Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
041004,000002: ## Copyright: Public domain.
041005,000003: ## Filename: P51-P53.agc
041006,000004: ## Purpose: The main source file for Luminary revision 069.
041007,000005: ## It is part of the source code for the original release
041008,000006: ## of the flight software for the Lunar Module's (LM) Apollo
041009,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
041010,000008: ## version was Luminary 69 revision 2, which included a
041011,000009: ## newer lunar gravity model and only affected module 2.
041012,000010: ## This file is intended to be a faithful transcription, except
041013,000011: ## that the code format has been changed to conform to the
041014,000012: ## requirements of the yaYUL assembler rather than the
041015,000013: ## original YUL assembler.
041016,000014: ## Reference: pp. 925-978
041017,000015: ## Assembler: yaYUL
041018,000016: ## Contact: Ron Burkey <info@sandroid.org>.
041019,000017: ## Website: www.ibiblio.org/apollo/index.html
041020,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
041021,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
041022,000020: ## 2017-01-22 HG Transcribed
041023,000021: ## 2017-01-22 HG Fix operand V06N22 -> V6N22
041024,000022: ## V06N22 -> V06N22*
041025,000023: ## DSPTEM1 -> DSPTEM2
041026,000024: ## Fix interpretive operator SET EXIT -> SET
041027,000025: ## STOVL -> STORE
041028,000026: ## Fix operator XCH -> TS
041029,000027: ## +2 -> +5
041030,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
041031,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
041032,000030:
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Page 925 |
041034,000032: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
041035,000033: # MOD NO- 0 LOG SECTION- P51-P53
041036,000034: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
041037,000035:
041038,000036: # FUNCTIONAL DESCRIPTION-
041039,000037:
041040,000038: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041041,000039: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041042,000040:
041043,000041: # (A) PREFERRED ORIENTATION
041044,000042:
041045,000043: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041046,000044: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041047,000045:
041048,000046: # (B) NOMINAL ORIENTATION
041049,000047:
041050,000048: # X = UNIT ( R )
041051,000049: # -SM
041052,000050:
041053,000051: # Y = UNIT (V X R)
041054,000052: # SM
041055,000053:
041056,000054: # Z = UNIT (X X Y )
041057,000055: # SM SM SM
041058,000056:
041059,000057: # WHERE_
041060,000058: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041061,000059: # -
041062,000060:
041063,000061: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041064,000062: # -
041065,000063:
041066,000064: # (C) REFSMMAT ORIENTATION
041067,000065:
041068,000066: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041069,000067:
041070,000068: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041071,000069: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041072,000070: # SINCE THE LAST ALIGNMENT).
041073,000071:
041074,000072: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041075,000073: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041076,000074: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041077,000075: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041078,000076: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041079,000077: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041080,000078: # REQUESTED.
041081,000079:
041082,000080: # CALLING SEQUENCE-
041083,000081:
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Page 926 |
041085,000083: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041086,000084:
041087,000085: # SUBROUTINES CALLED-
041088,000086:
041089,000087: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041090,000088: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041091,000089: # 3. GOPERF4 9. FLAGUP
041092,000090: # 4. MATMOVE 10. R56
041093,000091: # 5. GOFLASH 11. R51
041094,000092: # 6. S52.3 12. GOPERF3
041095,000093:
041096,000094: # NORMAL EXIT MODES-
041097,000095:
041098,000096: # EXITS TO ENDOFJOB
041099,000097:
041100,000098: # ALARM OR ABORT EXIT MODES-
041101,000099:
041102,000100: # NONE
041103,000101:
041104,000102: # OUTPUT-
041105,000103:
041106,000104: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041107,000105: # 1. IMU ORIENTATION CODE
041108,000106: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041109,000107: # 3. TIME OF NEXT IGNITION
041110,000108: # 4. GIMBAL ANGLES
041111,000109: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041112,000110: # 6. PLEASE PERFORM P00
041113,000111: # THE MODE DISPLAY MAY BE CHANGED TO 20
041114,000112:
041115,000113: # ERASABLE INITIALIZATION REQUIRED-
041116,000114:
041117,000115: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041118,000116: # XSMD,YSMD,ZSMD.
041119,000117: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041120,000118:
041121,000119: # DEBRIS-
041122,000120:
041123,000121: # WORK AREA
041124,000122: 33,3755 BANK 33
041125,000123: 15,2000 SETLOC P50S
041126,000124: 15,2000 BANK
041127,000125:
041128,000126: 15,2050 E5,1755 EBANK= BESTI
041129,000127: 15,2050 COUNT* $$/P52
041130,000128: 15,2050 04616 PROG52 TC BANKCALL
041131,000129: 15,2051 11175 CADR R02BOTH # IMU STATUS CHECK
041132,000130: 15,2052 34750 CAF PFRATBIT
041133,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041134,000132: 15,2054 10000 CCS A
041135,000133:
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Page 927 |
041137,000135: 15,2055 02060 TC P52A # YES
041138,000136: 15,2056 34752 CAF BIT2 # NO
041139,000137: 15,2057 02061 TC P52A +1
041140,000138: 15,2060 34753 P52A CAF BIT1
041141,000139: 15,2061 55145 TS OPTION2
041142,000140: 15,2062 34753 P52B CAF BIT1
041143,000141: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041144,000142: 15,2064 20566 CADR GOPERF4R # FLASH V04N06
041145,000143: 15,2065 06001 TC GOTOPOOH
041146,000144: 15,2066 12073 TCF +5 # V33-PROCEED
041147,000145: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041148,000146: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
041149,000147: 15,2071 00014 OCT 00014
041150,000148: 15,2072 05155 TC ENDOFJOB
041151,000149:
041152,000150: 15,2073 31145 CA OPTION2
041153,000151: 15,2074 76244 MASK THREE
041154,000152: 15,2075 50000 INDEX A
041155,000153: 15,2076 02077 TC +1
041156,000154: 15,2077 02105 TC P52T
041157,000155: 15,2100 02166 TC P52H
041158,000156: 15,2101 02105 TC P52T
041159,000157: 15,2102 06036 P52E TC INTPRET
041160,000158: 15,2103 77650 GOTO
041161,000159: 15,2104 32162 P52F
041162,000160: 15,2105 00006 P52T EXTEND
041163,000161: 15,2106 34755 DCA NEG0
041164,000162: 15,2107 53046 DXCH DSPTEM1
041165,000163: 15,2110 32172 CAF V06N34*
041166,000164: 15,2111 04616 TC BANKCALL
041167,000165: 15,2112 20351 CADR GOFLASH
041168,000166: 15,2113 06001 TC GOTOPOOH
041169,000167: 15,2114 02116 TC +2
041170,000168: 15,2115 02110 TC -5
041171,000169: 15,2116 53046 DXCH DSPTEM1
041172,000170: 15,2117 00006 EXTEND
041173,000171: 15,2120 62122 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041174,000172: 15,2121 12124 TCF +3
041175,000173: 15,2122 00006 EXTEND
041176,000174: 15,2123 30025 DCA TIME2
041177,000175: 15,2124 53775 DXCH TALIGN
041178,000176: 15,2125 31145 P52V CA OPTION2
041179,000177: 15,2126 74752 MASK BIT2
041180,000178: 15,2127 10000 CCS A
041181,000179: 15,2130 02134 TC P52W
041182,000180: 15,2131 06036 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041183,000181: 15,2132 77650 GOTO
041184,000182: 15,2133 32223 P52LS
041185,000183:
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Page 928 |
041187,000185: # START ALIGNMENT
041188,000186:
041189,000187: 15,2134 06036 P52W TC INTPRET
041190,000188: 15,2135 77745 DLOAD
041191,000189: 15,2136 02775 TALIGN # PICK UP ALIGN TIME
041192,000190: 15,2137 77624 CALL # COMPUTE NOMINAL IMU
041193,000191: 15,2140 31566 S52.3 # ORIENTATION
041194,000192: 15,2141 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041195,000193: 15,2142 31534 S52.2 # COMPUTE GIMBAL ANGLES
041196,000194: 15,2143 77776 EXIT
041197,000195: 15,2144 32171 CAF V06N22*
041198,000196: 15,2145 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041199,000197: 15,2146 20351 CADR GOFLASH
041200,000198: 15,2147 06001 TC GOTOPOOH
041201,000199: 15,2150 12174 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041202,000200: 15,2151 06036 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
041203,000201: 15,2152 77650 GOTO
041204,000202: 15,2153 32141 P52D
041205,000203: 15,2154 06036 REGCOARS TC INTPRET
041206,000204: 15,2155 77624 CALL # DO COARSE ALIGN
041207,000205: 15,2156 31172 CAL53A # ROUTINE
041208,000206: 15,2157 43014 SET CLEAR
041209,000207: 15,2160 01462 REFSMFLG
041210,000208: 15,2161 01273 PFRATFLG
041211,000209: 15,2162 77624 P52F CALL
041212,000210: 15,2163 30656 R51
041213,000211: 15,2164 77776 P52OUT EXIT
041214,000212: 15,2165 06001 TC GOTOPOOH
041215,000213: 15,2166 06036 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
041216,000214: 15,2167 77650 GOTO
041217,000215: 15,2170 32141 P52D
041218,000216:
041219,000217: 15,2171 5006 VB05N09 = V05N09
041220,000218: 15,2171 01426 V06N22* VN 00622
041221,000219: 15,2172 01442 V06N34* VN 634
041222,000220:
041223,000221: 15,2173 01531 V06N89* VN 0689
041224,000222:
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Page 929 |
041226,000224: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041227,000225: 15,2174 32222 COARSTYP CAF OCT13
041228,000226: 15,2175 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041229,000227: 15,2176 20476 CADR GOPERF1
041230,000228: 15,2177 16001 TCF GOTOPOOH # V34-TERMIN&OE
041231,000229: 15,2200 12154 TCF REGCOARS # V33-NORMAL COARSE
041232,000230: 15,2201 06036 TC INTPRET # V32-GYRO TORQUE COARSE
041233,000231: 15,2202 64375 VLOAD MXV
041234,000232: 15,2203 03605 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041235,000233: 15,2204 01734 REFSMMAT
041236,000234: 15,2205 77656 UNIT
041237,000235: 15,2206 26665 STOVL XDC
041238,000236: 15,2207 03613 YSMD
041239,000237: 15,2210 53521 MXV UNIT
041240,000238: 15,2211 01734 REFSMMAT
041241,000239: 15,2212 26673 STOVL YDC
041242,000240: 15,2213 03621 ZSMD
041243,000241: 15,2214 53521 MXV UNIT
041244,000242: 15,2215 01734 REFSMMAT
041245,000243: 15,2216 36701 STCALL ZDC
041246,000244: 15,2217 31025 GYCOARS
041247,000245: 15,2220 77650 GOTO
041248,000246: 15,2221 32164 P52OUT
041249,000247: 15,2222 00013 OCT13 OCT 13
041250,000248:
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Page 930 |
041252,000250: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041253,000251: 15,2223 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041254,000252: 15,2224 01463 LUNAFLAG
041255,000253: 15,2225 00662 ERADFLAG # TO PICK UP RLS
041256,000254: 15,2226 77201 SETPD VLOAD
041257,000255: 15,2227 00001 0
041258,000256: 15,2230 02023 RLS # PICK UP LANDING SITE VEC IN MF
041259,000257: 15,2231 41525 PDDL PUSH # RLS PD 0-5
041260,000258: 15,2232 02775 TALIGN
041261,000259: 15,2233 77624 CALL
041262,000260: 15,2234 51504 RP-TO-R # TRANS RLS TO REF
041263,000261: 15,2235 77742 VSR2
041264,000262: 15,2236 16032 STODL ALPHAV # INPUT TO LAT-LONG
041265,000263: 15,2237 02775 TALIGN
041266,000264: 15,2240 77624 CALL
041267,000265: 15,2241 26351 LAT-LONG # GET LAT, LONG, AND ALT
041268,000266: 15,2242 70545 DLOAD SR1 # RESCALE LONG TO DEGREES/2
041269,000267: 15,2243 01123 LONG
041270,000268: 15,2244 16711 STODL LANDLONG
041271,000269: 15,2245 01125 ALT
041272,000270: 15,2246 16713 STODL LANDALT # ALT ALREADY AT 2(29) METERS
041273,000271: 15,2247 01121 LAT
041274,000272: 15,2250 02707 STORE LANDLAT
041275,000273: 15,2251 77776 EXIT
041276,000274:
041277,000275: 15,2252 32173 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
041278,000276: 15,2253 04616 TC BANKCALL
041279,000277: 15,2254 20351 CADR GOFLASH
041280,000278: 15,2255 16001 TCF GOTOPOOH # VB34 TERMINATE
041281,000279: 15,2256 12260 TCF +2 # VB33 PROCEED
041282,000280: 15,2257 12252 TCF LSDISP # VB32 RECYCLE
041283,000281:
041284,000282: 15,2260 06036 TC INTPRET
041285,000283: 15,2261 72545 DLOAD SL1
041286,000284: 15,2262 02711 LANDLONG
041287,000285: 15,2263 15123 STODL LONG
041288,000286: 15,2264 02713 LANDALT
041289,000287: 15,2265 15125 STODL ALT
041290,000288: 15,2266 02707 LANDLAT
041291,000289: 15,2267 15121 STODL LAT
041292,000290: 15,2270 02775 TALIGN
041293,000291: 15,2271 77624 CALL
041294,000292: 15,2272 26422 LALOTORV
041295,000293: 15,2273 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041296,000294: 15,2274 02032 ALPHAV
041297,000295: 15,2275 37605 STCALL XSMD
041298,000296: 15,2276 33647 LSORIENT
041299,000297: 15,2277 77650 GOTO
041300,000298: 15,2300 32141 P52D # NOW GO COMPUTE GIMBAL ANGLES
041301,000299:
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Page 931 |
041303,000301: # NAME -S50 ALIAS LOCSAM
041304,000302: # BY
041305,000303: # VINCENT
041306,000304: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041307,000305:
041308,000306: # DEFINE
041309,000307:
041310,000308:
041311,000309: # U = UNIT( SUN WRT EARTH)
041312,000310: # ES
041313,000311:
041314,000312: # U =UNIT( MOON WRT EARTH)
041315,000313: # EM
041316,000314:
041317,000315: # R =POSITION VECTOR OF LEM
041318,000316: # L
041319,000317:
041320,000318: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041321,000319: # EM
041322,000320:
041323,000321: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041324,000322: # EM
041325,000323:
041326,000324: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041327,000325: # E
041328,000326:
041329,000327: # LOCSAM COMPUTES IN EARTH INFLUENCE
041330,000328:
041331,000329:
041332,000330: # VSUN = U
041333,000331: # ES
041334,000332:
041335,000333: # VEARTH = -UNIT( R )
041336,000334: # L
041337,000335:
041338,000336: # VMOON = UNIT(R .U - R )
041339,000337: # EM EM L
041340,000338:
041341,000339: # CSUN = COS 90
041342,000340:
041343,000341: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041344,000342: # E L
041345,000343:
041346,000344: # CMOON = COS 5
041347,000345:
041348,000346:
041349,000347: # INPUT - TIME IN MPAC
041350,000348: # OUTPUT - LISTED ABOVE
041351,000349: # SUBROUTINES -LSPOS,LEMPREC
041352,000350: # DEBRIS - VAC AREA ,TSIGHT
041353,000351:
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Page 932 |
041355,000353: 14,2000 SETLOC P50S1
041356,000354: 14,2000 BANK
041357,000355: 14,2347 E5,1642 EBANK= XSM
041358,000356:
041359,000357: 14,2347 COUNT* $$/LOSAM
041360,000358:
041361,000359: 14,2347 14,2347 S50 = LOCSAM
041362,000360: 14,2347 77620 LOCSAM STQ
041363,000361: 14,2350 02745 QMIN
041364,000362: 14,2351 37560 STCALL TSIGHT
041365,000363: 14,2352 33663 LSPOS
041366,000364: 14,2353 77745 DLOAD
041367,000365: 14,2354 03560 TSIGHT
041368,000366: 14,2355 34041 STCALL TDEC1
041369,000367: 14,2356 27057 LEMPREC
041370,000368: 14,2357 61131 SSP TIX,2
041371,000369: 14,2360 00052 S2
041372,000370: 14,2361 00000 0
041373,000371: 14,2362 30404 MOONCNTR
041374,000372: 14,2363 74375 EARTCNTR VLOAD VXSC
041375,000373: 14,2364 02723 VMOON
041376,000374: 14,2365 30001 RSUBEM
041377,000375: 14,2366 52372 VSL1 VSU
041378,000376: 14,2367 00001 RATT
041379,000377: 14,2370 77656 UNIT
041380,000378: 14,2371 26723 STOVL VMOON
041381,000379: 14,2372 00001 RATT
041382,000380: 14,2373 57456 UNIT VCOMP
041383,000381: 14,2374 16707 STODL VEARTH
041384,000382: 14,2375 30005 RSUBE
041385,000383: 14,2376 77624 CALL
041386,000384: 14,2377 30436 OCCOS
041387,000385: 14,2400 14017 STODL CEARTH
041388,000386: 14,2401 30445 CSS5
041389,000387: 14,2402 34023 STCALL CMOON
041390,000388: 14,2403 30431 ENDSAM
041391,000389: 14,2404 74375 MOONCNTR VLOAD VXSC
041392,000390: 14,2405 02723 VMOON
041393,000391: 14,2406 30007 ROE
041394,000392: 14,2407 53445 BVSU UNIT
041395,000393: 14,2410 02715 VSUN
041396,000394: 14,2411 26715 STOVL VSUN
041397,000395: 14,2412 02723 VMOON
041398,000396: 14,2413 53361 VXSC VAD
041399,000397: 14,2414 30001 RSUBEM
041400,000398: 14,2415 00001 RATT
041401,000399: 14,2416 57456 UNIT VCOMP
041402,000400: 14,2417 26707 STOVL VEARTH
041403,000401: 14,2420 00001 RATT
041404,000402: 14,2421 57456 UNIT VCOMP
041405,000403:
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Page 933 |
041407,000405: 14,2422 16723 STODL VMOON
041408,000406: 14,2423 30003 RSUBM
041409,000407: 14,2424 77624 CALL
041410,000408: 14,2425 30436 OCCOS
041411,000409: 14,2426 14023 STODL CMOON
041412,000410: 14,2427 30445 CSS5
041413,000411: 14,2430 00017 STORE CEARTH
041414,000412: 14,2431 77745 ENDSAM DLOAD
041415,000413: 14,2432 30447 CSSUN
041416,000414: 14,2433 00021 STORE CSUN
041417,000415: 14,2434 77650 GOTO
041418,000416: 14,2435 02745 QMIN
041419,000417: 14,2436 70471 OCCOS DDV SR1
041420,000418: 14,2437 00045 36D
041421,000419: 14,2440 43336 ASIN DAD
041422,000420: 14,2441 30451 5DEGREES
041423,000421: 14,2442 70546 COS SR1
041424,000422: 14,2443 77616 RVQ
041425,000423: 14,2444 CEARTH = 14D
041426,000424: 14,2444 CSUN = 16D
041427,000425: 14,2444 CMOON = 18D
041428,000426: 14,2444 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041429,000427: 14,2446 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041430,000428: 14,2450 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041431,000429:
![]() |
Page 934 |
041433,000431: # PROGRAM NAME - R56 DATE DEC 20 66
041434,000432: # MOD 1 LOG SECTION P51-P53
041435,000433: # ASSEMBLY SUNDISK REV40
041436,000434: # BY KEN VINCENT
041437,000435:
041438,000436: # FUNCTION
041439,000437: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041440,000438: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041441,000439: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041442,000440: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041443,000441: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041444,000442: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041445,000443: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041446,000444: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041447,000445: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041448,000446: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041449,000447: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041450,000448: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041451,000449:
041452,000450: # CALLING SEQUENCE
041453,000451: # L TC BANKCALL
041454,000452: # L+1 CADR R56
041455,000453: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041456,000454: # L+3 NORMAL RETURN
041457,000455:
041458,000456: # OUTPUT
041459,000457: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041460,000458: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041461,000459:
041462,000460: # INITIALIZATION
041463,000461: # 1)A CALL TO LOCSAM MUST BE MADE
041464,000462:
041465,000463: # DEBRIS
041466,000464: # WORK AREA
041467,000465: # X,Y,ZNB
041468,000466: # SINCDU,COSCDU
041469,000467: # STARAD - STAR +5
041470,000468: 14,2452 14,2452 R56 = PICAPAR
041471,000469: 14,2452 COUNT* $$/R56
041472,000470: 14,2452 04645 PICAPAR TC MAKECADR
041473,000471: 14,2453 55745 TS QMIN
041474,000472: 14,2454 06036 TC INTPRET
041475,000473: 14,2455 77624 CALL
041476,000474: 14,2456 47443 CDUTRIG
041477,000475: 14,2457 77624 CALL
041478,000476: 14,2460 31267 CALCSMSC
041479,000477: 14,2461 77601 SETPD
041480,000478: 14,2462 00001 0
041481,000479: 14,2463 71214 SET DLOAD # VFLAG = 1
041482,000480: 14,2464 01465 VFLAG
041483,000481:
![]() |
Page 935 |
041485,000483: 14,2465 22275 DPZERO
041486,000484: 14,2466 26756 STOVL BESTI
041487,000485: 14,2467 02665 XNB
041488,000486: 14,2470 63361 VXSC PDVL
041489,000487: 14,2471 22273 HALFDP
041490,000488: 14,2472 02701 ZNB
041491,000489: 14,2473 74370 AXT,1 VXSC
041492,000490: 14,2474 00344 228D # X1 = 37 X 6 + 6
041493,000491: 14,2475 22273 HALFDP
041494,000492: 14,2476 77655 VAD
041495,000493: 14,2477 53505 VXM UNIT
041496,000494: 14,2500 01734 REFSMMAT
041497,000495: 14,2501 02731 STORE SAX # SAX = SHAFT AXIS
041498,000496: 14,2502 66331 SSP SSP # S1=S2=6
041499,000497: 14,2503 00051 S1
041500,000498: 14,2504 00006 6
041501,000499: 14,2505 00052 S2
041502,000500: 14,2506 00006 6
041503,000501: 14,2507 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041504,000502: 14,2510 30512 PIC2
041505,000503: 14,2511 30627 PICEND
041506,000504: 14,2512 50373 PIC2 VLOAD* DOT
041507,000505: 14,2513 30347 CATLOG,1
041508,000506: 14,2514 02731 SAX
041509,000507: 14,2515 50025 DSU BMN
041510,000508: 14,2516 30626 CSS33
041511,000509: 14,2517 30507 PIC1
041512,000510: 14,2520 77754 LXA,2
041513,000511: 14,2521 00046 X1
041514,000512: 14,2522 52104 PIC3 TIX,2 GOTO
041515,000513: 14,2523 30525 PIC4
041516,000514: 14,2524 30507 PIC1
041517,000515: 14,2525 50373 PIC4 VLOAD* DOT
041518,000516: 14,2526 47430 CATLOG,2
041519,000517: 14,2527 02731 SAX
041520,000518: 14,2530 50025 DSU BMN
041521,000519: 14,2531 30626 CSS33
041522,000520: 14,2532 30522 PIC3
041523,000521: 14,2533 47773 VLOAD* DOT*
041524,000522: 14,2534 30347 CATLOG,1
041525,000523: 14,2535 47430 CATLOG,2
041526,000524: 14,2536 51025 DSU BPL
041527,000525: 14,2537 30624 CSS40
041528,000526: 14,2540 30522 PIC3
041529,000527: 14,2541 45173 VLOAD* CALL
041530,000528: 14,2542 30347 CATLOG,1
041531,000529: 14,2543 30601 OCCULT
041532,000530: 14,2544 77614 BON
041533,000531: 14,2545 01710 CULTFLAG
041534,000532: 14,2546 30507 PIC1
041535,000533:
![]() |
Page 936 |
041537,000535: 14,2547 45173 VLOAD* CALL
041538,000536: 14,2550 47430 CATLOG,2
041539,000537: 14,2551 30601 OCCULT
041540,000538: 14,2552 77614 BON
041541,000539: 14,2553 01710 CULTFLAG
041542,000540: 14,2554 30522 PIC3
041543,000541: 14,2555 77614 STRATGY BONCLR
041544,000542: 14,2556 01605 VFLAG
041545,000543: 14,2557 30574 NEWPAR
041546,000544: 14,2560 65120 XCHX,1 XCHX,2
041547,000545: 14,2561 02755 BESTI
041548,000546: 14,2562 02756 BESTJ
041549,000547: 14,2563 47773 STRAT VLOAD* DOT*
041550,000548: 14,2564 30347 CATLOG,1
041551,000549: 14,2565 47430 CATLOG,2
041552,000550: 14,2566 43006 PUSH BOFINV
041553,000551: 14,2567 01545 VFLAG
041554,000552: 14,2570 30560 STRAT -3
041555,000553: 14,2571 45345 DLOAD DSU
041556,000554: 14,2572 77644 BPL
041557,000555: 14,2573 30522 PIC3
041558,000556: 14,2574 67130 NEWPAR SXA,1 SXA,2
041559,000557: 14,2575 02755 BESTI
041560,000558: 14,2576 02756 BESTJ
041561,000559: 14,2577 77650 GOTO
041562,000560: 14,2600 30522 PIC3
041563,000561: 14,2601 51321 OCCULT MXV BVSU
041564,000562: 14,2602 02707 CULTRIX
041565,000563: 14,2603 00017 CSS
041566,000564: 14,2604 77654 BZE
041567,000565: 14,2605 30620 CULTED
041568,000566: 14,2606 75240 BMN SIGN
041569,000567: 14,2607 30620 CULTED
041570,000568: 14,2610 00160 MPAC +3
041571,000569: 14,2611 75240 BMN SIGN
041572,000570: 14,2612 30620 CULTED
041573,000571: 14,2613 00162 MPAC +5
041574,000572: 14,2614 43040 BMN CLRGO
041575,000573: 14,2615 30620 CULTED
041576,000574: 14,2616 01630 CULTFLAG
041577,000575: 14,2617 00052 QPRET
041578,000576: 14,2620 77614 CULTED SETGO
041579,000577: 14,2621 01430 CULTFLAG
041580,000578: 14,2622 00052 QPRET
041581,000579: 14,2623 0000016 CSS = CEARTH
041582,000580: 14,2623 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041583,000581: 14,2625 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041584,000582: 14,2627 77414 PICEND BOFF EXIT
041585,000583:
![]() |
Page 937 |
041587,000585: 14,2630 01745 VFLAG
041588,000586: 14,2631 30633 PICGXT
041589,000587: 14,2632 02654 TC PICBXT
041590,000588: 14,2633 73150 PICGXT LXA,1 LXA,2
041591,000589: 14,2634 02755 BESTI
041592,000590: 14,2635 02756 BESTJ
041593,000591: 14,2636 47775 VLOAD DOT*
041594,000592: 14,2637 02731 SAX
041595,000593: 14,2640 30347 CATLOG,1
041596,000594: 14,2641 47715 PDVL DOT*
041597,000595: 14,2642 02731 SAX
041598,000596: 14,2643 47430 CATLOG,2
041599,000597: 14,2644 77625 DSU
041600,000598: 14,2645 66044 BPL SXA,1
041601,000599: 14,2646 30652 PICNSWP
041602,000600: 14,2647 02756 BESTJ
041603,000601: 14,2650 77734 SXA,2
041604,000602: 14,2651 02755 BESTI
041605,000603: 14,2652 77776 PICNSWP EXIT
041606,000604: 14,2653 25745 INCR QMIN
041607,000605: 14,2654 31745 PICBXT CA QMIN
041608,000606: 14,2655 04622 TC SWCALL
041609,000607: 14,2656 VPD = 0D
041610,000608: 14,2656 V0 = 6D
041611,000609: 14,2656 V1 = 12D
041612,000610: 14,2656 V2 = 18D
041613,000611: 14,2656 V3 = 24D
041614,000612: 14,2656 DP0 = 30D
041615,000613: 14,2656 DP1 = 32D
041616,000614:
![]() |
Page 938 |
041618,000616: # NAME-R51 FINE ALIGN
041619,000617: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041620,000618: # CALLING SEQ- CALL R51
041621,000619: # INPUT - REFSMMAT
041622,000620: # OUTPUT- GYRO TORQUE PULSES
041623,000621: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041624,000622: 14,2656 COUNT* $$/R51
041625,000623: 14,2656 77620 R51 STQ
041626,000624: 14,2657 02746 QMAJ
041627,000625: 14,2660 77776 R51.1 EXIT
041628,000626: 14,2661 34761 R51C CAF OCT15
041629,000627: 14,2662 04616 TC BANKCALL
041630,000628: 14,2663 20476 CADR GOPERF1
041631,000629: 14,2664 06001 TC GOTOPOOH
041632,000630: 14,2665 02667 TC +2 # V33E
041633,000631: 14,2666 02712 TC R51E # ENTER
041634,000632: 14,2667 06036 TC INTPRET
041635,000633: 14,2670 43234 RTB DAD
041636,000634: 14,2671 21462 LOADTIME
041637,000635: 14,2672 31024 TSIGHT1
041638,000636: 14,2673 77624 CALL
041639,000637: 14,2674 30347 LOCSAM
041640,000638: 14,2675 77776 EXIT
041641,000639: 14,2676 04616 TC BANKCALL
041642,000640: 14,2677 30452 CADR R56
041643,000641: 14,2700 02702 TC R51I
041644,000642: 14,2701 02712 R51F TC R51E
041645,000643: 14,2702 05567 R51I TC ALARM
041646,000644: 14,2703 00405 OCT 405
041647,000645: 14,2704 35006 CAF VB05N09
041648,000646: 14,2705 04616 TC BANKCALL
041649,000647: 14,2706 20351 CADR GOFLASH
041650,000648: 14,2707 06001 TC GOTOPOOH
041651,000649: 14,2710 02712 TC R51E
041652,000650: 14,2711 02661 TC R51C
041653,000651: 14,2712 34755 R51E CAF ZERO
041654,000652: 14,2713 55757 TS STARIND
041655,000653: 14,2714 06036 R51.2 TC INTPRET
041656,000654: 14,2715 77776 R51.3 EXIT
041657,000655: 14,2716 05353 TC PHASCHNG
041658,000656: 14,2717 05024 OCT 05024
041659,000657: 14,2720 13000 OCT 13000
041660,000658: 14,2721 06036 TC INTPRET
041661,000659: 14,2722 77624 CALL
041662,000660: 14,2723 31610 R52 # AOP WILL MAKE CALLS TO SIGHTING
041663,000661: 14,2724 77776 EXIT
041664,000662: 14,2725 04616 TC BANKCALL
041665,000663: 14,2726 16000 CADR AOTMARK
041666,000664: 14,2727 04616 TC BANKCALL
041667,000665: 14,2730 17665 CADR OPTSTALL
041668,000666:
![]() |
Page 939 |
041670,000668: 14,2731 05703 TC CURTAINS
041671,000669: 14,2732 11757 CCS STARIND
041672,000670: 14,2733 12735 TCF +2
041673,000671: 14,2734 03006 TC R51.4
041674,000672: 14,2735 06036 TC INTPRET
041675,000673: 14,2736 77775 VLOAD
041676,000674: 14,2737 02715 STARAD +6
041677,000675: 14,2740 02767 STORE STARSAV2
041678,000676: 14,2741 77776 EXIT
041679,000677: 14,2742 05353 TC PHASCHNG
041680,000678: 14,2743 05024 OCT 05024
041681,000679: 14,2744 13000 OCT 13000
041682,000680: 14,2745 06036 TC INTPRET
041683,000681: 14,2746 45145 DLOAD CALL
041684,000682: 14,2747 03560 TSIGHT
041685,000683: 14,2750 32540 PLANET
041686,000684: 14,2751 53521 MXV UNIT
041687,000685: 14,2752 01734 REFSMMAT
041688,000686: 14,2753 26715 STOVL STARAD +6
041689,000687: 14,2754 03552 PLANVEC
041690,000688: 14,2755 53521 MXV UNIT
041691,000689: 14,2756 01734 REFSMMAT
041692,000690: 14,2757 26707 STOVL STARAD
041693,000691: 14,2760 02761 STARSAV1
041694,000692: 14,2761 24007 STOVL 6D
041695,000693: 14,2762 02767 STARSAV2
041696,000694: 14,2763 34015 STCALL 12D
041697,000695: 14,2764 31121 R54 # STAR DATA TEST
041698,000696: 14,2765 45014 BOFF CALL
041699,000697: 14,2766 00354 FREEFLAG
041700,000698: 14,2767 30775 R51K
041701,000699: 14,2770 47345 AXISGEN
041702,000700: 14,2771 77624 CALL
041703,000701: 14,2772 31066 R55 # GYRO TORQUE
041704,000702: 14,2773 77614 CLEAR
041705,000703: 14,2774 01273 PFRATFLG
041706,000704: 14,2775 77776 R51K EXIT
041707,000705: 14,2776 35742 R51P63 CAF OCT14
041708,000706: 14,2777 04616 TC BANKCALL
041709,000707: 14,3000 20476 CADR GOPERF1
041710,000708: 14,3001 06001 TC GOTOPOOH
041711,000709: 14,3002 02661 TC R51C
041712,000710: 14,3003 06036 TC INTPRET
041713,000711: 14,3004 77650 GOTO
041714,000712: 14,3005 02746 QMAJ
041715,000713: 14,3006 06036 R51.4 TC INTPRET
041716,000714: 14,3007 77775 VLOAD
041717,000715: 14,3010 02715 STARAD +6
041718,000716: 14,3011 02761 STORE STARSAV1
041719,000717: 14,3012 45145 DLOAD CALL
041720,000718:
![]() |
Page 940 |
041722,000720: 14,3013 03560 TSIGHT
041723,000721: 14,3014 32540 PLANET
041724,000722: 14,3015 03552 STORE PLANVEC
041725,000723: 14,3016 77731 SSP
041726,000724: 14,3017 02760 STARIND
041727,000725: 14,3020 00001 1
041728,000726: 14,3021 77650 GOTO
041729,000727: 14,3022 30715 R51.3
041730,000728: 14,3023 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041731,000729:
![]() |
Page 941 |
041733,000731: # GYRO TORQUE COARSE ALIGNMENT
041734,000732: 14,3025 45020 GYCOARS STQ CALL
041735,000733: 14,3026 02746 QMAJ
041736,000734: 14,3027 47151 CALCGTA
041737,000735: 14,3030 43014 CLEAR CLEAR
041738,000736: 14,3031 01260 DRIFTFLG
041739,000737: 14,3032 01662 REFSMFLG
041740,000738: 14,3033 77776 EXIT
041741,000739: 14,3034 33065 CAF V16N20 # MONITOR GIMBALS
041742,000740: 14,3035 04616 TC BANKCALL
041743,000741: 14,3036 20327 CADR GODSPR
041744,000742: 14,3037 33120 CA R55CDR
041745,000743: 14,3040 04616 TC BANKCALL
041746,000744: 14,3041 17276 CADR IMUPULSE
041747,000745: 14,3042 04616 TC BANKCALL
041748,000746: 14,3043 17671 CADR IMUSTALL
041749,000747: 14,3044 05703 TC CURTAINS
041750,000748: 14,3045 05353 TC PHASCHNG
041751,000749: 14,3046 05024 OCT 05024
041752,000750: 14,3047 13000 OCT 13000
041753,000751: 14,3050 06036 TC INTPRET
041754,000752: 14,3051 75160 AXC,1 AXC,2
041755,000753: 14,3052 03604 XSMD
041756,000754: 14,3053 01733 REFSMMAT
041757,000755: 14,3054 77624 CALL # STORE DESIRED REFSMMAT
041758,000756: 14,3055 31237 MATMOVE
041759,000757: 14,3056 43014 CLEAR SET
041760,000758: 14,3057 01273 PFRATFLG
041761,000759: 14,3060 01462 REFSMFLG
041762,000760: 14,3061 77624 CALL
041763,000761: 14,3062 31523 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041764,000762: 14,3063 77650 GOTO
041765,000763: 14,3064 30775 R51K
041766,000764: 14,3065 04024 V16N20 VN 1620
041767,000765:
![]() |
Page 942 |
041769,000767: # R55 GYRO TORQUE
041770,000768: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041771,000769: # CALLING SEQ- CALL R55
041772,000770: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041773,000771: # OUTPUT- GYRO PULSES
041774,000772: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041775,000773: 14,3066 COUNT* $$/R55
041776,000774: 14,3066 77620 R55 STQ
041777,000775: 14,3067 02745 QMIN
041778,000776: 14,3070 77624 CALL
041779,000777: 14,3071 47151 CALCGTA
041780,000778: 14,3072 77776 PULSEM EXIT
041781,000779: 14,3073 33117 R55.1 CAF V06N93
041782,000780: 14,3074 04616 TC BANKCALL
041783,000781: 14,3075 20351 CADR GOFLASH
041784,000782: 14,3076 06001 TC GOTOPOOH
041785,000783: 14,3077 03101 TC R55.2
041786,000784: 14,3100 03114 TC R55RET
041787,000785: 14,3101 05353 R55.2 TC PHASCHNG
041788,000786: 14,3102 00214 OCT 00214
041789,000787: 14,3103 33120 CA R55CDR
041790,000788: 14,3104 04616 TC BANKCALL
041791,000789: 14,3105 17276 CADR IMUPULSE
041792,000790: 14,3106 04616 TC BANKCALL
041793,000791: 14,3107 17671 CADR IMUSTALL
041794,000792: 14,3110 05703 TC CURTAINS
041795,000793: 14,3111 05353 TC PHASCHNG
041796,000794: 14,3112 05024 OCT 05024
041797,000795: 14,3113 13000 OCT 13000
041798,000796: 14,3114 06036 R55RET TC INTPRET
041799,000797: 14,3115 77650 GOTO
041800,000798: 14,3116 02745 QMIN
041801,000799: 14,3117 01535 V06N93 VN 0693
041802,000800: 14,3120 02737 R55CDR ECADR OGC
041803,000801: 14,3121 14,3121 R54 = CHKSDATA
041804,000802: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
041805,000803: # MOD NO- 0 LOG SECTION- P51-P53
041806,000804: # MODIFICATION BY- LONSKE ASSEMBLY-
041807,000805:
041808,000806: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041809,000807: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041810,000808: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041811,000809:
041812,000810: # OS1 = OBSERVED STAR 1 VECTOR
041813,000811: # OS2 = OBSERVED STAR 2 VECTOR
041814,000812: # SS1 = STORED STAR 1 VECTOR
041815,000813: # SS2 = STORED STAR 2 VECTOR
041816,000814: # A1 = ARCCOS(OS1 - OS2)
041817,000815: # A2 = ARCCOS(SS1 - SS2)
041818,000816: # A = ABS(2(A1 - A2))
041819,000817:
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Page 943 |
041821,000819: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041822,000820: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041823,000821: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041824,000822: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041825,000823: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041826,000824:
041827,000825: # ERASABLE INITIALIZATION REQUIRED -
041828,000826: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041829,000827: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041830,000828: # DEBRIS -
041831,000829: 14,3121 COUNT* $$/R54
041832,000830: 14,3121 43020 CHKSDATA STQ SET
041833,000831: 14,3122 02745 QMIN
041834,000832: 14,3123 00074 FREEFLAG
041835,000833: 14,3124 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041836,000834: 14,3125 02706 STARAD
041837,000835:
041838,000836: 14,3126 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041839,000837: 14,3127 00001 0,1
041840,000838: 14,3130 00007 6,1
041841,000839: 14,3131 65552 SL1 ACOS
041842,000840: 14,3132 00025 STORE THETA
041843,000841: 14,3133 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041844,000842: 14,3134 00354 FREEFLAG
041845,000843: 14,3135 31145 CHKSD
041846,000844: 14,3136 00174 FREEFLAG # CLEAR FREEFLAG
041847,000845: 14,3137 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041848,000846: 14,3140 00006 6D
041849,000847: 14,3141 00025 THETA
041850,000848: 14,3142 00023 STORE 18D
041851,000849: 14,3143 77650 GOTO
041852,000850: 14,3144 31126 CHKSB # RETURN TO CAL. 2ND ANGLE
041853,000851: 14,3145 45345 CHKSD DLOAD DSU
041854,000852: 14,3146 00025 THETA
041855,000853: 14,3147 00023 18D
041856,000854: 14,3150 47046 ABS RTB # COMPUTE POS DIFF
041857,000855: 14,3151 21516 SGNAGREE
041858,000856: 14,3152 01046 STORE NORMTEM1
041859,000857: 14,3153 77414 SET EXIT
041860,000858: 14,3154 00074 FREEFLAG
041861,000859: 14,3155 33171 CAF VB6N5
041862,000860: 14,3156 04616 TC BANKCALL
041863,000861: 14,3157 20351 CADR GOFLASH
041864,000862: 14,3160 16001 TCF GOTOPOOH
041865,000863: 14,3161 03166 TC CHKSDA # PROCEED
041866,000864: 14,3162 06036 TC INTPRET
041867,000865: 14,3163 52014 CLEAR GOTO
041868,000866: 14,3164 00274 FREEFLAG
041869,000867: 14,3165 02745 QMIN
041870,000868: 14,3166 06036 CHKSDA TC INTPRET
041871,000869:
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Page 944 |
041873,000871: 14,3167 77650 GOTO
041874,000872: 14,3170 02745 QMIN
041875,000873: 14,3171 01405 VB6N5 VN 605
041876,000874: # NAME - CAL53A
041877,000875: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041878,000876: # CALLING SEQUENCE - CALL CAL53A
041879,000877: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041880,000878: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041881,000879: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041882,000880: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041883,000881: 14,3172 COUNT* $$/R50
041884,000882: 14,3172 45020 CAL53A STQ CALL
041885,000883: 14,3173 00035 29D
041886,000884: 14,3174 31534 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
041887,000885: 14,3175 66234 RTB SSP
041888,000886: 14,3176 31253 RDCDUS # READ CDUS
041889,000887: 14,3177 00051 S1
041890,000888: 14,3200 00001 1
041891,000889: 14,3201 40370 AXT,1 SETPD
041892,000890: 14,3202 00003 3
041893,000891: 14,3203 00005 4
041894,000892: 14,3204 70543 CALOOP DLOAD* SR1
041895,000893: 14,3205 00325 THETAD +3D,1
041896,000894: 14,3206 70523 PDDL* SR1
041897,000895: 14,3207 00005 4,1
041898,000896: 14,3210 51425 DSU ABS
041899,000897: 14,3211 45206 PUSH DSU
041900,000898: 14,3212 31252 DEGREE1
041901,000899: 14,3213 71240 BMN DLOAD
041902,000900: 14,3214 31226 CALOOP1
041903,000901: 14,3215 51025 DSU BPL
041904,000902: 14,3216 31253 DEG359
041905,000903: 14,3217 31226 CALOOP1
041906,000904: 14,3220 77624 COARFINE CALL
041907,000905: 14,3221 31506 COARSE
041908,000906: 14,3222 77624 CALL
041909,000907: 14,3223 31523 NCOARSE
041910,000908: 14,3224 77650 GOTO
041911,000909: 14,3225 31230 FINEONLY
041912,000910: 14,3226 77700 CALOOP1 TIX,1
041913,000911: 14,3227 31204 CALOOP
041914,000912: 14,3230 75160 FINEONLY AXC,1 AXC,2
041915,000913: 14,3231 02642 XSM
041916,000914: 14,3232 01733 REFSMMAT
041917,000915: 14,3233 77624 CALL
041918,000916: 14,3234 31237 MATMOVE
041919,000917: 14,3235 77650 GOTO
041920,000918: 14,3236 00035 29D
041921,000919: 14,3237 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041922,000920: 14,3240 00001 0,1
041923,000921:
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Page 945 |
041925,000923: 14,3241 10001 STORE 0,2
041926,000924: 14,3242 77773 VLOAD*
041927,000925: 14,3243 00007 6D,1
041928,000926: 14,3244 10007 STORE 6D,2
041929,000927: 14,3245 77773 VLOAD*
041930,000928: 14,3246 00015 12D,1
041931,000929: 14,3247 10015 STORE 12D,2
041932,000930: 14,3250 77616 RVQ
041933,000931: 14,3251 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041934,000932: 14,3252 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041935,000933: 14,3253 00004 RDCDUS INHINT # READ CDUS
041936,000934: 14,3254 30032 CA CDUX
041937,000935: 14,3255 50120 INDEX FIXLOC
041938,000936: 14,3256 54001 TS 1
041939,000937: 14,3257 30033 CA CDUY
041940,000938: 14,3260 50120 INDEX FIXLOC
041941,000939: 14,3261 54002 TS 2
041942,000940: 14,3262 30034 CA CDUZ
041943,000941: 14,3263 50120 INDEX FIXLOC
041944,000942: 14,3264 54003 TS 3
041945,000943: 14,3265 00003 RELINT
041946,000944: 14,3266 06060 TC DANZIG # +
041947,000945: 14,3267 COUNT* $$/INFLT
041948,000946: 14,3267 77760 CALCSMSC AXC,1
041949,000947: 14,3270 02664 XNB
041950,000948:
041951,000949: 14,3271 41345 XNBNDX DLOAD DMP
041952,000950: 14,3272 00737 SINCDUY
041953,000951: 14,3273 00747 COSCDUZ
041954,000952: 14,3274 77676 DCOMP
041955,000953: 14,3275 70525 PDDL SR1
041956,000954: 14,3276 00741 SINCDUZ
041957,000955: 14,3277 41325 PDDL DMP
041958,000956: 14,3300 00745 COSCDUY
041959,000957: 14,3301 00747 COSCDUZ
041960,000958: 14,3302 76466 VDEF VSL1
041961,000959: 14,3303 04001 STORE 0,1
041962,000960: 14,3304 41345 DLOAD DMP
041963,000961: 14,3305 00743 SINCDUX
041964,000962: 14,3306 00741 SINCDUZ
041965,000963: 14,3307 77752 SL1
041966,000964: 14,3310 00033 STORE 26D
041967,000965: 14,3311 77605 DMP
041968,000966: 14,3312 00737 SINCDUY
041969,000967: 14,3313 41325 PDDL DMP
041970,000968: 14,3314 00751 COSCDUX
041971,000969: 14,3315 00745 COSCDUY
041972,000970: 14,3316 77625 DSU
041973,000971: 14,3317 41325 PDDL DMP
041974,000972: 14,3320 00743 SINCDUX
041975,000973:
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Page 946 |
041977,000975: 14,3321 00747 COSCDUZ
041978,000976: 14,3322 77676 DCOMP
041979,000977: 14,3323 41325 PDDL DMP
041980,000978: 14,3324 00751 COSCDUX
041981,000979: 14,3325 00737 SINCDUY
041982,000980: 14,3326 41325 PDDL DMP
041983,000981: 14,3327 00745 COSCDUY
041984,000982: 14,3330 00033 26D
041985,000983: 14,3331 55415 DAD VDEF
041986,000984: 14,3332 77772 VSL1
041987,000985: 14,3333 04015 STORE 14,1
041988,000986: 14,3334 76433 VXV* VSL1
041989,000987: 14,3335 00001 0,1
041990,000988: 14,3336 04007 STORE 6,1
041991,000989: 14,3337 77616 RVQ
041992,000990:
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Page 947 |
041994,000992: # NAME - P51 - IMU ORIENTATION DETERMINATION
041995,000993: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041996,000994: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041997,000995:
041998,000996: # FUNCTIONAL DESCRIPTION
041999,000997:
042000,000998: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042001,000999: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042002,001000: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042003,001001: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042004,001002:
042005,001003: # CALLING SEQUENCE
042006,001004:
042007,001005: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042008,001006:
042009,001007: # SUBROUTINES CALLED.
042010,001008:
042011,001009: # GOPERF3
042012,001010: # GOPERF1
042013,001011: # GODSPR
042014,001012: # IMUCOARS
042015,001013: # IMUFIN20
042016,001014: # AOTMARK(R53)
042017,001015: # CHKSDATA(R54)
042018,001016: # MKRELEAS
042019,001017: # AXISGEN
042020,001018: # MATMOVE
042021,001019:
042022,001020: # ALARMS
042023,001021:
042024,001022: # NONE.
042025,001023:
042026,001024: # ERASABLE INITIALIZATION
042027,001025:
042028,001026: # IMU ZERO FLAG SHOULD BE SET.
042029,001027:
042030,001028: # OUTPUT
042031,001029:
042032,001030: # REFSMMAT
042033,001031: # REFSMFLG
042034,001032:
042035,001033: # DEBRIS
042036,001034:
042037,001035: # WORK AREA
042038,001036: # STARAD
042039,001037: # STARIND
042040,001038: # BESTI
042041,001039: # BESTJ
042042,001040:
042043,001041: 14,3340 COUNT* $$/P51
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Page 948 |
042045,001043: 14,3340 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042046,001044: 14,3341 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042047,001045:
042048,001046: 14,3342 34761 CAF PRFMSTAQ
042049,001047: 14,3343 04616 TC BANKCALL
042050,001048: 14,3344 20476 CADR GOPERF1
042051,001049: 14,3345 06001 TC GOTOPOOH # TERM.
042052,001050: 14,3346 13374 TCF P51B # V33
042053,001051: 14,3347 05353 TC PHASCHNG
042054,001052: 14,3350 05024 OCT 05024
042055,001053: 14,3351 13000 OCT 13000
042056,001054: 14,3352 34755 CAF P51ZERO
042057,001055: 14,3353 54321 TS THETAD # ZERO THE GIMBALS
042058,001056: 14,3354 54322 TS THETAD +1
042059,001057: 14,3355 54323 TS THETAD +2
042060,001058: 14,3356 33504 CAF V6N22
042061,001059: 14,3357 04616 TC BANKCALL
042062,001060: 14,3360 20324 CADR GODSPRET
042063,001061: 14,3361 33505 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042064,001062: 14,3362 04616 TC BANKCALL
042065,001063: 14,3363 20324 CADR GODSPRET
042066,001064: 14,3364 06036 TC INTPRET
042067,001065: 14,3365 77624 CALL
042068,001066: 14,3366 31506 COARSE
042069,001067: 14,3367 77776 EXIT
042070,001068: 14,3370 05353 TC PHASCHNG
042071,001069: 14,3371 05024 OCT 05024
042072,001070: 14,3372 13000 OCT 13000
042073,001071: 14,3373 13342 TCF P51 +2
042074,001072:
042075,001073: 14,3374 05353 P51B TC PHASCHNG
042076,001074: 14,3375 00014 OCT 00014
042077,001075: 14,3376 06036 TC INTPRET
042078,001076: 14,3377 77624 CALL
042079,001077: 14,3400 31523 NCOARSE
042080,001078: 14,3401 40331 SSP SETPD
042081,001079: 14,3402 02760 STARIND # INDEX-STAR 1 OR 2
042082,001080: 14,3403 00000 0
042083,001081: 14,3404 00001 0
042084,001082: 14,3405 77776 P51C EXIT
042085,001083: 14,3406 05353 TC PHASCHNG
042086,001084: 14,3407 05024 OCT 05024
042087,001085: 14,3410 13000 OCT 13000
042088,001086: 14,3411 04616 TC BANKCALL
042089,001087: 14,3412 16000 CADR AOTMARK # R53
042090,001088: 14,3413 04616 TC BANKCALL
042091,001089: 14,3414 17665 CADR AOTSTALL
042092,001090: 14,3415 05703 TC CURTAINS
042093,001091: 14,3416 11757 CCS STARIND
042094,001092: 14,3417 13425 TCF P51D +1
042095,001093:
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Page 949 |
042097,001095: 14,3420 06036 TC INTPRET
042098,001096: 14,3421 77775 VLOAD
042099,001097: 14,3422 02715 STARAD +6
042100,001098: 14,3423 02761 STORE STARSAV1
042101,001099: 14,3424 77776 P51D EXIT
042102,001100: 14,3425 05353 TC PHASCHNG
042103,001101: 14,3426 05024 OCT 05024
042104,001102: 14,3427 13000 OCT 13000
042105,001103: 14,3430 11757 CCS STARIND
042106,001104: 14,3431 13446 TCF P51E
042107,001105: 14,3432 05353 TC PHASCHNG
042108,001106: 14,3433 05024 OCT 05024
042109,001107: 14,3434 13000 OCT 13000
042110,001108: 14,3435 06036 TC INTPRET
042111,001109: 14,3436 45145 DLOAD CALL
042112,001110: 14,3437 03560 TSIGHT
042113,001111: 14,3440 32540 PLANET
042114,001112: 14,3441 03552 STORE PLANVEC
042115,001113: 14,3442 77776 EXIT
042116,001114: 14,3443 34753 CAF BIT1
042117,001115: 14,3444 55757 TS STARIND
042118,001116: 14,3445 13406 TCF P51C +1 # DO SECOND STAR
042119,001117: 14,3446 05353 P51E TC PHASCHNG
042120,001118: 14,3447 05024 OCT 05024
042121,001119: 14,3450 13000 OCT 13000
042122,001120: 14,3451 06036 TC INTPRET
042123,001121: 14,3452 45145 DLOAD CALL
042124,001122: 14,3453 03560 TSIGHT
042125,001123: 14,3454 32540 PLANET
042126,001124: 14,3455 24015 STOVL 12D
042127,001125: 14,3456 03552 PLANVEC
042128,001126: 14,3457 24007 STOVL 6D
042129,001127: 14,3460 02761 STARSAV1
042130,001128: 14,3461 26707 STOVL STARAD
042131,001129: 14,3462 02767 STARSAV2
042132,001130: 14,3463 36715 STCALL STARAD +6
042133,001131: 14,3464 31121 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042134,001132: 14,3465 77414 BON EXIT
042135,001133: 14,3466 00314 FREEFLAG
042136,001134: 14,3467 31471 P51G
042137,001135: 14,3470 03342 TC P51 +2
042138,001136: 14,3471 77624 P51G CALL
042139,001137: 14,3472 47345 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042140,001138: 14,3473 75160 AXC,1 AXC,2
042141,001139: 14,3474 02664 XDC
042142,001140: 14,3475 01733 REFSMMAT
042143,001141: 14,3476 77624 CALL
042144,001142: 14,3477 31237 MATMOVE
042145,001143: 14,3500 77614 SET
042146,001144: 14,3501 01462 REFSMFLG
042147,001145:
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Page 950 |
042149,001147: 14,3502 77776 EXIT
042150,001148: 14,3503 06001 TC GOTOPOOH # FINIS
042151,001149: 14,3504 4761 PRFMSTAQ = OCT15
042152,001150: 14,3504 4755 P51ZERO = ZERO
042153,001151: 14,3504 4756 P51FIVE = FIVE
042154,001152: 14,3504 01426 V6N22 VN 0622
042155,001153: 14,3505 12200 V41K VN 4100
042156,001154: 14,3506 77776 COARSE EXIT
042157,001155: 14,3507 04616 TC BANKCALL
042158,001156: 14,3510 16753 CADR IMUCOARS
042159,001157: 14,3511 04616 TC BANKCALL
042160,001158: 14,3512 17671 CADR IMUSTALL
042161,001159: 14,3513 05703 TC CURTAINS
042162,001160: 14,3514 04616 TC BANKCALL
042163,001161: 14,3515 17163 CADR IMUFINE
042164,001162: 14,3516 04616 TC BANKCALL
042165,001163: 14,3517 17671 CADR IMUSTALL
042166,001164: 14,3520 05703 TC CURTAINS
042167,001165: 14,3521 06036 TC INTPRET
042168,001166: 14,3522 77616 RVQ
042169,001167: 14,3523 77776 NCOARSE EXIT
042170,001168: 14,3524 30025 CA TIME1
042171,001169: 14,3525 55075 TS 1/PIPADT
042172,001170: 14,3526 06036 TC INTPRET
042173,001171: 14,3527 77775 VLOAD
042174,001172: 14,3530 22275 ZEROVEC
042175,001173: 14,3531 01472 STORE GCOMP
042176,001174: 14,3532 43414 SET RVQ
042177,001175: 14,3533 01060 DRIFTFLG
042178,001176:
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Page 951 |
042180,001178: # NAME-S52.2
042181,001179: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042182,001180: # CALL- CALL S52.2
042183,001181: # INPUT- X,Y,ZSMD
042184,001182: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042185,001183: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042186,001184: 14,3534 COUNT* $$/S52.1
042187,001185: 14,3534 77620 S52.2 STQ
042188,001186: 14,3535 02746 QMAJ
042189,001187: 14,3536 77624 CALL
042190,001188: 14,3537 47443 CDUTRIG
042191,001189: 14,3540 77624 CALL
042192,001190: 14,3541 31267 CALCSMSC
042193,001191: 14,3542 66370 AXT,1 SSP
042194,001192: 14,3543 00022 18D
042195,001193: 14,3544 00051 S1
042196,001194: 14,3545 00006 6D
042197,001195: 14,3546 61373 S52.2A VLOAD* VXM
042198,001196: 14,3547 02707 XNB +18D,1
042199,001197: 14,3550 01734 REFSMMAT
042200,001198: 14,3551 77656 UNIT
042201,001199: 14,3552 06707 STORE XNB +18D,1
042202,001200: 14,3553 77700 TIX,1
042203,001201: 14,3554 31546 S52.2A
042204,001202: 14,3555 75160 S52.2.1 AXC,1 AXC,2
042205,001203: 14,3556 03604 XSMD
042206,001204: 14,3557 02642 XSM
042207,001205: 14,3560 77624 CALL
042208,001206: 14,3561 31237 MATMOVE
042209,001207: 14,3562 77624 CALL
042210,001208: 14,3563 47255 CALCGA
042211,001209: 14,3564 77650 GOTO
042212,001210: 14,3565 02746 QMAJ
042213,001211:
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Page 952 |
042215,001213: # NAME-S52.3
042216,001214: # FUNCTION XSMD= UNIT R
042217,001215: # YSMD= UNIT(V X R)
042218,001216: # ZSMD= UNIT(XSMD X YSMD)
042219,001217: # CALL DLOAD CALL
042220,001218: # TALIGN
042221,001219: # S52.3
042222,001220: # INPUT- TIME OF ALIGNMENT IN MPAC
042223,001221: # OUTPUT- X,Y,ZSMD
042224,001222: # SUBROUTINES- CSMCONIC
042225,001223: 14,3566 COUNT* $$/S52.3
042226,001224: 14,3566 77620 S52.3 STQ
042227,001225: 14,3567 02746 QMAJ
042228,001226: 14,3570 34041 STCALL TDEC1
042229,001227: 14,3571 27100 LEMCONIC
042230,001228: 14,3572 77601 SETPD
042231,001229: 14,3573 00001 0
042232,001230: 14,3574 53575 VLOAD UNIT
042233,001231: 14,3575 00001 RATT
042234,001232: 14,3576 27605 STOVL XSMD
042235,001233: 14,3577 00007 VATT
042236,001234: 14,3600 53435 VXV UNIT
042237,001235: 14,3601 00001 RATT
042238,001236: 14,3602 27613 STOVL YSMD
042239,001237: 14,3603 03605 XSMD
042240,001238: 14,3604 53435 VXV UNIT
042241,001239: 14,3605 03613 YSMD
042242,001240: 14,3606 37621 STCALL ZSMD
042243,001241: 14,3607 02746 QMAJ
042244,001242:
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Page 953 |
042246,001244: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042247,001245:
042248,001246: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042249,001247: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042250,001248:
042251,001249: # CALLING -CALL R52
042252,001250:
042253,001251: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042254,001252: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042255,001253: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042256,001254: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042257,001255: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042258,001256:
042259,001257: # SUBROUT -R60LEM
042260,001258:
042261,001259: 14,3610 COUNT* $$/R52
042262,001260: 14,3610 77420 R52 STQ EXIT
042263,001261: 14,3611 03663 SAVQR52
042264,001262: 14,3612 51757 INDEX STARIND
042265,001263: 14,3613 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042266,001264: 14,3614 00006 EXTEND
042267,001265: 14,3615 73706 MP 1/6TH
042268,001266: 14,3616 64744 AD BIT8 # SET DETENT POSITION 2
042269,001267: 14,3617 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042270,001268:
042271,001269: 14,3620 33707 R52A CAF V01N70
042272,001270: 14,3621 04616 TC BANKCALL
042273,001271: 14,3622 20351 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042274,001272: 14,3623 06001 TC GOTOPOOH # V34-TERMINATE
042275,001273: 14,3624 13626 TCF R52B # V33-PROCEED TO ORIENT LEM
042276,001274: 14,3625 13620 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042277,001275:
042278,001276: 14,3626 05516 R52B TC DOWNFLAG
042279,001277: 14,3627 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042280,001278: 14,3630 30735 CA STARCODE # GRAB DETENT CODE
042281,001279: 14,3631 77743 MASK HIGH9
042282,001280: 14,3632 00006 EXTEND
042283,001281: 14,3633 63620 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
042284,001282: 14,3634 74743 MASK BIT9 # SEE IF CODE 4 OR 5
042285,001283: 14,3635 10000 CCS A
042286,001284: 14,3636 13655 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
042287,001285: 14,3637 E7,1547 EBANK= XYMARK
042288,001286: 14,3637 35016 CA EBANK7
042289,001287: 14,3640 54003 TS EBANK
042290,001288: 14,3641 37743 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
042291,001289: 14,3642 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
042292,001290: 14,3643 00006 EXTEND
042293,001291: 14,3644 74743 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
042294,001292: 14,3645 50000 INDEX A
042295,001293: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042296,001294:
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Page 954 |
042298,001296: 14,3647 54001 TS L
042299,001297: 14,3650 E5,1642 EBANK= XSM
042300,001298: 14,3650 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042301,001299: 14,3651 54003 TS EBANK
042302,001300: 14,3652 34737 CA BIT13 # SET ELV TO 45 DEG
042303,001301: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042304,001302: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
042305,001303:
042306,001304: 14,3655 33710 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042307,001305: 14,3656 04616 TC BANKCALL
042308,001306: 14,3657 20351 CADR GOFLASH
042309,001307: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
042310,001308: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
042311,001309: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
042312,001310:
042313,001311: 14,3663 00006 EXTEND
042314,001312: 14,3664 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042315,001313: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042316,001314: 14,3666 52011 DXCH 8D
042317,001315: 14,3667 06036 TC INTPRET
042318,001316: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042319,001317: 14,3671 13370 OANB # SCAXIS IN NB COORDS
042320,001318: 14,3672 45034 RTB CALL
042321,001319: 14,3673 21462 LOADTIME
042322,001320: 14,3674 32540 PLANET
042323,001321: 14,3675 53521 MXV UNIT
042324,001322: 14,3676 01734 REFSMMAT
042325,001323: 14,3677 03767 STORE POINTVSM # STORE FOR VECPOINT
042326,001324:
042327,001325: 14,3700 77776 EXIT
042328,001326: 14,3701 04616 TC BANKCALL
042329,001327: 14,3702 54101 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042330,001328:
042331,001329: 14,3703 06036 TC INTPRET # RETURN FROM KALCMANU
042332,001330: 14,3704 77650 GOTO
042333,001331: 14,3705 03663 SAVQR52 # RETURN TO CALLER
042334,001332:
042335,001333: 14,3706 05253 1/6TH DEC .1666667
042336,001334: 14,3707 00306 V01N70 VN 0170
042337,001335: 14,3710 01527 V06N87 VN 687
042338,001336:
![]() |
Page 955 |
042340,001338: # LUNAR SURFACE STAR AQUISITION
042341,001339:
042342,001340: 15,2301 BANK 15
042343,001341: 15,2000 SETLOC P50S
042344,001342: 15,2000 BANK
042345,001343: 15,2301 COUNT* $$/R59
042346,001344:
042347,001345: 15,2301 40077 R59 CS FLAGWRD3
042348,001346: 15,2302 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042349,001347: 15,2303 10000 CCS A
042350,001348: 15,2304 12523 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042351,001349:
042352,001350: 15,2305 32531 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042353,001351: 15,2306 04616 TC BANKCALL
042354,001352: 15,2307 20351 CADR GOFLASH
042355,001353: 15,2310 06001 TC GOTOPOOH # V34-TERMINATE
042356,001354: 15,2311 12313 TCF R59A # V33-PROCEED
042357,001355: 15,2312 12301 TCF R59 # V32-RECYCLE
042358,001356:
042359,001357: 15,2313 47743 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042360,001358: 15,2314 70735 MASK AOTCODE
042361,001359: 15,2315 00006 EXTEND
042362,001360: 15,2316 76241 MP REVCNT # JUST 6
042363,001361: 15,2317 56001 XCH L
042364,001362: 15,2320 51757 INDEX STARIND
042365,001363: 15,2321 55755 TS BESTI
042366,001364: 15,2322 50120 INDEX FIXLOC
042367,001365: 15,2323 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042368,001366: 15,2324 00006 EXTEND
042369,001367: 15,2325 12523 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042370,001368: 15,2326 40000 COM
042371,001369: 15,2327 62625 AD DEC227
042372,001370: 15,2330 00006 EXTEND
042373,001371: 15,2331 62523 BZMF R59OUT
042374,001372:
042375,001373: 15,2332 06036 TC INTPRET
042376,001374: 15,2333 77624 CALL
042377,001375: 15,2334 47443 CDUTRIG # GET CDU JAZZ FOR SMNB
042378,001376: 15,2335 64373 VLOAD* MXV
042379,001377: 15,2336 30347 CATLOG,1 # GRAB STAR VECTOR
042380,001378: 15,2337 01734 REFSMMAT # TRANSFORM TO SM
042381,001379: 15,2340 45056 UNIT CALL
042382,001380: 15,2341 47575 *SMNB* # TRANSFORM TO NB
042383,001381: 15,2342 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042384,001382: 15,2343 77776 EXIT
042385,001383:
042386,001384: 15,2344 34753 CAF BIT1 # INITIALIZE POS TO ONE
042387,001385: 15,2345 55052 TS POSCODE
042388,001386: 15,2346 42537 CS DEG60 # AS(N) TO -60 DEG
042389,001387: 15,2347 55745 TS QMIN
042390,001388:
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Page 956 |
042392,001390:
042393,001391:
042394,001392: 15,2350 54000 STORPOS TS A # DETECT OVF AZ = -120
042395,001393: 15,2351 12354 TCF +3 # NO OVF
042396,001394: 15,2352 34735 CAF BIT15 # OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042397,001395: 15,2353 27745 ADS QMIN
042398,001396: 15,2354 34737 CAF BIT13 # ELV=45 DEG
042399,001397: 15,2355 54001 TS L
042400,001398: 15,2356 31745 CA QMIN
042401,001399: 15,2357 50120 INDEX FIXLOC
042402,001400: 15,2360 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042403,001401:
042404,001402: 15,2361 06036 TC INTPRET
042405,001403: 15,2362 77624 CALL
042406,001404: 15,2363 13370 OANB # GO CALC OPTIC AXIS WRT NB
042407,001405: 15,2364 50375 VLOAD DOT
042408,001406: 15,2365 02731 STAR # DOT STAR WITH OA
042409,001407: 15,2366 03761 SCAXIS
042410,001408: 15,2367 65552 SL1 ARCCOS
042411,001409: 15,2370 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042412,001410:
042413,001411: 15,2371 51025 DSU BPL
042414,001412: 15,2372 32534 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042415,001413: 15,2373 32455 NXAX # NOT IN FIELD - TRY NEXT POSITION
042416,001414: 15,2374 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042417,001415: 15,2375 00031 24D
042418,001416: 15,2376 32536 DEG.5
042419,001417: 15,2377 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042420,001418: 15,2400 32450 ZSPCR # GO ZERO CURSOR AND SPIRAL
042421,001419: 15,2401 00031 24D # GET SPIRAL
042422,001420: 15,2402 42405 DMP SL4
042423,001421: 15,2403 23710 3/4 # 12 SCALED AT 16
042424,001422: 15,2404 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042425,001423:
042426,001424: 15,2405 03761 SCAXIS # OA
042427,001425: 15,2406 53435 VXV UNIT
042428,001426: 15,2407 22273 XUNIT
042429,001427: 15,2410 47206 PUSH VXV # OA X UNITX PD 0-5
042430,001428: 15,2411 03761 SCAXIS
042431,001429: 15,2412 77676 VCOMP
042432,001430: 15,2413 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042433,001431: 15,2414 03761 SCAXIS
042434,001432: 15,2415 53435 VXV UNIT
042435,001433: 15,2416 02731 STAR
042436,001434: 15,2417 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042437,001435: 15,2420 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042438,001436: 15,2421 65552 SL1 ARCCOS
042439,001437: 15,2422 24033 STOVL 26D # STORE THET SCALED IN REVS
042440,001438:
042441,001439: 15,2423 77641 DOT # UP 12-17, UP 6-11 FOR C2
042442,001440: 15,2424 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042443,001441: 15,2425 32432 R59D
042444,001442:
![]() |
Page 957 |
042446,001444: 15,2426 32047 ABOUTONE
042447,001445: 15,2427 77625 DSU
042448,001446: 15,2430 00033 26D
042449,001447: 15,2431 00033 STORE 26D # 360-THET SCALED IN REVS
042450,001448:
042451,001449: 15,2432 70535 R59D SLOAD SR1
042452,001450: 15,2433 02746 QMIN # RESCALE AZ(N) TO REVS
042453,001451: 15,2434 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042454,001452: 15,2435 00033 26D
042455,001453: 15,2436 77634 RTB
042456,001454: 15,2437 21520 1STO2S
042457,001455: 15,2440 15046 STODL CURSOR # YROT IN 1/2 REVS
042458,001456: 15,2441 00031 24D # LOAD SROT IN REVS
042459,001457: 15,2442 77615 DAD # 12(SEP) + YROT
042460,001458: 15,2443 77634 RTB
042461,001459: 15,2444 21520 1STO2S
042462,001460: 15,2445 01047 STORE SPIRAL # SROT IN 1/2 REVS
042463,001461: 15,2446 77776 EXIT
042464,001462: 15,2447 12476 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042465,001463:
042466,001464: 15,2450 77776 ZSPCR EXIT
042467,001465: 15,2451 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042468,001466: 15,2452 55045 TS CURSOR # AND SPIRAL ANGLES
042469,001467: 15,2453 55046 TS SPIRAL
042470,001468: 15,2454 12476 TCF 79DISP
042471,001469:
042472,001470: 15,2455 77776 NXAX EXIT
042473,001471: 15,2456 25052 INCR POSCODE
042474,001472: 15,2457 41052 CS POSCODE
042475,001473: 15,2460 64757 AD SEVEN
042476,001474: 15,2461 00006 EXTEND
042477,001475: 15,2462 62466 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042478,001476: 15,2463 32537 CAF DEG60 # ADVANCE AZ(N) BY 60 DEG
042479,001477: 15,2464 27745 ADS QMIN # IF OVF, QMIN CONTAINS OVF CORRECTED
042480,001478: 15,2465 12350 TCF STORPOS
042481,001479: 15,2466 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042482,001480: 15,2467 00404 OCT 404
042483,001481: 15,2470 35006 CAF VB05N09 # DISPLAY ALARM
042484,001482: 15,2471 04616 TC BANKCALL
042485,001483: 15,2472 20351 CADR GOFLASH
042486,001484: 15,2473 16001 TCF GOTOPOOH # VB34-TERMINATE
042487,001485: 15,2474 12523 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042488,001486: 15,2475 12301 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042489,001487:
042490,001488: 15,2476 32532 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042491,001489: 15,2477 04616 TC BANKCALL
042492,001490: 15,2500 20351 CADR GOFLASH
042493,001491: 15,2501 16001 TCF GOTOPOOH # V34-TERMINATE
042494,001492: 15,2502 12504 TCF R59E # V33-PROCEED TO MARK ROUTINE
042495,001493: 15,2503 12301 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042496,001494:
![]() |
Page 958 |
042498,001496: 15,2504 34751 R59E CAF BIT3 # GET DETENT CORRESPONDING TO POSITION COD
042499,001497: 15,2505 71052 MASK POSCODE # KEYED IN POS CODE
042500,001498: 15,2506 00006 EXTEND
042501,001499: 15,2507 12511 BZF +2 # FORWARD DETENT
042502,001500: 15,2510 12513 TCF +3 # ITS REAR DETENT, 4 ALREADY IN (A)
042503,001501: 15,2511 34757 CAF SEVEN # GET FORWARD DETENT
042504,001502: 15,2512 71052 MASK POSCODE
042505,001503: 15,2513 00006 EXTEND
042506,001504: 15,2514 74745 MP BIT7
042507,001505: 15,2515 56001 XCH L
042508,001506: 15,2516 55745 TS QMIN
042509,001507: 15,2517 47743 CS HIGH9
042510,001508: 15,2520 70735 MASK AOTCODE
042511,001509: 15,2521 61745 AD QMIN
042512,001510: 15,2522 54735 TS AOTCODE # STORE DETENT IN 7-9
042513,001511:
042514,001512: 15,2523 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042515,001513: 15,2524 16000 CADR AOTMARK
042516,001514: 15,2525 04616 TC BANKCALL
042517,001515: 15,2526 17665 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042518,001516: 15,2527 05703 TC CURTAINS # BADEND RETURN FROM AOTMARK
042519,001517: 15,2530 13123 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042520,001518:
042521,001519: 15,2531 00306 V01N70* VN 170
042522,001520: 15,2532 01517 V06N79 VN 679
042523,001521: 15,2533 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042524,001522: 15,2535 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042525,001523: 15,2537 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042526,001524: 15,2540 1045 CURSOR EQUALS DSPTEM1
042527,001525: 15,2540 1046 SPIRAL EQUALS DSPTEM1 +1
042528,001526: 15,2540 1052 POSCODE EQUALS DSPTEM2 +2
042529,001527:
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Page 959 |
042531,001529: # NAME - PLANET
042532,001530: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042533,001531: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042534,001532: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042535,001533: # BY DSDY INPUT
042536,001534: # CALL - CALL
042537,001535: # PLANET
042538,001536: # INPUT - TIME IN MPAC
042539,001537: # OUTPUT - VECTOR IN MPAC
042540,001538: # SUBROUTINES - LOCSAM
042541,001539: # DEBRIS - VAC ,STARAD - STARAD +17
042542,001540:
042543,001541: 15,2000 SETLOC P50S
042544,001542: 15,2000 BANK
042545,001543: 15,2540 COUNT* $$/P51
042546,001544:
042547,001545: 15,2540 03560 PLANET STORE TSIGHT
042548,001546: 15,2541 77420 STQ EXIT
042549,001547: 15,2542 02736 GCTR
042550,001548: 15,2543 47743 CS HIGH9
042551,001549: 15,2544 70735 MASK AOTCODE
042552,001550: 15,2545 00006 EXTEND
042553,001551: 15,2546 76241 MP REVCNT
042554,001552: 15,2547 56001 XCH L
042555,001553: 15,2550 51757 INDEX STARIND
042556,001554: 15,2551 55755 TS BESTI
042557,001555: 15,2552 10000 CCS A
042558,001556: 15,2553 12567 TCF NOTPLAN
042559,001557: 15,2554 32626 CAF VNPLANV
042560,001558: 15,2555 04616 TC BANKCALL
042561,001559: 15,2556 20351 CADR GOFLASH
042562,001560: 15,2557 02554 TC -3
042563,001561: 15,2560 02562 TC +2
042564,001562: 15,2561 02554 TC -5
042565,001563: 15,2562 06036 TC INTPRET
042566,001564: 15,2563 53575 VLOAD UNIT
042567,001565: 15,2564 02707 STARAD
042568,001566: 15,2565 77650 GOTO
042569,001567: 15,2566 02736 GCTR
042570,001568: 15,2567 40000 NOTPLAN CS A
042571,001569: 15,2570 62625 AD DEC227
042572,001570: 15,2571 00006 EXTEND
042573,001571: 15,2572 62603 BZMF CALSAM1
042574,001572: 15,2573 51757 INDEX STARIND
042575,001573: 15,2574 31755 CA BESTI
042576,001574: 15,2575 50120 INDEX FIXLOC
042577,001575: 15,2576 54046 TS X1
042578,001576: 15,2577 06036 TC INTPRET
042579,001577: 15,2600 52173 VLOAD* GOTO
042580,001578: 15,2601 30347 CATLOG,1
042581,001579:
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Page 960 |
042583,001581: 15,2602 02736 GCTR
042584,001582: 15,2603 06036 CALSAM1 TC INTPRET
042585,001583: 15,2604 45145 CALSAM DLOAD CALL
042586,001584: 15,2605 03560 TSIGHT
042587,001585: 15,2606 30347 LOCSAM
042588,001586: 15,2607 77340 LXC,1 VLOAD
042589,001587: 15,2610 02757 STARIND
042590,001588: 15,2611 02707 VEARTH
042591,001589: 15,2612 24001 STOVL 0D
042592,001590: 15,2613 02715 VSUN
042593,001591: 15,2614 26707 STOVL VEARTH
042594,001592: 15,2615 00001 0D
042595,001593: 15,2616 02715 STORE VSUN
042596,001594: 15,2617 70143 DLOAD* LXC,1
042597,001595: 15,2620 02756 BESTI,1
042598,001596: 15,2621 00154 MPAC
042599,001597: 15,2622 52173 VLOAD* GOTO
042600,001598: 15,2623 02343 STARAD -228D,1
042601,001599: 15,2624 02736 GCTR
042602,001600: 15,2625 00343 DEC227 DEC 227 B-14
042603,001601: 15,2626 01530 VNPLANV VN 0688
042604,001602: 15,2627 37,3533 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042605,001603:
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Page 961 |
042607,001605: # GRAVITY VECTOR DETERMINATION ROUTINE
042608,001606: # BY KEN VINCENT
042609,001607: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042610,001608: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042611,001609: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042612,001610: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042613,001611: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042614,001612: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042615,001613: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042616,001614: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042617,001615: # READINGS.
042618,001616:
042619,001617: # CALL-
042620,001618: # TC BANKCALL
042621,001619: # CADR GVDETER
042622,001620: # INPUTS-
042623,001621: # PIPAS,CDUS
042624,001622: # OUTPUTS-
042625,001623: # STARSAV1 = UNIT GRAVITY
042626,001624: # GSAV = DITTO
042627,001625: # GRAVBIT = 1
042628,001626: # SUBROUTINES-
042629,001627: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042630,001628: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042631,001629: # DEBRIS-
042632,001630: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042633,001631: 15,2627 44737 GVDETER CS BIT13 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
042634,001632: 15,2630 54322 TS THETAD +1
042635,001633: 15,2631 40000 COM
042636,001634: 15,2632 54323 TS THETAD +2
042637,001635: 15,2633 54321 TS THETAD
042638,001636: 15,2634 06036 TC INTPRET
042639,001637: 15,2635 45014 CLEAR CALL
042640,001638: 15,2636 01662 REFSMFLG
042641,001639: 15,2637 32734 LUNG
042642,001640: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042643,001641:
042644,001642: # DEFINE G COOR SYS
042645,001643: # -
042646,001644: # X UNIT G
042647,001645: # * - -
042648,001646: # M= Y = UNITEZSM * X )
042649,001647: # - - -
042650,001648: # Z UNIT(X * Y )
042651,001649: # THEN ROTATED SM WRT PRESENT IS
042652,001650:
042653,001651:
042654,001652: # 1, 0 , 0
042655,001653: # * *T * * *
042656,001654: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042657,001655:
![]() |
Page 962 |
042659,001657: # I J
042660,001658: # 0, 0 ,-1
042661,001659:
042662,001660: # ALSO NB WRT PRES SM IS
042663,001661:
042664,001662: # * * *
042665,001663: # XNB = NBSM I
042666,001664: # * *
042667,001665: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042668,001666:
042669,001667: 15,2000 SETLOC P50S
042670,001668: 15,2000 BANK
042671,001669: 15,2640 COUNT* $$/P57
042672,001670: 15,2640 66370 AXT,1 SSP # X1=18
042673,001671: 15,2641 00022 18D # S1= 6
042674,001672: 15,2642 00051 S1 # X2, -2
042675,001673: 15,2643 00006 6D
042676,001674: 15,2644 77744 LXC,2
042677,001675: 15,2645 00050 S1
042678,001676: 15,2646 45173 GRAVEL VLOAD* CALL
042679,001677: 15,2647 55512 XUNIT -6,2
042680,001678: 15,2650 47577 *NBSM* # SIN AND COS COMPUTED IN LUNG
042681,001679: 15,2651 06707 STORE XNB +18D,1
042682,001680: 15,2652 77775 VLOAD
042683,001681: 15,2653 02731 STAR
042684,001682: 15,2654 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042685,001683: 15,2655 00047 X2
042686,001684: 15,2656 75040 STAR +6,2 # OUTER PRODUCT
042687,001685: 15,2657 71152 VSL2 LXC,2
042688,001686: 15,2660 00047 X2
042689,001687: 15,2661 63047 VSU* INCR,2
042690,001688: 15,2662 55512 XUNIT -6,2
042691,001689: 15,2663 00002 2D
042692,001690: 15,2664 06665 STORE XSM +18D,1
042693,001691: 15,2665 45100 TIX,1 CALL
042694,001692: 15,2666 32646 GRAVEL
042695,001693: 15,2667 47255 CALCGA
042696,001694: 15,2670 74575 VLOAD VSR1
042697,001695: 15,2671 02715 GOUT
042698,001696: 15,2672 36723 STCALL STARAD +12D
042699,001697: 15,2673 32734 LUNG
042700,001698: 15,2674 74575 VLOAD VSR1
042701,001699: 15,2675 02715 GOUT
042702,001700: 15,2676 53455 VAD UNIT
042703,001701: 15,2677 02723 STARAD +12D
042704,001702: 15,2700 02761 STORE STARSAV1
042705,001703: 15,2701 77641 DOT
042706,001704: 15,2702 02235 GSAV
042707,001705: 15,2703 65552 SL1 ACOS
042708,001706: 15,2704 01046 STORE DSPTEM1
042709,001707:
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Page 963 |
042711,001709: 15,2705 77776 EXIT
042712,001710: 15,2706 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042713,001711: 15,2707 00014 ADRES FREEFLAG
042714,001712:
042715,001713: 15,2710 33040 CA DISGRVER
042716,001714: 15,2711 04616 TC BANKCALL
042717,001715: 15,2712 20351 CADR GOFLASH
042718,001716: 15,2713 06001 TC GOTOPOOH
042719,001717: 15,2714 12717 TCF PROGRAV # VB33-PROCEED
042720,001718: 15,2715 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042721,001719: 15,2716 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042722,001720:
042723,001721: 15,2717 05353 PROGRAV TC PHASCHNG
042724,001722: 15,2720 05024 OCT 05024
042725,001723: 15,2721 13000 OCT 13000
042726,001724: 15,2722 06036 TC INTPRET
042727,001725: 15,2723 77775 VLOAD
042728,001726: 15,2724 02761 STARSAV1
042729,001727: 15,2725 02235 STORE GSAV
042730,001728: 15,2726 77776 EXIT
042731,001729: 15,2727 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042732,001730: 15,2730 70074 MASK FLAGWRD0
042733,001731: 15,2731 10000 CCS A
042734,001732: 15,2732 12627 TCF GVDETER # SET
042735,001733: 15,2733 13535 TCF ATTCHK # EXIT FROM GVDETER
042736,001734:
042737,001735: 15,2734 77220 LUNG STQ VLOAD
042738,001736: 15,2735 02745 QMIN
042739,001737: 15,2736 22275 ZEROVEC
042740,001738: 15,2737 02707 STORE GACC
042741,001739: 15,2740 77776 EXIT
042742,001740: 15,2741 05353 TC PHASCHNG
042743,001741: 15,2742 05024 OCT 05024
042744,001742: 15,2743 13000 OCT 13000
042745,001743: 15,2744 04616 TC BANKCALL
042746,001744: 15,2745 16753 CADR IMUCOARS
042747,001745: 15,2746 04616 TC BANKCALL
042748,001746: 15,2747 17671 CADR IMUSTALL
042749,001747: 15,2750 05703 TC CURTAINS
042750,001748: 15,2751 04616 TC BANKCALL
042751,001749: 15,2752 17163 CADR IMUFINE
042752,001750: 15,2753 04616 TC BANKCALL
042753,001751: 15,2754 17671 CADR IMUSTALL
042754,001752: 15,2755 05703 TC CURTAINS
042755,001753: 15,2756 33037 CA T/2SEC
042756,001754: 15,2757 55736 TS GCTR
042757,001755: 15,2760 37715 CA PRIO31
042758,001756: 15,2761 55075 TS 1/PIPADT
042759,001757: 15,2762 04616 TC BANKCALL
042760,001758: 15,2763 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042761,001759:
![]() |
Page 964 |
042763,001761: 15,2764 05353 TC PHASCHNG
042764,001762: 15,2765 05024 OCT 05024
042765,001763: 15,2766 13000 OCT 13000
042766,001764: 15,2767 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042767,001765: 15,2770 77533 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042768,001766: 15,2771 06036 TC INTPRET
042769,001767: 15,2772 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042770,001768: 15,2773 35000 CAF 2SECS
042771,001769: 15,2774 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042772,001770: 15,2775 02777 ADRES GRABGRAV
042773,001771:
042774,001772: 15,2776 05155 TC ENDOFJOB
042775,001773:
042776,001774: 15,2777 04674 GRABGRAV TC IBNKCALL
042777,001775: 15,3000 77533 CADR PIPSRINE
042778,001776: 15,3001 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042779,001777: 15,3002 05105 TC FINDVAC
042780,001778: 15,3003 E5,1706 EBANK= STARAD
042781,001779: 15,3003 03006 32065 2CADR ADDGRAV
042782,001780:
042783,001781: 15,3005 05261 TC TASKOVER
042784,001782:
042785,001783: 15,3006 04616 ADDGRAV TC BANKCALL
042786,001784: 15,3007 15263 CADR 1/PIPA
042787,001785: 15,3010 25736 INCR GCTR
042788,001786: 15,3011 06036 TC INTPRET
042789,001787: 15,3012 53375 VLOAD VAD
042790,001788: 15,3013 00325 DELV
042791,001789: 15,3014 02707 GACC
042792,001790: 15,3015 02707 STORE GACC # ACCUMULATE G VECTOR
042793,001791: 15,3016 50135 SLOAD BMN
042794,001792: 15,3017 02737 GCTR
042795,001793: 15,3020 32772 GREED
042796,001794: 15,3021 53575 VLOAD UNIT
042797,001795: 15,3022 02707 GACC
042798,001796: 15,3023 36731 STCALL STAR
042799,001797: 15,3024 47443 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042800,001798: 15,3025 77624 CALL # IN OUTPUT
042801,001799: 15,3026 47575 *SMNB*
042802,001800: 15,3027 02715 STORE GOUT
042803,001801: 15,3030 77776 EXIT
042804,001802: 15,3031 05353 TC PHASCHNG
042805,001803: 15,3032 05024 OCT 05024
042806,001804: 15,3033 13000 OCT 13000
042807,001805: 15,3034 06036 TC INTPRET
042808,001806: 15,3035 77650 GOTO
042809,001807: 15,3036 02745 QMIN
042810,001808: 15,3037 77751 T/2SEC DEC -22 B-14
042811,001809: 15,3040 01404 DISGRVER VN 0604
042812,001810:
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Page 965 |
042814,001812: # NAME GYROTRIM
042815,001813:
042816,001814: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042817,001815: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042818,001816: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042819,001817:
042820,001818: # CALL CALL
042821,001819: # GYROTRIM
042822,001820:
042823,001821: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042824,001822: # CDUX,CDUY,CDUZ
042825,001823:
042826,001824: # OUTPUT - GYRO TORQUE PULSES
042827,001825:
042828,001826: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042829,001827: # IMPULSE,IMUSTALL
042830,001828: # - - - * * -
042831,001829: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042832,001830: 15,3041 COUNT* $$/P57
042833,001831: 15,3041 71220 GYROTRIM STQ DLOAD
042834,001832: 15,3042 02745 QMIN
042835,001833: 15,3043 00322 THETAD
042836,001834: 15,3044 65325 PDDL PDDL
042837,001835: 15,3045 00324 THETAD +2
042838,001836: 15,3046 00323 THETAD +1
042839,001837: 15,3047 77666 VDEF
042840,001838: 15,3050 24767 STOVL CDUSPOT
042841,001839: 15,3051 22273 XUNIT
042842,001840: 15,3052 77624 CALL
042843,001841: 15,3053 47570 TRG*NBSM
042844,001842: 15,3054 26707 STOVL STARAD
042845,001843: 15,3055 22271 YUNIT
042846,001844: 15,3056 77624 CALL
042847,001845: 15,3057 47577 *NBSM*
042848,001846: 15,3060 36715 STCALL STARAD +6
042849,001847: 15,3061 47443 CDUTRIG
042850,001848: 15,3062 77624 CALL
042851,001849: 15,3063 31267 CALCSMSC
042852,001850: 15,3064 77775 VLOAD
042853,001851: 15,3065 02665 XNB
042854,001852: 15,3066 24007 STOVL 6D
042855,001853: 15,3067 02673 YNB
042856,001854: 15,3070 34015 STCALL 12D
042857,001855: 15,3071 47345 AXISGEN
042858,001856: 15,3072 77624 CALL
042859,001857: 15,3073 47151 CALCGTA
042860,001858: 15,3074 77776 JUSTTRIM EXIT
042861,001859: 15,3075 04616 TC BANKCALL
042862,001860: 15,3076 17163 CADR IMUFINE
042863,001861: 15,3077 04616 TC BANKCALL
042864,001862:
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Page 966 |
042866,001864: 15,3100 17671 CADR IMUSTALL
042867,001865: 15,3101 05703 TC CURTAINS
042868,001866: 15,3102 33113 CA GYRCDR
042869,001867: 15,3103 04616 TC BANKCALL
042870,001868: 15,3104 17276 CADR IMUPULSE
042871,001869: 15,3105 04616 TC BANKCALL
042872,001870: 15,3106 17671 CADR IMUSTALL
042873,001871: 15,3107 05703 TC CURTAINS
042874,001872: 15,3110 06036 TC INTPRET
042875,001873: 15,3111 77650 GOTO
042876,001874: 15,3112 02745 QMIN
042877,001875: 15,3113 02737 GYRCDR ECADR OGC
042878,001876:
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Page 967 |
042880,001878: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042881,001879:
042882,001880: 15,3114 34755 2STARS CAF ZERO # INITALIZE STARIND
042883,001881: 15,3115 13117 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042884,001882: 15,3116 34753 1STAR CAF BIT1
042885,001883: 15,3117 55757 TS STARIND
042886,001884:
042887,001885: 15,3120 05353 TC PHASCHNG
042888,001886: 15,3121 04024 OCT 04024
042889,001887:
042890,001888: 15,3122 12301 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042891,001889:
042892,001890: 15,3123 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042893,001891: 15,3124 00006 EXTEND
042894,001892: 15,3125 13144 BZF ASTAR # 1ST STAR MARKED
042895,001893:
042896,001894: 15,3126 06036 TC INTPRET # 2ND STAR MARKED
042897,001895: 15,3127 77775 VLOAD
042898,001896: 15,3130 02715 STARAD +6
042899,001897: 15,3131 02767 STORE STARSAV2 # 2ND STAR IN SM
042900,001898:
042901,001899: 15,3132 77776 EXIT
042902,001900: 15,3133 05353 TC PHASCHNG
042903,001901: 15,3134 05024 OCT 05024
042904,001902: 15,3135 13000 OCT 13000
042905,001903:
042906,001904: 15,3136 06036 TC INTPRET
042907,001905: 15,3137 45145 DLOAD CALL
042908,001906: 15,3140 03560 TSIGHT # TIME OF 2ND MARK
042909,001907: 15,3141 32540 PLANET
042910,001908: 15,3142 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042911,001909: 15,3143 33156 SURFLINE
042912,001910:
042913,001911: 15,3144 06036 ASTAR TC INTPRET
042914,001912: 15,3145 77775 VLOAD
042915,001913: 15,3146 02715 STARAD +6
042916,001914: 15,3147 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042917,001915: 15,3150 45145 DLOAD CALL
042918,001916: 15,3151 03560 TSIGHT # TIME OF 1ST MARK
042919,001917: 15,3152 32540 PLANET
042920,001918: 15,3153 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042921,001919: 15,3154 77776 EXIT
042922,001920: 15,3155 13116 TCF 1STAR # GO GET 2ND STAR SIGHTING
042923,001921:
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Page 968 |
042925,001923: # DO FINE OR COARSE ALIGNMENT OF IMU
042926,001924:
042927,001925: 15,3156 77131 SURFLINE SSP AXT,2
042928,001926: 15,3157 00052 S2
042929,001927: 15,3160 00006 6
042930,001928: 15,3161 00014 12D
042931,001929: 15,3162 64373 WRTDESIR VLOAD* MXV
042932,001930: 15,3163 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042933,001931: 15,3164 03605 XSMD
042934,001932: 15,3165 77656 UNIT
042935,001933: 15,3166 12723 STORE STARAD +12D,2 # VEC IN SM
042936,001934: 15,3167 77773 VLOAD*
042937,001935: 15,3170 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042938,001936: 15,3171 10023 STORE 18D,2
042939,001937: 15,3172 43104 TIX,2 BON
042940,001938: 15,3173 33162 WRTDESIR
042941,001939: 15,3174 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042942,001940: 15,3175 33203 INITBY
042943,001941: 15,3176 77624 DOALIGN CALL
042944,001942: 15,3177 31121 R54 # DO CHKSDATA
042945,001943: 15,3200 77614 BOFF
042946,001944: 15,3201 00354 FREEFLAG
042947,001945: 15,3202 33264 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042948,001946: 15,3203 77624 INITBY CALL
042949,001947: 15,3204 47345 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042950,001948: 15,3205 77624 CALL
042951,001949: 15,3206 47151 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042952,001950: 15,3207 77776 EXIT
042953,001951: 15,3210 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042954,001952: 15,3211 70104 MASK FLAGWRD8
042955,001953: 15,3212 10000 CCS A
042956,001954: 15,3213 13222 TCF 5DEGTEST
042957,001955: 15,3214 33316 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042958,001956: 15,3215 04616 TC BANKCALL
042959,001957: 15,3216 20351 CADR GOFLASH
042960,001958: 15,3217 06001 TC GOTOPOOH # V34-TERMINATE
042961,001959: 15,3220 13222 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042962,001960: 15,3221 13265 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042963,001961:
042964,001962: 15,3222 06036 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042965,001963: 15,3223 40175 VLOAD BOV
042966,001964: 15,3224 02740 OGC
042967,001965: 15,3225 33226 SURFSUP
042968,001966: 15,3226 02750 SURFSUP STORE OGCT
042969,001967: 15,3227 40141 V/SC BOV
042970,001968: 15,3230 30451 5DEGREES
042971,001969: 15,3231 33273 COATRIM
042972,001970: 15,3232 52131 SSP GOTO
042973,001971: 15,3233 02746 QMIN
042974,001972: 15,3234 33236 SURFDISP
042975,001973:
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Page 969 |
042977,001975: 15,3235 33074 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042978,001976:
042979,001977: 15,3236 77776 SURFDISP EXIT
042980,001978: 15,3237 05353 TC PHASCHNG
042981,001979: 15,3240 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
042982,001980: 15,3241 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
042983,001981: 15,3242 06036 TC INTPRET
042984,001982: 15,3243 75160 AXC,1 AXC,2
042985,001983: 15,3244 03604 XSMD
042986,001984: 15,3245 01733 REFSMMAT
042987,001985: 15,3246 45014 SET CALL
042988,001986: 15,3247 01462 REFSMFLG
042989,001987: 15,3250 31237 MATMOVE
042990,001988: 15,3251 77776 EXIT
042991,001989: 15,3252 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042992,001990: 15,3253 13255 TCF B2F8
042993,001991: 15,3254 13265 TCF P57POST +1
042994,001992:
042995,001993: 15,3255 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042996,001994: 15,3256 70104 MASK FLAGWRD8
042997,001995: 15,3257 10000 CCS A
042998,001996: 15,3260 13543 TCF P57JUMP # ITS SET
042999,001997: 15,3261 06036 TC INTPRET
043000,001998: 15,3262 77624 CALL
043001,001999: 15,3263 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043002,002000: 15,3264 77776 P57POST EXIT
043003,002001: 15,3265 35742 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043004,002002: 15,3266 04616 TC BANKCALL
043005,002003: 15,3267 20476 CADR GOPERF1
043006,002004: 15,3270 16001 TCF GOTOPOOH # VB34-TERMINATE
043007,002005: 15,3271 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
043008,002006: 15,3272 16001 TCF GOTOPOOH # VB32-R59 DONE-GO TO PROG 00
043009,002007:
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Page 970 |
043011,002009: # COARSE AND FINE ALIGN IMU
043012,002010: 15,3273 75160 COATRIM AXC,1 AXC,2
043013,002011: 15,3274 02664 XDC
043014,002012: 15,3275 02642 XSM
043015,002013: 15,3276 77624 CALL
043016,002014: 15,3277 31237 MATMOVE
043017,002015: 15,3300 77624 CALL
043018,002016: 15,3301 47443 CDUTRIG
043019,002017: 15,3302 77624 CALL
043020,002018: 15,3303 31267 CALCSMSC
043021,002019: 15,3304 77624 CALL
043022,002020: 15,3305 47255 CALCGA
043023,002021: 15,3306 77624 CALL
043024,002022: 15,3307 31506 COARSE
043025,002023: 15,3310 77624 CALL
043026,002024: 15,3311 31523 NCOARSE
043027,002025: 15,3312 77624 CALL
043028,002026: 15,3313 33041 GYROTRIM
043029,002027: 15,3314 77650 GOTO
043030,002028: 15,3315 33236 SURFDISP
043031,002029: 15,3316 01535 DISPGYRO VN 0693
043032,002030:
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Page 971 |
043034,002032: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043035,002033:
043036,002034: 15,3317 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043037,002035: 15,3320 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
043038,002036:
043039,002037: 15,3321 06036 TC INTPRET
043040,002038: 15,3322 77745 DLOAD
043041,002039: 15,3323 03440 TIG # LOAD ASCENT TIME FOR DISPLAY
043042,002040: 15,3324 01046 P57A STORE DSPTEM1
043043,002041: 15,3325 77776 EXIT
043044,002042: 15,3326 32172 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043045,002043: 15,3327 04616 TC BANKCALL
043046,002044: 15,3330 20510 CADR GOFLASHR
043047,002045: 15,3331 16001 TCF GOTOPOOH # V34-TERMINATE
043048,002046: 15,3332 13337 TCF +5
043049,002047: 15,3333 13326 TCF P57AA # VB32-RECYCLE
043050,002048:
043051,002049: 15,3334 05353 TC PHASCHNG
043052,002050: 15,3335 00014 OCT 00014
043053,002051: 15,3336 05155 TC ENDOFJOB
043054,002052:
043055,002053: 15,3337 06036 TC INTPRET
043056,002054: 15,3340 50145 DLOAD BMN
043057,002055: 15,3341 01046 DSPTEM1
043058,002056: 15,3342 33367 PACKOPTN -1 # NEG TIME-PREF ORIENT IN XSMD MATRIX
043059,002057: 15,3343 65234 RTB PDDL
043060,002058: 15,3344 21462 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043061,002059: 15,3345 01046 DSPTEM1
043062,002060: 15,3346 65254 BZE PDDL
043063,002061: 15,3347 33357 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043064,002062: 15,3350 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043065,002063: 15,3351 01046 DSPTEM1
043066,002064: 15,3352 33357 P57C
043067,002065: 15,3353 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043068,002066: 15,3354 74337 STORE TIG # STORE IT IN TIG
043069,002067: 15,3355 36775 STCALL TALIGN
043070,002068: 15,3356 33361 P57D
043071,002069: 15,3357 45545 P57C DLOAD STADR
043072,002070: 15,3360 75002 STORE TALIGN
043073,002071: 15,3361 34041 P57D STCALL TDEC1
043074,002072: 15,3362 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043075,002073: 15,3363 53575 VLOAD UNIT # IN X,Y,ZSMD
043076,002074: 15,3364 00001 RATT
043077,002075: 15,3365 37605 STCALL XSMD
043078,002076: 15,3366 33647 LSORIENT
043079,002077: 15,3367 77776 EXIT
043080,002078: 15,3370 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043081,002079: 15,3371 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043082,002080: 15,3372 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043083,002081: 15,3373 34737 CAF REFSMBIT
043084,002082:
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Page 972 |
043086,002084: 15,3374 70077 MASK FLAGWRD3 # REFSMFLG
043087,002085: 15,3375 10000 CCS A
043088,002086: 15,3376 34745 CAF BIT7 # SET
043089,002087: 15,3377 27146 ADS OPTION1 +2 # CLEAR-JUST ZERO
043090,002088: 15,3400 34753 CAF ATTFLBIT
043091,002089: 15,3401 70102 MASK FLAGWRD6 # ATTFLG
043092,002090: 15,3402 10000 CCS A
043093,002091: 15,3403 34750 CAF BIT4 # SET
043094,002092: 15,3404 27146 ADS OPTION1 +2 # CLEAR-ZERO IN A
043095,002093: 15,3405 34750 CAF BIT4
043096,002094: 15,3406 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043097,002095:
043098,002096: 15,3407 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043099,002097: 15,3410 04616 TC BANKCALL
043100,002098: 15,3411 20351 CADR GOFLASH
043101,002099: 15,3412 16001 TCF GOTOPOOH # VB34-TERMINATE
043102,002100: 15,3413 13415 TCF +2 # V33-PROCEED
043103,002101: 15,3414 13407 TCF DSPOPTN # V32-RECYCLE
043104,002102:
043105,002103: 15,3415 05353 TC PHASCHNG
043106,002104: 15,3416 05024 OCT 05024
043107,002105: 15,3417 13000 OCT 13000
043108,002106: 15,3420 34737 CAF REFSMBIT
043109,002107: 15,3421 70077 MASK FLAGWRD3
043110,002108: 15,3422 10000 CCS A
043111,002109: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043112,002110: 15,3424 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043113,002111: 15,3425 70102 MASK FLAGWRD6
043114,002112: 15,3426 10000 CCS A
043115,002113: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043116,002114: 15,3430 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
043117,002115: 15,3431 71145 MASK OPTION2
043118,002116: 15,3432 10000 CCS A
043119,002117: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043120,002118: 15,3434 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
043121,002119: 15,3435 00701 OCT 701
043122,002120: 15,3436 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043123,002121: 15,3437 04616 TC BANKCALL
043124,002122: 15,3440 20351 CADR GOFLASH
043125,002123: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
043126,002124: 15,3442 13407 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
043127,002125: 15,3443 13407 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
043128,002126:
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Page 973 |
043130,002128: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043131,002129:
043132,002130: 15,3444 40220 MFREF STQ SETPD
043133,002131: 15,3445 02746 QMAJ
043134,002132: 15,3446 00001 0
043135,002133: 15,3447 77634 RTB
043136,002134: 15,3450 21462 LOADTIME
043137,002135: 15,3451 27560 STOVL TSIGHT
043138,002136: 15,3452 02723 VEC1
043139,002137: 15,3453 41525 PDDL PUSH
043140,002138: 15,3454 03560 TSIGHT
043141,002139: 15,3455 77624 CALL
043142,002140: 15,3456 51504 RP-TO-R
043143,002141: 15,3457 26723 STOVL VEC1
043144,002142: 15,3460 02731 VEC2
043145,002143: 15,3461 65201 SETPD PDDL
043146,002144: 15,3462 00001 0
043147,002145: 15,3463 03560 TSIGHT
043148,002146: 15,3464 45006 PUSH CALL
043149,002147: 15,3465 51504 RP-TO-R
043150,002148: 15,3466 36731 STCALL VEC2
043151,002149: 15,3467 02746 QMAJ
043152,002150:
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Page 974 |
043154,002152: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043155,002153: # STORE IN YNBSAV AND ZNBSAV
043156,002154:
043157,002155: 15,3470 45020 REFMF STQ CALL
043158,002156: 15,3471 02746 QMAJ
043159,002157: 15,3472 47443 CDUTRIG # GET SIN AND COS OF CDUS
043160,002158: 15,3473 40234 RTB SETPD
043161,002159: 15,3474 21462 LOADTIME
043162,002160: 15,3475 00001 0
043163,002161: 15,3476 37560 STCALL TSIGHT
043164,002162: 15,3477 31267 CALCSMSC # GET YNB IN SM
043165,002163: 15,3500 61375 VLOAD VXM
043166,002164: 15,3501 02673 YNB
043167,002165: 15,3502 01734 REFSMMAT # YNB TO REF
043168,002166: 15,3503 65256 UNIT PDDL
043169,002167: 15,3504 03560 TSIGHT
043170,002168: 15,3505 45006 PUSH CALL
043171,002169: 15,3506 51531 R-TO-RP
043172,002170: 15,3507 26243 STOVL YNBSAV # YNB TO MF
043173,002171: 15,3510 02701 ZNB
043174,002172: 15,3511 53505 VXM UNIT
043175,002173: 15,3512 01734 REFSMMAT # ZNB TO REF
043176,002174: 15,3513 41525 PDDL PUSH
043177,002175: 15,3514 03560 TSIGHT
043178,002176: 15,3515 77624 CALL
043179,002177: 15,3516 51531 R-TO-RP # ZNB TO MF
043180,002178: 15,3517 02251 STORE ZNBSAV
043181,002179: 15,3520 77614 SETGO
043182,002180: 15,3521 03036 ATTFLAG
043183,002181: 15,3522 02746 QMAJ
043184,002182:
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Page 975 |
043186,002184: # BRANCH TO ALIGNMENT OPTION
043187,002185:
043188,002186: 15,3523 06036 GETLMATT TC INTPRET
043189,002187: 15,3524 77624 CALL
043190,002188: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043191,002189: 15,3526 77776 EXIT
043192,002190:
043193,002191: 15,3527 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043194,002192: 15,3530 00205 ADRES INITALGN
043195,002193: 15,3531 34753 CAF BIT1
043196,002194: 15,3532 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
043197,002195: 15,3533 10000 CCS A
043198,002196: 15,3534 12627 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043199,002197:
043200,002198: 15,3535 05353 ATTCHK TC PHASCHNG
043201,002199: 15,3536 04024 OCT 04024
043202,002200:
043203,002201: 15,3537 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043204,002202: 15,3540 70102 MASK FLAGWRD6
043205,002203: 15,3541 10000 CCS A
043206,002204: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043207,002205: 15,3543 05353 P57JUMP TC PHASCHNG
043208,002206: 15,3544 04024 OCT 04024
043209,002207:
043210,002208: 15,3545 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043211,002209: 15,3546 00205 ADRES INITALGN
043212,002210: 15,3547 36244 CAF THREE
043213,002211: 15,3550 71145 MASK OPTION2 # BRANCH ON OPTION CODE
043214,002212: 15,3551 50000 INDEX A
043215,002213: 15,3552 13553 TCF +1
043216,002214: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
043217,002215: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
043218,002216: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
043219,002217: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
043220,002218:
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Page 976 |
043222,002220: # OPTION 0, GET TWO ATTITUDE VECS
043223,002221:
043224,002222: 15,3557 06036 P57OPT0 TC INTPRET
043225,002223: 15,3560 77775 VLOAD
043226,002224: 15,3561 02243 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043227,002225: 15,3562 26723 STOVL VEC1
043228,002226: 15,3563 02251 ZNBSAV
043229,002227: 15,3564 36731 STCALL VEC2
043230,002228: 15,3565 47443 CDUTRIG
043231,002229: 15,3566 77624 CALL
043232,002230: 15,3567 31267 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043233,002231: 15,3570 77775 VLOAD
043234,002232: 15,3571 02673 YNB
043235,002233: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043236,002234: 15,3573 02701 ZNB
043237,002235: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043238,002236: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043239,002237: 15,3576 77650 GOTO
043240,002238: 15,3577 33156 SURFLINE
043241,002239:
043242,002240: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043243,002241:
043244,002242: 15,3600 06036 P57OPT1 TC INTPRET
043245,002243: 15,3601 53575 VLOAD UNIT
043246,002244: 15,3602 02023 RLS # LANDING SITE VEC
043247,002245: 15,3603 26723 STOVL VEC1
043248,002246: 15,3604 02251 ZNBSAV # Z ATTITUDE VEC
043249,002247: 15,3605 36731 STCALL VEC2
043250,002248: 15,3606 47443 CDUTRIG
043251,002249: 15,3607 77624 CALL
043252,002250: 15,3610 31267 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043253,002251: 15,3611 45175 VLOAD CALL
043254,002252: 15,3612 02235 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043255,002253: 15,3613 47565 CDU*NBSM
043256,002254: 15,3614 77650 GOTO
043257,002255: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
043258,002256:
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Page 977 |
043260,002258: # OPTION 2, GET TWO STAR SIGHTINGS
043261,002259:
043262,002260: 15,3616 13114 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043263,002261:
043264,002262: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043265,002263:
043266,002264: 15,3617 06036 P57OPT3 TC INTPRET
043267,002265: 15,3620 53575 VLOAD UNIT
043268,002266: 15,3621 02023 RLS # LANDING SITE VEC
043269,002267: 15,3622 02723 STORE VEC1
043270,002268: 15,3623 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043271,002269: 15,3624 02235 GSAV # GRAVITY VEC NB
043272,002270: 15,3625 77624 CALL
043273,002271: 15,3626 47565 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043274,002272: 15,3627 36761 STCALL STARSAV1
043275,002273: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043276,002274: 15,3631 77776 EXIT
043277,002275: 15,3632 13116 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043278,002276:
043279,002277: 15,3633 00701 BADOPT OCT 00701 # **** TEMP ****
043280,002278: 15,3634 01206 VB05N06 VN 506
043281,002279:
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Page 978 |
043283,002281: # CHECK IMODES30 TO VARIFY IMU IS ON
043284,002282:
043285,002283: 15,3635 41302 IMUCHK CS IMODES30
043286,002284: 15,3636 74743 MASK BIT9
043287,002285: 15,3637 10000 CCS A # IS IMU ON
043288,002286: 15,3640 13644 TCF +4 # YES
043289,002287:
043290,002288: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
043291,002289: 15,3642 00210 OCT 210
043292,002290: 15,3643 06001 TC GOTOPOOH
043293,002291:
043294,002292: 15,3644 05504 TC UPFLAG
043295,002293: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
043296,002294:
043297,002295: 15,3646 04631 TC SWRETURN
043298,002296:
043299,002297: 15,3647 77220 LSORIENT STQ VLOAD
043300,002298: 15,3650 02746 QMAJ
043301,002299: 15,3651 01555 RRECTCSM
043302,002300: 15,3652 47235 VXV VXV
043303,002301: 15,3653 01563 VRECTCSM
043304,002302: 15,3654 03605 XSMD
043305,002303: 15,3655 77656 UNIT
043306,002304: 15,3656 03621 STORE ZSMD
043307,002305: 15,3657 53435 VXV UNIT
043308,002306: 15,3660 03605 XSMD
043309,002307: 15,3661 37613 STCALL YSMD
043310,002308: 15,3662 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc