Source Code
040239,000001: # Copyright: Public domain.
040240,000002: # Filename: P51-P53.agc
040241,000003: # Purpose: Part of the source code for Luminary 1A build 099.
040242,000004: # It is part of the source code for the Lunar Module's (LM)
040243,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
040244,000006: # Assembler: yaYUL
040245,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040246,000008: # Website: www.ibiblio.org/apollo.
040247,000009: # Pages: 926-983
040248,000010: # Mod history: 2009-05-31 HG Transcribed from page images.
040249,000011: # 2009-06-07 RSB Corrected a typo.
040250,000012:
040251,000013: # This source code has been transcribed or otherwise adapted from
040252,000014: # digitized images of a hardcopy from the MIT Museum. The digitization
040253,000015: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040254,000016: # the Museum. Many thanks to both. The images (with suitable reduction
040255,000017: # in storage size and consequent reduction in image quality as well) are
040256,000018: # available online at www.ibiblio.org/apollo. If for some reason you
040257,000019: # find that the images are illegible, contact me at info@sandroid.org
040258,000020: # about getting access to the (much) higher-quality images which Paul
040259,000021: # actually created.
040260,000022:
040261,000023: # Notations on the hardcopy document read, in part:
040262,000024:
040263,000025: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040264,000026: # 16:27 JULY 14, 1969
040265,000027:
040266,000028: # Page 926
040267,000029: # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967
040268,000030: # MOD NO -- 0 LOG SECTION -- P51-P53
040269,000031: # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46
040270,000032:
040271,000033: # FUNCTIONAL DESCRIPTION --
040272,000034:
040273,000035: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040274,000036: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE:
040275,000037:
040276,000038: # (A) PREFERRED ORIENTATION
040277,000039:
040278,000040: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND
040279,000041: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040280,000042:
040281,000043: # (B) NOMINAL ORIENTATION
040282,000044:
040283,000045: # X = UNIT ( R )
040284,000046: # -SM
040285,000047:
040286,000048: # Y = UNIT (V X R)
040287,000049: # SM
040288,000050:
040289,000051: # Z = UNIT (X X Y )
040290,000052: # SM SM SM
040291,000053:
040292,000054: # WHERE:
040293,000055:
040294,000056: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040295,000057: # -
040296,000058:
040297,000059: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040298,000060: # -
040299,000061:
040300,000062: # (C) RERSMMAT ORIENTATION
040301,000063:
040302,000064: # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE
040303,000065:
040304,000066: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040305,000067: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURRED
040306,000068: # SINCE THE LAST ALIGNMENT).
040307,000069:
040308,000070: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040309,000071: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040310,000072: # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040311,000073: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS
040312,000074: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040313,000075: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040314,000076: # REQUESTED.
040315,000077:
040316,000078: # CALLING SEQUENCE --
040317,000079:
040318,000080: # Page 927
040319,000081: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040320,000082:
040321,000083: # SUBROUTINES CALLED --
040322,000084:
040323,000085: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040324,000086: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040325,000087: # 3. GOPERF4 9. FLAGUP
040326,000088: # 4. MATMOVE 10. R56
040327,000089: # 5. GOFLASH 11. R51
040328,000090: # 6. S52.3 12. GOPERF3
040329,000091:
040330,000092: # NORMAL EXIT MODES --
040331,000093:
040332,000094: # EXITS TO ENDOFJOB
040333,000095:
040334,000096: # ALARM OR ABORT EXIT MODES --
040335,000097:
040336,000098: # NONE
040337,000099:
040338,000100: # OUTPUT --
040339,000101:
040340,000102: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040341,000103: # 1. IMU ORIENTATION CODE
040342,000104: # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED
040343,000105: # 3. TIME OF NEXT IGNITION
040344,000106: # 4. GIMBAL ANGLES
040345,000107: # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE
040346,000108: # 6. PLEASE PERFORM P00
040347,000109: # THE MODE DISPLAY MAY BE CHANGED TO 20
040348,000110:
040349,000111: # ERASABLE INITIALIZATION REQUIRED --
040350,000112:
040351,000113: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040352,000114: # XSMD, YSMD, ZSMD.
040353,000115:
040354,000116: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040355,000117:
040356,000118: # DEBRIS --
040357,000119:
040358,000120: # WORK AREA
040359,000121:
040360,000122: 33,3777 BANK 33
040361,000123: 15,2000 SETLOC P50S
040362,000124: 15,2000 BANK
040363,000125:
040364,000126: 15,2050 E5,1755 EBANK= BESTI
040365,000127: 15,2050 COUNT* $$/P52
040366,000128: 15,2050 04616 PROG52 TC BANKCALL
040367,000129: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040368,000130: 15,2052 34750 CAF PFRATBIT
040369,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040370,000132: 15,2054 10000 CCS A
040371,000133: # Page 928
040372,000134: 15,2055 02060 TC P52A # YES
040373,000135: 15,2056 34752 CAF BIT2 # NO
040374,000136: 15,2057 02061 TC P52A +1
040375,000137: 15,2060 34753 P52A CAF BIT1
040376,000138: 15,2061 55145 TS OPTION2
040377,000139: 15,2062 34753 P52B CAF BIT1
040378,000140: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040379,000141: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040380,000142: 15,2065 06001 TC GOTOP00H
040381,000143: 15,2066 12073 TCF +5 # V33 -- PROCEED
040382,000144: 15,2067 02062 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT
040383,000145: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040384,000146: 15,2071 00014 OCT 00014
040385,000147: 15,2072 05155 TC ENDOFJOB
040386,000148:
040387,000149: 15,2073 31145 CA OPTION2
040388,000150: 15,2074 76245 MASK THREE
040389,000151: 15,2075 50000 INDEX A
040390,000152: 15,2076 02077 TC +1
040391,000153: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040392,000154: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040393,000155: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040394,000156: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040395,000157: 15,2103 77650 GOTO
040396,000158: 15,2104 32164 P52F # GO DO R51
040397,000159:
040398,000160: 15,2105 00006 OPT4 EXTEND
040399,000161: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040400,000162: 15,2107 12112 TCF P52T +2
040401,000163:
040402,000164: 15,2110 00006 P52T EXTEND
040403,000165: 15,2111 34755 DCA NEG0
040404,000166: 15,2112 53046 DXCH DSPTEM1
040405,000167: 15,2113 32170 CAF V06N34*
040406,000168: 15,2114 04616 TC BANKCALL
040407,000169: 15,2115 20476 CADR GOFLASH
040408,000170: 15,2116 06001 TC GOTOP00H
040409,000171: 15,2117 02121 TC +2
040410,000172: 15,2120 02113 TC -5
040411,000173: 15,2121 53046 DXCH DSPTEM1
040412,000174: 15,2122 00006 EXTEND
040413,000175: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040414,000176: 15,2124 12127 TCF +3
040415,000177: 15,2125 00006 EXTEND
040416,000178: 15,2126 30025 DCA TIME2
040417,000179: 15,2127 53775 DXCH TALIGN
040418,000180: 15,2130 31145 P52V CA OPTION2
040419,000181: 15,2131 74752 MASK BIT2
040420,000182: 15,2132 10000 CCS A
040421,000183: 15,2133 02137 TC P52W
040422,000184: # Page 929
040423,000185: 15,2134 06037 TC INTPRET # OPTION 4 -- GET LS ORIENTATION
040424,000186: 15,2135 77650 GOTO
040425,000187: 15,2136 32220 P52LS
040426,000188:
040427,000189: # Page 930
040428,000190: 15,2137 06037 P52W TC INTPRET
040429,000191: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040430,000192: 15,2141 02775 TALIGN # COMPUTED NOMINAL IMU
040431,000193: 15,2142 31650 S52.3 # ORIENTATION
040432,000194: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040433,000195: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040434,000196: 15,2145 77776 EXIT
040435,000197: 15,2146 35010 CAF V06N22
040436,000198: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040437,000199: 15,2150 20476 CADR GOFLASH
040438,000200: 15,2151 06001 TC GOTOP00H
040439,000201: 15,2152 12171 TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE
040440,000202: 15,2153 06037 P52H TC INTPRET
040441,000203: 15,2154 77650 GOTO
040442,000204: 15,2155 32143 P52D
040443,000205: 15,2156 06037 REGCOARS TC INTPRET
040444,000206: 15,2157 77624 CALL # DO COARSE ALIGN
040445,000207: 15,2160 31327 CAL53A # ROUTINE
040446,000208: 15,2161 43014 COARSRET SET CLEAR
040447,000209: 15,2162 01462 REFSMFLG
040448,000210: 15,2163 01273 PFRATFLG
040449,000211: 15,2164 77624 P52F CALL
040450,000212: 15,2165 31015 R51
040451,000213: 15,2166 77776 P52OUT EXIT
040452,000214: 15,2167 06001 TC GOTOP00H
040453,000215: 15,2170 5006 VB05N09 = V05N09
040454,000216: 15,2170 01442 V06N34* VN 634
040455,000217:
040456,000218: # Page 931
040457,000219: # CHECK FOR GYRO TORQUE COARSE ALIGNMENT
040458,000220:
040459,000221: 15,2171 32217 COARSTYP CAF OCT13
040460,000222: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040461,000223: 15,2173 20623 CADR GOPERF1
040462,000224: 15,2174 16001 TCF GOTOP00H # V34 -- TERMIN&OE
040463,000225: 15,2175 12156 TCF REGCOARS # V33 -- NORMAL COARSE
040464,000226: 15,2176 06037 TC INTPRET # V32 -- GYRO TORQUE COARSE
040465,000227: 15,2177 64375 VLOAD MXV
040466,000228: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040467,000229: 15,2201 01734 REFSMMAT
040468,000230: 15,2202 77656 UNIT
040469,000231: 15,2203 26665 STOVL XDC
040470,000232: 15,2204 03615 YSMD
040471,000233: 15,2205 53521 MXV UNIT
040472,000234: 15,2206 01734 REFSMMAT
040473,000235: 15,2207 26673 STOVL YDC
040474,000236: 15,2210 03623 ZSMD
040475,000237: 15,2211 53521 MXV UNIT
040476,000238: 15,2212 01734 REFSMMAT
040477,000239: 15,2213 36701 STCALL ZDC
040478,000240: 15,2214 31164 GYCOARS
040479,000241: 15,2215 77650 GOTO
040480,000242: 15,2216 32166 P52OUT
040481,000243: 15,2217 00013 OCT13 OCT 13
040482,000244:
040483,000245: # Page 932
040484,000246: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040485,000247:
040486,000248: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040487,000249: 15,2221 01463 LUNAFLAG
040488,000250: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040489,000251: 15,2223 77201 SETPD VLOAD
040490,000252: 15,2224 00001 0
040491,000253: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040492,000254: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040493,000255: 15,2227 02775 TALIGN
040494,000256: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040495,000257: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040496,000258: 15,2232 77742 VSR2
040497,000259: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040498,000260: 15,2234 02775 TALIGN
040499,000261: 15,2235 77624 CALL
040500,000262: 15,2236 30446 N89DISP
040501,000263: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040502,000264: 15,2240 02032 ALPHAV
040503,000265: 15,2241 37607 STCALL XSMD
040504,000266: 15,2242 11013 LSORIENT
040505,000267: 15,2243 77650 GOTO
040506,000268: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES.
040507,000269:
040508,000270: # Page 933
040509,000271: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040510,000272:
040511,000273: 14,2000 SETLOC P50S1
040512,000274: 14,2000 BANK
040513,000275: 14,2446 E5,1642 EBANK= XSM
040514,000276:
040515,000277: 14,2446 77620 N89DISP STQ
040516,000278: 14,2447 02746 QMAJ
040517,000279: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040518,000280: 14,2451 26351 LAT-LONG
040519,000281: 14,2452 70545 DLOAD SR1
040520,000282: 14,2453 01123 LONG
040521,000283: 14,2454 16711 STODL LANDLONG
040522,000284: 14,2455 01125 ALT
040523,000285: 14,2456 16713 STODL LANDALT
040524,000286: 14,2457 01121 LAT
040525,000287: 14,2460 16707 STODL LANDLAT
040526,000288: 14,2461 77776 EXIT
040527,000289:
040528,000290: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040529,000291: 14,2463 04616 TC BANKCALL
040530,000292: 14,2464 20476 CADR GOFLASH
040531,000293: 14,2465 16001 TCF GOTOP00H # V34 -- TERMINATE -- EXIT P57
040532,000294: 14,2466 12470 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA
040533,000295: 14,2467 12462 TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS
040534,000296:
040535,000297: 14,2470 06037 TC INTPRET
040536,000298: 14,2471 72545 DLOAD SL1
040537,000299: 14,2472 02711 LANDLONG
040538,000300: 14,2473 15123 STODL LONG
040539,000301: 14,2474 02713 LANDALT
040540,000302: 14,2475 15125 STODL ALT
040541,000303: 14,2476 02707 LANDLAT
040542,000304: 14,2477 15121 STODL LAT
040543,000305: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040544,000306: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040545,000307: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040546,000308: 14,2503 77650 GOTO
040547,000309: 14,2504 02746 QMAJ
040548,000310: 14,2505 01531 V06N89* VN 689
040549,000311:
040550,000312: # Page 934
040551,000313: # NAME -- S50 ALIAS LOCSAM
040552,000314: # BY
040553,000315: # VINCENT
040554,000316:
040555,000317: # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET
040556,000318:
040557,000319: # DEFINE
040558,000320:
040559,000321: # U = UNIT( SUN WRT EARTH )
040560,000322: # ES
040561,000323:
040562,000324: # U = UNIT( MOON WRT EARTH )
040563,000325: # EM
040564,000326:
040565,000327: # R = POSITION VECTOR OF LEM
040566,000328: # L
040567,000329:
040568,000330: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040569,000331: # EM
040570,000332:
040571,000333: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040572,000334: # EM
040573,000335:
040574,000336: # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH
040575,000337: # E
040576,000338:
040577,000339: # LOCSAM COMPUTES IN EARTH INFLUENCE
040578,000340:
040579,000341: # VSUN = U
040580,000342: # ES
040581,000343:
040582,000344: # VEARTH = -UNIT( R )
040583,000345: # L
040584,000346:
040585,000347: # VMOON = UNIT(R .U - R )
040586,000348: # EM EM L
040587,000349:
040588,000350: # CSUN = COS 90
040589,000351:
040590,000352: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040591,000353: # E L
040592,000354:
040593,000355: # CMOON = COS 5
040594,000356:
040595,000357: # INPUT -- TIME IN MPAC
040596,000358:
040597,000359: # OUTPUT -- LISTED ABOVE
040598,000360:
040599,000361: # SUBROUTINES -- LSPOS, LEMPREC
040600,000362:
040601,000363: # DEBRIS -- VAC AREA, TSIGHT
040602,000364:
040603,000365: # Page 935
040604,000366: 14,2506 COUNT* $$/LOSAM
040605,000367:
040606,000368: 14,2506 14,2506 S50 = LOCSAM
040607,000369: 14,2506 77620 LOCSAM STQ
040608,000370: 14,2507 02745 QMIN
040609,000371: 14,2510 37562 STCALL TSIGHT
040610,000372: 14,2511 33664 LSPOS
040611,000373: 14,2512 77745 DLOAD
040612,000374: 14,2513 03562 TSIGHT
040613,000375: 14,2514 34041 STCALL TDEC1
040614,000376: 14,2515 27057 LEMPREC
040615,000377: 14,2516 61131 SSP TIX,2
040616,000378: 14,2517 00052 S2
040617,000379: 14,2520 00000 0
040618,000380: 14,2521 30543 MOONCNTR
040619,000381: 14,2522 74375 EARTCNTR VLOAD VXSC
040620,000382: 14,2523 02723 VMOON
040621,000383: 14,2524 30001 RSUBEM
040622,000384: 14,2525 52372 VSL1 VSU
040623,000385: 14,2526 00001 RATT
040624,000386: 14,2527 77656 UNIT
040625,000387: 14,2530 26723 STOVL VMOON
040626,000388: 14,2531 00001 RATT
040627,000389: 14,2532 57456 UNIT VCOMP
040628,000390: 14,2533 16707 STODL VEARTH
040629,000391: 14,2534 30005 RSUBE
040630,000392: 14,2535 77624 CALL
040631,000393: 14,2536 30575 OCCOS
040632,000394: 14,2537 14017 STODL CEARTH
040633,000395: 14,2540 30604 CSS5
040634,000396: 14,2541 34023 STCALL CMOON
040635,000397: 14,2542 30570 ENDSAM
040636,000398: 14,2543 74375 MOONCNTR VLOAD VXSC
040637,000399: 14,2544 02723 VMOON
040638,000400: 14,2545 30007 ROE
040639,000401: 14,2546 53445 BVSU UNIT
040640,000402: 14,2547 02715 VSUN
040641,000403: 14,2550 26715 STOVL VSUN
040642,000404: 14,2551 02723 VMOON
040643,000405: 14,2552 53361 VXSC VAD
040644,000406: 14,2553 30001 RSUBEM
040645,000407: 14,2554 00001 RATT
040646,000408: 14,2555 57456 UNIT VCOMP
040647,000409: 14,2556 26707 STOVL VEARTH
040648,000410: 14,2557 00001 RATT
040649,000411: 14,2560 57456 UNIT VCOMP
040650,000412: 14,2561 16723 STODL VMOON
040651,000413: 14,2562 30003 RSUBM
040652,000414: 14,2563 77624 CALL
040653,000415: 14,2564 30575 OCCOS
040654,000416: # Page 936
040655,000417: 14,2565 14023 STODL CMOON
040656,000418: 14,2566 30604 CSS5
040657,000419: 14,2567 00017 STORE CEARTH
040658,000420: 14,2570 77745 ENDSAM DLOAD
040659,000421: 14,2571 30606 CSSUN
040660,000422: 14,2572 00021 STORE CSUN
040661,000423: 14,2573 77650 GOTO
040662,000424: 14,2574 02745 QMIN
040663,000425: 14,2575 70471 OCCOS DDV SR1
040664,000426: 14,2576 00045 36D
040665,000427: 14,2577 43336 ASIN DAD
040666,000428: 14,2600 30610 5DEGREES
040667,000429: 14,2601 70546 COS SR1
040668,000430: 14,2602 77616 RVQ
040669,000431: 14,2603 CEARTH = 14D
040670,000432: 14,2603 CSUN = 16D
040671,000433: 14,2603 CMOON = 18D
040672,000434: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040673,000435: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040674,000436: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040675,000437:
040676,000438: # Page 937
040677,000439: # PROGRAM NAME -- R56 DATE: DEC 20 66
040678,000440: # MOD 1 LOG SECTION: P51-P53
040679,000441: # ASSEMBLY: SUNDISK REV4D
040680,000442: # BY KEN VINCENT
040681,000443:
040682,000444: # FUNCTION
040683,000445: # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040684,000446: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040685,000447: # WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED
040686,000448: # TO DETERMIN IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A
040687,000449: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX.
040688,000450: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040689,000451: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040690,000452: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040691,000453: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040692,000454: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040693,000455: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040694,000456: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040695,000457:
040696,000458: # CALLING SEQUENCE
040697,000459: # L TC BANKCALL
040698,000460: # L+1 CADR R56
040699,000461: # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW
040700,000462: # L+3 NORMAL RETURN
040701,000463:
040702,000464: # OUTPUT
040703,000465: # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040704,000466: # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040705,000467:
040706,000468: # INITIALIZATION
040707,000469: # 1) A CALL TO LOCSAM MUST BE MADE
040708,000470:
040709,000471: # DEBRIS
040710,000472: # WORKAREA
040711,000473: # X,Y,ZNB
040712,000474: # SINCDU, COSCDU
040713,000475: # STARAD -- STAR +5
040714,000476:
040715,000477: 14,2611 14,2611 R56 = PICAPAR
040716,000478: 14,2611 COUNT* $$/R56
040717,000479: 14,2611 04645 PICAPAR TC MAKECADR
040718,000480: 14,2612 55745 TS QMIN
040719,000481: 14,2613 06037 TC INTPRET
040720,000482: 14,2614 77624 CALL
040721,000483: 14,2615 47537 CDUTRIG
040722,000484: 14,2616 77624 CALL
040723,000485: 14,2617 20030 CALCSMSC
040724,000486: 14,2620 77601 SETPD
040725,000487: 14,2621 00001 0
040726,000488: 14,2622 71214 SET DLOAD # VFLAG = 1
040727,000489: 14,2623 01465 VFLAG
040728,000490: # Page 938
040729,000491: 14,2624 24007 DPZERO
040730,000492: 14,2625 26756 STOVL BESTI
040731,000493: 14,2626 02665 XNB
040732,000494: 14,2627 63361 VXSC PDVL
040733,000495: 14,2630 24005 HALFDP
040734,000496: 14,2631 02701 ZNB
040735,000497: 14,2632 74370 AXT,1 VXSC
040736,000498: 14,2633 00344 228D # X1 = 37 X 6 + 6
040737,000499: 14,2634 24005 HALFDP
040738,000500: 14,2635 77655 VAD
040739,000501: 14,2636 53505 VXM UNIT
040740,000502: 14,2637 01734 REFSMMAT
040741,000503: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040742,000504: 14,2641 66331 SSP SSP # S1 = S2 = 6
040743,000505: 14,2642 00051 S1
040744,000506: 14,2643 00006 6
040745,000507: 14,2644 00052 S2
040746,000508: 14,2645 00006 6
040747,000509: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040748,000510: 14,2647 30651 PIC2
040749,000511: 14,2650 30766 PICEND
040750,000512: 14,2651 50373 PIC2 VLOAD* DOT
040751,000513: 14,2652 30347 CATLOG,1
040752,000514: 14,2653 02731 SAX
040753,000515: 14,2654 50025 DSU BMN
040754,000516: 14,2655 30765 CSS33
040755,000517: 14,2656 30646 PIC1
040756,000518: 14,2657 77754 LXA,2
040757,000519: 14,2660 00046 X1
040758,000520: 14,2661 52104 PIC3 TIX,2 GOTO
040759,000521: 14,2662 30664 PIC4
040760,000522: 14,2663 30646 PIC1
040761,000523: 14,2664 50373 PIC4 VLOAD* DOT
040762,000524: 14,2665 47430 CATLOG,2
040763,000525: 14,2666 02731 SAX
040764,000526: 14,2667 50025 DSU BMN
040765,000527: 14,2670 30765 CSS33
040766,000528: 14,2671 30661 PIC3
040767,000529: 14,2672 47773 VLOAD* DOT*
040768,000530: 14,2673 30347 CATLOG,1
040769,000531: 14,2674 47430 CATLOG,2
040770,000532: 14,2675 51025 DSU BPL
040771,000533: 14,2676 30763 CSS40
040772,000534: 14,2677 30661 PIC3
040773,000535: 14,2700 45173 VLOAD* CALL
040774,000536: 14,2701 30347 CATLOG,1
040775,000537: 14,2702 30740 OCCULT
040776,000538: 14,2703 77614 BON
040777,000539: 14,2704 01710 CULTFLAG
040778,000540: 14,2705 30646 PIC1
040779,000541: # Page 939
040780,000542: 14,2706 45173 VLOAD* CALL
040781,000543: 14,2707 47430 CATLOG,2
040782,000544: 14,2710 30740 OCCULT
040783,000545: 14,2711 77614 BON
040784,000546: 14,2712 01710 CULTFLAG
040785,000547: 14,2713 30661 PIC3
040786,000548: 14,2714 77614 STRATGY BONCLR
040787,000549: 14,2715 01605 VFLAG
040788,000550: 14,2716 30733 NEWPAR
040789,000551: 14,2717 65120 XCHX,1 XCHX,2
040790,000552: 14,2720 02755 BESTI
040791,000553: 14,2721 02756 BESTJ
040792,000554: 14,2722 47773 STRAT VLOAD* DOT*
040793,000555: 14,2723 30347 CATLOG,1
040794,000556: 14,2724 47430 CATLOG,2
040795,000557: 14,2725 43006 PUSH BOFINV
040796,000558: 14,2726 01545 VFLAG
040797,000559: 14,2727 30717 STRAT -3
040798,000560: 14,2730 45345 DLOAD DSU
040799,000561: 14,2731 77644 BPL
040800,000562: 14,2732 30661 PIC3
040801,000563: 14,2733 67130 NEWPAR SXA,1 SXA,2
040802,000564: 14,2734 02755 BESTI
040803,000565: 14,2735 02756 BESTJ
040804,000566: 14,2736 77650 GOTO
040805,000567: 14,2737 30661 PIC3
040806,000568: 14,2740 51321 OCCULT MXV BVSU
040807,000569: 14,2741 02707 CULTRIX
040808,000570: 14,2742 00017 CSS
040809,000571: 14,2743 77654 BZE
040810,000572: 14,2744 30757 CULTED
040811,000573: 14,2745 75240 BMN SIGN
040812,000574: 14,2746 30757 CULTED
040813,000575: 14,2747 00160 MPAC +3
040814,000576: 14,2750 75240 BMN SIGN
040815,000577: 14,2751 30757 CULTED
040816,000578: 14,2752 00162 MPAC +5
040817,000579: 14,2753 43040 BMN CLRGO
040818,000580: 14,2754 30757 CULTED
040819,000581: 14,2755 01630 CULTFLAG
040820,000582: 14,2756 00052 QPRET
040821,000583: 14,2757 77614 CULTED SETGO
040822,000584: 14,2760 01430 CULTFLAG
040823,000585: 14,2761 00052 QPRET
040824,000586: 14,2762 0000016 CSS = CEARTH
040825,000587: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040826,000588: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040827,000589: 14,2766 77414 PICEND BOFF EXIT
040828,000590:
040829,000591: # Page 940
040830,000592: 14,2767 01745 VFLAG
040831,000593: 14,2770 30772 PICGXT
040832,000594: 14,2771 03013 TC PICBXT
040833,000595: 14,2772 73150 PICGXT LXA,1 LXA,2
040834,000596: 14,2773 02755 BESTI
040835,000597: 14,2774 02756 BESTJ
040836,000598: 14,2775 47775 VLOAD DOT*
040837,000599: 14,2776 02731 SAX
040838,000600: 14,2777 30347 CATLOG,1
040839,000601: 14,3000 47715 PDVL DOT*
040840,000602: 14,3001 02731 SAX
040841,000603: 14,3002 47430 CATLOG,2
040842,000604: 14,3003 77625 DSU
040843,000605: 14,3004 66044 BPL SXA,1
040844,000606: 14,3005 31011 PICNSWP
040845,000607: 14,3006 02756 BESTJ
040846,000608: 14,3007 77734 SXA,2
040847,000609: 14,3010 02755 BESTI
040848,000610: 14,3011 77776 PICNSWP EXIT
040849,000611: 14,3012 25745 INCR QMIN
040850,000612: 14,3013 31745 PICBXT CA QMIN
040851,000613: 14,3014 04622 TC SWCALL
040852,000614: 14,3015 VPD = 0D
040853,000615: 14,3015 V0 = 6D
040854,000616: 14,3015 V1 = 12D
040855,000617: 14,3015 V2 = 18D
040856,000618: 14,3015 V3 = 24D
040857,000619: 14,3015 DP0 = 30D
040858,000620: 14,3015 DP1 = 32D
040859,000621:
040860,000622: # Page 941
040861,000623: # NAME -- R51 FINE ALIGN
040862,000624: # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT
040863,000625: # CALLING SEQ -- CALL R51
040864,000626: # INPUT -- REFSMMAT
040865,000627: # OUTPUT -- GYRO TORQUE PULSES
040866,000628: # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55
040867,000629:
040868,000630: 14,3015 COUNT* $$/R51
040869,000631: 14,3015 77620 R51 STQ
040870,000632: 14,3016 02746 QMAJ
040871,000633: 14,3017 77776 R51.1 EXIT
040872,000634: 14,3020 05353 TC PHASCHNG
040873,000635: 14,3021 04024 OCT 04024
040874,000636:
040875,000637: 14,3022 34761 R51C CAF OCT15
040876,000638: 14,3023 04616 TC BANKCALL
040877,000639: 14,3024 20623 CADR GOPERF1
040878,000640: 14,3025 06001 TC GOTOP00H
040879,000641: 14,3026 03030 TC +2 # V33E
040880,000642: 14,3027 03053 TC R51E # ENTER
040881,000643: 14,3030 06037 TC INTPRET
040882,000644: 14,3031 43234 RTB DAD
040883,000645: 14,3032 21573 LOADTIME
040884,000646: 14,3033 31163 TSIGHT1
040885,000647: 14,3034 77624 CALL
040886,000648: 14,3035 30506 LOCSAM
040887,000649: 14,3036 77776 EXIT
040888,000650: 14,3037 04616 TC BANKCALL
040889,000651: 14,3040 30611 CADR R56
040890,000652: 14,3041 03043 TC R51I
040891,000653: 14,3042 03053 R51F TC R51E
040892,000654: 14,3043 05567 R51I TC ALARM
040893,000655: 14,3044 00405 OCT 405
040894,000656: 14,3045 35006 CAF VB05N09
040895,000657: 14,3046 04616 TC BANKCALL
040896,000658: 14,3047 20476 CADR GOFLASH
040897,000659: 14,3050 06001 TC GOTOP00H
040898,000660: 14,3051 03053 TC R51E
040899,000661: 14,3052 03022 TC R51C
040900,000662: 14,3053 34755 R51E CAF ZERO
040901,000663: 14,3054 55757 TS STARIND
040902,000664: 14,3055 06037 R51.2 TC INTPRET
040903,000665: 14,3056 77776 R51.3 EXIT
040904,000666: 14,3057 05353 TC PHASCHNG
040905,000667: 14,3060 04024 OCT 04024
040906,000668:
040907,000669: 14,3061 06037 TC INTPRET
040908,000670: 14,3062 77624 CALL
040909,000671: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040910,000672: 14,3064 77776 EXIT
040911,000673: 14,3065 04616 TC BANKCALL
040912,000674: # Page 942
040913,000675: 14,3066 16000 CADR AOTMARK
040914,000676: 14,3067 04616 TC BANKCALL
040915,000677: 14,3070 17712 CADR OPTSTALL
040916,000678: 14,3071 05711 TC CURTAINS
040917,000679: 14,3072 11757 CCS STARIND
040918,000680: 14,3073 13075 TCF +2
040919,000681: 14,3074 03145 TC R51.4
040920,000682: 14,3075 06037 TC INTPRET
040921,000683: 14,3076 77775 VLOAD
040922,000684: 14,3077 02715 STARAD +6
040923,000685: 14,3100 02767 STORE STARSAV2
040924,000686: 14,3101 77776 EXIT
040925,000687: 14,3102 05353 TC PHASCHNG
040926,000688: 14,3103 04024 OCT 04024
040927,000689:
040928,000690: 14,3104 06037 TC INTPRET
040929,000691: 14,3105 45145 DLOAD CALL
040930,000692: 14,3106 03562 TSIGHT
040931,000693: 14,3107 32472 PLANET
040932,000694: 14,3110 53521 MXV UNIT
040933,000695: 14,3111 01734 REFSMMAT
040934,000696: 14,3112 26715 STOVL STARAD +6
040935,000697: 14,3113 03554 PLANVEC
040936,000698: 14,3114 53521 MXV UNIT
040937,000699: 14,3115 01734 REFSMMAT
040938,000700: 14,3116 26707 STOVL STARAD
040939,000701: 14,3117 02761 STARSAV1
040940,000702: 14,3120 24007 STOVL 6D
040941,000703: 14,3121 02767 STARSAV2
040942,000704: 14,3122 34015 STCALL 12D
040943,000705: 14,3123 31256 R54 # STAR DATA TEST
040944,000706: 14,3124 45014 BOFF CALL
040945,000707: 14,3125 00354 FREEFLAG
040946,000708: 14,3126 31134 R51K
040947,000709: 14,3127 47441 AXISGEN
040948,000710: 14,3130 77624 CALL
040949,000711: 14,3131 31224 R55 # GYRO TORQUE
040950,000712: 14,3132 77614 CLEAR
040951,000713: 14,3133 01273 PFRATFLG
040952,000714: 14,3134 77776 R51K EXIT
040953,000715: 14,3135 35751 R51P63 CAF OCT14
040954,000716: 14,3136 04616 TC BANKCALL
040955,000717: 14,3137 20623 CADR GOPERF1
040956,000718: 14,3140 06001 TC GOTOP00H
040957,000719: 14,3141 03022 TC R51C
040958,000720: 14,3142 06037 TC INTPRET
040959,000721: 14,3143 77650 GOTO
040960,000722: 14,3144 02746 QMAJ
040961,000723: 14,3145 06037 R51.4 TC INTPRET
040962,000724: 14,3146 77775 VLOAD
040963,000725: # Page 943
040964,000726: 14,3147 02715 STARAD +6
040965,000727: 14,3150 02761 STORE STARSAV1
040966,000728: 14,3151 45145 DLOAD CALL
040967,000729: 14,3152 03562 TSIGHT
040968,000730: 14,3153 32472 PLANET
040969,000731: 14,3154 03554 STORE PLANVEC
040970,000732: 14,3155 77731 SSP
040971,000733: 14,3156 02760 STARIND
040972,000734: 14,3157 00001 1
040973,000735: 14,3160 77650 GOTO
040974,000736: 14,3161 31056 R51.3
040975,000737: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040976,000738:
040977,000739: # Page 944
040978,000740: # GYRO TORQUE COARSE ALGNMENT
040979,000741:
040980,000742: 14,3164 45020 GYCOARS STQ CALL
040981,000743: 14,3165 02746 QMAJ
040982,000744: 14,3166 47247 CALCGTA
040983,000745: 14,3167 43014 CLEAR CLEAR
040984,000746: 14,3170 01260 DRIFTFLG
040985,000747: 14,3171 01662 REFSMFLG
040986,000748: 14,3172 77776 EXIT
040987,000749: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040988,000750: 14,3174 04616 TC BANKCALL
040989,000751: 14,3175 20451 CADR GODSPR
040990,000752: 14,3176 33255 CA R55CDR
040991,000753: 14,3177 04616 TC BANKCALL
040992,000754: 14,3200 17323 CADR IMUPULSE
040993,000755: 14,3201 04616 TC BANKCALL
040994,000756: 14,3202 17716 CADR IMUSTALL
040995,000757: 14,3203 05711 TC CURTAINS
040996,000758: 14,3204 05353 TC PHASCHNG
040997,000759: 14,3205 04024 OCT 04024
040998,000760:
040999,000761: 14,3206 06037 TC INTPRET
041000,000762: 14,3207 75160 AXC,1 AXC,2
041001,000763: 14,3210 03606 XSMD
041002,000764: 14,3211 01733 REFSMMAT
041003,000765: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
041004,000766: 14,3213 31377 MATMOVE
041005,000767: 14,3214 43014 CLEAR SET
041006,000768: 14,3215 01273 PFRATFLG
041007,000769: 14,3216 01462 REFSMFLG
041008,000770: 14,3217 77624 CALL
041009,000771: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041010,000772: 14,3221 77650 GOTO
041011,000773: 14,3222 31134 R51K
041012,000774: 14,3223 04024 V16N20 VN 1620
041013,000775:
041014,000776: # Page 945
041015,000777: # R55 GYRO TORQUE
041016,000778: # FUNCTION -- COMPUTE AND SEND GYRO PULSES
041017,000779: # CALLING SEQ -- CALL R55
041018,000780: # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER
041019,000781: # OUTPUT -- GYRO PULSES
041020,000782: # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041021,000783:
041022,000784: 14,3224 COUNT* $$/R55
041023,000785: 14,3224 77620 R55 STQ
041024,000786: 14,3225 02745 QMIN
041025,000787: 14,3226 77624 CALL
041026,000788: 14,3227 47247 CALCGTA
041027,000789: 14,3230 77776 PULSEM EXIT
041028,000790: 14,3231 33254 R55.1 CAF V06N93
041029,000791: 14,3232 04616 TC BANKCALL
041030,000792: 14,3233 20476 CADR GOFLASH
041031,000793: 14,3234 06001 TC GOTOP00H
041032,000794: 14,3235 03237 TC R55.2
041033,000795: 14,3236 03251 TC R55RET
041034,000796: 14,3237 05353 R55.2 TC PHASCHNG
041035,000797: 14,3240 00214 OCT 00214
041036,000798: 14,3241 33255 CA R55CDR
041037,000799: 14,3242 04616 TC BANKCALL
041038,000800: 14,3243 17323 CADR IMUPULSE
041039,000801: 14,3244 04616 TC BANKCALL
041040,000802: 14,3245 17716 CADR IMUSTALL
041041,000803: 14,3246 05711 TC CURTAINS
041042,000804: 14,3247 05353 TC PHASCHNG
041043,000805: 14,3250 04024 OCT 04024
041044,000806:
041045,000807: 14,3251 06037 R55RET TC INTPRET
041046,000808: 14,3252 77650 GOTO
041047,000809: 14,3253 02745 QMIN
041048,000810: 14,3254 01535 V06N93 VN 0693
041049,000811: 14,3255 02737 R55CDR ECADR OGC
041050,000812: 14,3256 14,3256 R54 = CHKSDATA
041051,000813:
041052,000814: # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967
041053,000815: # MOD NO -- 0 LOG SECTION -- P51-P53
041054,000816: # MODIFICATION BY -- LONSKE ASSEMBLY --
041055,000817:
041056,000818: # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041057,000819: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041058,000820: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED --
041059,000821: # OS1 = OBSERVED STAR 1 VECTOR
041060,000822: # OS2 = OBSERVED STAR 2 VECTOR
041061,000823: # SS1 = STORED STAR 1 VECTOR
041062,000824: # SS2 = STORED STAR 2 VECTOR
041063,000825: # A1 = ARCCOS(OS1 - OS2)
041064,000826: # A2 = ARCCOS(SS1 - SS2)
041065,000827: # A = ABS(2(A1 - A2))
041066,000828: # Page 946
041067,000829: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE.
041068,000830:
041069,000831: # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041070,000832: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE
041071,000833:
041072,000834: # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041073,000835: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041074,000836:
041075,000837: # ERASABLE INITIALIZATION REQUIRED --
041076,000838: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041077,000839: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041078,000840:
041079,000841: # DEBRIS --
041080,000842:
041081,000843: 14,3256 COUNT* $$/R54
041082,000844: 14,3256 43020 CHKSDATA STQ SET
041083,000845: 14,3257 02745 QMIN
041084,000846: 14,3260 00074 FREEFLAG
041085,000847: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041086,000848: 14,3262 02706 STARAD
041087,000849:
041088,000850: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041089,000851: 14,3264 00001 0,1
041090,000852: 14,3265 00007 6,1
041091,000853: 14,3266 65552 SL1 ACOS
041092,000854: 14,3267 00025 STORE THETA
041093,000855: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041094,000856: 14,3271 00354 FREEFLAG
041095,000857: 14,3272 31302 CHKSD
041096,000858: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041097,000859: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041098,000860: 14,3275 00006 6D
041099,000861: 14,3276 00025 THETA
041100,000862: 14,3277 00023 STORE 18D
041101,000863: 14,3300 77650 GOTO
041102,000864: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041103,000865: 14,3302 45345 CHKSD DLOAD DSU
041104,000866: 14,3303 00025 THETA
041105,000867: 14,3304 00023 18D
041106,000868: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041107,000869: 14,3306 21612 SGNAGREE
041108,000870: 14,3307 01046 STORE NORMTEM1
041109,000871: 14,3310 77414 SET EXIT
041110,000872: 14,3311 00074 FREEFLAG
041111,000873: 14,3312 33326 CAF VB6N5
041112,000874: 14,3313 04616 TC BANKCALL
041113,000875: 14,3314 20476 CADR GOFLASH
041114,000876: 14,3315 16001 TCF GOTOP00H
041115,000877: 14,3316 03323 TC CHKSDA # PROCEED
041116,000878: 14,3317 06037 TC INTPRET
041117,000879: 14,3320 52014 CLEAR GOTO
041118,000880: 14,3321 00274 FREEFLAG
041119,000881: 14,3322 02745 QMIN
041120,000882: 14,3323 06037 CHKSDA TC INTPRET
041121,000883: # Page 947
041122,000884: 14,3324 77650 GOTO
041123,000885: 14,3325 02745 QMIN
041124,000886: 14,3326 01405 VB6N5 VN 605
041125,000887:
041126,000888: # NAME -- CAL53A
041127,000889: # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041128,000890: # CALLING SEQUENCE -- CALL CAL53A
041129,000891: # INPUT -- X,Y,ZSMD, CDUX,Y,Z
041130,000892: # DESIRED GIMBAL ANGLES -- THETAD,+1,+2
041131,000893: # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT
041132,000894: # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE
041133,000895:
041134,000896: 14,3327 COUNT* $$/R50
041135,000897: 14,3327 77624 CAL53A CALL
041136,000898: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES
041137,000899: 14,3331 66234 RTB SSP
041138,000900: 14,3332 31413 RDCDUS # READ CDUS
041139,000901: 14,3333 00051 S1
041140,000902: 14,3334 00001 1
041141,000903: 14,3335 40370 AXT,1 SETPD
041142,000904: 14,3336 00003 3
041143,000905: 14,3337 00005 4
041144,000906: 14,3340 70543 CALOOP DLOAD* SR1
041145,000907: 14,3341 00325 THETAD +3D,1
041146,000908: 14,3342 70523 PDDL* SR1
041147,000909: 14,3343 00005 4,1
041148,000910: 14,3344 51425 DSU ABS
041149,000911: 14,3345 45206 PUSH DSU
041150,000912: 14,3346 31412 DEGREE1
041151,000913: 14,3347 71240 BMN DLOAD
041152,000914: 14,3350 31366 CALOOP1
041153,000915: 14,3351 51025 DSU BPL
041154,000916: 14,3352 31413 DEG359
041155,000917: 14,3353 31366 CALOOP1
041156,000918: 14,3354 77776 EXIT
041157,000919: 14,3355 05353 TC PHASCHNG
041158,000920: 14,3356 04024 OCT 04024
041159,000921:
041160,000922: 14,3357 06037 TC INTPRET
041161,000923: 14,3360 77624 COARFINE CALL
041162,000924: 14,3361 31565 COARSE
041163,000925: 14,3362 77624 CALL
041164,000926: 14,3363 31602 NCOARSE
041165,000927: 14,3364 77650 GOTO
041166,000928: 14,3365 31370 FINEONLY
041167,000929: 14,3366 77700 CALOOP1 TIX,1
041168,000930: 14,3367 31340 CALOOP
041169,000931: 14,3370 75160 FINEONLY AXC,1 AXC,2
041170,000932: 14,3371 02642 XSM
041171,000933: 14,3372 01733 REFSMMAT
041172,000934: 14,3373 77624 CALL
041173,000935: 14,3374 31377 MATMOVE
041174,000936: # Page 948
041175,000937: 14,3375 77650 GOTO
041176,000938: 14,3376 32161 COARSRET
041177,000939: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041178,000940: 14,3400 00001 0,1
041179,000941: 14,3401 10001 STORE 0,2
041180,000942: 14,3402 77773 VLOAD*
041181,000943: 14,3403 00007 6D,1
041182,000944: 14,3404 10007 STORE 6D,2
041183,000945: 14,3405 77773 VLOAD*
041184,000946: 14,3406 00015 12D,1
041185,000947: 14,3407 10015 STORE 12D,2
041186,000948: 14,3410 77616 RVQ
041187,000949: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041188,000950: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041189,000951: 14,3413 00004 RDCDUS INHINT # READ CDUS
041190,000952: 14,3414 30032 CA CDUX
041191,000953: 14,3415 50120 INDEX FIXLOC
041192,000954: 14,3416 54001 TS 1
041193,000955: 14,3417 30033 CA CDUY
041194,000956: 14,3420 50120 INDEX FIXLOC
041195,000957: 14,3421 54002 TS 2
041196,000958: 14,3422 30034 CA CDUZ
041197,000959: 14,3423 50120 INDEX FIXLOC
041198,000960: 14,3424 54003 TS 3
041199,000961: 14,3425 00003 RELINT
041200,000962: 14,3426 06061 TC DANZIG
041201,000963: 14,3427 COUNT* $$/INFLT
041202,000964:
041203,000965: # Page 949
041204,000966: # NAME -- P51 -- IMU ORIENTATION DETERMINATION
041205,000967: # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53
041206,000968: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041207,000969:
041208,000970: # FUNCTIONAL DESCRIPTION
041209,000971: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041210,000972: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041211,000973: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041212,000974: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041213,000975:
041214,000976: # CALLING SEQUENCE
041215,000977: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041216,000978:
041217,000979: # SUBROUTINES CALLED
041218,000980: # GOPERF3
041219,000981: # GOPERF1
041220,000982: # GODSPR
041221,000983: # IMUCOARS
041222,000984: # IMUFIN20
041223,000985: # AOTMARK (R53)
041224,000986: # CHKSDATA (R54)
041225,000987: # MKRELEAS
041226,000988: # AXISGEN
041227,000989: # MATMOVE
041228,000990:
041229,000991: # ALARMS
041230,000992: # NONE.
041231,000993:
041232,000994: # ERASABLE INITIALIZATION
041233,000995: # IMU ZERO FLAG SHOULD BE SET.
041234,000996:
041235,000997: # OUTPUT
041236,000998: # REFSMMAT
041237,000999: # REFSMFLG
041238,001000:
041239,001001: # DEBRIS
041240,001002: # WORK AREA
041241,001003: # STARAD
041242,001004: # STARIND
041243,001005: # BESTI
041244,001006: # BESTJ
041245,001007:
041246,001008: 14,3427 COUNT* $$/P51
041247,001009: # Page 950
041248,001010: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041249,001011: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H.
041250,001012:
041251,001013: 14,3431 34761 CAF OCT15
041252,001014: 14,3432 04616 TC BANKCALL
041253,001015: 14,3433 20623 CADR GOPERF1
041254,001016: 14,3434 06001 TC GOTOP00H # TERM.
041255,001017: 14,3435 13461 TCF P51B # V33
041256,001018: 14,3436 05353 TC PHASCHNG
041257,001019: 14,3437 04024 OCT 04024
041258,001020:
041259,001021: 14,3440 34755 CAF ZERO
041260,001022: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041261,001023: 14,3442 54322 TS THETAD +1
041262,001024: 14,3443 54323 TS THETAD +2
041263,001025: 14,3444 35010 CAF V06N22
041264,001026: 14,3445 04616 TC BANKCALL
041265,001027: 14,3446 20446 CADR GODSPRET
041266,001028: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041267,001029: 14,3450 04616 TC BANKCALL
041268,001030: 14,3451 20446 CADR GODSPRET
041269,001031: 14,3452 06037 TC INTPRET
041270,001032: 14,3453 77624 CALL
041271,001033: 14,3454 31565 COARSE
041272,001034: 14,3455 77776 EXIT
041273,001035: 14,3456 05353 TC PHASCHNG
041274,001036: 14,3457 04024 OCT 04024
041275,001037: 14,3460 13431 TCF P51 +2
041276,001038:
041277,001039: 14,3461 05353 P51B TC PHASCHNG
041278,001040: 14,3462 00014 OCT 00014
041279,001041: 14,3463 06037 TC INTPRET
041280,001042: 14,3464 77624 CALL
041281,001043: 14,3465 31602 NCOARSE
041282,001044: 14,3466 40331 SSP SETPD
041283,001045: 14,3467 02760 STARIND # INDEX -- STAR 1 OR 2
041284,001046: 14,3470 00000 0
041285,001047: 14,3471 00001 0
041286,001048: 14,3472 77776 P51C EXIT
041287,001049: 14,3473 05353 TC PHASCHNG
041288,001050: 14,3474 04024 OCT 04024
041289,001051:
041290,001052: 14,3475 04616 TC BANKCALL
041291,001053: 14,3476 16000 CADR AOTMARK # R53
041292,001054: 14,3477 04616 TC BANKCALL
041293,001055: 14,3500 17712 CADR AOTSTALL
041294,001056: 14,3501 05711 TC CURTAINS
041295,001057: 14,3502 11757 CCS STARIND
041296,001058: 14,3503 13511 TCF P51D +1
041297,001059: 14,3504 06037 TC INTPRET
041298,001060: # Page 951
041299,001061: 14,3505 77775 VLOAD
041300,001062: 14,3506 02715 STARAD +6
041301,001063: 14,3507 02761 STORE STARSAV1
041302,001064: 14,3510 77776 P51D EXIT
041303,001065: 14,3511 05353 TC PHASCHNG
041304,001066: 14,3512 04024 OCT 04024
041305,001067:
041306,001068: 14,3513 11757 CCS STARIND
041307,001069: 14,3514 13530 TCF P51E
041308,001070: 14,3515 05353 TC PHASCHNG
041309,001071: 14,3516 04024 OCT 04024
041310,001072:
041311,001073: 14,3517 06037 TC INTPRET
041312,001074: 14,3520 45145 DLOAD CALL
041313,001075: 14,3521 03562 TSIGHT
041314,001076: 14,3522 32472 PLANET
041315,001077: 14,3523 03554 STORE PLANVEC
041316,001078: 14,3524 77776 EXIT
041317,001079: 14,3525 34753 CAF BIT1
041318,001080: 14,3526 55757 TS STARIND
041319,001081: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041320,001082: 14,3530 05353 P51E TC PHASCHNG
041321,001083: 14,3531 04024 OCT 04024
041322,001084:
041323,001085: 14,3532 06037 TC INTPRET
041324,001086: 14,3533 45145 DLOAD CALL
041325,001087: 14,3534 03562 TSIGHT
041326,001088: 14,3535 32472 PLANET
041327,001089: 14,3536 24015 STOVL 12D
041328,001090: 14,3537 03554 PLANVEC
041329,001091: 14,3540 24007 STOVL 6D
041330,001092: 14,3541 02761 STARSAV1
041331,001093: 14,3542 26707 STOVL STARAD
041332,001094: 14,3543 02767 STARSAV2
041333,001095: 14,3544 36715 STCALL STARAD +6
041334,001096: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041335,001097: 14,3546 77414 BON EXIT
041336,001098: 14,3547 00314 FREEFLAG
041337,001099: 14,3550 31552 P51G
041338,001100: 14,3551 03431 TC P51 +2
041339,001101: 14,3552 77624 P51G CALL
041340,001102: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041341,001103: 14,3554 75160 AXC,1 AXC,2
041342,001104: 14,3555 02664 XDC
041343,001105: 14,3556 01733 REFSMMAT
041344,001106: 14,3557 77624 CALL
041345,001107: 14,3560 31377 MATMOVE
041346,001108: 14,3561 77414 SET EXIT
041347,001109: 14,3562 01462 REFSMFLG
041348,001110: 14,3563 06001 TC GOTOP00H # FINIS
041349,001111: # Page 952
041350,001112: 14,3564 12200 V41K VN 4100
041351,001113: 14,3565 77776 COARSE EXIT
041352,001114: 14,3566 04616 TC BANKCALL
041353,001115: 14,3567 17000 CADR IMUCOARS
041354,001116: 14,3570 04616 TC BANKCALL
041355,001117: 14,3571 17716 CADR IMUSTALL
041356,001118: 14,3572 05711 TC CURTAINS
041357,001119: 14,3573 04616 TC BANKCALL
041358,001120: 14,3574 17210 CADR IMUFINE
041359,001121: 14,3575 04616 TC BANKCALL
041360,001122: 14,3576 17716 CADR IMUSTALL
041361,001123: 14,3577 05711 TC CURTAINS
041362,001124: 14,3600 06037 TC INTPRET
041363,001125: 14,3601 77616 RVQ
041364,001126: 14,3602 77776 NCOARSE EXIT
041365,001127: 14,3603 30025 CA TIME1
041366,001128: 14,3604 55075 TS 1/PIPADT
041367,001129: 14,3605 44755 CS ZERO
041368,001130: 14,3606 54037 TS PIPAX
041369,001131: 14,3607 54040 TS PIPAY
041370,001132: 14,3610 54041 TS PIPAZ
041371,001133: 14,3611 06037 TC INTPRET
041372,001134: 14,3612 77775 VLOAD
041373,001135: 14,3613 24007 ZEROVEC
041374,001136: 14,3614 01472 STORE GCOMP
041375,001137: 14,3615 43414 SET RVQ
041376,001138: 14,3616 01060 DRIFTFLG
041377,001139:
041378,001140: # Page 953
041379,001141: # NAME -- S52.2
041380,001142: # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041381,001143: # CALL -- CALL S52.2
041382,001144: # INPUT -- X,Y,ZSMD
041383,001145: # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2
041384,001146: # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041385,001147:
041386,001148: 14,3617 COUNT* $$/S52.1
041387,001149: 14,3617 45020 S52.2 STQ CALL
041388,001150: 14,3620 02746 QMAJ
041389,001151: 14,3621 47537 CDUTRIG
041390,001152: 14,3622 77624 CALL
041391,001153: 14,3623 20030 CALCSMSC
041392,001154: 14,3624 66370 AXT,1 SSP
041393,001155: 14,3625 00022 18D
041394,001156: 14,3626 00051 S1
041395,001157: 14,3627 00006 6D
041396,001158: 14,3630 61373 S52.2A VLOAD* VXM
041397,001159: 14,3631 02707 XNB +18D,1
041398,001160: 14,3632 01734 REFSMMAT
041399,001161: 14,3633 77656 UNIT
041400,001162: 14,3634 06707 STORE XNB +18D,1
041401,001163: 14,3635 77700 TIX,1
041402,001164: 14,3636 31630 S52.2A
041403,001165: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041404,001166: 14,3640 03606 XSMD
041405,001167: 14,3641 02642 XSM
041406,001168: 14,3642 77624 CALL
041407,001169: 14,3643 31377 MATMOVE
041408,001170: 14,3644 77624 CALL
041409,001171: 14,3645 47353 CALCGA
041410,001172: 14,3646 77650 GOTO
041411,001173: 14,3647 02746 QMAJ
041412,001174:
041413,001175: # Page 954
041414,001176: # NAME -- S52.3
041415,001177: # FUNCTION -- XSMD= UNIT R
041416,001178: # YSMD= UNIT(V X R)
041417,001179: # ZSMD= UNIT(XSMD X YSMD)
041418,001180: # CALL -- DLOAD CALL
041419,001181: # TALIGN
041420,001182: # S52.3
041421,001183: # INPUT -- TIME OF ALIGNMENT IN MPAC
041422,001184: # OUTPUT -- X,Y,ZSMD
041423,001185: # SUBROUTINES -- CSMCONIC
041424,001186:
041425,001187: 14,3650 COUNT* $$/S52.3
041426,001188: 14,3650 77620 S52.3 STQ
041427,001189: 14,3651 02746 QMAJ
041428,001190: 14,3652 34041 STCALL TDEC1
041429,001191: 14,3653 27100 LEMCONIC
041430,001192: 14,3654 53575 VLOAD UNIT
041431,001193: 14,3655 00001 RATT
041432,001194: 14,3656 27607 STOVL XSMD
041433,001195: 14,3657 00007 VATT
041434,001196: 14,3660 53435 VXV UNIT
041435,001197: 14,3661 00001 RATT
041436,001198: 14,3662 27615 STOVL YSMD
041437,001199: 14,3663 03607 XSMD
041438,001200: 14,3664 53435 VXV UNIT
041439,001201: 14,3665 03615 YSMD
041440,001202: 14,3666 37623 STCALL ZSMD
041441,001203: 14,3667 02746 QMAJ
041442,001204:
041443,001205: # Page 955
041444,001206: # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041445,001207:
041446,001208: # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041447,001209: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041448,001210:
041449,001211: # CALLING -- CALL R52
041450,001212:
041451,001213: # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6)
041452,001214:
041453,001215: # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041454,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041455,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041456,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041457,001219:
041458,001220: # SUBROUT -- R60LEM
041459,001221:
041460,001222: 14,3670 COUNT* $$/R52
041461,001223: 14,3670 77420 R52 STQ EXIT
041462,001224: 14,3671 03665 SAVQR52
041463,001225: 14,3672 51757 INDEX STARIND
041464,001226: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041465,001227: 14,3674 00006 EXTEND
041466,001228: 14,3675 73771 MP 1/6TH
041467,001229: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041468,001230: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041469,001231:
041470,001232: 14,3700 33772 R52A CAF V01N70
041471,001233: 14,3701 04616 TC BANKCALL
041472,001234: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041473,001235: 14,3703 06001 TC GOTOP00H # V34 -- TERMINATE
041474,001236: 14,3704 13706 TCF R52B # V33 -- PROCEED TO ORIENT LEM
041475,001237: 14,3705 13700 TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE
041476,001238:
041477,001239: 14,3706 05516 R52B TC DOWNFLAG
041478,001240: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041479,001241: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041480,001242: 14,3711 77744 MASK HIGH9
041481,001243: 14,3712 00006 EXTEND
041482,001244: 14,3713 74743 MP BIT9
041483,001245: 14,3714 54001 TS L # TEMP STORE DETENT
041484,001246:
041485,001247: 14,3715 00006 EXTEND
041486,001248: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041487,001249:
041488,001250: 14,3717 65660 AD NEG7
041489,001251: 14,3720 00006 EXTEND
041490,001252: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041491,001253:
041492,001254: 14,3722 E7,1551 EBANK= XYMARK
041493,001255: 14,3722 35016 CA EBANK7
041494,001256: 14,3723 54003 TS EBANK
041495,001257: # Page 956
041496,001258: 14,3724 50001 INDEX L
041497,001259: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041498,001260: 14,3726 54001 TS L
041499,001261: 14,3727 E5,1642 EBANK= XSM
041500,001262: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L
041501,001263: 14,3730 54003 TS EBANK
041502,001264: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041503,001265: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041504,001266: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041505,001267:
041506,001268: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041507,001269: 14,3735 04616 TC BANKCALL
041508,001270: 14,3736 20476 CADR GOFLASH
041509,001271: 14,3737 06001 TC GOTOP00H # V34 -- TERMINATE
041510,001272: 14,3740 13742 TCF +2 # PROCEED -- CALC OPTIC AXIS
041511,001273: 14,3741 13734 TCF GETAZEL # ENTER -- RECYCLE
041512,001274:
041513,001275: 14,3742 00006 EXTEND
041514,001276: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP
041515,001277: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041516,001278: 14,3745 52011 DXCH 8D
041517,001279: 14,3746 06037 TC INTPRET
041518,001280: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041519,001281: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041520,001282: 14,3751 45034 RTB CALL
041521,001283: 14,3752 21573 LOADTIME
041522,001284: 14,3753 32472 PLANET
041523,001285: 14,3754 53521 MXV UNIT
041524,001286: 14,3755 01734 REFSMMAT
041525,001287: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041526,001288:
041527,001289: 14,3757 77776 EXIT
041528,001290: 14,3760 04616 TC BANKCALL
041529,001291: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041530,001292:
041531,001293: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE
041532,001294: 14,3763 70735 MASK STARCODE
041533,001295: 14,3764 00006 EXTEND
041534,001296: 14,3765 13700 BZF R52A
041535,001297:
041536,001298: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041537,001299: 14,3767 77650 GOTO
041538,001300: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041539,001301:
041540,001302: 14,3771 05253 1/6TH DEC .1666667
041541,001303: 14,3772 00306 V01N70 VN 0170
041542,001304: 14,3773 01527 V06N87 VN 687
041543,001305:
041544,001306: # Page 957
041545,001307: # LUNAR SURFACE STAR ACQUISITION
041546,001308:
041547,001309: 15,2245 BANK 15
041548,001310: 15,2000 SETLOC P50S
041549,001311: 15,2000 BANK
041550,001312: 15,2245 COUNT* $$/R59
041551,001313:
041552,001314: 15,2245 40077 R59 CS FLAGWRD3
041553,001315: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE
041554,001316: 15,2247 10000 CCS A
041555,001317: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041556,001318:
041557,001319: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041558,001320: 15,2252 04616 TC BANKCALL
041559,001321: 15,2253 20476 CADR GOFLASH
041560,001322: 15,2254 06001 TC GOTOP00H # V34 -- TERMINATE
041561,001323: 15,2255 12257 TCF R59A # V33 -- PROCEED
041562,001324: 15,2256 12245 TCF R59 # V32 -- RECYCLE
041563,001325:
041564,001326: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041565,001327: 15,2260 70735 MASK AOTCODE
041566,001328: 15,2261 00006 EXTEND
041567,001329: 15,2262 76242 MP REVCNT # JUST 6
041568,001330: 15,2263 56001 XCH L
041569,001331: 15,2264 51757 INDEX STARIND
041570,001332: 15,2265 55755 TS BESTI
041571,001333: 15,2266 50120 INDEX FIXLOC
041572,001334: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041573,001335: 15,2270 00006 EXTEND
041574,001336: 15,2271 12455 BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR
041575,001337: 15,2272 40000 COM
041576,001338: 15,2273 62561 AD DEC227
041577,001339: 15,2274 00006 EXTEND
041578,001340: 15,2275 62455 BZMF R59OUT
041579,001341:
041580,001342: 15,2276 06037 TC INTPRET
041581,001343: 15,2277 64373 VLOAD* MXV
041582,001344: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041583,001345: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041584,001346: 15,2302 45056 UNIT CALL
041585,001347: 15,2303 47646 CDU*SMNB
041586,001348: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041587,001349: 15,2305 77776 EXIT
041588,001350:
041589,001351: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60)
041590,001352: 15,2307 55242 TS POSCODE
041591,001353:
041592,001354: 15,2310 E7,1551 EBANK= XYMARK
041593,001355: 15,2310 35016 INCAZ CA EBANK7
041594,001356: 15,2311 54003 TS EBANK
041595,001357:
041596,001358: # Page 958
041597,001359: 15,2312 51242 INDEX POSCODE
041598,001360: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041599,001361: 15,2314 54001 TS L
041600,001362:
041601,001363: 15,2315 E5,1642 EBANK= XSM
041602,001364: 15,2315 35014 CA EBANK5
041603,001365: 15,2316 54003 TS EBANK
041604,001366:
041605,001367: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041606,001368: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041607,001369: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041608,001370: 15,2322 50120 INDEX FIXLOC
041609,001371: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041610,001372:
041611,001373: 15,2324 06037 TC INTPRET
041612,001374: 15,2325 77624 CALL
041613,001375: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041614,001376: 15,2327 50375 VLOAD DOT
041615,001377: 15,2330 02731 STAR # DOT STAR WITH OA
041616,001378: 15,2331 03765 SCAXIS
041617,001379: 15,2332 65552 SL1 ARCCOS
041618,001380: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041619,001381:
041620,001382: 15,2334 51025 DSU BPL
041621,001383: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041622,001384: 15,2336 32420 NXAX # NOT IN FIELD -- TRY NEXT POSITION
041623,001385: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041624,001386: 15,2340 00031 24D
041625,001387: 15,2341 32470 DEG.5
041626,001388: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041627,001389: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041628,001390: 15,2344 00031 24D # GET SPIRAL
041629,001391: 15,2345 42405 DMP SL4
041630,001392: 15,2346 25764 3/4 # 12 SCALED AT 16
041631,001393: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041632,001394:
041633,001395: 15,2350 03765 SCAXIS # OA
041634,001396: 15,2351 53435 VXV UNIT
041635,001397: 15,2352 24005 XUNIT
041636,001398: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041637,001399: 15,2354 03765 SCAXIS
041638,001400: 15,2355 77676 VCOMP
041639,001401: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041640,001402: 15,2357 03765 SCAXIS
041641,001403: 15,2360 53435 VXV UNIT
041642,001404: 15,2361 02731 STAR
041643,001405: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041644,001406: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041645,001407: 15,2364 65552 SL1 ARCCOS
041646,001408: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
041647,001409: # Page 959
041648,001410: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041649,001411: 15,2367 71244 BPL DLOAD # IF THET NEG -- GET 360-THET
041650,001412: 15,2370 32375 R59D
041651,001413: 15,2371 32047 ABOUTONE
041652,001414: 15,2372 77625 DSU
041653,001415: 15,2373 00033 26D
041654,001416: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041655,001417:
041656,001418: 15,2375 70535 R59D SLOAD SR1
041657,001419: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041658,001420: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041659,001421: 15,2400 00033 26D
041660,001422: 15,2401 77634 RTB
041661,001423: 15,2402 21614 1STO2S
041662,001424: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041663,001425: 15,2404 00031 24D # LOAD SROT IN REVS
041664,001426: 15,2405 77615 DAD # 12(SEP) + YROT
041665,001427: 15,2406 77634 RTB
041666,001428: 15,2407 21614 1STO2S
041667,001429: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041668,001430: 15,2411 77776 EXIT
041669,001431: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041670,001432:
041671,001433: 15,2413 77776 ZSPCR EXIT
041672,001434: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041673,001435: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041674,001436: 15,2416 55240 TS SPIRAL
041675,001437: 15,2417 12437 TCF 79DISP
041676,001438:
041677,001439: 15,2420 77776 NXAX EXIT
041678,001440: 15,2421 25242 INCR POSCODE
041679,001441: 15,2422 41242 CS POSCODE
041680,001442: 15,2423 64757 AD SEVEN
041681,001443: 15,2424 00006 EXTEND
041682,001444: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041683,001445: 15,2426 12310 TCF INCAZ
041684,001446:
041685,001447: 15,2427 05567 R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD
041686,001448: 15,2430 00404 OCT 404
041687,001449: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041688,001450: 15,2432 04616 TC BANKCALL
041689,001451: 15,2433 20476 CADR GOFLASH
041690,001452: 15,2434 16001 TCF GOTOP00H # VB34 -- TERMINATE
041691,001453: 15,2435 12455 TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE
041692,001454: 15,2436 12245 TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR
041693,001455:
041694,001456: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041695,001457: 15,2440 04616 TC BANKCALL
041696,001458: 15,2441 20476 CADR GOFLASH
041697,001459: 15,2442 16001 TCF GOTOP00H # V34 -- TERMINATE
041698,001460: # Page 960
041699,001461: 15,2443 12445 TCF R59E # V33 -- PROCEED TO MARK ROUTINE
041700,001462: 15,2444 12245 TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN
041701,001463:
041702,001464: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041703,001465: 15,2446 71242 MASK POSCODE
041704,001466: 15,2447 00006 EXTEND
041705,001467: 15,2450 74745 MP BIT7 # DETEND CODE NOW IN L
041706,001468: 15,2451 47744 CS HIGH9
041707,001469: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO BIT 1-6
041708,001470: 15,2453 60001 AD L
041709,001471: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041710,001472:
041711,001473: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041712,001474: 15,2456 16000 CADR AOTMARK
041713,001475: 15,2457 04616 TC BANKCALL
041714,001476: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041715,001477: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041716,001478: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041717,001479:
041718,001480: 15,2463 00306 V01N70* VN 170
041719,001481: 15,2464 01517 V06N79 VN 679
041720,001482: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGREES
041721,001483: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS.
041722,001484: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041723,001485: 15,2472 1236 CURSOR EQUALS GDT/2
041724,001486: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041725,001487: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041726,001488:
041727,001489: # Page 961
041728,001490: # NAME -- PLANET
041729,001491: # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041730,001492: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041731,001493: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041732,001494: # BY DSKY INPUT.
041733,001495: # CALL -- CALL
041734,001496: # PLANET
041735,001497: # INPUT -- TIME IN MPAC
041736,001498: # OUTPUT -- VECTOR IN MPAC
041737,001499: # SUBROUTINES -- LOCSAM
041738,001500: # DEBRIS -- VAC, STARAD - STARAD +17
041739,001501:
041740,001502: 15,2000 SETLOC P50S
041741,001503: 15,2000 BANK
041742,001504: 15,2472 COUNT* $$/P51
041743,001505:
041744,001506: 15,2472 27562 PLANET STOVL TSIGHT
041745,001507: 15,2473 24007 ZEROVEC
041746,001508: 15,2474 02707 STORE STARAD
041747,001509: 15,2475 77420 STQ EXIT
041748,001510: 15,2476 02736 GCTR
041749,001511: 15,2477 47744 CS HIGH9
041750,001512: 15,2500 70735 MASK AOTCODE
041751,001513: 15,2501 00006 EXTEND
041752,001514: 15,2502 76242 MP REVCNT
041753,001515: 15,2503 56001 XCH L
041754,001516: 15,2504 51757 INDEX STARIND
041755,001517: 15,2505 55755 TS BESTI
041756,001518: 15,2506 10000 CCS A
041757,001519: 15,2507 12523 TCF NOTPLAN
041758,001520: 15,2510 32562 CAF VNPLANV
041759,001521: 15,2511 04616 TC BANKCALL
041760,001522: 15,2512 20476 CADR GOFLASH
041761,001523: 15,2513 02510 TC -3
041762,001524: 15,2514 02516 TC +2
041763,001525: 15,2515 02510 TC -5
041764,001526: 15,2516 06037 TC INTPRET
041765,001527: 15,2517 53575 VLOAD UNIT
041766,001528: 15,2520 02707 STARAD
041767,001529: 15,2521 77650 GOTO
041768,001530: 15,2522 02736 GCTR
041769,001531: 15,2523 40000 NOTPLAN CS A
041770,001532: 15,2524 62561 AD DEC227
041771,001533: 15,2525 00006 EXTEND
041772,001534: 15,2526 62537 BZMF CALSAM1
041773,001535: 15,2527 51757 INDEX STARIND
041774,001536: 15,2530 31755 CA BESTI
041775,001537: 15,2531 50120 INDEX FIXLOC
041776,001538: 15,2532 54046 TS X1
041777,001539: 15,2533 06037 TC INTPRET
041778,001540: # Page 962
041779,001541: 15,2534 52173 VLOAD* GOTO
041780,001542: 15,2535 30347 CATLOG,1
041781,001543: 15,2536 02736 GCTR
041782,001544: 15,2537 06037 CALSAM1 TC INTPRET
041783,001545: 15,2540 45145 CALSAM DLOAD CALL
041784,001546: 15,2541 03562 TSIGHT
041785,001547: 15,2542 30506 LOCSAM
041786,001548: 15,2543 77340 LXC,1 VLOAD
041787,001549: 15,2544 02757 STARIND
041788,001550: 15,2545 02707 VEARTH
041789,001551: 15,2546 24001 STOVL 0D
041790,001552: 15,2547 02715 VSUN
041791,001553: 15,2550 26707 STOVL VEARTH
041792,001554: 15,2551 00001 0D
041793,001555: 15,2552 02715 STORE VSUN
041794,001556: 15,2553 70143 DLOAD* LXC,1
041795,001557: 15,2554 02756 BESTI,1
041796,001558: 15,2555 00154 MPAC
041797,001559: 15,2556 52173 VLOAD* GOTO
041798,001560: 15,2557 02343 STARAD -228D,1
041799,001561: 15,2560 02736 GCTR
041800,001562: 15,2561 00343 DEC227 DEC 227 B-14
041801,001563: 15,2562 01530 VNPLANV VN 0688
041802,001564: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1
041803,001565:
041804,001566: # Page 963
041805,001567: # GRAVITY VECTOR DETERMINATION ROUTINE
041806,001568: # BY KEN VINCENT
041807,001569:
041808,001570: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5.
041809,001571:
041810,001572: # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY
041811,001573: # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED
041812,001574: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041813,001575: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041814,001576: # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED
041815,001577: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041816,001578: # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041817,001579: # READINGS.
041818,001580:
041819,001581: # CALL --
041820,001582: # TC BANKCALL
041821,001583: # CADR GVDETER
041822,001584:
041823,001585: # INPUTS --
041824,001586: # PIPAS, CDUS
041825,001587:
041826,001588: # OUTPUTS --
041827,001589: # STARSAV1 = UNIT GRAVITY
041828,001590: # GSAV = DITTO
041829,001591: # GRAVBIT = 1
041830,001592:
041831,001593: # SUBROUTINES --
041832,001594: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041833,001595: # *NBSM*, *SNMB*, CALCGA, GOFLASH
041834,001596:
041835,001597: # DEBRIS --
041836,001598: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041837,001599:
041838,001600: 15,2563 32772 GVDETER CAF 42DEG
041839,001601: 15,2564 54321 TS THETAD
041840,001602: 15,2565 40000 COM
041841,001603: 15,2566 54322 TS THETAD +1
041842,001604: 15,2567 32773 CAF 35DEG
041843,001605: 15,2570 54323 TS THETAD +2
041844,001606: 15,2571 06037 TC INTPRET
041845,001607: 15,2572 45014 CLEAR CALL
041846,001608: 15,2573 01662 REFSMFLG
041847,001609: 15,2574 32670 LUNG
041848,001610:
041849,001611: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041850,001612:
041851,001613: # DEFINE G COOR SYS
041852,001614: # _
041853,001615: # [ X ] [ UNIT G ]
041854,001616: # * [ _ ] [ _ ]
041855,001617: # M = [ Y ] = [ UNITEZSM * X ]
041856,001618: # [ _ ] [ _ _ ]
041857,001619: # [ Z ] [ UNIT( X * Y )]
041858,001620:
041859,001621: # THEN ROTATED SM WRT PRESENT IS
041860,001622:
041861,001623: # Page 964
041862,001624: # [ 1 0 0 ]
041863,001625: # * *T [ ] * * *
041864,001626: # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I
041865,001627: # [ ] I J
041866,001628: # [ 0 0 -1 ]
041867,001629:
041868,001630: # ALSO NB WRT PRES SM IS
041869,001631:
041870,001632: # * * *
041871,001633: # XNB = NBSM I
041872,001634:
041873,001635: # * *
041874,001636: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041875,001637:
041876,001638: 15,2000 SETLOC P50S
041877,001639: 15,2000 BANK
041878,001640: 15,2575 COUNT* $$/P57
041879,001641: 15,2575 66370 AXT,1 SSP # X1=18
041880,001642: 15,2576 00022 18D # S1=6
041881,001643: 15,2577 00051 S1 # X2, -2
041882,001644: 15,2600 00006 6D
041883,001645: 15,2601 77744 LXC,2
041884,001646: 15,2602 00050 S1
041885,001647: 15,2603 45173 GRAVEL VLOAD* CALL
041886,001648: 15,2604 54000 XUNIT -6,2
041887,001649: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041888,001650: 15,2606 06707 STORE XNB +18D,1
041889,001651: 15,2607 77775 VLOAD
041890,001652: 15,2610 02731 STAR
041891,001653: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD --
041892,001654: 15,2612 00047 X2
041893,001655: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041894,001656: 15,2614 71152 VSL2 LXC,2
041895,001657: 15,2615 00047 X2
041896,001658: 15,2616 63047 VSU* INCR,2
041897,001659: 15,2617 54000 XUNIT -6,2
041898,001660: 15,2620 00002 2D
041899,001661: 15,2621 06665 STORE XSM +18D,1
041900,001662: 15,2622 45100 TIX,1 CALL
041901,001663: 15,2623 32603 GRAVEL
041902,001664: 15,2624 47353 CALCGA
041903,001665: 15,2625 74575 VLOAD VSR1
041904,001666: 15,2626 02715 GOUT
041905,001667: 15,2627 36723 STCALL STARAD +12D
041906,001668: 15,2630 32670 LUNG
041907,001669: 15,2631 74575 VLOAD VSR1
041908,001670: 15,2632 02715 GOUT
041909,001671: 15,2633 53455 VAD UNIT
041910,001672: 15,2634 02723 STARAD +12D
041911,001673: 15,2635 02761 STORE STARSAV1
041912,001674: 15,2636 77641 DOT
041913,001675: 15,2637 02231 GSAV
041914,001676: 15,2640 65552 SL1 ACOS
041915,001677: # Page 965
041916,001678: 15,2641 01046 STORE DSPTEM1
041917,001679: 15,2642 77776 EXIT
041918,001680: 15,2643 05516 TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE
041919,001681: 15,2644 00014 ADRES FREEFLAG
041920,001682:
041921,001683: 15,2645 32771 CA DISGRVER
041922,001684: 15,2646 04616 TC BANKCALL
041923,001685: 15,2647 20476 CADR GOFLASH
041924,001686: 15,2650 06001 TC GOTOP00H
041925,001687: 15,2651 12654 TCF PROGRAV # VB33 -- PROCEED
041926,001688: 15,2652 05504 TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN
041927,001689: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041928,001690:
041929,001691: 15,2654 05353 PROGRAV TC PHASCHNG
041930,001692: 15,2655 04024 OCT 04024
041931,001693:
041932,001694: 15,2656 06037 TC INTPRET
041933,001695: 15,2657 77775 VLOAD
041934,001696: 15,2660 02761 STARSAV1
041935,001697: 15,2661 02231 STORE GSAV
041936,001698: 15,2662 77776 EXIT
041937,001699: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY
041938,001700: 15,2664 70074 MASK FLAGWRD0
041939,001701: 15,2665 10000 CCS A
041940,001702: 15,2666 12563 TCF GVDETER # SET
041941,001703: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041942,001704:
041943,001705: 15,2670 77220 LUNG STQ VLOAD
041944,001706: 15,2671 02745 QMIN
041945,001707: 15,2672 24007 ZEROVEC
041946,001708: 15,2673 02707 STORE GACC
041947,001709: 15,2674 77776 EXIT
041948,001710: 15,2675 05353 TC PHASCHNG
041949,001711: 15,2676 04024 OCT 04024
041950,001712:
041951,001713: 15,2677 04616 TC BANKCALL
041952,001714: 15,2700 17000 CADR IMUCOARS
041953,001715: 15,2701 04616 TC BANKCALL
041954,001716: 15,2702 17716 CADR IMUSTALL
041955,001717: 15,2703 05711 TC CURTAINS
041956,001718: 15,2704 04616 TC BANKCALL
041957,001719: 15,2705 17210 CADR IMUFINE
041958,001720: 15,2706 04616 TC BANKCALL
041959,001721: 15,2707 17716 CADR IMUSTALL
041960,001722: 15,2710 05711 TC CURTAINS
041961,001723: 15,2711 32770 CA T/2SEC
041962,001724: 15,2712 55736 TS GCTR
041963,001725: 15,2713 37716 CA PRIO31
041964,001726: 15,2714 55075 TS 1/PIPADT
041965,001727: 15,2715 04616 TC BANKCALL
041966,001728: # Page 966
041967,001729: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041968,001730: 15,2717 05353 TC PHASCHNG
041969,001731: 15,2720 04024 OCT 04024
041970,001732:
041971,001733: 15,2721 04616 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO
041972,001734: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA
041973,001735: 15,2723 06037 TC INTPRET
041974,001736: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE
041975,001737: 15,2725 35000 CAF 2SECS
041976,001738: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041977,001739: 15,2727 02731 ADRES GRABGRAV
041978,001740:
041979,001741: 15,2730 05155 TC ENDOFJOB
041980,001742:
041981,001743: 15,2731 04674 GRABGRAV TC IBNKCALL
041982,001744: 15,2732 77544 CADR PIPSRINE
041983,001745: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041984,001746: 15,2734 05105 TC FINDVAC
041985,001747: 15,2735 E5,1706 EBANK= STARAD
041986,001748: 15,2735 02740 32065 2CADR ADDGRAV
041987,001749:
041988,001750: 15,2737 05261 TC TASKOVER
041989,001751:
041990,001752: 15,2740 04616 ADDGRAV TC BANKCALL
041991,001753: 15,2741 15263 CADR 1/PIPA
041992,001754: 15,2742 25736 INCR GCTR
041993,001755: 15,2743 06037 TC INTPRET
041994,001756: 15,2744 53375 VLOAD VAD
041995,001757: 15,2745 00325 DELV
041996,001758: 15,2746 02707 GACC
041997,001759: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041998,001760: 15,2750 50135 SLOAD BMN
041999,001761: 15,2751 02737 GCTR
042000,001762: 15,2752 32724 GREED
042001,001763: 15,2753 53575 VLOAD UNIT
042002,001764: 15,2754 02707 GACC
042003,001765: 15,2755 36731 STCALL STAR
042004,001766: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042005,001767: 15,2757 77624 CALL # IN OUTPUT
042006,001768: 15,2760 47671 *SMNB*
042007,001769: 15,2761 02715 STORE GOUT
042008,001770: 15,2762 77776 EXIT
042009,001771: 15,2763 05353 TC PHASCHNG
042010,001772: 15,2764 04024 OCT 04024
042011,001773:
042012,001774: 15,2765 06037 QMINEXIT TC INTPRET
042013,001775: 15,2766 77650 GOTO
042014,001776: 15,2767 02745 QMIN
042015,001777: 15,2770 77753 T/2SEC DEC -20 B-14
042016,001778: # Page 967
042017,001779: 15,2771 01404 DISGRVER VN 0604
042018,001780: 15,2772 07357 42DEG OCT 07357
042019,001781: 15,2773 06211 35DEG OCT 06211
042020,001782:
042021,001783: # Page 968
042022,001784: # NAME -- GYROTRIM
042023,001785:
042024,001786: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042025,001787: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042026,001788: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042027,001789:
042028,001790: # CALL CALL
042029,001791: # GYROTRIM
042030,001792:
042031,001793: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042032,001794: # CDUX,CDUY,CDUZ
042033,001795:
042034,001796: # OUTPUT GYRO TORQUE PULSES
042035,001797:
042036,001798: # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042037,001799: # IMPULSE, IMUSTALL
042038,001800: # _______ ______ ______ * * ___
042039,001801: # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042040,001802:
042041,001803: 15,2774 COUNT* $$/P57
042042,001804: 15,2774 71220 GYROTRIM STQ DLOAD
042043,001805: 15,2775 02745 QMIN
042044,001806: 15,2776 00322 THETAD
042045,001807: 15,2777 65325 PDDL PDDL
042046,001808: 15,3000 00324 THETAD +2
042047,001809: 15,3001 00323 THETAD +1
042048,001810: 15,3002 77666 VDEF
042049,001811: 15,3003 24767 STOVL CDUSPOT
042050,001812: 15,3004 24005 XUNIT
042051,001813: 15,3005 77624 CALL
042052,001814: 15,3006 47664 TRG*NBSM
042053,001815: 15,3007 26707 STOVL STARAD
042054,001816: 15,3010 24003 YUNIT
042055,001817: 15,3011 77624 CALL
042056,001818: 15,3012 47673 *NBSM*
042057,001819: 15,3013 36715 STCALL STARAD +6
042058,001820: 15,3014 47537 CDUTRIG
042059,001821: 15,3015 77624 CALL
042060,001822: 15,3016 20030 CALCSMSC
042061,001823: 15,3017 77775 VLOAD
042062,001824: 15,3020 02665 XNB
042063,001825: 15,3021 24007 STOVL 6D
042064,001826: 15,3022 02673 YNB
042065,001827: 15,3023 34015 STCALL 12D
042066,001828: 15,3024 47441 AXISGEN
042067,001829: 15,3025 77624 CALL
042068,001830: 15,3026 47247 CALCGTA
042069,001831: 15,3027 77776 JUSTTRIM EXIT
042070,001832: 15,3030 04616 TC BANKCALL
042071,001833: 15,3031 17210 CADR IMUFINE
042072,001834: 15,3032 04616 TC BANKCALL
042073,001835: # Page 969
042074,001836: 15,3033 17716 CADR IMUSTALL
042075,001837: 15,3034 05711 TC CURTAINS
042076,001838: 15,3035 33044 CA GYRCDR
042077,001839: 15,3036 04616 TC BANKCALL
042078,001840: 15,3037 17323 CADR IMUPULSE
042079,001841: 15,3040 04616 TC BANKCALL
042080,001842: 15,3041 17716 CADR IMUSTALL
042081,001843: 15,3042 05711 TC CURTAINS
042082,001844: 15,3043 12765 TCF QMINEXIT
042083,001845:
042084,001846: 15,3044 02737 GYRCDR ECADR OGC
042085,001847:
042086,001848: # Page 970
042087,001849: # PERFORM STAR ACQUISITION AND STAR SIGHTINGS
042088,001850:
042089,001851: 15,3045 34755 2STARS CAF ZERO # INITIALIZE STARIND
042090,001852: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042091,001853: 15,3047 34753 1STAR CAF BIT1
042092,001854: 15,3050 55757 TS STARIND
042093,001855:
042094,001856: 15,3051 05353 TC PHASCHNG
042095,001857: 15,3052 04024 OCT 04024
042096,001858:
042097,001859: 15,3053 12245 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK
042098,001860:
042099,001861: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042100,001862: 15,3055 00006 EXTEND
042101,001863: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042102,001864:
042103,001865: 15,3057 05353 TC PHASCHNG
042104,001866: 15,3060 04024 OCT 04024
042105,001867:
042106,001868: 15,3061 06037 TC INTPRET
042107,001869: 15,3062 45145 DLOAD CALL
042108,001870: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042109,001871: 15,3064 32472 PLANET
042110,001872: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042111,001873: 15,3066 33101 SURFLINE
042112,001874:
042113,001875: 15,3067 06037 ASTAR TC INTPRET
042114,001876: 15,3070 77775 VLOAD
042115,001877: 15,3071 02715 STARAD +6
042116,001878: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042117,001879: 15,3073 45145 DLOAD CALL
042118,001880: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042119,001881: 15,3075 32472 PLANET
042120,001882: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042121,001883: 15,3077 77776 EXIT
042122,001884: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042123,001885:
042124,001886: # Page 971
042125,001887: # DO FINE OR COARSE ALIGNMENT OF IMU
042126,001888:
042127,001889: 15,3101 77131 SURFLINE SSP AXT,2
042128,001890: 15,3102 00052 S2
042129,001891: 15,3103 00006 6
042130,001892: 15,3104 00014 12D
042131,001893: 15,3105 64373 WRTDESIR VLOAD* MXV
042132,001894: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042133,001895: 15,3107 03607 XSMD
042134,001896: 15,3110 77656 UNIT
042135,001897: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042136,001898: 15,3112 77773 VLOAD*
042137,001899: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042138,001900: 15,3114 10023 STORE 18D,2
042139,001901: 15,3115 43104 TIX,2 BON
042140,001902: 15,3116 33105 WRTDESIR
042141,001903: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042142,001904: 15,3120 33126 INITBY
042143,001905: 15,3121 77624 DOALIGN CALL
042144,001906: 15,3122 31256 R54 # DO CHKSDATA
042145,001907: 15,3123 77614 BOFF
042146,001908: 15,3124 00354 FREEFLAG
042147,001909: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042148,001910: 15,3126 77624 INITBY CALL
042149,001911: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042150,001912: 15,3130 77624 CALL
042151,001913: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042152,001914: 15,3132 77776 EXIT
042153,001915: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042154,001916: 15,3134 70104 MASK FLAGWRD8
042155,001917: 15,3135 10000 CCS A
042156,001918: 15,3136 13145 TCF 5DEGTEST
042157,001919: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042158,001920: 15,3140 04616 TC BANKCALL
042159,001921: 15,3141 20476 CADR GOFLASH
042160,001922: 15,3142 06001 TC GOTOP00H # V34 -- TERMINATE
042161,001923: 15,3143 13145 TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE
042162,001924: 15,3144 13207 TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN
042163,001925:
042164,001926: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042165,001927: 15,3146 40175 VLOAD BOV
042166,001928: 15,3147 02740 OGC
042167,001929: 15,3150 33151 SURFSUP
042168,001930: 15,3151 02750 SURFSUP STORE OGCT
042169,001931: 15,3152 40141 V/SC BOV
042170,001932: 15,3153 30610 5DEGREES
042171,001933: 15,3154 33254 COATRIM
042172,001934: 15,3155 52131 SSP GOTO
042173,001935: 15,3156 02746 QMIN
042174,001936: 15,3157 33161 SURFDISP
042175,001937: # Page 972
042176,001938: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042177,001939:
042178,001940: 15,3161 77776 SURFDISP EXIT
042179,001941: 15,3162 05353 TC PHASCHNG
042180,001942: 15,3163 04024 OCT 04024
042181,001943:
042182,001944: 15,3164 06037 TC INTPRET
042183,001945: 15,3165 75160 AXC,1 AXC,2
042184,001946: 15,3166 03606 XSMD
042185,001947: 15,3167 01733 REFSMMAT
042186,001948: 15,3170 45014 SET CALL
042187,001949: 15,3171 01462 REFSMFLG
042188,001950: 15,3172 31377 MATMOVE
042189,001951: 15,3173 77776 EXIT
042190,001952: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042191,001953: 15,3175 13177 TCF B2F8
042192,001954: 15,3176 13207 TCF P57POST +1
042193,001955:
042194,001956: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042195,001957: 15,3200 70104 MASK FLAGWRD8
042196,001958: 15,3201 10000 CCS A
042197,001959: 15,3202 13561 TCF P57JUMP # IT'S SET
042198,001960: 15,3203 06037 TC INTPRET
042199,001961: 15,3204 77624 CALL
042200,001962: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042201,001963: 15,3206 77776 P57POST EXIT
042202,001964: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042203,001965: 15,3210 04616 TC BANKCALL
042204,001966: 15,3211 20623 CADR GOPERF1
042205,001967: 15,3212 16001 TCF GOTOP00H # VB34 -- TERMINATE
042206,001968: 15,3213 13561 TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN
042207,001969: 15,3214 44752 CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2
042208,001970: 15,3215 61145 AD OPTION2
042209,001971: 15,3216 00006 EXTEND
042210,001972: 15,3217 13221 BZF +2 # YES -- GO CALCULATE LANDING SITE
042211,001973: 15,3220 16001 TCF GOTOP00H # NO -- EXIT P57
042212,001974: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042213,001975: 15,3222 04024 OCT 04024
042214,001976: 15,3223 06037 TC INTPRET
042215,001977: 15,3224 45175 VLOAD CALL # USE GNB
042216,001978: 15,3225 02231 GSAV
042217,001979: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042218,001980: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042219,001981: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042220,001982: 15,3231 01463 LUNAFLAG
042221,001983: 15,3232 51515 PDVL ABVAL
042222,001984: 15,3233 02023 RLS
042223,001985: 15,3234 45561 VXSC STADR
042224,001986: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042225,001987: 15,3236 47014 CLEAR RTB
042226,001988: # Page 973
042227,001989: 15,3237 00662 ERADFLAG
042228,001990: 15,3240 21573 LOADTIME
042229,001991: 15,3241 77624 CALL
042230,001992: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042231,001993: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042232,001994: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST
042233,001995: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042234,001996: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042235,001997: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042236,001998: 15,3250 51670 R-TO-RP
042237,001999: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042238,002000: 15,3252 77776 EXIT
042239,002001: 15,3253 16001 TCF GOTOP00H # EXIT P57
042240,002002:
042241,002003: # Page 974
042242,002004: # COARSE AND FINE ALIGN IMU
042243,002005:
042244,002006: 15,3254 75160 COATRIM AXC,1 AXC,2
042245,002007: 15,3255 02664 XDC
042246,002008: 15,3256 02642 XSM
042247,002009: 15,3257 77624 CALL
042248,002010: 15,3260 31377 MATMOVE
042249,002011: 15,3261 77624 CALL
042250,002012: 15,3262 47537 CDUTRIG
042251,002013: 15,3263 77624 CALL
042252,002014: 15,3264 20030 CALCSMSC
042253,002015: 15,3265 77624 CALL
042254,002016: 15,3266 47353 CALCGA
042255,002017: 15,3267 77414 BOFF EXIT
042256,002018: 15,3270 04355 INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL
042257,002019: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042258,002020: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042259,002021: 15,3273 04616 TC BANKCALL
042260,002022: 15,3274 20476 CADR GOFLASH
042261,002023: 15,3275 06001 TC GOTOP00H
042262,002024: 15,3276 13300 TCF +2
042263,002025: 15,3277 13272 TCF -5
042264,002026: 15,3300 05353 TC PHASCHNG
042265,002027: 15,3301 04024 OCT 04024
042266,002028:
042267,002029: 15,3302 06037 TC INTPRET
042268,002030: 15,3303 77624 CORSIT CALL
042269,002031: 15,3304 31565 COARSE
042270,002032: 15,3305 77624 CALL
042271,002033: 15,3306 31602 NCOARSE
042272,002034: 15,3307 77624 CALL
042273,002035: 15,3310 32774 GYROTRIM
042274,002036: 15,3311 77650 GOTO
042275,002037: 15,3312 33161 SURFDISP
042276,002038: 15,3313 01535 DISPGYRO VN 0693
042277,002039:
042278,002040: # Page 975
042279,002041: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042280,002042:
042281,002043: 15,3314 04616 P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND
042282,002044: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H
042283,002045:
042284,002046: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042285,002047: 15,3317 55145 TS OPTION2
042286,002048: 15,3320 34753 P57OPT CAF BIT1
042287,002049: 15,3321 04616 TC BANKCALL
042288,002050: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042289,002051: 15,3323 06001 TC GOTOP00H # V34 TERMINATE
042290,002052: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042291,002053: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042292,002054:
042293,002055: 15,3326 05353 TC PHASCHNG
042294,002056: 15,3327 00014 OCT 00014
042295,002057: 15,3330 05155 TC ENDOFJOB
042296,002058:
042297,002059: 15,3331 31145 ALIGNOPT CA OPTION2
042298,002060: 15,3332 76245 MASK THREE
042299,002061: 15,3333 50000 INDEX A
042300,002062: 15,3334 13335 TCF +1
042301,002063: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042302,002064: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042303,002065: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042304,002066: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042305,002067: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042306,002068: 15,3342 01733 REFSMMAT
042307,002069: 15,3343 03606 XSMD
042308,002070: 15,3344 77624 CALL
042309,002071: 15,3345 31377 MATMOVE
042310,002072: 15,3346 77650 GOTO
042311,002073: 15,3347 33410 PACKOPTN -1
042312,002074:
042313,002075: 15,3350 06037 TDISP TC INTPRET
042314,002076: 15,3351 77745 DLOAD
042315,002077: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042316,002078: 15,3353 01046 P57A STORE DSPTEM1
042317,002079: 15,3354 77776 EXIT
042318,002080: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042319,002081: 15,3356 04616 TC BANKCALL
042320,002082: 15,3357 20476 CADR GOFLASH
042321,002083: 15,3360 16001 TCF GOTOP00H # V34 -- TERMINATE
042322,002084: 15,3361 13363 TCF +2
042323,002085: 15,3362 13355 TCF P57AA # VB32 -- RECYCLE
042324,002086:
042325,002087: 15,3363 06037 TC INTPRET
042326,002088: 15,3364 65234 RTB PDDL
042327,002089: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042328,002090: 15,3366 01046 DSPTEM1
042329,002091: # Page 976
042330,002092: 15,3367 65254 BZE PDDL
042331,002093: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042332,002094: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042333,002095: 15,3372 01046 DSPTEM1
042334,002096: 15,3373 33400 P57C
042335,002097: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042336,002098: 15,3375 74335 STORE TIG # STORE IT IN TIG
042337,002099: 15,3376 36775 STCALL TALIGN
042338,002100: 15,3377 33402 P57D
042339,002101: 15,3400 45545 P57C DLOAD STADR
042340,002102: 15,3401 75002 STORE TALIGN
042341,002103: 15,3402 34041 P57D STCALL TDEC1
042342,002104: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042343,002105: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042344,002106: 15,3405 00001 RATT
042345,002107: 15,3406 37607 STCALL XSMD
042346,002108: 15,3407 11013 LSORIENT
042347,002109: 15,3410 77776 EXIT
042348,002110: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042349,002111: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042350,002112: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042351,002113: 15,3414 34737 CAF REFSMBIT
042352,002114: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042353,002115: 15,3416 10000 CCS A
042354,002116: 15,3417 34745 CAF BIT7 # SET
042355,002117: 15,3420 27146 ADS OPTION1 +2 # CLEAR -- JUST ZERO
042356,002118: 15,3421 34753 CAF ATTFLBIT
042357,002119: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042358,002120: 15,3423 10000 CCS A
042359,002121: 15,3424 34750 CAF BIT4 # SET
042360,002122: 15,3425 27146 ADS OPTION1 +2 # CLEAR -- ZERO IN A
042361,002123: 15,3426 34750 CAF BIT4
042362,002124: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042363,002125:
042364,002126: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042365,002127: 15,3431 04616 TC BANKCALL
042366,002128: 15,3432 20476 CADR GOFLASH
042367,002129: 15,3433 16001 TCF GOTOP00H # VB34 -- TERMINATE
042368,002130: 15,3434 13436 TCF +2 # V33 -- PROCEED
042369,002131: 15,3435 13430 TCF DSPOPTN # V32 -- RECYCLE
042370,002132:
042371,002133: 15,3436 34737 CAF REFSMBIT
042372,002134: 15,3437 70077 MASK FLAGWRD3
042373,002135: 15,3440 10000 CCS A
042374,002136: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042375,002137: 15,3442 34753 CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE.
042376,002138: 15,3443 70102 MASK FLAGWRD6
042377,002139: 15,3444 10000 CCS A
042378,002140: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042379,002141: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
042380,002142: # Page 977
042381,002143: 15,3447 71145 MASK OPTION2
042382,002144: 15,3450 10000 CCS A
042383,002145: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE
042384,002146: 15,3452 05567 TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701
042385,002147: 15,3453 00701 OCT 701
042386,002148: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042387,002149: 15,3455 04616 TC BANKCALL
042388,002150: 15,3456 20476 CADR GOFLASH
042389,002151: 15,3457 16001 TCF GOTOP00H # VB34 -- TERMINATE
042390,002152: 15,3460 13430 TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY
042391,002153: 15,3461 13430 TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06
042392,002154:
042393,002155: # Page 978
042394,002156: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042395,002157:
042396,002158: 15,3462 40220 MFREF STQ SETPD
042397,002159: 15,3463 02746 QMAJ
042398,002160: 15,3464 00001 0
042399,002161: 15,3465 77634 RTB
042400,002162: 15,3466 21573 LOADTIME
042401,002163: 15,3467 27562 STOVL TSIGHT
042402,002164: 15,3470 02723 VEC1
042403,002165: 15,3471 41525 PDDL PUSH
042404,002166: 15,3472 03562 TSIGHT
042405,002167: 15,3473 77624 CALL
042406,002168: 15,3474 55716 RP-TO-R
042407,002169: 15,3475 26723 STOVL VEC1
042408,002170: 15,3476 02731 VEC2
042409,002171: 15,3477 65201 SETPD PDDL
042410,002172: 15,3500 00001 0
042411,002173: 15,3501 03562 TSIGHT
042412,002174: 15,3502 45006 PUSH CALL
042413,002175: 15,3503 55716 RP-TO-R
042414,002176: 15,3504 36731 STCALL VEC2
042415,002177: 15,3505 02746 QMAJ
042416,002178:
042417,002179: # Page 979
042418,002180: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042419,002181: # STORE IN YNBSAV AND ZNBSAV.
042420,002182:
042421,002183: 15,3506 45020 REFMF STQ CALL
042422,002184: 15,3507 02746 QMAJ
042423,002185: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042424,002186: 15,3511 40234 RTB SETPD
042425,002187: 15,3512 21573 LOADTIME
042426,002188: 15,3513 00001 0
042427,002189: 15,3514 37562 STCALL TSIGHT
042428,002190: 15,3515 20030 CALCSMSC # GET YNB IN SM
042429,002191: 15,3516 61375 VLOAD VXM
042430,002192: 15,3517 02673 YNB
042431,002193: 15,3520 01734 REFSMMAT # YNB TO REF
042432,002194: 15,3521 65256 UNIT PDDL
042433,002195: 15,3522 03562 TSIGHT
042434,002196: 15,3523 45006 PUSH CALL
042435,002197: 15,3524 51670 R-TO-RP
042436,002198: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042437,002199: 15,3526 02701 ZNB
042438,002200: 15,3527 53505 VXM UNIT
042439,002201: 15,3530 01734 REFSMMAT # ZNB TO REF
042440,002202: 15,3531 41525 PDDL PUSH
042441,002203: 15,3532 03562 TSIGHT
042442,002204: 15,3533 77624 CALL
042443,002205: 15,3534 51670 R-TO-RP # ZNB TO MF
042444,002206: 15,3535 02245 STORE ZNBSAV
042445,002207: 15,3536 77614 SETGO
042446,002208: 15,3537 03036 ATTFLAG
042447,002209: 15,3540 02746 QMAJ
042448,002210:
042449,002211: # Page 980
042450,002212: # BRANCH TO ALIGNMENT OPTION
042451,002213:
042452,002214: 15,3541 06037 GETLMATT TC INTPRET
042453,002215: 15,3542 77624 CALL
042454,002216: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042455,002217: 15,3544 77776 EXIT
042456,002218:
042457,002219: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042458,002220: 15,3546 00205 ADRES INITALGN
042459,002221: 15,3547 34753 CAF BIT1
042460,002222: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042461,002223: 15,3551 10000 CCS A
042462,002224: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042463,002225:
042464,002226: 15,3553 05353 ATTCHK TC PHASCHNG
042465,002227: 15,3554 04024 OCT 04024
042466,002228:
042467,002229: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042468,002230: 15,3556 70102 MASK FLAGWRD6
042469,002231: 15,3557 10000 CCS A
042470,002232: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042471,002233: 15,3561 05353 P57JUMP TC PHASCHNG
042472,002234: 15,3562 04024 OCT 04024
042473,002235:
042474,002236: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG
042475,002237: 15,3564 00205 ADRES INITALGN
042476,002238: 15,3565 36245 CAF THREE
042477,002239: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042478,002240: 15,3567 50000 INDEX A
042479,002241: 15,3570 13571 TCF +1
042480,002242: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042481,002243: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042482,002244: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042483,002245: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042484,002246:
042485,002247: # Page 981
042486,002248: # OPTION 0, GET TWO ATTITUDE VECS
042487,002249:
042488,002250: 15,3575 06037 P57OPT0 TC INTPRET
042489,002251: 15,3576 77775 VLOAD
042490,002252: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042491,002253: 15,3600 26723 STOVL VEC1
042492,002254: 15,3601 02245 ZNBSAV
042493,002255: 15,3602 36731 STCALL VEC2
042494,002256: 15,3603 47537 CDUTRIG
042495,002257: 15,3604 77624 CALL
042496,002258: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042497,002259: 15,3606 77775 VLOAD
042498,002260: 15,3607 02673 YNB
042499,002261: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042500,002262: 15,3611 02701 ZNB
042501,002263: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042502,002264: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042503,002265: 15,3614 77650 GOTO
042504,002266: 15,3615 33101 SURFLINE
042505,002267:
042506,002268: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042507,002269:
042508,002270: 15,3616 06037 P57OPT1 TC INTPRET
042509,002271: 15,3617 53575 VLOAD UNIT
042510,002272: 15,3620 02023 RLS # LANDING SITE VEC
042511,002273: 15,3621 26723 STOVL VEC1
042512,002274: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042513,002275: 15,3623 36731 STCALL VEC2
042514,002276: 15,3624 47537 CDUTRIG
042515,002277: 15,3625 77624 CALL
042516,002278: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042517,002279: 15,3627 45175 VLOAD CALL
042518,002280: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042519,002281: 15,3631 47661 CDU*NBSM
042520,002282: 15,3632 77650 GOTO
042521,002283: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042522,002284:
042523,002285: # Page 982
042524,002286: # OPTION 2, GET TWO STAR SIGHTINGS
042525,002287:
042526,002288: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042527,002289:
042528,002290: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042529,002291:
042530,002292: 15,3635 06037 P57OPT3 TC INTPRET
042531,002293: 15,3636 53575 VLOAD UNIT
042532,002294: 15,3637 02023 RLS # LANDING SITE VEC
042533,002295: 15,3640 02723 STORE VEC1
042534,002296: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042535,002297: 15,3642 02231 GSAV # GRAVITY VEC NB
042536,002298: 15,3643 77624 CALL
042537,002299: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042538,002300: 15,3645 36761 STCALL STARSAV1
042539,002301: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042540,002302: 15,3647 77776 EXIT
042541,002303: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE.
042542,002304:
042543,002305: 15,3651 01206 VB05N06 VN 506
042544,002306:
042545,002307: # Page 983
042546,002308: # CHECK IMODES30 TO VERIFY IMU IS ON
042547,002309:
042548,002310: 15,3652 41302 IMUCHK CS IMODES30
042549,002311: 15,3653 74743 MASK BIT9
042550,002312: 15,3654 10000 CCS A # IS IMU ON
042551,002313: 15,3655 13661 TCF +4 # YES
042552,002314:
042553,002315: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042554,002316: 15,3657 00210 OCT 210
042555,002317: 15,3660 06001 TC GOTOP00H
042556,002318:
042557,002319: 15,3661 05504 TC UPFLAG
042558,002320: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042559,002321:
042560,002322: 15,3663 04631 TC SWRETURN
042561,002323:
042562,002324: 04,3013 BANK 04
042563,002325: 04,2000 SETLOC AOTMARK2
042564,002326: 04,2000 BANK
042565,002327: 04,3013 COUNT* $$/P57
042566,002328:
042567,002329: 04,3013 77220 LSORIENT STQ VLOAD
042568,002330: 04,3014 02746 QMAJ
042569,002331: 04,3015 01555 RRECTCSM
042570,002332: 04,3016 47235 VXV VXV
042571,002333: 04,3017 01563 VRECTCSM
042572,002334: 04,3020 03607 XSMD
042573,002335: 04,3021 77656 UNIT
042574,002336: 04,3022 03623 STORE ZSMD
042575,002337: 04,3023 53435 VXV UNIT
042576,002338: 04,3024 03607 XSMD
042577,002339: 04,3025 37615 STCALL YSMD
042578,002340: 04,3026 02746 QMAJ
042579,002341:
End of include-file P51-P53.agc. Parent file is MAIN.agc