Source Code
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These source-code files were transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
041261,000002: ## Copyright: Public domain.
041262,000003: ## Filename: P51-P53.agc
041263,000004: ## Purpose: A log section of Zerlina 56, the final revision of
041264,000005: ## Don Eyles's offline development program for the variable
041265,000006: ## guidance period servicer. It also includes a new P66 with LPD
041266,000007: ## (Landing Point Designator) capability, based on an idea of John
041267,000008: ## Young's. Neither of these advanced features were actually flown,
041268,000009: ## but Zerlina was also the birthplace of other big improvements to
041269,000010: ## Luminary including the terrain model and new (Luminary 1E)
041270,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
041271,000012: ## and revision 56 includes all changes up to and including Luminary
041272,000013: ## 183. It is therefore quite close to the Apollo 14 program,
041273,000014: ## Luminary 178, where not modified with new features.
041274,000015: ## Reference: pp. 918-974
041275,000016: ## Assembler: yaYUL
041276,000017: ## Contact: Ron Burkey <info@sandroid.org>.
041277,000018: ## Website: www.ibiblio.org/apollo/index.html
041278,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
041279,000020: ## 2017-08-22 MAS Updated for Zerlina 56.
041280,000021:
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Page 918 |
041282,000023: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
041283,000024: # MOD NO- 0 LOG SECTION- P51-P53
041284,000025: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
041285,000026:
041286,000027: # FUNCTIONAL DESCRIPTION-
041287,000028:
041288,000029: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041289,000030: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041290,000031:
041291,000032: # (A) PREFERRED ORIENTATION
041292,000033:
041293,000034: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041294,000035: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041295,000036:
041296,000037: # (B) NOMINAL ORIENTATION
041297,000038:
041298,000039: # X = UNIT ( R )
041299,000040: # -SM
041300,000041:
041301,000042: # Y = UNIT (V X R)
041302,000043: # SM
041303,000044:
041304,000045: # Z = UNIT (X X Y )
041305,000046: # SM SM SM
041306,000047:
041307,000048: # WHERE_
041308,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041309,000050: # -
041310,000051:
041311,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041312,000053: # -
041313,000054:
041314,000055: # (C) REFSMMAT ORIENTATION
041315,000056:
041316,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041317,000058:
041318,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041319,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041320,000061: # SINCE THE LAST ALIGNMENT).
041321,000062:
041322,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041323,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041324,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041325,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041326,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041327,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041328,000069: # REQUESTED.
041329,000070:
041330,000071: # CALLING SEQUENCE-
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Page 919 |
041332,000073: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041333,000074:
041334,000075: # SUBROUTINES CALLED-
041335,000076:
041336,000077: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041337,000078: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041338,000079: # 3. GOPERF4 9. FLAGUP
041339,000080: # 4. MATMOVE 10. R56
041340,000081: # 5. GOFLASH 11. R51
041341,000082: # 6. S52.3 12. GOPERF3
041342,000083:
041343,000084: # NORMAL EXIT MODES-
041344,000085:
041345,000086: # EXITS TO ENDOFJOB
041346,000087:
041347,000088: # ALARM OR ABORT EXIT MODES-
041348,000089:
041349,000090: # NONE
041350,000091:
041351,000092: # OUTPUT-
041352,000093:
041353,000094: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041354,000095: # 1. IMU ORIENTATION CODE
041355,000096: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041356,000097: # 3. TIME OF NEXT IGNITION
041357,000098: # 4. GIMBAL ANGLES
041358,000099: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041359,000100: # 6. PLEASE PERFORM P00
041360,000101: # THE MODE DISPLAY MAY BE CHANGED TO 20
041361,000102:
041362,000103: # ERASABLE INITIALIZATION REQUIRED-
041363,000104:
041364,000105: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041365,000106: # XSMD,YSMD,ZSMD.
041366,000107: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041367,000108:
041368,000109: # DEBRIS-
041369,000110:
041370,000111: # WORK AREA
041371,000112: 33,3766 BANK 33
041372,000113: 15,2000 SETLOC P50S
041373,000114: 15,2000 BANK
041374,000115:
041375,000116: 15,2067 E5,1755 EBANK= BESTI
041376,000117: 15,2067 COUNT* $$/P52
041377,000118: 15,2067 04616 PROG52 TC BANKCALL
041378,000119: 15,2070 11241 CADR R02BOTH # IMU STATUS CHECK
041379,000120: 15,2071 34750 CAF PFRATBIT
041380,000121: 15,2072 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041381,000122: 15,2073 10000 CCS A
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Page 920 |
041383,000124: 15,2074 02077 TC P52A # YES
041384,000125: 15,2075 36257 CAF THREE # DISPLAY REFSMMAT OPTION 3
041385,000126: 15,2076 02100 TC P52A +1
041386,000127: 15,2077 34753 P52A CAF BIT1
041387,000128: 15,2100 55144 TS OPTION2
041388,000129: 15,2101 34753 P52B CAF BIT1
041389,000130: 15,2102 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041390,000131: 15,2103 20714 CADR GOPERF4R # FLASH V04N06
041391,000132: 15,2104 06001 TC GOTOPOOH
041392,000133: 15,2105 12112 TCF +5 # V33-PROCEED
041393,000134: 15,2106 02101 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041394,000135: 15,2107 05364 TC PHASCHNG # DISPLAY RETURN
041395,000136: 15,2110 00014 OCT 00014
041396,000137: 15,2111 05155 TC ENDOFJOB
041397,000138:
041398,000139: 15,2112 31144 CA OPTION2
041399,000140: 15,2113 76257 MASK THREE
041400,000141: 15,2114 50000 INDEX A
041401,000142: 15,2115 02116 TC +1
041402,000143: 15,2116 12124 TCF OPT4 # OPTION 4 LANDING SITE
041403,000144: 15,2117 12176 TCF P52H # OPTION 1 PREFERRED
041404,000145: 15,2120 12131 TCF P52T # OPTION 2 NOMINAL
041405,000146: 15,2121 06051 P52E TC INTPRET # OPTION 3 REFSMMAT
041406,000147: 15,2122 77650 GOTO
041407,000148: 15,2123 32207 P52F # GO DO R51
041408,000149:
041409,000150: 15,2124 34741 OPT4 CAF EBANK4 # SET EBANK TO USE TLAND
041410,000151: 15,2125 54003 TS EBANK
041411,000152: 15,2126 E4,1426 EBANK= TLAND
041412,000153: 15,2126 00006 EXTEND
041413,000154: 15,2127 31427 DCA TLAND # IF OPTION 4 DISPLAY TLAND
041414,000155: 15,2130 12133 TCF P52T +2
041415,000156:
041416,000157: 15,2131 00006 P52T EXTEND
041417,000158: 15,2132 34755 DCA NEG0
041418,000159: 15,2133 53045 DXCH DSPTEM1
041419,000160: 15,2134 35014 CAF EBANK5 # RESTORE EBANK AFTER USE OF TLAND
041420,000161: 15,2135 54003 TS EBANK
041421,000162: 15,2136 E5,1774 EBANK= TALIGN
041422,000163: 15,2136 32213 CAF V06N34*
041423,000164: 15,2137 04616 TC BANKCALL
041424,000165: 15,2140 20477 CADR GOFLASH
041425,000166: 15,2141 06001 TC GOTOPOOH
041426,000167: 15,2142 02144 TC +2
041427,000168: 15,2143 02136 TC -5
041428,000169: 15,2144 53045 DXCH DSPTEM1
041429,000170: 15,2145 00006 EXTEND
041430,000171: 15,2146 62150 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041431,000172: 15,2147 12152 TCF +3
041432,000173: 15,2150 00006 EXTEND
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Page 921 |
041434,000175: 15,2151 30025 DCA TIME2
041435,000176: 15,2152 53775 DXCH TALIGN
041436,000177: 15,2153 31144 P52V CA OPTION2
041437,000178: 15,2154 74752 MASK BIT2
041438,000179: 15,2155 10000 CCS A
041439,000180: 15,2156 02162 TC P52W
041440,000181: 15,2157 06051 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041441,000182: 15,2160 77650 GOTO
041442,000183: 15,2161 32243 P52LS
041443,000184:
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Page 922 |
041445,000186: # START ALIGNMENT
041446,000187:
041447,000188: 15,2162 06051 P52W TC INTPRET
041448,000189: 15,2163 45145 DLOAD CALL # PICK UP ALIGN TIME
041449,000190: 15,2164 02775 TALIGN # COMPUTE NOMINAL IMU
041450,000191: 15,2165 31651 S52.3 # ORIENTATION
041451,000192: 15,2166 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041452,000193: 15,2167 31620 S52.2 # COMPUTE GIMBAL ANGLES
041453,000194: 15,2170 77776 EXIT
041454,000195: 15,2171 35010 CAF V06N22
041455,000196: 15,2172 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041456,000197: 15,2173 20477 CADR GOFLASH
041457,000198: 15,2174 06001 TC GOTOPOOH
041458,000199: 15,2175 12214 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041459,000200: 15,2176 06051 P52H TC INTPRET
041460,000201: 15,2177 77650 GOTO
041461,000202: 15,2200 32166 P52D
041462,000203: 15,2201 06051 REGCOARS TC INTPRET
041463,000204: 15,2202 77624 CALL # DO COARSE ALIGN
041464,000205: 15,2203 31321 CAL53A # ROUTINE
041465,000206: 15,2204 43014 COARSRET SET CLEAR
041466,000207: 15,2205 01462 REFSMFLG
041467,000208: 15,2206 01273 PFRATFLG
041468,000209: 15,2207 77624 P52F CALL
041469,000210: 15,2210 31007 R51
041470,000211: 15,2211 77776 P52OUT EXIT
041471,000212: 15,2212 06001 TC GOTOPOOH
041472,000213: 15,2213 5006 VB05N09 = V05N09
041473,000214: 15,2213 01442 V06N34* VN 634
041474,000215:
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Page 923 |
041476,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041477,000218: 15,2214 32242 COARSTYP CAF OCT13
041478,000219: 15,2215 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041479,000220: 15,2216 20624 CADR GOPERF1
041480,000221: 15,2217 16001 TCF GOTOPOOH # V34-TERMIN&OE
041481,000222: 15,2220 12201 TCF REGCOARS # V33-NORMAL COARSE
041482,000223: 15,2221 06051 TC INTPRET # V32-GYRO TORQUE COARSE
041483,000224: 15,2222 64375 VLOAD MXV
041484,000225: 15,2223 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041485,000226: 15,2224 01732 REFSMMAT
041486,000227: 15,2225 77656 UNIT
041487,000228: 15,2226 26665 STOVL XDC
041488,000229: 15,2227 03615 YSMD
041489,000230: 15,2230 53521 MXV UNIT
041490,000231: 15,2231 01732 REFSMMAT
041491,000232: 15,2232 26673 STOVL YDC
041492,000233: 15,2233 03623 ZSMD
041493,000234: 15,2234 53521 MXV UNIT
041494,000235: 15,2235 01732 REFSMMAT
041495,000236: 15,2236 36701 STCALL ZDC
041496,000237: 15,2237 31156 GYCOARS
041497,000238: 15,2240 77650 GOTO
041498,000239: 15,2241 32211 P52OUT
041499,000240: 15,2242 00013 OCT13 OCT 13
041500,000241:
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Page 924 |
041502,000243: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041503,000244: 15,2243 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041504,000245: 15,2244 01463 LUNAFLAG
041505,000246: 15,2245 00662 ERADFLAG # TO PICK UP RLS
041506,000247: 15,2246 77201 SETPD VLOAD
041507,000248: 15,2247 00001 0
041508,000249: 15,2250 02021 RLS # PICK UP LANDING SITE VEC IN MF
041509,000250: 15,2251 41525 PDDL PUSH # RLS PD 0-5
041510,000251: 15,2252 02775 TALIGN
041511,000252: 15,2253 36027 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
041512,000253:
041513,000254: 15,2254 55720 RP-TO-R # TRANS RLS TO REF
041514,000255: 15,2255 77742 VSR2
041515,000256: 15,2256 16032 STODL ALPHAV # INPUT TO LAT-LONG
041516,000257: 15,2257 02775 TALIGN
041517,000258: 15,2260 77624 CALL
041518,000259: 15,2261 30440 N89DISP
041519,000260: 15,2262 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041520,000261: 15,2263 02032 ALPHAV
041521,000262: 15,2264 37607 STCALL XSMD
041522,000263: 15,2265 10765 LSORIENT
041523,000264: 15,2266 77650 GOTO
041524,000265: 15,2267 32166 P52D # NOW GO COMPUTE GIMBAL ANGLES
041525,000266:
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Page 925 |
041527,000268: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041528,000269:
041529,000270: 14,2000 SETLOC P50S1
041530,000271: 14,2000 BANK
041531,000272: 14,2440 E5,1642 EBANK= XSM
041532,000273:
041533,000274: 14,2440 77620 N89DISP STQ
041534,000275: 14,2441 02746 QMAJ
041535,000276: 14,2442 35242 STCALL GDT/2 +4 # STORE TIME
041536,000277: 14,2443 26347 LAT-LONG
041537,000278: 14,2444 70545 DLOAD SR1
041538,000279: 14,2445 01122 LONG
041539,000280: 14,2446 16711 STODL LANDLONG
041540,000281: 14,2447 01124 ALT
041541,000282: 14,2450 16713 STODL LANDALT
041542,000283: 14,2451 01120 LAT
041543,000284: 14,2452 02707 STORE LANDLAT
041544,000285: 14,2453 77776 EXIT
041545,000286:
041546,000287: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
041547,000288: 14,2455 04616 TC BANKCALL
041548,000289: 14,2456 20477 CADR GOFLASH
041549,000290: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
041550,000291: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
041551,000292: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
041552,000293:
041553,000294: 14,2462 06051 TC INTPRET
041554,000295: 14,2463 72545 DLOAD SL1
041555,000296: 14,2464 02711 LANDLONG
041556,000297: 14,2465 15122 STODL LONG
041557,000298: 14,2466 02713 LANDALT
041558,000299: 14,2467 15124 STODL ALT
041559,000300: 14,2470 02707 LANDLAT
041560,000301: 14,2471 15120 STODL LAT
041561,000302: 14,2472 01242 GDT/2 +4 # PICK UP TIME
041562,000303: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG, ALT
041563,000304: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
041564,000305: 14,2475 77650 GOTO
041565,000306: 14,2476 02746 QMAJ
041566,000307: 14,2477 01531 V06N89* VN 689
041567,000308:
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Page 926 |
041569,000310: # NAME -S50 ALIAS LOCSAM
041570,000311: # BY
041571,000312: # VINCENT
041572,000313: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041573,000314:
041574,000315: # DEFINE
041575,000316:
041576,000317:
041577,000318: # U = UNIT( SUN WRT EARTH)
041578,000319: # ES
041579,000320:
041580,000321: # U =UNIT( MOON WRT EARTH)
041581,000322: # EM
041582,000323:
041583,000324: # R =POSITION VECTOR OF LEM
041584,000325: # L
041585,000326:
041586,000327: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041587,000328: # EM
041588,000329:
041589,000330: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041590,000331: # EM
041591,000332:
041592,000333: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041593,000334: # E
041594,000335:
041595,000336: # LOCSAM COMPUTES IN EARTH INFLUENCE
041596,000337:
041597,000338: # VSUN = U
041598,000339: # ES
041599,000340:
041600,000341: # VEARTH = -UNIT( R )
041601,000342: # L
041602,000343:
041603,000344: # VMOON = UNIT(R .U - R )
041604,000345: # EM EM L
041605,000346:
041606,000347: # CSUN = COS 90
041607,000348:
041608,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041609,000350: # E L
041610,000351:
041611,000352: # CMOON = COS 5
041612,000353:
041613,000354:
041614,000355: # INPUT - TIME IN MPAC
041615,000356: # OUTPUT - LISTED ABOVE
041616,000357: # SUBROUTINES -LSPOS,LEMPREC
041617,000358: # DEBRIS - VAC AREA ,TSIGHT
041618,000359:
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Page 927 |
041620,000361: 14,2500 COUNT* $$/LOSAM
041621,000362:
041622,000363: 14,2500 14,2500 S50 = LOCSAM
041623,000364: 14,2500 77620 LOCSAM STQ
041624,000365: 14,2501 02745 QMIN
041625,000366: 14,2502 37562 STCALL TSIGHT
041626,000367: 14,2503 33660 LSPOS
041627,000368: 14,2504 77745 DLOAD
041628,000369: 14,2505 03562 TSIGHT
041629,000370: 14,2506 34041 STCALL TDEC1
041630,000371: 14,2507 27056 LEMPREC
041631,000372: 14,2510 61131 SSP TIX,2
041632,000373: 14,2511 00052 S2
041633,000374: 14,2512 00000 0
041634,000375: 14,2513 30535 MOONCNTR
041635,000376: 14,2514 74375 EARTCNTR VLOAD VXSC
041636,000377: 14,2515 02723 VMOON
041637,000378: 14,2516 30001 RSUBEM
041638,000379: 14,2517 52372 VSL1 VSU
041639,000380: 14,2520 00001 RATT
041640,000381: 14,2521 77656 UNIT
041641,000382: 14,2522 26723 STOVL VMOON
041642,000383: 14,2523 00001 RATT
041643,000384: 14,2524 57456 UNIT VCOMP
041644,000385: 14,2525 16707 STODL VEARTH
041645,000386: 14,2526 30005 RSUBE
041646,000387: 14,2527 77624 CALL
041647,000388: 14,2530 30567 OCCOS
041648,000389: 14,2531 14017 STODL CEARTH
041649,000390: 14,2532 30576 CSS5
041650,000391: 14,2533 34023 STCALL CMOON
041651,000392: 14,2534 30562 ENDSAM
041652,000393: 14,2535 74375 MOONCNTR VLOAD VXSC
041653,000394: 14,2536 02723 VMOON
041654,000395: 14,2537 30007 ROE
041655,000396: 14,2540 53445 BVSU UNIT
041656,000397: 14,2541 02715 VSUN
041657,000398: 14,2542 26715 STOVL VSUN
041658,000399: 14,2543 02723 VMOON
041659,000400: 14,2544 53361 VXSC VAD
041660,000401: 14,2545 30001 RSUBEM
041661,000402: 14,2546 00001 RATT
041662,000403: 14,2547 57456 UNIT VCOMP
041663,000404: 14,2550 26707 STOVL VEARTH
041664,000405: 14,2551 00001 RATT
041665,000406: 14,2552 57456 UNIT VCOMP
041666,000407: 14,2553 16723 STODL VMOON
041667,000408: 14,2554 30003 RSUBM
041668,000409: 14,2555 77624 CALL
041669,000410: 14,2556 30567 OCCOS
![]() |
Page 928 |
041671,000412: 14,2557 14023 STODL CMOON
041672,000413: 14,2560 30576 CSS5
041673,000414: 14,2561 00017 STORE CEARTH
041674,000415: 14,2562 77745 ENDSAM DLOAD
041675,000416: 14,2563 30600 CSSUN
041676,000417: 14,2564 00021 STORE CSUN
041677,000418: 14,2565 77650 GOTO
041678,000419: 14,2566 02745 QMIN
041679,000420: 14,2567 70471 OCCOS DDV SR1
041680,000421: 14,2570 00045 36D
041681,000422: 14,2571 43336 ASIN DAD
041682,000423: 14,2572 30602 5DEGREES
041683,000424: 14,2573 70546 COS SR1
041684,000425: 14,2574 77616 RVQ
041685,000426: 14,2575 CEARTH = 14D
041686,000427: 14,2575 CSUN = 16D
041687,000428: 14,2575 CMOON = 18D
041688,000429: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041689,000430:
041690,000431: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
041691,000432:
041692,000433: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041693,000434:
![]() |
Page 929 |
041695,000436: # PROGRAM NAME - R56 DATE DEC 20 66
041696,000437: # MOD 1 LOG SECTION P51-P53
041697,000438: # ASSEMBLY SUNDISK REV40
041698,000439: # BY KEN VINCENT
041699,000440:
041700,000441: # FUNCTION
041701,000442: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041702,000443: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041703,000444: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041704,000445: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041705,000446: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041706,000447: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041707,000448: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041708,000449: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041709,000450: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041710,000451: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041711,000452: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041712,000453: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041713,000454:
041714,000455: # CALLING SEQUENCE
041715,000456: # L TC BANKCALL
041716,000457: # L+1 CADR R56
041717,000458: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041718,000459: # L+3 NORMAL RETURN
041719,000460:
041720,000461: # OUTPUT
041721,000462: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041722,000463: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041723,000464:
041724,000465: # INITIALIZATION
041725,000466: # 1)A CALL TO LOCSAM MUST BE MADE
041726,000467:
041727,000468: # DEBRIS
041728,000469: # WORK AREA
041729,000470: # X,Y,ZNB
041730,000471: # SINCDU,COSCDU
041731,000472: # STARAD - STAR +5
041732,000473:
041733,000474: 14,2603 14,2603 R56 = PICAPAR
041734,000475: 14,2603 COUNT* $$/R56
041735,000476: 14,2603 04645 PICAPAR TC MAKECADR
041736,000477: 14,2604 55745 TS QMIN
041737,000478: 14,2605 06051 TC INTPRET
041738,000479: 14,2606 77624 CALL
041739,000480: 14,2607 47535 CDUTRIG
041740,000481: 14,2610 77624 CALL
041741,000482: 14,2611 20030 CALCSMSC
041742,000483: 14,2612 77601 SETPD
041743,000484: 14,2613 00001 0
041744,000485: 14,2614 71214 SET DLOAD # VFLAG = 1
041745,000486: 14,2615 01465 VFLAG
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Page 930 |
041747,000488: 14,2616 24007 DPZERO
041748,000489: 14,2617 26756 STOVL BESTI
041749,000490: 14,2620 02665 XNB
041750,000491: 14,2621 63361 VXSC PDVL
041751,000492: 14,2622 24005 HALFDP
041752,000493: 14,2623 02701 ZNB
041753,000494: 14,2624 74370 AXT,1 VXSC
041754,000495: 14,2625 00344 228D # X1 = 37 X 6 +6
041755,000496: 14,2626 24005 HALFDP
041756,000497: 14,2627 77655 VAD
041757,000498: 14,2630 53505 VXM UNIT
041758,000499: 14,2631 01732 REFSMMAT
041759,000500: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
041760,000501: 14,2633 66331 SSP SSP # S1=S2=6
041761,000502: 14,2634 00051 S1
041762,000503: 14,2635 00006 6
041763,000504: 14,2636 00052 S2
041764,000505: 14,2637 00006 6
041765,000506: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041766,000507: 14,2641 30643 PIC2
041767,000508: 14,2642 30760 PICEND
041768,000509: 14,2643 50373 PIC2 VLOAD* DOT
041769,000510: 14,2644 30347 CATLOG,1
041770,000511: 14,2645 02731 SAX
041771,000512: 14,2646 50025 DSU BMN
041772,000513: 14,2647 30757 CSS33
041773,000514: 14,2650 30640 PIC1
041774,000515: 14,2651 77754 LXA,2
041775,000516: 14,2652 00046 X1
041776,000517: 14,2653 52104 PIC3 TIX,2 GOTO
041777,000518: 14,2654 30656 PIC4
041778,000519: 14,2655 30640 PIC1
041779,000520: 14,2656 50373 PIC4 VLOAD* DOT
041780,000521: 14,2657 47430 CATLOG,2
041781,000522: 14,2660 02731 SAX
041782,000523: 14,2661 50025 DSU BMN
041783,000524: 14,2662 30757 CSS33
041784,000525: 14,2663 30653 PIC3
041785,000526: 14,2664 47773 VLOAD* DOT*
041786,000527: 14,2665 30347 CATLOG,1
041787,000528: 14,2666 47430 CATLOG,2
041788,000529: 14,2667 51025 DSU BPL
041789,000530: 14,2670 30755 CSS40
041790,000531: 14,2671 30653 PIC3
041791,000532: 14,2672 45173 VLOAD* CALL
041792,000533: 14,2673 30347 CATLOG,1
041793,000534: 14,2674 30732 OCCULT
041794,000535: 14,2675 77614 BON
041795,000536: 14,2676 01710 CULTFLAG
041796,000537: 14,2677 30640 PIC1
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Page 931 |
041798,000539: 14,2700 45173 VLOAD* CALL
041799,000540: 14,2701 47430 CATLOG,2
041800,000541: 14,2702 30732 OCCULT
041801,000542: 14,2703 77614 BON
041802,000543: 14,2704 01710 CULTFLAG
041803,000544: 14,2705 30653 PIC3
041804,000545: 14,2706 77614 STRATGY BONCLR
041805,000546: 14,2707 01605 VFLAG
041806,000547: 14,2710 30725 NEWPAR
041807,000548: 14,2711 65120 XCHX,1 XCHX,2
041808,000549: 14,2712 02755 BESTI
041809,000550: 14,2713 02756 BESTJ
041810,000551: 14,2714 47773 STRAT VLOAD* DOT*
041811,000552: 14,2715 30347 CATLOG,1
041812,000553: 14,2716 47430 CATLOG,2
041813,000554: 14,2717 43006 PUSH BOFINV
041814,000555: 14,2720 01545 VFLAG
041815,000556: 14,2721 30711 STRAT -3
041816,000557: 14,2722 45345 DLOAD DSU
041817,000558: 14,2723 77644 BPL
041818,000559: 14,2724 30653 PIC3
041819,000560: 14,2725 67130 NEWPAR SXA,1 SXA,2
041820,000561: 14,2726 02755 BESTI
041821,000562: 14,2727 02756 BESTJ
041822,000563: 14,2730 77650 GOTO
041823,000564: 14,2731 30653 PIC3
041824,000565: 14,2732 51321 OCCULT MXV BVSU
041825,000566: 14,2733 02707 CULTRIX
041826,000567: 14,2734 00017 CSS
041827,000568: 14,2735 77654 BZE
041828,000569: 14,2736 30751 CULTED
041829,000570: 14,2737 75240 BMN SIGN
041830,000571: 14,2740 30751 CULTED
041831,000572: 14,2741 00160 MPAC +3
041832,000573: 14,2742 75240 BMN SIGN
041833,000574: 14,2743 30751 CULTED
041834,000575: 14,2744 00162 MPAC +5
041835,000576: 14,2745 43040 BMN CLRGO
041836,000577: 14,2746 30751 CULTED
041837,000578: 14,2747 01630 CULTFLAG
041838,000579: 14,2750 00052 QPRET
041839,000580: 14,2751 77614 CULTED SETGO
041840,000581: 14,2752 01430 CULTFLAG
041841,000582: 14,2753 00052 QPRET
041842,000583: 14,2754 0000016 CSS = CEARTH
041843,000584: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 /4
041844,000585:
041845,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 /4
041846,000587:
041847,000588: 14,2760 77414 PICEND BOFF EXIT
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Page 932 |
041849,000590: 14,2761 01745 VFLAG
041850,000591: 14,2762 30764 PICGXT
041851,000592: 14,2763 03005 TC PICBXT
041852,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
041853,000594: 14,2765 02755 BESTI
041854,000595: 14,2766 02756 BESTJ
041855,000596: 14,2767 47775 VLOAD DOT*
041856,000597: 14,2770 02731 SAX
041857,000598: 14,2771 30347 CATLOG,1
041858,000599: 14,2772 47715 PDVL DOT*
041859,000600: 14,2773 02731 SAX
041860,000601: 14,2774 47430 CATLOG,2
041861,000602: 14,2775 77625 DSU
041862,000603: 14,2776 66044 BPL SXA,1
041863,000604: 14,2777 31003 PICNSWP
041864,000605: 14,3000 02756 BESTJ
041865,000606: 14,3001 77734 SXA,2
041866,000607: 14,3002 02755 BESTI
041867,000608: 14,3003 77776 PICNSWP EXIT
041868,000609: 14,3004 25745 INCR QMIN
041869,000610: 14,3005 31745 PICBXT CA QMIN
041870,000611: 14,3006 04622 TC SWCALL
041871,000612: 14,3007 VPD = 0D
041872,000613: 14,3007 V0 = 6D
041873,000614: 14,3007 V1 = 12D
041874,000615: 14,3007 V2 = 18D
041875,000616: 14,3007 V3 = 24D
041876,000617: 14,3007 DP0 = 30D
041877,000618: 14,3007 DP1 = 32D
041878,000619:
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Page 933 |
041880,000621: # NAME-R51 FINE ALIGN
041881,000622: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041882,000623: # CALLING SEQ- CALL R51
041883,000624: # INPUT - REFSMMAT
041884,000625: # OUTPUT- GYRO TORQUE PULSES
041885,000626: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041886,000627: 14,3007 COUNT* $$/R51
041887,000628: 14,3007 77620 R51 STQ
041888,000629: 14,3010 02746 QMAJ
041889,000630: 14,3011 77776 R51.1 EXIT
041890,000631: 14,3012 05364 TC PHASCHNG
041891,000632: 14,3013 04024 OCT 04024
041892,000633:
041893,000634: 14,3014 34761 R51C CAF OCT15
041894,000635: 14,3015 04616 TC BANKCALL
041895,000636: 14,3016 20624 CADR GOPERF1
041896,000637: 14,3017 06001 TC GOTOPOOH
041897,000638: 14,3020 03022 TC +2 # V33E
041898,000639: 14,3021 03045 TC R51E # ENTER
041899,000640: 14,3022 06051 TC INTPRET
041900,000641: 14,3023 43234 RTB DAD
041901,000642: 14,3024 21555 LOADTIME
041902,000643: 14,3025 31155 TSIGHT1
041903,000644: 14,3026 77624 CALL
041904,000645: 14,3027 30500 LOCSAM
041905,000646: 14,3030 77776 EXIT
041906,000647: 14,3031 04616 TC BANKCALL
041907,000648: 14,3032 30603 CADR R56
041908,000649: 14,3033 03035 TC R51I
041909,000650: 14,3034 03045 R51F TC R51E
041910,000651: 14,3035 05600 R51I TC ALARM
041911,000652: 14,3036 00405 OCT 405
041912,000653: 14,3037 35006 CAF VB05N09
041913,000654: 14,3040 04616 TC BANKCALL
041914,000655: 14,3041 20477 CADR GOFLASH
041915,000656: 14,3042 06001 TC GOTOPOOH
041916,000657: 14,3043 03045 TC R51E
041917,000658: 14,3044 03014 TC R51C
041918,000659: 14,3045 34755 R51E CAF ZERO
041919,000660: 14,3046 55757 TS STARIND
041920,000661: 14,3047 06051 R51.2 TC INTPRET
041921,000662: 14,3050 77776 R51.3 EXIT
041922,000663: 14,3051 05364 TC PHASCHNG
041923,000664: 14,3052 04024 OCT 04024
041924,000665:
041925,000666: 14,3053 06051 TC INTPRET
041926,000667: 14,3054 77624 CALL
041927,000668: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
041928,000669: 14,3056 77776 EXIT
041929,000670: 14,3057 04616 TC BANKCALL
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Page 934 |
041931,000672: 14,3060 16000 CADR AOTMARK
041932,000673: 14,3061 04616 TC BANKCALL
041933,000674: 14,3062 17711 CADR OPTSTALL
041934,000675: 14,3063 05712 TC CURTAINS
041935,000676: 14,3064 11757 CCS STARIND
041936,000677: 14,3065 13067 TCF +2
041937,000678: 14,3066 03137 TC R51.4
041938,000679: 14,3067 06051 TC INTPRET
041939,000680: 14,3070 77775 VLOAD
041940,000681: 14,3071 02715 STARAD +6
041941,000682: 14,3072 02767 STORE STARSAV2
041942,000683: 14,3073 77776 EXIT
041943,000684: 14,3074 05364 TC PHASCHNG
041944,000685: 14,3075 04024 OCT 04024
041945,000686:
041946,000687: 14,3076 06051 TC INTPRET
041947,000688: 14,3077 45145 DLOAD CALL
041948,000689: 14,3100 03562 TSIGHT
041949,000690: 14,3101 32500 PLANET
041950,000691: 14,3102 53521 MXV UNIT
041951,000692: 14,3103 01732 REFSMMAT
041952,000693: 14,3104 26715 STOVL STARAD +6
041953,000694: 14,3105 03554 PLANVEC
041954,000695: 14,3106 53521 MXV UNIT
041955,000696: 14,3107 01732 REFSMMAT
041956,000697: 14,3110 26707 STOVL STARAD
041957,000698: 14,3111 02761 STARSAV1
041958,000699: 14,3112 24007 STOVL 6D
041959,000700: 14,3113 02767 STARSAV2
041960,000701: 14,3114 34015 STCALL 12D
041961,000702: 14,3115 31250 R54 # STAR DATA TEST
041962,000703: 14,3116 45014 BOFF CALL
041963,000704: 14,3117 00354 FREEFLAG
041964,000705: 14,3120 31126 R51K
041965,000706: 14,3121 47437 AXISGEN
041966,000707: 14,3122 77624 CALL
041967,000708: 14,3123 31216 R55 # GYRO TORQUE
041968,000709: 14,3124 77614 CLEAR
041969,000710: 14,3125 01273 PFRATFLG
041970,000711: 14,3126 77776 R51K EXIT
041971,000712: 14,3127 35752 R51P63 CAF OCT14
041972,000713: 14,3130 04616 TC BANKCALL
041973,000714: 14,3131 20624 CADR GOPERF1
041974,000715: 14,3132 06001 TC GOTOPOOH
041975,000716: 14,3133 03014 TC R51C
041976,000717: 14,3134 06051 TC INTPRET
041977,000718: 14,3135 77650 GOTO
041978,000719: 14,3136 02746 QMAJ
041979,000720: 14,3137 06051 R51.4 TC INTPRET
041980,000721: 14,3140 77775 VLOAD
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Page 935 |
041982,000723: 14,3141 02715 STARAD +6
041983,000724: 14,3142 02761 STORE STARSAV1
041984,000725: 14,3143 45145 DLOAD CALL
041985,000726: 14,3144 03562 TSIGHT
041986,000727: 14,3145 32500 PLANET
041987,000728: 14,3146 03554 STORE PLANVEC
041988,000729: 14,3147 77731 SSP
041989,000730: 14,3150 02760 STARIND
041990,000731: 14,3151 00001 1
041991,000732: 14,3152 77650 GOTO
041992,000733: 14,3153 31050 R51.3
041993,000734: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041994,000735:
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Page 936 |
041996,000737: # GYRO TORQUE COARSE ALIGNMENT
041997,000738: 14,3156 45020 GYCOARS STQ CALL
041998,000739: 14,3157 02746 QMAJ
041999,000740: 14,3160 47245 CALCGTA
042000,000741: 14,3161 43014 CLEAR CLEAR
042001,000742: 14,3162 01260 DRIFTFLG
042002,000743: 14,3163 01662 REFSMFLG
042003,000744: 14,3164 77776 EXIT
042004,000745: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
042005,000746: 14,3166 04616 TC BANKCALL
042006,000747: 14,3167 20452 CADR GODSPR
042007,000748: 14,3170 33247 CA R55CDR
042008,000749: 14,3171 04616 TC BANKCALL
042009,000750: 14,3172 17270 CADR IMUPULSE
042010,000751: 14,3173 04616 TC BANKCALL
042011,000752: 14,3174 17715 CADR IMUSTALL
042012,000753: 14,3175 05712 TC CURTAINS
042013,000754: 14,3176 05364 TC PHASCHNG
042014,000755: 14,3177 04024 OCT 04024
042015,000756:
042016,000757: 14,3200 06051 TC INTPRET
042017,000758: 14,3201 75160 AXC,1 AXC,2
042018,000759: 14,3202 03606 XSMD
042019,000760: 14,3203 01731 REFSMMAT
042020,000761: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
042021,000762: 14,3205 31371 MATMOVE
042022,000763: 14,3206 43014 CLEAR SET
042023,000764: 14,3207 01273 PFRATFLG
042024,000765: 14,3210 01462 REFSMFLG
042025,000766: 14,3211 77624 CALL
042026,000767: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
042027,000768: 14,3213 77650 GOTO
042028,000769: 14,3214 31126 R51K
042029,000770: 14,3215 04024 V16N20 VN 1620
042030,000771:
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Page 937 |
042032,000773: # R55 GYRO TORQUE
042033,000774: # FUNCTION-COMPUTE AND SEND GYRO PULSES
042034,000775: # CALLING SEQ- CALL R55
042035,000776: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
042036,000777: # OUTPUT- GYRO PULSES
042037,000778: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
042038,000779: 14,3216 COUNT* $$/R55
042039,000780: 14,3216 77620 R55 STQ
042040,000781: 14,3217 02745 QMIN
042041,000782: 14,3220 77624 CALL
042042,000783: 14,3221 47245 CALCGTA
042043,000784: 14,3222 77776 PULSEM EXIT
042044,000785: 14,3223 33246 R55.1 CAF V06N93
042045,000786: 14,3224 04616 TC BANKCALL
042046,000787: 14,3225 20477 CADR GOFLASH
042047,000788: 14,3226 06001 TC GOTOPOOH
042048,000789: 14,3227 03231 TC R55.2
042049,000790: 14,3230 03243 TC R55RET
042050,000791: 14,3231 05364 R55.2 TC PHASCHNG
042051,000792: 14,3232 00214 OCT 00214
042052,000793: 14,3233 33247 CA R55CDR
042053,000794: 14,3234 04616 TC BANKCALL
042054,000795: 14,3235 17270 CADR IMUPULSE
042055,000796: 14,3236 04616 TC BANKCALL
042056,000797: 14,3237 17715 CADR IMUSTALL
042057,000798: 14,3240 05712 TC CURTAINS
042058,000799: 14,3241 05364 TC PHASCHNG
042059,000800: 14,3242 04024 OCT 04024
042060,000801:
042061,000802: 14,3243 06051 R55RET TC INTPRET
042062,000803: 14,3244 77650 GOTO
042063,000804: 14,3245 02745 QMIN
042064,000805: 14,3246 01535 V06N93 VN 0693
042065,000806: 14,3247 02737 R55CDR ECADR OGC
042066,000807: 14,3250 14,3250 R54 = CHKSDATA
042067,000808: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
042068,000809: # MOD NO- 0 LOG SECTION- P51-P53
042069,000810: # MODIFICATION BY- LONSKE ASSEMBLY-
042070,000811:
042071,000812: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
042072,000813: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
042073,000814: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
042074,000815:
042075,000816: # OS1 = OBSERVED STAR 1 VECTOR
042076,000817: # OS2 = OBSERVED STAR 2 VECTOR
042077,000818: # SS1 = STORED STAR 1 VECTOR
042078,000819: # SS2 = STORED STAR 2 VECTOR
042079,000820: # A1 = ARCCOS(OS1 - OS2)
042080,000821: # A2 = ARCCOS(SS1 - SS2)
042081,000822: # A = ABS(2(A1 - A2))
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Page 938 |
042083,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
042084,000825: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
042085,000826: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
042086,000827: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
042087,000828: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
042088,000829:
042089,000830: # ERASABLE INITIALIZATION REQUIRED -
042090,000831: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
042091,000832: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
042092,000833: # DEBRIS -
042093,000834: 14,3250 COUNT* $$/R54
042094,000835: 14,3250 43020 CHKSDATA STQ SET
042095,000836: 14,3251 02745 QMIN
042096,000837: 14,3252 00074 FREEFLAG
042097,000838: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
042098,000839: 14,3254 02706 STARAD
042099,000840:
042100,000841: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
042101,000842: 14,3256 00001 0,1
042102,000843: 14,3257 00007 6,1
042103,000844: 14,3260 65552 SL1 ACOS
042104,000845: 14,3261 00025 STORE THETA
042105,000846: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
042106,000847: 14,3263 00354 FREEFLAG
042107,000848: 14,3264 31274 CHKSD
042108,000849: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
042109,000850: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
042110,000851: 14,3267 00006 6D
042111,000852: 14,3270 00025 THETA
042112,000853: 14,3271 00023 STORE 18D
042113,000854: 14,3272 77650 GOTO
042114,000855: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
042115,000856: 14,3274 45345 CHKSD DLOAD DSU
042116,000857: 14,3275 00025 THETA
042117,000858: 14,3276 00023 18D
042118,000859: 14,3277 77634 RTB # COMPUTE POS DIFF
042119,000860: 14,3300 21574 SGNAGREE
042120,000861: 14,3301 01045 STORE NORMTEM1
042121,000862: 14,3302 77414 SET EXIT
042122,000863: 14,3303 00074 FREEFLAG
042123,000864: 14,3304 33320 CAF VB6N5
042124,000865: 14,3305 04616 TC BANKCALL
042125,000866: 14,3306 20477 CADR GOFLASH
042126,000867: 14,3307 16001 TCF GOTOPOOH
042127,000868: 14,3310 03315 TC CHKSDA # PROCEED
042128,000869: 14,3311 06051 TC INTPRET
042129,000870: 14,3312 52014 CLEAR GOTO
042130,000871: 14,3313 00274 FREEFLAG
042131,000872: 14,3314 02745 QMIN
042132,000873: 14,3315 06051 CHKSDA TC INTPRET
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Page 939 |
042134,000875: 14,3316 77650 GOTO
042135,000876: 14,3317 02745 QMIN
042136,000877: 14,3320 01405 VB6N5 VN 605
042137,000878: # NAME - CAL53A
042138,000879: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
042139,000880: # CALLING SEQUENCE - CALL CAL53A
042140,000881: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
042141,000882: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
042142,000883: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
042143,000884: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
042144,000885: 14,3321 COUNT* $$/R50
042145,000886: 14,3321 77624 CAL53A CALL
042146,000887: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
042147,000888: 14,3323 66234 RTB SSP
042148,000889: 14,3324 31405 RDCDUS # READ CDUS
042149,000890: 14,3325 00051 S1
042150,000891: 14,3326 00001 1
042151,000892: 14,3327 40370 AXT,1 SETPD
042152,000893: 14,3330 00003 3
042153,000894: 14,3331 00005 4
042154,000895: 14,3332 70543 CALOOP DLOAD* SR1
042155,000896: 14,3333 00325 THETAD +3D,1
042156,000897: 14,3334 70523 PDDL* SR1
042157,000898: 14,3335 00005 4,1
042158,000899: 14,3336 51425 DSU ABS
042159,000900: 14,3337 45206 PUSH DSU
042160,000901: 14,3340 31404 DEGREE1
042161,000902: 14,3341 71240 BMN DLOAD
042162,000903: 14,3342 31360 CALOOP1
042163,000904: 14,3343 51025 DSU BPL
042164,000905: 14,3344 31405 DEG359
042165,000906: 14,3345 31360 CALOOP1
042166,000907: 14,3346 77776 EXIT
042167,000908: 14,3347 05364 TC PHASCHNG
042168,000909: 14,3350 04024 OCT 04024
042169,000910:
042170,000911: 14,3351 06051 TC INTPRET
042171,000912: 14,3352 77624 COARFINE CALL
042172,000913: 14,3353 31557 COARSE
042173,000914: 14,3354 77624 CALL
042174,000915: 14,3355 31603 NCOARSE
042175,000916: 14,3356 77650 GOTO
042176,000917: 14,3357 31362 FINEONLY
042177,000918: 14,3360 77700 CALOOP1 TIX,1
042178,000919: 14,3361 31332 CALOOP
042179,000920: 14,3362 75160 FINEONLY AXC,1 AXC,2
042180,000921: 14,3363 02642 XSM
042181,000922: 14,3364 01731 REFSMMAT
042182,000923: 14,3365 77624 CALL
042183,000924: 14,3366 31371 MATMOVE
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Page 940 |
042185,000926: 14,3367 77650 GOTO
042186,000927: 14,3370 32204 COARSRET
042187,000928: 14,3371 77773 MATMOVE VLOAD*
042188,000929: 14,3372 00001 0,1
042189,000930: 14,3373 10001 STORE 0,2
042190,000931: 14,3374 77773 VLOAD*
042191,000932: 14,3375 00007 6D,1
042192,000933: 14,3376 10007 STORE 6D,2
042193,000934: 14,3377 77773 VLOAD*
042194,000935: 14,3400 00015 12D,1
042195,000936: 14,3401 10015 STORE 12D,2
042196,000937: 14,3402 77616 RVQ
042197,000938: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
042198,000939: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
042199,000940: 14,3405 00004 RDCDUS INHINT # READ CDUS
042200,000941: 14,3406 30032 CA CDUX
042201,000942: 14,3407 50120 INDEX FIXLOC
042202,000943: 14,3410 54001 TS 1
042203,000944: 14,3411 30033 CA CDUY
042204,000945: 14,3412 50120 INDEX FIXLOC
042205,000946: 14,3413 54002 TS 2
042206,000947: 14,3414 30034 CA CDUZ
042207,000948: 14,3415 50120 INDEX FIXLOC
042208,000949: 14,3416 54003 TS 3
042209,000950: 14,3417 00003 RELINT
042210,000951: 14,3420 06073 TC DANZIG # +
042211,000952: 14,3421 COUNT* $$/INFLT
042212,000953:
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Page 941 |
042214,000955: # NAME - P51 - IMU ORIENTATION DETERMINATION
042215,000956: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
042216,000957: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
042217,000958:
042218,000959: # FUNCTIONAL DESCRIPTION
042219,000960:
042220,000961: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042221,000962: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042222,000963: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042223,000964: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042224,000965:
042225,000966: # CALLING SEQUENCE
042226,000967:
042227,000968: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042228,000969:
042229,000970: # SUBROUTINES CALLED.
042230,000971:
042231,000972: # GOPERF3
042232,000973: # GOPERF1
042233,000974: # GODSPR
042234,000975: # IMUCOARS
042235,000976: # IMUFIN20
042236,000977: # AOTMARK(R53)
042237,000978: # CHKSDATA(R54)
042238,000979: # MKRELEAS
042239,000980: # AXISGEN
042240,000981: # MATMOVE
042241,000982:
042242,000983: # ALARMS
042243,000984:
042244,000985: # NONE.
042245,000986:
042246,000987: # ERASABLE INITIALIZATION
042247,000988:
042248,000989: # IMU ZERO FLAG SHOULD BE SET.
042249,000990:
042250,000991: # OUTPUT
042251,000992:
042252,000993: # REFSMMAT
042253,000994: # REFSMFLG
042254,000995:
042255,000996: # DEBRIS
042256,000997:
042257,000998: # WORK AREA
042258,000999: # STARAD
042259,001000: # STARIND
042260,001001: # BESTI
042261,001002: # BESTJ
042262,001003:
042263,001004: 14,3421 COUNT* $$/P51
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Page 942 |
042265,001006: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042266,001007: 14,3422 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042267,001008:
042268,001009: 14,3423 34761 CAF OCT15
042269,001010: 14,3424 04616 TC BANKCALL
042270,001011: 14,3425 20624 CADR GOPERF1
042271,001012: 14,3426 06001 TC GOTOPOOH # TERM.
042272,001013: 14,3427 13453 TCF P51B # V33
042273,001014: 14,3430 05364 TC PHASCHNG
042274,001015: 14,3431 04024 OCT 04024
042275,001016:
042276,001017: 14,3432 34755 CAF ZERO
042277,001018: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
042278,001019: 14,3434 54322 TS THETAD +1
042279,001020: 14,3435 54323 TS THETAD +2
042280,001021: 14,3436 35010 CAF V06N22
042281,001022: 14,3437 04616 TC BANKCALL
042282,001023: 14,3440 20447 CADR GODSPRET
042283,001024: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042284,001025: 14,3442 04616 TC BANKCALL
042285,001026: 14,3443 20447 CADR GODSPRET
042286,001027: 14,3444 06051 TC INTPRET
042287,001028: 14,3445 77624 CALL
042288,001029: 14,3446 31557 COARSE
042289,001030: 14,3447 77776 EXIT
042290,001031: 14,3450 05364 TC PHASCHNG
042291,001032: 14,3451 04024 OCT 04024
042292,001033: 14,3452 13423 TCF P51 +2
042293,001034:
042294,001035: 14,3453 05364 P51B TC PHASCHNG
042295,001036: 14,3454 00014 OCT 00014
042296,001037: 14,3455 06051 TC INTPRET
042297,001038: 14,3456 77624 CALL
042298,001039: 14,3457 31603 NCOARSE
042299,001040: 14,3460 40331 SSP SETPD
042300,001041: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
042301,001042: 14,3462 00000 0
042302,001043: 14,3463 00001 0
042303,001044: 14,3464 77776 P51C EXIT
042304,001045: 14,3465 05364 TC PHASCHNG
042305,001046: 14,3466 04024 OCT 04024
042306,001047:
042307,001048: 14,3467 04616 TC BANKCALL
042308,001049: 14,3470 16000 CADR AOTMARK # R53
042309,001050: 14,3471 04616 TC BANKCALL
042310,001051: 14,3472 17711 CADR AOTSTALL
042311,001052: 14,3473 05712 TC CURTAINS
042312,001053: 14,3474 11757 CCS STARIND
042313,001054: 14,3475 13503 TCF P51D +1
042314,001055: 14,3476 06051 TC INTPRET
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Page 943 |
042316,001057: 14,3477 77775 VLOAD
042317,001058: 14,3500 02715 STARAD +6
042318,001059: 14,3501 02761 STORE STARSAV1
042319,001060: 14,3502 77776 P51D EXIT
042320,001061: 14,3503 05364 TC PHASCHNG
042321,001062: 14,3504 04024 OCT 04024
042322,001063:
042323,001064: 14,3505 11757 CCS STARIND
042324,001065: 14,3506 13522 TCF P51E
042325,001066: 14,3507 05364 TC PHASCHNG
042326,001067: 14,3510 04024 OCT 04024
042327,001068:
042328,001069: 14,3511 06051 TC INTPRET
042329,001070: 14,3512 45145 DLOAD CALL
042330,001071: 14,3513 03562 TSIGHT
042331,001072: 14,3514 32500 PLANET
042332,001073: 14,3515 03554 STORE PLANVEC
042333,001074: 14,3516 77776 EXIT
042334,001075: 14,3517 34753 CAF BIT1
042335,001076: 14,3520 55757 TS STARIND
042336,001077: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
042337,001078: 14,3522 05364 P51E TC PHASCHNG
042338,001079: 14,3523 04024 OCT 04024
042339,001080:
042340,001081: 14,3524 06051 TC INTPRET
042341,001082: 14,3525 45145 DLOAD CALL
042342,001083: 14,3526 03562 TSIGHT
042343,001084: 14,3527 32500 PLANET
042344,001085: 14,3530 24015 STOVL 12D
042345,001086: 14,3531 03554 PLANVEC
042346,001087: 14,3532 24007 STOVL 6D
042347,001088: 14,3533 02761 STARSAV1
042348,001089: 14,3534 26707 STOVL STARAD
042349,001090: 14,3535 02767 STARSAV2
042350,001091: 14,3536 36715 STCALL STARAD +6
042351,001092: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042352,001093: 14,3540 77414 BON EXIT
042353,001094: 14,3541 00314 FREEFLAG
042354,001095: 14,3542 31544 P51G
042355,001096: 14,3543 03423 TC P51 +2
042356,001097: 14,3544 77624 P51G CALL
042357,001098: 14,3545 47437 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042358,001099: 14,3546 75160 AXC,1 AXC,2
042359,001100: 14,3547 02664 XDC
042360,001101: 14,3550 01731 REFSMMAT
042361,001102: 14,3551 77624 CALL
042362,001103: 14,3552 31371 MATMOVE
042363,001104: 14,3553 77414 SET EXIT
042364,001105: 14,3554 01462 REFSMFLG
042365,001106: 14,3555 06001 TC GOTOPOOH # FINIS
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Page 944 |
042367,001108: 14,3556 12200 V41K VN 4100
042368,001109: 14,3557 77776 COARSE EXIT
042369,001110: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
042370,001111: 14,3561 00006 EXTEND
042371,001112: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
042372,001113: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
042373,001114: 14,3564 04616 TC BANKCALL
042374,001115: 14,3565 01736 CADR DELAYJOB
042375,001116: 14,3566 13560 TCF COARSE +1
042376,001117: 14,3567 04616 DOCORS TC BANKCALL
042377,001118: 14,3570 16745 CADR IMUCOARS
042378,001119: 14,3571 04616 TC BANKCALL
042379,001120: 14,3572 17715 CADR IMUSTALL
042380,001121: 14,3573 05712 TC CURTAINS
042381,001122: 14,3574 04616 TC BANKCALL
042382,001123: 14,3575 17155 CADR IMUFINE
042383,001124: 14,3576 04616 TC BANKCALL
042384,001125: 14,3577 17715 CADR IMUSTALL
042385,001126: 14,3600 05712 TC CURTAINS
042386,001127: 14,3601 06051 TC INTPRET
042387,001128: 14,3602 77616 RVQ
042388,001129: 14,3603 77776 NCOARSE EXIT
042389,001130: 14,3604 30025 CA TIME1
042390,001131: 14,3605 55074 TS 1/PIPADT
042391,001132: 14,3606 44755 CS ZERO
042392,001133: 14,3607 54037 TS PIPAX
042393,001134: 14,3610 54040 TS PIPAY
042394,001135: 14,3611 54041 TS PIPAZ
042395,001136: 14,3612 06051 TC INTPRET
042396,001137: 14,3613 77775 VLOAD
042397,001138: 14,3614 24007 ZEROVEC
042398,001139: 14,3615 01472 STORE GCOMP
042399,001140: 14,3616 43414 SET RVQ
042400,001141: 14,3617 01060 DRIFTFLG
042401,001142:
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Page 945 |
042403,001144: # NAME-S52.2
042404,001145: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042405,001146: # CALL- CALL S52.2
042406,001147: # INPUT- X,Y,ZSMD
042407,001148: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042408,001149: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042409,001150: 14,3620 COUNT* $$/S52.1
042410,001151: 14,3620 45020 S52.2 STQ CALL
042411,001152: 14,3621 02746 QMAJ
042412,001153: 14,3622 47535 CDUTRIG
042413,001154: 14,3623 77624 CALL
042414,001155: 14,3624 20030 CALCSMSC
042415,001156: 14,3625 66370 AXT,1 SSP
042416,001157: 14,3626 00022 18D
042417,001158: 14,3627 00051 S1
042418,001159: 14,3630 00006 6D
042419,001160: 14,3631 61373 S52.2A VLOAD* VXM
042420,001161: 14,3632 02707 XNB +18D,1
042421,001162: 14,3633 01732 REFSMMAT
042422,001163: 14,3634 77656 UNIT
042423,001164: 14,3635 06707 STORE XNB +18D,1
042424,001165: 14,3636 77700 TIX,1
042425,001166: 14,3637 31631 S52.2A
042426,001167: 14,3640 75160 S52.2.1 AXC,1 AXC,2
042427,001168: 14,3641 03606 XSMD
042428,001169: 14,3642 02642 XSM
042429,001170: 14,3643 77624 CALL
042430,001171: 14,3644 31371 MATMOVE
042431,001172: 14,3645 77624 CALL
042432,001173: 14,3646 47351 CALCGA
042433,001174: 14,3647 77650 GOTO
042434,001175: 14,3650 02746 QMAJ
042435,001176:
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Page 946 |
042437,001178: # NAME-S52.3
042438,001179: # FUNCTION XSMD= UNIT R
042439,001180: # YSMD= UNIT(V X R)
042440,001181: # ZSMD= UNIT(XSMD X YSMD)
042441,001182: # CALL DLOAD CALL
042442,001183: # TALIGN
042443,001184: # S52.3
042444,001185: # INPUT- TIME OF ALIGNMENT IN MPAC
042445,001186: # OUTPUT- X,Y,ZSMD
042446,001187: # SUBROUTINES- CSMCONIC
042447,001188: 14,3651 COUNT* $$/S52.3
042448,001189: 14,3651 77620 S52.3 STQ
042449,001190: 14,3652 02746 QMAJ
042450,001191: 14,3653 34041 STCALL TDEC1
042451,001192: 14,3654 27077 LEMCONIC
042452,001193: 14,3655 53575 VLOAD UNIT
042453,001194: 14,3656 00001 RATT
042454,001195: 14,3657 27607 STOVL XSMD
042455,001196: 14,3660 00007 VATT
042456,001197: 14,3661 53435 VXV UNIT
042457,001198: 14,3662 00001 RATT
042458,001199: 14,3663 27615 STOVL YSMD
042459,001200: 14,3664 03607 XSMD
042460,001201: 14,3665 53435 VXV UNIT
042461,001202: 14,3666 03615 YSMD
042462,001203: 14,3667 37623 STCALL ZSMD
042463,001204: 14,3670 02746 QMAJ
042464,001205:
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Page 947 |
042466,001207: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042467,001208:
042468,001209: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042469,001210: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042470,001211:
042471,001212: # CALLING -CALL R52
042472,001213:
042473,001214: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042474,001215: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042475,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042476,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042477,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042478,001219:
042479,001220: # SUBROUT -R60LEM
042480,001221:
042481,001222: 14,3671 COUNT* $$/R52
042482,001223: 14,3671 77420 R52 STQ EXIT
042483,001224: 14,3672 03665 SAVQR52
042484,001225: 14,3673 51757 INDEX STARIND
042485,001226: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042486,001227: 14,3675 00006 EXTEND
042487,001228: 14,3676 73772 MP 1/6TH
042488,001229: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
042489,001230: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
042490,001231:
042491,001232: 14,3701 33773 R52A CAF V01N70
042492,001233: 14,3702 04616 TC BANKCALL
042493,001234: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042494,001235: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
042495,001236: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
042496,001237: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042497,001238:
042498,001239: 14,3707 05527 R52B TC DOWNFLAG
042499,001240: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042500,001241: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
042501,001242: 14,3712 77756 MASK HIGH9
042502,001243: 14,3713 00006 EXTEND
042503,001244: 14,3714 74743 MP BIT9
042504,001245: 14,3715 54001 TS L # TEMP STORE DETENT
042505,001246:
042506,001247: 14,3716 00006 EXTEND
042507,001248: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
042508,001249:
042509,001250: 14,3720 65661 AD NEG7
042510,001251: 14,3721 00006 EXTEND
042511,001252: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
042512,001253:
042513,001254: 14,3723 E7,1551 EBANK= XYMARK
042514,001255: 14,3723 35016 CA EBANK7
042515,001256: 14,3724 54003 TS EBANK
042516,001257:
![]() |
Page 948 |
042518,001259: 14,3725 50001 INDEX L
042519,001260: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042520,001261: 14,3727 54001 TS L
042521,001262: 14,3730 E5,1642 EBANK= XSM
042522,001263: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042523,001264: 14,3731 54003 TS EBANK
042524,001265: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
042525,001266: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042526,001267: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
042527,001268:
042528,001269: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
042529,001270: 14,3736 04616 TC BANKCALL
042530,001271: 14,3737 20477 CADR GOFLASH
042531,001272: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
042532,001273: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
042533,001274: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
042534,001275:
042535,001276: 14,3743 00006 EXTEND
042536,001277: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042537,001278: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042538,001279: 14,3746 52011 DXCH 8D
042539,001280: 14,3747 06051 TC INTPRET
042540,001281: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042541,001282: 14,3751 10530 OANB # SCAXIS IN NB COORDS
042542,001283: 14,3752 45034 RTB CALL
042543,001284: 14,3753 21555 LOADTIME
042544,001285: 14,3754 32500 PLANET
042545,001286: 14,3755 53521 MXV UNIT
042546,001287: 14,3756 01732 REFSMMAT
042547,001288: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
042548,001289:
042549,001290: 14,3760 77776 EXIT
042550,001291: 14,3761 04616 TC BANKCALL
042551,001292: 14,3762 54125 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042552,001293:
042553,001294: 14,3763 37756 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
042554,001295: 14,3764 70734 MASK STARCODE
042555,001296: 14,3765 00006 EXTEND
042556,001297: 14,3766 13701 BZF R52A
042557,001298:
042558,001299: 14,3767 06051 TC INTPRET # RETURN FROM KALCMANU
042559,001300: 14,3770 77650 GOTO
042560,001301: 14,3771 03665 SAVQR52 # RETURN TO CALLER
042561,001302:
042562,001303: 14,3772 05253 1/6TH DEC .1666667
042563,001304: 14,3773 00306 V01N70 VN 0170
042564,001305: 14,3774 01527 V06N87 VN 687
042565,001306:
![]() |
Page 949 |
042567,001308: # LUNAR SURFACE STAR AQUISITION
042568,001309:
042569,001310: 15,2270 BANK 15
042570,001311: 15,2000 SETLOC P50S
042571,001312: 15,2000 BANK
042572,001313: 15,2270 COUNT* $$/R59
042573,001314:
042574,001315: 15,2270 40077 R59 CS FLAGWRD3
042575,001316: 15,2271 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042576,001317: 15,2272 10000 CCS A
042577,001318: 15,2273 12463 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042578,001319:
042579,001320: 15,2274 32471 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042580,001321: 15,2275 04616 TC BANKCALL
042581,001322: 15,2276 20477 CADR GOFLASH
042582,001323: 15,2277 06001 TC GOTOPOOH # V34-TERMINATE
042583,001324: 15,2300 12302 TCF R59A # V33-PROCEED
042584,001325: 15,2301 12270 TCF R59 # V32-RECYCLE
042585,001326:
042586,001327: 15,2302 06051 R59A TC INTPRET
042587,001328: 15,2303 45034 RTB CALL
042588,001329: 15,2304 21555 LOADTIME
042589,001330: 15,2305 32500 PLANET # GO GET CELESTRIAL BODY IN REF COORDS.
042590,001331: 15,2306 53521 MXV UNIT
042591,001332: 15,2307 01732 REFSMMAT # TRANSFORM TO NB COORDS.
042592,001333: 15,2310 77624 CALL
042593,001334: 15,2311 47653 CDU*SMNB
042594,001335: 15,2312 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042595,001336: 15,2313 77776 EXIT
042596,001337:
042597,001338: 15,2314 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
042598,001339: 15,2315 55241 TS POSCODE
042599,001340:
042600,001341: 15,2316 E7,1551 EBANK= XYMARK
042601,001342: 15,2316 35016 INCAZ CA EBANK7
042602,001343: 15,2317 54003 TS EBANK
042603,001344:
042604,001345: 15,2320 51241 INDEX POSCODE
042605,001346: 15,2321 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
042606,001347: 15,2322 54001 TS L
042607,001348:
042608,001349: 15,2323 E5,1642 EBANK= XSM
042609,001350: 15,2323 35014 CA EBANK5
042610,001351: 15,2324 54003 TS EBANK
042611,001352:
042612,001353: 15,2325 34737 CA BIT13 # SET ELV TO 45 DEG
042613,001354: 15,2326 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042614,001355: 15,2327 55745 TS QMIN # STORE QMIN=AZ FOR LATER
042615,001356: 15,2330 50120 INDEX FIXLOC
042616,001357: 15,2331 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042617,001358:
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Page 950 |
042619,001360: 15,2332 06051 TC INTPRET
042620,001361: 15,2333 77624 CALL
042621,001362: 15,2334 10530 OANB # GO CALC OPTIC AXIS WRT NB
042622,001363: 15,2335 50375 VLOAD DOT
042623,001364: 15,2336 02731 STAR # DOT STAR WITH OA
042624,001365: 15,2337 03765 SCAXIS
042625,001366: 15,2340 65552 SL1 ARCCOS
042626,001367: 15,2341 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042627,001368:
042628,001369: 15,2342 51025 DSU BPL
042629,001370: 15,2343 32474 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042630,001371: 15,2344 32426 NXAX # NOT IN FIELD - TRY NEXT POSITION
042631,001372: 15,2345 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042632,001373: 15,2346 00031 24D
042633,001374: 15,2347 32476 DEG.5
042634,001375: 15,2350 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042635,001376: 15,2351 32421 ZSPCR # GO ZERO CURSOR AND SPIRAL
042636,001377: 15,2352 00031 24D # GET SPIRAL
042637,001378: 15,2353 42405 DMP SL4
042638,001379: 15,2354 11226 3/4 # 12 SCALED AT 16
042639,001380: 15,2355 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042640,001381:
042641,001382: 15,2356 03765 SCAXIS # OA
042642,001383: 15,2357 53435 VXV UNIT
042643,001384: 15,2360 24005 XUNIT
042644,001385: 15,2361 47206 PUSH VXV # OA X UNITX PD 0-5
042645,001386: 15,2362 03765 SCAXIS
042646,001387: 15,2363 77676 VCOMP
042647,001388: 15,2364 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042648,001389: 15,2365 03765 SCAXIS
042649,001390: 15,2366 53435 VXV UNIT
042650,001391: 15,2367 02731 STAR
042651,001392: 15,2370 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042652,001393: 15,2371 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042653,001394: 15,2372 65552 SL1 ARCCOS
042654,001395: 15,2373 24033 STOVL 26D # STORE THET SCALED IN REVS
042655,001396:
042656,001397: 15,2374 77641 DOT # UP 12-17, UP 6-11 FOR C2
042657,001398: 15,2375 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042658,001399: 15,2376 32403 R59D
042659,001400: 15,2377 32047 ABOUTONE
042660,001401: 15,2400 77625 DSU
042661,001402: 15,2401 00033 26D
042662,001403: 15,2402 00033 STORE 26D # 360-THET SCALED IN REVS
042663,001404:
042664,001405: 15,2403 70535 R59D SLOAD SR1
042665,001406: 15,2404 02746 QMIN # RESCALE AZ(N) TO REVS
042666,001407: 15,2405 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042667,001408: 15,2406 00033 26D
042668,001409: 15,2407 77634 RTB
![]() |
Page 951 |
042670,001411: 15,2410 21576 1STO2S
042671,001412: 15,2411 15236 STODL CURSOR # YROT IN 1/2 REVS
042672,001413: 15,2412 00031 24D # LOAD SROT IN REVS
042673,001414: 15,2413 77615 DAD # 12(SEP) + YROT
042674,001415: 15,2414 77634 RTB
042675,001416: 15,2415 21576 1STO2S
042676,001417: 15,2416 01237 STORE SPIRAL # SROT IN 1/2 REVS
042677,001418: 15,2417 77776 EXIT
042678,001419: 15,2420 12445 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042679,001420:
042680,001421: 15,2421 77776 ZSPCR EXIT
042681,001422: 15,2422 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042682,001423: 15,2423 55235 TS CURSOR # AND SPIRAL ANGLES
042683,001424: 15,2424 55236 TS SPIRAL
042684,001425: 15,2425 12445 TCF 79DISP
042685,001426:
042686,001427: 15,2426 77776 NXAX EXIT
042687,001428: 15,2427 25241 INCR POSCODE
042688,001429: 15,2430 41241 CS POSCODE
042689,001430: 15,2431 64757 AD SEVEN
042690,001431: 15,2432 00006 EXTEND
042691,001432: 15,2433 62435 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042692,001433: 15,2434 12316 TCF INCAZ
042693,001434:
042694,001435: 15,2435 05600 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042695,001436: 15,2436 00404 OCT 404
042696,001437: 15,2437 35006 CAF VB05N09 # DISPLAY ALARM
042697,001438: 15,2440 04616 TC BANKCALL
042698,001439: 15,2441 20477 CADR GOFLASH
042699,001440: 15,2442 16001 TCF GOTOPOOH # VB34-TERMINATE
042700,001441: 15,2443 12463 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042701,001442: 15,2444 12270 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042702,001443:
042703,001444: 15,2445 32472 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042704,001445: 15,2446 04616 TC BANKCALL
042705,001446: 15,2447 20477 CADR GOFLASH
042706,001447: 15,2450 16001 TCF GOTOPOOH # V34-TERMINATE
042707,001448: 15,2451 12453 TCF R59E # V33-PROCEED TO MARK ROUTINE
042708,001449: 15,2452 12270 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042709,001450:
042710,001451: 15,2453 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
042711,001452: 15,2454 71241 MASK POSCODE
042712,001453: 15,2455 00006 EXTEND
042713,001454: 15,2456 74745 MP BIT7 # DETENT CODE NOW IN L
042714,001455: 15,2457 47756 CS HIGH9
042715,001456: 15,2460 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042716,001457: 15,2461 60001 AD L
042717,001458: 15,2462 54734 TS AOTCODE # STORE DETENT 7-9
042718,001459:
042719,001460: 15,2463 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
![]() |
Page 952 |
042721,001462: 15,2464 16000 CADR AOTMARK
042722,001463: 15,2465 04616 TC BANKCALL
042723,001464: 15,2466 17711 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042724,001465: 15,2467 05712 TC CURTAINS # BADEND RETURN FROM AOTMARK
042725,001466: 15,2470 13050 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042726,001467:
042727,001468: 15,2471 00306 V01N70* VN 170
042728,001469: 15,2472 01517 V06N79 VN 679
042729,001470: 15,2473 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042730,001471:
042731,001472: 15,2475 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042732,001473:
042733,001474: 15,2477 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042734,001475:
![]() |
Page 953 |
042736,001477: # NAME - PLANET
042737,001478: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042738,001479: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042739,001480: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042740,001481: # BY DSDY INPUT
042741,001482: # CALL - CALL
042742,001483: # PLANET
042743,001484: # INPUT - TIME IN MPAC
042744,001485: # OUTPUT - VECTOR IN MPAC
042745,001486: # SUBROUTINES - LOCSAM
042746,001487: # DEBRIS - VAC ,STARAD - STARAD +17
042747,001488:
042748,001489: 15,2000 SETLOC P50S
042749,001490: 15,2000 BANK
042750,001491: 15,2500 COUNT* $$/R58
042751,001492:
042752,001493: 15,2500 03562 PLANET STORE TSIGHT
042753,001494: 15,2501 77420 STQ EXIT
042754,001495: 15,2502 02736 GCTR
042755,001496: 15,2503 47756 CS HIGH9
042756,001497: 15,2504 70734 MASK AOTCODE
042757,001498: 15,2505 00006 EXTEND
042758,001499: 15,2506 76254 MP REVCNT
042759,001500: 15,2507 56001 XCH L
042760,001501: 15,2510 51757 INDEX STARIND
042761,001502: 15,2511 55755 TS BESTI
042762,001503: 15,2512 10000 CCS A
042763,001504: 15,2513 12530 TCF NOTPLAN
042764,001505: 15,2514 32567 CAF VNPLANV
042765,001506: 15,2515 04616 TC BANKCALL
042766,001507: 15,2516 20477 CADR GOFLASH
042767,001508: 15,2517 02514 TC -3
042768,001509: 15,2520 02522 TC +2
042769,001510: 15,2521 02514 TC -5
042770,001511: 15,2522 06051 TC INTPRET
042771,001512: 15,2523 74375 VLOAD VXSC
042772,001513: 15,2524 02707 STARAD
042773,001514: 15,2525 32571 1/SQR3
042774,001515: 15,2526 52056 UNIT GOTO
042775,001516: 15,2527 02736 GCTR
042776,001517:
042777,001518: 15,2530 40000 NOTPLAN CS A
042778,001519: 15,2531 62566 AD DEC227
042779,001520: 15,2532 00006 EXTEND
042780,001521: 15,2533 62544 BZMF CALSAM1
042781,001522: 15,2534 51757 INDEX STARIND
042782,001523: 15,2535 31755 CA BESTI
042783,001524: 15,2536 50120 INDEX FIXLOC
042784,001525: 15,2537 54046 TS X1
042785,001526: 15,2540 06051 TC INTPRET
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Page 954 |
042787,001528: 15,2541 52173 VLOAD* GOTO
042788,001529: 15,2542 30347 CATLOG,1
042789,001530: 15,2543 02736 GCTR
042790,001531: 15,2544 06051 CALSAM1 TC INTPRET
042791,001532: 15,2545 45145 CALSAM DLOAD CALL
042792,001533: 15,2546 03562 TSIGHT
042793,001534: 15,2547 30500 LOCSAM
042794,001535: 15,2550 77340 LXC,1 VLOAD
042795,001536: 15,2551 02757 STARIND
042796,001537: 15,2552 02707 VEARTH
042797,001538: 15,2553 24001 STOVL 0D
042798,001539: 15,2554 02715 VSUN
042799,001540: 15,2555 26707 STOVL VEARTH
042800,001541: 15,2556 00001 0D
042801,001542: 15,2557 02715 STORE VSUN
042802,001543: 15,2560 70143 DLOAD* LXC,1
042803,001544: 15,2561 02756 BESTI,1
042804,001545: 15,2562 00154 MPAC
042805,001546: 15,2563 52173 VLOAD* GOTO
042806,001547: 15,2564 02343 STARAD -228D,1
042807,001548: 15,2565 02736 GCTR
042808,001549: 15,2566 00343 DEC227 DEC 227 B-14
042809,001550: 15,2567 01530 VNPLANV VN 0688
042810,001551: 15,2570 34,3755 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042811,001552: 15,2570 22363 11623 1/SQR3 2DEC .57735021
042812,001553:
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Page 955 |
042814,001555: # GRAVITY VECTOR DETERMINATION ROUTINE
042815,001556: # BY KEN VINCENT
042816,001557: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042817,001558: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042818,001559: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042819,001560: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042820,001561: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042821,001562: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042822,001563: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042823,001564: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042824,001565: # READINGS.
042825,001566:
042826,001567: # CALL-
042827,001568: # TC BANKCALL
042828,001569: # CADR GVDETER
042829,001570: # INPUTS-
042830,001571: # PIPAS,CDUS
042831,001572: # OUTPUTS-
042832,001573: # STARSAV1 = UNIT GRAVITY
042833,001574: # GSAV = DITTO
042834,001575: # GRAVBIT = 1
042835,001576: # SUBROUTINES-
042836,001577: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042837,001578: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042838,001579: # DEBRIS-
042839,001580: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042840,001581: 15,2572 32773 GVDETER CAF 42DEG
042841,001582: 15,2573 54321 TS THETAD
042842,001583: 15,2574 40000 COM
042843,001584: 15,2575 54322 TS THETAD +1
042844,001585: 15,2576 32774 CAF 35DEG
042845,001586: 15,2577 54323 TS THETAD +2
042846,001587: 15,2600 06051 TC INTPRET
042847,001588: 15,2601 45014 CLEAR CALL
042848,001589: 15,2602 01662 REFSMFLG
042849,001590: 15,2603 32677 LUNG
042850,001591: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042851,001592:
042852,001593: # DEFINE G COOR SYS
042853,001594: # -
042854,001595: # X UNIT G
042855,001596: # * - -
042856,001597: # M= Y = UNITEZSM * X )
042857,001598: # - - -
042858,001599: # Z UNIT(X * Y )
042859,001600: # THEN ROTATED SM WRT PRESENT IS
042860,001601:
042861,001602:
042862,001603: # 1, 0 , 0
042863,001604: # * *T * * *
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Page 956 |
042865,001606: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042866,001607: # I J
042867,001608: # 0, 0 ,-1
042868,001609:
042869,001610: # ALSO NB WRT PRES SM IS
042870,001611:
042871,001612: # * * *
042872,001613: # XNB = NBSM I
042873,001614: # * *
042874,001615: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042875,001616:
042876,001617: 15,2000 SETLOC P50S
042877,001618: 15,2000 BANK
042878,001619: 15,2604 COUNT* $$/P57
042879,001620: 15,2604 66370 AXT,1 SSP # X1=18
042880,001621: 15,2605 00022 18D # S1= 6
042881,001622: 15,2606 00051 S1 # X2, -2
042882,001623: 15,2607 00006 6D
042883,001624: 15,2610 77744 LXC,2
042884,001625: 15,2611 00050 S1
042885,001626: 15,2612 45173 GRAVEL VLOAD* CALL
042886,001627: 15,2613 54000 XUNIT -6,2
042887,001628: 15,2614 47700 *NBSM* # SIN AND COS COMPUTED IN LUNG
042888,001629: 15,2615 06707 STORE XNB +18D,1
042889,001630: 15,2616 77775 VLOAD
042890,001631: 15,2617 02731 STAR
042891,001632: 15,2620 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042892,001633: 15,2621 00047 X2
042893,001634: 15,2622 75040 STAR +6,2 # OUTER PRODUCT
042894,001635: 15,2623 71152 VSL2 LXC,2
042895,001636: 15,2624 00047 X2
042896,001637: 15,2625 63047 VSU* INCR,2
042897,001638: 15,2626 54000 XUNIT -6,2
042898,001639: 15,2627 00002 2D
042899,001640: 15,2630 06665 STORE XSM +18D,1
042900,001641: 15,2631 45100 TIX,1 CALL
042901,001642: 15,2632 32612 GRAVEL
042902,001643: 15,2633 47351 CALCGA
042903,001644: 15,2634 74575 VLOAD VSR1
042904,001645: 15,2635 02715 GOUT
042905,001646: 15,2636 36723 STCALL STARAD +12D
042906,001647: 15,2637 32677 LUNG
042907,001648: 15,2640 74575 VLOAD VSR1
042908,001649: 15,2641 02715 GOUT
042909,001650: 15,2642 53455 VAD UNIT
042910,001651: 15,2643 02723 STARAD +12D
042911,001652: 15,2644 02761 STORE STARSAV1
042912,001653: 15,2645 77641 DOT
042913,001654: 15,2646 02222 GSAV
042914,001655: 15,2647 65552 SL1 ACOS
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Page 957 |
042916,001657: 15,2650 01045 STORE DSPTEM1
042917,001658: 15,2651 77776 EXIT
042918,001659: 15,2652 05527 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042919,001660: 15,2653 00014 ADRES FREEFLAG
042920,001661:
042921,001662: 15,2654 32772 CA DISGRVER
042922,001663: 15,2655 04616 TC BANKCALL
042923,001664: 15,2656 20477 CADR GOFLASH
042924,001665: 15,2657 06001 TC GOTOPOOH
042925,001666: 15,2660 12663 TCF PROGRAV # VB33-PROCEED
042926,001667: 15,2661 05515 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042927,001668: 15,2662 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042928,001669:
042929,001670: 15,2663 05364 PROGRAV TC PHASCHNG
042930,001671: 15,2664 04024 OCT 04024
042931,001672:
042932,001673: 15,2665 06051 TC INTPRET
042933,001674: 15,2666 77775 VLOAD
042934,001675: 15,2667 02761 STARSAV1
042935,001676: 15,2670 02222 STORE GSAV
042936,001677: 15,2671 77776 EXIT
042937,001678: 15,2672 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042938,001679: 15,2673 70074 MASK FLAGWRD0
042939,001680: 15,2674 10000 CCS A
042940,001681: 15,2675 12572 TCF GVDETER # SET
042941,001682: 15,2676 13547 TCF ATTCHK # EXIT FROM GVDETER
042942,001683:
042943,001684: 15,2677 77220 LUNG STQ VLOAD
042944,001685: 15,2700 02745 QMIN
042945,001686: 15,2701 24007 ZEROVEC
042946,001687: 15,2702 02707 STORE GACC
042947,001688: 15,2703 77776 EXIT
042948,001689: 15,2704 05364 TC PHASCHNG
042949,001690: 15,2705 04024 OCT 04024
042950,001691:
042951,001692: 15,2706 06051 TC INTPRET
042952,001693: 15,2707 77624 CALL
042953,001694: 15,2710 31557 COARSE
042954,001695: 15,2711 77776 EXIT
042955,001696: 15,2712 32771 CA T/2SEC
042956,001697: 15,2713 55736 TS GCTR
042957,001698: 15,2714 37730 CA PRIO31
042958,001699: 15,2715 55074 TS 1/PIPADT
042959,001700: 15,2716 04616 TC BANKCALL
042960,001701: 15,2717 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
042961,001702: 15,2720 05364 TC PHASCHNG
042962,001703: 15,2721 04024 OCT 04024
042963,001704:
042964,001705: 15,2722 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042965,001706: 15,2723 71755 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
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Page 958 |
042967,001708: 15,2724 06051 TC INTPRET
042968,001709: 15,2725 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042969,001710: 15,2726 35000 CAF 2SECS
042970,001711: 15,2727 05204 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042971,001712: 15,2730 02732 ADRES GRABGRAV
042972,001713:
042973,001714: 15,2731 05155 TC ENDOFJOB
042974,001715:
042975,001716: 15,2732 04674 GRABGRAV TC IBNKCALL
042976,001717: 15,2733 71755 CADR PIPSRINE
042977,001718: 15,2734 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042978,001719: 15,2735 05105 TC FINDVAC
042979,001720: 15,2736 E5,1706 EBANK= STARAD
042980,001721: 15,2736 02741 32065 2CADR ADDGRAV
042981,001722:
042982,001723:
042983,001724: 15,2740 05272 TC TASKOVER
042984,001725:
042985,001726: 15,2741 04616 ADDGRAV TC BANKCALL
042986,001727: 15,2742 15271 CADR 1/PIPA
042987,001728: 15,2743 25736 INCR GCTR
042988,001729: 15,2744 06051 TC INTPRET
042989,001730: 15,2745 53375 VLOAD VAD
042990,001731: 15,2746 00325 DELV
042991,001732: 15,2747 02707 GACC
042992,001733: 15,2750 02707 STORE GACC # ACCUMULATE G VECTOR
042993,001734: 15,2751 50135 SLOAD BMN
042994,001735: 15,2752 02737 GCTR
042995,001736: 15,2753 32725 GREED
042996,001737: 15,2754 53575 VLOAD UNIT
042997,001738: 15,2755 02707 GACC
042998,001739: 15,2756 36731 STCALL STAR
042999,001740: 15,2757 47535 CDUTRIG # TRANSFORM IN NB COOR AND STORE
043000,001741: 15,2760 77624 CALL # IN OUTPUT
043001,001742: 15,2761 47676 *SMNB*
043002,001743: 15,2762 02715 STORE GOUT
043003,001744: 15,2763 77776 EXIT
043004,001745: 15,2764 05364 TC PHASCHNG
043005,001746: 15,2765 04024 OCT 04024
043006,001747:
043007,001748: 15,2766 06051 QMINEXIT TC INTPRET
043008,001749: 15,2767 77650 GOTO
043009,001750: 15,2770 02745 QMIN
043010,001751: 15,2771 77753 T/2SEC DEC -20 B-14
043011,001752: 15,2772 01404 DISGRVER VN 0604
043012,001753: 15,2773 07357 42DEG OCT 07357
043013,001754: 15,2774 06211 35DEG OCT 06211
043014,001755:
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Page 959 |
043016,001757: # NAME GYROTRIM
043017,001758:
043018,001759: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
043019,001760: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
043020,001761: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
043021,001762:
043022,001763: # CALL CALL
043023,001764: # GYROTRIM
043024,001765:
043025,001766: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
043026,001767: # CDUX,CDUY,CDUZ
043027,001768:
043028,001769: # OUTPUT - GYRO TORQUE PULSES
043029,001770:
043030,001771: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
043031,001772: # IMPULSE,IMUSTALL
043032,001773: # - - - * * -
043033,001774: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
043034,001775: 15,2775 COUNT* $$/P57
043035,001776: 15,2775 71220 GYROTRIM STQ DLOAD
043036,001777: 15,2776 02745 QMIN
043037,001778: 15,2777 00322 THETAD
043038,001779: 15,3000 65325 PDDL PDDL
043039,001780: 15,3001 00324 THETAD +2
043040,001781: 15,3002 00323 THETAD +1
043041,001782: 15,3003 77666 VDEF
043042,001783: 15,3004 24766 STOVL CDUSPOT
043043,001784: 15,3005 24005 XUNIT
043044,001785: 15,3006 77624 CALL
043045,001786: 15,3007 47671 TRG*NBSM
043046,001787: 15,3010 26707 STOVL STARAD
043047,001788: 15,3011 24003 YUNIT
043048,001789: 15,3012 77624 CALL
043049,001790: 15,3013 47700 *NBSM*
043050,001791: 15,3014 36715 STCALL STARAD +6
043051,001792: 15,3015 47535 CDUTRIG
043052,001793: 15,3016 77624 CALL
043053,001794: 15,3017 20030 CALCSMSC
043054,001795: 15,3020 77775 VLOAD
043055,001796: 15,3021 02665 XNB
043056,001797: 15,3022 24007 STOVL 6D
043057,001798: 15,3023 02673 YNB
043058,001799: 15,3024 34015 STCALL 12D
043059,001800: 15,3025 47437 AXISGEN
043060,001801: 15,3026 77624 CALL
043061,001802: 15,3027 47245 CALCGTA
043062,001803: 15,3030 77776 JUSTTRIM EXIT
043063,001804: 15,3031 33040 CA GYRCDR
043064,001805: 15,3032 04616 TC BANKCALL
043065,001806: 15,3033 17270 CADR IMUPULSE
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Page 960 |
043067,001808: 15,3034 04616 TC BANKCALL
043068,001809: 15,3035 17715 CADR IMUSTALL
043069,001810: 15,3036 05712 TC CURTAINS
043070,001811: 15,3037 12766 TCF QMINEXIT
043071,001812:
043072,001813: 15,3040 02737 GYRCDR ECADR OGC
043073,001814:
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Page 961 |
043075,001816: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
043076,001817:
043077,001818: 15,3041 34755 2STARS CAF ZERO # INITALIZE STARIND
043078,001819: 15,3042 13044 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
043079,001820: 15,3043 34753 1STAR CAF BIT1
043080,001821: 15,3044 55757 TS STARIND
043081,001822:
043082,001823: 15,3045 05364 TC PHASCHNG
043083,001824: 15,3046 04024 OCT 04024
043084,001825:
043085,001826: 15,3047 12270 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
043086,001827:
043087,001828: 15,3050 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
043088,001829: 15,3051 00006 EXTEND
043089,001830: 15,3052 13063 BZF ASTAR # 1ST STAR MARKED
043090,001831:
043091,001832: 15,3053 05364 TC PHASCHNG
043092,001833: 15,3054 04024 OCT 04024
043093,001834:
043094,001835: 15,3055 06051 TC INTPRET
043095,001836: 15,3056 45145 DLOAD CALL
043096,001837: 15,3057 03562 TSIGHT # TIME OF 2ND MARK
043097,001838: 15,3060 32500 PLANET
043098,001839: 15,3061 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
043099,001840: 15,3062 33075 SURFLINE
043100,001841:
043101,001842: 15,3063 06051 ASTAR TC INTPRET
043102,001843: 15,3064 77775 VLOAD
043103,001844: 15,3065 02715 STARAD +6
043104,001845: 15,3066 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
043105,001846: 15,3067 45145 DLOAD CALL
043106,001847: 15,3070 03562 TSIGHT # TIME OF 1ST MARK
043107,001848: 15,3071 32500 PLANET
043108,001849: 15,3072 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
043109,001850: 15,3073 77776 EXIT
043110,001851: 15,3074 13043 TCF 1STAR # GO GET 2ND STAR SIGHTING
043111,001852:
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Page 962 |
043113,001854: # DO FINE OR COARSE ALIGNMENT OF IMU
043114,001855:
043115,001856: 15,3075 77131 SURFLINE SSP AXT,2
043116,001857: 15,3076 00052 S2
043117,001858: 15,3077 00006 6
043118,001859: 15,3100 00014 12D
043119,001860: 15,3101 64373 WRTDESIR VLOAD* MXV
043120,001861: 15,3102 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
043121,001862: 15,3103 03607 XSMD
043122,001863: 15,3104 77656 UNIT
043123,001864: 15,3105 12723 STORE STARAD +12D,2 # VEC IN SM
043124,001865: 15,3106 77773 VLOAD*
043125,001866: 15,3107 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
043126,001867: 15,3110 10023 STORE 18D,2
043127,001868: 15,3111 43104 TIX,2 BON
043128,001869: 15,3112 33101 WRTDESIR
043129,001870: 15,3113 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
043130,001871: 15,3114 33122 INITBY
043131,001872: 15,3115 77624 DOALIGN CALL
043132,001873: 15,3116 31250 R54 # DO CHKSDATA
043133,001874: 15,3117 77614 BOFF
043134,001875: 15,3120 00354 FREEFLAG
043135,001876: 15,3121 33202 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
043136,001877: 15,3122 77624 INITBY CALL
043137,001878: 15,3123 47437 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
043138,001879: 15,3124 77624 CALL
043139,001880: 15,3125 47245 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
043140,001881: 15,3126 77776 EXIT
043141,001882: 15,3127 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
043142,001883: 15,3130 70104 MASK FLAGWRD8
043143,001884: 15,3131 10000 CCS A
043144,001885: 15,3132 13141 TCF 5DEGTEST
043145,001886: 15,3133 33307 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
043146,001887: 15,3134 04616 TC BANKCALL
043147,001888: 15,3135 20477 CADR GOFLASH
043148,001889: 15,3136 06001 TC GOTOPOOH # V34-TERMINATE
043149,001890: 15,3137 13141 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
043150,001891: 15,3140 13203 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
043151,001892:
043152,001893: 15,3141 06051 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
043153,001894: 15,3142 40175 VLOAD BOV
043154,001895: 15,3143 02740 OGC
043155,001896: 15,3144 33145 SURFSUP
043156,001897: 15,3145 02750 SURFSUP STORE OGCT
043157,001898: 15,3146 40141 V/SC BOV
043158,001899: 15,3147 30602 5DEGREES
043159,001900: 15,3150 33250 COATRIM
043160,001901: 15,3151 52131 SSP GOTO
043161,001902: 15,3152 02746 QMIN
043162,001903: 15,3153 33155 SURFDISP
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Page 963 |
043164,001905: 15,3154 33030 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
043165,001906:
043166,001907: 15,3155 77776 SURFDISP EXIT
043167,001908: 15,3156 05364 TC PHASCHNG
043168,001909: 15,3157 04024 OCT 04024
043169,001910:
043170,001911: 15,3160 06051 TC INTPRET
043171,001912: 15,3161 75160 AXC,1 AXC,2
043172,001913: 15,3162 03606 XSMD
043173,001914: 15,3163 01731 REFSMMAT
043174,001915: 15,3164 45014 SET CALL
043175,001916: 15,3165 01462 REFSMFLG
043176,001917: 15,3166 31371 MATMOVE
043177,001918: 15,3167 77776 EXIT
043178,001919: 15,3170 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
043179,001920: 15,3171 13173 TCF B2F8
043180,001921: 15,3172 13203 TCF P57POST +1
043181,001922:
043182,001923: 15,3173 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
043183,001924: 15,3174 70104 MASK FLAGWRD8
043184,001925: 15,3175 10000 CCS A
043185,001926: 15,3176 13555 TCF P57JUMP # ITS SET
043186,001927: 15,3177 06051 TC INTPRET
043187,001928: 15,3200 77624 CALL
043188,001929: 15,3201 33502 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043189,001930: 15,3202 77776 P57POST EXIT
043190,001931: 15,3203 35752 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043191,001932: 15,3204 04616 TC BANKCALL
043192,001933: 15,3205 20624 CADR GOPERF1
043193,001934: 15,3206 16001 TCF GOTOPOOH # VB34-TERMINATE
043194,001935: 15,3207 13555 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
043195,001936: 15,3210 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
043196,001937: 15,3211 61144 AD OPTION2
043197,001938: 15,3212 00006 EXTEND
043198,001939: 15,3213 13215 BZF +2 # YES-GO CALCULATE LANDING SITE
043199,001940: 15,3214 16001 TCF GOTOPOOH # NO-EXIT P57
043200,001941: 15,3215 05364 TC PHASCHNG # RESTART PLACE
043201,001942: 15,3216 04024 OCT 04024
043202,001943: 15,3217 06051 TC INTPRET
043203,001944: 15,3220 45175 VLOAD CALL # USE GNB
043204,001945: 15,3221 02222 GSAV
043205,001946: 15,3222 47666 CDU*NBSM # GO TO SM COORDS
043206,001947: 15,3223 43105 VXM SET # ON MOON SO SET LUNAFLAG
043207,001948: 15,3224 01732 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
043208,001949: 15,3225 01463 LUNAFLAG
043209,001950: 15,3226 51515 PDVL ABVAL
043210,001951: 15,3227 02021 RLS
043211,001952: 15,3230 45561 VXSC STADR
043212,001953: 15,3231 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
043213,001954: 15,3232 47014 CLEAR RTB
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Page 964 |
043215,001956: 15,3233 00662 ERADFLAG
043216,001957: 15,3234 21555 LOADTIME
043217,001958: 15,3235 77624 CALL
043218,001959: 15,3236 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
043219,001960: 15,3237 01220 STORE RN # RN=RLS B-29 = LM POSITION
043220,001961: 15,3240 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
043221,001962: 15,3241 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
043222,001963: 15,3242 77606 PUSH # TIME AT 6-7 IN PDLIST
043223,001964: 15,3243 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
043224,001965: 15,3244 51644 R-TO-RP
043225,001966: 15,3245 02021 STORE RLS # RLS IN MOON-FIXED COORDS
043226,001967: 15,3246 77776 EXIT
043227,001968: 15,3247 16001 TCF GOTOPOOH # EXIT P57
043228,001969:
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Page 965 |
043230,001971: # COARSE AND FINE ALIGN IMU
043231,001972: 15,3250 75160 COATRIM AXC,1 AXC,2
043232,001973: 15,3251 02664 XDC
043233,001974: 15,3252 02642 XSM
043234,001975: 15,3253 77624 CALL
043235,001976: 15,3254 31371 MATMOVE
043236,001977: 15,3255 77624 CALL
043237,001978: 15,3256 47535 CDUTRIG
043238,001979: 15,3257 77624 CALL
043239,001980: 15,3260 20030 CALCSMSC
043240,001981: 15,3261 77624 CALL
043241,001982: 15,3262 47351 CALCGA
043242,001983: 15,3263 77414 BOFF EXIT
043243,001984: 15,3264 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
043244,001985: 15,3265 33277 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
043245,001986: 15,3266 35010 CAF V06N22 # THAN 5 DEGREES
043246,001987: 15,3267 04616 TC BANKCALL
043247,001988: 15,3270 20477 CADR GOFLASH
043248,001989: 15,3271 06001 TC GOTOPOOH
043249,001990: 15,3272 13274 TCF +2
043250,001991: 15,3273 13266 TCF -5
043251,001992: 15,3274 05364 TC PHASCHNG
043252,001993: 15,3275 04024 OCT 04024
043253,001994:
043254,001995: 15,3276 06051 TC INTPRET
043255,001996: 15,3277 77624 CORSIT CALL
043256,001997: 15,3300 31557 COARSE
043257,001998: 15,3301 77624 CALL
043258,001999: 15,3302 31603 NCOARSE
043259,002000: 15,3303 77624 CALL
043260,002001: 15,3304 32775 GYROTRIM
043261,002002: 15,3305 77650 GOTO
043262,002003: 15,3306 33155 SURFDISP
043263,002004: 15,3307 01535 DISPGYRO VN 0693
043264,002005:
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Page 966 |
043266,002007: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043267,002008:
043268,002009: 15,3310 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043269,002010: 15,3311 33646 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
043270,002011:
043271,002012: 15,3312 36257 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
043272,002013: 15,3313 55144 TS OPTION2
043273,002014: 15,3314 34753 P57OPT CAF BIT1
043274,002015: 15,3315 04616 TC BANKCALL
043275,002016: 15,3316 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
043276,002017: 15,3317 06001 TC GOTOPOOH # V34 TERMINATE
043277,002018: 15,3320 13325 TCF ALIGNOPT # V33 PROCEED
043278,002019: 15,3321 13314 TCF P57OPT # V32 RECYCLE
043279,002020:
043280,002021: 15,3322 05364 TC PHASCHNG
043281,002022: 15,3323 00014 OCT 00014
043282,002023: 15,3324 05155 TC ENDOFJOB
043283,002024:
043284,002025: 15,3325 31144 ALIGNOPT CA OPTION2
043285,002026: 15,3326 76257 MASK THREE
043286,002027: 15,3327 50000 INDEX A
043287,002028: 15,3330 13331 TCF +1
043288,002029: 15,3331 13344 TCF TDISP # OPTION 4 LS ORIENTATION
043289,002030: 15,3332 13405 TCF PACKOPTN # OPTION 1 PREFERRED
043290,002031: 15,3333 13314 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
043291,002032: 15,3334 06051 TC INTPRET # OPTION 3 REFSMMAT
043292,002033: 15,3335 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
043293,002034: 15,3336 01731 REFSMMAT
043294,002035: 15,3337 03606 XSMD
043295,002036: 15,3340 77624 CALL
043296,002037: 15,3341 31371 MATMOVE
043297,002038: 15,3342 77650 GOTO
043298,002039: 15,3343 33404 PACKOPTN -1
043299,002040:
043300,002041: 15,3344 06051 TDISP TC INTPRET
043301,002042: 15,3345 77745 DLOAD
043302,002043: 15,3346 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
043303,002044: 15,3347 01045 P57A STORE DSPTEM1
043304,002045: 15,3350 77776 EXIT
043305,002046: 15,3351 32213 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043306,002047: 15,3352 04616 TC BANKCALL
043307,002048: 15,3353 20477 CADR GOFLASH
043308,002049: 15,3354 16001 TCF GOTOPOOH # V34-TERMINATE
043309,002050: 15,3355 13357 TCF +2
043310,002051: 15,3356 13351 TCF P57AA # VB32-RECYCLE
043311,002052:
043312,002053: 15,3357 06051 TC INTPRET
043313,002054: 15,3360 65234 RTB PDDL
043314,002055: 15,3361 21555 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043315,002056: 15,3362 01045 DSPTEM1
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Page 967 |
043317,002058: 15,3363 65254 BZE PDDL
043318,002059: 15,3364 33374 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043319,002060: 15,3365 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043320,002061: 15,3366 01045 DSPTEM1
043321,002062: 15,3367 33374 P57C
043322,002063: 15,3370 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043323,002064: 15,3371 74335 STORE TIG # STORE IT IN TIG
043324,002065: 15,3372 36775 STCALL TALIGN
043325,002066: 15,3373 33376 P57D
043326,002067: 15,3374 45545 P57C DLOAD STADR
043327,002068: 15,3375 75002 STORE TALIGN
043328,002069: 15,3376 34041 P57D STCALL TDEC1
043329,002070: 15,3377 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043330,002071: 15,3400 53575 VLOAD UNIT # IN X,Y,ZSMD
043331,002072: 15,3401 00001 RATT
043332,002073: 15,3402 37607 STCALL XSMD
043333,002074: 15,3403 10765 LSORIENT
043334,002075: 15,3404 77776 EXIT
043335,002076: 15,3405 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043336,002077: 15,3406 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043337,002078: 15,3407 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043338,002079: 15,3410 34737 CAF REFSMBIT
043339,002080: 15,3411 70077 MASK FLAGWRD3 # REFSMFLG
043340,002081: 15,3412 10000 CCS A
043341,002082: 15,3413 34745 CAF BIT7 # SET
043342,002083: 15,3414 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
043343,002084: 15,3415 34753 CAF ATTFLBIT
043344,002085: 15,3416 70102 MASK FLAGWRD6 # ATTFLG
043345,002086: 15,3417 10000 CCS A
043346,002087: 15,3420 34750 CAF BIT4 # SET
043347,002088: 15,3421 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
043348,002089: 15,3422 34750 CAF BIT4
043349,002090: 15,3423 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043350,002091:
043351,002092: 15,3424 33645 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043352,002093: 15,3425 04616 TC BANKCALL
043353,002094: 15,3426 20477 CADR GOFLASH
043354,002095: 15,3427 16001 TCF GOTOPOOH # VB34-TERMINATE
043355,002096: 15,3430 13432 TCF +2 # V33-PROCEED
043356,002097: 15,3431 13424 TCF DSPOPTN # V32-RECYCLE
043357,002098:
043358,002099: 15,3432 34737 CAF REFSMBIT
043359,002100: 15,3433 70077 MASK FLAGWRD3
043360,002101: 15,3434 10000 CCS A
043361,002102: 15,3435 13535 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043362,002103: 15,3436 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043363,002104: 15,3437 70102 MASK FLAGWRD6
043364,002105: 15,3440 10000 CCS A
043365,002106: 15,3441 13541 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043366,002107: 15,3442 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 968 |
043368,002109: 15,3443 71144 MASK OPTION2
043369,002110: 15,3444 10000 CCS A
043370,002111: 15,3445 13541 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043371,002112: 15,3446 05600 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
043372,002113: 15,3447 00701 OCT 701
043373,002114: 15,3450 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043374,002115: 15,3451 04616 TC BANKCALL
043375,002116: 15,3452 20477 CADR GOFLASH
043376,002117: 15,3453 16001 TCF GOTOPOOH # VB34-TERMINATE
043377,002118: 15,3454 13424 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
043378,002119: 15,3455 13424 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
043379,002120:
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Page 969 |
043381,002122: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043382,002123:
043383,002124: 15,3456 40220 MFREF STQ SETPD
043384,002125: 15,3457 02746 QMAJ
043385,002126: 15,3460 00001 0
043386,002127: 15,3461 77634 RTB
043387,002128: 15,3462 21555 LOADTIME
043388,002129: 15,3463 27562 STOVL TSIGHT
043389,002130: 15,3464 03246 VEC1
043390,002131: 15,3465 41525 PDDL PUSH
043391,002132: 15,3466 03562 TSIGHT
043392,002133: 15,3467 77624 CALL
043393,002134: 15,3470 55720 RP-TO-R
043394,002135: 15,3471 27246 STOVL VEC1
043395,002136: 15,3472 03254 VEC2
043396,002137: 15,3473 65201 SETPD PDDL
043397,002138: 15,3474 00001 0
043398,002139: 15,3475 03562 TSIGHT
043399,002140: 15,3476 45006 PUSH CALL
043400,002141: 15,3477 55720 RP-TO-R
043401,002142: 15,3500 37254 STCALL VEC2
043402,002143: 15,3501 02746 QMAJ
043403,002144:
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Page 970 |
043405,002146: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043406,002147: # STORE IN YNBSAV AND ZNBSAV
043407,002148:
043408,002149: 15,3502 45020 REFMF STQ CALL
043409,002150: 15,3503 02746 QMAJ
043410,002151: 15,3504 47535 CDUTRIG # GET SIN AND COS OF CDUS
043411,002152: 15,3505 40234 RTB SETPD
043412,002153: 15,3506 21555 LOADTIME
043413,002154: 15,3507 00001 0
043414,002155: 15,3510 37562 STCALL TSIGHT
043415,002156: 15,3511 20030 CALCSMSC # GET YNB IN SM
043416,002157: 15,3512 61375 VLOAD VXM
043417,002158: 15,3513 02673 YNB
043418,002159: 15,3514 01732 REFSMMAT # YNB TO REF
043419,002160: 15,3515 65256 UNIT PDDL
043420,002161: 15,3516 03562 TSIGHT
043421,002162: 15,3517 45006 PUSH CALL
043422,002163: 15,3520 51644 R-TO-RP
043423,002164: 15,3521 26230 STOVL YNBSAV # YNB TO MF
043424,002165: 15,3522 02701 ZNB
043425,002166: 15,3523 53505 VXM UNIT
043426,002167: 15,3524 01732 REFSMMAT # ZNB TO REF
043427,002168: 15,3525 41525 PDDL PUSH
043428,002169: 15,3526 03562 TSIGHT
043429,002170: 15,3527 77624 CALL
043430,002171: 15,3530 51644 R-TO-RP # ZNB TO MF
043431,002172: 15,3531 02236 STORE ZNBSAV
043432,002173: 15,3532 77614 SETGO
043433,002174: 15,3533 03036 ATTFLAG
043434,002175: 15,3534 02746 QMAJ
043435,002176:
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Page 971 |
043437,002178: # BRANCH TO ALIGNMENT OPTION
043438,002179:
043439,002180: 15,3535 06051 GETLMATT TC INTPRET
043440,002181: 15,3536 77624 CALL
043441,002182: 15,3537 33502 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043442,002183: 15,3540 77776 EXIT
043443,002184:
043444,002185: 15,3541 05515 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043445,002186: 15,3542 00205 ADRES INITALGN
043446,002187: 15,3543 34753 CAF BIT1
043447,002188: 15,3544 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
043448,002189: 15,3545 10000 CCS A
043449,002190: 15,3546 12572 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043450,002191:
043451,002192: 15,3547 05364 ATTCHK TC PHASCHNG
043452,002193: 15,3550 04024 OCT 04024
043453,002194:
043454,002195: 15,3551 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043455,002196: 15,3552 70102 MASK FLAGWRD6
043456,002197: 15,3553 10000 CCS A
043457,002198: 15,3554 13571 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043458,002199: 15,3555 05364 P57JUMP TC PHASCHNG
043459,002200: 15,3556 04024 OCT 04024
043460,002201:
043461,002202: 15,3557 05527 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043462,002203: 15,3560 00205 ADRES INITALGN
043463,002204: 15,3561 36257 CAF THREE
043464,002205: 15,3562 71144 MASK OPTION2 # BRANCH ON OPTION CODE
043465,002206: 15,3563 50000 INDEX A
043466,002207: 15,3564 13565 TCF +1
043467,002208: 15,3565 13571 TCF P57OPT0 # OPTION IS 0
043468,002209: 15,3566 13612 TCF P57OPT1 # OPTION IS 1
043469,002210: 15,3567 13630 TCF P57OPT2 # OPTION IS 2
043470,002211: 15,3570 13631 TCF P57OPT3 # OPTION IS 3
043471,002212:
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Page 972 |
043473,002214: # OPTION 0, GET TWO ATTITUDE VECS
043474,002215:
043475,002216: 15,3571 06051 P57OPT0 TC INTPRET
043476,002217: 15,3572 77775 VLOAD
043477,002218: 15,3573 02230 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043478,002219: 15,3574 27246 STOVL VEC1
043479,002220: 15,3575 02236 ZNBSAV
043480,002221: 15,3576 37254 STCALL VEC2
043481,002222: 15,3577 47535 CDUTRIG
043482,002223: 15,3600 77624 CALL
043483,002224: 15,3601 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043484,002225: 15,3602 77775 VLOAD
043485,002226: 15,3603 02673 YNB
043486,002227: 15,3604 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043487,002228: 15,3605 02701 ZNB
043488,002229: 15,3606 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043489,002230: 15,3607 33456 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043490,002231: 15,3610 77650 GOTO
043491,002232: 15,3611 33075 SURFLINE
043492,002233:
043493,002234: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043494,002235:
043495,002236: 15,3612 06051 P57OPT1 TC INTPRET
043496,002237: 15,3613 53575 VLOAD UNIT
043497,002238: 15,3614 02021 RLS # LANDING SITE VEC
043498,002239: 15,3615 27246 STOVL VEC1
043499,002240: 15,3616 02236 ZNBSAV # Z ATTITUDE VEC
043500,002241: 15,3617 37254 STCALL VEC2
043501,002242: 15,3620 47535 CDUTRIG
043502,002243: 15,3621 77624 CALL
043503,002244: 15,3622 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043504,002245: 15,3623 45175 VLOAD CALL
043505,002246: 15,3624 02222 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043506,002247: 15,3625 47666 CDU*NBSM
043507,002248: 15,3626 77650 GOTO
043508,002249: 15,3627 33604 SAMETYP # NOW DO SAME AS OPTION 0
043509,002250:
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Page 973 |
043511,002252: # OPTION 2, GET TWO STAR SIGHTINGS
043512,002253:
043513,002254: 15,3630 13041 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043514,002255:
043515,002256: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043516,002257:
043517,002258: 15,3631 06051 P57OPT3 TC INTPRET
043518,002259: 15,3632 53575 VLOAD UNIT
043519,002260: 15,3633 02021 RLS # LANDING SITE VEC
043520,002261: 15,3634 03246 STORE VEC1
043521,002262: 15,3635 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043522,002263: 15,3636 02222 GSAV # GRAVITY VEC NB
043523,002264: 15,3637 77624 CALL
043524,002265: 15,3640 47666 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043525,002266: 15,3641 36761 STCALL STARSAV1
043526,002267: 15,3642 33456 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043527,002268: 15,3643 77776 EXIT
043528,002269: 15,3644 13043 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043529,002270:
043530,002271: 15,3645 01206 VB05N06 VN 506
043531,002272:
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Page 974 |
043533,002274: # CHECK IMODES30 TO VARIFY IMU IS ON
043534,002275:
043535,002276: 15,3646 41277 IMUCHK CS IMODES30
043536,002277: 15,3647 74743 MASK BIT9
043537,002278: 15,3650 10000 CCS A # IS IMU ON
043538,002279: 15,3651 13655 TCF +4 # YES
043539,002280:
043540,002281: 15,3652 05600 TC ALARM # NO, SEND ALARM AND EXIT
043541,002282: 15,3653 00210 OCT 210
043542,002283: 15,3654 06001 TC GOTOPOOH
043543,002284:
043544,002285: 15,3655 05515 TC UPFLAG
043545,002286: 15,3656 00007 ADRES IMUSE # SET IMUSE FLAG
043546,002287:
043547,002288: 15,3657 04631 TC SWRETURN
043548,002289:
043549,002290: 04,2765 BANK 04
043550,002291: 04,2000 SETLOC AOTMARK2
043551,002292: 04,2000 BANK
043552,002293: 04,2765 COUNT* $$/P57
043553,002294:
043554,002295: 04,2765 77220 LSORIENT STQ VLOAD
043555,002296: 04,2766 02746 QMAJ
043556,002297: 04,2767 01555 RRECTCSM
043557,002298: 04,2770 47235 VXV VXV
043558,002299: 04,2771 01563 VRECTCSM
043559,002300: 04,2772 03607 XSMD
043560,002301: 04,2773 77656 UNIT
043561,002302: 04,2774 03623 STORE ZSMD
043562,002303: 04,2775 53435 VXV UNIT
043563,002304: 04,2776 03607 XSMD
043564,002305: 04,2777 37615 STCALL YSMD
043565,002306: 04,3000 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc