Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
030308,000002: ## Copyright: Public domain.
030309,000003: ## Filename: P51-P53.agc
030310,000004: ## Purpose: Part of the source code for Colossus build 237.
030311,000005: ## This is for the Command Module's (CM) Apollo Guidance
030312,000006: ## Computer (AGC), for Apollo 8.
030313,000007: ## Assembler: yaYUL
030314,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
030315,000009: ## Website: www.ibiblio.org/apollo/index.html
030316,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030317,000011: ## Mod history: 2011-02-23 JL Adapted from corresponding Colossus 249 file.
030318,000012: ## 2011-04-17 JL Removed temporary line.
030319,000013: ## 2016-12-31 RSB Proofed comment text using octopus/ProoferComments,
030320,000014: ## and corrected errors found.
030321,000015: ## 2017-01-18 RSB Fixed comment-text errors noted while diff'ing
030322,000016: ## vs Colossus 249.
030323,000017:
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Page 690 |
030325,000019: # PROGRAM NAME- PROG52 DATE- NOV 30, 1966
030326,000020: # MOD NO- 2 LOG SECTION- P51-P53
030327,000021: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDISK REV 30
030328,000022:
030329,000023: # FUNCTIONAL DESCRIPTION-
030330,000024:
030331,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030332,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030333,000027:
030334,000028: # (A) PREFERRED ORIENTATION
030335,000029:
030336,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
030337,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
030338,000032:
030339,000033: # (B) NOMINAL ORIENTATION
030340,000034:
030341,000035: # X = UNIT(Y X Z )
030342,000036: # -SM -SM -SM
030343,000037:
030344,000038: # Y = UNIT(V X R)
030345,000039: # -SM - -
030346,000040:
030347,000041: # Z = UNIT(-R)
030348,000042: # -SM -
030349,000043:
030350,000044: # WHERE_
030351,000045: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030352,000046: # -
030353,000047:
030354,000048: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030355,000049: # -
030356,000050:
030357,000051: # (C) REFSMMAT ORIENTATION
030358,000052:
030359,000053: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030360,000054: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
030361,000055: # SINCE THE LAST ALIGNMENT).
030362,000056:
030363,000057: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030364,000058: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030365,000059: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030366,000060: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
030367,000061: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030368,000062: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030369,000063: # REQUESTED.
030370,000064:
030371,000065: # CALLING SEQUENCE-
030372,000066:
030373,000067: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030374,000068:
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Page 691 |
030376,000070: # SUBROUTINES CALLED-
030377,000071:
030378,000072: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
030379,000073: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
030380,000074: # 3. GOPERF4 9. FLAGUP
030381,000075: # 4. MATMOVE 10. R56
030382,000076: # 5. GOFLASH 11. R51
030383,000077: # 6. S52.3 12. GOPERF3
030384,000078:
030385,000079: # NORMAL EXIT MODES-
030386,000080:
030387,000081: # EXITS TO ENDOFJOB
030388,000082:
030389,000083: # ALARM OR ABORT EXIT MODES-
030390,000084:
030391,000085: # NONE
030392,000086:
030393,000087: # OUTPUT-
030394,000088:
030395,000089: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
030396,000090: # 1. IMU ORIENTATION CODE
030397,000091: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030398,000092: # 3. TIME OF NEXT IGNITION
030399,000093: # 4. GIMBAL ANGLES
030400,000094: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030401,000095: # 6. PLEASE PERFORM P00
030402,000096: # THE MODE DISPLAY MAY BE CHANGED TO 20
030403,000097:
030404,000098: # ERASABLE INITIALIZATION REQUIRED-
030405,000099:
030406,000100: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030407,000101: # XSMD,YSMD,ZSMD.
030408,000102: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030409,000103:
030410,000104: # DEBRIS-
030411,000105:
030412,000106: # WORK AREA
030413,000107: 21,2026 15,2000 P54 = PROG52
030414,000108: 33,3773 BANK 33
030415,000109: 15,2000 SETLOC P50S
030416,000110: 15,2000 BANK
030417,000111:
030418,000112: 15,2000 30,2000 SBANK= LOWSUPER
030419,000113: 15,2000 E5,1773 EBANK= SAC
030420,000114: 15,2000 COUNT 15/P52
030421,000115:
030422,000116: 15,2000 05301 PROG52 TC PHASCHNG
030423,000117: 15,2001 00254 OCT 00254
030424,000118: 15,2002 05447 TC DOWNFLAG
030425,000119: 15,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
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Page 692 |
030427,000121: 15,2004 05447 TC DOWNFLAG
030428,000122: 15,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
030429,000123: 15,2006 04555 TC BANKCALL
030430,000124: 15,2007 17573 CADR R02BOTH # IMU STATUS CHECK
030431,000125: 15,2010 34707 CAF BIT4
030432,000126: 15,2011 70076 MASK STATE +2 # IS PFRATFLG SET(PREFERRED ORIENTATION)
030433,000127: 15,2012 10000 CCS A
030434,000128: 15,2013 02016 TC P52A # YES
030435,000129: 15,2014 34711 CAF BIT2 # NO
030436,000130: 15,2015 02017 TC P52A +1
030437,000131: 15,2016 34712 P52A CAF BIT1
030438,000132: 15,2017 55132 TS OPTION2
030439,000133: 15,2020 34712 P52B CAF BIT1
030440,000134: 15,2021 04555 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
030441,000135: 15,2022 21041 CADR GOPERF4R
030442,000136: 15,2023 04106 TC GOTOPOOH
030443,000137: 15,2024 02031 TC +5
030444,000138: 15,2025 02020 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
030445,000139: 15,2026 05301 TC PHASCHNG
030446,000140: 15,2027 00014 OCT 00014
030447,000141: 15,2030 05112 TC ENDOFJOB
030448,000142: 15,2031 31132 CA OPTION2
030449,000143: 15,2032 76214 MASK THREE
030450,000144: 15,2033 50000 INDEX A
030451,000145: 15,2034 02035 TC +1
030452,000146: 15,2035 02041 TC P52T # L.S.
030453,000147: 15,2036 02110 TC P52J # PREF
030454,000148: 15,2037 02041 TC P52T # NOM
030455,000149: 15,2040 12120 TCF P52C # REF
030456,000150: 15,2041 00006 P52T EXTEND
030457,000151: 15,2042 34714 DCA NEG0
030458,000152: 15,2043 53046 DXCH DSPTEM1
030459,000153: 15,2044 32155 CAF V06N34
030460,000154: 15,2045 04555 TC BANKCALL
030461,000155: 15,2046 20624 CADR GOFLASH
030462,000156: 15,2047 04106 TC GOTOPOOH
030463,000157: 15,2050 02052 TC +2
030464,000158: 15,2051 02044 TC -5
030465,000159: 15,2052 00006 EXTEND
030466,000160: 15,2053 31046 DCA DSPTEM1
030467,000161: 15,2054 00006 EXTEND
030468,000162: 15,2055 12057 BZF +2
030469,000163: 15,2056 12062 TCF +4
030470,000164:
030471,000165: 15,2057 00006 EXTEND
030472,000166: 15,2060 30025 DCA TIME2
030473,000167: 15,2061 53046 DXCH DSPTEM1
030474,000168: 15,2062 31132 CA OPTION2
030475,000169: 15,2063 74711 MASK BIT2
030476,000170: 15,2064 10000 CCS A
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Page 693 |
030478,000172: 15,2065 12073 TCF +6 # NOM
030479,000173: 15,2066 06006 TC INTPRET # LS
030480,000174: 15,2067 77624 CALL
030481,000175: 15,2070 34506 P52LS
030482,000176: 15,2071 77650 GOTO
030483,000177: 15,2072 32100 P52D
030484,000178: 15,2073 06006 TC INTPRET
030485,000179: 15,2074 77745 DLOAD
030486,000180: 15,2075 01046 DSPTEM1
030487,000181: 15,2076 77624 CALL # COMPUTE NOMINAL IMU
030488,000182: 15,2077 34636 S52.3 # ORIENTATION
030489,000183: 15,2100 77624 P52D CALL # READ VEHICLE ATTITUDE AND
030490,000184: 15,2101 22256 S52.2 # COMPUTE GIMBAL ANGLES
030491,000185: 15,2102 77776 EXIT
030492,000186: 15,2103 32156 CAF VB06N22
030493,000187: 15,2104 04555 TC BANKCALL # DISPLAY GIMBAL ANGLES
030494,000188: 15,2105 20624 CADR GOFLASH
030495,000189: 15,2106 04106 TC GOTOPOOH
030496,000190: 15,2107 02113 TC +4 # PROCEED
030497,000191: 15,2110 06006 P52J TC INTPRET # RECYCLE- VEHICLE HAS BEEN MENUEVERED
030498,000192: 15,2111 77650 GOTO
030499,000193: 15,2112 32100 P52D
030500,000194: 15,2113 06006 TC INTPRET
030501,000195: 15,2114 77624 CALL # DO COARSE ALIGN
030502,000196: 15,2115 30763 CAL53A # ROUTINE
030503,000197: 15,2116 77414 SET EXIT
030504,000198: 15,2117 01462 REFSMFLG
030505,000199: 15,2120 34720 P52C CAF ALRM15
030506,000200: 15,2121 04555 TC BANKCALL
030507,000201: 15,2122 20751 CADR GOPERF1
030508,000202: 15,2123 04106 TC GOTOPOOH
030509,000203: 15,2124 02126 TC +2 # V33
030510,000204: 15,2125 02140 TC P52F # E
030511,000205: 15,2126 06006 TC INTPRET
030512,000206: 15,2127 43234 RTB DAD
030513,000207: 15,2130 45505 LOADTIME
030514,000208: 15,2131 32176 TSIGHT1
030515,000209: 15,2132 77624 CALL
030516,000210: 15,2133 30216 LOCSAM
030517,000211: 15,2134 77776 EXIT
030518,000212: 15,2135 04555 P52E TC BANKCALL # DO STAR SELECTION
030519,000213: 15,2136 30324 CADR PICAPAR
030520,000214: 15,2137 02145 TC P52I # 2 STARS NOT AVAILABLE
030521,000215: 15,2140 06006 P52F TC INTPRET # 2 STARS AVAILABLE
030522,000216: 15,2141 77624 CALL
030523,000217: 15,2142 30523 R51
030524,000218: 15,2143 77776 ENDP50S EXIT
030525,000219: 15,2144 04106 TC GOTOPOOH
030526,000220: 15,2145 05537 P52I TC ALARM
030527,000221: 15,2146 00405 OCT 405
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Page 694 |
030529,000223: 15,2147 34743 CAF V05N09
030530,000224: 15,2150 04555 TC BANKCALL
030531,000225: 15,2151 20624 CADR GOFLASH
030532,000226: 15,2152 04106 TC GOTOPOOH
030533,000227: 15,2153 02140 TC P52F # PROCEED - DO FINE ALIGN-R51
030534,000228: 15,2154 02120 TC P52C # RECYCLE- VEHICLE HAS BEEN MANUEVERED
030535,000229: 15,2155 01442 V06N34 VN 00634
030536,000230: 15,2156 01426 VB06N22 VN 00622
030537,000231: 15,2157 4720 ALRM15 EQUALS OCT15
030538,000232: 16,2000 SETLOC P50S2
030539,000233: 16,2000 BANK
030540,000234: 16,2505 01531 V06N89* VN 0689
030541,000235: # NAME-P52LS
030542,000236: # FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030543,000237: # LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030544,000238: # THE KEYBOARD. TO COMPUTE THE LANDING SITE
030545,000239: # ORIENTATION FOR P52 OR P54
030546,000240:
030547,000241: # LET:
030548,000242: # RLS = LANDING SITE VECTOR IN REF COORDINATES
030549,000243: # R = CSM POSITION VECTOR IN REF COORDINATES
030550,000244: # V = CSM VELOCITY VECTOR IN REF COORDINATES
030551,000245: # THEN THE LANDING SITE ORIENTATION IS:
030552,000246: # XSMD = UNIT(RLS)
030553,000247: # YSMD = UNIT(ZSMD*XSMD)
030554,000248: # ZSMD = UNIT((R*V)*RLS)
030555,000249: # CALL - CALL
030556,000250: # P52LS
030557,000251: # INPUTS- DSPTEM1=TIME OF ALIGNMENT
030558,000252: # RLS=LANDING SITE VECTOR IN MOON FIXED COORINATES
030559,000253: # OUTPUTS- XSMD,YSMD,ZSMD
030560,000254: # SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030561,000255: # DEBRIS- VAC, SEE SUBROUTINES
030562,000256:
030563,000257: 16,2506 43020 P52LS STQ SET
030564,000258: 16,2507 00300 QMAJ
030565,000259: 16,2510 01463 LUNAFLAG
030566,000260: 16,2511 77745 DLOAD
030567,000261: 16,2512 01046 DSPTEM1
030568,000262: 16,2513 02607 STORE TSIGHT
030569,000263: 16,2514 43175 VLOAD SET
030570,000264: 16,2515 02026 RLS
030571,000265: 16,2516 00462 ERADFLAG
030572,000266: 16,2517 14001 STODL 0D
030573,000267: 16,2520 02607 TSIGHT
030574,000268: 16,2521 34007 STCALL 6D
030575,000269: 16,2522 55341 RP-TO-R
030576,000270: 16,2523 77742 VSR2
030577,000271: 16,2524 16152 STODL ALPHAV
030578,000272: 16,2525 02607 TSIGHT
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Page 695 |
030580,000274: 16,2526 77624 CALL
030581,000275: 16,2527 26322 LAT-LONG
030582,000276: 16,2530 77624 CALL
030583,000277: 16,2531 61336 LLASRD
030584,000278: 16,2532 77776 EXIT
030585,000279: 16,2533 32505 LSDISP CAF V06N89*
030586,000280: 16,2534 04555 TC BANKCALL
030587,000281: 16,2535 20624 CADR GOFLASH
030588,000282: 16,2536 04106 TC GOTOPOOH
030589,000283: 16,2537 02541 TC +2
030590,000284: 16,2540 02533 TC LSDISP
030591,000285: 16,2541 06006 TC INTPRET
030592,000286: 16,2542 77624 CALL
030593,000287: 16,2543 61345 LLASRDA
030594,000288: 16,2544 45145 DLOAD CALL
030595,000289: 16,2545 02607 TSIGHT
030596,000290: 16,2546 26373 LALOTORV
030597,000291: 16,2547 53575 VLOAD UNIT
030598,000292: 16,2550 02152 ALPHAV
030599,000293: 16,2551 14307 STODL XSMD
030600,000294: 16,2552 02607 TSIGHT
030601,000295: 16,2553 34041 STCALL TDEC1
030602,000296: 16,2554 27022 CSMPREC
030603,000297: 16,2555 47375 VLOAD VXV
030604,000298: 16,2556 00001 RATT
030605,000299: 16,2557 00007 VATT
030606,000300: 16,2560 53435 VXV UNIT
030607,000301: 16,2561 00307 XSMD
030608,000302: 16,2562 00323 STORE ZSMD
030609,000303: 16,2563 53435 VXV UNIT
030610,000304: 16,2564 00307 XSMD
030611,000305: 16,2565 34315 STCALL YSMD
030612,000306: 16,2566 00300 QMAJ
030613,000307: 14,2000 SETLOC P50S1
030614,000308: 14,2000 BANK
030615,000309: # NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030616,000310:
030617,000311: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030618,000312: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030619,000313:
030620,000314: # CALLING SEQUENCE- CALL R52
030621,000315:
030622,000316: # INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030623,000317: # 2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030624,000318: # 3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030625,000319: # 4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
030626,000320: # 5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030627,000321:
030628,000322: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
030629,000323:
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Page 696 |
030631,000325: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
030632,000326: # 2. GOPERF1 8. GODSPR
030633,000327: # 3. GOFLASH 9. REFLASHR
030634,000328: # 4. R53 10. R52.2
030635,000329: # 5. ALARM 11. R52.3
030636,000330: # 6. SR52.1
030637,000331:
030638,000332: 14,2002 COUNT 15/R52
030639,000333:
030640,000334: 14,2002 43020 R52 STQ CLEAR
030641,000335: 14,2003 02576 SAVQR52
030642,000336: 14,2004 04265 ADVTRK
030643,000337: 14,2005 77776 R52VRB EXIT
030644,000338: 14,2006 00006 EXTEND
030645,000339: 14,2007 30036 DCA CDUT
030646,000340: 14,2010 53161 DXCH DESOPTT
030647,000341: 14,2011 06006 TC INTPRET
030648,000342: 14,2012 43131 SSP CLEAR
030649,000343: 14,2013 01304 OPTIND
030650,000344: 14,2014 00000 0
030651,000345: 14,2015 00271 R53FLAG
030652,000346: 14,2016 77776 EXIT
030653,000347: 14,2017 06006 R52A TC INTPRET
030654,000348: 14,2020 43014 SET BON
030655,000349: 14,2021 00073 TRUNFLAG
030656,000350: 14,2022 00705 TARG1FLG
030657,000351: 14,2023 30103 R52H
030658,000352: 14,2024 77414 CLEAR EXIT
030659,000353: 14,2025 03660 TERMIFLG
030660,000354: 14,2026 31314 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
030661,000355: 14,2027 00006 EXTEND
030662,000356: 14,2030 62131 BZMF R52M # MANUAL
030663,000357: 14,2031 04555 R52D TC BANKCALL # AGC
030664,000358: 14,2032 26176 CADR SR52.1
030665,000359: 14,2033 12161 TCF R52L # GR 90 DEGREES
030666,000360: 14,2034 12124 TCF R52J # GR 50 DEGREES
030667,000361: 14,2035 05435 TC UPFLAG # LS 50 DEGREES
030668,000362: 14,2036 00013 ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
030669,000363: 14,2037 34701 R52JA CAF BIT10 # IS THIS A LEM
030670,000364: 14,2040 70075 MASK STATE +1
030671,000365: 14,2041 10000 CCS A
030672,000366: 14,2042 02052 TC R52E # YES
030673,000367: 14,2043 34705 CAF BIT6 # NO, IS R53FLAG SET
030674,000368: 14,2044 70074 MASK STATE
030675,000369: 14,2045 10000 CCS A
030676,000370: 14,2046 12052 TCF R52E # YES
030677,000371: 14,2047 32151 CAF V06N92 # NO
030678,000372: 14,2050 04555 TC BANKCALL
030679,000373: 14,2051 20602 CADR GODSPR
030680,000374: 14,2052 31314 R52E CA SWSAMPLE # IS OSS IN CMC MODE
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Page 697 |
030682,000376: 14,2053 00006 EXTEND
030683,000377: 14,2054 62065 BZMF R52F # NO
030684,000378: 14,2055 40074 CS STATE # YES- IS TRUNFLAG SET
030685,000379: 14,2056 74707 MASK BIT4
030686,000380: 14,2057 10000 CCS A
030687,000381: 14,2060 02063 TC +3 # NO
030688,000382: 14,2061 31775 CA PAC # YES
030689,000383: 14,2062 55160 TS DESOPTT
030690,000384: 14,2063 31773 CA SAC
030691,000385: 14,2064 55161 TS DESOPTS
030692,000386: 14,2065 34731 R52F CAF .5SEC # WAIT 1/2 SEC
030693,000387: 14,2066 04555 TC BANKCALL
030694,000388: 14,2067 01730 CADR DELAYJOB
030695,000389: 14,2070 34701 CAF BIT10
030696,000390: 14,2071 70075 MASK STATE +1
030697,000391: 14,2072 10000 CCS A
030698,000392: 14,2073 12104 TCF R52HA # YES, LEM
030699,000393: 14,2074 34674 CAF BIT15 # NO
030700,000394: 14,2075 70103 MASK STATE +7 # IS TERMIFLG SET
030701,000395: 14,2076 00006 EXTEND
030702,000396: 14,2077 12026 BZF R52C # NO
030703,000397: 14,2100 06006 R52Q TC INTPRET # YES
030704,000398: 14,2101 77650 GOTO
030705,000399: 14,2102 02576 SAVQR52
030706,000400: 14,2103 77776 R52H EXIT # LEM
030707,000401: 14,2104 04555 R52HA TC BANKCALL
030708,000402: 14,2105 76536 CADR R61CSM
030709,000403: 14,2106 30075 CA STATE +1
030710,000404: 14,2107 74706 MASK BIT5
030711,000405: 14,2110 00006 EXTEND # TRACKFLG
030712,000406: 14,2111 12100 BZF R52Q
030713,000407:
030714,000408: 14,2112 40075 CS STATE +1
030715,000409: 14,2113 74704 MASK BIT7 # UPDATFLG
030716,000410: 14,2114 10000 CCS A
030717,000411: 14,2115 12122 TCF R52SYNC
030718,000412:
030719,000413: 14,2116 30101 R52I CA STATE +5
030720,000414: 14,2117 74701 MASK BIT10
030721,000415: 14,2120 10000 CCS A
030722,000416: 14,2121 02031 TC R52D # PRFTRKAT = 1
030723,000417: 14,2122 32175 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
030724,000418: 14,2123 12066 TCF R52F +1
030725,000419:
030726,000420: 14,2124 05447 R52J TC DOWNFLAG # CLEAR TRUNFLAG
030727,000421: 14,2125 00013 ADRES TRUNFLAG # BIT 4 FLAG 0
030728,000422: 14,2126 05537 TC ALARM # SET 407 ALARM
030729,000423: 14,2127 00407 OCT 407
030730,000424: 14,2130 02037 TC R52JA
030731,000425: 14,2131 34705 R52M CAF BIT6 # IS R53FLAG SET
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Page 698 |
030733,000427: 14,2132 70074 MASK STATE
030734,000428: 14,2133 10000 CCS A
030735,000429: 14,2134 02065 TC R52F # YES
030736,000430: 14,2135 00004 INHINT # NO
030737,000431: 14,2136 37661 CAF PRIO24
030738,000432: 14,2137 05042 TC FINDVAC
030739,000433: 14,2140 E5,1773 EBANK= SAC
030740,000434: 14,2140 02144 30065 2CADR R53JOB
030741,000435: 14,2142 00003 RELINT
030742,000436: 14,2143 12065 TCF R52F
030743,000437: 14,2144 06006 R53JOB TC INTPRET
030744,000438: 14,2145 77624 CALL
030745,000439: 14,2146 31327 R53
030746,000440: 14,2147 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030747,000441: 14,2150 05112 TC ENDOFJOB
030748,000442: 14,2151 01534 V06N92 VN 00692
030749,000443: 14,2152 01531 V06N89A VN 0689
030750,000444: 14,2153 10464 12470 SHAXIS 2DEC .5376381241 B-1
030751,000445:
030752,000446: 14,2155 00000 00000 2DEC 0 B-28
030753,000447: 14,2157 15373 11554 2DEC .8431766920 B-1
030754,000448: 14,2161 34701 R52L CAF BIT10 # IS THIS A LEM
030755,000449: 14,2162 70075 MASK STATE +1
030756,000450: 14,2163 10000 CCS A
030757,000451: 14,2164 02124 TC R52J # YES
030758,000452: 14,2165 32174 CAF OCT404
030759,000453: 14,2166 04555 TC BANKCALL
030760,000454: 14,2167 21671 CADR PRIOLARM
030761,000455: 14,2170 12176 TCF TERM52 # TERMINATE
030762,000456: 14,2171 12065 TCF R52F # PROCEED
030763,000457: 14,2172 12065 TCF R52F # NO PROVISION FOR NEW DATA
030764,000458: 14,2173 15112 TCF ENDOFJOB
030765,000459:
030766,000460: 14,2174 00404 OCT404 OCT 404
030767,000461:
030768,000462: 14,2175 00264 1.8SEC DEC 180 B-14
030769,000463:
030770,000464: 14,2176 05425 TERM52 TC CLEARMRK
030771,000465:
030772,000466: 14,2177 04555 TC BANKCALL # KILL MARK SYSTEM
030773,000467: 14,2200 16063 CADR MKRELEAS
030774,000468:
030775,000469: 14,2201 34714 CAF ZERO
030776,000470: 14,2202 55323 TS OPTCADR
030777,000471:
030778,000472: 14,2203 04555 TC BANKCALL # CLEAR OUT EXTENDED VERBS
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Page 699 |
030780,000474: 14,2204 20464 CADR KLEENEX
030781,000475:
030782,000476: 14,2205 04106 TC GOTOPOOH # NOW GO TO POO
030783,000477:
030784,000478: 14,2206 43020 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
030785,000479: 14,2207 02576 SAVQR52
030786,000480: 14,2210 04065 ADVTRK
030787,000481: 14,2211 43014 SET SET
030788,000482: 14,2212 01463 LUNAFLAG
030789,000483: 14,2213 00462 ERADFLAG
030790,000484: 14,2214 77650 GOTO
030791,000485: 14,2215 30005 R52VRB
030792,000486:
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Page 700 |
030794,000488: # NAME -S50 ALIAS LOCSAM
030795,000489: # NAME- LOCSAM
030796,000490: # FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030797,000491: # IMU ALIGNMENT PROGRAMS
030798,000492: # DEFINE:
030799,000493: # RATT=POSITION VECTOR OF CM WRT PRIMARY BODY
030800,000494: # VATT=VELOCITY VECTOR OF CM WRT PRIMARY BODY
030801,000495: # RE =RADIUS OF EARTH
030802,000496: # RM =RADIUS OF MOON
030803,000497: # ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030804,000498: # WRT TO SUN OVER THE VELOCITY OF LIGHT
030805,000499: # REM =POSITION OF MOON WRT EARTH
030806,000500: # RES =POSITION OF SUN WRT EARTH
030807,000501: # C = VELOCITY OF LIGHT
030808,000502:
030809,000503:
030810,000504: # EARTH IS PRIMARY MOON IS PRIMARY
030811,000505: # - -
030812,000506: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
030813,000507:
030814,000508: # - -
030815,000509: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
030816,000510:
030817,000511: # - -
030818,000512: # VSUN = 1(RES) VSUN = 1(RES-REM)
030819,000513:
030820,000514: # -1
030821,000515: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
030822,000516:
030823,000517: # -1
030824,000518: # CMOON= COS 5 CMOON=COS(SIN CRM/RATT)+5)
030825,000519:
030826,000520:
030827,000521: # CSUN = COS 15 CSUN = COS 15
030828,000522:
030829,000523:
030830,000524: # VEL/C = VSUN X ECLIPOL + VATT/C
030831,000525:
030832,000526:
030833,000527:
030834,000528: # CALL - DLOAD CALL
030835,000529: # DESIRED TIME
030836,000530: # LOCSAM
030837,000531: # INPUTS - MPAC = TIME
030838,000532:
030839,000533: # OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030840,000534:
030841,000535: # SUBROUTINES- LSPOS,CSMCONIC
030842,000536:
030843,000537: # DEBRIS - VAC AREA,SEE SUBROUTINES
030844,000538:
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Page 701 |
030846,000540: 14,2000 SETLOC P50S1
030847,000541: 14,2000 BANK
030848,000542:
030849,000543: 14,2216 COUNT* $$/S50
030850,000544:
030851,000545: 14,2216 14,2216 LOCSAM = S50
030852,000546: 14,2216 77620 S50 STQ
030853,000547: 14,2217 00300 QMAJ
030854,000548: 14,2220 36607 STCALL TSIGHT
030855,000549: 14,2221 54110 LSPOS
030856,000550: 14,2222 26752 STOVL VMOON
030857,000551: 14,2223 00003 2D
030858,000552: 14,2224 16744 STODL VSUN
030859,000553: 14,2225 02607 TSIGHT
030860,000554: 14,2226 34041 STCALL TDEC1
030861,000555: 14,2227 27045 CSMCONIC
030862,000556: 14,2230 61131 SSP TIX,2
030863,000557: 14,2231 00052 S2
030864,000558: 14,2232 00000 0
030865,000559: 14,2233 30256 MOONCNTR
030866,000560: 14,2234 52375 EARTCNTR VLOAD VSU
030867,000561: 14,2235 02752 VMOON
030868,000562: 14,2236 00001 RATT
030869,000563: 14,2237 77656 UNIT
030870,000564: 14,2240 26752 STOVL VMOON
030871,000565: 14,2241 00001 RATT
030872,000566: 14,2242 57456 UNIT VCOMP
030873,000567: 14,2243 16736 STODL VEARTH
030874,000568: 14,2244 32162 RSUBE
030875,000569: 14,2245 77624 CALL
030876,000570: 14,2246 30316 OCCOS
030877,000571: 14,2247 14017 STODL CEARTH
030878,000572: 14,2250 32200 CSS5
030879,000573: 14,2251 24023 STOVL CMOON
030880,000574: 14,2252 02744 VSUN
030881,000575: 14,2253 77656 UNIT
030882,000576: 14,2254 36744 STCALL VSUN
030883,000577: 14,2255 30303 ENDSAM
030884,000578: 14,2256 40575 MOONCNTR VLOAD VSR8
030885,000579: 14,2257 02752 VMOON
030886,000580: 14,2260 51362 VSR1 BVSU
030887,000581: 14,2261 02744 VSUN
030888,000582: 14,2262 77656 UNIT
030889,000583: 14,2263 26744 STOVL VSUN
030890,000584: 14,2264 02752 VMOON
030891,000585: 14,2265 53455 VAD UNIT
030892,000586: 14,2266 00001 RATT
030893,000587: 14,2267 77676 VCOMP
030894,000588: 14,2270 26736 STOVL VEARTH
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Page 702 |
030896,000590: 14,2271 00001 RATT
030897,000591: 14,2272 57456 UNIT VCOMP
030898,000592: 14,2273 16752 STODL VMOON
030899,000593: 14,2274 32160 RSUBM
030900,000594: 14,2275 77624 CALL
030901,000595: 14,2276 30316 OCCOS
030902,000596: 14,2277 14023 STODL CMOON
030903,000597: 14,2300 32200 CSS5
030904,000598: 14,2301 24017 STOVL CEARTH
030905,000599: 14,2302 02744 VSUN
030906,000600: 14,2303 77635 ENDSAM VXV
030907,000601: 14,2304 32170 ECLIPOL
030908,000602: 14,2305 27474 STOVL VEL/C
030909,000603: 14,2306 00007 VATT
030910,000604: 14,2307 53361 VXSC VAD
030911,000605: 14,2310 32166 1/C
030912,000606: 14,2311 03474 VEL/C
030913,000607: 14,2312 17474 STODL VEL/C
030914,000608: 14,2313 32202 CSSUN
030915,000609: 14,2314 34021 STCALL CSUN
030916,000610: 14,2315 00300 QMAJ
030917,000611: 14,2316 70471 OCCOS DDV SR1
030918,000612: 14,2317 00045 36D
030919,000613: 14,2320 43336 ASIN DAD
030920,000614: 14,2321 32164 5DEGREES
030921,000615: 14,2322 70546 COS SR1
030922,000616: 14,2323 77616 RVQ
030923,000617: 15,2000 SETLOC P50S
030924,000618: 15,2000 BANK
030925,000619: 15,2157 00065 01265 RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
030926,000620: 15,2161 00302 24533 RSUBE 2DEC 6378166 B-29
030927,000621: 15,2163 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
030928,000622: 15,2165 00000 13143 1/C 2DEC .000042699 B-1 # *
030929,000623: 15,2167 00000 00000 ECLIPOL 2DEC 0 B-28 # *
030930,000624: 15,2171 77777 53231 2DEC -.00007896 B-1 # *
030931,000625: 15,2173 00001 17570 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
030932,000626: 15,2175 00001 16700 TSIGHT1 2DEC 24000 B-28
030933,000627: 15,2177 CEARTH = 14D
030934,000628: 15,2177 CSUN = 16D
030935,000629: 15,2177 CMOON = 18D
030936,000630: 15,2177 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
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Page 703 |
030938,000632: 15,2201 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
030939,000633:
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Page 704 |
030941,000635: # PROGRAM NAME - PICAPAR DATE DEC 20 66
030942,000636: # MOD 1 LOG SECTION P51-P53
030943,000637: # ASSEMBLY SUNDISK REV40
030944,000638: # BY KEN VINCENT
030945,000639:
030946,000640: # FUNCTION
030947,000641: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030948,000642: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030949,000643: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030950,000644: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030951,000645: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030952,000646: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030953,000647: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030954,000648: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030955,000649: # AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030956,000650: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030957,000651: # 33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030958,000652: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
030959,000653:
030960,000654: # CALLING SEQUENCE
030961,000655: # L TC BANKCALL
030962,000656: # L+1 CADR PICAPAR
030963,000657: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
030964,000658: # L+3 NORMAL RETURN
030965,000659:
030966,000660: # OUTPUT
030967,000661: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030968,000662: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
030969,000663:
030970,000664: # INITIALIZATION
030971,000665: # 1)A CALL TO LOCSAM MUST BE MADE
030972,000666: # 2)VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030973,000667: # SIGHTINGS.
030974,000668:
030975,000669: # DEBRIS
030976,000670: # WORK AREA
030977,000671: # X,Y,ZNB
030978,000672: # SINCDU,COSCDU
030979,000673: # STARAD - STAR +5
030980,000674: 15,2203 COUNT 14/PICAP
030981,000675:
030982,000676: 14,2000 SETLOC P50S1
030983,000677: 14,2000 BANK
030984,000678: 14,2324 04604 PICAPAR TC MAKECADR
030985,000679: 14,2325 55777 TS QMIN
030986,000680: 14,2326 06006 TC INTPRET
030987,000681: 14,2327 77624 CALL
030988,000682: 14,2330 47432 CDUTRIG
030989,000683: 14,2331 77624 CALL
030990,000684: 14,2332 34567 CALCSMSC
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Page 705 |
030992,000686: 14,2333 77601 SETPD
030993,000687: 14,2334 00001 0
030994,000688: 14,2335 71214 SET DLOAD # VFLAG = 1
030995,000689: 14,2336 01465 VFLAG
030996,000690: 14,2337 11453 DPZERO
030997,000691: 14,2340 24303 STOVL BESTI
030998,000692: 14,2341 02714 XNB
030999,000693: 14,2342 63361 VXSC PDVL
031000,000694: 14,2343 30502 SIN33
031001,000695: 14,2344 02730 ZNB
031002,000696: 14,2345 74370 AXT,1 VXSC
031003,000697: 14,2346 00344 228D # X1 = 37 X 6 + 6
031004,000698: 14,2347 30504 COS33
031005,000699: 14,2350 77655 VAD
031006,000700: 14,2351 53505 VXM UNIT
031007,000701: 14,2352 01736 REFSMMAT
031008,000702: 14,2353 02760 STORE SAX # SAX = SHAFT AXIS
031009,000703: 14,2354 66331 SSP SSP # S1=S2=6
031010,000704: 14,2355 00051 S1
031011,000705: 14,2356 00006 6
031012,000706: 14,2357 00052 S2
031013,000707: 14,2360 00006 6
031014,000708: 14,2361 52100 PIC1 TIX,1 GOTO # MAJOR STAR
031015,000709: 14,2362 30364 PIC2
031016,000710: 14,2363 30513 PICEND
031017,000711: 14,2364 45173 PIC2 VLOAD* CALL
031018,000712: 14,2365 31751 CATLOG,1
031019,000713: 14,2366 30457 OCCULT
031020,000714: 14,2367 73014 BON LXA,2
031021,000715: 14,2370 01710 CULTFLAG
031022,000716: 14,2371 30361 PIC1
031023,000717: 14,2372 00046 X1
031024,000718: 14,2373 52104 PIC3 TIX,2 GOTO
031025,000719: 14,2374 30376 PIC4
031026,000720: 14,2375 30361 PIC1
031027,000721: 14,2376 45173 PIC4 VLOAD* CALL
031028,000722: 14,2377 46026 CATLOG,2
031029,000723: 14,2400 30457 OCCULT
031030,000724: 14,2401 76614 BON VLOAD*
031031,000725: 14,2402 01710 CULTFLAG
031032,000726: 14,2403 30373 PIC3
031033,000727: 14,2404 31751 CATLOG,1
031034,000728: 14,2405 45237 DOT* DSU
031035,000729: 14,2406 46026 CATLOG,2
031036,000730: 14,2407 30506 CSS66 # SEPERATION LESS THAN 66 DEG.
031037,000731: 14,2410 43240 BMN DAD
031038,000732: 14,2411 30373 PIC3
031039,000733: 14,2412 30510 CSS6640 # SEPERATION MORE THAN 40 DEG.
031040,000734: 14,2413 77644 BPL
031041,000735: 14,2414 30373 PIC3
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Page 706 |
031043,000737: 14,2415 50373 VLOAD* DOT
031044,000738: 14,2416 31751 CATLOG,1
031045,000739: 14,2417 02760 SAX
031046,000740: 14,2420 50025 DSU BMN # MAJOR STAR IN CONE
031047,000741: 14,2421 30512 CSS33
031048,000742: 14,2422 30361 PIC1
031049,000743: 14,2423 50373 VLOAD* DOT
031050,000744: 14,2424 46026 CATLOG,2
031051,000745: 14,2425 02760 SAX
031052,000746: 14,2426 51025 DSU BPL
031053,000747: 14,2427 30512 CSS33
031054,000748: 14,2430 30433 STRATGY
031055,000749: 14,2431 77650 GOTO
031056,000750: 14,2432 30373 PIC3
031057,000751: 14,2433 77614 STRATGY BONCLR
031058,000752: 14,2434 01605 VFLAG
031059,000753: 14,2435 30452 NEWPAR
031060,000754: 14,2436 65120 XCHX,1 XCHX,2
031061,000755: 14,2437 00302 BESTI
031062,000756: 14,2440 00303 BESTJ
031063,000757: 14,2441 47773 STRAT VLOAD* DOT*
031064,000758: 14,2442 31751 CATLOG,1
031065,000759: 14,2443 46026 CATLOG,2
031066,000760: 14,2444 43006 PUSH BOFINV
031067,000761: 14,2445 01545 VFLAG
031068,000762: 14,2446 30436 STRAT -3
031069,000763: 14,2447 45345 DLOAD DSU
031070,000764: 14,2450 77644 BPL
031071,000765: 14,2451 30373 PIC3
031072,000766: 14,2452 67130 NEWPAR SXA,1 SXA,2
031073,000767: 14,2453 00302 BESTI
031074,000768: 14,2454 00303 BESTJ
031075,000769: 14,2455 77650 GOTO
031076,000770: 14,2456 30373 PIC3
031077,000771: 14,2457 51321 OCCULT MXV BVSU
031078,000772: 14,2460 02736 CULTRIX
031079,000773: 14,2461 00017 CSS
031080,000774: 14,2462 77654 BZE
031081,000775: 14,2463 30476 CULTED
031082,000776: 14,2464 75240 BMN SIGN
031083,000777: 14,2465 30476 CULTED
031084,000778: 14,2466 00160 MPAC +3
031085,000779: 14,2467 75240 BMN SIGN
031086,000780: 14,2470 30476 CULTED
031087,000781: 14,2471 00162 MPAC +5
031088,000782: 14,2472 43040 BMN CLRGO
031089,000783: 14,2473 30476 CULTED
031090,000784: 14,2474 01630 CULTFLAG
031091,000785: 14,2475 00052 QPRET
031092,000786: 14,2476 77614 CULTED SETGO
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Page 707 |
031094,000788: 14,2477 01430 CULTFLAG
031095,000789: 14,2500 00052 QPRET
031096,000790: 14,2501 0000016 CSS = CEARTH
031097,000791: 14,2501 21150 25157 SIN33 2DEC .5376381241
031098,000792: 14,2503 32766 22713 COS33 2DEC .8431756920
031099,000793: 14,2505 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
031100,000794: 14,2507 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
031101,000795: 14,2511 06233 26112 CSS33 2DEC .197002688 # COS(1/2(76))/4
031102,000796: 14,2513 77414 PICEND BOFF EXIT
031103,000797: 14,2514 01745 VFLAG
031104,000798: 14,2515 30517 PICGXT
031105,000799: 14,2516 02521 TC PICBXT
031106,000800: 14,2517 77776 PICGXT EXIT
031107,000801: 14,2520 25777 INCR QMIN
031108,000802: 14,2521 31777 PICBXT CA QMIN
031109,000803: 14,2522 04561 TC SWCALL
031110,000804: # V1 = 12D
031111,000805:
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Page 708 |
031113,000807: # NAME-R51 FINE ALIGN
031114,000808: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
031115,000809: # CALLING SEQ- CALL R51
031116,000810: # INPUT- BESTI,BESTJ(PAIR OF STAR NO )
031117,000811: # OUTPUT- GYRO TORQUE PULSES
031118,000812: # SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN
031119,000813: 14,2523 COUNT 14/R51
031120,000814:
031121,000815: 14,2523 77776 R51 EXIT
031122,000816: 14,2524 34712 CAF BIT1
031123,000817: 14,2525 54304 TS STARIND
031124,000818: 14,2526 54301 TS MARKINDX
031125,000819: 14,2527 06006 R51.2 TC INTPRET
031126,000820: 14,2530 43014 R51.3 CLEAR CLEAR
031127,000821: 14,2531 00666 TARG2FLG
031128,000822: 14,2532 00665 TARG1FLG
031129,000823: 14,2533 77776 EXIT
031130,000824: 14,2534 05301 TC PHASCHNG
031131,000825: 14,2535 05024 OCT 05024 # RESTART GR 4 FOR R52 - R53
031132,000826: 14,2536 13000 OCT 13000
031133,000827: 14,2537 50304 INDEX STARIND
031134,000828: 14,2540 30302 CA BESTI
031135,000829: 14,2541 00006 EXTEND
031136,000830: 14,2542 72706 MP 1/6TH
031137,000831: 14,2543 54735 TS STARCODE
031138,000832: 14,2544 32705 CAF V01N70
031139,000833: 14,2545 04555 TC BANKCALL
031140,000834: 14,2546 20763 CADR GOFLASHR
031141,000835: 14,2547 04106 TC GOTOPOOH
031142,000836: 14,2550 02555 TC +5
031143,000837: 14,2551 02544 TC -5
031144,000838: 14,2552 36211 CAF SIX
031145,000839: 14,2553 05415 TC BLANKET
031146,000840: 14,2554 15112 TCF ENDOFJOB
031147,000841: 14,2555 06006 TC INTPRET
031148,000842: 14,2556 45034 RTB CALL
031149,000843: 14,2557 45505 LOADTIME
031150,000844: 14,2560 32363 PLANET
031151,000845: 14,2561 72131 SSP LXA,1
031152,000846: 14,2562 00051 S1
031153,000847: 14,2563 00000 0
031154,000848: 14,2564 00304 STARIND
031155,000849: 14,2565 77700 TIX,1
031156,000850: 14,2566 30571 R51ST
031157,000851: 14,2567 36617 STCALL STARSAV2 # 2ND STAR
031158,000852: 14,2570 30572 R51ST +1
031159,000853: 14,2571 02611 R51ST STORE STARSAV1 # 1ST STAR
031160,000854: 14,2572 77776 EXIT
031161,000855: 14,2573 41011 CS MODREG # IS THIS P54
031162,000856: 14,2574 62704 AD OCT66
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Page 709 |
031164,000858: 14,2575 00006 EXTEND
031165,000859: 14,2576 12677 BZF R51B # YES
031166,000860: 14,2577 06006 TC INTPRET
031167,000861: 14,2600 77624 CALL
031168,000862: 14,2601 30002 R52 # AOP WILL MAKE CALLS TO SIGHTING
031169,000863: 14,2602 77624 R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
031170,000864: 14,2603 31273 SXTSM
031171,000865: 14,2604 02617 STORE STARSAV2
031172,000866: 14,2605 77776 EXIT
031173,000867: 14,2606 04555 TC BANKCALL
031174,000868: 14,2607 16063 CADR MKRELEAS
031175,000869: 14,2610 06006 TC INTPRET
031176,000870: 14,2611 45145 DLOAD CALL
031177,000871: 14,2612 02607 TSIGHT
031178,000872: 14,2613 32363 PLANET
031179,000873: 14,2614 77776 EXIT
031180,000874: 14,2615 10304 CCS STARIND
031181,000875: 14,2616 02664 TC R51.4
031182,000876: 14,2617 06006 TC INTPRET
031183,000877: 14,2620 53521 MXV UNIT
031184,000878: 14,2621 01736 REFSMMAT
031185,000879: 14,2622 02736 STORE STARAD
031186,000880: 14,2623 77776 EXIT
031187,000881: 14,2624 05301 TC PHASCHNG
031188,000882: 14,2625 05024 OCT 05024 # RESTART THIS GROUP 4 JOB
031189,000883: 14,2626 13000 OCT 13000 # WITH PRIORITY 13
031190,000884: 14,2627 06006 TC INTPRET
031191,000885: 14,2630 77775 VLOAD
031192,000886: 14,2631 02617 STARSAV2
031193,000887: 14,2632 24007 STOVL 6D
031194,000888: 14,2633 02611 STARSAV1
031195,000889: 14,2634 24015 STOVL 12D
031196,000890: 14,2635 02601 PLANVEC
031197,000891: 14,2636 36744 STCALL STARAD +6
031198,000892: 14,2637 30707 R54 # STAR DATA TEST
031199,000893: 14,2640 45014 BOFF CALL
031200,000894: 14,2641 00354 FREEFLAG
031201,000895: 14,2642 30650 R51K
031202,000896: 14,2643 47334 AXISGEN
031203,000897: 14,2644 77624 CALL
031204,000898: 14,2645 32203 R55 # GYRO TORQUE
031205,000899: 14,2646 77614 CLEAR
031206,000900: 14,2647 01273 PFRATFLG
031207,000901: 14,2650 77776 R51K EXIT
031208,000902: 14,2651 35660 CAF OCT14
031209,000903: 14,2652 04555 TC BANKCALL
031210,000904: 14,2653 20751 CADR GOPERF1
031211,000905: 14,2654 04106 TC GOTOPOOH
031212,000906: 14,2655 02657 TC +2 # V33
031213,000907: 14,2656 02661 TC +3
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Page 710 |
031215,000909: 14,2657 04555 TC BANKCALL
031216,000910: 14,2660 32120 CADR P52C
031217,000911: 14,2661 06006 TC INTPRET
031218,000912: 14,2662 77650 GOTO
031219,000913: 14,2663 32143 ENDP50S
031220,000914: 14,2664 06006 R51.4 TC INTPRET
031221,000915: 14,2665 53521 MXV UNIT
031222,000916: 14,2666 01736 REFSMMAT
031223,000917: 14,2667 26601 STOVL PLANVEC
031224,000918: 14,2670 02617 STARSAV2
031225,000919: 14,2671 02611 STORE STARSAV1
031226,000920: 14,2672 77731 SSP
031227,000921: 14,2673 00305 STARIND
031228,000922: 14,2674 00000 0
031229,000923: 14,2675 77650 GOTO
031230,000924: 14,2676 30530 R51.3
031231,000925: 14,2677 06006 R51B TC INTPRET
031232,000926: 14,2700 77624 CALL
031233,000927: 14,2701 32252 R56
031234,000928: 14,2702 77650 GOTO
031235,000929: 14,2703 30602 R51A
031236,000930: 14,2704 00066 OCT66 OCT 00066
031237,000931: 14,2705 00306 V01N70 VN 0170
031238,000932: 14,2706 05253 1/6TH DEC .1666667
031239,000933:
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Page 711 |
031241,000935: # NAME-R55 GYRO TORQUE
031242,000936: # FUNCTION-COMPUTE AND SEND GYRO PULSES
031243,000937: # CALLING SEQ- CALL R55
031244,000938: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031245,000939: # OUTPUT- GYRO PULSES
031246,000940: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031247,000941: 15,2000 SETLOC P50S
031248,000942: 15,2000 BANK
031249,000943: 15,2203 COUNT* $$/R55
031250,000944: 15,2203 77620 R55 STQ
031251,000945: 15,2204 02777 QMIN
031252,000946: 15,2205 77624 CALL
031253,000947: 15,2206 47140 CALCGTA
031254,000948: 15,2207 77776 PULSEM EXIT
031255,000949: 15,2210 32234 R55.1 CAF V06N93
031256,000950: 15,2211 04555 TC BANKCALL
031257,000951: 15,2212 20624 CADR GOFLASH
031258,000952: 15,2213 04106 TC GOTOPOOH
031259,000953: 15,2214 02216 TC R55.2
031260,000954: 15,2215 02231 TC R55RET
031261,000955: 15,2216 05301 R55.2 TC PHASCHNG
031262,000956: 15,2217 00314 OCT 00314
031263,000957: 15,2220 32235 CA R55CDR
031264,000958: 15,2221 04555 TC BANKCALL
031265,000959: 15,2222 17125 CADR IMUPULSE
031266,000960: 15,2223 04555 TC BANKCALL
031267,000961: 15,2224 17516 CADR IMUSTALL
031268,000962: 15,2225 05646 TC CURTAINS
031269,000963: 15,2226 05301 TC PHASCHNG
031270,000964: 15,2227 05024 OCT 05024
031271,000965: 15,2230 13000 OCT 13000
031272,000966: 15,2231 06006 R55RET TC INTPRET
031273,000967: 15,2232 77650 GOTO
031274,000968: 15,2233 02777 QMIN
031275,000969: 15,2234 01535 V06N93 VN 0693
031276,000970: 15,2235 02757 R55CDR ECADR OGC
031277,000971: 15,2236 14,2707 R54 = CHKSDATA
031278,000972: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
031279,000973: # MOD NO- 0 LOG SECTION- P51-P53
031280,000974: # MODIFICATION BY- LONSKE ASSEMBLY-
031281,000975:
031282,000976: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031283,000977: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031284,000978: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031285,000979:
031286,000980: # OS1 = OBSERVED STAR 1 VECTOR
031287,000981: # OS2 = OBSERVED STAR 2 VECTOR
031288,000982: # SS1 = STORED STAR 1 VECTOR
031289,000983: # SS2 = STORED STAR 2 VECTOR
031290,000984: # A1 = ARCCOS(OS1 - OS2)
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Page 712 |
031292,000986: # A2 = ARCCOS(SS1 - SS2)
031293,000987: # A = ABS(2(A1 - A2))
031294,000988:
031295,000989: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
031296,000990: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
031297,000991: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
031298,000992: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031299,000993: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031300,000994:
031301,000995: # ERASABLE INITIALIZATION REQUIRED -
031302,000996: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031303,000997: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031304,000998: # DEBRIS -
031305,000999: 14,2000 SETLOC P50S1
031306,001000: 14,2000 BANK
031307,001001: 14,2707 COUNT* $$/R50
031308,001002: 14,2707 43020 CHKSDATA STQ SET
031309,001003: 14,2710 02777 QMIN
031310,001004: 14,2711 00074 FREEFLAG
031311,001005: 14,2712 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
031312,001006: 14,2713 02735 STARAD
031313,001007:
031314,001008: 14,2714 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
031315,001009: 14,2715 00001 0,1
031316,001010: 14,2716 00007 6,1
031317,001011: 14,2717 65552 SL1 ACOS
031318,001012: 14,2720 00025 STORE THETA
031319,001013: 14,2721 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
031320,001014: 14,2722 00354 FREEFLAG
031321,001015: 14,2723 30733 CHKSD
031322,001016: 14,2724 00174 FREEFLAG # CLEAR FREEFLAG
031323,001017: 14,2725 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
031324,001018: 14,2726 00006 6D
031325,001019: 14,2727 00025 THETA
031326,001020: 14,2730 00023 STORE 18D
031327,001021: 14,2731 77650 GOTO
031328,001022: 14,2732 30714 CHKSB # RETURN TO CAL. 2ND ANGLE
031329,001023: 14,2733 45345 CHKSD DLOAD DSU
031330,001024: 14,2734 00025 THETA
031331,001025: 14,2735 00023 18D # COMPUTE POS DIFF
031332,001026: 14,2736 47046 ABS RTB
031333,001027: 14,2737 45541 SGNAGREE
031334,001028: 14,2740 01046 STORE NORMTEM1
031335,001029: 14,2741 77414 SET EXIT
031336,001030: 14,2742 00074 FREEFLAG
031337,001031: 14,2743 34714 CAF ZERO
031338,001032: 14,2744 04555 TC BANKCALL
031339,001033: 14,2745 20607 CADR CLEANDSP
031340,001034:
031341,001035: 14,2746 32762 CAF VB6N5
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Page 713 |
031343,001037: 14,2747 04555 TC BANKCALL
031344,001038: 14,2750 20624 CADR GOFLASH
031345,001039: 14,2751 14106 TCF GOTOPOOH
031346,001040: 14,2752 02757 TC CHKSDA # PROCEED
031347,001041: 14,2753 06006 TC INTPRET
031348,001042: 14,2754 52014 CLEAR GOTO
031349,001043: 14,2755 00274 FREEFLAG
031350,001044: 14,2756 02777 QMIN
031351,001045: 14,2757 06006 CHKSDA TC INTPRET
031352,001046: 14,2760 77650 GOTO
031353,001047: 14,2761 02777 QMIN
031354,001048: 14,2762 01405 VB6N5 VN 605
031355,001049: # NAME - CAL53A
031356,001050: # NAME - CAL53A
031357,001051: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY.
031358,001052: # CALLING SEQUENCE - CALL CAL53A
031359,001053: # INPUT - PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031360,001054: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
031361,001055: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031362,001056: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031363,001057: 14,2763 COUNT 14/R50
031364,001058:
031365,001059: 14,2763 45020 CAL53A STQ CALL
031366,001060: 14,2764 00035 29D
031367,001061: 14,2765 22256 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
031368,001062: 14,2766 66234 RTB SSP
031369,001063: 14,2767 32236 RDCDUS # READ CDUS
031370,001064: 14,2770 00051 S1
031371,001065: 14,2771 00001 1
031372,001066: 14,2772 40370 AXT,1 SETPD
031373,001067: 14,2773 00003 3
031374,001068: 14,2774 00005 4
031375,001069: 14,2775 70543 CALOOP DLOAD* SR1
031376,001070: 14,2776 01161 THETAD +3D,1
031377,001071: 14,2777 70523 PDDL* SR1
031378,001072: 14,3000 00005 4,1
031379,001073: 14,3001 51425 DSU ABS
031380,001074: 14,3002 45206 PUSH DSU
031381,001075: 14,3003 31060 DEGREE1
031382,001076: 14,3004 71240 BMN DLOAD
031383,001077: 14,3005 31034 CALOOP1
031384,001078: 14,3006 51025 DSU BPL
031385,001079: 14,3007 31061 DEG359
031386,001080: 14,3010 31034 CALOOP1
031387,001081: 14,3011 77776 COARFINE EXIT
031388,001082: 14,3012 04555 TC BANKCALL
031389,001083: 14,3013 16602 CADR IMUCOARS # PERFORM COARSE ALIGNMENT
031390,001084: 14,3014 04555 TC BANKCALL
031391,001085: 14,3015 17516 CADR IMUSTALL # REQUEST MODE SWITCH
031392,001086: 14,3016 05646 TC CURTAINS
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Page 714 |
031394,001088: 14,3017 04555 TC BANKCALL
031395,001089: 14,3020 17012 CADR IMUFIN20
031396,001090: 14,3021 04555 TC BANKCALL
031397,001091: 14,3022 17516 CADR IMUSTALL
031398,001092: 14,3023 05646 TC CURTAINS # TEST FOR MALFUNCTION
031399,001093: 14,3024 06006 TC INTPRET
031400,001094: 14,3025 77234 RTB VLOAD
031401,001095: 14,3026 31270 SET1/PDT
031402,001096: 14,3027 11453 ZEROVEC
031403,001097: 14,3030 01472 STORE GCOMP
031404,001098: 14,3031 52014 SET GOTO
031405,001099: 14,3032 01060 DRIFTFLG
031406,001100: 14,3033 31036 FINEONLY
031407,001101: 14,3034 77700 CALOOP1 TIX,1
031408,001102: 14,3035 30775 CALOOP
031409,001103: 14,3036 75160 FINEONLY AXC,1 AXC,2
031410,001104: 14,3037 02671 XSM
031411,001105: 14,3040 01735 REFSMMAT
031412,001106: 14,3041 77624 CALL
031413,001107: 14,3042 31045 MATMOVE
031414,001108: 14,3043 77650 GOTO
031415,001109: 14,3044 00035 29D
031416,001110: 14,3045 77773 MATMOVE VLOAD* # TRANSFER MATRIX
031417,001111: 14,3046 00001 0,1
031418,001112: 14,3047 10001 STORE 0,2
031419,001113: 14,3050 77773 VLOAD*
031420,001114: 14,3051 00007 6D,1
031421,001115: 14,3052 10007 STORE 6D,2
031422,001116: 14,3053 77773 VLOAD*
031423,001117: 14,3054 00015 12D,1
031424,001118: 14,3055 10015 STORE 12D,2
031425,001119: 14,3056 77616 RVQ
031426,001120: 14,3057 00056 DEGREE1 DEC 46 B-14
031427,001121: 14,3060 37722 DEG359 DEC 16338 B-14
031428,001122: 15,2000 SETLOC P50S
031429,001123: 15,2000 BANK
031430,001124: 15,2236 00004 RDCDUS INHINT # READ CDUS
031431,001125: 15,2237 30032 CA CDUX
031432,001126: 15,2240 50120 INDEX FIXLOC
031433,001127: 15,2241 54001 TS 1
031434,001128: 15,2242 30033 CA CDUY
031435,001129: 15,2243 50120 INDEX FIXLOC
031436,001130: 15,2244 54002 TS 2
031437,001131: 15,2245 30034 CA CDUZ
031438,001132: 15,2246 50120 INDEX FIXLOC
031439,001133: 15,2247 54003 TS 3
031440,001134: 15,2250 00003 RELINT
031441,001135: 15,2251 06030 TC DANZIG # +
031442,001136: # NAME - GIMB
031443,001137: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
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Page 715 |
031445,001139: # CALLING SEQUENCE - CALL GIMB
031446,001140: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031447,001141: # OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2 +
031448,001142: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031449,001143: 16,2000 SETLOC P50S2
031450,001144: 16,2000 BANK
031451,001145: 16,2567 COUNT 14/INFLT
031452,001146:
031453,001147: 16,2567 41345 CALCSMSC DLOAD DMP
031454,001148: 16,2570 00737 SINCDUY
031455,001149: 16,2571 00747 COSCDUZ
031456,001150: 16,2572 77676 DCOMP
031457,001151: 16,2573 70525 PDDL SR1
031458,001152: 16,2574 00741 SINCDUZ
031459,001153: 16,2575 41325 PDDL DMP
031460,001154: 16,2576 00745 COSCDUY
031461,001155: 16,2577 00747 COSCDUZ
031462,001156: 16,2600 76466 VDEF VSL1
031463,001157: 16,2601 02714 STORE XNB
031464,001158: 16,2602 41345 DLOAD DMP
031465,001159: 16,2603 00743 SINCDUX
031466,001160: 16,2604 00741 SINCDUZ
031467,001161: 16,2605 77752 SL1
031468,001162: 16,2606 00033 STORE 26D
031469,001163: 16,2607 77605 DMP
031470,001164: 16,2610 00737 SINCDUY
031471,001165: 16,2611 41325 PDDL DMP
031472,001166: 16,2612 00751 COSCDUX
031473,001167: 16,2613 00745 COSCDUY
031474,001168: 16,2614 77625 DSU
031475,001169: 16,2615 41325 PDDL DMP
031476,001170: 16,2616 00743 SINCDUX
031477,001171: 16,2617 00747 COSCDUZ
031478,001172: 16,2620 77676 DCOMP
031479,001173: 16,2621 41325 PDDL DMP
031480,001174: 16,2622 00751 COSCDUX
031481,001175: 16,2623 00737 SINCDUY
031482,001176: 16,2624 41325 PDDL DMP
031483,001177: 16,2625 00745 COSCDUY
031484,001178: 16,2626 00033 26D
031485,001179: 16,2627 55415 DAD VDEF
031486,001180: 16,2630 77772 VSL1
031487,001181: 16,2631 02730 STORE ZNB
031488,001182: 16,2632 76435 VXV VSL1
031489,001183: 16,2633 02714 XNB
031490,001184: 16,2634 02722 STORE YNB
031491,001185: 16,2635 77616 RVQ
031492,001186: # NAME - P51 - IMU ORIENTATION DETERMINATION
031493,001187: # MOD.NO.2 21 DEC 66 LOG SECTION - P51-P53
031494,001188: # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
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Page 716 |
031496,001190: # FUNCTIONAL DESCRIPTION
031497,001191:
031498,001192: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031499,001193: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031500,001194: # THEN PROCESSED AS FOLLOWS.
031501,001195:
031502,001196: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031503,001197: # TRUNNION ANGLES, RESPECTIVELY. THEN,
031504,001198:
031505,001199: # -
031506,001200: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
031507,001201: # NB
031508,001202: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031509,001203:
031510,001204: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031511,001205:
031512,001206: # - T T T -
031513,001207: # V = Q *Q *Q *V , WHERE
031514,001208: # 1 2 3 NB
031515,001209:
031516,001210: # ( COS(IG) 0 -SIN(IG) )
031517,001211: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
031518,001212: # Q = ( 0 1 0 ), IG=INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
031519,001213: # 1 ( ) ROT AND CDULOGIC)
031520,001214: # ( SIN(IG) 0 COS(IG) )
031521,001215:
031522,001216:
031523,001217: # ( COS(MG) SIN(MG) 0 )
031524,001218: # ( )
031525,001219: # Q = (-SIN(MG) COS(MG) 0 ), MG=MIDDLE GIMBAL ANGLE
031526,001220: # 2 ( )
031527,001221: # ( 0 0 1 )
031528,001222:
031529,001223:
031530,001224: # ( 1 0 0 )
031531,001225: # ( )
031532,001226: # Q = ( 0 COS(OG) SIN(OG) ), OG=OUTER GIMBAL ANGLE
031533,001227: # 3 ( )
031534,001228: # ( 0 -SIN(OG) COS(OG) )
031535,001229:
031536,001230: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031537,001231:
031538,001232: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031539,001233:
031540,001234: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031541,001235: # - -
031542,001236: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031543,001237: # 1 2
031544,001238:
031545,001239: # DEFINE, - -
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Page 717 |
031547,001241: # U = S
031548,001242: # A A1
031549,001243:
031550,001244: # - - -
031551,001245: # V = UNIT(S X S )
031552,001246: # A A1 A2
031553,001247:
031554,001248: # - - -
031555,001249: # W = U X V
031556,001250: # A A A
031557,001251: # AND
031558,001252: # - -
031559,001253: # U = S
031560,001254: # B B1
031561,001255:
031562,001256: # - - -
031563,001257: # V = UNIT(S X S )
031564,001258: # B B1 B2
031565,001259:
031566,001260: # - - -
031567,001261: # W = U X V
031568,001262: # B B B
031569,001263:
031570,001264: # THEN - - - -
031571,001265: # X = U *U + V *V + W *W
031572,001266: # B1 A B1 A B1 A
031573,001267:
031574,001268: # - - - - (REFSMMAT)
031575,001269: # Y = U *U + V *V + W *W
031576,001270: # B2 A B2 A B2 A
031577,001271:
031578,001272: # - - - -
031579,001273: # Z = U *U + V *V + W *W
031580,001274: # B3 A B3 A B3 A
031581,001275:
031582,001276: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031583,001277:
031584,001278: # -
031585,001279: # S IN 6-11 OF THE VAC AREA
031586,001280: # A1
031587,001281:
031588,001282: # -
031589,001283: # S IN 12-17 OF THE VAC AREA
031590,001284: # A2
031591,001285:
031592,001286: # -
031593,001287: # S IN STARAD
031594,001288: # B1
031595,001289:
031596,001290: # -
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Page 718 |
031598,001292: # S IN STARAD +6
031599,001293: # B2
031600,001294:
031601,001295: # CALLING SEQUENCE
031602,001296:
031603,001297: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031604,001298:
031605,001299: # SUBROUTINES CALLED.
031606,001300:
031607,001301: # GOPERF3
031608,001302: # GOPERF1R
031609,001303: # GODSPR
031610,001304: # IMUCOARS
031611,001305: # IMUFIN20
031612,001306: # R53
031613,001307: # SXTNB
031614,001308: # NBSM
031615,001309: # MKRELEAS
031616,001310: # CHKSDATA
031617,001311: # MATMOVE
031618,001312:
031619,001313: # ALARMS
031620,001314:
031621,001315: # NONE.
031622,001316: # ERASABLE INITIALIZATION
031623,001317:
031624,001318: # IMU ZERO FLAG SHOULD BE SET.
031625,001319:
031626,001320: # OUTPUT
031627,001321:
031628,001322: # REFSMMAT
031629,001323: # REFSMFLG
031630,001324:
031631,001325: # DEBRIS
031632,001326:
031633,001327: # WORK AREA
031634,001328: # STARAD
031635,001329: # STARIND
031636,001330: # BESTI
031637,001331: # BESTJ
031638,001332:
031639,001333: 14,2000 SETLOC P50S1
031640,001334: 14,2000 BANK
031641,001335: 14,3061 COUNT 14/P5153
031642,001336:
031643,001337: 14,3061 14,3061 P53 EQUALS P51
031644,001338: 14,3061 41320 P51 CS IMODES30
031645,001339: 14,3062 74702 MASK BIT9
031646,001340: 14,3063 10000 CCS A
031647,001341: 14,3064 03070 TC P51A
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Page 719 |
031649,001343: 14,3065 05537 TC ALARM
031650,001344: 14,3066 00210 OCT 210
031651,001345: 14,3067 04106 TC GOTOPOOH
031652,001346: 14,3070 04555 P51A TC BANKCALL
031653,001347: 14,3071 17607 CADR R02ZERO
031654,001348:
031655,001349: 14,3072 34720 P51AA CAF PRFMSTAQ
031656,001350: 14,3073 04555 TC BANKCALL
031657,001351: 14,3074 20751 CADR GOPERF1
031658,001352: 14,3075 04106 TC GOTOPOOH # TERM.
031659,001353: 14,3076 03141 TC P51B # V 33
031660,001354: 14,3077 05301 TC PHASCHNG
031661,001355: 14,3100 05024 OCT 05024
031662,001356: 14,3101 13000 OCT 13000
031663,001357: 14,3102 34714 CAF P51ZERO
031664,001358: 14,3103 55155 TS THETAD # ZERO THE GIMBALS
031665,001359: 14,3104 55156 TS THETAD +1
031666,001360: 14,3105 55157 TS THETAD +2
031667,001361: 14,3106 33266 CAF V6N22
031668,001362: 14,3107 04555 TC BANKCALL
031669,001363: 14,3110 20577 CADR GODSPRET
031670,001364: 14,3111 33267 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
031671,001365: 14,3112 04555 TC BANKCALL
031672,001366: 14,3113 20577 CADR GODSPRET
031673,001367: 14,3114 04555 TC BANKCALL
031674,001368: 14,3115 16602 CADR IMUCOARS
031675,001369: 14,3116 04555 TC BANKCALL
031676,001370: 14,3117 17516 CADR IMUSTALL
031677,001371: 14,3120 05646 TC CURTAINS # CAGING OR BAD END
031678,001372: 14,3121 04555 TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031679,001373: 14,3122 17012 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
031680,001374: 14,3123 04555 TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031681,001375: 14,3124 17516 CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
031682,001376: 14,3125 05646 TC CURTAINS # UP.
031683,001377: 14,3126 06006 TC INTPRET
031684,001378: 14,3127 77234 RTB VLOAD
031685,001379: 14,3130 31270 SET1/PDT
031686,001380: 14,3131 11453 ZEROVEC
031687,001381: 14,3132 01472 STORE GCOMP
031688,001382: 14,3133 77414 SET EXIT
031689,001383: 14,3134 01060 DRIFTFLG
031690,001384: 14,3135 05301 TC PHASCHNG
031691,001385: 14,3136 05024 OCT 05024
031692,001386: 14,3137 13000 OCT 13000
031693,001387: 14,3140 13072 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
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Page 720 |
031695,001389: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031696,001390:
031697,001391: 14,3141 05301 P51B TC PHASCHNG
031698,001392: 14,3142 00014 OCT 00014
031699,001393: 14,3143 06006 TC INTPRET
031700,001394: 14,3144 40331 SSP SETPD
031701,001395: 14,3145 00305 STARIND # INDEX-STAR 1 OR 2
031702,001396: 14,3146 00000 0
031703,001397: 14,3147 00001 0
031704,001398: 14,3150 77414 CLEAR EXIT
031705,001399: 14,3151 00666 TARG2FLG # SHOW STAR MARK-NOT LAND MARK
031706,001400: 14,3152 34712 CAF BIT1
031707,001401: 14,3153 54301 TS MARKINDX # INITIALIZE FOR ONE MARK
031708,001402:
031709,001403: 14,3154 05301 P51C TC PHASCHNG
031710,001404: 14,3155 05024 OCT 05024
031711,001405: 14,3156 13000 OCT 13000
031712,001406: 14,3157 05253 TC CHECKMM
031713,001407: 14,3160 00065 MM 53 B-14 # BACKUP PROGRAM
031714,001408: 14,3161 13167 TCF P51C.1 # NOT P53
031715,001409: 14,3162 06006 TC INTPRET
031716,001410: 14,3163 77624 CALL
031717,001411: 14,3164 32252 R56
031718,001412: 14,3165 77650 GOTO
031719,001413: 14,3166 31172 P51C.2
031720,001414: 14,3167 06006 P51C.1 TC INTPRET
031721,001415: 14,3170 77624 CALL
031722,001416: 14,3171 31327 R53 # SIGHTING ROUTINE
031723,001417: 14,3172 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
031724,001418: 14,3173 31273 SXTSM
031725,001419: 14,3174 77606 PUSH
031726,001420: 14,3175 53135 SLOAD BZE
031727,001421: 14,3176 00305 STARIND
031728,001422: 14,3177 31204 P51D
031729,001423: 14,3200 45575 VLOAD STADR
031730,001424: 14,3201 75160 STORE STARSAV2 # DOWNLINK
031731,001425: 14,3202 77650 GOTO
031732,001426: 14,3203 31212 P51E
031733,001427: 14,3204 45575 P51D VLOAD STADR
031734,001428: 14,3205 61166 STODL STARSAV1
031735,001429: 14,3206 02607 TSIGHT
031736,001430: 14,3207 77624 CALL
031737,001431: 14,3210 32363 PLANET
031738,001432: 14,3211 02601 STORE PLANVEC
031739,001433: 14,3212 77776 P51E EXIT
031740,001434: 14,3213 05301 TC PHASCHNG
031741,001435: 14,3214 05024 OCT 05024
031742,001436: 14,3215 13000 OCT 13000
031743,001437: 14,3216 04555 TC BANKCALL
031744,001438: 14,3217 16063 CADR MKRELEAS # ZERO MARKSTAT
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Page 721 |
031746,001440: 14,3220 10304 CCS STARIND
031747,001441: 14,3221 13230 TCF P51F # STAR 2
031748,001442: 14,3222 05301 TC PHASCHNG
031749,001443: 14,3223 05024 OCT 05024
031750,001444: 14,3224 13000 OCT 13000
031751,001445: 14,3225 34712 CAF BIT1
031752,001446: 14,3226 54304 TS STARIND
031753,001447: 14,3227 13154 TCF P51C # GO DO SECOND STAR
031754,001448: 14,3230 05301 P51F TC PHASCHNG
031755,001449: 14,3231 05024 OCT 05024
031756,001450: 14,3232 13000 OCT 13000
031757,001451: 14,3233 06006 TC INTPRET
031758,001452: 14,3234 45145 DLOAD CALL
031759,001453: 14,3235 02607 TSIGHT
031760,001454: 14,3236 32363 PLANET
031761,001455: 14,3237 24015 STOVL 12D
031762,001456: 14,3240 02601 PLANVEC
031763,001457: 14,3241 24007 STOVL 6D
031764,001458: 14,3242 02611 STARSAV1
031765,001459: 14,3243 26736 STOVL STARAD
031766,001460: 14,3244 02617 STARSAV2
031767,001461: 14,3245 36744 STCALL STARAD +6
031768,001462: 14,3246 30707 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
031769,001463: 14,3247 77414 BON EXIT
031770,001464: 14,3250 00314 FREEFLAG
031771,001465: 14,3251 31253 P51G
031772,001466: 14,3252 03072 TC P51AA
031773,001467: 14,3253 77624 P51G CALL
031774,001468: 14,3254 47334 AXISGEN # COME BACK WITH REFSMMAT IN XDC
031775,001469: 14,3255 75160 AXC,1 AXC,2
031776,001470: 14,3256 02713 XDC
031777,001471: 14,3257 01735 REFSMMAT
031778,001472: 14,3260 45014 CLEAR CALL
031779,001473: 14,3261 01662 REFSMFLG
031780,001474: 14,3262 31045 MATMOVE
031781,001475: 14,3263 52014 SET GOTO
031782,001476: 14,3264 01462 REFSMFLG
031783,001477: 14,3265 32143 ENDP50S
031784,001478: 14,3266 4720 PRFMSTAQ = OCT15
031785,001479: 14,3266 4714 P51ZERO = ZERO
031786,001480: 14,3266 4715 P51FIVE = FIVE
031787,001481: 14,3266 01426 V6N22 VN 0622
031788,001482: 14,3267 12200 V41K VN 4100
031789,001483: 14,3270 30025 SET1/PDT CA TIME1
031790,001484: 14,3271 55074 TS 1/PIPADT
031791,001485: 14,3272 16030 TCF DANZIG
031792,001486:
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Page 722 |
031794,001488: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031795,001489:
031796,001490: 14,3273 77620 SXTSM STQ
031797,001491: 14,3274 00300 QMAJ
031798,001492: 14,3275 70740 LXC,1 DLOAD*
031799,001493: 14,3276 01330 MARKSTAT
031800,001494: 14,3277 00001 0D,1
031801,001495: 14,3300 02607 STORE TSIGHT
031802,001496: 14,3301 66764 AXC,2 SLOAD*
031803,001497: 14,3302 00304 STARIND
031804,001498: 14,3303 46451 MKDNCDR,2
031805,001499: 14,3304 76764 AXC,2 VLOAD*
031806,001500: 14,3305 00154 MPAC
031807,001501: 14,3306 00001 0,1
031808,001502: 14,3307 10001 STORE 0,2
031809,001503: 14,3310 77743 DLOAD*
031810,001504: 14,3311 00006 5,1
031811,001505: 14,3312 10006 STORE 5,2
031812,001506: 14,3313 77624 CALL
031813,001507: 14,3314 46000 SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031814,001508: 14,3315 62150 LXA,1 INCR,1
031815,001509: 14,3316 01330 MARKSTAT
031816,001510: 14,3317 00002 2 # INCREMENT TO BASE ADR OF ICDU
031817,001511: 14,3320 45130 SXA,1 CALL
031818,001512: 14,3321 00050 S1
031819,001513: 14,3322 47541 NBSM # TRANSFORM LOS TO SM
031820,001514: 14,3323 77650 GOTO
031821,001515: 14,3324 00300 QMAJ
031822,001516: 14,3325 03674 MKDNCDR ECADR MARKDOWN
031823,001517: 14,3326 03502 ECADR MARK2DWN
031824,001518:
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Page 723 |
031826,001520: # PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031827,001521: # MOD.NO.2 21 DEC 66
031828,001522: # MOD BY STURLAUGSON
031829,001523:
031830,001524: # FUNCTIONAL DESCRIPTION
031831,001525: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031832,001526: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031833,001527: # OCDUS) AND THE TIME OF THE MARK.
031834,001528:
031835,001529: # CALLING SEQUENCE
031836,001530: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031837,001531: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031838,001532:
031839,001533: # SUBROUTINES CALLED
031840,001534: # SXTMARK
031841,001535: # OPTSTALL
031842,001536: # GOFLASH
031843,001537:
031844,001538: # ERASABLE INITIALIZATION
031845,001539: # TARGET FLAG - STAR OR LANDMARK
031846,001540: # MARKINDX - NUMBER OF MARKS WANTED
031847,001541: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031848,001542: # OUTPUT
031849,001543: # MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
031850,001544: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031851,001545: # DEBRIS
031852,001546: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031853,001547: 14,2000 SETLOC RT53
031854,001548: 14,2000 BANK
031855,001549:
031856,001550: 14,3327 COUNT 14/R53
031857,001551:
031858,001552: 14,3327 43020 R53 STQ SET # SET SIGHTING MARK FLAG
031859,001553: 14,3330 03501 R53EXIT
031860,001554: 14,3331 00071 R53FLAG
031861,001555: 14,3332 77776 EXIT
031862,001556: 14,3333 30301 R53A CA MARKINDX # NUMBER OF MARKS
031863,001557: 14,3334 74716 MASK LOW3
031864,001558: 14,3335 04555 TC BANKCALL
031865,001559: 14,3336 16002 CADR SXTMARK
031866,001560: 14,3337 04555 TC BANKCALL
031867,001561: 14,3340 17512 CADR OPTSTALL
031868,001562: 14,3341 05646 TC CURTAINS
031869,001563: 14,3342 51330 INDEX MARKSTAT
031870,001564: 14,3343 10052 CCS QPRET # NUMBER OF MARKS ACTUALLY DONE
031871,001565: 14,3344 13355 TCF R53B
031872,001566: 14,3345 13347 TCF +2 # ZERO
031873,001567: 14,3346 13347 TCF +1 # CCS HOLE
031874,001568: 14,3347 34714 CAF ZERO # HOUSEKEEP VAC AREA SAVE
031875,001569: 14,3350 57330 XCH MARKSTAT # AND MARKSTAT
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Page 724 |
031877,001571: 14,3351 10000 CCS A
031878,001572: 14,3352 50000 INDEX A
031879,001573: 14,3353 54000 TS 0
031880,001574: 14,3354 13333 TCF R53A
031881,001575: 14,3355 05253 R53B TC CHECKMM
031882,001576: 14,3356 00026 MM 22 B-14
031883,001577: 14,3357 13361 TCF +2
031884,001578: 14,3360 13405 TCF R53D
031885,001579: 14,3361 05253 TC CHECKMM
031886,001580: 14,3362 00027 MM 23 B-14
031887,001581: 14,3363 13365 TCF R53C
031888,001582: 14,3364 13405 TCF R53D
031889,001583: 14,3365 33411 R53C CAF V01N71
031890,001584: 14,3366 04555 TC BANKCALL
031891,001585: 14,3367 20763 CADR GOFLASHR
031892,001586: 14,3370 04106 TC GOTOPOOH # TERM.
031893,001587: 14,3371 13376 TCF R53Z
031894,001588: 14,3372 03365 TC R53C # RECYCLE
031895,001589: 14,3373 36211 CAF SIX
031896,001590: 14,3374 05415 TC BLANKET
031897,001591: 14,3375 05112 TC ENDOFJOB
031898,001592: 14,3376 47713 R53Z CS HIGH9
031899,001593: 14,3377 70735 MASK STARCODE
031900,001594: 14,3400 00006 EXTEND
031901,001595: 14,3401 76211 MP SIGHTSIX
031902,001596: 14,3402 56001 XCH L
031903,001597: 14,3403 50304 INDEX STARIND
031904,001598: 14,3404 54302 TS BESTI
031905,001599: 14,3405 06006 R53D TC INTPRET
031906,001600: 14,3406 77614 R53OUT SETGO
031907,001601: 14,3407 03420 TERMIFLG # SET TERMINATE FOR R52
031908,001602: 14,3410 03501 R53EXIT
031909,001603: 14,3411 6211 SIGHTSIX = SIX
031910,001604: 14,3411 00307 V01N71 VN 0171
031911,001605:
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Page 725 |
031913,001607: # NAME-S52.2
031914,001608: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031915,001609: # CALL- CALL S52.2
031916,001610: # INPUT- X,Y,ZSMD
031917,001611: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031918,001612: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031919,001613: 11,2000 SETLOC S52/2
031920,001614: 11,2000 BANK
031921,001615:
031922,001616: 11,2256 COUNT 13/S52.2
031923,001617: 11,2256 77620 S52.2 STQ
031924,001618: 11,2257 00300 QMAJ
031925,001619: 11,2260 77624 CALL
031926,001620: 11,2261 47432 CDUTRIG
031927,001621: 11,2262 77624 CALL
031928,001622: 11,2263 34567 CALCSMSC
031929,001623: 11,2264 66370 AXT,1 SSP
031930,001624: 11,2265 00022 18D
031931,001625: 11,2266 00051 S1
031932,001626: 11,2267 00006 6D
031933,001627: 11,2270 61373 S52.2A VLOAD* VXM
031934,001628: 11,2271 02736 XNB +18D,1
031935,001629: 11,2272 01736 REFSMMAT
031936,001630: 11,2273 77656 UNIT
031937,001631: 11,2274 06736 STORE XNB +18D,1
031938,001632: 11,2275 77700 TIX,1
031939,001633: 11,2276 22270 S52.2A
031940,001634: 11,2277 75160 S52.2.1 AXC,1 AXC,2
031941,001635: 11,2300 00306 XSMD
031942,001636: 11,2301 02671 XSM
031943,001637: 11,2302 77624 CALL
031944,001638: 11,2303 31045 MATMOVE
031945,001639: 11,2304 77624 CALL
031946,001640: 11,2305 47244 CALCGA
031947,001641: 11,2306 77650 GOTO
031948,001642: 11,2307 00300 QMAJ
031949,001643:
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Page 726 |
031951,001645: # PROGRAM NAME - SR52.1 DATE DEC 20 66
031952,001646: # MOD 1 LOG SEC P51-P53
031953,001647: # BY KEN VINCENT ASSEMBLY SUNDISK REV 40
031954,001648:
031955,001649: # FUNCTION
031956,001650: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031957,001651: # LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031958,001652: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS
031959,001653: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
031960,001654: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031961,001655: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
031962,001656: # COMMON PART OF THIS PROGRAM.
031963,001657: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031964,001658: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031965,001659: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031966,001660: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031967,001661: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031968,001662: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031969,001663: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031970,001664: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
031971,001665: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031972,001666: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031973,001667: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
031974,001668: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031975,001669:
031976,001670: # CALLING SEQUENCE
031977,001671: # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031978,001672: # L TC BANKCALL
031979,001673: # L+1 CADR SR52.1
031980,001674: # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG
031981,001675: # L&3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
031982,001676: # L+4 NORMAL RETURN
031983,001677:
031984,001678: # OUTPUT
031985,001679: # SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031986,001680: # PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031987,001681:
031988,001682: # INITIALIZATION
031989,001683: # IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031990,001684: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031991,001685: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031992,001686: # ARE 6 TIMES STAR NUMBER.
031993,001687: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031994,001688: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031995,001689: # RADIUS
031996,001690:
031997,001691: # DEBRIS
031998,001692: # WORK AREA
031999,001693: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
032000,001694: 11,2310 COUNT* $$/SR521
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Page 727 |
032002,001696: 13,2000 SETLOC SR52/1
032003,001697: 13,2000 BANK
032004,001698:
032005,001699: 13,2176 04604 SR52.1 TC MAKECADR
032006,001700: 13,2177 55777 TS QMIN
032007,001701: 13,2200 06006 TC INTPRET
032008,001702: 13,2201 43234 RTB DAD
032009,001703: 13,2202 45505 LOADTIME
032010,001704: 13,2203 26317 1.3SECDP
032011,001705: 13,2204 02356 STORE AOPTIME
032012,001706: 13,2205 43014 BON BON
032013,001707: 13,2206 00705 TARG1FLG
032014,001708: 13,2207 26214 LEM52
032015,001709: 13,2210 00706 TARG2FLG
032016,001710: 13,2211 26224 LMK52
032017,001711: 13,2212 77650 GOTO
032018,001712: 13,2213 26245 STAR52
032019,001713: 13,2214 77745 LEM52 DLOAD
032020,001714: 13,2215 02356 AOPTIME
032021,001715: 13,2216 34041 STCALL TDEC1
032022,001716: 13,2217 27057 LEMCONIC
032023,001717: 13,2220 77775 VLOAD
032024,001718: 13,2221 00001 RATT
032025,001719: 13,2222 77650 GOTO
032026,001720: 13,2223 26234 LMKLMCOM
032027,001721: 13,2224 71214 LMK52 BON DLOAD
032028,001722: 13,2225 04305 ADVTRK
032029,001723: 13,2226 54000 ADVTRACK
032030,001724: 13,2227 02356 AOPTIME
032031,001725: 13,2230 77624 CALL
032032,001726: 13,2231 26373 LALOTORV
032033,001727: 13,2232 77775 VLOAD
032034,001728: 13,2233 02152 ALPHAV
032035,001729: 13,2234 16766 LMKLMCOM STODL STAR
032036,001730: 13,2235 02356 AOPTIME
032037,001731: 13,2236 34041 STCALL TDEC1
032038,001732: 13,2237 27045 CSMCONIC
032039,001733: 13,2240 52375 VLOAD VSU
032040,001734: 13,2241 02766 STAR
032041,001735: 13,2242 00001 RATT
032042,001736: 13,2243 52056 UNIT GOTO
032043,001737: 13,2244 26260 COM52
032044,001738: 13,2245 72131 STAR52 SSP LXA,1
032045,001739: 13,2246 00051 S1
032046,001740: 13,2247 00000 0
032047,001741: 13,2250 00304 STARIND
032048,001742: 13,2251 77700 TIX,1
032049,001743: 13,2252 26256 ST52ST
032050,001744: 13,2253 52175 VLOAD GOTO
032051,001745: 13,2254 02617 STARSAV2
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Page 728 |
032053,001747: 13,2255 26260 COM52
032054,001748: 13,2256 77775 ST52ST VLOAD
032055,001749: 13,2257 02611 STARSAV1
032056,001750: 13,2260 53521 COM52 MXV UNIT
032057,001751: 13,2261 01736 REFSMMAT
032058,001752: 13,2262 02766 STORE STAR
032059,001753: 13,2263 45001 SETPD CALL
032060,001754: 13,2264 00001 0
032061,001755: 13,2265 47432 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
032062,001756: 13,2266 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES.
032063,001757: 13,2267 46034 CALCSXA
032064,001758: 13,2270 77414 BOFF EXIT
032065,001759: 13,2271 01750 CULTFLAG
032066,001760: 13,2272 26274 TRUN38
032067,001761: 13,2273 02312 TC SR52E1
032068,001762: 13,2274 45345 TRUN38 DLOAD DSU
032069,001763: 13,2275 02776 PAC
032070,001764: 13,2276 26315 38TRDEG
032071,001765: 13,2277 71244 BPL DLOAD
032072,001766: 13,2300 26305 SR52E22
032073,001767: 13,2301 02776 PAC
032074,001768: 13,2302 51025 DSU BPL
032075,001769: 13,2303 26321 20DEGSMN
032076,001770: 13,2304 26307 SR52E3
032077,001771: 13,2305 77776 SR52E22 EXIT
032078,001772: 13,2306 02311 TC SR52E2
032079,001773: 13,2307 77776 SR52E3 EXIT
032080,001774: 13,2310 25777 INCR QMIN
032081,001775: 13,2311 25777 SR52E2 INCR QMIN
032082,001776: 13,2312 31777 SR52E1 CA QMIN
032083,001777: 13,2313 04561 TC SWCALL
032084,001778: 13,2314 25252 25254 38TRDEG 2DEC .66666667 # CORESPONDS TO 50 DEGS IN TRUNION
032085,001779: 13,2316 00000 00202 1.3SECDP 2DEC 130 B-28
032086,001780: 13,2320 61740 20DEGSMN DEC -07199 B-14
032087,001781: 13,2321 77777 DEC -0 B-14
032088,001782:
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Page 729 |
032090,001784: # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
032091,001785: # A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
032092,001786: # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
032093,001787:
032094,001788: 26,2000 SETLOC 26P50S
032095,001789: 26,2000 BANK
032096,001790: 26,2000 77601 ADVTRACK SETPD
032097,001791: 26,2001 00001 0
032098,001792: 26,2002 41575 VLOAD PUSH # INITIALIZE FOR RP-TO-R
032099,001793: 26,2003 15324 UNITZ # UZ VEC IN PD 0-5
032100,001794: 26,2004 41434 RTB PUSH # TIME IN PD 6-7
032101,001795: 26,2005 45505 LOADTIME
032102,001796: 26,2006 36356 STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
032103,001797: 26,2007 55341 RP-TO-R # GET MOON ROTATION VEC IN REF
032104,001798: 26,2010 16766 STODL STAR
032105,001799: 26,2011 02356 AOPTIME # PICK UP TIME
032106,001800: 26,2012 34041 STCALL TDEC1 # UPDATE STATE TO TIME
032107,001801: 26,2013 27045 CSMCONIC
032108,001802: 26,2014 47375 VLOAD VXV
032109,001803: 26,2015 00007 VATT
032110,001804: 26,2016 00001 RATT
032111,001805: 26,2017 77656 UNIT
032112,001806: 26,2020 24031 STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
032113,001807: 26,2021 00001 RATT
032114,001808: 26,2022 57456 UNIT VCOMP
032115,001809: 26,2023 41401 SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
032116,001810: 26,2024 00001 0
032117,001811: 26,2025 77776 EXIT
032118,001812: 26,2026 31751 CA LANDMARK
032119,001813: 26,2027 74716 MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
032120,001814: 26,2030 00006 EXTEND
032121,001815: 26,2031 74700 MP BIT11 # GET N/16
032122,001816: 26,2032 56001 XCH L
032123,001817: 26,2033 50120 INDEX FIXLOC
032124,001818: 26,2034 54036 TS 30D # TEMP STORE N/16
032125,001819: 26,2035 06006 TC INTPRET
032126,001820: 26,2036 41335 SLOAD DMP
032127,001821: 26,2037 00037 30D
032128,001822: 26,2040 14107 MPERIOD
032129,001823: 26,2041 36356 STCALL AOPTIME # ROTATE ANG ABOUT UR
032130,001824: 26,2042 54057 ROTA
032131,001825: 26,2043 77775 VLOAD
032132,001826: 26,2044 00031 24D # PICK UP 2ND ROTATION AXIS
032133,001827: 26,2045 16766 STODL STAR
032134,001828: 26,2046 14105 DP1/6
032135,001829: 26,2047 77625 DSU
032136,001830: 26,2050 02356 AOPTIME # 2ND RAT ANGLE = 60 - A
032137,001831: 26,2051 36356 STCALL AOPTIME
032138,001832: 26,2052 54057 ROTA # GO ROTATE 2ND TIME
032139,001833: 26,2053 77775 VLOAD
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Page 730 |
032141,001835: 26,2054 00001 0
032142,001836: 26,2055 36766 STCALL STAR # STORE FINAL LOS IN STAR
032143,001837: 26,2056 26260 COM52 # RETURN TO SR52.1
032144,001838:
032145,001839: 26,2057 73545 ROTA DLOAD SIN
032146,001840: 26,2060 02356 AOPTIME
032147,001841: 26,2061 47315 PDVL VXV # PUSH 1/2SIN(A) PD 6-7
032148,001842: 26,2062 02766 STAR # UR VEC
032149,001843: 26,2063 00001 0 # LOS
032150,001844: 26,2064 72561 VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
032151,001845: 26,2065 50315 PDVL DOT
032152,001846: 26,2066 02766 STAR
032153,001847: 26,2067 00001 0
032154,001848: 26,2070 72561 VXSC VSL2
032155,001849: 26,2071 02766 STAR
032156,001850: 26,2072 71525 PDDL COS # 1/2(UR . LOS)UR 12-17
032157,001851: 26,2073 02356 AOPTIME
032158,001852: 26,2074 51315 PDVL BVSU # PUSH 1/2COS(A) 18-19
032159,001853: 26,2075 00015 12D
032160,001854: 26,2076 00001 0
032161,001855: 26,2077 76561 VXSC VSL1 # UP 18-19
032162,001856: 26,2100 53255 VAD VAD # UP 12-17 UP 6-11
032163,001857: 26,2101 40256 UNIT SETPD
032164,001858: 26,2102 00001 0
032165,001859: 26,2103 43406 PUSH RVQ
032166,001860:
032167,001861: 26,2104 05252 25251 DP1/6 2DEC .16666666
032168,001862: 26,2106 11446 02760 MPERIOD 2DEC .2992 # APPROX LUNAR ROT ANG IN 2HRS X 16
032169,001863:
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Page 731 |
032171,001865: # NAME-S52.3
032172,001866: # FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032173,001867: # YSMD= UNIT(V X R)
032174,001868: # ZSMD= UNIT(-R)
032175,001869: # CALL DLOAD CALL
032176,001870: # TALIGN
032177,001871: # S52.3
032178,001872: # INPUT- TIME OF ALIGNMENT IN MPAC
032179,001873: # OUTPUT- X,Y,ZSMD
032180,001874: # SUBROUTINES- CSMCONIC
032181,001875: 16,2000 SETLOC P50S2
032182,001876: 16,2000 BANK
032183,001877:
032184,001878: 16,2636 COUNT 15/S52.3
032185,001879: 16,2636 77620 S52.3 STQ
032186,001880: 16,2637 00300 QMAJ
032187,001881: 16,2640 34041 STCALL TDEC1
032188,001882: 16,2641 27045 CSMCONIC
032189,001883: 16,2642 77601 SETPD
032190,001884: 16,2643 00001 0
032191,001885: 16,2644 57575 VLOAD VCOMP
032192,001886: 16,2645 00001 RATT
032193,001887: 16,2646 77656 UNIT
032194,001888: 16,2647 24323 STOVL ZSMD
032195,001889: 16,2650 00007 VATT
032196,001890: 16,2651 53435 VXV UNIT
032197,001891: 16,2652 00001 RATT
032198,001892: 16,2653 00315 STORE YSMD
032199,001893: 16,2654 53435 VXV UNIT
032200,001894: 16,2655 00323 ZSMD
032201,001895: 16,2656 34307 STCALL XSMD
032202,001896: 16,2657 00300 QMAJ
032203,001897:
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Page 732 |
032205,001899: # PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032206,001900:
032207,001901: # FUNCTIONAL DESCRIPTION
032208,001902: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
032209,001903: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
032210,001904: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032211,001905: # IN N92.
032212,001906:
032213,001907: # CALLING SEQUENCE
032214,001908: # CALL
032215,001909: # R56
032216,001910:
032217,001911: # SUBROUTINES CALLED
032218,001912: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
032219,001913: # GOFLASH
032220,001914: # GOPERF1
032221,001915:
032222,001916: # ERASABLE INITIALIZATION
032223,001917: # STARIND-INDEX TO STAR NUMBER
032224,001918:
032225,001919: # OUTPUT
032226,001920: # MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032227,001921: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032228,001922: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032229,001923: # VAC +2 CDUY
032230,001924: # VAC +3 CDUS
032231,001925: # VAC +4 CDUZ
032232,001926: # VAC +5 CDUT
032233,001927: # VAC +6 CDUX
032234,001928:
032235,001929: 16,2660 COUNT* $$/R56
032236,001930: 15,2000 SETLOC P50S
032237,001931: 15,2000 BANK
032238,001932: 15,2252 77776 R56 EXIT
032239,001933: 15,2253 32362 CAF V06N94B
032240,001934: 15,2254 04555 TC BANKCALL
032241,001935: 15,2255 20624 CADR GOFLASH
032242,001936: 15,2256 04106 TC GOTOPOOH # TERM.
032243,001937: 15,2257 02261 TC R56A # PROCEED - ANGLES OK
032244,001938: 15,2260 02253 TC -5 # ENTER - NEW ANGLES
032245,001939: 15,2261 04555 R56A TC BANKCALL
032246,001940: 15,2262 16004 CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
032247,001941:
032248,001942: 15,2263 34714 CAF ZERO
032249,001943: 15,2264 04555 TC BANKCALL
032250,001944: 15,2265 20607 CADR CLEANDSP
032251,001945:
032252,001946: 15,2266 32360 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
032253,001947: 15,2267 04555 TC BANKCALL
032254,001948: 15,2270 20470 CADR GOMARK2
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Page 733 |
032256,001950: 15,2271 14106 TCF GOTOPOOH # V34-TERMINATE
032257,001951: 15,2272 12263 TCF R56A +2 # V33-DONT PROCEED-JUST ENTER TO MARK
032258,001952: 15,2273 06006 TC INTPRET
032259,001953: 15,2274 77745 DLOAD
032260,001954: 15,2275 03731 MRKBUF1 +3
032261,001955: 15,2276 16774 STODL SAC
032262,001956: 15,2277 03733 MRKBUF1 +5
032263,001957: 15,2300 02776 STORE PAC
032264,001958: 15,2301 77776 EXIT
032265,001959: 15,2302 00004 INHINT
032266,001960: 15,2303 00006 EXTEND
032267,001961: 15,2304 30025 DCA TIME2
032268,001962: 15,2305 51330 INDEX MARKSTAT
032269,001963: 15,2306 52001 DXCH 0
032270,001964: 15,2307 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
032271,001965: 15,2310 51330 INDEX MARKSTAT
032272,001966: 15,2311 54002 TS 2
032273,001967: 15,2312 31773 CA SAC
032274,001968: 15,2313 51330 INDEX MARKSTAT
032275,001969: 15,2314 54003 TS 3
032276,001970: 15,2315 30034 CA CDUZ
032277,001971: 15,2316 51330 INDEX MARKSTAT
032278,001972: 15,2317 54004 TS 4
032279,001973: 15,2320 31775 CA PAC
032280,001974: 15,2321 51330 INDEX MARKSTAT
032281,001975: 15,2322 54005 TS 5
032282,001976: 15,2323 30032 CA CDUX
032283,001977: 15,2324 51330 INDEX MARKSTAT
032284,001978: 15,2325 54006 TS 6
032285,001979: 15,2326 00003 RELINT
032286,001980: 15,2327 05425 TC CLEARMRK # ENABLE EXTENDED VERBS
032287,001981: 15,2330 34333 CAF OCT16
032288,001982: 15,2331 04555 TC BANKCALL
032289,001983: 15,2332 20751 CADR GOPERF1
032290,001984: 15,2333 04106 TC GOTOPOOH # TERM.
032291,001985: 15,2334 12336 TCF R56B # PROCEED-MARK COMPLETED
032292,001986: 15,2335 12263 TCF R56A +2 # RECYCLE - DO ANOTHER MARK - LIKE REJECT
032293,001987: 15,2336 34714 R56B CAF ZERO
032294,001988: 15,2337 04555 TC BANKCALL
032295,001989: 15,2340 20607 CADR CLEANDSP
032296,001990:
032297,001991: 15,2341 32361 CAF V01N71B
032298,001992: 15,2342 04555 TC BANKCALL
032299,001993: 15,2343 20624 CADR GOFLASH
032300,001994: 15,2344 04106 TC GOTOPOOH
032301,001995: 15,2345 02347 TC +2
032302,001996: 15,2346 12336 TCF R56B # RECYCLE
032303,001997: 15,2347 47713 CS HIGH9
032304,001998: 15,2350 70735 MASK STARCODE
032305,001999: 15,2351 00006 EXTEND
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Page 734 |
032307,002001: 15,2352 76211 MP SIX
032308,002002: 15,2353 56001 XCH L
032309,002003: 15,2354 50304 INDEX STARIND
032310,002004: 15,2355 54302 TS BESTI
032311,002005: 15,2356 06006 TC INTPRET
032312,002006: 15,2357 77616 RVQ
032313,002007: 15,2360 15200 VB53 VN 05300 # ALTERNATE MARK VERB
032314,002008: 15,2361 00307 V01N71B VN 00171
032315,002009: 15,2362 01536 V06N94B VN 00694
032316,002010: 15,2363 02607 PLANET STORE TSIGHT
032317,002011: 15,2364 45020 STQ CALL
032318,002012: 15,2365 02777 QMIN
032319,002013: 15,2366 30216 LOCSAM
032320,002014: 15,2367 77775 VLOAD
032321,002015: 15,2370 02736 VEARTH
032322,002016: 15,2371 24001 STOVL 0D
032323,002017: 15,2372 02744 VSUN
032324,002018: 15,2373 26736 STOVL VEARTH
032325,002019: 15,2374 00001 0D
032326,002020: 15,2375 02744 STORE VSUN
032327,002021: 15,2376 77776 NOSAM EXIT
032328,002022: 15,2377 47713 CS HIGH9
032329,002023: 15,2400 70735 MASK STARCODE
032330,002024: 15,2401 00006 EXTEND
032331,002025: 15,2402 76211 MP SIGHTSIX
032332,002026: 15,2403 56001 XCH L
032333,002027: 15,2404 50304 INDEX STARIND
032334,002028: 15,2405 54302 TS BESTI
032335,002029: 15,2406 10000 CCS A
032336,002030: 15,2407 12423 TCF NOTPLAN
032337,002031: 15,2410 32453 CAF VNPLANV
032338,002032: 15,2411 04555 TC BANKCALL
032339,002033: 15,2412 20624 CADR GOFLASH
032340,002034: 15,2413 04106 TC GOTOPOOH
032341,002035: 15,2414 02416 TC +2
032342,002036: 15,2415 02410 TC -5
032343,002037: 15,2416 06006 TC INTPRET
032344,002038: 15,2417 53575 VLOAD UNIT
032345,002039: 15,2420 02766 STAR
032346,002040: 15,2421 77650 GOTO
032347,002041: 15,2422 32446 CORPLAN
032348,002042: 15,2423 40000 NOTPLAN CS A
032349,002043: 15,2424 62452 AD DEC227
032350,002044: 15,2425 00006 EXTEND
032351,002045: 15,2426 62437 BZMF CALSAM1
032352,002046: 15,2427 50304 INDEX STARIND
032353,002047: 15,2430 30302 CA BESTI
032354,002048: 15,2431 50120 INDEX FIXLOC
032355,002049: 15,2432 54046 TS X1
032356,002050: 15,2433 06006 TC INTPRET
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Page 735 |
032358,002052: 15,2434 52173 VLOAD* GOTO
032359,002053: 15,2435 31751 CATLOG,1
032360,002054: 15,2436 32446 CORPLAN
032361,002055: 15,2437 06006 CALSAM1 TC INTPRET
032362,002056: 15,2440 70740 LXC,1 DLOAD*
032363,002057: 15,2441 00304 STARIND
032364,002058: 15,2442 00303 BESTI,1
032365,002059: 15,2443 76740 LXC,1 VLOAD*
032366,002060: 15,2444 00154 MPAC
032367,002061: 15,2445 02372 STARAD -228D,1
032368,002062: 15,2446 53455 CORPLAN VAD UNIT
032369,002063: 15,2447 03474 VEL/C
032370,002064: 15,2450 77650 GOTO
032371,002065: 15,2451 02777 QMIN
032372,002066: 15,2452 00343 DEC227 DEC 227 B-14
032373,002067: 15,2453 01530 VNPLANV VN 0688
End of include-file P51-P53.agc. Parent file is MAIN.agc