS 040008,000972: # IMUFIN20 040009,000973: # AOTMARK (R53) 040010,000974: # CHKSDATA (R54) 040011,000975: # MKRELEAS 040012,000976: # AXISGEN 040013,000977: # MATMOVE 040014,000978: 040015,000979: # ALARMS 040016,000980: # NONE. 040017,000981: 040018,000982: # ERASABLE INITIALIZATION 040019,000983: # IMU ZERO FLAG SHOULD BE SET. 040020,000984: 040021,000985: # OUTPUT 040022,000986: # REFSMMAT 040023,000987: # REFSMFLG 040024,000988: 040025,000989: # DEBRIS 040026,000990: # WORK AREA 040027,000991: # STARAD 040028,000992: # STARINC 040029,000993: # BESTI 040030,000994: # BESTJ 040031,000995: 040032,000996: 14,3421 COUNT* $$/P51 040033,000997: # Page 950 040034,000998: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND 040035,000999: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H. 040036,001000: 040037,001001: 14,3423 34761 CAF OCT15 040038,001002: 14,3424 04616 TC BANKCALL 040039,001003: 14,3425 20624 CADR GOPERF1 040040,001004: 14,3426 06001 TC GOTOP00H # TERM. 040041,001005: 14,3427 13453 TCF P51B # V33 040042,001006: 14,3430 05353 TC PHASCHNG 040043,001007: 14,3431 04024 OCT 04024 040044,001008: 040045,001009: 14,3432 34755 CAF ZERO 040046,001010: 14,3433 54321 TS THETAD # ZERO THE GIMBALS 040047,001011: 14,3434 54322 TS THETAD +1 040048,001012: 14,3435 54323 TS THETAD +2 040049,001013: 14,3436 35010 CAF V06N22 040050,001014: 14,3437 04616 TC BANKCALL 040051,001015: 14,3440 20447 CADR GODSPRET 040052,001016: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41 040053,001017: 14,3442 04616 TC BANKCALL 040054,001018: 14,3443 20447 CADR GODSPRET 040055,001019: 14,3444 06042 TC INTPRET 040056,001020: 14,3445 77624 CALL 040057,001021: 14,3446 31557 COARSE 040058,001022: 14,3447 77776 EXIT 040059,001023: 14,3450 05353 TC PHASCHNG 040060,001024: 14,3451 04024 OCT 04024 040061,001025: 14,3452 13423 TCF P51 +2 040062,001026: 040063,001027: 14,3453 05353 P51B TC PHASCHNG 040064,001028: 14,3454 00014 OCT 00014 040065,001029: 14,3455 06042 TC INTPRET 040066,001030: 14,3456 77624 CALL 040067,001031: 14,3457 31603 NCOARSE 040068,001032: 14,3460 40331 SSP SETPD 040069,001033: 14,3461 02760 STARIND # INDEX -- STAR 1 OR 2 040070,001034: 14,3462 00000 0 040071,001035: 14,3463 00001 0 040072,001036: 14,3464 77776 P51C EXIT 040073,001037: 14,3465 05353 TC PHASCHNG 040074,001038: 14,3466 04024 OCT 04024 040075,001039: 040076,001040: 14,3467 04616 TC BANKCALL 040077,001041: 14,3470 16000 CADR AOTMARK # R53 040078,001042: 14,3471 04616 TC BANKCALL 040079,001043: 14,3472 17703 CADR AOTSTALL 040080,001044: 14,3473 05701 TC CURTAINS 040081,001045: 14,3474 11757 CCS STARIND 040082,001046: 14,3475 13503 TCF P51D +1 040083,001047: 14,3476 06042 TC INTPRET 040084,001048: # Page 951 040085,001049: 14,3477 77775 VLOAD 040086,001050: 14,3500 02715 STARAD +6 040087,001051: 14,3501 02761 STORE STARSAV1 040088,001052: 14,3502 77776 P51D EXIT 040089,001053: 14,3503 05353 TC PHASCHNG 040090,001054: 14,3504 04024 OCT 04024 040091,001055: 040092,001056: 14,3505 11757 CCS STARIND 040093,001057: 14,3506 13522 TCF P51E 040094,001058: 14,3507 05353 TC PHASCHNG 040095,001059: 14,3510 04024 OCT 04024 040096,001060: 040097,001061: 14,3511 06042 TC INTPRET 040098,001062: 14,3512 45145 DLOAD CALL 040099,001063: 14,3513 03562 TSIGHT 040100,001064: 14,3514 32472 PLANET 040101,001065: 14,3515 03554 STORE PLANVEC 040102,001066: 14,3516 77776 EXIT 040103,001067: 14,3517 34753 CAF BIT1 040104,001068: 14,3520 55757 TS STARIND 040105,001069: 14,3521 13465 TCF P51C +1 # DO SECOND STAR 040106,001070: 14,3522 05353 P51E TC PHASCHNG 040107,001071: 14,3523 04024 OCT 04024 040108,001072: 040109,001073: 14,3524 06042 TC INTPRET 040110,001074: 14,3525 45145 DLOAD CALL 040111,001075: 14,3526 03562 TSIGHT 040112,001076: 14,3527 32472 PLANET 040113,001077: 14,3530 24015 STOVL 12D 040114,001078: 14,3531 03554 PLANVEC 040115,001079: 14,3532 24007 STOVL 6D 040116,001080: 14,3533 02761 STARSAV1 040117,001081: 14,3534 26707 STOVL STARAD 040118,001082: 14,3535 02767 STARSAV2 040119,001083: 14,3536 36715 STCALL STARAD +6 040120,001084: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND 040121,001085: 14,3540 77414 BON EXIT 040122,001086: 14,3541 00314 FREEFLAG 040123,001087: 14,3542 31544 P51G 040124,001088: 14,3543 03423 TC P51 +2 040125,001089: 14,3544 77624 P51G CALL 040126,001090: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC 040127,001091: 14,3546 75160 AXC,1 AXC,2 040128,001092: 14,3547 02664 XDC 040129,001093: 14,3550 01733 REFSMMAT 040130,001094: 14,3551 77624 CALL 040131,001095: 14,3552 31371 MATMOVE 040132,001096: 14,3553 77414 SET EXIT 040133,001097: 14,3554 01462 REFSMFLG 040134,001098: 14,3555 06001 TC GOTOP00H # FINIS 040135,001099: # Page 952 040136,001100: 14,3556 12200 V41K VN 4100 040137,001101: 14,3557 77776 COARSE EXIT 040138,001102: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE. 040139,001103: 14,3561 00006 EXTEND 040140,001104: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN 040141,001105: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC 040142,001106: 14,3564 04616 TC BANKCALL 040143,001107: 14,3565 01736 CADR DELAYJOB 040144,001108: 14,3566 13560 TCF COARSE +1 040145,001109: 14,3567 04616 DOCORS TC BANKCALL 040146,001110: 14,3570 16771 CADR IMUCOARS 040147,001111: 14,3571 04616 TC BANKCALL 040148,001112: 14,3572 17707 CADR IMUSTALL 040149,001113: 14,3573 05701 TC CURTAINS 040150,001114: 14,3574 04616 TC BANKCALL 040151,001115: 14,3575 17201 CADR IMUFINE 040152,001116: 14,3576 04616 TC BANKCALL 040153,001117: 14,3577 17707 CADR IMUSTALL 040154,001118: 14,3600 05701 TC CURTAINS 040155,001119: 14,3601 06042 TC INTPRET 040156,001120: 14,3602 77616 RVQ 040157,001121: 14,3603 77776 NCOARSE EXIT 040158,001122: 14,3604 30025 CA TIME1 040159,001123: 14,3605 55074 TS 1/PIPADT 040160,001124: 14,3606 44755 CS ZERO 040161,001125: 14,3607 54037 TS PIPAX 040162,001126: 14,3610 54040 TS PIPAY 040163,001127: 14,3611 54041 TS PIPAZ 040164,001128: 14,3612 06042 TC INTPRET 040165,001129: 14,3613 77775 VLOAD 040166,001130: 14,3614 24007 ZEROVEC 040167,001131: 14,3615 01472 STORE GCOMP 040168,001132: 14,3616 43414 SET RVQ 040169,001133: 14,3617 01060 DRIFTFLG 040170,001134: 040171,001135: # Page 953 040172,001136: # NAME -- S52.2 040173,001137: # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE 040174,001138: # CALL -- CALL S52.2 040175,001139: # INPUT -- X,Y,ZSMD 040176,001140: # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2 040177,001141: # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA 040178,001142: 040179,001143: 14,3620 COUNT* $$/S52.1 040180,001144: 14,3620 45020 S52.2 STQ CALL 040181,001145: 14,3621 02746 QMAJ 040182,001146: 14,3622 47541 CDUTRIG 040183,001147: 14,3623 77624 CALL 040184,001148: 14,3624 20030 CALCSMSC 040185,001149: 14,3625 66370 AXT,1 SSP 040186,001150: 14,3626 00022 18D 040187,001151: 14,3627 00051 S1 040188,001152: 14,3630 00006 6D 040189,001153: 14,3631 61373 S52.2A VLOAD* VXM 040190,001154: 14,3632 02707 XNB +18D,1 040191,001155: 14,3633 01734 REFSMMAT 040192,001156: 14,3634 77656 UNIT 040193,001157: 14,3635 06707 STORE XNB +18D,1 040194,001158: 14,3636 77700 TIX,1 040195,001159: 14,3637 31631 S52.2A 040196,001160: 14,3640 75160 S52.2.1 AXC,1 AXC,2 040197,001161: 14,3641 03606 XSMD 040198,001162: 14,3642 02642 XSM 040199,001163: 14,3643 77624 CALL 040200,001164: 14,3644 31371 MATMOVE 040201,001165: 14,3645 77624 CALL 040202,001166: 14,3646 47355 CALCGA 040203,001167: 14,3647 77650 GOTO 040204,001168: 14,3650 02746 QMAJ 040205,001169: 040206,001170: # Page 954 040207,001171: # NAME -- S52.3 040208,001172: # FUNCTION -- XSMD= UNIT 4 040209,001173: # YSMD= UNIT(V X R) 040210,001174: # ZSMD= UNIT(XSMD X YSMD) 040211,001175: # CALL -- DLOAD CALL 040212,001176: # TALIGN 040213,001177: # S52.3 040214,001178: # INPUT -- TIME OF ALIGNMENT IN MPAC 040215,001179: # OUTPUT -- X,Y,ZSMD 040216,001180: # SUBROUTINES -- CSMCONIC 040217,001181: 040218,001182: 14,3651 COUNT* $$/S52.3 040219,001183: 14,3651 77620 S52.3 STQ 040220,001184: 14,3652 02746 QMAJ 040221,001185: 14,3653 34041 STCALL TDEC1 040222,001186: 14,3654 27077 LEMCONIC 040223,001187: 14,3655 53575 VLOAD UNIT 040224,001188: 14,3656 00001 RATT 040225,001189: 14,3657 27607 STOVL XSMD 040226,001190: 14,3660 00007 VATT 040227,001191: 14,3661 53435 VXV UNIT 040228,001192: 14,3662 00001 RATT 040229,001193: 14,3663 27615 STOVL YSMD 040230,001194: 14,3664 03607 XSMD 040231,001195: 14,3665 53435 VXV UNIT 040232,001196: 14,3666 03615 YSMD 040233,001197: 14,3667 37623 STCALL ZSMD 040234,001198: 14,3670 02746 QMAJ 040235,001199: 040236,001200: # Page 955 040237,001201: # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) 040238,001202: 040239,001203: # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION 040240,001204: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT 040241,001205: 040242,001206: # CALLING -- CALL R52 040243,001207: 040244,001208: # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6) 040245,001209: 040246,001210: # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9 040247,001211: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) 040248,001212: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM 040249,001213: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE 040250,001214: 040251,001215: # SUBROUT -- R60LEM 040252,001216: 040253,001217: 14,3671 COUNT* $$/R52 040254,001218: 14,3671 77420 R52 STQ EXIT 040255,001219: 14,3672 03665 SAVQR52 040256,001220: 14,3673 51757 INDEX STARIND 040257,001221: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56 040258,001222: 14,3675 00006 EXTEND 040259,001223: 14,3676 73772 MP 1/6TH 040260,001224: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2 040261,001225: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE 040262,001226: 040263,001227: 14,3701 33773 R52A CAF V01N70 040264,001228: 14,3702 04616 TC BANKCALL 040265,001229: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE 040266,001230: 14,3704 06001 TC GOTOP00H # V34 -- TERMINATE 040267,001231: 14,3705 13707 TCF R52B # V33 -- PROCEED TO ORIENT LEM 040268,001232: 14,3706 13701 TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE 040269,001233: 040270,001234: 14,3707 05516 R52B TC DOWNFLAG 040271,001235: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT 040272,001236: 14,3711 30734 CA STARCODE # GRAB DETENT CODE 040273,001237: 14,3712 77747 MASK HIGH9 040274,001238: 14,3713 00006 EXTEND 040275,001239: 14,3714 74743 MP BIT9 040276,001240: 14,3715 54001 TS L # TEMP STORE DETENT 040277,001241: 040278,001242: 14,3716 00006 EXTEND 040279,001243: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION 040280,001244: 040281,001245: 14,3720 65650 AD NEG7 040282,001246: 14,3721 00006 EXTEND 040283,001247: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING 040284,001248: 040285,001249: 14,3723 E7,1551 EBANK= XYMARK 040286,001250: 14,3723 35016 CA EBANK7 040287,001251: 14,3724 54003 TS EBANK 040288,001252: # Page 956 040289,001253: 14,3725 50001 INDEX L 040290,001254: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT 040291,001255: 14,3727 54001 TS L 040292,001256: 14,3730 E5,1642 EBANK= XSM 040293,001257: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L 040294,001258: 14,3731 54003 TS EBANK 040295,001259: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG 040296,001260: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG 040297,001261: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS 040298,001262: 040299,001263: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN 040300,001264: 14,3736 04616 TC BANKCALL 040301,001265: 14,3737 20477 CADR GOFLASH 040302,001266: 14,3740 06001 TC GOTOP00H # V34 -- TERMINATE 040303,001267: 14,3741 13743 TCF +2 # PROCEED -- CALC OPTIC AXIS 040304,001268: 14,3742 13735 TCF GETAZEL # ENTER -- RECYCLE 040305,001269: 040306,001270: 14,3743 00006 EXTEND 040307,001271: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP 040308,001272: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC 040309,001273: 14,3746 52011 DXCH 8D 040310,001274: 14,3747 06042 TC INTPRET 040311,001275: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN 040312,001276: 14,3751 10522 OANB # SCAXIS IN NB COORDS 040313,001277: 14,3752 45034 RTB CALL 040314,001278: 14,3753 21574 LOADTIME 040315,001279: 14,3754 32472 PLANET 040316,001280: 14,3755 53521 MXV UNIT 040317,001281: 14,3756 01734 REFSMMAT 040318,001282: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT 040319,001283: 040320,001284: 14,3760 77776 EXIT 040321,001285: 14,3761 04616 TC BANKCALL 040322,001286: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS 040323,001287: 040324,001288: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE 040325,001289: 14,3764 70734 MASK STARCODE 040326,001290: 14,3765 00006 EXTEND 040327,001291: 14,3766 13701 BZF R52A 040328,001292: 040329,001293: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU 040330,001294: 14,3770 77650 GOTO 040331,001295: 14,3771 03665 SAVQR52 # RETURN TO CALLER 040332,001296: 040333,001297: 14,3772 05253 1/6TH DEC .1666667 040334,001298: 14,3773 00306 V01N70 VN 0170 040335,001299: 14,3774 01527 V06N87 VN 687 040336,001300: 040337,001301: # Page 957 040338,001302: # LUNAR SURFACE STAR ACQUISITION 040339,001303: 040340,001304: 15,2245 BANK 15 040341,001305: 15,2000 SETLOC P50S 040342,001306: 15,2000 BANK 040343,001307: 15,2245 COUNT* $$/R59 040344,001308: 040345,001309: 15,2245 40077 R59 CS FLAGWRD3 040346,001310: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE 040347,001311: 15,2247 10000 CCS A 040348,001312: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK 040349,001313: 040350,001314: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION 040351,001315: 15,2252 04616 TC BANKCALL 040352,001316: 15,2253 20477 CADR GOFLASH 040353,001317: 15,2254 06001 TC GOTOP00H # V34 -- TERMINATE 040354,001318: 15,2255 12257 TCF R59A # V33 -- PROCEED 040355,001319: 15,2256 12245 TCF R59 # V32 -- RECYCLE 040356,001320: 040357,001321: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX 040358,001322: 15,2260 70734 MASK AOTCODE 040359,001323: 15,2261 00006 EXTEND 040360,001324: 15,2262 76245 MP REVCNT # JUST 6 040361,001325: 15,2263 56001 XCH L 040362,001326: 15,2264 51757 INDEX STARIND 040363,001327: 15,2265 55755 TS BESTI 040364,001328: 15,2266 50120 INDEX FIXLOC 040365,001329: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX 040366,001330: 15,2270 00006 EXTEND 040367,001331: 15,2271 12455 BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR 040368,001332: 15,2272 40000 COM 040369,001333: 15,2273 62557 AD DEC227 040370,001334: 15,2274 00006 EXTEND 040371,001335: 15,2275 62455 BZMF R59OUT 040372,001336: 040373,001337: 15,2276 06042 TC INTPRET 040374,001338: 15,2277 64373 VLOAD* MXV 040375,001339: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR 040376,001340: 15,2301 01734 REFSMMAT # TRANSFORM TO SM 040377,001341: 15,2302 45056 UNIT CALL 040378,001342: 15,2303 47650 CDU*SMNB 040379,001343: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB) 040380,001344: 15,2305 77776 EXIT 040381,001345: 040382,001346: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60) 040383,001347: 15,2307 55241 TS POSCODE 040384,001348: 040385,001349: 15,2310 E7,1551 EBANK= XYMARK 040386,001350: 15,2310 35016 INCAZ CA EBANK7 040387,001351: 15,2311 54003 TS EBANK 040388,001352: 040389,001353: # Page 958 040390,001354: 15,2312 51241 INDEX POSCODE 040391,001355: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE 040392,001356: 15,2314 54001 TS L 040393,001357: 040394,001358: 15,2315 E5,1642 EBANK= XSM 040395,001359: 15,2315 35014 CA EBANK5 040396,001360: 15,2316 54003 TS EBANK 040397,001361: 040398,001362: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG 040399,001363: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG 040400,001364: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER 040401,001365: 15,2322 50120 INDEX FIXLOC 040402,001366: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB 040403,001367: 040404,001368: 15,2324 06042 TC INTPRET 040405,001369: 15,2325 77624 CALL 040406,001370: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB 040407,001371: 15,2327 50375 VLOAD DOT 040408,001372: 15,2330 02731 STAR # DOT STAR WITH OA 040409,001373: 15,2331 03765 SCAXIS 040410,001374: 15,2332 65552 SL1 ARCCOS 040411,001375: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS) 040412,001376: 040413,001377: 15,2334 51025 DSU BPL 040414,001378: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW 040415,001379: 15,2336 32420 NXAX # NOT IN FIELD -- TRY NEXT POSITION 040416,001380: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER 040417,001381: 15,2340 00031 24D 040418,001382: 15,2341 32470 DEG.5 040419,001383: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR 040420,001384: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL 040421,001385: 15,2344 00031 24D # GET SPIRAL 040422,001386: 15,2345 42405 DMP SL4 040423,001387: 15,2346 11220 3/4 # 12 SCALED AT 16 040424,001388: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS 040425,001389: 040426,001390: 15,2350 03765 SCAXIS # OA 040427,001391: 15,2351 53435 VXV UNIT 040428,001392: 15,2352 24005 XUNIT 040429,001393: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5 040430,001394: 15,2354 03765 SCAXIS 040431,001395: 15,2355 77676 VCOMP 040432,001396: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11 040433,001397: 15,2357 03765 SCAXIS 040434,001398: 15,2360 53435 VXV UNIT 040435,001399: 15,2361 02731 STAR 040436,001400: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17 040437,001401: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT 040438,001402: 15,2364 65552 SL1 ARCCOS 040439,001403: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS 040440,001404: # Page 959 040441,001405: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2 040442,001406: 15,2367 71244 BPL DLOAD # IF THET NEG -- GET 360-THET 040443,001407: 15,2370 32375 R59D 040444,001408: 15,2371 32047 ABOUTONE 040445,001409: 15,2372 77625 DSU 040446,001410: 15,2373 00033 26D 040447,001411: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS 040448,001412: 040449,001413: 15,2375 70535 R59D SLOAD SR1 040450,001414: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS 040451,001415: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS 040452,001416: 15,2400 00033 26D 040453,001417: 15,2401 77634 RTB 040454,001418: 15,2402 21615 1STO2S 040455,001419: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS 040456,001420: 15,2404 00031 24D # LOAD SROT IN REVS 040457,001421: 15,2405 77615 DAD # 12(SEP) + YROT 040458,001422: 15,2406 77634 RTB 040459,001423: 15,2407 21615 1STO2S 040460,001424: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS 040461,001425: 15,2411 77776 EXIT 040462,001426: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE 040463,001427: 040464,001428: 15,2413 77776 ZSPCR EXIT 040465,001429: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR 040466,001430: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES 040467,001431: 15,2416 55237 TS SPIRAL 040468,001432: 15,2417 12437 TCF 79DISP 040469,001433: 040470,001434: 15,2420 77776 NXAX EXIT 040471,001435: 15,2421 25241 INCR POSCODE 040472,001436: 15,2422 41241 CS POSCODE 040473,001437: 15,2423 64757 AD SEVEN 040474,001438: 15,2424 00006 EXTEND 040475,001439: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION 040476,001440: 15,2426 12310 TCF INCAZ 040477,001441: 040478,001442: 15,2427 05567 R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD 040479,001443: 15,2430 00404 OCT 404 040480,001444: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM 040481,001445: 15,2432 04616 TC BANKCALL 040482,001446: 15,2433 20477 CADR GOFLASH 040483,001447: 15,2434 16001 TCF GOTOP00H # VB34 -- TERMINATE 040484,001448: 15,2435 12455 TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE 040485,001449: 15,2436 12245 TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR 040486,001450: 040487,001451: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE 040488,001452: 15,2440 04616 TC BANKCALL 040489,001453: 15,2441 20477 CADR GOFLASH 040490,001454: 15,2442 16001 TCF GOTOP00H # V34 -- TERMINATE 040491,001455: # Page 960 040492,001456: 15,2443 12445 TCF R59E # V33 -- PROCEED TO MARK ROUTINE 040493,001457: 15,2444 12245 TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN 040494,001458: 040495,001459: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE 040496,001460: 15,2446 71241 MASK POSCODE 040497,001461: 15,2447 00006 EXTEND 040498,001462: 15,2450 74745 MP BIT7 # DETEND CODE NOW IN L 040499,001463: 15,2451 47747 CS HIGH9 040500,001464: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO BIT 1-6 040501,001465: 15,2453 60001 AD L 040502,001466: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9 040503,001467: 040504,001468: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING 040505,001469: 15,2456 16000 CADR AOTMARK 040506,001470: 15,2457 04616 TC BANKCALL 040507,001471: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE 040508,001472: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK 040509,001473: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR 040510,001474: 040511,001475: 15,2463 00306 V01N70* VN 170 040512,001476: 15,2464 01517 V06N79 VN 679 040513,001477: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGREES 040514,001478: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS. 040515,001479: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING 040516,001480: 15,2472 1235 CURSOR EQUALS GDT/2 040517,001481: 15,2472 1237 SPIRAL EQUALS GDT/2 +2 040518,001482: 15,2472 1241 POSCODE EQUALS GDT/2 +4 040519,001483: 040520,001484: # Page 961 040521,001485: # NAME -- PLANET 040522,001486: # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL 040523,001487: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND 040524,001488: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED 040525,001489: # BY DSKY INPUT. 040526,001490: # CALL -- CALL 040527,001491: # PLANET 040528,001492: # INPUT -- TIME IN MPAC 040529,001493: # OUTPUT -- VECTOR IN MPAC 040530,001494: # SUBROUTINES -- LOCSAM 040531,001495: # DEBRIS -- VAC, STARAD - STARAD +17 040532,001496: 040533,001497: 15,2000 SETLOC P50S 040534,001498: 15,2000 BANK 040535,001499: 15,2472 COUNT* $$/P51 040536,001500: 040537,001501: 15,2472 03562 PLANET STORE TSIGHT 040538,001502: 15,2473 77420 STQ EXIT 040539,001503: 15,2474 02736 GCTR 040540,001504: 15,2475 47747 CS HIGH9 040541,001505: 15,2476 70734 MASK AOTCODE 040542,001506: 15,2477 00006 EXTEND 040543,001507: 15,2500 76245 MP REVCNT 040544,001508: 15,2501 56001 XCH L 040545,001509: 15,2502 51757 INDEX STARIND 040546,001510: 15,2503 55755 TS BESTI 040547,001511: 15,2504 10000 CCS A 040548,001512: 15,2505 12521 TCF NOTPLAN 040549,001513: 15,2506 32560 CAF VNPLANV 040550,001514: 15,2507 04616 TC BANKCALL 040551,001515: 15,2510 20477 CADR GOFLASH 040552,001516: 15,2511 02506 TC -3 040553,001517: 15,2512 02514 TC +2 040554,001518: 15,2513 02506 TC -5 040555,001519: 15,2514 06042 TC INTPRET 040556,001520: 15,2515 53575 VLOAD UNIT 040557,001521: 15,2516 02707 STARAD 040558,001522: 15,2517 77650 GOTO 040559,001523: 15,2520 02736 GCTR 040560,001524: 15,2521 40000 NOTPLAN CS A 040561,001525: 15,2522 62557 AD DEC227 040562,001526: 15,2523 00006 EXTEND 040563,001527: 15,2524 62535 BZMF CALSAM1 040564,001528: 15,2525 51757 INDEX STARIND 040565,001529: 15,2526 31755 CA BESTI 040566,001530: 15,2527 50120 INDEX FIXLOC 040567,001531: 15,2530 54046 TS X1 040568,001532: 15,2531 06042 TC INTPRET 040569,001533: 15,2532 52173 VLOAD* GOTO 040570,001534: 15,2533 30347 CATLOG,1 040571,001535: # Page 962 040572,001536: 15,2534 02736 GCTR 040573,001537: 15,2535 06042 CALSAM1 TC INTPRET 040574,001538: 15,2536 45145 CALSAM DLOAD CALL 040575,001539: 15,2537 03562 TSIGHT 040576,001540: 15,2540 30500 LOCSAM 040577,001541: 15,2541 77340 LXC,1 VLOAD 040578,001542: 15,2542 02757 STARIND 040579,001543: 15,2543 02707 VEARTH 040580,001544: 15,2544 24001 STOVL 0D 040581,001545: 15,2545 02715 VSUN 040582,001546: 15,2546 26707 STOVL VEARTH 040583,001547: 15,2547 00001 0D 040584,001548: 15,2550 02715 STORE VSUN 040585,001549: 15,2551 70143 DLOAD* LXC,1 040586,001550: 15,2552 02756 BESTI,1 040587,001551: 15,2553 00154 MPAC 040588,001552: 15,2554 52173 VLOAD* GOTO 040589,001553: 15,2555 02343 STARAD -228D,1 040590,001554: 15,2556 02736 GCTR 040591,001555: 15,2557 00343 DEC227 DEC 227 B-14 040592,001556: 15,2560 01530 VNPLANV VN 0688 040593,001557: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1 040594,001558: 040595,001559: # Page 963 040596,001560: # GRAVITY VECTOR DETERMINATION ROUTINE 040597,001561: # BY KEN VINCENT 040598,001562: 040599,001563: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5. 040600,001564: 040601,001565: # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY 040602,001566: # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED 040603,001567: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS 040604,001568: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO 040605,001569: # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED 040606,001570: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO 040607,001571: # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE 040608,001572: # READINGS. 040609,001573: 040610,001574: # CALL -- 040611,001575: # TC BANKCALL 040612,001576: # CADR GVDETER 040613,001577: 040614,001578: # INPUTS -- 040615,001579: # PIPAS, CDUS 040616,001580: 040617,001581: # OUTPUTS -- 040618,001582: # STARSAV1 = UNIT GRAVITY 040619,001583: # GSAV = DITTO 040620,001584: # GRAVBIT = 1 040621,001585: 040622,001586: # SUBROUTINES -- 040623,001587: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG, 040624,001588: # *NBSM*, *SNMB*, CALCGA, GOFLASH 040625,001589: 040626,001590: # DEBRIS -- 040627,001591: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU 040628,001592: 040629,001593: 15,2561 32762 GVDETER CAF 42DEG 040630,001594: 15,2562 54321 TS THETAD 040631,001595: 15,2563 40000 COM 040632,001596: 15,2564 54322 TS THETAD +1 040633,001597: 15,2565 32763 CAF 35DEG 040634,001598: 15,2566 54323 TS THETAD +2 040635,001599: 15,2567 06042 TC INTPRET 040636,001600: 15,2570 45014 CLEAR CALL 040637,001601: 15,2571 01662 REFSMFLG 040638,001602: 15,2572 32666 LUNG 040639,001603: 040640,001604: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC 040641,001605: 040642,001606: # DEFINE G COOR SYS 040643,001607: # _ 040644,001608: # [ X ] [ UNIT G ] 040645,001609: # * [ _ ] [ _ ] 040646,001610: # M = [ Y ] = [ UNITEZSM * X ] 040647,001611: # [ _ ] [ _ _ ] 040648,001612: # [ Z ] [ UNIT( X * Y )] 040649,001613: 040650,001614: # THEN ROTATED SM WRT PRESENT IS 040651,001615: 040652,001616: # Page 964 040653,001617: # [ 1 0 0 ] 040654,001618: # * *T [ ] * * * 040655,001619: # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I 040656,001620: # [ ] I J 040657,001621: # [ 0 0 -1 ] 040658,001622: 040659,001623: # ALSO NB WRT PRES SM IS 040660,001624: 040661,001625: # * * * 040662,001626: # XNB = NBSM I 040663,001627: 040664,001628: # * * 040665,001629: # GIMBAL ANGLES = CALCGA( XSM, XNB ) 040666,001630: 040667,001631: 15,2000 SETLOC P50S 040668,001632: 15,2000 BANK 040669,001633: 15,2573 COUNT* $$/P57 040670,001634: 15,2573 66370 AXT,1 SSP # X1=18 040671,001635: 15,2574 00022 18D # S1=6 040672,001636: 15,2575 00051 S1 # X2, -2 040673,001637: 15,2576 00006 6D 040674,001638: 15,2577 77744 LXC,2 040675,001639: 15,2600 00050 S1 040676,001640: 15,2601 45173 GRAVEL VLOAD* CALL 040677,001641: 15,2602 54000 XUNIT -6,2 040678,001642: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG 040679,001643: 15,2604 06707 STORE XNB +18D,1 040680,001644: 15,2605 77775 VLOAD 040681,001645: 15,2606 02731 STAR 040682,001646: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD -- 040683,001647: 15,2610 00047 X2 040684,001648: 15,2611 75040 STAR +6,2 # OUTER PRODUCT 040685,001649: 15,2612 71152 VSL2 LXC,2 040686,001650: 15,2613 00047 X2 040687,001651: 15,2614 63047 VSU* INCR,2 040688,001652: 15,2615 54000 XUNIT -6,2 040689,001653: 15,2616 00002 2D 040690,001654: 15,2617 06665 STORE XSM +18D,1 040691,001655: 15,2620 45100 TIX,1 CALL 040692,001656: 15,2621 32601 GRAVEL 040693,001657: 15,2622 47355 CALCGA 040694,001658: 15,2623 74575 VLOAD VSR1 040695,001659: 15,2624 02715 GOUT 040696,001660: 15,2625 36723 STCALL STARAD +12D 040697,001661: 15,2626 32666 LUNG 040698,001662: 15,2627 74575 VLOAD VSR1 040699,001663: 15,2630 02715 GOUT 040700,001664: 15,2631 53455 VAD UNIT 040701,001665: 15,2632 02723 STARAD +12D 040702,001666: 15,2633 02761 STORE STARSAV1 040703,001667: 15,2634 77641 DOT 040704,001668: 15,2635 02231 GSAV 040705,001669: 15,2636 65552 SL1 ACOS 040706,001670: # Page 965 040707,001671: 15,2637 01045 STORE DSPTEM1 040708,001672: 15,2640 77776 EXIT 040709,001673: 15,2641 05516 TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE 040710,001674: 15,2642 00014 ADRES FREEFLAG 040711,001675: 040712,001676: 15,2643 32761 CA DISGRVER 040713,001677: 15,2644 04616 TC BANKCALL 040714,001678: 15,2645 20477 CADR GOFLASH 040715,001679: 15,2646 06001 TC GOTOP00H 040716,001680: 15,2647 12652 TCF PROGRAV # VB33 -- PROCEED 040717,001681: 15,2650 05504 TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN 040718,001682: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE 040719,001683: 040720,001684: 15,2652 05353 PROGRAV TC PHASCHNG 040721,001685: 15,2653 04024 OCT 04024 040722,001686: 040723,001687: 15,2654 06042 TC INTPRET 040724,001688: 15,2655 77775 VLOAD 040725,001689: 15,2656 02761 STARSAV1 040726,001690: 15,2657 02231 STORE GSAV 040727,001691: 15,2660 77776 EXIT 040728,001692: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY 040729,001693: 15,2662 70074 MASK FLAGWRD0 040730,001694: 15,2663 10000 CCS A 040731,001695: 15,2664 12561 TCF GVDETER # SET 040732,001696: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER 040733,001697: 040734,001698: 15,2666 77220 LUNG STQ VLOAD 040735,001699: 15,2667 02745 QMIN 040736,001700: 15,2670 24007 ZEROVEC 040737,001701: 15,2671 02707 STORE GACC 040738,001702: 15,2672 77776 EXIT 040739,001703: 15,2673 05353 TC PHASCHNG 040740,001704: 15,2674 04024 OCT 04024 040741,001705: 040742,001706: 15,2675 06042 TC INTPRET 040743,001707: 15,2676 77624 CALL 040744,001708: 15,2677 31557 COARSE 040745,001709: 15,2700 77776 EXIT 040746,001710: 15,2701 32760 CA T/2SEC 040747,001711: 15,2702 55736 TS GCTR 040748,001712: 15,2703 37721 CA PRIO31 040749,001713: 15,2704 55074 TS 1/PIPADT 040750,001714: 15,2705 04616 TC BANKCALL 040751,001715: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION 040752,001716: 15,2707 05353 TC PHASCHNG 040753,001717: 15,2710 04024 OCT 04024 040754,001718: 040755,001719: 15,2711 04616 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO 040756,001720: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA 040757,001721: # Page 966 040758,001722: 15,2713 06042 TC INTPRET 040759,001723: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE 040760,001724: 15,2715 35000 CAF 2SECS 040761,001725: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS 040762,001726: 15,2717 02721 ADRES GRABGRAV 040763,001727: 040764,001728: 15,2720 05155 TC ENDOFJOB 040765,001729: 040766,001730: 15,2721 04674 GRABGRAV TC IBNKCALL 040767,001731: 15,2722 77541 CADR PIPSRINE 040768,001732: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB 040769,001733: 15,2724 05105 TC FINDVAC 040770,001734: 15,2725 E5,1706 EBANK= STARAD 040771,001735: 15,2725 02730 32065 2CADR ADDGRAV 040772,001736: 040773,001737: 15,2727 05261 TC TASKOVER 040774,001738: 040775,001739: 15,2730 04616 ADDGRAV TC BANKCALL 040776,001740: 15,2731 15271 CADR 1/PIPA 040777,001741: 15,2732 25736 INCR GCTR 040778,001742: 15,2733 06042 TC INTPRET 040779,001743: 15,2734 53375 VLOAD VAD 040780,001744: 15,2735 00325 DELV 040781,001745: 15,2736 02707 GACC 040782,001746: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR 040783,001747: 15,2740 50135 SLOAD BMN 040784,001748: 15,2741 02737 GCTR 040785,001749: 15,2742 32714 GREED 040786,001750: 15,2743 53575 VLOAD UNIT 040787,001751: 15,2744 02707 GACC 040788,001752: 15,2745 36731 STCALL STAR 040789,001753: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE 040790,001754: 15,2747 77624 CALL # IN OUTPUT 040791,001755: 15,2750 47673 *SMNB* 040792,001756: 15,2751 02715 STORE GOUT 040793,001757: 15,2752 77776 EXIT 040794,001758: 15,2753 05353 TC PHASCHNG 040795,001759: 15,2754 04024 OCT 04024 040796,001760: 040797,001761: 15,2755 06042 QMINEXIT TC INTPRET 040798,001762: 15,2756 77650 GOTO 040799,001763: 15,2757 02745 QMIN 040800,001764: 15,2760 77753 T/2SEC DEC -20 B-14 040801,001765: 15,2761 01404 DISGRVER VN 0604 040802,001766: 15,2762 07357 42DEG OCT 07357 040803,001767: 15,2763 06211 35DEG OCT 06211 040804,001768: 040805,001769: # Page 967 040806,001770: # NAME -- GYROTRIM 040807,001771: 040808,001772: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS 040809,001773: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE 040810,001774: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION. 040811,001775: 040812,001776: # CALL CALL 040813,001777: # GYROTRIM 040814,001778: 040815,001779: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES 040816,001780: # CDUX,CDUY,CDUZ 040817,001781: 040818,001782: # OUTPUT GYRO TORQUE PULSES 040819,001783: 040820,001784: # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE 040821,001785: # IMPULSE, IMUSTALL 040822,001786: # _______ ______ ______ * * ___ 040823,001787: # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC 040824,001788: 040825,001789: 15,2764 COUNT* $$/P57 040826,001790: 15,2764 71220 GYROTRIM STQ DLOAD 040827,001791: 15,2765 02745 QMIN 040828,001792: 15,2766 00322 THETAD 040829,001793: 15,2767 65325 PDDL PDDL 040830,001794: 15,2770 00324 THETAD +2 040831,001795: 15,2771 00323 THETAD +1 040832,001796: 15,2772 77666 VDEF 040833,001797: 15,2773 24766 STOVL CDUSPOT 040834,001798: 15,2774 24005 XUNIT 040835,001799: 15,2775 77624 CALL 040836,001800: 15,2776 47666 TRG*NBSM 040837,001801: 15,2777 26707 STOVL STARAD 040838,001802: 15,3000 24003 YUNIT 040839,001803: 15,3001 77624 CALL 040840,001804: 15,3002 47675 *NBSM* 040841,001805: 15,3003 36715 STCALL STARAD +6 040842,001806: 15,3004 47541 CDUTRIG 040843,001807: 15,3005 77624 CALL 040844,001808: 15,3006 20030 CALCSMSC 040845,001809: 15,3007 77775 VLOAD 040846,001810: 15,3010 02665 XNB 040847,001811: 15,3011 24007 STOVL 6D 040848,001812: 15,3012 02673 YNB 040849,001813: 15,3013 34015 STCALL 12D 040850,001814: 15,3014 47443 AXISGEN 040851,001815: 15,3015 77624 CALL 040852,001816: 15,3016 47251 CALCGTA 040853,001817: 15,3017 77776 JUSTTRIM EXIT 040854,001818: 15,3020 33027 CA GYRCDR 040855,001819: 15,3021 04616 TC BANKCALL 040856,001820: 15,3022 17314 CADR IMUPULSE 040857,001821: # Page 968 040858,001822: 15,3023 04616 TC BANKCALL 040859,001823: 15,3024 17707 CADR IMUSTALL 040860,001824: 15,3025 05701 TC CURTAINS 040861,001825: 15,3026 12755 TCF QMINEXIT 040862,001826: 040863,001827: 15,3027 02737 GYRCDR ECADR OGC 040864,001828: 040865,001829: # Page 969 040866,001830: # PERFORM STAR ACQUISITION AND STAR SIGHTINGS 040867,001831: 040868,001832: 15,3030 34755 2STARS CAF ZERO # INITIALIZE STARIND 040869,001833: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR 040870,001834: 15,3032 34753 1STAR CAF BIT1 040871,001835: 15,3033 55757 TS STARIND 040872,001836: 040873,001837: 15,3034 05353 TC PHASCHNG 040874,001838: 15,3035 04024 OCT 04024 040875,001839: 040876,001840: 15,3036 12245 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK 040877,001841: 040878,001842: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING 040879,001843: 15,3040 00006 EXTEND 040880,001844: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED 040881,001845: 040882,001846: 15,3042 05353 TC PHASCHNG 040883,001847: 15,3043 04024 OCT 04024 040884,001848: 040885,001849: 15,3044 06042 TC INTPRET 040886,001850: 15,3045 45145 DLOAD CALL 040887,001851: 15,3046 03562 TSIGHT # TIME OF 2ND MARK 040888,001852: 15,3047 32472 PLANET 040889,001853: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF) 040890,001854: 15,3051 33064 SURFLINE 040891,001855: 040892,001856: 15,3052 06042 ASTAR TC INTPRET 040893,001857: 15,3053 77775 VLOAD 040894,001858: 15,3054 02715 STARAD +6 040895,001859: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM) 040896,001860: 15,3056 45145 DLOAD CALL 040897,001861: 15,3057 03562 TSIGHT # TIME OF 1ST MARK 040898,001862: 15,3060 32472 PLANET 040899,001863: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF) 040900,001864: 15,3062 77776 EXIT 040901,001865: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING 040902,001866: 040903,001867: # Page 970 040904,001868: # DO FINE OR COARSE ALIGNMENT OF IMU 040905,001869: 040906,001870: 15,3064 77131 SURFLINE SSP AXT,2 040907,001871: 15,3065 00052 S2 040908,001872: 15,3066 00006 6 040909,001873: 15,3067 00014 12D 040910,001874: 15,3070 64373 WRTDESIR VLOAD* MXV 040911,001875: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH 040912,001876: 15,3072 03607 XSMD 040913,001877: 15,3073 77656 UNIT 040914,001878: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM 040915,001879: 15,3075 77773 VLOAD* 040916,001880: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM 040917,001881: 15,3077 10023 STORE 18D,2 040918,001882: 15,3100 43104 TIX,2 BON 040919,001883: 15,3101 33070 WRTDESIR 040920,001884: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54 040921,001885: 15,3103 33111 INITBY 040922,001886: 15,3104 77624 DOALIGN CALL 040923,001887: 15,3105 31250 R54 # DO CHKSDATA 040924,001888: 15,3106 77614 BOFF 040925,001889: 15,3107 00354 FREEFLAG 040926,001890: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS 040927,001891: 15,3111 77624 INITBY CALL 040928,001892: 15,3112 47443 AXISGEN # GET DEISRED ORIENT WRT PRES. XDC,YDC,ZDC 040929,001893: 15,3113 77624 CALL 040930,001894: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC 040931,001895: 15,3115 77776 EXIT 040932,001896: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY 040933,001897: 15,3117 70104 MASK FLAGWRD8 040934,001898: 15,3120 10000 CCS A 040935,001899: 15,3121 13130 TCF 5DEGTEST 040936,001900: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93 040937,001901: 15,3123 04616 TC BANKCALL 040938,001902: 15,3124 20477 CADR GOFLASH 040939,001903: 15,3125 06001 TC GOTOP00H # V34 -- TERMINATE 040940,001904: 15,3126 13130 TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE 040941,001905: 15,3127 13172 TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN 040942,001906: 040943,001907: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE 040944,001908: 15,3131 40175 VLOAD BOV 040945,001909: 15,3132 02740 OGC 040946,001910: 15,3133 33134 SURFSUP 040947,001911: 15,3134 02750 SURFSUP STORE OGCT 040948,001912: 15,3135 40141 V/SC BOV 040949,001913: 15,3136 30602 5DEGREES 040950,001914: 15,3137 33237 COATRIM 040951,001915: 15,3140 52131 SSP GOTO 040952,001916: 15,3141 02746 QMIN 040953,001917: 15,3142 33144 SURFDISP 040954,001918: # Page 971 040955,001919: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ 040956,001920: 040957,001921: 15,3144 77776 SURFDISP EXIT 040958,001922: 15,3145 05353 TC PHASCHNG 040959,001923: 15,3146 04024 OCT 04024 040960,001924: 040961,001925: 15,3147 06042 TC INTPRET 040962,001926: 15,3150 75160 AXC,1 AXC,2 040963,001927: 15,3151 03606 XSMD 040964,001928: 15,3152 01733 REFSMMAT 040965,001929: 15,3153 45014 SET CALL 040966,001930: 15,3154 01462 REFSMFLG 040967,001931: 15,3155 31371 MATMOVE 040968,001932: 15,3156 77776 EXIT 040969,001933: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH 040970,001934: 15,3160 13162 TCF B2F8 040971,001935: 15,3161 13172 TCF P57POST +1 040972,001936: 040973,001937: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE. 040974,001938: 15,3163 70104 MASK FLAGWRD8 040975,001939: 15,3164 10000 CCS A 040976,001940: 15,3165 13544 TCF P57JUMP # IT'S SET 040977,001941: 15,3166 06042 TC INTPRET 040978,001942: 15,3167 77624 CALL 040979,001943: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV) 040980,001944: 15,3171 77776 P57POST EXIT 040981,001945: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14 040982,001946: 15,3173 04616 TC BANKCALL 040983,001947: 15,3174 20624 CADR GOPERF1 040984,001948: 15,3175 16001 TCF GOTOP00H # VB34 -- TERMINATE 040985,001949: 15,3176 13544 TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN 040986,001950: 15,3177 44752 CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2 040987,001951: 15,3200 61144 AD OPTION2 040988,001952: 15,3201 00006 EXTEND 040989,001953: 15,3202 13204 BZF +2 # YES -- GO CALCULATE LANDING SITE 040990,001954: 15,3203 16001 TCF GOTOP00H # NO -- EXIT P57 040991,001955: 15,3204 05353 TC PHASCHNG # RESTART PLACE 040992,001956: 15,3205 04024 OCT 04024 040993,001957: 15,3206 06042 TC INTPRET 040994,001958: 15,3207 45175 VLOAD CALL # USE GNB 040995,001959: 15,3210 02231 GSAV 040996,001960: 15,3211 47663 CDU*NBSM # GO TO SM COORDS 040997,001961: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG 040998,001962: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB 040999,001963: 15,3214 01463 LUNAFLAG 041000,001964: 15,3215 51515 PDVL ABVAL 041001,001965: 15,3216 02023 RLS 041002,001966: 15,3217 45561 VXSC STADR 041003,001967: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF) 041004,001968: 15,3221 47014 CLEAR RTB 041005,001969: # Page 972 041006,001970: 15,3222 00662 ERADFLAG 041007,001971: 15,3223 21574 LOADTIME 041008,001972: 15,3224 77624 CALL 041009,001973: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK 041010,001974: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION 041011,001975: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST 041012,001976: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP 041013,001977: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST 041014,001978: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME 041015,001979: 15,3233 51700 R-TO-RP 041016,001980: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS 041017,001981: 15,3235 77776 EXIT 041018,001982: 15,3236 16001 TCF GOTOP00H # EXIT P57 041019,001983: 041020,001984: # Page 973 041021,001985: # COARSE AND FINE ALIGN IMU 041022,001986: 041023,001987: 15,3237 75160 COATRIM AXC,1 AXC,2 041024,001988: 15,3240 02664 XDC 041025,001989: 15,3241 02642 XSM 041026,001990: 15,3242 77624 CALL 041027,001991: 15,3243 31371 MATMOVE 041028,001992: 15,3244 77624 CALL 041029,001993: 15,3245 47541 CDUTRIG 041030,001994: 15,3246 77624 CALL 041031,001995: 15,3247 20030 CALCSMSC 041032,001996: 15,3250 77624 CALL 041033,001997: 15,3251 47355 CALCGA 041034,001998: 15,3252 77414 BOFF EXIT 041035,001999: 15,3253 04355 INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL 041036,002000: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER 041037,002001: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES 041038,002002: 15,3256 04616 TC BANKCALL 041039,002003: 15,3257 20477 CADR GOFLASH 041040,002004: 15,3260 06001 TC GOTOP00H 041041,002005: 15,3261 13263 TCF +2 041042,002006: 15,3262 13255 TCF -5 041043,002007: 15,3263 05353 TC PHASCHNG 041044,002008: 15,3264 04024 OCT 04024 041045,002009: 041046,002010: 15,3265 06042 TC INTPRET 041047,002011: 15,3266 77624 CORSIT CALL 041048,002012: 15,3267 31557 COARSE 041049,002013: 15,3270 77624 CALL 041050,002014: 15,3271 31603 NCOARSE 041051,002015: 15,3272 77624 CALL 041052,002016: 15,3273 32764 GYROTRIM 041053,002017: 15,3274 77650 GOTO 041054,002018: 15,3275 33144 SURFDISP 041055,002019: 15,3276 01535 DISPGYRO VN 0693 041056,002020: 041057,002021: # Page 974 041058,002022: # LUNAR SURFACE IMU ALIGNMENT PROGRAM 041059,002023: 041060,002024: 15,3277 04616 P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND 041061,002025: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H 041062,002026: 041063,002027: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP. 041064,002028: 15,3302 55144 TS OPTION2 041065,002029: 15,3303 34753 P57OPT CAF BIT1 041066,002030: 15,3304 04616 TC BANKCALL 041067,002031: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE 041068,002032: 15,3306 06001 TC GOTOP00H # V34 TERMINATE 041069,002033: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED 041070,002034: 15,3310 13303 TCF P57OPT # V32 RECYCLE 041071,002035: 041072,002036: 15,3311 05353 TC PHASCHNG 041073,002037: 15,3312 00014 OCT 00014 041074,002038: 15,3313 05155 TC ENDOFJOB 041075,002039: 041076,002040: 15,3314 31144 ALIGNOPT CA OPTION2 041077,002041: 15,3315 76250 MASK THREE 041078,002042: 15,3316 50000 INDEX A 041079,002043: 15,3317 13320 TCF +1 041080,002044: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION 041081,002045: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED 041082,002046: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE 041083,002047: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT 041084,002048: 15,3324 75160 AXC,1 AXC,2 041085,002049: 15,3325 01733 REFSMMAT 041086,002050: 15,3326 03606 XSMD 041087,002051: 15,3327 77624 CALL 041088,002052: 15,3330 31371 MATMOVE 041089,002053: 15,3331 77650 GOTO 041090,002054: 15,3332 33373 PACKOPTN -1 041091,002055: 041092,002056: 15,3333 06042 TDISP TC INTPRET 041093,002057: 15,3334 77745 DLOAD 041094,002058: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY 041095,002059: 15,3336 01045 P57A STORE DSPTEM1 041096,002060: 15,3337 77776 EXIT 041097,002061: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1 041098,002062: 15,3341 04616 TC BANKCALL 041099,002063: 15,3342 20477 CADR GOFLASH 041100,002064: 15,3343 16001 TCF GOTOP00H # V34 -- TERMINATE 041101,002065: 15,3344 13346 TCF +2 041102,002066: 15,3345 13340 TCF P57AA # VB32 -- RECYCLE 041103,002067: 041104,002068: 15,3346 06042 TC INTPRET 041105,002069: 15,3347 65234 RTB PDDL 041106,002070: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN 041107,002071: 15,3351 01045 DSPTEM1 041108,002072: # Page 975 041109,002073: 15,3352 65254 BZE PDDL 041110,002074: 15,3353 33363 P57C # IF KEY IN TIME ZERO -- TALIGN=CURRENT TIME 041111,002075: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1 041112,002076: 15,3355 01045 DSPTEM1 041113,002077: 15,3356 33363 P57C 041114,002078: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME 041115,002079: 15,3360 74335 STORE TIG # STORE IT IN TIG 041116,002080: 15,3361 36775 STCALL TALIGN 041117,002081: 15,3362 33365 P57D 041118,002082: 15,3363 45545 P57C DLOAD STADR 041119,002083: 15,3364 75002 STORE TALIGN 041120,002084: 15,3365 34041 P57D STCALL TDEC1 041121,002085: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE 041122,002086: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD 041123,002087: 15,3370 00001 RATT 041124,002088: 15,3371 37607 STCALL XSMD 041125,002089: 15,3372 10757 LSORIENT 041126,002090: 15,3373 77776 EXIT 041127,002091: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY 041128,002092: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION 041129,002093: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION 041130,002094: 15,3377 34737 CAF REFSMBIT 041131,002095: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG 041132,002096: 15,3401 10000 CCS A 041133,002097: 15,3402 34745 CAF BIT7 # SET 041134,002098: 15,3403 27145 ADS OPTION1 +2 # CLEAR -- JUST ZERO 041135,002099: 15,3404 34753 CAF ATTFLBIT 041136,002100: 15,3405 70102 MASK FLAGWRD6 # ATTFLG 041137,002101: 15,3406 10000 CCS A 041138,002102: 15,3407 34750 CAF BIT4 # SET 041139,002103: 15,3410 27145 ADS OPTION1 +2 # CLEAR -- ZERO IN A 041140,002104: 15,3411 34750 CAF BIT4 041141,002105: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST 041142,002106: 041143,002107: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS 041144,002108: 15,3414 04616 TC BANKCALL 041145,002109: 15,3415 20477 CADR GOFLASH 041146,002110: 15,3416 16001 TCF GOTOP00H # VB34 -- TERMINATE 041147,002111: 15,3417 13421 TCF +2 # V33 -- PROCEED 041148,002112: 15,3420 13413 TCF DSPOPTN # V32 -- RECYCLE 041149,002113: 041150,002114: 15,3421 34737 CAF REFSMBIT 041151,002115: 15,3422 70077 MASK FLAGWRD3 041152,002116: 15,3423 10000 CCS A 041153,002117: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE 041154,002118: 15,3425 34753 CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE. 041155,002119: 15,3426 70102 MASK FLAGWRD6 041156,002120: 15,3427 10000 CCS A 041157,002121: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP 041158,002122: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3 041159,002123: # Page 976 041160,002124: 15,3432 71144 MASK OPTION2 041161,002125: 15,3433 10000 CCS A 041162,002126: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE 041163,002127: 15,3435 05567 TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701 041164,002128: 15,3436 00701 OCT 701 041165,002129: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION 041166,002130: 15,3440 04616 TC BANKCALL 041167,002131: 15,3441 20477 CADR GOFLASH 041168,002132: 15,3442 16001 TCF GOTOP00H # VB34 -- TERMINATE 041169,002133: 15,3443 13413 TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY 041170,002134: 15,3444 13413 TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06 041171,002135: 041172,002136: # Page 977 041173,002137: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2 041174,002138: 041175,002139: 15,3445 40220 MFREF STQ SETPD 041176,002140: 15,3446 02746 QMAJ 041177,002141: 15,3447 00001 0 041178,002142: 15,3450 77634 RTB 041179,002143: 15,3451 21574 LOADTIME 041180,002144: 15,3452 27562 STOVL TSIGHT 041181,002145: 15,3453 03246 VEC1 041182,002146: 15,3454 41525 PDDL PUSH 041183,002147: 15,3455 03562 TSIGHT 041184,002148: 15,3456 77624 CALL 041185,002149: 15,3457 55716 RP-TO-R 041186,002150: 15,3460 27246 STOVL VEC1 041187,002151: 15,3461 03254 VEC2 041188,002152: 15,3462 65201 SETPD PDDL 041189,002153: 15,3463 00001 0 041190,002154: 15,3464 03562 TSIGHT 041191,002155: 15,3465 45006 PUSH CALL 041192,002156: 15,3466 55716 RP-TO-R 041193,002157: 15,3467 37254 STCALL VEC2 041194,002158: 15,3470 02746 QMAJ 041195,002159: 041196,002160: # Page 978 041197,002161: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND 041198,002162: # STORE IN YNBSAV AND ZNBSAV. 041199,002163: 041200,002164: 15,3471 45020 REFMF STQ CALL 041201,002165: 15,3472 02746 QMAJ 041202,002166: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS 041203,002167: 15,3474 40234 RTB SETPD 041204,002168: 15,3475 21574 LOADTIME 041205,002169: 15,3476 00001 0 041206,002170: 15,3477 37562 STCALL TSIGHT 041207,002171: 15,3500 20030 CALCSMSC # GET YNB IN SM 041208,002172: 15,3501 61375 VLOAD VXM 041209,002173: 15,3502 02673 YNB 041210,002174: 15,3503 01734 REFSMMAT # YNB TO REF 041211,002175: 15,3504 65256 UNIT PDDL 041212,002176: 15,3505 03562 TSIGHT 041213,002177: 15,3506 45006 PUSH CALL 041214,002178: 15,3507 51700 R-TO-RP 041215,002179: 15,3510 26237 STOVL YNBSAV # YNB TO MF 041216,002180: 15,3511 02701 ZNB 041217,002181: 15,3512 53505 VXM UNIT 041218,002182: 15,3513 01734 REFSMMAT # ZNB TO REF 041219,002183: 15,3514 41525 PDDL PUSH 041220,002184: 15,3515 03562 TSIGHT 041221,002185: 15,3516 77624 CALL 041222,002186: 15,3517 51700 R-TO-RP # ZNB TO MF 041223,002187: 15,3520 02245 STORE ZNBSAV 041224,002188: 15,3521 77614 SETGO 041225,002189: 15,3522 03036 ATTFLAG 041226,002190: 15,3523 02746 QMAJ 041227,002191: 041228,002192: # Page 979 041229,002193: # BRANCH TO ALIGNMENT OPTION 041230,002194: 041231,002195: 15,3524 06042 GETLMATT TC INTPRET 041232,002196: 15,3525 77624 CALL 041233,002197: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV 041234,002198: 15,3527 77776 EXIT 041235,002199: 041236,002200: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG 041237,002201: 15,3531 00205 ADRES INITALGN 041238,002202: 15,3532 34753 CAF BIT1 041239,002203: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3 041240,002204: 15,3534 10000 CCS A 041241,002205: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY 041242,002206: 041243,002207: 15,3536 05353 ATTCHK TC PHASCHNG 041244,002208: 15,3537 04024 OCT 04024 041245,002209: 041246,002210: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG 041247,002211: 15,3541 70102 MASK FLAGWRD6 041248,002212: 15,3542 10000 CCS A 041249,002213: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0 041250,002214: 15,3544 05353 P57JUMP TC PHASCHNG 041251,002215: 15,3545 04024 OCT 04024 041252,002216: 041253,002217: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG 041254,002218: 15,3547 00205 ADRES INITALGN 041255,002219: 15,3550 36250 CAF THREE 041256,002220: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE 041257,002221: 15,3552 50000 INDEX A 041258,002222: 15,3553 13554 TCF +1 041259,002223: 15,3554 13560 TCF P57OPT0 # OPTION IS 0 041260,002224: 15,3555 13601 TCF P57OPT1 # OPTION IS 1 041261,002225: 15,3556 13617 TCF P57OPT2 # OPTION IS 2 041262,002226: 15,3557 13620 TCF P57OPT3 # OPTION IS 3 041263,002227: 041264,002228: # Page 980 041265,002229: # OPTION 0, GET TWO ATTITUDE VECS 041266,002230: 041267,002231: 15,3560 06042 P57OPT0 TC INTPRET 041268,002232: 15,3561 77775 VLOAD 041269,002233: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF 041270,002234: 15,3563 27246 STOVL VEC1 041271,002235: 15,3564 02245 ZNBSAV 041272,002236: 15,3565 37254 STCALL VEC2 041273,002237: 15,3566 47541 CDUTRIG 041274,002238: 15,3567 77624 CALL 041275,002239: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM 041276,002240: 15,3571 77775 VLOAD 041277,002241: 15,3572 02673 YNB 041278,002242: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM 041279,002243: 15,3574 02701 ZNB 041280,002244: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM 041281,002245: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF 041282,002246: 15,3577 77650 GOTO 041283,002247: 15,3600 33064 SURFLINE 041284,002248: 041285,002249: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC 041286,002250: 041287,002251: 15,3601 06042 P57OPT1 TC INTPRET 041288,002252: 15,3602 53575 VLOAD UNIT 041289,002253: 15,3603 02023 RLS # LANDING SITE VEC 041290,002254: 15,3604 27246 STOVL VEC1 041291,002255: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC 041292,002256: 15,3606 37254 STCALL VEC2 041293,002257: 15,3607 47541 CDUTRIG 041294,002258: 15,3610 77624 CALL 041295,002259: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2 041296,002260: 15,3612 45175 VLOAD CALL 041297,002261: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1 041298,002262: 15,3614 47663 CDU*NBSM 041299,002263: 15,3615 77650 GOTO 041300,002264: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0 041301,002265: 041302,002266: # Page 981 041303,002267: # OPTION 2, GET TWO STAR SIGHTINGS 041304,002268: 041305,002269: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS 041306,002270: 041307,002271: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING 041308,002272: 041309,002273: 15,3620 06042 P57OPT3 TC INTPRET 041310,002274: 15,3621 53575 VLOAD UNIT 041311,002275: 15,3622 02023 RLS # LANDING SITE VEC 041312,002276: 15,3623 03246 STORE VEC1 041313,002277: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR 041314,002278: 15,3625 02231 GSAV # GRAVITY VEC NB 041315,002279: 15,3626 77624 CALL 041316,002280: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1 041317,002281: 15,3630 36761 STCALL STARSAV1 041318,002282: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR 041319,002283: 15,3632 77776 EXIT 041320,002284: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE. 041321,002285: 041322,002286: 15,3634 01206 VB05N06 VN 506 041323,002287: 041324,002288: # Page 982 041325,002289: # CHECK IMODES30 TO VERIFY IMU IS ON 041326,002290: 041327,002291: 15,3635 41277 IMUCHK CS IMODES30 041328,002292: 15,3636 74743 MASK BIT9 041329,002293: 15,3637 10000 CCS A # IS IMU ON 041330,002294: 15,3640 13644 TCF +4 # YES 041331,002295: 041332,002296: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT 041333,002297: 15,3642 00210 OCT 210 041334,002298: 15,3643 06001 TC GOTOP00H 041335,002299: 041336,002300: 15,3644 05504 TC UPFLAG 041337,002301: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG 041338,002302: 041339,002303: 15,3646 04631 TC SWRETURN 041340,002304: 041341,002305: 04,2757 BANK 04 041342,002306: 04,2000 SETLOC AOTMARK2 041343,002307: 04,2000 BANK 041344,002308: 04,2757 COUNT* $$/P57 041345,002309: 041346,002310: 04,2757 77220 LSORIENT STQ VLOAD 041347,002311: 04,2760 02746 QMAJ 041348,002312: 04,2761 01555 RRECTCSM 041349,002313: 04,2762 47235 VXV VXV 041350,002314: 04,2763 01563 VRECTCSM 041351,002315: 04,2764 03607 XSMD 041352,002316: 04,2765 77656 UNIT 041353,002317: 04,2766 03623 STORE ZSMD 041354,002318: 04,2767 53435 VXV UNIT 041355,002319: 04,2770 03607 XSMD 041356,002320: 04,2771 37615 STCALL YSMD 041357,002321: 04,2772 02746 QMAJ 041358,002322: End of include-file P51-P53.agc. Parent file is MAIN.agc