Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
030294,000002: ## Copyright: Public domain.
030295,000003: ## Filename: P51-P53.agc
030296,000004: ## Purpose: Part of the source code for Colossus build 237.
030297,000005: ## This is for the Command Module's (CM) Apollo Guidance
030298,000006: ## Computer (AGC), for Apollo 8.
030299,000007: ## Assembler: yaYUL
030300,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
030301,000009: ## Website: www.ibiblio.org/apollo/index.html
030302,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030303,000011: ## Mod history: 2011-02-23 JL Adapted from corresponding Colossus 249 file.
030304,000012: ## 2011-04-17 JL Removed temporary line.
030305,000013: ## 2016-12-31 RSB Proofed comment text using octopus/ProoferComments,
030306,000014: ## and corrected errors found.
030307,000015: ## 2017-01-18 RSB Fixed comment-text errors noted while diff'ing
030308,000016: ## vs Colossus 249.
030309,000017:
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Page 690 |
030311,000019: # PROGRAM NAME- PROG52 DATE- NOV 30, 1966
030312,000020: # MOD NO- 2 LOG SECTION- P51-P53
030313,000021: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDISK REV 30
030314,000022:
030315,000023: # FUNCTIONAL DESCRIPTION-
030316,000024:
030317,000025: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030318,000026: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030319,000027:
030320,000028: # (A) PREFERRED ORIENTATION
030321,000029:
030322,000030: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
030323,000031: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
030324,000032:
030325,000033: # (B) NOMINAL ORIENTATION
030326,000034:
030327,000035: # X = UNIT(Y X Z )
030328,000036: # -SM -SM -SM
030329,000037:
030330,000038: # Y = UNIT(V X R)
030331,000039: # -SM - -
030332,000040:
030333,000041: # Z = UNIT(-R)
030334,000042: # -SM -
030335,000043:
030336,000044: # WHERE_
030337,000045: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030338,000046: # -
030339,000047:
030340,000048: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030341,000049: # -
030342,000050:
030343,000051: # (C) REFSMMAT ORIENTATION
030344,000052:
030345,000053: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030346,000054: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
030347,000055: # SINCE THE LAST ALIGNMENT).
030348,000056:
030349,000057: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030350,000058: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030351,000059: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030352,000060: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
030353,000061: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030354,000062: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030355,000063: # REQUESTED.
030356,000064:
030357,000065: # CALLING SEQUENCE-
030358,000066:
030359,000067: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030360,000068:
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Page 691 |
030362,000070: # SUBROUTINES CALLED-
030363,000071:
030364,000072: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
030365,000073: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
030366,000074: # 3. GOPERF4 9. FLAGUP
030367,000075: # 4. MATMOVE 10. R56
030368,000076: # 5. GOFLASH 11. R51
030369,000077: # 6. S52.3 12. GOPERF3
030370,000078:
030371,000079: # NORMAL EXIT MODES-
030372,000080:
030373,000081: # EXITS TO ENDOFJOB
030374,000082:
030375,000083: # ALARM OR ABORT EXIT MODES-
030376,000084:
030377,000085: # NONE
030378,000086:
030379,000087: # OUTPUT-
030380,000088:
030381,000089: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
030382,000090: # 1. IMU ORIENTATION CODE
030383,000091: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030384,000092: # 3. TIME OF NEXT IGNITION
030385,000093: # 4. GIMBAL ANGLES
030386,000094: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030387,000095: # 6. PLEASE PERFORM P00
030388,000096: # THE MODE DISPLAY MAY BE CHANGED TO 20
030389,000097:
030390,000098: # ERASABLE INITIALIZATION REQUIRED-
030391,000099:
030392,000100: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030393,000101: # XSMD,YSMD,ZSMD.
030394,000102: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030395,000103:
030396,000104: # DEBRIS-
030397,000105:
030398,000106: # WORK AREA
030399,000107: 21,2026 15,2000 P54 = PROG52
030400,000108: 33,3773 BANK 33
030401,000109: 15,2000 SETLOC P50S
030402,000110: 15,2000 BANK
030403,000111:
030404,000112: 15,2000 30,2000 SBANK= LOWSUPER
030405,000113: 15,2000 E5,1773 EBANK= SAC
030406,000114: 15,2000 COUNT 15/P52
030407,000115:
030408,000116: 15,2000 05301 PROG52 TC PHASCHNG
030409,000117: 15,2001 00254 OCT 00254
030410,000118: 15,2002 05447 TC DOWNFLAG
030411,000119: 15,2003 00027 ADRES UPDATFLG # BIT 7 FLAG 1
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Page 692 |
030413,000121: 15,2004 05447 TC DOWNFLAG
030414,000122: 15,2005 00031 ADRES TRACKFLG # BIT 5 FLAG 1
030415,000123: 15,2006 04555 TC BANKCALL
030416,000124: 15,2007 17573 CADR R02BOTH # IMU STATUS CHECK
030417,000125: 15,2010 34707 CAF BIT4
030418,000126: 15,2011 70076 MASK STATE +2 # IS PFRATFLG SET(PREFERRED ORIENTATION)
030419,000127: 15,2012 10000 CCS A
030420,000128: 15,2013 02016 TC P52A # YES
030421,000129: 15,2014 34711 CAF BIT2 # NO
030422,000130: 15,2015 02017 TC P52A +1
030423,000131: 15,2016 34712 P52A CAF BIT1
030424,000132: 15,2017 55132 TS OPTION2
030425,000133: 15,2020 34712 P52B CAF BIT1
030426,000134: 15,2021 04555 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
030427,000135: 15,2022 21041 CADR GOPERF4R
030428,000136: 15,2023 04106 TC GOTOPOOH
030429,000137: 15,2024 02031 TC +5
030430,000138: 15,2025 02020 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
030431,000139: 15,2026 05301 TC PHASCHNG
030432,000140: 15,2027 00014 OCT 00014
030433,000141: 15,2030 05112 TC ENDOFJOB
030434,000142: 15,2031 31132 CA OPTION2
030435,000143: 15,2032 76214 MASK THREE
030436,000144: 15,2033 50000 INDEX A
030437,000145: 15,2034 02035 TC +1
030438,000146: 15,2035 02041 TC P52T # L.S.
030439,000147: 15,2036 02110 TC P52J # PREF
030440,000148: 15,2037 02041 TC P52T # NOM
030441,000149: 15,2040 12120 TCF P52C # REF
030442,000150: 15,2041 00006 P52T EXTEND
030443,000151: 15,2042 34714 DCA NEG0
030444,000152: 15,2043 53046 DXCH DSPTEM1
030445,000153: 15,2044 32155 CAF V06N34
030446,000154: 15,2045 04555 TC BANKCALL
030447,000155: 15,2046 20624 CADR GOFLASH
030448,000156: 15,2047 04106 TC GOTOPOOH
030449,000157: 15,2050 02052 TC +2
030450,000158: 15,2051 02044 TC -5
030451,000159: 15,2052 00006 EXTEND
030452,000160: 15,2053 31046 DCA DSPTEM1
030453,000161: 15,2054 00006 EXTEND
030454,000162: 15,2055 12057 BZF +2
030455,000163: 15,2056 12062 TCF +4
030456,000164:
030457,000165: 15,2057 00006 EXTEND
030458,000166: 15,2060 30025 DCA TIME2
030459,000167: 15,2061 53046 DXCH DSPTEM1
030460,000168: 15,2062 31132 CA OPTION2
030461,000169: 15,2063 74711 MASK BIT2
030462,000170: 15,2064 10000 CCS A
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030464,000172: 15,2065 12073 TCF +6 # NOM
030465,000173: 15,2066 06006 TC INTPRET # LS
030466,000174: 15,2067 77624 CALL
030467,000175: 15,2070 34506 P52LS
030468,000176: 15,2071 77650 GOTO
030469,000177: 15,2072 32100 P52D
030470,000178: 15,2073 06006 TC INTPRET
030471,000179: 15,2074 77745 DLOAD
030472,000180: 15,2075 01046 DSPTEM1
030473,000181: 15,2076 77624 CALL # COMPUTE NOMINAL IMU
030474,000182: 15,2077 34636 S52.3 # ORIENTATION
030475,000183: 15,2100 77624 P52D CALL # READ VEHICLE ATTITUDE AND
030476,000184: 15,2101 22256 S52.2 # COMPUTE GIMBAL ANGLES
030477,000185: 15,2102 77776 EXIT
030478,000186: 15,2103 32156 CAF VB06N22
030479,000187: 15,2104 04555 TC BANKCALL # DISPLAY GIMBAL ANGLES
030480,000188: 15,2105 20624 CADR GOFLASH
030481,000189: 15,2106 04106 TC GOTOPOOH
030482,000190: 15,2107 02113 TC +4 # PROCEED
030483,000191: 15,2110 06006 P52J TC INTPRET # RECYCLE- VEHICLE HAS BEEN MENUEVERED
030484,000192: 15,2111 77650 GOTO
030485,000193: 15,2112 32100 P52D
030486,000194: 15,2113 06006 TC INTPRET
030487,000195: 15,2114 77624 CALL # DO COARSE ALIGN
030488,000196: 15,2115 30763 CAL53A # ROUTINE
030489,000197: 15,2116 77414 SET EXIT
030490,000198: 15,2117 01462 REFSMFLG
030491,000199: 15,2120 34720 P52C CAF ALRM15
030492,000200: 15,2121 04555 TC BANKCALL
030493,000201: 15,2122 20751 CADR GOPERF1
030494,000202: 15,2123 04106 TC GOTOPOOH
030495,000203: 15,2124 02126 TC +2 # V33
030496,000204: 15,2125 02140 TC P52F # E
030497,000205: 15,2126 06006 TC INTPRET
030498,000206: 15,2127 43234 RTB DAD
030499,000207: 15,2130 45505 LOADTIME
030500,000208: 15,2131 32176 TSIGHT1
030501,000209: 15,2132 77624 CALL
030502,000210: 15,2133 30216 LOCSAM
030503,000211: 15,2134 77776 EXIT
030504,000212: 15,2135 04555 P52E TC BANKCALL # DO STAR SELECTION
030505,000213: 15,2136 30324 CADR PICAPAR
030506,000214: 15,2137 02145 TC P52I # 2 STARS NOT AVAILABLE
030507,000215: 15,2140 06006 P52F TC INTPRET # 2 STARS AVAILABLE
030508,000216: 15,2141 77624 CALL
030509,000217: 15,2142 30523 R51
030510,000218: 15,2143 77776 ENDP50S EXIT
030511,000219: 15,2144 04106 TC GOTOPOOH
030512,000220: 15,2145 05537 P52I TC ALARM
030513,000221: 15,2146 00405 OCT 405
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Page 694 |
030515,000223: 15,2147 34743 CAF V05N09
030516,000224: 15,2150 04555 TC BANKCALL
030517,000225: 15,2151 20624 CADR GOFLASH
030518,000226: 15,2152 04106 TC GOTOPOOH
030519,000227: 15,2153 02140 TC P52F # PROCEED - DO FINE ALIGN-R51
030520,000228: 15,2154 02120 TC P52C # RECYCLE- VEHICLE HAS BEEN MANUEVERED
030521,000229: 15,2155 01442 V06N34 VN 00634
030522,000230: 15,2156 01426 VB06N22 VN 00622
030523,000231: 15,2157 4720 ALRM15 EQUALS OCT15
030524,000232: 16,2000 SETLOC P50S2
030525,000233: 16,2000 BANK
030526,000234: 16,2505 01531 V06N89* VN 0689
030527,000235: # NAME-P52LS
030528,000236: # FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030529,000237: # LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030530,000238: # THE KEYBOARD. TO COMPUTE THE LANDING SITE
030531,000239: # ORIENTATION FOR P52 OR P54
030532,000240:
030533,000241: # LET:
030534,000242: # RLS = LANDING SITE VECTOR IN REF COORDINATES
030535,000243: # R = CSM POSITION VECTOR IN REF COORDINATES
030536,000244: # V = CSM VELOCITY VECTOR IN REF COORDINATES
030537,000245: # THEN THE LANDING SITE ORIENTATION IS:
030538,000246: # XSMD = UNIT(RLS)
030539,000247: # YSMD = UNIT(ZSMD*XSMD)
030540,000248: # ZSMD = UNIT((R*V)*RLS)
030541,000249: # CALL - CALL
030542,000250: # P52LS
030543,000251: # INPUTS- DSPTEM1=TIME OF ALIGNMENT
030544,000252: # RLS=LANDING SITE VECTOR IN MOON FIXED COORINATES
030545,000253: # OUTPUTS- XSMD,YSMD,ZSMD
030546,000254: # SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030547,000255: # DEBRIS- VAC, SEE SUBROUTINES
030548,000256:
030549,000257: 16,2506 43020 P52LS STQ SET
030550,000258: 16,2507 00300 QMAJ
030551,000259: 16,2510 01463 LUNAFLAG
030552,000260: 16,2511 77745 DLOAD
030553,000261: 16,2512 01046 DSPTEM1
030554,000262: 16,2513 02607 STORE TSIGHT
030555,000263: 16,2514 43175 VLOAD SET
030556,000264: 16,2515 02026 RLS
030557,000265: 16,2516 00462 ERADFLAG
030558,000266: 16,2517 14001 STODL 0D
030559,000267: 16,2520 02607 TSIGHT
030560,000268: 16,2521 34007 STCALL 6D
030561,000269: 16,2522 55341 RP-TO-R
030562,000270: 16,2523 77742 VSR2
030563,000271: 16,2524 16152 STODL ALPHAV
030564,000272: 16,2525 02607 TSIGHT
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Page 695 |
030566,000274: 16,2526 77624 CALL
030567,000275: 16,2527 26322 LAT-LONG
030568,000276: 16,2530 77624 CALL
030569,000277: 16,2531 61336 LLASRD
030570,000278: 16,2532 77776 EXIT
030571,000279: 16,2533 32505 LSDISP CAF V06N89*
030572,000280: 16,2534 04555 TC BANKCALL
030573,000281: 16,2535 20624 CADR GOFLASH
030574,000282: 16,2536 04106 TC GOTOPOOH
030575,000283: 16,2537 02541 TC +2
030576,000284: 16,2540 02533 TC LSDISP
030577,000285: 16,2541 06006 TC INTPRET
030578,000286: 16,2542 77624 CALL
030579,000287: 16,2543 61345 LLASRDA
030580,000288: 16,2544 45145 DLOAD CALL
030581,000289: 16,2545 02607 TSIGHT
030582,000290: 16,2546 26373 LALOTORV
030583,000291: 16,2547 53575 VLOAD UNIT
030584,000292: 16,2550 02152 ALPHAV
030585,000293: 16,2551 14307 STODL XSMD
030586,000294: 16,2552 02607 TSIGHT
030587,000295: 16,2553 34041 STCALL TDEC1
030588,000296: 16,2554 27022 CSMPREC
030589,000297: 16,2555 47375 VLOAD VXV
030590,000298: 16,2556 00001 RATT
030591,000299: 16,2557 00007 VATT
030592,000300: 16,2560 53435 VXV UNIT
030593,000301: 16,2561 00307 XSMD
030594,000302: 16,2562 00323 STORE ZSMD
030595,000303: 16,2563 53435 VXV UNIT
030596,000304: 16,2564 00307 XSMD
030597,000305: 16,2565 34315 STCALL YSMD
030598,000306: 16,2566 00300 QMAJ
030599,000307: 14,2000 SETLOC P50S1
030600,000308: 14,2000 BANK
030601,000309: # NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030602,000310:
030603,000311: # FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030604,000312: # (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030605,000313:
030606,000314: # CALLING SEQUENCE- CALL R52
030607,000315:
030608,000316: # INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030609,000317: # 2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030610,000318: # 3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030611,000319: # 4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
030612,000320: # 5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030613,000321:
030614,000322: # OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
030615,000323:
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Page 696 |
030617,000325: # SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
030618,000326: # 2. GOPERF1 8. GODSPR
030619,000327: # 3. GOFLASH 9. REFLASHR
030620,000328: # 4. R53 10. R52.2
030621,000329: # 5. ALARM 11. R52.3
030622,000330: # 6. SR52.1
030623,000331:
030624,000332: 14,2002 COUNT 15/R52
030625,000333:
030626,000334: 14,2002 43020 R52 STQ CLEAR
030627,000335: 14,2003 02576 SAVQR52
030628,000336: 14,2004 04265 ADVTRK
030629,000337: 14,2005 77776 R52VRB EXIT
030630,000338: 14,2006 00006 EXTEND
030631,000339: 14,2007 30036 DCA CDUT
030632,000340: 14,2010 53161 DXCH DESOPTT
030633,000341: 14,2011 06006 TC INTPRET
030634,000342: 14,2012 43131 SSP CLEAR
030635,000343: 14,2013 01304 OPTIND
030636,000344: 14,2014 00000 0
030637,000345: 14,2015 00271 R53FLAG
030638,000346: 14,2016 77776 EXIT
030639,000347: 14,2017 06006 R52A TC INTPRET
030640,000348: 14,2020 43014 SET BON
030641,000349: 14,2021 00073 TRUNFLAG
030642,000350: 14,2022 00705 TARG1FLG
030643,000351: 14,2023 30103 R52H
030644,000352: 14,2024 77414 CLEAR EXIT
030645,000353: 14,2025 03660 TERMIFLG
030646,000354: 14,2026 31314 R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
030647,000355: 14,2027 00006 EXTEND
030648,000356: 14,2030 62131 BZMF R52M # MANUAL
030649,000357: 14,2031 04555 R52D TC BANKCALL # AGC
030650,000358: 14,2032 26176 CADR SR52.1
030651,000359: 14,2033 12161 TCF R52L # GR 90 DEGREES
030652,000360: 14,2034 12124 TCF R52J # GR 50 DEGREES
030653,000361: 14,2035 05435 TC UPFLAG # LS 50 DEGREES
030654,000362: 14,2036 00013 ADRES TRUNFLAG # SET TRUNFLAG BIT 4 FLAG 0
030655,000363: 14,2037 34701 R52JA CAF BIT10 # IS THIS A LEM
030656,000364: 14,2040 70075 MASK STATE +1
030657,000365: 14,2041 10000 CCS A
030658,000366: 14,2042 02052 TC R52E # YES
030659,000367: 14,2043 34705 CAF BIT6 # NO, IS R53FLAG SET
030660,000368: 14,2044 70074 MASK STATE
030661,000369: 14,2045 10000 CCS A
030662,000370: 14,2046 12052 TCF R52E # YES
030663,000371: 14,2047 32151 CAF V06N92 # NO
030664,000372: 14,2050 04555 TC BANKCALL
030665,000373: 14,2051 20602 CADR GODSPR
030666,000374: 14,2052 31314 R52E CA SWSAMPLE # IS OSS IN CMC MODE
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Page 697 |
030668,000376: 14,2053 00006 EXTEND
030669,000377: 14,2054 62065 BZMF R52F # NO
030670,000378: 14,2055 40074 CS STATE # YES- IS TRUNFLAG SET
030671,000379: 14,2056 74707 MASK BIT4
030672,000380: 14,2057 10000 CCS A
030673,000381: 14,2060 02063 TC +3 # NO
030674,000382: 14,2061 31775 CA PAC # YES
030675,000383: 14,2062 55160 TS DESOPTT
030676,000384: 14,2063 31773 CA SAC
030677,000385: 14,2064 55161 TS DESOPTS
030678,000386: 14,2065 34731 R52F CAF .5SEC # WAIT 1/2 SEC
030679,000387: 14,2066 04555 TC BANKCALL
030680,000388: 14,2067 01730 CADR DELAYJOB
030681,000389: 14,2070 34701 CAF BIT10
030682,000390: 14,2071 70075 MASK STATE +1
030683,000391: 14,2072 10000 CCS A
030684,000392: 14,2073 12104 TCF R52HA # YES, LEM
030685,000393: 14,2074 34674 CAF BIT15 # NO
030686,000394: 14,2075 70103 MASK STATE +7 # IS TERMIFLG SET
030687,000395: 14,2076 00006 EXTEND
030688,000396: 14,2077 12026 BZF R52C # NO
030689,000397: 14,2100 06006 R52Q TC INTPRET # YES
030690,000398: 14,2101 77650 GOTO
030691,000399: 14,2102 02576 SAVQR52
030692,000400: 14,2103 77776 R52H EXIT # LEM
030693,000401: 14,2104 04555 R52HA TC BANKCALL
030694,000402: 14,2105 76536 CADR R61CSM
030695,000403: 14,2106 30075 CA STATE +1
030696,000404: 14,2107 74706 MASK BIT5
030697,000405: 14,2110 00006 EXTEND # TRACKFLG
030698,000406: 14,2111 12100 BZF R52Q
030699,000407:
030700,000408: 14,2112 40075 CS STATE +1
030701,000409: 14,2113 74704 MASK BIT7 # UPDATFLG
030702,000410: 14,2114 10000 CCS A
030703,000411: 14,2115 12122 TCF R52SYNC
030704,000412:
030705,000413: 14,2116 30101 R52I CA STATE +5
030706,000414: 14,2117 74701 MASK BIT10
030707,000415: 14,2120 10000 CCS A
030708,000416: 14,2121 02031 TC R52D # PRFTRKAT = 1
030709,000417: 14,2122 32175 R52SYNC CAF 1.8SEC # MAKE UP FOR LOST TIME
030710,000418: 14,2123 12066 TCF R52F +1
030711,000419:
030712,000420: 14,2124 05447 R52J TC DOWNFLAG # CLEAR TRUNFLAG
030713,000421: 14,2125 00013 ADRES TRUNFLAG # BIT 4 FLAG 0
030714,000422: 14,2126 05537 TC ALARM # SET 407 ALARM
030715,000423: 14,2127 00407 OCT 407
030716,000424: 14,2130 02037 TC R52JA
030717,000425: 14,2131 34705 R52M CAF BIT6 # IS R53FLAG SET
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Page 698 |
030719,000427: 14,2132 70074 MASK STATE
030720,000428: 14,2133 10000 CCS A
030721,000429: 14,2134 02065 TC R52F # YES
030722,000430: 14,2135 00004 INHINT # NO
030723,000431: 14,2136 37661 CAF PRIO24
030724,000432: 14,2137 05042 TC FINDVAC
030725,000433: 14,2140 E5,1773 EBANK= SAC
030726,000434: 14,2140 02144 30065 2CADR R53JOB
030727,000435: 14,2142 00003 RELINT
030728,000436: 14,2143 12065 TCF R52F
030729,000437: 14,2144 06006 R53JOB TC INTPRET
030730,000438: 14,2145 77624 CALL
030731,000439: 14,2146 31327 R53
030732,000440: 14,2147 77776 ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030733,000441: 14,2150 05112 TC ENDOFJOB
030734,000442: 14,2151 01534 V06N92 VN 00692
030735,000443: 14,2152 01531 V06N89A VN 0689
030736,000444: 14,2153 10464 12470 SHAXIS 2DEC .5376381241 B-1
030737,000445:
030738,000446: 14,2155 00000 00000 2DEC 0 B-28
030739,000447: 14,2157 15373 11554 2DEC .8431766920 B-1
030740,000448: 14,2161 34701 R52L CAF BIT10 # IS THIS A LEM
030741,000449: 14,2162 70075 MASK STATE +1
030742,000450: 14,2163 10000 CCS A
030743,000451: 14,2164 02124 TC R52J # YES
030744,000452: 14,2165 32174 CAF OCT404
030745,000453: 14,2166 04555 TC BANKCALL
030746,000454: 14,2167 21671 CADR PRIOLARM
030747,000455: 14,2170 12176 TCF TERM52 # TERMINATE
030748,000456: 14,2171 12065 TCF R52F # PROCEED
030749,000457: 14,2172 12065 TCF R52F # NO PROVISION FOR NEW DATA
030750,000458: 14,2173 15112 TCF ENDOFJOB
030751,000459:
030752,000460: 14,2174 00404 OCT404 OCT 404
030753,000461:
030754,000462: 14,2175 00264 1.8SEC DEC 180 B-14
030755,000463:
030756,000464: 14,2176 05425 TERM52 TC CLEARMRK
030757,000465:
030758,000466: 14,2177 04555 TC BANKCALL # KILL MARK SYSTEM
030759,000467: 14,2200 16063 CADR MKRELEAS
030760,000468:
030761,000469: 14,2201 34714 CAF ZERO
030762,000470: 14,2202 55323 TS OPTCADR
030763,000471:
030764,000472: 14,2203 04555 TC BANKCALL # CLEAR OUT EXTENDED VERBS
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Page 699 |
030766,000474: 14,2204 20464 CADR KLEENEX
030767,000475:
030768,000476: 14,2205 04106 TC GOTOPOOH # NOW GO TO POO
030769,000477:
030770,000478: 14,2206 43020 ADVORB STQ SET # SETS UP ADVANCED ORBIT TRACKING
030771,000479: 14,2207 02576 SAVQR52
030772,000480: 14,2210 04065 ADVTRK
030773,000481: 14,2211 43014 SET SET
030774,000482: 14,2212 01463 LUNAFLAG
030775,000483: 14,2213 00462 ERADFLAG
030776,000484: 14,2214 77650 GOTO
030777,000485: 14,2215 30005 R52VRB
030778,000486:
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Page 700 |
030780,000488: # NAME -S50 ALIAS LOCSAM
030781,000489: # NAME- LOCSAM
030782,000490: # FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030783,000491: # IMU ALIGNMENT PROGRAMS
030784,000492: # DEFINE:
030785,000493: # RATT=POSITION VECTOR OF CM WRT PRIMARY BODY
030786,000494: # VATT=VELOCITY VECTOR OF CM WRT PRIMARY BODY
030787,000495: # RE =RADIUS OF EARTH
030788,000496: # RM =RADIUS OF MOON
030789,000497: # ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030790,000498: # WRT TO SUN OVER THE VELOCITY OF LIGHT
030791,000499: # REM =POSITION OF MOON WRT EARTH
030792,000500: # RES =POSITION OF SUN WRT EARTH
030793,000501: # C = VELOCITY OF LIGHT
030794,000502:
030795,000503:
030796,000504: # EARTH IS PRIMARY MOON IS PRIMARY
030797,000505: # - -
030798,000506: # VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
030799,000507:
030800,000508: # - -
030801,000509: # VMOON = 1(REM-RATT) VMOON =-1(RATT)
030802,000510:
030803,000511: # - -
030804,000512: # VSUN = 1(RES) VSUN = 1(RES-REM)
030805,000513:
030806,000514: # -1
030807,000515: # CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
030808,000516:
030809,000517: # -1
030810,000518: # CMOON= COS 5 CMOON=COS(SIN CRM/RATT)+5)
030811,000519:
030812,000520:
030813,000521: # CSUN = COS 15 CSUN = COS 15
030814,000522:
030815,000523:
030816,000524: # VEL/C = VSUN X ECLIPOL + VATT/C
030817,000525:
030818,000526:
030819,000527:
030820,000528: # CALL - DLOAD CALL
030821,000529: # DESIRED TIME
030822,000530: # LOCSAM
030823,000531: # INPUTS - MPAC = TIME
030824,000532:
030825,000533: # OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030826,000534:
030827,000535: # SUBROUTINES- LSPOS,CSMCONIC
030828,000536:
030829,000537: # DEBRIS - VAC AREA,SEE SUBROUTINES
030830,000538:
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Page 701 |
030832,000540: 14,2000 SETLOC P50S1
030833,000541: 14,2000 BANK
030834,000542:
030835,000543: 14,2216 COUNT* $$/S50
030836,000544:
030837,000545: 14,2216 14,2216 LOCSAM = S50
030838,000546: 14,2216 77620 S50 STQ
030839,000547: 14,2217 00300 QMAJ
030840,000548: 14,2220 36607 STCALL TSIGHT
030841,000549: 14,2221 54110 LSPOS
030842,000550: 14,2222 26752 STOVL VMOON
030843,000551: 14,2223 00003 2D
030844,000552: 14,2224 16744 STODL VSUN
030845,000553: 14,2225 02607 TSIGHT
030846,000554: 14,2226 34041 STCALL TDEC1
030847,000555: 14,2227 27045 CSMCONIC
030848,000556: 14,2230 61131 SSP TIX,2
030849,000557: 14,2231 00052 S2
030850,000558: 14,2232 00000 0
030851,000559: 14,2233 30256 MOONCNTR
030852,000560: 14,2234 52375 EARTCNTR VLOAD VSU
030853,000561: 14,2235 02752 VMOON
030854,000562: 14,2236 00001 RATT
030855,000563: 14,2237 77656 UNIT
030856,000564: 14,2240 26752 STOVL VMOON
030857,000565: 14,2241 00001 RATT
030858,000566: 14,2242 57456 UNIT VCOMP
030859,000567: 14,2243 16736 STODL VEARTH
030860,000568: 14,2244 32162 RSUBE
030861,000569: 14,2245 77624 CALL
030862,000570: 14,2246 30316 OCCOS
030863,000571: 14,2247 14017 STODL CEARTH
030864,000572: 14,2250 32200 CSS5
030865,000573: 14,2251 24023 STOVL CMOON
030866,000574: 14,2252 02744 VSUN
030867,000575: 14,2253 77656 UNIT
030868,000576: 14,2254 36744 STCALL VSUN
030869,000577: 14,2255 30303 ENDSAM
030870,000578: 14,2256 40575 MOONCNTR VLOAD VSR8
030871,000579: 14,2257 02752 VMOON
030872,000580: 14,2260 51362 VSR1 BVSU
030873,000581: 14,2261 02744 VSUN
030874,000582: 14,2262 77656 UNIT
030875,000583: 14,2263 26744 STOVL VSUN
030876,000584: 14,2264 02752 VMOON
030877,000585: 14,2265 53455 VAD UNIT
030878,000586: 14,2266 00001 RATT
030879,000587: 14,2267 77676 VCOMP
030880,000588: 14,2270 26736 STOVL VEARTH
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Page 702 |
030882,000590: 14,2271 00001 RATT
030883,000591: 14,2272 57456 UNIT VCOMP
030884,000592: 14,2273 16752 STODL VMOON
030885,000593: 14,2274 32160 RSUBM
030886,000594: 14,2275 77624 CALL
030887,000595: 14,2276 30316 OCCOS
030888,000596: 14,2277 14023 STODL CMOON
030889,000597: 14,2300 32200 CSS5
030890,000598: 14,2301 24017 STOVL CEARTH
030891,000599: 14,2302 02744 VSUN
030892,000600: 14,2303 77635 ENDSAM VXV
030893,000601: 14,2304 32170 ECLIPOL
030894,000602: 14,2305 27474 STOVL VEL/C
030895,000603: 14,2306 00007 VATT
030896,000604: 14,2307 53361 VXSC VAD
030897,000605: 14,2310 32166 1/C
030898,000606: 14,2311 03474 VEL/C
030899,000607: 14,2312 17474 STODL VEL/C
030900,000608: 14,2313 32202 CSSUN
030901,000609: 14,2314 34021 STCALL CSUN
030902,000610: 14,2315 00300 QMAJ
030903,000611: 14,2316 70471 OCCOS DDV SR1
030904,000612: 14,2317 00045 36D
030905,000613: 14,2320 43336 ASIN DAD
030906,000614: 14,2321 32164 5DEGREES
030907,000615: 14,2322 70546 COS SR1
030908,000616: 14,2323 77616 RVQ
030909,000617: 15,2000 SETLOC P50S
030910,000618: 15,2000 BANK
030911,000619: 15,2157 00065 01265 RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
030912,000620: 15,2161 00302 24533 RSUBE 2DEC 6378166 B-29
030913,000621: 15,2163 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
030914,000622: 15,2165 00000 13143 1/C 2DEC .000042699 B-1 # *
030915,000623: 15,2167 00000 00000 ECLIPOL 2DEC 0 B-28 # *
030916,000624: 15,2171 77777 53231 2DEC -.00007896 B-1 # *
030917,000625: 15,2173 00001 17570 2DEC .00018209 B-1 # * * FOR USE BY CSM ONLY
030918,000626: 15,2175 00001 16700 TSIGHT1 2DEC 24000 B-28
030919,000627: 15,2177 CEARTH = 14D
030920,000628: 15,2177 CSUN = 16D
030921,000629: 15,2177 CMOON = 18D
030922,000630: 15,2177 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
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Page 703 |
030924,000632: 15,2201 07564 15042 CSSUN 2DEC .24148 # COS 15 /4
030925,000633:
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Page 704 |
030927,000635: # PROGRAM NAME - PICAPAR DATE DEC 20 66
030928,000636: # MOD 1 LOG SECTION P51-P53
030929,000637: # ASSEMBLY SUNDISK REV40
030930,000638: # BY KEN VINCENT
030931,000639:
030932,000640: # FUNCTION
030933,000641: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030934,000642: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030935,000643: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030936,000644: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030937,000645: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030938,000646: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030939,000647: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030940,000648: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030941,000649: # AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030942,000650: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030943,000651: # 33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030944,000652: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
030945,000653:
030946,000654: # CALLING SEQUENCE
030947,000655: # L TC BANKCALL
030948,000656: # L+1 CADR PICAPAR
030949,000657: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
030950,000658: # L+3 NORMAL RETURN
030951,000659:
030952,000660: # OUTPUT
030953,000661: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030954,000662: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
030955,000663:
030956,000664: # INITIALIZATION
030957,000665: # 1)A CALL TO LOCSAM MUST BE MADE
030958,000666: # 2)VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030959,000667: # SIGHTINGS.
030960,000668:
030961,000669: # DEBRIS
030962,000670: # WORK AREA
030963,000671: # X,Y,ZNB
030964,000672: # SINCDU,COSCDU
030965,000673: # STARAD - STAR +5
030966,000674: 15,2203 COUNT 14/PICAP
030967,000675:
030968,000676: 14,2000 SETLOC P50S1
030969,000677: 14,2000 BANK
030970,000678: 14,2324 04604 PICAPAR TC MAKECADR
030971,000679: 14,2325 55777 TS QMIN
030972,000680: 14,2326 06006 TC INTPRET
030973,000681: 14,2327 77624 CALL
030974,000682: 14,2330 47432 CDUTRIG
030975,000683: 14,2331 77624 CALL
030976,000684: 14,2332 34567 CALCSMSC
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Page 705 |
030978,000686: 14,2333 77601 SETPD
030979,000687: 14,2334 00001 0
030980,000688: 14,2335 71214 SET DLOAD # VFLAG = 1
030981,000689: 14,2336 01465 VFLAG
030982,000690: 14,2337 11453 DPZERO
030983,000691: 14,2340 24303 STOVL BESTI
030984,000692: 14,2341 02714 XNB
030985,000693: 14,2342 63361 VXSC PDVL
030986,000694: 14,2343 30502 SIN33
030987,000695: 14,2344 02730 ZNB
030988,000696: 14,2345 74370 AXT,1 VXSC
030989,000697: 14,2346 00344 228D # X1 = 37 X 6 + 6
030990,000698: 14,2347 30504 COS33
030991,000699: 14,2350 77655 VAD
030992,000700: 14,2351 53505 VXM UNIT
030993,000701: 14,2352 01736 REFSMMAT
030994,000702: 14,2353 02760 STORE SAX # SAX = SHAFT AXIS
030995,000703: 14,2354 66331 SSP SSP # S1=S2=6
030996,000704: 14,2355 00051 S1
030997,000705: 14,2356 00006 6
030998,000706: 14,2357 00052 S2
030999,000707: 14,2360 00006 6
031000,000708: 14,2361 52100 PIC1 TIX,1 GOTO # MAJOR STAR
031001,000709: 14,2362 30364 PIC2
031002,000710: 14,2363 30513 PICEND
031003,000711: 14,2364 45173 PIC2 VLOAD* CALL
031004,000712: 14,2365 31751 CATLOG,1
031005,000713: 14,2366 30457 OCCULT
031006,000714: 14,2367 73014 BON LXA,2
031007,000715: 14,2370 01710 CULTFLAG
031008,000716: 14,2371 30361 PIC1
031009,000717: 14,2372 00046 X1
031010,000718: 14,2373 52104 PIC3 TIX,2 GOTO
031011,000719: 14,2374 30376 PIC4
031012,000720: 14,2375 30361 PIC1
031013,000721: 14,2376 45173 PIC4 VLOAD* CALL
031014,000722: 14,2377 46026 CATLOG,2
031015,000723: 14,2400 30457 OCCULT
031016,000724: 14,2401 76614 BON VLOAD*
031017,000725: 14,2402 01710 CULTFLAG
031018,000726: 14,2403 30373 PIC3
031019,000727: 14,2404 31751 CATLOG,1
031020,000728: 14,2405 45237 DOT* DSU
031021,000729: 14,2406 46026 CATLOG,2
031022,000730: 14,2407 30506 CSS66 # SEPERATION LESS THAN 66 DEG.
031023,000731: 14,2410 43240 BMN DAD
031024,000732: 14,2411 30373 PIC3
031025,000733: 14,2412 30510 CSS6640 # SEPERATION MORE THAN 40 DEG.
031026,000734: 14,2413 77644 BPL
031027,000735: 14,2414 30373 PIC3
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Page 706 |
031029,000737: 14,2415 50373 VLOAD* DOT
031030,000738: 14,2416 31751 CATLOG,1
031031,000739: 14,2417 02760 SAX
031032,000740: 14,2420 50025 DSU BMN # MAJOR STAR IN CONE
031033,000741: 14,2421 30512 CSS33
031034,000742: 14,2422 30361 PIC1
031035,000743: 14,2423 50373 VLOAD* DOT
031036,000744: 14,2424 46026 CATLOG,2
031037,000745: 14,2425 02760 SAX
031038,000746: 14,2426 51025 DSU BPL
031039,000747: 14,2427 30512 CSS33
031040,000748: 14,2430 30433 STRATGY
031041,000749: 14,2431 77650 GOTO
031042,000750: 14,2432 30373 PIC3
031043,000751: 14,2433 77614 STRATGY BONCLR
031044,000752: 14,2434 01605 VFLAG
031045,000753: 14,2435 30452 NEWPAR
031046,000754: 14,2436 65120 XCHX,1 XCHX,2
031047,000755: 14,2437 00302 BESTI
031048,000756: 14,2440 00303 BESTJ
031049,000757: 14,2441 47773 STRAT VLOAD* DOT*
031050,000758: 14,2442 31751 CATLOG,1
031051,000759: 14,2443 46026 CATLOG,2
031052,000760: 14,2444 43006 PUSH BOFINV
031053,000761: 14,2445 01545 VFLAG
031054,000762: 14,2446 30436 STRAT -3
031055,000763: 14,2447 45345 DLOAD DSU
031056,000764: 14,2450 77644 BPL
031057,000765: 14,2451 30373 PIC3
031058,000766: 14,2452 67130 NEWPAR SXA,1 SXA,2
031059,000767: 14,2453 00302 BESTI
031060,000768: 14,2454 00303 BESTJ
031061,000769: 14,2455 77650 GOTO
031062,000770: 14,2456 30373 PIC3
031063,000771: 14,2457 51321 OCCULT MXV BVSU
031064,000772: 14,2460 02736 CULTRIX
031065,000773: 14,2461 00017 CSS
031066,000774: 14,2462 77654 BZE
031067,000775: 14,2463 30476 CULTED
031068,000776: 14,2464 75240 BMN SIGN
031069,000777: 14,2465 30476 CULTED
031070,000778: 14,2466 00160 MPAC +3
031071,000779: 14,2467 75240 BMN SIGN
031072,000780: 14,2470 30476 CULTED
031073,000781: 14,2471 00162 MPAC +5
031074,000782: 14,2472 43040 BMN CLRGO
031075,000783: 14,2473 30476 CULTED
031076,000784: 14,2474 01630 CULTFLAG
031077,000785: 14,2475 00052 QPRET
031078,000786: 14,2476 77614 CULTED SETGO
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Page 707 |
031080,000788: 14,2477 01430 CULTFLAG
031081,000789: 14,2500 00052 QPRET
031082,000790: 14,2501 0000016 CSS = CEARTH
031083,000791: 14,2501 21150 25157 SIN33 2DEC .5376381241
031084,000792: 14,2503 32766 22713 COS33 2DEC .8431756920
031085,000793: 14,2505 01736 35137 CSS66 2DEC .060480472 # (COS76)/4
031086,000794: 14,2507 73003 65403 CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
031087,000795: 14,2511 06233 26112 CSS33 2DEC .197002688 # COS(1/2(76))/4
031088,000796: 14,2513 77414 PICEND BOFF EXIT
031089,000797: 14,2514 01745 VFLAG
031090,000798: 14,2515 30517 PICGXT
031091,000799: 14,2516 02521 TC PICBXT
031092,000800: 14,2517 77776 PICGXT EXIT
031093,000801: 14,2520 25777 INCR QMIN
031094,000802: 14,2521 31777 PICBXT CA QMIN
031095,000803: 14,2522 04561 TC SWCALL
031096,000804: # V1 = 12D
031097,000805:
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Page 708 |
031099,000807: # NAME-R51 FINE ALIGN
031100,000808: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
031101,000809: # CALLING SEQ- CALL R51
031102,000810: # INPUT- BESTI,BESTJ(PAIR OF STAR NO )
031103,000811: # OUTPUT- GYRO TORQUE PULSES
031104,000812: # SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN
031105,000813: 14,2523 COUNT 14/R51
031106,000814:
031107,000815: 14,2523 77776 R51 EXIT
031108,000816: 14,2524 34712 CAF BIT1
031109,000817: 14,2525 54304 TS STARIND
031110,000818: 14,2526 54301 TS MARKINDX
031111,000819: 14,2527 06006 R51.2 TC INTPRET
031112,000820: 14,2530 43014 R51.3 CLEAR CLEAR
031113,000821: 14,2531 00666 TARG2FLG
031114,000822: 14,2532 00665 TARG1FLG
031115,000823: 14,2533 77776 EXIT
031116,000824: 14,2534 05301 TC PHASCHNG
031117,000825: 14,2535 05024 OCT 05024 # RESTART GR 4 FOR R52 - R53
031118,000826: 14,2536 13000 OCT 13000
031119,000827: 14,2537 50304 INDEX STARIND
031120,000828: 14,2540 30302 CA BESTI
031121,000829: 14,2541 00006 EXTEND
031122,000830: 14,2542 72706 MP 1/6TH
031123,000831: 14,2543 54735 TS STARCODE
031124,000832: 14,2544 32705 CAF V01N70
031125,000833: 14,2545 04555 TC BANKCALL
031126,000834: 14,2546 20763 CADR GOFLASHR
031127,000835: 14,2547 04106 TC GOTOPOOH
031128,000836: 14,2550 02555 TC +5
031129,000837: 14,2551 02544 TC -5
031130,000838: 14,2552 36211 CAF SIX
031131,000839: 14,2553 05415 TC BLANKET
031132,000840: 14,2554 15112 TCF ENDOFJOB
031133,000841: 14,2555 06006 TC INTPRET
031134,000842: 14,2556 45034 RTB CALL
031135,000843: 14,2557 45505 LOADTIME
031136,000844: 14,2560 32363 PLANET
031137,000845: 14,2561 72131 SSP LXA,1
031138,000846: 14,2562 00051 S1
031139,000847: 14,2563 00000 0
031140,000848: 14,2564 00304 STARIND
031141,000849: 14,2565 77700 TIX,1
031142,000850: 14,2566 30571 R51ST
031143,000851: 14,2567 36617 STCALL STARSAV2 # 2ND STAR
031144,000852: 14,2570 30572 R51ST +1
031145,000853: 14,2571 02611 R51ST STORE STARSAV1 # 1ST STAR
031146,000854: 14,2572 77776 EXIT
031147,000855: 14,2573 41011 CS MODREG # IS THIS P54
031148,000856: 14,2574 62704 AD OCT66
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Page 709 |
031150,000858: 14,2575 00006 EXTEND
031151,000859: 14,2576 12677 BZF R51B # YES
031152,000860: 14,2577 06006 TC INTPRET
031153,000861: 14,2600 77624 CALL
031154,000862: 14,2601 30002 R52 # AOP WILL MAKE CALLS TO SIGHTING
031155,000863: 14,2602 77624 R51A CALL # COMPUTE LOS IN SM FROM MARK DATA
031156,000864: 14,2603 31273 SXTSM
031157,000865: 14,2604 02617 STORE STARSAV2
031158,000866: 14,2605 77776 EXIT
031159,000867: 14,2606 04555 TC BANKCALL
031160,000868: 14,2607 16063 CADR MKRELEAS
031161,000869: 14,2610 06006 TC INTPRET
031162,000870: 14,2611 45145 DLOAD CALL
031163,000871: 14,2612 02607 TSIGHT
031164,000872: 14,2613 32363 PLANET
031165,000873: 14,2614 77776 EXIT
031166,000874: 14,2615 10304 CCS STARIND
031167,000875: 14,2616 02664 TC R51.4
031168,000876: 14,2617 06006 TC INTPRET
031169,000877: 14,2620 53521 MXV UNIT
031170,000878: 14,2621 01736 REFSMMAT
031171,000879: 14,2622 02736 STORE STARAD
031172,000880: 14,2623 77776 EXIT
031173,000881: 14,2624 05301 TC PHASCHNG
031174,000882: 14,2625 05024 OCT 05024 # RESTART THIS GROUP 4 JOB
031175,000883: 14,2626 13000 OCT 13000 # WITH PRIORITY 13
031176,000884: 14,2627 06006 TC INTPRET
031177,000885: 14,2630 77775 VLOAD
031178,000886: 14,2631 02617 STARSAV2
031179,000887: 14,2632 24007 STOVL 6D
031180,000888: 14,2633 02611 STARSAV1
031181,000889: 14,2634 24015 STOVL 12D
031182,000890: 14,2635 02601 PLANVEC
031183,000891: 14,2636 36744 STCALL STARAD +6
031184,000892: 14,2637 30707 R54 # STAR DATA TEST
031185,000893: 14,2640 45014 BOFF CALL
031186,000894: 14,2641 00354 FREEFLAG
031187,000895: 14,2642 30650 R51K
031188,000896: 14,2643 47334 AXISGEN
031189,000897: 14,2644 77624 CALL
031190,000898: 14,2645 32203 R55 # GYRO TORQUE
031191,000899: 14,2646 77614 CLEAR
031192,000900: 14,2647 01273 PFRATFLG
031193,000901: 14,2650 77776 R51K EXIT
031194,000902: 14,2651 35660 CAF OCT14
031195,000903: 14,2652 04555 TC BANKCALL
031196,000904: 14,2653 20751 CADR GOPERF1
031197,000905: 14,2654 04106 TC GOTOPOOH
031198,000906: 14,2655 02657 TC +2 # V33
031199,000907: 14,2656 02661 TC +3
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Page 710 |
031201,000909: 14,2657 04555 TC BANKCALL
031202,000910: 14,2660 32120 CADR P52C
031203,000911: 14,2661 06006 TC INTPRET
031204,000912: 14,2662 77650 GOTO
031205,000913: 14,2663 32143 ENDP50S
031206,000914: 14,2664 06006 R51.4 TC INTPRET
031207,000915: 14,2665 53521 MXV UNIT
031208,000916: 14,2666 01736 REFSMMAT
031209,000917: 14,2667 26601 STOVL PLANVEC
031210,000918: 14,2670 02617 STARSAV2
031211,000919: 14,2671 02611 STORE STARSAV1
031212,000920: 14,2672 77731 SSP
031213,000921: 14,2673 00305 STARIND
031214,000922: 14,2674 00000 0
031215,000923: 14,2675 77650 GOTO
031216,000924: 14,2676 30530 R51.3
031217,000925: 14,2677 06006 R51B TC INTPRET
031218,000926: 14,2700 77624 CALL
031219,000927: 14,2701 32252 R56
031220,000928: 14,2702 77650 GOTO
031221,000929: 14,2703 30602 R51A
031222,000930: 14,2704 00066 OCT66 OCT 00066
031223,000931: 14,2705 00306 V01N70 VN 0170
031224,000932: 14,2706 05253 1/6TH DEC .1666667
031225,000933:
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Page 711 |
031227,000935: # NAME-R55 GYRO TORQUE
031228,000936: # FUNCTION-COMPUTE AND SEND GYRO PULSES
031229,000937: # CALLING SEQ- CALL R55
031230,000938: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031231,000939: # OUTPUT- GYRO PULSES
031232,000940: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031233,000941: 15,2000 SETLOC P50S
031234,000942: 15,2000 BANK
031235,000943: 15,2203 COUNT* $$/R55
031236,000944: 15,2203 77620 R55 STQ
031237,000945: 15,2204 02777 QMIN
031238,000946: 15,2205 77624 CALL
031239,000947: 15,2206 47140 CALCGTA
031240,000948: 15,2207 77776 PULSEM EXIT
031241,000949: 15,2210 32234 R55.1 CAF V06N93
031242,000950: 15,2211 04555 TC BANKCALL
031243,000951: 15,2212 20624 CADR GOFLASH
031244,000952: 15,2213 04106 TC GOTOPOOH
031245,000953: 15,2214 02216 TC R55.2
031246,000954: 15,2215 02231 TC R55RET
031247,000955: 15,2216 05301 R55.2 TC PHASCHNG
031248,000956: 15,2217 00314 OCT 00314
031249,000957: 15,2220 32235 CA R55CDR
031250,000958: 15,2221 04555 TC BANKCALL
031251,000959: 15,2222 17125 CADR IMUPULSE
031252,000960: 15,2223 04555 TC BANKCALL
031253,000961: 15,2224 17516 CADR IMUSTALL
031254,000962: 15,2225 05646 TC CURTAINS
031255,000963: 15,2226 05301 TC PHASCHNG
031256,000964: 15,2227 05024 OCT 05024
031257,000965: 15,2230 13000 OCT 13000
031258,000966: 15,2231 06006 R55RET TC INTPRET
031259,000967: 15,2232 77650 GOTO
031260,000968: 15,2233 02777 QMIN
031261,000969: 15,2234 01535 V06N93 VN 0693
031262,000970: 15,2235 02757 R55CDR ECADR OGC
031263,000971: 15,2236 14,2707 R54 = CHKSDATA
031264,000972: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
031265,000973: # MOD NO- 0 LOG SECTION- P51-P53
031266,000974: # MODIFICATION BY- LONSKE ASSEMBLY-
031267,000975:
031268,000976: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031269,000977: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031270,000978: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031271,000979:
031272,000980: # OS1 = OBSERVED STAR 1 VECTOR
031273,000981: # OS2 = OBSERVED STAR 2 VECTOR
031274,000982: # SS1 = STORED STAR 1 VECTOR
031275,000983: # SS2 = STORED STAR 2 VECTOR
031276,000984: # A1 = ARCCOS(OS1 - OS2)
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Page 712 |
031278,000986: # A2 = ARCCOS(SS1 - SS2)
031279,000987: # A = ABS(2(A1 - A2))
031280,000988:
031281,000989: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
031282,000990: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
031283,000991: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
031284,000992: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031285,000993: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031286,000994:
031287,000995: # ERASABLE INITIALIZATION REQUIRED -
031288,000996: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031289,000997: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031290,000998: # DEBRIS -
031291,000999: 14,2000 SETLOC P50S1
031292,001000: 14,2000 BANK
031293,001001: 14,2707 COUNT* $$/R50
031294,001002: 14,2707 43020 CHKSDATA STQ SET
031295,001003: 14,2710 02777 QMIN
031296,001004: 14,2711 00074 FREEFLAG
031297,001005: 14,2712 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
031298,001006: 14,2713 02735 STARAD
031299,001007:
031300,001008: 14,2714 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
031301,001009: 14,2715 00001 0,1
031302,001010: 14,2716 00007 6,1
031303,001011: 14,2717 65552 SL1 ACOS
031304,001012: 14,2720 00025 STORE THETA
031305,001013: 14,2721 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
031306,001014: 14,2722 00354 FREEFLAG
031307,001015: 14,2723 30733 CHKSD
031308,001016: 14,2724 00174 FREEFLAG # CLEAR FREEFLAG
031309,001017: 14,2725 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
031310,001018: 14,2726 00006 6D
031311,001019: 14,2727 00025 THETA
031312,001020: 14,2730 00023 STORE 18D
031313,001021: 14,2731 77650 GOTO
031314,001022: 14,2732 30714 CHKSB # RETURN TO CAL. 2ND ANGLE
031315,001023: 14,2733 45345 CHKSD DLOAD DSU
031316,001024: 14,2734 00025 THETA
031317,001025: 14,2735 00023 18D # COMPUTE POS DIFF
031318,001026: 14,2736 47046 ABS RTB
031319,001027: 14,2737 45541 SGNAGREE
031320,001028: 14,2740 01046 STORE NORMTEM1
031321,001029: 14,2741 77414 SET EXIT
031322,001030: 14,2742 00074 FREEFLAG
031323,001031: 14,2743 34714 CAF ZERO
031324,001032: 14,2744 04555 TC BANKCALL
031325,001033: 14,2745 20607 CADR CLEANDSP
031326,001034:
031327,001035: 14,2746 32762 CAF VB6N5
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Page 713 |
031329,001037: 14,2747 04555 TC BANKCALL
031330,001038: 14,2750 20624 CADR GOFLASH
031331,001039: 14,2751 14106 TCF GOTOPOOH
031332,001040: 14,2752 02757 TC CHKSDA # PROCEED
031333,001041: 14,2753 06006 TC INTPRET
031334,001042: 14,2754 52014 CLEAR GOTO
031335,001043: 14,2755 00274 FREEFLAG
031336,001044: 14,2756 02777 QMIN
031337,001045: 14,2757 06006 CHKSDA TC INTPRET
031338,001046: 14,2760 77650 GOTO
031339,001047: 14,2761 02777 QMIN
031340,001048: 14,2762 01405 VB6N5 VN 605
031341,001049: # NAME - CAL53A
031342,001050: # NAME - CAL53A
031343,001051: # FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY.
031344,001052: # CALLING SEQUENCE - CALL CAL53A
031345,001053: # INPUT - PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031346,001054: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
031347,001055: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031348,001056: # SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031349,001057: 14,2763 COUNT 14/R50
031350,001058:
031351,001059: 14,2763 45020 CAL53A STQ CALL
031352,001060: 14,2764 00035 29D
031353,001061: 14,2765 22256 S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
031354,001062: 14,2766 66234 RTB SSP
031355,001063: 14,2767 32236 RDCDUS # READ CDUS
031356,001064: 14,2770 00051 S1
031357,001065: 14,2771 00001 1
031358,001066: 14,2772 40370 AXT,1 SETPD
031359,001067: 14,2773 00003 3
031360,001068: 14,2774 00005 4
031361,001069: 14,2775 70543 CALOOP DLOAD* SR1
031362,001070: 14,2776 01161 THETAD +3D,1
031363,001071: 14,2777 70523 PDDL* SR1
031364,001072: 14,3000 00005 4,1
031365,001073: 14,3001 51425 DSU ABS
031366,001074: 14,3002 45206 PUSH DSU
031367,001075: 14,3003 31060 DEGREE1
031368,001076: 14,3004 71240 BMN DLOAD
031369,001077: 14,3005 31034 CALOOP1
031370,001078: 14,3006 51025 DSU BPL
031371,001079: 14,3007 31061 DEG359
031372,001080: 14,3010 31034 CALOOP1
031373,001081: 14,3011 77776 COARFINE EXIT
031374,001082: 14,3012 04555 TC BANKCALL
031375,001083: 14,3013 16602 CADR IMUCOARS # PERFORM COARSE ALIGNMENT
031376,001084: 14,3014 04555 TC BANKCALL
031377,001085: 14,3015 17516 CADR IMUSTALL # REQUEST MODE SWITCH
031378,001086: 14,3016 05646 TC CURTAINS
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Page 714 |
031380,001088: 14,3017 04555 TC BANKCALL
031381,001089: 14,3020 17012 CADR IMUFIN20
031382,001090: 14,3021 04555 TC BANKCALL
031383,001091: 14,3022 17516 CADR IMUSTALL
031384,001092: 14,3023 05646 TC CURTAINS # TEST FOR MALFUNCTION
031385,001093: 14,3024 06006 TC INTPRET
031386,001094: 14,3025 77234 RTB VLOAD
031387,001095: 14,3026 31270 SET1/PDT
031388,001096: 14,3027 11453 ZEROVEC
031389,001097: 14,3030 01472 STORE GCOMP
031390,001098: 14,3031 52014 SET GOTO
031391,001099: 14,3032 01060 DRIFTFLG
031392,001100: 14,3033 31036 FINEONLY
031393,001101: 14,3034 77700 CALOOP1 TIX,1
031394,001102: 14,3035 30775 CALOOP
031395,001103: 14,3036 75160 FINEONLY AXC,1 AXC,2
031396,001104: 14,3037 02671 XSM
031397,001105: 14,3040 01735 REFSMMAT
031398,001106: 14,3041 77624 CALL
031399,001107: 14,3042 31045 MATMOVE
031400,001108: 14,3043 77650 GOTO
031401,001109: 14,3044 00035 29D
031402,001110: 14,3045 77773 MATMOVE VLOAD* # TRANSFER MATRIX
031403,001111: 14,3046 00001 0,1
031404,001112: 14,3047 10001 STORE 0,2
031405,001113: 14,3050 77773 VLOAD*
031406,001114: 14,3051 00007 6D,1
031407,001115: 14,3052 10007 STORE 6D,2
031408,001116: 14,3053 77773 VLOAD*
031409,001117: 14,3054 00015 12D,1
031410,001118: 14,3055 10015 STORE 12D,2
031411,001119: 14,3056 77616 RVQ
031412,001120: 14,3057 00056 DEGREE1 DEC 46 B-14
031413,001121: 14,3060 37722 DEG359 DEC 16338 B-14
031414,001122: 15,2000 SETLOC P50S
031415,001123: 15,2000 BANK
031416,001124: 15,2236 00004 RDCDUS INHINT # READ CDUS
031417,001125: 15,2237 30032 CA CDUX
031418,001126: 15,2240 50120 INDEX FIXLOC
031419,001127: 15,2241 54001 TS 1
031420,001128: 15,2242 30033 CA CDUY
031421,001129: 15,2243 50120 INDEX FIXLOC
031422,001130: 15,2244 54002 TS 2
031423,001131: 15,2245 30034 CA CDUZ
031424,001132: 15,2246 50120 INDEX FIXLOC
031425,001133: 15,2247 54003 TS 3
031426,001134: 15,2250 00003 RELINT
031427,001135: 15,2251 06030 TC DANZIG # +
031428,001136: # NAME - GIMB
031429,001137: # FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
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Page 715 |
031431,001139: # CALLING SEQUENCE - CALL GIMB
031432,001140: # INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031433,001141: # OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2 +
031434,001142: # SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031435,001143: 16,2000 SETLOC P50S2
031436,001144: 16,2000 BANK
031437,001145: 16,2567 COUNT 14/INFLT
031438,001146:
031439,001147: 16,2567 41345 CALCSMSC DLOAD DMP
031440,001148: 16,2570 00737 SINCDUY
031441,001149: 16,2571 00747 COSCDUZ
031442,001150: 16,2572 77676 DCOMP
031443,001151: 16,2573 70525 PDDL SR1
031444,001152: 16,2574 00741 SINCDUZ
031445,001153: 16,2575 41325 PDDL DMP
031446,001154: 16,2576 00745 COSCDUY
031447,001155: 16,2577 00747 COSCDUZ
031448,001156: 16,2600 76466 VDEF VSL1
031449,001157: 16,2601 02714 STORE XNB
031450,001158: 16,2602 41345 DLOAD DMP
031451,001159: 16,2603 00743 SINCDUX
031452,001160: 16,2604 00741 SINCDUZ
031453,001161: 16,2605 77752 SL1
031454,001162: 16,2606 00033 STORE 26D
031455,001163: 16,2607 77605 DMP
031456,001164: 16,2610 00737 SINCDUY
031457,001165: 16,2611 41325 PDDL DMP
031458,001166: 16,2612 00751 COSCDUX
031459,001167: 16,2613 00745 COSCDUY
031460,001168: 16,2614 77625 DSU
031461,001169: 16,2615 41325 PDDL DMP
031462,001170: 16,2616 00743 SINCDUX
031463,001171: 16,2617 00747 COSCDUZ
031464,001172: 16,2620 77676 DCOMP
031465,001173: 16,2621 41325 PDDL DMP
031466,001174: 16,2622 00751 COSCDUX
031467,001175: 16,2623 00737 SINCDUY
031468,001176: 16,2624 41325 PDDL DMP
031469,001177: 16,2625 00745 COSCDUY
031470,001178: 16,2626 00033 26D
031471,001179: 16,2627 55415 DAD VDEF
031472,001180: 16,2630 77772 VSL1
031473,001181: 16,2631 02730 STORE ZNB
031474,001182: 16,2632 76435 VXV VSL1
031475,001183: 16,2633 02714 XNB
031476,001184: 16,2634 02722 STORE YNB
031477,001185: 16,2635 77616 RVQ
031478,001186: # NAME - P51 - IMU ORIENTATION DETERMINATION
031479,001187: # MOD.NO.2 21 DEC 66 LOG SECTION - P51-P53
031480,001188: # MOD BY STURLAUGSON ASSEMBLY SUNDISK REV15
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Page 716 |
031482,001190: # FUNCTIONAL DESCRIPTION
031483,001191:
031484,001192: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031485,001193: # ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031486,001194: # THEN PROCESSED AS FOLLOWS.
031487,001195:
031488,001196: # 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031489,001197: # TRUNNION ANGLES, RESPECTIVELY. THEN,
031490,001198:
031491,001199: # -
031492,001200: # V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
031493,001201: # NB
031494,001202: # THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031495,001203:
031496,001204: # 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031497,001205:
031498,001206: # - T T T -
031499,001207: # V = Q *Q *Q *V , WHERE
031500,001208: # 1 2 3 NB
031501,001209:
031502,001210: # ( COS(IG) 0 -SIN(IG) )
031503,001211: # ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
031504,001212: # Q = ( 0 1 0 ), IG=INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
031505,001213: # 1 ( ) ROT AND CDULOGIC)
031506,001214: # ( SIN(IG) 0 COS(IG) )
031507,001215:
031508,001216:
031509,001217: # ( COS(MG) SIN(MG) 0 )
031510,001218: # ( )
031511,001219: # Q = (-SIN(MG) COS(MG) 0 ), MG=MIDDLE GIMBAL ANGLE
031512,001220: # 2 ( )
031513,001221: # ( 0 0 1 )
031514,001222:
031515,001223:
031516,001224: # ( 1 0 0 )
031517,001225: # ( )
031518,001226: # Q = ( 0 COS(OG) SIN(OG) ), OG=OUTER GIMBAL ANGLE
031519,001227: # 3 ( )
031520,001228: # ( 0 -SIN(OG) COS(OG) )
031521,001229:
031522,001230: # 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031523,001231:
031524,001232: # 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031525,001233:
031526,001234: # 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031527,001235: # - -
031528,001236: # LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031529,001237: # 1 2
031530,001238:
031531,001239: # DEFINE, - -
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Page 717 |
031533,001241: # U = S
031534,001242: # A A1
031535,001243:
031536,001244: # - - -
031537,001245: # V = UNIT(S X S )
031538,001246: # A A1 A2
031539,001247:
031540,001248: # - - -
031541,001249: # W = U X V
031542,001250: # A A A
031543,001251: # AND
031544,001252: # - -
031545,001253: # U = S
031546,001254: # B B1
031547,001255:
031548,001256: # - - -
031549,001257: # V = UNIT(S X S )
031550,001258: # B B1 B2
031551,001259:
031552,001260: # - - -
031553,001261: # W = U X V
031554,001262: # B B B
031555,001263:
031556,001264: # THEN - - - -
031557,001265: # X = U *U + V *V + W *W
031558,001266: # B1 A B1 A B1 A
031559,001267:
031560,001268: # - - - - (REFSMMAT)
031561,001269: # Y = U *U + V *V + W *W
031562,001270: # B2 A B2 A B2 A
031563,001271:
031564,001272: # - - - -
031565,001273: # Z = U *U + V *V + W *W
031566,001274: # B3 A B3 A B3 A
031567,001275:
031568,001276: # THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031569,001277:
031570,001278: # -
031571,001279: # S IN 6-11 OF THE VAC AREA
031572,001280: # A1
031573,001281:
031574,001282: # -
031575,001283: # S IN 12-17 OF THE VAC AREA
031576,001284: # A2
031577,001285:
031578,001286: # -
031579,001287: # S IN STARAD
031580,001288: # B1
031581,001289:
031582,001290: # -
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Page 718 |
031584,001292: # S IN STARAD +6
031585,001293: # B2
031586,001294:
031587,001295: # CALLING SEQUENCE
031588,001296:
031589,001297: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031590,001298:
031591,001299: # SUBROUTINES CALLED.
031592,001300:
031593,001301: # GOPERF3
031594,001302: # GOPERF1R
031595,001303: # GODSPR
031596,001304: # IMUCOARS
031597,001305: # IMUFIN20
031598,001306: # R53
031599,001307: # SXTNB
031600,001308: # NBSM
031601,001309: # MKRELEAS
031602,001310: # CHKSDATA
031603,001311: # MATMOVE
031604,001312:
031605,001313: # ALARMS
031606,001314:
031607,001315: # NONE.
031608,001316: # ERASABLE INITIALIZATION
031609,001317:
031610,001318: # IMU ZERO FLAG SHOULD BE SET.
031611,001319:
031612,001320: # OUTPUT
031613,001321:
031614,001322: # REFSMMAT
031615,001323: # REFSMFLG
031616,001324:
031617,001325: # DEBRIS
031618,001326:
031619,001327: # WORK AREA
031620,001328: # STARAD
031621,001329: # STARIND
031622,001330: # BESTI
031623,001331: # BESTJ
031624,001332:
031625,001333: 14,2000 SETLOC P50S1
031626,001334: 14,2000 BANK
031627,001335: 14,3061 COUNT 14/P5153
031628,001336:
031629,001337: 14,3061 14,3061 P53 EQUALS P51
031630,001338: 14,3061 41320 P51 CS IMODES30
031631,001339: 14,3062 74702 MASK BIT9
031632,001340: 14,3063 10000 CCS A
031633,001341: 14,3064 03070 TC P51A
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Page 719 |
031635,001343: 14,3065 05537 TC ALARM
031636,001344: 14,3066 00210 OCT 210
031637,001345: 14,3067 04106 TC GOTOPOOH
031638,001346: 14,3070 04555 P51A TC BANKCALL
031639,001347: 14,3071 17607 CADR R02ZERO
031640,001348:
031641,001349: 14,3072 34720 P51AA CAF PRFMSTAQ
031642,001350: 14,3073 04555 TC BANKCALL
031643,001351: 14,3074 20751 CADR GOPERF1
031644,001352: 14,3075 04106 TC GOTOPOOH # TERM.
031645,001353: 14,3076 03141 TC P51B # V 33
031646,001354: 14,3077 05301 TC PHASCHNG
031647,001355: 14,3100 05024 OCT 05024
031648,001356: 14,3101 13000 OCT 13000
031649,001357: 14,3102 34714 CAF P51ZERO
031650,001358: 14,3103 55155 TS THETAD # ZERO THE GIMBALS
031651,001359: 14,3104 55156 TS THETAD +1
031652,001360: 14,3105 55157 TS THETAD +2
031653,001361: 14,3106 33266 CAF V6N22
031654,001362: 14,3107 04555 TC BANKCALL
031655,001363: 14,3110 20577 CADR GODSPRET
031656,001364: 14,3111 33267 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
031657,001365: 14,3112 04555 TC BANKCALL
031658,001366: 14,3113 20577 CADR GODSPRET
031659,001367: 14,3114 04555 TC BANKCALL
031660,001368: 14,3115 16602 CADR IMUCOARS
031661,001369: 14,3116 04555 TC BANKCALL
031662,001370: 14,3117 17516 CADR IMUSTALL
031663,001371: 14,3120 05646 TC CURTAINS # CAGING OR BAD END
031664,001372: 14,3121 04555 TC BANKCALL # SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031665,001373: 14,3122 17012 CADR IMUFIN20 # AND 20 SECS. DIRECT RETURN AND NO STALL,
031666,001374: 14,3123 04555 TC BANKCALL # IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031667,001375: 14,3124 17516 CADR IMUSTALL # IF PUT TO SLEEP, IMUFINED WILL WAKE US
031668,001376: 14,3125 05646 TC CURTAINS # UP.
031669,001377: 14,3126 06006 TC INTPRET
031670,001378: 14,3127 77234 RTB VLOAD
031671,001379: 14,3130 31270 SET1/PDT
031672,001380: 14,3131 11453 ZEROVEC
031673,001381: 14,3132 01472 STORE GCOMP
031674,001382: 14,3133 77414 SET EXIT
031675,001383: 14,3134 01060 DRIFTFLG
031676,001384: 14,3135 05301 TC PHASCHNG
031677,001385: 14,3136 05024 OCT 05024
031678,001386: 14,3137 13000 OCT 13000
031679,001387: 14,3140 13072 TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
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Page 720 |
031681,001389: # DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031682,001390:
031683,001391: 14,3141 05301 P51B TC PHASCHNG
031684,001392: 14,3142 00014 OCT 00014
031685,001393: 14,3143 06006 TC INTPRET
031686,001394: 14,3144 40331 SSP SETPD
031687,001395: 14,3145 00305 STARIND # INDEX-STAR 1 OR 2
031688,001396: 14,3146 00000 0
031689,001397: 14,3147 00001 0
031690,001398: 14,3150 77414 CLEAR EXIT
031691,001399: 14,3151 00666 TARG2FLG # SHOW STAR MARK-NOT LAND MARK
031692,001400: 14,3152 34712 CAF BIT1
031693,001401: 14,3153 54301 TS MARKINDX # INITIALIZE FOR ONE MARK
031694,001402:
031695,001403: 14,3154 05301 P51C TC PHASCHNG
031696,001404: 14,3155 05024 OCT 05024
031697,001405: 14,3156 13000 OCT 13000
031698,001406: 14,3157 05253 TC CHECKMM
031699,001407: 14,3160 00065 MM 53 B-14 # BACKUP PROGRAM
031700,001408: 14,3161 13167 TCF P51C.1 # NOT P53
031701,001409: 14,3162 06006 TC INTPRET
031702,001410: 14,3163 77624 CALL
031703,001411: 14,3164 32252 R56
031704,001412: 14,3165 77650 GOTO
031705,001413: 14,3166 31172 P51C.2
031706,001414: 14,3167 06006 P51C.1 TC INTPRET
031707,001415: 14,3170 77624 CALL
031708,001416: 14,3171 31327 R53 # SIGHTING ROUTINE
031709,001417: 14,3172 77624 P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
031710,001418: 14,3173 31273 SXTSM
031711,001419: 14,3174 77606 PUSH
031712,001420: 14,3175 53135 SLOAD BZE
031713,001421: 14,3176 00305 STARIND
031714,001422: 14,3177 31204 P51D
031715,001423: 14,3200 45575 VLOAD STADR
031716,001424: 14,3201 75160 STORE STARSAV2 # DOWNLINK
031717,001425: 14,3202 77650 GOTO
031718,001426: 14,3203 31212 P51E
031719,001427: 14,3204 45575 P51D VLOAD STADR
031720,001428: 14,3205 61166 STODL STARSAV1
031721,001429: 14,3206 02607 TSIGHT
031722,001430: 14,3207 77624 CALL
031723,001431: 14,3210 32363 PLANET
031724,001432: 14,3211 02601 STORE PLANVEC
031725,001433: 14,3212 77776 P51E EXIT
031726,001434: 14,3213 05301 TC PHASCHNG
031727,001435: 14,3214 05024 OCT 05024
031728,001436: 14,3215 13000 OCT 13000
031729,001437: 14,3216 04555 TC BANKCALL
031730,001438: 14,3217 16063 CADR MKRELEAS # ZERO MARKSTAT
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Page 721 |
031732,001440: 14,3220 10304 CCS STARIND
031733,001441: 14,3221 13230 TCF P51F # STAR 2
031734,001442: 14,3222 05301 TC PHASCHNG
031735,001443: 14,3223 05024 OCT 05024
031736,001444: 14,3224 13000 OCT 13000
031737,001445: 14,3225 34712 CAF BIT1
031738,001446: 14,3226 54304 TS STARIND
031739,001447: 14,3227 13154 TCF P51C # GO DO SECOND STAR
031740,001448: 14,3230 05301 P51F TC PHASCHNG
031741,001449: 14,3231 05024 OCT 05024
031742,001450: 14,3232 13000 OCT 13000
031743,001451: 14,3233 06006 TC INTPRET
031744,001452: 14,3234 45145 DLOAD CALL
031745,001453: 14,3235 02607 TSIGHT
031746,001454: 14,3236 32363 PLANET
031747,001455: 14,3237 24015 STOVL 12D
031748,001456: 14,3240 02601 PLANVEC
031749,001457: 14,3241 24007 STOVL 6D
031750,001458: 14,3242 02611 STARSAV1
031751,001459: 14,3243 26736 STOVL STARAD
031752,001460: 14,3244 02617 STARSAV2
031753,001461: 14,3245 36744 STCALL STARAD +6
031754,001462: 14,3246 30707 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
031755,001463: 14,3247 77414 BON EXIT
031756,001464: 14,3250 00314 FREEFLAG
031757,001465: 14,3251 31253 P51G
031758,001466: 14,3252 03072 TC P51AA
031759,001467: 14,3253 77624 P51G CALL
031760,001468: 14,3254 47334 AXISGEN # COME BACK WITH REFSMMAT IN XDC
031761,001469: 14,3255 75160 AXC,1 AXC,2
031762,001470: 14,3256 02713 XDC
031763,001471: 14,3257 01735 REFSMMAT
031764,001472: 14,3260 45014 CLEAR CALL
031765,001473: 14,3261 01662 REFSMFLG
031766,001474: 14,3262 31045 MATMOVE
031767,001475: 14,3263 52014 SET GOTO
031768,001476: 14,3264 01462 REFSMFLG
031769,001477: 14,3265 32143 ENDP50S
031770,001478: 14,3266 4720 PRFMSTAQ = OCT15
031771,001479: 14,3266 4714 P51ZERO = ZERO
031772,001480: 14,3266 4715 P51FIVE = FIVE
031773,001481: 14,3266 01426 V6N22 VN 0622
031774,001482: 14,3267 12200 V41K VN 4100
031775,001483: 14,3270 30025 SET1/PDT CA TIME1
031776,001484: 14,3271 55074 TS 1/PIPADT
031777,001485: 14,3272 16030 TCF DANZIG
031778,001486:
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Page 722 |
031780,001488: # SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031781,001489:
031782,001490: 14,3273 77620 SXTSM STQ
031783,001491: 14,3274 00300 QMAJ
031784,001492: 14,3275 70740 LXC,1 DLOAD*
031785,001493: 14,3276 01330 MARKSTAT
031786,001494: 14,3277 00001 0D,1
031787,001495: 14,3300 02607 STORE TSIGHT
031788,001496: 14,3301 66764 AXC,2 SLOAD*
031789,001497: 14,3302 00304 STARIND
031790,001498: 14,3303 46451 MKDNCDR,2
031791,001499: 14,3304 76764 AXC,2 VLOAD*
031792,001500: 14,3305 00154 MPAC
031793,001501: 14,3306 00001 0,1
031794,001502: 14,3307 10001 STORE 0,2
031795,001503: 14,3310 77743 DLOAD*
031796,001504: 14,3311 00006 5,1
031797,001505: 14,3312 10006 STORE 5,2
031798,001506: 14,3313 77624 CALL
031799,001507: 14,3314 46000 SXTNB # COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031800,001508: 14,3315 62150 LXA,1 INCR,1
031801,001509: 14,3316 01330 MARKSTAT
031802,001510: 14,3317 00002 2 # INCREMENT TO BASE ADR OF ICDU
031803,001511: 14,3320 45130 SXA,1 CALL
031804,001512: 14,3321 00050 S1
031805,001513: 14,3322 47541 NBSM # TRANSFORM LOS TO SM
031806,001514: 14,3323 77650 GOTO
031807,001515: 14,3324 00300 QMAJ
031808,001516: 14,3325 03674 MKDNCDR ECADR MARKDOWN
031809,001517: 14,3326 03502 ECADR MARK2DWN
031810,001518:
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Page 723 |
031812,001520: # PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031813,001521: # MOD.NO.2 21 DEC 66
031814,001522: # MOD BY STURLAUGSON
031815,001523:
031816,001524: # FUNCTIONAL DESCRIPTION
031817,001525: # TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031818,001526: # CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031819,001527: # OCDUS) AND THE TIME OF THE MARK.
031820,001528:
031821,001529: # CALLING SEQUENCE
031822,001530: # R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031823,001531: # THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031824,001532:
031825,001533: # SUBROUTINES CALLED
031826,001534: # SXTMARK
031827,001535: # OPTSTALL
031828,001536: # GOFLASH
031829,001537:
031830,001538: # ERASABLE INITIALIZATION
031831,001539: # TARGET FLAG - STAR OR LANDMARK
031832,001540: # MARKINDX - NUMBER OF MARKS WANTED
031833,001541: # STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031834,001542: # OUTPUT
031835,001543: # MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
031836,001544: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031837,001545: # DEBRIS
031838,001546: # MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031839,001547: 14,2000 SETLOC RT53
031840,001548: 14,2000 BANK
031841,001549:
031842,001550: 14,3327 COUNT 14/R53
031843,001551:
031844,001552: 14,3327 43020 R53 STQ SET # SET SIGHTING MARK FLAG
031845,001553: 14,3330 03501 R53EXIT
031846,001554: 14,3331 00071 R53FLAG
031847,001555: 14,3332 77776 EXIT
031848,001556: 14,3333 30301 R53A CA MARKINDX # NUMBER OF MARKS
031849,001557: 14,3334 74716 MASK LOW3
031850,001558: 14,3335 04555 TC BANKCALL
031851,001559: 14,3336 16002 CADR SXTMARK
031852,001560: 14,3337 04555 TC BANKCALL
031853,001561: 14,3340 17512 CADR OPTSTALL
031854,001562: 14,3341 05646 TC CURTAINS
031855,001563: 14,3342 51330 INDEX MARKSTAT
031856,001564: 14,3343 10052 CCS QPRET # NUMBER OF MARKS ACTUALLY DONE
031857,001565: 14,3344 13355 TCF R53B
031858,001566: 14,3345 13347 TCF +2 # ZERO
031859,001567: 14,3346 13347 TCF +1 # CCS HOLE
031860,001568: 14,3347 34714 CAF ZERO # HOUSEKEEP VAC AREA SAVE
031861,001569: 14,3350 57330 XCH MARKSTAT # AND MARKSTAT
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Page 724 |
031863,001571: 14,3351 10000 CCS A
031864,001572: 14,3352 50000 INDEX A
031865,001573: 14,3353 54000 TS 0
031866,001574: 14,3354 13333 TCF R53A
031867,001575: 14,3355 05253 R53B TC CHECKMM
031868,001576: 14,3356 00026 MM 22 B-14
031869,001577: 14,3357 13361 TCF +2
031870,001578: 14,3360 13405 TCF R53D
031871,001579: 14,3361 05253 TC CHECKMM
031872,001580: 14,3362 00027 MM 23 B-14
031873,001581: 14,3363 13365 TCF R53C
031874,001582: 14,3364 13405 TCF R53D
031875,001583: 14,3365 33411 R53C CAF V01N71
031876,001584: 14,3366 04555 TC BANKCALL
031877,001585: 14,3367 20763 CADR GOFLASHR
031878,001586: 14,3370 04106 TC GOTOPOOH # TERM.
031879,001587: 14,3371 13376 TCF R53Z
031880,001588: 14,3372 03365 TC R53C # RECYCLE
031881,001589: 14,3373 36211 CAF SIX
031882,001590: 14,3374 05415 TC BLANKET
031883,001591: 14,3375 05112 TC ENDOFJOB
031884,001592: 14,3376 47713 R53Z CS HIGH9
031885,001593: 14,3377 70735 MASK STARCODE
031886,001594: 14,3400 00006 EXTEND
031887,001595: 14,3401 76211 MP SIGHTSIX
031888,001596: 14,3402 56001 XCH L
031889,001597: 14,3403 50304 INDEX STARIND
031890,001598: 14,3404 54302 TS BESTI
031891,001599: 14,3405 06006 R53D TC INTPRET
031892,001600: 14,3406 77614 R53OUT SETGO
031893,001601: 14,3407 03420 TERMIFLG # SET TERMINATE FOR R52
031894,001602: 14,3410 03501 R53EXIT
031895,001603: 14,3411 6211 SIGHTSIX = SIX
031896,001604: 14,3411 00307 V01N71 VN 0171
031897,001605:
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Page 725 |
031899,001607: # NAME-S52.2
031900,001608: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031901,001609: # CALL- CALL S52.2
031902,001610: # INPUT- X,Y,ZSMD
031903,001611: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031904,001612: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031905,001613: 11,2000 SETLOC S52/2
031906,001614: 11,2000 BANK
031907,001615:
031908,001616: 11,2256 COUNT 13/S52.2
031909,001617: 11,2256 77620 S52.2 STQ
031910,001618: 11,2257 00300 QMAJ
031911,001619: 11,2260 77624 CALL
031912,001620: 11,2261 47432 CDUTRIG
031913,001621: 11,2262 77624 CALL
031914,001622: 11,2263 34567 CALCSMSC
031915,001623: 11,2264 66370 AXT,1 SSP
031916,001624: 11,2265 00022 18D
031917,001625: 11,2266 00051 S1
031918,001626: 11,2267 00006 6D
031919,001627: 11,2270 61373 S52.2A VLOAD* VXM
031920,001628: 11,2271 02736 XNB +18D,1
031921,001629: 11,2272 01736 REFSMMAT
031922,001630: 11,2273 77656 UNIT
031923,001631: 11,2274 06736 STORE XNB +18D,1
031924,001632: 11,2275 77700 TIX,1
031925,001633: 11,2276 22270 S52.2A
031926,001634: 11,2277 75160 S52.2.1 AXC,1 AXC,2
031927,001635: 11,2300 00306 XSMD
031928,001636: 11,2301 02671 XSM
031929,001637: 11,2302 77624 CALL
031930,001638: 11,2303 31045 MATMOVE
031931,001639: 11,2304 77624 CALL
031932,001640: 11,2305 47244 CALCGA
031933,001641: 11,2306 77650 GOTO
031934,001642: 11,2307 00300 QMAJ
031935,001643:
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Page 726 |
031937,001645: # PROGRAM NAME - SR52.1 DATE DEC 20 66
031938,001646: # MOD 1 LOG SEC P51-P53
031939,001647: # BY KEN VINCENT ASSEMBLY SUNDISK REV 40
031940,001648:
031941,001649: # FUNCTION
031942,001650: # TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031943,001651: # LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031944,001652: # 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS
031945,001653: # THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
031946,001654: # THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031947,001655: # POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
031948,001656: # COMMON PART OF THIS PROGRAM.
031949,001657: # IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031950,001658: # VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031951,001659: # FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031952,001660: # THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031953,001661: # VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031954,001662: # IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031955,001663: # AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031956,001664: # THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
031957,001665: # VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031958,001666: # THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031959,001667: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG OR 38DEG.
031960,001668: # MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031961,001669:
031962,001670: # CALLING SEQUENCE
031963,001671: # L+4 RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031964,001672: # L TC BANKCALL
031965,001673: # L+1 CADR SR52.1
031966,001674: # L+2 ERROR RETURN TRUNNION GREATER THAN 90 DEG
031967,001675: # L&3 ERROR RETURN TRUNNION GREATER THAN 50 DEG
031968,001676: # L+4 NORMAL RETURN
031969,001677:
031970,001678: # OUTPUT
031971,001679: # SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031972,001680: # PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031973,001681:
031974,001682: # INITIALIZATION
031975,001683: # IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031976,001684: # IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031977,001685: # 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031978,001686: # ARE 6 TIMES STAR NUMBER.
031979,001687: # IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031980,001688: # LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031981,001689: # RADIUS
031982,001690:
031983,001691: # DEBRIS
031984,001692: # WORK AREA
031985,001693: # STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
031986,001694: 11,2310 COUNT* $$/SR521
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Page 727 |
031988,001696: 13,2000 SETLOC SR52/1
031989,001697: 13,2000 BANK
031990,001698:
031991,001699: 13,2176 04604 SR52.1 TC MAKECADR
031992,001700: 13,2177 55777 TS QMIN
031993,001701: 13,2200 06006 TC INTPRET
031994,001702: 13,2201 43234 RTB DAD
031995,001703: 13,2202 45505 LOADTIME
031996,001704: 13,2203 26317 1.3SECDP
031997,001705: 13,2204 02356 STORE AOPTIME
031998,001706: 13,2205 43014 BON BON
031999,001707: 13,2206 00705 TARG1FLG
032000,001708: 13,2207 26214 LEM52
032001,001709: 13,2210 00706 TARG2FLG
032002,001710: 13,2211 26224 LMK52
032003,001711: 13,2212 77650 GOTO
032004,001712: 13,2213 26245 STAR52
032005,001713: 13,2214 77745 LEM52 DLOAD
032006,001714: 13,2215 02356 AOPTIME
032007,001715: 13,2216 34041 STCALL TDEC1
032008,001716: 13,2217 27057 LEMCONIC
032009,001717: 13,2220 77775 VLOAD
032010,001718: 13,2221 00001 RATT
032011,001719: 13,2222 77650 GOTO
032012,001720: 13,2223 26234 LMKLMCOM
032013,001721: 13,2224 71214 LMK52 BON DLOAD
032014,001722: 13,2225 04305 ADVTRK
032015,001723: 13,2226 54000 ADVTRACK
032016,001724: 13,2227 02356 AOPTIME
032017,001725: 13,2230 77624 CALL
032018,001726: 13,2231 26373 LALOTORV
032019,001727: 13,2232 77775 VLOAD
032020,001728: 13,2233 02152 ALPHAV
032021,001729: 13,2234 16766 LMKLMCOM STODL STAR
032022,001730: 13,2235 02356 AOPTIME
032023,001731: 13,2236 34041 STCALL TDEC1
032024,001732: 13,2237 27045 CSMCONIC
032025,001733: 13,2240 52375 VLOAD VSU
032026,001734: 13,2241 02766 STAR
032027,001735: 13,2242 00001 RATT
032028,001736: 13,2243 52056 UNIT GOTO
032029,001737: 13,2244 26260 COM52
032030,001738: 13,2245 72131 STAR52 SSP LXA,1
032031,001739: 13,2246 00051 S1
032032,001740: 13,2247 00000 0
032033,001741: 13,2250 00304 STARIND
032034,001742: 13,2251 77700 TIX,1
032035,001743: 13,2252 26256 ST52ST
032036,001744: 13,2253 52175 VLOAD GOTO
032037,001745: 13,2254 02617 STARSAV2
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Page 728 |
032039,001747: 13,2255 26260 COM52
032040,001748: 13,2256 77775 ST52ST VLOAD
032041,001749: 13,2257 02611 STARSAV1
032042,001750: 13,2260 53521 COM52 MXV UNIT
032043,001751: 13,2261 01736 REFSMMAT
032044,001752: 13,2262 02766 STORE STAR
032045,001753: 13,2263 45001 SETPD CALL
032046,001754: 13,2264 00001 0
032047,001755: 13,2265 47432 CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
032048,001756: 13,2266 77624 CALL # NOW EXPECT TO SEE THE CDU ANGLES.
032049,001757: 13,2267 46034 CALCSXA
032050,001758: 13,2270 77414 BOFF EXIT
032051,001759: 13,2271 01750 CULTFLAG
032052,001760: 13,2272 26274 TRUN38
032053,001761: 13,2273 02312 TC SR52E1
032054,001762: 13,2274 45345 TRUN38 DLOAD DSU
032055,001763: 13,2275 02776 PAC
032056,001764: 13,2276 26315 38TRDEG
032057,001765: 13,2277 71244 BPL DLOAD
032058,001766: 13,2300 26305 SR52E22
032059,001767: 13,2301 02776 PAC
032060,001768: 13,2302 51025 DSU BPL
032061,001769: 13,2303 26321 20DEGSMN
032062,001770: 13,2304 26307 SR52E3
032063,001771: 13,2305 77776 SR52E22 EXIT
032064,001772: 13,2306 02311 TC SR52E2
032065,001773: 13,2307 77776 SR52E3 EXIT
032066,001774: 13,2310 25777 INCR QMIN
032067,001775: 13,2311 25777 SR52E2 INCR QMIN
032068,001776: 13,2312 31777 SR52E1 CA QMIN
032069,001777: 13,2313 04561 TC SWCALL
032070,001778: 13,2314 25252 25254 38TRDEG 2DEC .66666667 # CORESPONDS TO 50 DEGS IN TRUNION
032071,001779: 13,2316 00000 00202 1.3SECDP 2DEC 130 B-28
032072,001780: 13,2320 61740 20DEGSMN DEC -07199 B-14
032073,001781: 13,2321 77777 DEC -0 B-14
032074,001782:
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Page 729 |
032076,001784: # THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
032077,001785: # A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
032078,001786: # OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
032079,001787:
032080,001788: 26,2000 SETLOC 26P50S
032081,001789: 26,2000 BANK
032082,001790: 26,2000 77601 ADVTRACK SETPD
032083,001791: 26,2001 00001 0
032084,001792: 26,2002 41575 VLOAD PUSH # INITIALIZE FOR RP-TO-R
032085,001793: 26,2003 15324 UNITZ # UZ VEC IN PD 0-5
032086,001794: 26,2004 41434 RTB PUSH # TIME IN PD 6-7
032087,001795: 26,2005 45505 LOADTIME
032088,001796: 26,2006 36356 STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
032089,001797: 26,2007 55341 RP-TO-R # GET MOON ROTATION VEC IN REF
032090,001798: 26,2010 16766 STODL STAR
032091,001799: 26,2011 02356 AOPTIME # PICK UP TIME
032092,001800: 26,2012 34041 STCALL TDEC1 # UPDATE STATE TO TIME
032093,001801: 26,2013 27045 CSMCONIC
032094,001802: 26,2014 47375 VLOAD VXV
032095,001803: 26,2015 00007 VATT
032096,001804: 26,2016 00001 RATT
032097,001805: 26,2017 77656 UNIT
032098,001806: 26,2020 24031 STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
032099,001807: 26,2021 00001 RATT
032100,001808: 26,2022 57456 UNIT VCOMP
032101,001809: 26,2023 41401 SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
032102,001810: 26,2024 00001 0
032103,001811: 26,2025 77776 EXIT
032104,001812: 26,2026 31751 CA LANDMARK
032105,001813: 26,2027 74716 MASK SEVEN # GET NUMBER OF ADVANCE PERIODS
032106,001814: 26,2030 00006 EXTEND
032107,001815: 26,2031 74700 MP BIT11 # GET N/16
032108,001816: 26,2032 56001 XCH L
032109,001817: 26,2033 50120 INDEX FIXLOC
032110,001818: 26,2034 54036 TS 30D # TEMP STORE N/16
032111,001819: 26,2035 06006 TC INTPRET
032112,001820: 26,2036 41335 SLOAD DMP
032113,001821: 26,2037 00037 30D
032114,001822: 26,2040 14107 MPERIOD
032115,001823: 26,2041 36356 STCALL AOPTIME # ROTATE ANG ABOUT UR
032116,001824: 26,2042 54057 ROTA
032117,001825: 26,2043 77775 VLOAD
032118,001826: 26,2044 00031 24D # PICK UP 2ND ROTATION AXIS
032119,001827: 26,2045 16766 STODL STAR
032120,001828: 26,2046 14105 DP1/6
032121,001829: 26,2047 77625 DSU
032122,001830: 26,2050 02356 AOPTIME # 2ND RAT ANGLE = 60 - A
032123,001831: 26,2051 36356 STCALL AOPTIME
032124,001832: 26,2052 54057 ROTA # GO ROTATE 2ND TIME
032125,001833: 26,2053 77775 VLOAD
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Page 730 |
032127,001835: 26,2054 00001 0
032128,001836: 26,2055 36766 STCALL STAR # STORE FINAL LOS IN STAR
032129,001837: 26,2056 26260 COM52 # RETURN TO SR52.1
032130,001838:
032131,001839: 26,2057 73545 ROTA DLOAD SIN
032132,001840: 26,2060 02356 AOPTIME
032133,001841: 26,2061 47315 PDVL VXV # PUSH 1/2SIN(A) PD 6-7
032134,001842: 26,2062 02766 STAR # UR VEC
032135,001843: 26,2063 00001 0 # LOS
032136,001844: 26,2064 72561 VXSC VSL2 # 1/2SIN(A)(URXLOS) PD 6-11
032137,001845: 26,2065 50315 PDVL DOT
032138,001846: 26,2066 02766 STAR
032139,001847: 26,2067 00001 0
032140,001848: 26,2070 72561 VXSC VSL2
032141,001849: 26,2071 02766 STAR
032142,001850: 26,2072 71525 PDDL COS # 1/2(UR . LOS)UR 12-17
032143,001851: 26,2073 02356 AOPTIME
032144,001852: 26,2074 51315 PDVL BVSU # PUSH 1/2COS(A) 18-19
032145,001853: 26,2075 00015 12D
032146,001854: 26,2076 00001 0
032147,001855: 26,2077 76561 VXSC VSL1 # UP 18-19
032148,001856: 26,2100 53255 VAD VAD # UP 12-17 UP 6-11
032149,001857: 26,2101 40256 UNIT SETPD
032150,001858: 26,2102 00001 0
032151,001859: 26,2103 43406 PUSH RVQ
032152,001860:
032153,001861: 26,2104 05252 25251 DP1/6 2DEC .16666666
032154,001862: 26,2106 11446 02760 MPERIOD 2DEC .2992 # APPROX LUNAR ROT ANG IN 2HRS X 16
032155,001863:
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Page 731 |
032157,001865: # NAME-S52.3
032158,001866: # FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032159,001867: # YSMD= UNIT(V X R)
032160,001868: # ZSMD= UNIT(-R)
032161,001869: # CALL DLOAD CALL
032162,001870: # TALIGN
032163,001871: # S52.3
032164,001872: # INPUT- TIME OF ALIGNMENT IN MPAC
032165,001873: # OUTPUT- X,Y,ZSMD
032166,001874: # SUBROUTINES- CSMCONIC
032167,001875: 16,2000 SETLOC P50S2
032168,001876: 16,2000 BANK
032169,001877:
032170,001878: 16,2636 COUNT 15/S52.3
032171,001879: 16,2636 77620 S52.3 STQ
032172,001880: 16,2637 00300 QMAJ
032173,001881: 16,2640 34041 STCALL TDEC1
032174,001882: 16,2641 27045 CSMCONIC
032175,001883: 16,2642 77601 SETPD
032176,001884: 16,2643 00001 0
032177,001885: 16,2644 57575 VLOAD VCOMP
032178,001886: 16,2645 00001 RATT
032179,001887: 16,2646 77656 UNIT
032180,001888: 16,2647 24323 STOVL ZSMD
032181,001889: 16,2650 00007 VATT
032182,001890: 16,2651 53435 VXV UNIT
032183,001891: 16,2652 00001 RATT
032184,001892: 16,2653 00315 STORE YSMD
032185,001893: 16,2654 53435 VXV UNIT
032186,001894: 16,2655 00323 ZSMD
032187,001895: 16,2656 34307 STCALL XSMD
032188,001896: 16,2657 00300 QMAJ
032189,001897:
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Page 732 |
032191,001899: # PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032192,001900:
032193,001901: # FUNCTIONAL DESCRIPTION
032194,001902: # TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
032195,001903: # COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
032196,001904: # ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032197,001905: # IN N92.
032198,001906:
032199,001907: # CALLING SEQUENCE
032200,001908: # CALL
032201,001909: # R56
032202,001910:
032203,001911: # SUBROUTINES CALLED
032204,001912: # A PORTION OF SXTMARK (VAC.AREA SEARCH)
032205,001913: # GOFLASH
032206,001914: # GOPERF1
032207,001915:
032208,001916: # ERASABLE INITIALIZATION
032209,001917: # STARIND-INDEX TO STAR NUMBER
032210,001918:
032211,001919: # OUTPUT
032212,001920: # MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032213,001921: # BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032214,001922: # ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032215,001923: # VAC +2 CDUY
032216,001924: # VAC +3 CDUS
032217,001925: # VAC +4 CDUZ
032218,001926: # VAC +5 CDUT
032219,001927: # VAC +6 CDUX
032220,001928:
032221,001929: 16,2660 COUNT* $$/R56
032222,001930: 15,2000 SETLOC P50S
032223,001931: 15,2000 BANK
032224,001932: 15,2252 77776 R56 EXIT
032225,001933: 15,2253 32362 CAF V06N94B
032226,001934: 15,2254 04555 TC BANKCALL
032227,001935: 15,2255 20624 CADR GOFLASH
032228,001936: 15,2256 04106 TC GOTOPOOH # TERM.
032229,001937: 15,2257 02261 TC R56A # PROCEED - ANGLES OK
032230,001938: 15,2260 02253 TC -5 # ENTER - NEW ANGLES
032231,001939: 15,2261 04555 R56A TC BANKCALL
032232,001940: 15,2262 16004 CADR SXTMARK +2 # INHIBIR EXT VB ACT AND FIND VAC AREA
032233,001941:
032234,001942: 15,2263 34714 CAF ZERO
032235,001943: 15,2264 04555 TC BANKCALL
032236,001944: 15,2265 20607 CADR CLEANDSP
032237,001945:
032238,001946: 15,2266 32360 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
032239,001947: 15,2267 04555 TC BANKCALL
032240,001948: 15,2270 20470 CADR GOMARK2
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Page 733 |
032242,001950: 15,2271 14106 TCF GOTOPOOH # V34-TERMINATE
032243,001951: 15,2272 12263 TCF R56A +2 # V33-DONT PROCEED-JUST ENTER TO MARK
032244,001952: 15,2273 06006 TC INTPRET
032245,001953: 15,2274 77745 DLOAD
032246,001954: 15,2275 03731 MRKBUF1 +3
032247,001955: 15,2276 16774 STODL SAC
032248,001956: 15,2277 03733 MRKBUF1 +5
032249,001957: 15,2300 02776 STORE PAC
032250,001958: 15,2301 77776 EXIT
032251,001959: 15,2302 00004 INHINT
032252,001960: 15,2303 00006 EXTEND
032253,001961: 15,2304 30025 DCA TIME2
032254,001962: 15,2305 51330 INDEX MARKSTAT
032255,001963: 15,2306 52001 DXCH 0
032256,001964: 15,2307 30033 CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
032257,001965: 15,2310 51330 INDEX MARKSTAT
032258,001966: 15,2311 54002 TS 2
032259,001967: 15,2312 31773 CA SAC
032260,001968: 15,2313 51330 INDEX MARKSTAT
032261,001969: 15,2314 54003 TS 3
032262,001970: 15,2315 30034 CA CDUZ
032263,001971: 15,2316 51330 INDEX MARKSTAT
032264,001972: 15,2317 54004 TS 4
032265,001973: 15,2320 31775 CA PAC
032266,001974: 15,2321 51330 INDEX MARKSTAT
032267,001975: 15,2322 54005 TS 5
032268,001976: 15,2323 30032 CA CDUX
032269,001977: 15,2324 51330 INDEX MARKSTAT
032270,001978: 15,2325 54006 TS 6
032271,001979: 15,2326 00003 RELINT
032272,001980: 15,2327 05425 TC CLEARMRK # ENABLE EXTENDED VERBS
032273,001981: 15,2330 34333 CAF OCT16
032274,001982: 15,2331 04555 TC BANKCALL
032275,001983: 15,2332 20751 CADR GOPERF1
032276,001984: 15,2333 04106 TC GOTOPOOH # TERM.
032277,001985: 15,2334 12336 TCF R56B # PROCEED-MARK COMPLETED
032278,001986: 15,2335 12263 TCF R56A +2 # RECYCLE - DO ANOTHER MARK - LIKE REJECT
032279,001987: 15,2336 34714 R56B CAF ZERO
032280,001988: 15,2337 04555 TC BANKCALL
032281,001989: 15,2340 20607 CADR CLEANDSP
032282,001990:
032283,001991: 15,2341 32361 CAF V01N71B
032284,001992: 15,2342 04555 TC BANKCALL
032285,001993: 15,2343 20624 CADR GOFLASH
032286,001994: 15,2344 04106 TC GOTOPOOH
032287,001995: 15,2345 02347 TC +2
032288,001996: 15,2346 12336 TCF R56B # RECYCLE
032289,001997: 15,2347 47713 CS HIGH9
032290,001998: 15,2350 70735 MASK STARCODE
032291,001999: 15,2351 00006 EXTEND
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Page 734 |
032293,002001: 15,2352 76211 MP SIX
032294,002002: 15,2353 56001 XCH L
032295,002003: 15,2354 50304 INDEX STARIND
032296,002004: 15,2355 54302 TS BESTI
032297,002005: 15,2356 06006 TC INTPRET
032298,002006: 15,2357 77616 RVQ
032299,002007: 15,2360 15200 VB53 VN 05300 # ALTERNATE MARK VERB
032300,002008: 15,2361 00307 V01N71B VN 00171
032301,002009: 15,2362 01536 V06N94B VN 00694
032302,002010: 15,2363 02607 PLANET STORE TSIGHT
032303,002011: 15,2364 45020 STQ CALL
032304,002012: 15,2365 02777 QMIN
032305,002013: 15,2366 30216 LOCSAM
032306,002014: 15,2367 77775 VLOAD
032307,002015: 15,2370 02736 VEARTH
032308,002016: 15,2371 24001 STOVL 0D
032309,002017: 15,2372 02744 VSUN
032310,002018: 15,2373 26736 STOVL VEARTH
032311,002019: 15,2374 00001 0D
032312,002020: 15,2375 02744 STORE VSUN
032313,002021: 15,2376 77776 NOSAM EXIT
032314,002022: 15,2377 47713 CS HIGH9
032315,002023: 15,2400 70735 MASK STARCODE
032316,002024: 15,2401 00006 EXTEND
032317,002025: 15,2402 76211 MP SIGHTSIX
032318,002026: 15,2403 56001 XCH L
032319,002027: 15,2404 50304 INDEX STARIND
032320,002028: 15,2405 54302 TS BESTI
032321,002029: 15,2406 10000 CCS A
032322,002030: 15,2407 12423 TCF NOTPLAN
032323,002031: 15,2410 32453 CAF VNPLANV
032324,002032: 15,2411 04555 TC BANKCALL
032325,002033: 15,2412 20624 CADR GOFLASH
032326,002034: 15,2413 04106 TC GOTOPOOH
032327,002035: 15,2414 02416 TC +2
032328,002036: 15,2415 02410 TC -5
032329,002037: 15,2416 06006 TC INTPRET
032330,002038: 15,2417 53575 VLOAD UNIT
032331,002039: 15,2420 02766 STAR
032332,002040: 15,2421 77650 GOTO
032333,002041: 15,2422 32446 CORPLAN
032334,002042: 15,2423 40000 NOTPLAN CS A
032335,002043: 15,2424 62452 AD DEC227
032336,002044: 15,2425 00006 EXTEND
032337,002045: 15,2426 62437 BZMF CALSAM1
032338,002046: 15,2427 50304 INDEX STARIND
032339,002047: 15,2430 30302 CA BESTI
032340,002048: 15,2431 50120 INDEX FIXLOC
032341,002049: 15,2432 54046 TS X1
032342,002050: 15,2433 06006 TC INTPRET
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Page 735 |
032344,002052: 15,2434 52173 VLOAD* GOTO
032345,002053: 15,2435 31751 CATLOG,1
032346,002054: 15,2436 32446 CORPLAN
032347,002055: 15,2437 06006 CALSAM1 TC INTPRET
032348,002056: 15,2440 70740 LXC,1 DLOAD*
032349,002057: 15,2441 00304 STARIND
032350,002058: 15,2442 00303 BESTI,1
032351,002059: 15,2443 76740 LXC,1 VLOAD*
032352,002060: 15,2444 00154 MPAC
032353,002061: 15,2445 02372 STARAD -228D,1
032354,002062: 15,2446 53455 CORPLAN VAD UNIT
032355,002063: 15,2447 03474 VEL/C
032356,002064: 15,2450 77650 GOTO
032357,002065: 15,2451 02777 QMIN
032358,002066: 15,2452 00343 DEC227 DEC 227 B-14
032359,002067: 15,2453 01530 VNPLANV VN 0688
End of include-file P51-P53.agc. Parent file is MAIN.agc