Source Code
![]() |
This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
039529,000002: ## Copyright: Public domain.
039530,000003: ## Filename: P51-P53.agc
039531,000004: ## Purpose: A section of Luminary 1C, revision 131.
039532,000005: ## It is part of the source code for the Lunar Module's (LM)
039533,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
039534,000007: ## This file is intended to be a faithful transcription, except
039535,000008: ## that the code format has been changed to conform to the
039536,000009: ## requirements of the yaYUL assembler rather than the
039537,000010: ## original YUL assembler.
039538,000011: ## Reference: pp. 921-977
039539,000012: ## Contact: Ron Burkey <info@sandroid.org>.
039540,000013: ## Website: www.ibiblio.org/apollo
039541,000014: ## Mod history: 05/29/03 RSB. Began transcribing.
039542,000015: ## 2010-10-25 JL Indentation fixes.
039543,000016: ## 2017-01-06 RSB Page numbers now agree with those on the
039544,000017: ## original hardcopy, as opposed to the PDF page
039545,000018: ## numbers in 1701.pdf.
039546,000019: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039547,000020: ## 2017-03-01 RSB Fixed lingering typos.
039548,000021: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039549,000022: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039550,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
039551,000024:
![]() |
Page 921 |
039553,000026: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039554,000027: # MOD NO - 0 LOG SECTION - P51-P53
039555,000028: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039556,000029:
039557,000030: # FUNCTIONAL DESCRIPTION -
039558,000031:
039559,000032: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039560,000033: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039561,000034:
039562,000035: # (A) PREFERRED ORIENTATION
039563,000036:
039564,000037: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039565,000038: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039566,000039:
039567,000040: # (B) NOMINAL ORIENTATION
039568,000041:
039569,000042: # X = UNIT ( R )
039570,000043: # -SM
039571,000044:
039572,000045: # Y = UNIT (V X R)
039573,000046: # SM
039574,000047:
039575,000048: # Z = UNIT (X X Y )
039576,000049: # SM SM SM
039577,000050:
039578,000051: # WHERE_
039579,000052: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039580,000053: # -
039581,000054:
039582,000055: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039583,000056: # -
039584,000057:
039585,000058: # (C) REFSMMAT ORIENTATION
039586,000059:
039587,000060: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039588,000061:
039589,000062: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039590,000063: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039591,000064: # SINCE THE LAST ALIGNMENT).
039592,000065:
039593,000066: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039594,000067: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039595,000068: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039596,000069: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039597,000070: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039598,000071: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039599,000072: # REQUESTED.
039600,000073:
039601,000074: # CALLING SEQUENCE -
039602,000075:
![]() |
Page 922 |
039604,000077: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039605,000078:
039606,000079: # SUBROUTINES CALLED -
039607,000080:
039608,000081: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039609,000082: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039610,000083: # 3. GOPERF4 9. FLAGUP
039611,000084: # 4. MATMOVE 10. R56
039612,000085: # 5. GOFLASH 11. R51
039613,000086: # 6. S52.3 12. GOPERF3
039614,000087:
039615,000088: # NORMAL EXIT MODES -
039616,000089:
039617,000090: # EXITS TO ENDOFJOB
039618,000091:
039619,000092: # ALARM OR ABORT EXIT MODES -
039620,000093:
039621,000094: # NONE
039622,000095:
039623,000096: # OUTPUT -
039624,000097:
039625,000098: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039626,000099: # 1. IMU ORIENTATION CODE
039627,000100: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039628,000101: # 3. TIME OF NEXT IGNITION
039629,000102: # 4. GIMBAL ANGLES
039630,000103: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039631,000104: # 6. PLEASE PERFORM P00
039632,000105: # THE MODE DISPLAY MAY BE CHANGED TO 20
039633,000106:
039634,000107: # ERASABLE INITIALIZATION REQUIRED -
039635,000108:
039636,000109: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039637,000110: # XSMD, YSMD, ZSMD.
039638,000111:
039639,000112: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039640,000113:
039641,000114: # DEBRIS -
039642,000115:
039643,000116: # WORKAREA
039644,000117:
039645,000118: 33,3760 BANK 33
039646,000119: 15,2000 SETLOC P50S
039647,000120: 15,2000 BANK
039648,000121:
039649,000122: 15,2050 E5,1755 EBANK= BESTI
039650,000123: 15,2050 COUNT* $$/P52
039651,000124: 15,2050 04616 PROG52 TC BANKCALL
039652,000125: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039653,000126: 15,2052 34750 CAF PFRATBIT
039654,000127: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039655,000128: 15,2054 10000 CCS A
![]() |
Page 923 |
039657,000130: 15,2055 02060 TC P52A # YES
039658,000131: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039659,000132: 15,2057 02061 TC P52A +1
039660,000133: 15,2060 34753 P52A CAF BIT1
039661,000134: 15,2061 55144 TS OPTION2
039662,000135: 15,2062 34753 P52B CAF BIT1
039663,000136: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039664,000137: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039665,000138: 15,2065 06001 TC GOTOPOOH
039666,000139: 15,2066 12073 TCF +5 # V33 - PROCEED
039667,000140: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039668,000141: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039669,000142: 15,2071 00014 OCT 00014
039670,000143: 15,2072 05155 TC ENDOFJOB
039671,000144:
039672,000145: 15,2073 31144 CA OPTION2
039673,000146: 15,2074 76250 MASK THREE
039674,000147: 15,2075 50000 INDEX A
039675,000148: 15,2076 02077 TC +1
039676,000149: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039677,000150: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039678,000151: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039679,000152: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039680,000153: 15,2103 77650 GOTO
039681,000154: 15,2104 32164 P52F # GO DO R51
039682,000155:
039683,000156: 15,2105 00006 OPT4 EXTEND
039684,000157: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039685,000158: 15,2107 12112 TCF P52T +2
039686,000159:
039687,000160: 15,2110 00006 P52T EXTEND
039688,000161: 15,2111 34755 DCA NEG0
039689,000162: 15,2112 53045 DXCH DSPTEM1
039690,000163: 15,2113 32170 CAF V06N34*
039691,000164: 15,2114 04616 TC BANKCALL
039692,000165: 15,2115 20477 CADR GOFLASH
039693,000166: 15,2116 06001 TC GOTOPOOH
039694,000167: 15,2117 02121 TC +2
039695,000168: 15,2120 02113 TC -5
039696,000169: 15,2121 53045 DXCH DSPTEM1
039697,000170: 15,2122 00006 EXTEND
039698,000171: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039699,000172: 15,2124 12127 TCF +3
039700,000173: 15,2125 00006 EXTEND
039701,000174: 15,2126 30025 DCA TIME2
039702,000175: 15,2127 53775 DXCH TALIGN
039703,000176: 15,2130 31144 P52V CA OPTION2
039704,000177: 15,2131 74752 MASK BIT2
039705,000178: 15,2132 10000 CCS A
039706,000179: 15,2133 02137 TC P52W
![]() |
Page 924 |
039708,000181: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039709,000182: 15,2135 77650 GOTO
039710,000183: 15,2136 32220 P52LS
039711,000184:
![]() |
Page 925 |
039713,000186: # START ALIGNMENT
039714,000187:
039715,000188: 15,2137 06042 P52W TC INTPRET
039716,000189: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039717,000190: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039718,000191: 15,2142 31651 S52.3 # ORIENTATION
039719,000192: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039720,000193: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039721,000194: 15,2145 77776 EXIT
039722,000195: 15,2146 35010 CAF V06N22
039723,000196: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039724,000197: 15,2150 20477 CADR GOFLASH
039725,000198: 15,2151 06001 TC GOTOPOOH
039726,000199: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039727,000200: 15,2153 06042 P52H TC INTPRET
039728,000201: 15,2154 77650 GOTO
039729,000202: 15,2155 32143 P52D
039730,000203: 15,2156 06042 REGCOARS TC INTPRET
039731,000204: 15,2157 77624 CALL # DO COARSE ALIGN
039732,000205: 15,2160 31321 CAL53A # ROUTINE
039733,000206: 15,2161 43014 COARSRET SET CLEAR
039734,000207: 15,2162 01462 REFSMFLG
039735,000208: 15,2163 01273 PFRATFLG
039736,000209: 15,2164 77624 P52F CALL
039737,000210: 15,2165 31007 R51
039738,000211: 15,2166 77776 P52OUT EXIT
039739,000212: 15,2167 06001 TC GOTOPOOH
039740,000213: 15,2170 5006 VB05N09 = V05N09
039741,000214: 15,2170 01442 V06N34* VN 634
039742,000215:
![]() |
Page 926 |
039744,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039745,000218:
039746,000219: 15,2171 32217 COARSTYP CAF OCT13
039747,000220: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039748,000221: 15,2173 20624 CADR GOPERF1
039749,000222: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039750,000223: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039751,000224: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039752,000225: 15,2177 64375 VLOAD MXV
039753,000226: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039754,000227: 15,2201 01734 REFSMMAT
039755,000228: 15,2202 77656 UNIT
039756,000229: 15,2203 26665 STOVL XDC
039757,000230: 15,2204 03615 YSMD
039758,000231: 15,2205 53521 MXV UNIT
039759,000232: 15,2206 01734 REFSMMAT
039760,000233: 15,2207 26673 STOVL YDC
039761,000234: 15,2210 03623 ZSMD
039762,000235: 15,2211 53521 MXV UNIT
039763,000236: 15,2212 01734 REFSMMAT
039764,000237: 15,2213 36701 STCALL ZDC
039765,000238: 15,2214 31156 GYCOARS
039766,000239: 15,2215 77650 GOTO
039767,000240: 15,2216 32166 P52OUT
039768,000241: 15,2217 00013 OCT13 OCT 13
039769,000242:
![]() |
Page 927 |
039771,000244: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039772,000245:
039773,000246: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039774,000247: 15,2221 01463 LUNAFLAG
039775,000248: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039776,000249: 15,2223 77201 SETPD VLOAD
039777,000250: 15,2224 00001 0
039778,000251: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039779,000252: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039780,000253: 15,2227 02775 TALIGN
039781,000254: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039782,000255: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039783,000256: 15,2232 77742 VSR2
039784,000257: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039785,000258: 15,2234 02775 TALIGN
039786,000259: 15,2235 77624 CALL
039787,000260: 15,2236 30440 N89DISP
039788,000261: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039789,000262: 15,2240 02032 ALPHAV
039790,000263: 15,2241 37607 STCALL XSMD
039791,000264: 15,2242 10757 LSORIENT
039792,000265: 15,2243 77650 GOTO
039793,000266: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039794,000267:
![]() |
Page 928 |
039796,000269: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039797,000270:
039798,000271: 14,2000 SETLOC P50S1
039799,000272: 14,2000 BANK
039800,000273: 14,2440 E5,1642 EBANK= XSM
039801,000274:
039802,000275: 14,2440 77620 N89DISP STQ
039803,000276: 14,2441 02746 QMAJ
039804,000277: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
039805,000278: 14,2443 26347 LAT-LONG
039806,000279: 14,2444 70545 DLOAD SR1
039807,000280: 14,2445 01122 LONG
039808,000281: 14,2446 16711 STODL LANDLONG
039809,000282: 14,2447 01124 ALT
039810,000283: 14,2450 16713 STODL LANDALT
039811,000284: 14,2451 01120 LAT
039812,000285: 14,2452 02707 STORE LANDLAT
039813,000286: 14,2453 77776 EXIT
039814,000287:
039815,000288: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039816,000289: 14,2455 04616 TC BANKCALL
039817,000290: 14,2456 20477 CADR GOFLASH
039818,000291: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039819,000292: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039820,000293: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039821,000294:
039822,000295: 14,2462 06042 TC INTPRET
039823,000296: 14,2463 72545 DLOAD SL1
039824,000297: 14,2464 02711 LANDLONG
039825,000298: 14,2465 15122 STODL LONG
039826,000299: 14,2466 02713 LANDALT
039827,000300: 14,2467 15124 STODL ALT
039828,000301: 14,2470 02707 LANDLAT
039829,000302: 14,2471 15120 STODL LAT
039830,000303: 14,2472 01242 GDT/2 +4 # PICK UP TIME
039831,000304: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039832,000305: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039833,000306: 14,2475 77650 GOTO
039834,000307: 14,2476 02746 QMAJ
039835,000308: 14,2477 01531 V06N89* VN 689
039836,000309:
![]() |
Page 929 |
039838,000311: # NAME - S50 ALIAS LOCSAM
039839,000312: # BY
039840,000313: # VINCENT
039841,000314:
039842,000315: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039843,000316:
039844,000317: # DEFINE
039845,000318:
039846,000319: # U = UNIT( SUN WRT EARTH )
039847,000320: # ES
039848,000321:
039849,000322: # U = UNIT( MOON WRT EARTH )
039850,000323: # EM
039851,000324:
039852,000325: # R = POSITION VECTOR OF LEM
039853,000326: # L
039854,000327:
039855,000328: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039856,000329: # EM
039857,000330:
039858,000331: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039859,000332: # EM
039860,000333:
039861,000334: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039862,000335: # E
039863,000336:
039864,000337: # LOCSAM COMPUTES IN EARTH INFLUENCE
039865,000338:
039866,000339: # VSUN = U
039867,000340: # ES
039868,000341:
039869,000342: # VEARTH = -UNIT( R )
039870,000343: # L
039871,000344:
039872,000345: # VMOON = UNIT(R .U - R )
039873,000346: # EM EM L
039874,000347:
039875,000348: # CSUN = COS 90
039876,000349:
039877,000350: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039878,000351: # E L
039879,000352:
039880,000353: # CMOON = COS 5
039881,000354:
039882,000355: # INPUT - TIME IN MPAC
039883,000356:
039884,000357: # OUTPUT - LISTED ABOVE
039885,000358:
039886,000359: # SUBROUTINES - LSPOS, LEMPREC
039887,000360:
039888,000361: # DEBRIS - VAC AREA, TSIGHT
039889,000362:
![]() |
Page 930 |
039891,000364: 14,2500 COUNT* $$/LOSAM
039892,000365:
039893,000366: 14,2500 14,2500 S50 = LOCSAM
039894,000367: 14,2500 77620 LOCSAM STQ
039895,000368: 14,2501 02745 QMIN
039896,000369: 14,2502 37562 STCALL TSIGHT
039897,000370: 14,2503 33647 LSPOS
039898,000371: 14,2504 77745 DLOAD
039899,000372: 14,2505 03562 TSIGHT
039900,000373: 14,2506 34041 STCALL TDEC1
039901,000374: 14,2507 27056 LEMPREC
039902,000375: 14,2510 61131 SSP TIX,2
039903,000376: 14,2511 00052 S2
039904,000377: 14,2512 00000 0
039905,000378: 14,2513 30535 MOONCNTR
039906,000379: 14,2514 74375 EARTCNTR VLOAD VXSC
039907,000380: 14,2515 02723 VMOON
039908,000381: 14,2516 30001 RSUBEM
039909,000382: 14,2517 52372 VSL1 VSU
039910,000383: 14,2520 00001 RATT
039911,000384: 14,2521 77656 UNIT
039912,000385: 14,2522 26723 STOVL VMOON
039913,000386: 14,2523 00001 RATT
039914,000387: 14,2524 57456 UNIT VCOMP
039915,000388: 14,2525 16707 STODL VEARTH
039916,000389: 14,2526 30005 RSUBE
039917,000390: 14,2527 77624 CALL
039918,000391: 14,2530 30567 OCCOS
039919,000392: 14,2531 14017 STODL CEARTH
039920,000393: 14,2532 30576 CSS5
039921,000394: 14,2533 34023 STCALL CMOON
039922,000395: 14,2534 30562 ENDSAM
039923,000396: 14,2535 74375 MOONCNTR VLOAD VXSC
039924,000397: 14,2536 02723 VMOON
039925,000398: 14,2537 30007 ROE
039926,000399: 14,2540 53445 BVSU UNIT
039927,000400: 14,2541 02715 VSUN
039928,000401: 14,2542 26715 STOVL VSUN
039929,000402: 14,2543 02723 VMOON
039930,000403: 14,2544 53361 VXSC VAD
039931,000404: 14,2545 30001 RSUBEM
039932,000405: 14,2546 00001 RATT
039933,000406: 14,2547 57456 UNIT VCOMP
039934,000407: 14,2550 26707 STOVL VEARTH
039935,000408: 14,2551 00001 RATT
039936,000409: 14,2552 57456 UNIT VCOMP
039937,000410: 14,2553 16723 STODL VMOON
039938,000411: 14,2554 30003 RSUBM
039939,000412: 14,2555 77624 CALL
039940,000413: 14,2556 30567 OCCOS
![]() |
Page 931 |
039942,000415: 14,2557 14023 STODL CMOON
039943,000416: 14,2560 30576 CSS5
039944,000417: 14,2561 00017 STORE CEARTH
039945,000418: 14,2562 77745 ENDSAM DLOAD
039946,000419: 14,2563 30600 CSSUN
039947,000420: 14,2564 00021 STORE CSUN
039948,000421: 14,2565 77650 GOTO
039949,000422: 14,2566 02745 QMIN
039950,000423: 14,2567 70471 OCCOS DDV SR1
039951,000424: 14,2570 00045 36D
039952,000425: 14,2571 43336 ASIN DAD
039953,000426: 14,2572 30602 5DEGREES
039954,000427: 14,2573 70546 COS SR1
039955,000428: 14,2574 77616 RVQ
039956,000429: 14,2575 CEARTH = 14D
039957,000430: 14,2575 CSUN = 16D
039958,000431: 14,2575 CMOON = 18D
039959,000432: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039960,000433: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039961,000434: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039962,000435:
![]() |
Page 932 |
039964,000437: # PROGRAM NAME - R56 DATE DEC 20 66
039965,000438: # MOD 1 LOG SECTION P51-P53
039966,000439: # ASSEMBLY SUNDISK REV40
039967,000440: # BY KEN VINCENT
039968,000441:
039969,000442: # FUNCTION
039970,000443: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039971,000444: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039972,000445: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039973,000446: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039974,000447: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039975,000448: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039976,000449: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039977,000450: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039978,000451: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039979,000452: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039980,000453: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039981,000454: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039982,000455:
039983,000456: # CALLING SEQUENCE
039984,000457: # L TC BANKCALL
039985,000458: # L+1 CADR R56
039986,000459: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
039987,000460: # L+3 NORMAL RETURN
039988,000461:
039989,000462: # OUTPUT
039990,000463: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039991,000464: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039992,000465:
039993,000466: # INITIALIZATION
039994,000467: # 1) A CALL TO LOCSAM MUST BE MADE
039995,000468:
039996,000469: # DEBRIS
039997,000470: # WORKAREA
039998,000471: # X,Y,ZNB
039999,000472: # SINCDU, COSCDU
040000,000473: # STARAD - STAR +5
040001,000474:
040002,000475: 14,2603 14,2603 R56 = PICAPAR
040003,000476: 14,2603 COUNT* $$/R56
040004,000477: 14,2603 04645 PICAPAR TC MAKECADR
040005,000478: 14,2604 55745 TS QMIN
040006,000479: 14,2605 06042 TC INTPRET
040007,000480: 14,2606 77624 CALL
040008,000481: 14,2607 47541 CDUTRIG
040009,000482: 14,2610 77624 CALL
040010,000483: 14,2611 20030 CALCSMSC
040011,000484: 14,2612 77601 SETPD
040012,000485: 14,2613 00001 0
040013,000486: 14,2614 71214 SET DLOAD # VFLAG = 1
040014,000487: 14,2615 01465 VFLAG
![]() |
Page 933 |
040016,000489: 14,2616 24007 DPZERO
040017,000490: 14,2617 26756 STOVL BESTI
040018,000491: 14,2620 02665 XNB
040019,000492: 14,2621 63361 VXSC PDVL
040020,000493: 14,2622 24005 HALFDP
040021,000494: 14,2623 02701 ZNB
040022,000495: 14,2624 74370 AXT,1 VXSC
040023,000496: 14,2625 00344 228D # X1 = 37 X 6 + 6
040024,000497: 14,2626 24005 HALFDP
040025,000498: 14,2627 77655 VAD
040026,000499: 14,2630 53505 VXM UNIT
040027,000500: 14,2631 01734 REFSMMAT
040028,000501: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040029,000502: 14,2633 66331 SSP SSP # S1 = S2 = 6
040030,000503: 14,2634 00051 S1
040031,000504: 14,2635 00006 6
040032,000505: 14,2636 00052 S2
040033,000506: 14,2637 00006 6
040034,000507: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040035,000508: 14,2641 30643 PIC2
040036,000509: 14,2642 30760 PICEND
040037,000510: 14,2643 50373 PIC2 VLOAD* DOT
040038,000511: 14,2644 30347 CATLOG,1
040039,000512: 14,2645 02731 SAX
040040,000513: 14,2646 50025 DSU BMN
040041,000514: 14,2647 30757 CSS33
040042,000515: 14,2650 30640 PIC1
040043,000516: 14,2651 77754 LXA,2
040044,000517: 14,2652 00046 X1
040045,000518: 14,2653 52104 PIC3 TIX,2 GOTO
040046,000519: 14,2654 30656 PIC4
040047,000520: 14,2655 30640 PIC1
040048,000521: 14,2656 50373 PIC4 VLOAD* DOT
040049,000522: 14,2657 47430 CATLOG,2
040050,000523: 14,2660 02731 SAX
040051,000524: 14,2661 50025 DSU BMN
040052,000525: 14,2662 30757 CSS33
040053,000526: 14,2663 30653 PIC3
040054,000527: 14,2664 47773 VLOAD* DOT*
040055,000528: 14,2665 30347 CATLOG,1
040056,000529: 14,2666 47430 CATLOG,2
040057,000530: 14,2667 51025 DSU BPL
040058,000531: 14,2670 30755 CSS40
040059,000532: 14,2671 30653 PIC3
040060,000533: 14,2672 45173 VLOAD* CALL
040061,000534: 14,2673 30347 CATLOG,1
040062,000535: 14,2674 30732 OCCULT
040063,000536: 14,2675 77614 BON
040064,000537: 14,2676 01710 CULTFLAG
040065,000538: 14,2677 30640 PIC1
![]() |
Page 934 |
040067,000540: 14,2700 45173 VLOAD* CALL
040068,000541: 14,2701 47430 CATLOG,2
040069,000542: 14,2702 30732 OCCULT
040070,000543: 14,2703 77614 BON
040071,000544: 14,2704 01710 CULTFLAG
040072,000545: 14,2705 30653 PIC3
040073,000546: 14,2706 77614 STRATGY BONCLR
040074,000547: 14,2707 01605 VFLAG
040075,000548: 14,2710 30725 NEWPAR
040076,000549: 14,2711 65120 XCHX,1 XCHX,2
040077,000550: 14,2712 02755 BESTI
040078,000551: 14,2713 02756 BESTJ
040079,000552: 14,2714 47773 STRAT VLOAD* DOT*
040080,000553: 14,2715 30347 CATLOG,1
040081,000554: 14,2716 47430 CATLOG,2
040082,000555: 14,2717 43006 PUSH BOFINV
040083,000556: 14,2720 01545 VFLAG
040084,000557: 14,2721 30711 STRAT -3
040085,000558: 14,2722 45345 DLOAD DSU
040086,000559: 14,2723 77644 BPL
040087,000560: 14,2724 30653 PIC3
040088,000561: 14,2725 67130 NEWPAR SXA,1 SXA,2
040089,000562: 14,2726 02755 BESTI
040090,000563: 14,2727 02756 BESTJ
040091,000564: 14,2730 77650 GOTO
040092,000565: 14,2731 30653 PIC3
040093,000566: 14,2732 51321 OCCULT MXV BVSU
040094,000567: 14,2733 02707 CULTRIX
040095,000568: 14,2734 00017 CSS
040096,000569: 14,2735 77654 BZE
040097,000570: 14,2736 30751 CULTED
040098,000571: 14,2737 75240 BMN SIGN
040099,000572: 14,2740 30751 CULTED
040100,000573: 14,2741 00160 MPAC +3
040101,000574: 14,2742 75240 BMN SIGN
040102,000575: 14,2743 30751 CULTED
040103,000576: 14,2744 00162 MPAC +5
040104,000577: 14,2745 43040 BMN CLRGO
040105,000578: 14,2746 30751 CULTED
040106,000579: 14,2747 01630 CULTFLAG
040107,000580: 14,2750 00052 QPRET
040108,000581: 14,2751 77614 CULTED SETGO
040109,000582: 14,2752 01430 CULTFLAG
040110,000583: 14,2753 00052 QPRET
040111,000584: 14,2754 0000016 CSS = CEARTH
040112,000585: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040113,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040114,000587: 14,2760 77414 PICEND BOFF EXIT
040115,000588:
![]() |
Page 935 |
040117,000590: 14,2761 01745 VFLAG
040118,000591: 14,2762 30764 PICGXT
040119,000592: 14,2763 03005 TC PICBXT
040120,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
040121,000594: 14,2765 02755 BESTI
040122,000595: 14,2766 02756 BESTJ
040123,000596: 14,2767 47775 VLOAD DOT*
040124,000597: 14,2770 02731 SAX
040125,000598: 14,2771 30347 CATLOG,1
040126,000599: 14,2772 47715 PDVL DOT*
040127,000600: 14,2773 02731 SAX
040128,000601: 14,2774 47430 CATLOG,2
040129,000602: 14,2775 77625 DSU
040130,000603: 14,2776 66044 BPL SXA,1
040131,000604: 14,2777 31003 PICNSWP
040132,000605: 14,3000 02756 BESTJ
040133,000606: 14,3001 77734 SXA,2
040134,000607: 14,3002 02755 BESTI
040135,000608: 14,3003 77776 PICNSWP EXIT
040136,000609: 14,3004 25745 INCR QMIN
040137,000610: 14,3005 31745 PICBXT CA QMIN
040138,000611: 14,3006 04622 TC SWCALL
040139,000612: 14,3007 VPD = 0D
040140,000613: 14,3007 V0 = 6D
040141,000614: 14,3007 V1 = 12D
040142,000615: 14,3007 V2 = 18D
040143,000616: 14,3007 V3 = 24D
040144,000617: 14,3007 DP0 = 30D
040145,000618: 14,3007 DP1 = 32D
040146,000619:
![]() |
Page 936 |
040148,000621: # NAME - R51 FINE ALIGN
040149,000622: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040150,000623: # CALLING SEQ - CALL R51
040151,000624: # INPUT - REFSMMAT
040152,000625: # OUTPUT - GYRO TORQUE PULSES
040153,000626: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040154,000627:
040155,000628: 14,3007 COUNT* $$/R51
040156,000629: 14,3007 77620 R51 STQ
040157,000630: 14,3010 02746 QMAJ
040158,000631: 14,3011 77776 R51.1 EXIT
040159,000632: 14,3012 05353 TC PHASCHNG
040160,000633: 14,3013 04024 OCT 04024
040161,000634:
040162,000635: 14,3014 34761 R51C CAF OCT15
040163,000636: 14,3015 04616 TC BANKCALL
040164,000637: 14,3016 20624 CADR GOPERF1
040165,000638: 14,3017 06001 TC GOTOPOOH
040166,000639: 14,3020 03022 TC +2 # V33E
040167,000640: 14,3021 03045 TC R51E # ENTER
040168,000641: 14,3022 06042 TC INTPRET
040169,000642: 14,3023 43234 RTB DAD
040170,000643: 14,3024 21574 LOADTIME
040171,000644: 14,3025 31155 TSIGHT1
040172,000645: 14,3026 77624 CALL
040173,000646: 14,3027 30500 LOCSAM
040174,000647: 14,3030 77776 EXIT
040175,000648: 14,3031 04616 TC BANKCALL
040176,000649: 14,3032 30603 CADR R56
040177,000650: 14,3033 03035 TC R51I
040178,000651: 14,3034 03045 R51F TC R51E
040179,000652: 14,3035 05567 R51I TC ALARM
040180,000653: 14,3036 00405 OCT 405
040181,000654: 14,3037 35006 CAF VB05N09
040182,000655: 14,3040 04616 TC BANKCALL
040183,000656: 14,3041 20477 CADR GOFLASH
040184,000657: 14,3042 06001 TC GOTOPOOH
040185,000658: 14,3043 03045 TC R51E
040186,000659: 14,3044 03014 TC R51C
040187,000660: 14,3045 34755 R51E CAF ZERO
040188,000661: 14,3046 55757 TS STARIND
040189,000662: 14,3047 06042 R51.2 TC INTPRET
040190,000663: 14,3050 77776 R51.3 EXIT
040191,000664: 14,3051 05353 TC PHASCHNG
040192,000665: 14,3052 04024 OCT 04024
040193,000666:
040194,000667: 14,3053 06042 TC INTPRET
040195,000668: 14,3054 77624 CALL
040196,000669: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040197,000670: 14,3056 77776 EXIT
040198,000671: 14,3057 04616 TC BANKCALL
![]() |
Page 937 |
040200,000673: 14,3060 16000 CADR AOTMARK
040201,000674: 14,3061 04616 TC BANKCALL
040202,000675: 14,3062 17703 CADR OPTSTALL
040203,000676: 14,3063 05701 TC CURTAINS
040204,000677: 14,3064 11757 CCS STARIND
040205,000678: 14,3065 13067 TCF +2
040206,000679: 14,3066 03137 TC R51.4
040207,000680: 14,3067 06042 TC INTPRET
040208,000681: 14,3070 77775 VLOAD
040209,000682: 14,3071 02715 STARAD +6
040210,000683: 14,3072 02767 STORE STARSAV2
040211,000684: 14,3073 77776 EXIT
040212,000685: 14,3074 05353 TC PHASCHNG
040213,000686: 14,3075 04024 OCT 04024
040214,000687:
040215,000688: 14,3076 06042 TC INTPRET
040216,000689: 14,3077 45145 DLOAD CALL
040217,000690: 14,3100 03562 TSIGHT
040218,000691: 14,3101 32472 PLANET
040219,000692: 14,3102 53521 MXV UNIT
040220,000693: 14,3103 01734 REFSMMAT
040221,000694: 14,3104 26715 STOVL STARAD +6
040222,000695: 14,3105 03554 PLANVEC
040223,000696: 14,3106 53521 MXV UNIT
040224,000697: 14,3107 01734 REFSMMAT
040225,000698: 14,3110 26707 STOVL STARAD
040226,000699: 14,3111 02761 STARSAV1
040227,000700: 14,3112 24007 STOVL 6D
040228,000701: 14,3113 02767 STARSAV2
040229,000702: 14,3114 34015 STCALL 12D
040230,000703: 14,3115 31250 R54 # STAR DATA TEST
040231,000704: 14,3116 45014 BOFF CALL
040232,000705: 14,3117 00354 FREEFLAG
040233,000706: 14,3120 31126 R51K
040234,000707: 14,3121 47443 AXISGEN
040235,000708: 14,3122 77624 CALL
040236,000709: 14,3123 31216 R55 # GYRO TORQUE
040237,000710: 14,3124 77614 CLEAR
040238,000711: 14,3125 01273 PFRATFLG
040239,000712: 14,3126 77776 R51K EXIT
040240,000713: 14,3127 35741 R51P63 CAF OCT14
040241,000714: 14,3130 04616 TC BANKCALL
040242,000715: 14,3131 20624 CADR GOPERF1
040243,000716: 14,3132 06001 TC GOTOPOOH
040244,000717: 14,3133 03014 TC R51C
040245,000718: 14,3134 06042 TC INTPRET
040246,000719: 14,3135 77650 GOTO
040247,000720: 14,3136 02746 QMAJ
040248,000721: 14,3137 06042 R51.4 TC INTPRET
040249,000722: 14,3140 77775 VLOAD
![]() |
Page 938 |
040251,000724: 14,3141 02715 STARAD +6
040252,000725: 14,3142 02761 STORE STARSAV1
040253,000726: 14,3143 45145 DLOAD CALL
040254,000727: 14,3144 03562 TSIGHT
040255,000728: 14,3145 32472 PLANET
040256,000729: 14,3146 03554 STORE PLANVEC
040257,000730: 14,3147 77731 SSP
040258,000731: 14,3150 02760 STARIND
040259,000732: 14,3151 00001 1
040260,000733: 14,3152 77650 GOTO
040261,000734: 14,3153 31050 R51.3
040262,000735: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040263,000736:
![]() |
Page 939 |
040265,000738: # GYRO TORQUE COARSE ALIGNMENT
040266,000739:
040267,000740: 14,3156 45020 GYCOARS STQ CALL
040268,000741: 14,3157 02746 QMAJ
040269,000742: 14,3160 47251 CALCGTA
040270,000743: 14,3161 43014 CLEAR CLEAR
040271,000744: 14,3162 01260 DRIFTFLG
040272,000745: 14,3163 01662 REFSMFLG
040273,000746: 14,3164 77776 EXIT
040274,000747: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040275,000748: 14,3166 04616 TC BANKCALL
040276,000749: 14,3167 20452 CADR GODSPR
040277,000750: 14,3170 33247 CA R55CDR
040278,000751: 14,3171 04616 TC BANKCALL
040279,000752: 14,3172 17314 CADR IMUPULSE
040280,000753: 14,3173 04616 TC BANKCALL
040281,000754: 14,3174 17707 CADR IMUSTALL
040282,000755: 14,3175 05701 TC CURTAINS
040283,000756: 14,3176 05353 TC PHASCHNG
040284,000757: 14,3177 04024 OCT 04024
040285,000758:
040286,000759: 14,3200 06042 TC INTPRET
040287,000760: 14,3201 75160 AXC,1 AXC,2
040288,000761: 14,3202 03606 XSMD
040289,000762: 14,3203 01733 REFSMMAT
040290,000763: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040291,000764: 14,3205 31371 MATMOVE
040292,000765: 14,3206 43014 CLEAR SET
040293,000766: 14,3207 01273 PFRATFLG
040294,000767: 14,3210 01462 REFSMFLG
040295,000768: 14,3211 77624 CALL
040296,000769: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040297,000770: 14,3213 77650 GOTO
040298,000771: 14,3214 31126 R51K
040299,000772: 14,3215 04024 V16N20 VN 1620
040300,000773:
![]() |
Page 940 |
040302,000775: # R55 GYROTORQUE
040303,000776: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040304,000777: # CALLING SEQ - CALL R55
040305,000778: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040306,000779: # OUTPUT - GYRO PULSES
040307,000780: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040308,000781:
040309,000782: 14,3216 COUNT* $$/R55
040310,000783: 14,3216 77620 R55 STQ
040311,000784: 14,3217 02745 QMIN
040312,000785: 14,3220 77624 CALL
040313,000786: 14,3221 47251 CALCGTA
040314,000787: 14,3222 77776 PULSEM EXIT
040315,000788: 14,3223 33246 R55.1 CAF V06N93
040316,000789: 14,3224 04616 TC BANKCALL
040317,000790: 14,3225 20477 CADR GOFLASH
040318,000791: 14,3226 06001 TC GOTOPOOH
040319,000792: 14,3227 03231 TC R55.2
040320,000793: 14,3230 03243 TC R55RET
040321,000794: 14,3231 05353 R55.2 TC PHASCHNG
040322,000795: 14,3232 00214 OCT 00214
040323,000796: 14,3233 33247 CA R55CDR
040324,000797: 14,3234 04616 TC BANKCALL
040325,000798: 14,3235 17314 CADR IMUPULSE
040326,000799: 14,3236 04616 TC BANKCALL
040327,000800: 14,3237 17707 CADR IMUSTALL
040328,000801: 14,3240 05701 TC CURTAINS
040329,000802: 14,3241 05353 TC PHASCHNG
040330,000803: 14,3242 04024 OCT 04024
040331,000804:
040332,000805: 14,3243 06042 R55RET TC INTPRET
040333,000806: 14,3244 77650 GOTO
040334,000807: 14,3245 02745 QMIN
040335,000808: 14,3246 01535 V06N93 VN 0693
040336,000809: 14,3247 02737 R55CDR ECADR OGC
040337,000810: 14,3250 14,3250 R54 = CHKSDATA
040338,000811:
040339,000812: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040340,000813: # MOD NO - 0 LOG SECTION - P51-P53
040341,000814: # MODIFICATION BY - LONSKE ASSEMBLY -
040342,000815:
040343,000816: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040344,000817: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040345,000818: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040346,000819: # OS1 = OBSERVED STAR 1 VECTOR
040347,000820: # OS2 = OBSERVED STAR 2 VECTOR
040348,000821: # SS1 = STORED STAR 1 VECTOR
040349,000822: # SS2 = STORED STAR 2 VECTOR
040350,000823: # A1 = ARCCOS(OS1 - OS2)
040351,000824: # A2 = ARCCOS(SS1 - SS2)
040352,000825: # A = ABS(2(A1 - A2))
![]() |
Page 941 |
040354,000827: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040355,000828:
040356,000829: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040357,000830: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040358,000831: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040359,000832: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040360,000833:
040361,000834: # ERASABLE INITIALIZATION REQUIRED -
040362,000835: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040363,000836: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040364,000837:
040365,000838: # DEBRIS -
040366,000839:
040367,000840: 14,3250 COUNT* $$/R54
040368,000841: 14,3250 43020 CHKSDATA STQ SET
040369,000842: 14,3251 02745 QMIN
040370,000843: 14,3252 00074 FREEFLAG
040371,000844: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040372,000845: 14,3254 02706 STARAD
040373,000846:
040374,000847: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040375,000848: 14,3256 00001 0,1
040376,000849: 14,3257 00007 6,1
040377,000850: 14,3260 65552 SL1 ACOS
040378,000851: 14,3261 00025 STORE THETA
040379,000852: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040380,000853: 14,3263 00354 FREEFLAG
040381,000854: 14,3264 31274 CHKSD
040382,000855: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040383,000856: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040384,000857: 14,3267 00006 6D
040385,000858: 14,3270 00025 THETA
040386,000859: 14,3271 00023 STORE 18D
040387,000860: 14,3272 77650 GOTO
040388,000861: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040389,000862: 14,3274 45345 CHKSD DLOAD DSU
040390,000863: 14,3275 00025 THETA
040391,000864: 14,3276 00023 18D
040392,000865: 14,3277 77634 RTB # COMPUTE POS DIFF
040393,000866: 14,3300 21613 SGNAGREE
040394,000867: 14,3301 01045 STORE NORMTEM1
040395,000868: 14,3302 77414 SET EXIT
040396,000869: 14,3303 00074 FREEFLAG
040397,000870: 14,3304 33320 CAF VB6N5
040398,000871: 14,3305 04616 TC BANKCALL
040399,000872: 14,3306 20477 CADR GOFLASH
040400,000873: 14,3307 16001 TCF GOTOPOOH
040401,000874: 14,3310 03315 TC CHKSDA # PROCEED
040402,000875: 14,3311 06042 TC INTPRET
040403,000876: 14,3312 52014 CLEAR GOTO
040404,000877: 14,3313 00274 FREEFLAG
040405,000878: 14,3314 02745 QMIN
040406,000879: 14,3315 06042 CHKSDA TC INTPRET
![]() |
Page 942 |
040408,000881: 14,3316 77650 GOTO
040409,000882: 14,3317 02745 QMIN
040410,000883: 14,3320 01405 VB6N5 VN 605
040411,000884:
040412,000885: # NAME - CAL53A
040413,000886: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040414,000887: # CALLING SEQUENCE - CALL CAL53A
040415,000888: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040416,000889: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040417,000890: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
![]() |
The printout appears to say "IMUGOARSE" in the line below, but many other AGC versions have an identical card reading "IMUCOARSE", so I believe there is a smudge on the paper that merely makes the 'C' appear to be a 'G' — RSB 2017. |
040422,000895: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040423,000896:
040424,000897: 14,3321 COUNT* $$/R50
040425,000898: 14,3321 77624 CAL53A CALL
040426,000899: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040427,000900: 14,3323 66234 RTB SSP
040428,000901: 14,3324 31405 RDCDUS # READ CDUS
040429,000902: 14,3325 00051 S1
040430,000903: 14,3326 00001 1
040431,000904: 14,3327 40370 AXT,1 SETPD
040432,000905: 14,3330 00003 3
040433,000906: 14,3331 00005 4
040434,000907: 14,3332 70543 CALOOP DLOAD* SR1
040435,000908: 14,3333 00325 THETAD +3D,1
040436,000909: 14,3334 70523 PDDL* SR1
040437,000910: 14,3335 00005 4,1
040438,000911: 14,3336 51425 DSU ABS
040439,000912: 14,3337 45206 PUSH DSU
040440,000913: 14,3340 31404 DEGREE1
040441,000914: 14,3341 71240 BMN DLOAD
040442,000915: 14,3342 31360 CALOOP1
040443,000916: 14,3343 51025 DSU BPL
040444,000917: 14,3344 31405 DEG359
040445,000918: 14,3345 31360 CALOOP1
040446,000919: 14,3346 77776 EXIT
040447,000920: 14,3347 05353 TC PHASCHNG
040448,000921: 14,3350 04024 OCT 04024
040449,000922:
040450,000923: 14,3351 06042 TC INTPRET
040451,000924: 14,3352 77624 COARFINE CALL
040452,000925: 14,3353 31557 COARSE
040453,000926: 14,3354 77624 CALL
040454,000927: 14,3355 31603 NCOARSE
040455,000928: 14,3356 77650 GOTO
040456,000929: 14,3357 31362 FINEONLY
040457,000930: 14,3360 77700 CALOOP1 TIX,1
040458,000931: 14,3361 31332 CALOOP
040459,000932: 14,3362 75160 FINEONLY AXC,1 AXC,2
040460,000933: 14,3363 02642 XSM
040461,000934: 14,3364 01733 REFSMMAT
040462,000935: 14,3365 77624 CALL
040463,000936: 14,3366 31371 MATMOVE
![]() |
Page 943 |
040465,000938: 14,3367 77650 GOTO
040466,000939: 14,3370 32161 COARSRET
040467,000940: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040468,000941: 14,3372 00001 0,1
040469,000942: 14,3373 10001 STORE 0,2
040470,000943: 14,3374 77773 VLOAD*
040471,000944: 14,3375 00007 6D,1
040472,000945: 14,3376 10007 STORE 6D,2
040473,000946: 14,3377 77773 VLOAD*
040474,000947: 14,3400 00015 12D,1
040475,000948: 14,3401 10015 STORE 12D,2
040476,000949: 14,3402 77616 RVQ
040477,000950: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040478,000951: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040479,000952: 14,3405 00004 RDCDUS INHINT # READ CDUS
040480,000953: 14,3406 30032 CA CDUX
040481,000954: 14,3407 50120 INDEX FIXLOC
040482,000955: 14,3410 54001 TS 1
040483,000956: 14,3411 30033 CA CDUY
040484,000957: 14,3412 50120 INDEX FIXLOC
040485,000958: 14,3413 54002 TS 2
040486,000959: 14,3414 30034 CA CDUZ
040487,000960: 14,3415 50120 INDEX FIXLOC
040488,000961: 14,3416 54003 TS 3
040489,000962: 14,3417 00003 RELINT
040490,000963: 14,3420 06064 TC DANZIG # +
040491,000964: 14,3421 COUNT* $$/INFLT
040492,000965:
![]() |
Page 944 |
040494,000967: # NAME - P51 - IMU ORIENTATION DETERMINATION
040495,000968: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040496,000969: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040497,000970:
040498,000971: # FUNCTIONAL DESCRIPTION
040499,000972: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040500,000973: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040501,000974: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040502,000975: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040503,000976:
040504,000977: # CALLING SEQUENCE
040505,000978: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040506,000979:
040507,000980: # SUBROUTINES CALLED.
040508,000981: # GOPERF3
040509,000982: # GOPERF1
040510,000983: # GODSPR
040511,000984: # IMUCOARS
040512,000985: # IMUFIN20
040513,000986: # AOTMARK (R53)
040514,000987: # CHKSDATA (R54)
040515,000988: # MKRELEAS
040516,000989: # AXISGEN
040517,000990: # MATMOVE
040518,000991:
040519,000992: # ALARMS
040520,000993: # NONE.
040521,000994:
040522,000995: # ERASABLE INITIALIZATION
040523,000996: # IMU ZERO FLAG SHOULD BE SET.
040524,000997:
040525,000998: # OUTPUT
040526,000999: # REFSMMAT
040527,001000: # REFSMFLG
040528,001001:
040529,001002: # DEBRIS
040530,001003: # WORK AREA
040531,001004: # STARAD
040532,001005: # STARIND
040533,001006: # BESTI
040534,001007: # BESTJ
040535,001008:
040536,001009: 14,3421 COUNT* $$/P51
![]() |
Page 945 |
040538,001011: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040539,001012: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040540,001013:
040541,001014: 14,3423 34761 CAF OCT15
040542,001015: 14,3424 04616 TC BANKCALL
040543,001016: 14,3425 20624 CADR GOPERF1
040544,001017: 14,3426 06001 TC GOTOPOOH # TERM.
040545,001018: 14,3427 13453 TCF P51B # V33
040546,001019: 14,3430 05353 TC PHASCHNG
040547,001020: 14,3431 04024 OCT 04024
040548,001021:
040549,001022: 14,3432 34755 CAF ZERO
040550,001023: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040551,001024: 14,3434 54322 TS THETAD +1
040552,001025: 14,3435 54323 TS THETAD +2
040553,001026: 14,3436 35010 CAF V06N22
040554,001027: 14,3437 04616 TC BANKCALL
040555,001028: 14,3440 20447 CADR GODSPRET
040556,001029: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040557,001030: 14,3442 04616 TC BANKCALL
040558,001031: 14,3443 20447 CADR GODSPRET
040559,001032: 14,3444 06042 TC INTPRET
040560,001033: 14,3445 77624 CALL
040561,001034: 14,3446 31557 COARSE
040562,001035: 14,3447 77776 EXIT
040563,001036: 14,3450 05353 TC PHASCHNG
040564,001037: 14,3451 04024 OCT 04024
040565,001038: 14,3452 13423 TCF P51 +2
040566,001039:
040567,001040: 14,3453 05353 P51B TC PHASCHNG
040568,001041: 14,3454 00014 OCT 00014
040569,001042: 14,3455 06042 TC INTPRET
040570,001043: 14,3456 77624 CALL
040571,001044: 14,3457 31603 NCOARSE
040572,001045: 14,3460 40331 SSP SETPD
040573,001046: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040574,001047: 14,3462 00000 0
040575,001048: 14,3463 00001 0
040576,001049: 14,3464 77776 P51C EXIT
040577,001050: 14,3465 05353 TC PHASCHNG
040578,001051: 14,3466 04024 OCT 04024
040579,001052:
040580,001053: 14,3467 04616 TC BANKCALL
040581,001054: 14,3470 16000 CADR AOTMARK # R53
040582,001055: 14,3471 04616 TC BANKCALL
040583,001056: 14,3472 17703 CADR AOTSTALL
040584,001057: 14,3473 05701 TC CURTAINS
040585,001058: 14,3474 11757 CCS STARIND
040586,001059: 14,3475 13503 TCF P51D +1
040587,001060: 14,3476 06042 TC INTPRET
![]() |
Page 946 |
040589,001062: 14,3477 77775 VLOAD
040590,001063: 14,3500 02715 STARAD +6
040591,001064: 14,3501 02761 STORE STARSAV1
040592,001065: 14,3502 77776 P51D EXIT
040593,001066: 14,3503 05353 TC PHASCHNG
040594,001067: 14,3504 04024 OCT 04024
040595,001068:
040596,001069: 14,3505 11757 CCS STARIND
040597,001070: 14,3506 13522 TCF P51E
040598,001071: 14,3507 05353 TC PHASCHNG
040599,001072: 14,3510 04024 OCT 04024
040600,001073:
040601,001074: 14,3511 06042 TC INTPRET
040602,001075: 14,3512 45145 DLOAD CALL
040603,001076: 14,3513 03562 TSIGHT
040604,001077: 14,3514 32472 PLANET
040605,001078: 14,3515 03554 STORE PLANVEC
040606,001079: 14,3516 77776 EXIT
040607,001080: 14,3517 34753 CAF BIT1
040608,001081: 14,3520 55757 TS STARIND
040609,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040610,001083: 14,3522 05353 P51E TC PHASCHNG
040611,001084: 14,3523 04024 OCT 04024
040612,001085:
040613,001086: 14,3524 06042 TC INTPRET
040614,001087: 14,3525 45145 DLOAD CALL
040615,001088: 14,3526 03562 TSIGHT
040616,001089: 14,3527 32472 PLANET
040617,001090: 14,3530 24015 STOVL 12D
040618,001091: 14,3531 03554 PLANVEC
040619,001092: 14,3532 24007 STOVL 6D
040620,001093: 14,3533 02761 STARSAV1
040621,001094: 14,3534 26707 STOVL STARAD
040622,001095: 14,3535 02767 STARSAV2
040623,001096: 14,3536 36715 STCALL STARAD +6
040624,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040625,001098: 14,3540 77414 BON EXIT
040626,001099: 14,3541 00314 FREEFLAG
040627,001100: 14,3542 31544 P51G
040628,001101: 14,3543 03423 TC P51 +2
040629,001102: 14,3544 77624 P51G CALL
040630,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040631,001104: 14,3546 75160 AXC,1 AXC,2
040632,001105: 14,3547 02664 XDC
040633,001106: 14,3550 01733 REFSMMAT
040634,001107: 14,3551 77624 CALL
040635,001108: 14,3552 31371 MATMOVE
040636,001109: 14,3553 77414 SET EXIT
040637,001110: 14,3554 01462 REFSMFLG
040638,001111: 14,3555 06001 TC GOTOPOOH # FINIS
![]() |
Page 947 |
040640,001113: 14,3556 12200 V41K VN 4100
040641,001114: 14,3557 77776 COARSE EXIT
040642,001115: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040643,001116: 14,3561 00006 EXTEND
040644,001117: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040645,001118: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040646,001119: 14,3564 04616 TC BANKCALL
040647,001120: 14,3565 01736 CADR DELAYJOB
040648,001121: 14,3566 13560 TCF COARSE +1
040649,001122: 14,3567 04616 DOCORS TC BANKCALL
040650,001123: 14,3570 16771 CADR IMUCOARS
040651,001124: 14,3571 04616 TC BANKCALL
040652,001125: 14,3572 17707 CADR IMUSTALL
040653,001126: 14,3573 05701 TC CURTAINS
040654,001127: 14,3574 04616 TC BANKCALL
040655,001128: 14,3575 17201 CADR IMUFINE
040656,001129: 14,3576 04616 TC BANKCALL
040657,001130: 14,3577 17707 CADR IMUSTALL
040658,001131: 14,3600 05701 TC CURTAINS
040659,001132: 14,3601 06042 TC INTPRET
040660,001133: 14,3602 77616 RVQ
040661,001134: 14,3603 77776 NCOARSE EXIT
040662,001135: 14,3604 30025 CA TIME1
040663,001136: 14,3605 55074 TS 1/PIPADT
040664,001137: 14,3606 44755 CS ZERO
040665,001138: 14,3607 54037 TS PIPAX
040666,001139: 14,3610 54040 TS PIPAY
040667,001140: 14,3611 54041 TS PIPAZ
040668,001141: 14,3612 06042 TC INTPRET
040669,001142: 14,3613 77775 VLOAD
040670,001143: 14,3614 24007 ZEROVEC
040671,001144: 14,3615 01472 STORE GCOMP
040672,001145: 14,3616 43414 SET RVQ
040673,001146: 14,3617 01060 DRIFTFLG
040674,001147:
![]() |
Page 948 |
040676,001149: # NAME - S52.2
040677,001150: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040678,001151: # CALL - CALL S52.2
040679,001152: # INPUT - X,Y,ZSMD
040680,001153: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040681,001154: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040682,001155:
040683,001156: 14,3620 COUNT* $$/S52.1
040684,001157: 14,3620 45020 S52.2 STQ CALL
040685,001158: 14,3621 02746 QMAJ
040686,001159: 14,3622 47541 CDUTRIG
040687,001160: 14,3623 77624 CALL
040688,001161: 14,3624 20030 CALCSMSC
040689,001162: 14,3625 66370 AXT,1 SSP
040690,001163: 14,3626 00022 18D
040691,001164: 14,3627 00051 S1
040692,001165: 14,3630 00006 6D
040693,001166: 14,3631 61373 S52.2A VLOAD* VXM
040694,001167: 14,3632 02707 XNB +18D,1
040695,001168: 14,3633 01734 REFSMMAT
040696,001169: 14,3634 77656 UNIT
040697,001170: 14,3635 06707 STORE XNB +18D,1
040698,001171: 14,3636 77700 TIX,1
040699,001172: 14,3637 31631 S52.2A
040700,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040701,001174: 14,3641 03606 XSMD
040702,001175: 14,3642 02642 XSM
040703,001176: 14,3643 77624 CALL
040704,001177: 14,3644 31371 MATMOVE
040705,001178: 14,3645 77624 CALL
040706,001179: 14,3646 47355 CALCGA
040707,001180: 14,3647 77650 GOTO
040708,001181: 14,3650 02746 QMAJ
040709,001182:
![]() |
Page 949 |
040711,001184: # NAME - S52.3
040712,001185: # FUNCTION XSMD= UNIT R
040713,001186: # YSMD= UNIT(V X R)
040714,001187: # ZSMD= UNIT(XSMD X YSMD)
040715,001188: # CALL DLOAD CALL
040716,001189: # TALIGN
040717,001190: # S52.3
040718,001191: # INPUT - TIME OF ALIGNMENT IN MPAC
040719,001192: # OUTPUT - X,Y,ZSMD
040720,001193: # SUBROUTINES - CSMCONIC
040721,001194:
040722,001195: 14,3651 COUNT* $$/S52.3
040723,001196: 14,3651 77620 S52.3 STQ
040724,001197: 14,3652 02746 QMAJ
040725,001198: 14,3653 34041 STCALL TDEC1
040726,001199: 14,3654 27077 LEMCONIC
040727,001200: 14,3655 53575 VLOAD UNIT
040728,001201: 14,3656 00001 RATT
040729,001202: 14,3657 27607 STOVL XSMD
040730,001203: 14,3660 00007 VATT
040731,001204: 14,3661 53435 VXV UNIT
040732,001205: 14,3662 00001 RATT
040733,001206: 14,3663 27615 STOVL YSMD
040734,001207: 14,3664 03607 XSMD
040735,001208: 14,3665 53435 VXV UNIT
040736,001209: 14,3666 03615 YSMD
040737,001210: 14,3667 37623 STCALL ZSMD
040738,001211: 14,3670 02746 QMAJ
040739,001212:
![]() |
Page 950 |
040741,001214: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040742,001215:
040743,001216: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040744,001217: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040745,001218:
040746,001219: # CALLING - CALL R52
040747,001220:
040748,001221: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040749,001222:
040750,001223: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040751,001224: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040752,001225: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040753,001226: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040754,001227:
040755,001228: # SUBROUT - R60LEM
040756,001229:
040757,001230: 14,3671 COUNT* $$/R52
040758,001231: 14,3671 77420 R52 STQ EXIT
040759,001232: 14,3672 03665 SAVQR52
040760,001233: 14,3673 51757 INDEX STARIND
040761,001234: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040762,001235: 14,3675 00006 EXTEND
040763,001236: 14,3676 73772 MP 1/6TH
040764,001237: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040765,001238: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040766,001239:
040767,001240: 14,3701 33773 R52A CAF V01N70
040768,001241: 14,3702 04616 TC BANKCALL
040769,001242: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040770,001243: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
040771,001244: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
040772,001245: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040773,001246:
040774,001247: 14,3707 05516 R52B TC DOWNFLAG
040775,001248: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040776,001249: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040777,001250: 14,3712 77747 MASK HIGH9
040778,001251: 14,3713 00006 EXTEND
040779,001252: 14,3714 74743 MP BIT9
040780,001253: 14,3715 54001 TS L # TEMP STORE DETENT
040781,001254:
040782,001255: 14,3716 00006 EXTEND
040783,001256: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040784,001257:
040785,001258: 14,3720 65650 AD NEG7
040786,001259: 14,3721 00006 EXTEND
040787,001260: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
040788,001261:
040789,001262: 14,3723 E7,1551 EBANK= XYMARK
040790,001263: 14,3723 35016 CA EBANK7
040791,001264: 14,3724 54003 TS EBANK
![]() |
Page 951 |
040793,001266: 14,3725 50001 INDEX L
040794,001267: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040795,001268: 14,3727 54001 TS L
040796,001269: 14,3730 E5,1642 EBANK= XSM
040797,001270: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040798,001271: 14,3731 54003 TS EBANK
040799,001272: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
040800,001273: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040801,001274: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
040802,001275:
040803,001276: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040804,001277: 14,3736 04616 TC BANKCALL
040805,001278: 14,3737 20477 CADR GOFLASH
040806,001279: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
040807,001280: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
040808,001281: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
040809,001282:
040810,001283: 14,3743 00006 EXTEND
040811,001284: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040812,001285: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040813,001286: 14,3746 52011 DXCH 8D
040814,001287: 14,3747 06042 TC INTPRET
040815,001288: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040816,001289: 14,3751 10522 OANB # SCAXIS IN NB COORDS
040817,001290: 14,3752 45034 RTB CALL
040818,001291: 14,3753 21574 LOADTIME
040819,001292: 14,3754 32472 PLANET
040820,001293: 14,3755 53521 MXV UNIT
040821,001294: 14,3756 01734 REFSMMAT
040822,001295: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
040823,001296:
040824,001297: 14,3760 77776 EXIT
040825,001298: 14,3761 04616 TC BANKCALL
040826,001299: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040827,001300:
040828,001301: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040829,001302: 14,3764 70734 MASK STARCODE
040830,001303: 14,3765 00006 EXTEND
040831,001304: 14,3766 13701 BZF R52A
040832,001305:
040833,001306: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
040834,001307: 14,3770 77650 GOTO
040835,001308: 14,3771 03665 SAVQR52 # RETURN TO CALLER
040836,001309:
040837,001310: 14,3772 05253 1/6TH DEC .1666667
040838,001311: 14,3773 00306 V01N70 VN 0170
040839,001312: 14,3774 01527 V06N87 VN 687
040840,001313:
![]() |
Page 952 |
040842,001315: # LUNAR SURFACE STAR AQUISITION
040843,001316:
040844,001317: 15,2245 BANK 15
040845,001318: 15,2000 SETLOC P50S
040846,001319: 15,2000 BANK
040847,001320: 15,2245 COUNT* $$/R59
040848,001321:
040849,001322: 15,2245 40077 R59 CS FLAGWRD3
040850,001323: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040851,001324: 15,2247 10000 CCS A
040852,001325: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040853,001326:
040854,001327: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040855,001328: 15,2252 04616 TC BANKCALL
040856,001329: 15,2253 20477 CADR GOFLASH
040857,001330: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040858,001331: 15,2255 12257 TCF R59A # V33 - PROCEED
040859,001332: 15,2256 12245 TCF R59 # V32 - RECYCLE
040860,001333:
040861,001334: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040862,001335: 15,2260 70734 MASK AOTCODE
040863,001336: 15,2261 00006 EXTEND
040864,001337: 15,2262 76245 MP REVCNT # JUST 6
040865,001338: 15,2263 56001 XCH L
040866,001339: 15,2264 51757 INDEX STARIND
040867,001340: 15,2265 55755 TS BESTI
040868,001341: 15,2266 50120 INDEX FIXLOC
040869,001342: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040870,001343: 15,2270 00006 EXTEND
040871,001344: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040872,001345: 15,2272 40000 COM
040873,001346: 15,2273 62557 AD DEC227
040874,001347: 15,2274 00006 EXTEND
040875,001348: 15,2275 62455 BZMF R59OUT
040876,001349:
040877,001350: 15,2276 06042 TC INTPRET
040878,001351: 15,2277 64373 VLOAD* MXV
040879,001352: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040880,001353: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040881,001354: 15,2302 45056 UNIT CALL
040882,001355: 15,2303 47650 CDU*SMNB
040883,001356: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040884,001357: 15,2305 77776 EXIT
040885,001358:
040886,001359: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040887,001360: 15,2307 55241 TS POSCODE
040888,001361:
040889,001362: 15,2310 E7,1551 EBANK= XYMARK
040890,001363: 15,2310 35016 INCAZ CA EBANK7
040891,001364: 15,2311 54003 TS EBANK
040892,001365:
![]() |
Page 953 |
040894,001367: 15,2312 51241 INDEX POSCODE
040895,001368: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040896,001369: 15,2314 54001 TS L
040897,001370:
040898,001371: 15,2315 E5,1642 EBANK= XSM
040899,001372: 15,2315 35014 CA EBANK5
040900,001373: 15,2316 54003 TS EBANK
040901,001374:
040902,001375: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040903,001376: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040904,001377: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040905,001378: 15,2322 50120 INDEX FIXLOC
040906,001379: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040907,001380:
040908,001381: 15,2324 06042 TC INTPRET
040909,001382: 15,2325 77624 CALL
040910,001383: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
040911,001384: 15,2327 50375 VLOAD DOT
040912,001385: 15,2330 02731 STAR # DOT STAR WITH OA
040913,001386: 15,2331 03765 SCAXIS
040914,001387: 15,2332 65552 SL1 ARCCOS
040915,001388: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040916,001389:
040917,001390: 15,2334 51025 DSU BPL
040918,001391: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040919,001392: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040920,001393: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040921,001394: 15,2340 00031 24D
040922,001395: 15,2341 32470 DEG.5
040923,001396: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040924,001397: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040925,001398: 15,2344 00031 24D # GET SPIRAL
040926,001399: 15,2345 42405 DMP SL4
040927,001400: 15,2346 11220 3/4 # 12 SCALED AT 16
040928,001401: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040929,001402:
040930,001403: 15,2350 03765 SCAXIS # OA
040931,001404: 15,2351 53435 VXV UNIT
040932,001405: 15,2352 24005 XUNIT
040933,001406: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040934,001407: 15,2354 03765 SCAXIS
040935,001408: 15,2355 77676 VCOMP
040936,001409: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040937,001410: 15,2357 03765 SCAXIS
040938,001411: 15,2360 53435 VXV UNIT
040939,001412: 15,2361 02731 STAR
040940,001413: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040941,001414: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040942,001415: 15,2364 65552 SL1 ARCCOS
040943,001416: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
![]() |
Page 954 |
040945,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040946,001419: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040947,001420: 15,2370 32375 R59D
040948,001421: 15,2371 32047 ABOUTONE
040949,001422: 15,2372 77625 DSU
040950,001423: 15,2373 00033 26D
040951,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040952,001425:
040953,001426: 15,2375 70535 R59D SLOAD SR1
040954,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040955,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040956,001429: 15,2400 00033 26D
040957,001430: 15,2401 77634 RTB
040958,001431: 15,2402 21615 1STO2S
040959,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
040960,001433: 15,2404 00031 24D # LOAD SROT IN REVS
040961,001434: 15,2405 77615 DAD # 12(SEP) + YROT
040962,001435: 15,2406 77634 RTB
040963,001436: 15,2407 21615 1STO2S
040964,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
040965,001438: 15,2411 77776 EXIT
040966,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040967,001440:
040968,001441: 15,2413 77776 ZSPCR EXIT
040969,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040970,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
040971,001444: 15,2416 55237 TS SPIRAL
040972,001445: 15,2417 12437 TCF 79DISP
040973,001446:
040974,001447: 15,2420 77776 NXAX EXIT
040975,001448: 15,2421 25241 INCR POSCODE
040976,001449: 15,2422 41241 CS POSCODE
040977,001450: 15,2423 64757 AD SEVEN
040978,001451: 15,2424 00006 EXTEND
040979,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040980,001453: 15,2426 12310 TCF INCAZ
040981,001454:
040982,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
040983,001456: 15,2430 00404 OCT 404
040984,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040985,001458: 15,2432 04616 TC BANKCALL
040986,001459: 15,2433 20477 CADR GOFLASH
040987,001460: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
040988,001461: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
040989,001462: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
040990,001463:
040991,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040992,001465: 15,2440 04616 TC BANKCALL
040993,001466: 15,2441 20477 CADR GOFLASH
040994,001467: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
![]() |
Page 955 |
040996,001469: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
040997,001470: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
040998,001471:
040999,001472: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041000,001473: 15,2446 71241 MASK POSCODE
041001,001474: 15,2447 00006 EXTEND
041002,001475: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041003,001476: 15,2451 47747 CS HIGH9
041004,001477: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041005,001478: 15,2453 60001 AD L
041006,001479: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041007,001480:
041008,001481: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041009,001482: 15,2456 16000 CADR AOTMARK
041010,001483: 15,2457 04616 TC BANKCALL
041011,001484: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041012,001485: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041013,001486: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041014,001487:
041015,001488: 15,2463 00306 V01N70* VN 170
041016,001489: 15,2464 01517 V06N79 VN 679
041017,001490: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041018,001491: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041019,001492: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041020,001493: 15,2472 1235 CURSOR EQUALS GDT/2
041021,001494: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041022,001495: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041023,001496:
![]() |
Page 956 |
041025,001498: # NAME - PLANET
041026,001499: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041027,001500: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041028,001501: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041029,001502: # BY DSDY INPUT
041030,001503: # CALL - CALL
041031,001504: # PLANET
041032,001505: # INPUT - TIME IN MPAC
041033,001506: # OUTPUT - VECTOR IN MPAC
041034,001507: # SUBROUTINES - LOCSAM
041035,001508: # DEBRIS - VAC, STARAD - STARAD +17
041036,001509:
041037,001510: 15,2000 SETLOC P50S
041038,001511: 15,2000 BANK
041039,001512: 15,2472 COUNT* $$/P51
041040,001513:
041041,001514: 15,2472 03562 PLANET STORE TSIGHT
041042,001515: 15,2473 77420 STQ EXIT
041043,001516: 15,2474 02736 GCTR
041044,001517: 15,2475 47747 CS HIGH9
041045,001518: 15,2476 70734 MASK AOTCODE
041046,001519: 15,2477 00006 EXTEND
041047,001520: 15,2500 76245 MP REVCNT
041048,001521: 15,2501 56001 XCH L
041049,001522: 15,2502 51757 INDEX STARIND
041050,001523: 15,2503 55755 TS BESTI
041051,001524: 15,2504 10000 CCS A
041052,001525: 15,2505 12521 TCF NOTPLAN
041053,001526: 15,2506 32560 CAF VNPLANV
041054,001527: 15,2507 04616 TC BANKCALL
041055,001528: 15,2510 20477 CADR GOFLASH
041056,001529: 15,2511 02506 TC -3
041057,001530: 15,2512 02514 TC +2
041058,001531: 15,2513 02506 TC -5
041059,001532: 15,2514 06042 TC INTPRET
041060,001533: 15,2515 53575 VLOAD UNIT
041061,001534: 15,2516 02707 STARAD
041062,001535: 15,2517 77650 GOTO
041063,001536: 15,2520 02736 GCTR
041064,001537: 15,2521 40000 NOTPLAN CS A
041065,001538: 15,2522 62557 AD DEC227
041066,001539: 15,2523 00006 EXTEND
041067,001540: 15,2524 62535 BZMF CALSAM1
041068,001541: 15,2525 51757 INDEX STARIND
041069,001542: 15,2526 31755 CA BESTI
041070,001543: 15,2527 50120 INDEX FIXLOC
041071,001544: 15,2530 54046 TS X1
041072,001545: 15,2531 06042 TC INTPRET
041073,001546: 15,2532 52173 VLOAD* GOTO
041074,001547: 15,2533 30347 CATLOG,1
![]() |
Page 957 |
041076,001549: 15,2534 02736 GCTR
041077,001550: 15,2535 06042 CALSAM1 TC INTPRET
041078,001551: 15,2536 45145 CALSAM DLOAD CALL
041079,001552: 15,2537 03562 TSIGHT
041080,001553: 15,2540 30500 LOCSAM
041081,001554: 15,2541 77340 LXC,1 VLOAD
041082,001555: 15,2542 02757 STARIND
041083,001556: 15,2543 02707 VEARTH
041084,001557: 15,2544 24001 STOVL 0D
041085,001558: 15,2545 02715 VSUN
041086,001559: 15,2546 26707 STOVL VEARTH
041087,001560: 15,2547 00001 0D
041088,001561: 15,2550 02715 STORE VSUN
041089,001562: 15,2551 70143 DLOAD* LXC,1
041090,001563: 15,2552 02756 BESTI,1
041091,001564: 15,2553 00154 MPAC
041092,001565: 15,2554 52173 VLOAD* GOTO
041093,001566: 15,2555 02343 STARAD -228D,1
041094,001567: 15,2556 02736 GCTR
041095,001568: 15,2557 00343 DEC227 DEC 227 B-14
041096,001569: 15,2560 01530 VNPLANV VN 0688
041097,001570: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041098,001571:
![]() |
Page 958 |
041100,001573: # GRAVITY VECTOR DETERMINATION ROUTINE
041101,001574: # BY KEN VINCENT
041102,001575:
041103,001576: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041104,001577: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041105,001578: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041106,001579: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041107,001580: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041108,001581: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041109,001582: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041110,001583: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041111,001584: # READINGS.
041112,001585:
041113,001586: # CALL -
041114,001587: # TC BANKCALL
041115,001588: # CADR GVDETER
041116,001589:
041117,001590: # INPUTS -
041118,001591: # PIPAS, CDUS
041119,001592:
041120,001593: # OUTPUTS -
041121,001594: # STARSAV1 = UNIT GRAVITY
041122,001595: # GSAV = DITTO
041123,001596: # GRAVBIT = 1
041124,001597:
041125,001598: # SUBROUTINES -
041126,001599: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041127,001600: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041128,001601:
041129,001602: # DEBRIS -
041130,001603: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041131,001604:
041132,001605: 15,2561 32762 GVDETER CAF 42DEG
041133,001606: 15,2562 54321 TS THETAD
041134,001607: 15,2563 40000 COM
041135,001608: 15,2564 54322 TS THETAD +1
041136,001609: 15,2565 32763 CAF 35DEG
041137,001610: 15,2566 54323 TS THETAD +2
041138,001611: 15,2567 06042 TC INTPRET
041139,001612: 15,2570 45014 CLEAR CALL
041140,001613: 15,2571 01662 REFSMFLG
041141,001614: 15,2572 32666 LUNG
041142,001615:
041143,001616: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041144,001617:
041145,001618: # DEFINE G COOR SYS
041146,001619: # -
041147,001620: # X UNIT G
041148,001621: # * - -
041149,001622: # M = Y = UNITEZSM * X )
041150,001623: # - - -
041151,001624: # Z UNIT( X * Y )
041152,001625:
041153,001626: # THEN ROTATED SM WRT PRESENT IS
041154,001627:
041155,001628: # 1, 0 , 0
041156,001629: # * *T * * *
![]() |
Page 959 |
041158,001631: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041159,001632: # I J
041160,001633: # 0 , 0 ,-1
041161,001634:
041162,001635: # ALSO NB WRT PRES SM IS
041163,001636:
041164,001637: # * * *
041165,001638: # XNB = NBSM I
041166,001639:
041167,001640: # * *
041168,001641: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041169,001642:
041170,001643: 15,2000 SETLOC P50S
041171,001644: 15,2000 BANK
041172,001645: 15,2573 COUNT* $$/P57
041173,001646: 15,2573 66370 AXT,1 SSP # X1=18
041174,001647: 15,2574 00022 18D # S1=6
041175,001648: 15,2575 00051 S1 # X2, -2
041176,001649: 15,2576 00006 6D
041177,001650: 15,2577 77744 LXC,2
041178,001651: 15,2600 00050 S1
041179,001652: 15,2601 45173 GRAVEL VLOAD* CALL
041180,001653: 15,2602 54000 XUNIT -6,2
041181,001654: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041182,001655: 15,2604 06707 STORE XNB +18D,1
041183,001656: 15,2605 77775 VLOAD
041184,001657: 15,2606 02731 STAR
041185,001658: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041186,001659: 15,2610 00047 X2
041187,001660: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041188,001661: 15,2612 71152 VSL2 LXC,2
041189,001662: 15,2613 00047 X2
041190,001663: 15,2614 63047 VSU* INCR,2
041191,001664: 15,2615 54000 XUNIT -6,2
041192,001665: 15,2616 00002 2D
041193,001666: 15,2617 06665 STORE XSM +18D,1
041194,001667: 15,2620 45100 TIX,1 CALL
041195,001668: 15,2621 32601 GRAVEL
041196,001669: 15,2622 47355 CALCGA
041197,001670: 15,2623 74575 VLOAD VSR1
041198,001671: 15,2624 02715 GOUT
041199,001672: 15,2625 36723 STCALL STARAD +12D
041200,001673: 15,2626 32666 LUNG
041201,001674: 15,2627 74575 VLOAD VSR1
041202,001675: 15,2630 02715 GOUT
041203,001676: 15,2631 53455 VAD UNIT
041204,001677: 15,2632 02723 STARAD +12D
041205,001678: 15,2633 02761 STORE STARSAV1
041206,001679: 15,2634 77641 DOT
041207,001680: 15,2635 02231 GSAV
041208,001681: 15,2636 65552 SL1 ACOS
![]() |
Page 960 |
041210,001683: 15,2637 01045 STORE DSPTEM1
041211,001684: 15,2640 77776 EXIT
041212,001685: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041213,001686: 15,2642 00014 ADRES FREEFLAG
041214,001687:
041215,001688: 15,2643 32761 CA DISGRVER
041216,001689: 15,2644 04616 TC BANKCALL
041217,001690: 15,2645 20477 CADR GOFLASH
041218,001691: 15,2646 06001 TC GOTOPOOH
041219,001692: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041220,001693: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041221,001694: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041222,001695:
041223,001696: 15,2652 05353 PROGRAV TC PHASCHNG
041224,001697: 15,2653 04024 OCT 04024
041225,001698:
041226,001699: 15,2654 06042 TC INTPRET
041227,001700: 15,2655 77775 VLOAD
041228,001701: 15,2656 02761 STARSAV1
041229,001702: 15,2657 02231 STORE GSAV
041230,001703: 15,2660 77776 EXIT
041231,001704: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041232,001705: 15,2662 70074 MASK FLAGWRD0
041233,001706: 15,2663 10000 CCS A
041234,001707: 15,2664 12561 TCF GVDETER # SET
041235,001708: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041236,001709:
041237,001710: 15,2666 77220 LUNG STQ VLOAD
041238,001711: 15,2667 02745 QMIN
041239,001712: 15,2670 24007 ZEROVEC
041240,001713: 15,2671 02707 STORE GACC
041241,001714: 15,2672 77776 EXIT
041242,001715: 15,2673 05353 TC PHASCHNG
041243,001716: 15,2674 04024 OCT 04024
041244,001717:
041245,001718: 15,2675 06042 TC INTPRET
041246,001719: 15,2676 77624 CALL
041247,001720: 15,2677 31557 COARSE
041248,001721: 15,2700 77776 EXIT
041249,001722: 15,2701 32760 CA T/2SEC
041250,001723: 15,2702 55736 TS GCTR
041251,001724: 15,2703 37721 CA PRIO31
041252,001725: 15,2704 55074 TS 1/PIPADT
041253,001726: 15,2705 04616 TC BANKCALL
041254,001727: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041255,001728: 15,2707 05353 TC PHASCHNG
041256,001729: 15,2710 04024 OCT 04024
041257,001730:
041258,001731: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041259,001732: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
![]() |
Page 961 |
041261,001734: 15,2713 06042 TC INTPRET
041262,001735: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041263,001736: 15,2715 35000 CAF 2SECS
041264,001737: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041265,001738: 15,2717 02721 ADRES GRABGRAV
041266,001739:
041267,001740: 15,2720 05155 TC ENDOFJOB
041268,001741:
041269,001742: 15,2721 04674 GRABGRAV TC IBNKCALL
041270,001743: 15,2722 77541 CADR PIPSRINE
041271,001744: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041272,001745: 15,2724 05105 TC FINDVAC
041273,001746: 15,2725 E5,1706 EBANK= STARAD
041274,001747: 15,2725 02730 32065 2CADR ADDGRAV
041275,001748:
041276,001749: 15,2727 05261 TC TASKOVER
041277,001750:
041278,001751: 15,2730 04616 ADDGRAV TC BANKCALL
041279,001752: 15,2731 15271 CADR 1/PIPA
041280,001753: 15,2732 25736 INCR GCTR
041281,001754: 15,2733 06042 TC INTPRET
041282,001755: 15,2734 53375 VLOAD VAD
041283,001756: 15,2735 00325 DELV
041284,001757: 15,2736 02707 GACC
041285,001758: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041286,001759: 15,2740 50135 SLOAD BMN
041287,001760: 15,2741 02737 GCTR
041288,001761: 15,2742 32714 GREED
041289,001762: 15,2743 53575 VLOAD UNIT
041290,001763: 15,2744 02707 GACC
041291,001764: 15,2745 36731 STCALL STAR
041292,001765: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041293,001766: 15,2747 77624 CALL # IN OUTPUT
041294,001767: 15,2750 47673 *SMNB*
041295,001768: 15,2751 02715 STORE GOUT
041296,001769: 15,2752 77776 EXIT
041297,001770: 15,2753 05353 TC PHASCHNG
041298,001771: 15,2754 04024 OCT 04024
041299,001772:
041300,001773: 15,2755 06042 QMINEXIT TC INTPRET
041301,001774: 15,2756 77650 GOTO
041302,001775: 15,2757 02745 QMIN
041303,001776: 15,2760 77753 T/2SEC DEC -20 B-14
041304,001777: 15,2761 01404 DISGRVER VN 0604
041305,001778: 15,2762 07357 42DEG OCT 07357
041306,001779: 15,2763 06211 35DEG OCT 06211
041307,001780:
![]() |
Page 962 |
041309,001782: # NAME GYROTRIM
041310,001783:
041311,001784: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041312,001785: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041313,001786: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041314,001787:
041315,001788: # CALL CALL
041316,001789: # GYROTRIM
041317,001790:
041318,001791: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041319,001792: # CDUX,CDUY,CDUZ
041320,001793:
041321,001794: # OUTPUT - GYRO TORQUE PULSES
041322,001795:
041323,001796: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041324,001797: # IMPULSE, IMUSTALL
041325,001798: # - - - * * -
041326,001799: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041327,001800:
041328,001801: 15,2764 COUNT* $$/P57
041329,001802: 15,2764 71220 GYROTRIM STQ DLOAD
041330,001803: 15,2765 02745 QMIN
041331,001804: 15,2766 00322 THETAD
041332,001805: 15,2767 65325 PDDL PDDL
041333,001806: 15,2770 00324 THETAD +2
041334,001807: 15,2771 00323 THETAD +1
041335,001808: 15,2772 77666 VDEF
041336,001809: 15,2773 24766 STOVL CDUSPOT
041337,001810: 15,2774 24005 XUNIT
041338,001811: 15,2775 77624 CALL
041339,001812: 15,2776 47666 TRG*NBSM
041340,001813: 15,2777 26707 STOVL STARAD
041341,001814: 15,3000 24003 YUNIT
041342,001815: 15,3001 77624 CALL
041343,001816: 15,3002 47675 *NBSM*
041344,001817: 15,3003 36715 STCALL STARAD +6
041345,001818: 15,3004 47541 CDUTRIG
041346,001819: 15,3005 77624 CALL
041347,001820: 15,3006 20030 CALCSMSC
041348,001821: 15,3007 77775 VLOAD
041349,001822: 15,3010 02665 XNB
041350,001823: 15,3011 24007 STOVL 6D
041351,001824: 15,3012 02673 YNB
041352,001825: 15,3013 34015 STCALL 12D
041353,001826: 15,3014 47443 AXISGEN
041354,001827: 15,3015 77624 CALL
041355,001828: 15,3016 47251 CALCGTA
041356,001829: 15,3017 77776 JUSTTRIM EXIT
041357,001830: 15,3020 33027 CA GYRCDR
041358,001831: 15,3021 04616 TC BANKCALL
041359,001832: 15,3022 17314 CADR IMUPULSE
![]() |
Page 963 |
041361,001834: 15,3023 04616 TC BANKCALL
041362,001835: 15,3024 17707 CADR IMUSTALL
041363,001836: 15,3025 05701 TC CURTAINS
041364,001837: 15,3026 12755 TCF QMINEXIT
041365,001838:
041366,001839: 15,3027 02737 GYRCDR ECADR OGC
041367,001840:
![]() |
Page 964 |
041369,001842: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041370,001843:
041371,001844: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041372,001845: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041373,001846: 15,3032 34753 1STAR CAF BIT1
041374,001847: 15,3033 55757 TS STARIND
041375,001848:
041376,001849: 15,3034 05353 TC PHASCHNG
041377,001850: 15,3035 04024 OCT 04024
041378,001851:
041379,001852: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041380,001853:
041381,001854: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041382,001855: 15,3040 00006 EXTEND
041383,001856: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041384,001857:
041385,001858: 15,3042 05353 TC PHASCHNG
041386,001859: 15,3043 04024 OCT 04024
041387,001860:
041388,001861: 15,3044 06042 TC INTPRET
041389,001862: 15,3045 45145 DLOAD CALL
041390,001863: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041391,001864: 15,3047 32472 PLANET
041392,001865: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041393,001866: 15,3051 33064 SURFLINE
041394,001867:
041395,001868: 15,3052 06042 ASTAR TC INTPRET
041396,001869: 15,3053 77775 VLOAD
041397,001870: 15,3054 02715 STARAD +6
041398,001871: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041399,001872: 15,3056 45145 DLOAD CALL
041400,001873: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041401,001874: 15,3060 32472 PLANET
041402,001875: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041403,001876: 15,3062 77776 EXIT
041404,001877: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041405,001878:
![]() |
Page 965 |
041407,001880: # DO FINE OR COARSE ALIGNMENT OF IMU
041408,001881:
041409,001882: 15,3064 77131 SURFLINE SSP AXT,2
041410,001883: 15,3065 00052 S2
041411,001884: 15,3066 00006 6
041412,001885: 15,3067 00014 12D
041413,001886: 15,3070 64373 WRTDESIR VLOAD* MXV
041414,001887: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041415,001888: 15,3072 03607 XSMD
041416,001889: 15,3073 77656 UNIT
041417,001890: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041418,001891: 15,3075 77773 VLOAD*
041419,001892: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041420,001893: 15,3077 10023 STORE 18D,2
041421,001894: 15,3100 43104 TIX,2 BON
041422,001895: 15,3101 33070 WRTDESIR
041423,001896: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041424,001897: 15,3103 33111 INITBY
041425,001898: 15,3104 77624 DOALIGN CALL
041426,001899: 15,3105 31250 R54 # DO CHKSDATA
041427,001900: 15,3106 77614 BOFF
041428,001901: 15,3107 00354 FREEFLAG
041429,001902: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041430,001903: 15,3111 77624 INITBY CALL
041431,001904: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041432,001905: 15,3113 77624 CALL
041433,001906: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041434,001907: 15,3115 77776 EXIT
041435,001908: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041436,001909: 15,3117 70104 MASK FLAGWRD8
041437,001910: 15,3120 10000 CCS A
041438,001911: 15,3121 13130 TCF 5DEGTEST
041439,001912: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041440,001913: 15,3123 04616 TC BANKCALL
041441,001914: 15,3124 20477 CADR GOFLASH
041442,001915: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041443,001916: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041444,001917: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041445,001918:
041446,001919: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041447,001920: 15,3131 40175 VLOAD BOV
041448,001921: 15,3132 02740 OGC
041449,001922: 15,3133 33134 SURFSUP
041450,001923: 15,3134 02750 SURFSUP STORE OGCT
041451,001924: 15,3135 40141 V/SC BOV
041452,001925: 15,3136 30602 5DEGREES
041453,001926: 15,3137 33237 COATRIM
041454,001927: 15,3140 52131 SSP GOTO
041455,001928: 15,3141 02746 QMIN
041456,001929: 15,3142 33144 SURFDISP
![]() |
Page 966 |
041458,001931: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041459,001932:
041460,001933: 15,3144 77776 SURFDISP EXIT
041461,001934: 15,3145 05353 TC PHASCHNG
041462,001935: 15,3146 04024 OCT 04024
041463,001936:
041464,001937: 15,3147 06042 TC INTPRET
041465,001938: 15,3150 75160 AXC,1 AXC,2
041466,001939: 15,3151 03606 XSMD
041467,001940: 15,3152 01733 REFSMMAT
041468,001941: 15,3153 45014 SET CALL
041469,001942: 15,3154 01462 REFSMFLG
041470,001943: 15,3155 31371 MATMOVE
041471,001944: 15,3156 77776 EXIT
041472,001945: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041473,001946: 15,3160 13162 TCF B2F8
041474,001947: 15,3161 13172 TCF P57POST +1
041475,001948:
041476,001949: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041477,001950: 15,3163 70104 MASK FLAGWRD8
041478,001951: 15,3164 10000 CCS A
041479,001952: 15,3165 13544 TCF P57JUMP # ITS SET
041480,001953: 15,3166 06042 TC INTPRET
041481,001954: 15,3167 77624 CALL
041482,001955: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041483,001956: 15,3171 77776 P57POST EXIT
041484,001957: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041485,001958: 15,3173 04616 TC BANKCALL
041486,001959: 15,3174 20624 CADR GOPERF1
041487,001960: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041488,001961: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041489,001962: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041490,001963: 15,3200 61144 AD OPTION2
041491,001964: 15,3201 00006 EXTEND
041492,001965: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041493,001966: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041494,001967: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041495,001968: 15,3205 04024 OCT 04024
041496,001969: 15,3206 06042 TC INTPRET
041497,001970: 15,3207 45175 VLOAD CALL # USE GNB
041498,001971: 15,3210 02231 GSAV
041499,001972: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041500,001973: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041501,001974: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041502,001975: 15,3214 01463 LUNAFLAG
041503,001976: 15,3215 51515 PDVL ABVAL
041504,001977: 15,3216 02023 RLS
041505,001978: 15,3217 45561 VXSC STADR
041506,001979: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041507,001980: 15,3221 47014 CLEAR RTB
![]() |
Page 967 |
041509,001982: 15,3222 00662 ERADFLAG
041510,001983: 15,3223 21574 LOADTIME
041511,001984: 15,3224 77624 CALL
041512,001985: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041513,001986: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041514,001987: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041515,001988: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041516,001989: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041517,001990: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041518,001991: 15,3233 51700 R-TO-RP
041519,001992: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041520,001993: 15,3235 77776 EXIT
041521,001994: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041522,001995:
![]() |
Page 968 |
041524,001997: # COARSE AND FINE ALIGN IMU
041525,001998:
041526,001999: 15,3237 75160 COATRIM AXC,1 AXC,2
041527,002000: 15,3240 02664 XDC
041528,002001: 15,3241 02642 XSM
041529,002002: 15,3242 77624 CALL
041530,002003: 15,3243 31371 MATMOVE
041531,002004: 15,3244 77624 CALL
041532,002005: 15,3245 47541 CDUTRIG
041533,002006: 15,3246 77624 CALL
041534,002007: 15,3247 20030 CALCSMSC
041535,002008: 15,3250 77624 CALL
041536,002009: 15,3251 47355 CALCGA
041537,002010: 15,3252 77414 BOFF EXIT
041538,002011: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041539,002012: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041540,002013: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041541,002014: 15,3256 04616 TC BANKCALL
041542,002015: 15,3257 20477 CADR GOFLASH
041543,002016: 15,3260 06001 TC GOTOPOOH
041544,002017: 15,3261 13263 TCF +2
041545,002018: 15,3262 13255 TCF -5
041546,002019: 15,3263 05353 TC PHASCHNG
041547,002020: 15,3264 04024 OCT 04024
041548,002021:
041549,002022: 15,3265 06042 TC INTPRET
041550,002023: 15,3266 77624 CORSIT CALL
041551,002024: 15,3267 31557 COARSE
041552,002025: 15,3270 77624 CALL
041553,002026: 15,3271 31603 NCOARSE
041554,002027: 15,3272 77624 CALL
041555,002028: 15,3273 32764 GYROTRIM
041556,002029: 15,3274 77650 GOTO
041557,002030: 15,3275 33144 SURFDISP
041558,002031: 15,3276 01535 DISPGYRO VN 0693
041559,002032:
![]() |
Page 969 |
041561,002034: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041562,002035:
041563,002036: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041564,002037: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041565,002038:
041566,002039: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041567,002040: 15,3302 55144 TS OPTION2
041568,002041: 15,3303 34753 P57OPT CAF BIT1
041569,002042: 15,3304 04616 TC BANKCALL
041570,002043: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041571,002044: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041572,002045: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041573,002046: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041574,002047:
041575,002048: 15,3311 05353 TC PHASCHNG
041576,002049: 15,3312 00014 OCT 00014
041577,002050: 15,3313 05155 TC ENDOFJOB
041578,002051:
041579,002052: 15,3314 31144 ALIGNOPT CA OPTION2
041580,002053: 15,3315 76250 MASK THREE
041581,002054: 15,3316 50000 INDEX A
041582,002055: 15,3317 13320 TCF +1
041583,002056: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041584,002057: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041585,002058: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041586,002059: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041587,002060: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041588,002061: 15,3325 01733 REFSMMAT
041589,002062: 15,3326 03606 XSMD
041590,002063: 15,3327 77624 CALL
041591,002064: 15,3330 31371 MATMOVE
041592,002065: 15,3331 77650 GOTO
041593,002066: 15,3332 33373 PACKOPTN -1
041594,002067:
041595,002068: 15,3333 06042 TDISP TC INTPRET
041596,002069: 15,3334 77745 DLOAD
041597,002070: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041598,002071: 15,3336 01045 P57A STORE DSPTEM1
041599,002072: 15,3337 77776 EXIT
041600,002073: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041601,002074: 15,3341 04616 TC BANKCALL
041602,002075: 15,3342 20477 CADR GOFLASH
041603,002076: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041604,002077: 15,3344 13346 TCF +2
041605,002078: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041606,002079:
041607,002080: 15,3346 06042 TC INTPRET
041608,002081: 15,3347 65234 RTB PDDL
041609,002082: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041610,002083: 15,3351 01045 DSPTEM1
![]() |
Page 970 |
041612,002085: 15,3352 65254 BZE PDDL
041613,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041614,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041615,002088: 15,3355 01045 DSPTEM1
041616,002089: 15,3356 33363 P57C
041617,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041618,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041619,002092: 15,3361 36775 STCALL TALIGN
041620,002093: 15,3362 33365 P57D
041621,002094: 15,3363 45545 P57C DLOAD STADR
041622,002095: 15,3364 75002 STORE TALIGN
041623,002096: 15,3365 34041 P57D STCALL TDEC1
041624,002097: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041625,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041626,002099: 15,3370 00001 RATT
041627,002100: 15,3371 37607 STCALL XSMD
041628,002101: 15,3372 10757 LSORIENT
041629,002102: 15,3373 77776 EXIT
041630,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041631,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041632,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041633,002106: 15,3377 34737 CAF REFSMBIT
041634,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041635,002108: 15,3401 10000 CCS A
041636,002109: 15,3402 34745 CAF BIT7 # SET
041637,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041638,002111: 15,3404 34753 CAF ATTFLBIT
041639,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041640,002113: 15,3406 10000 CCS A
041641,002114: 15,3407 34750 CAF BIT4 # SET
041642,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041643,002116: 15,3411 34750 CAF BIT4
041644,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041645,002118:
041646,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041647,002120: 15,3414 04616 TC BANKCALL
041648,002121: 15,3415 20477 CADR GOFLASH
041649,002122: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041650,002123: 15,3417 13421 TCF +2 # V33 - PROCEED
041651,002124: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041652,002125:
041653,002126: 15,3421 34737 CAF REFSMBIT
041654,002127: 15,3422 70077 MASK FLAGWRD3
041655,002128: 15,3423 10000 CCS A
041656,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041657,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041658,002131: 15,3426 70102 MASK FLAGWRD6
041659,002132: 15,3427 10000 CCS A
041660,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041661,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
![]() |
Page 971 |
041663,002136: 15,3432 71144 MASK OPTION2
041664,002137: 15,3433 10000 CCS A
041665,002138: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041666,002139: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041667,002140: 15,3436 00701 OCT 701
041668,002141: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041669,002142: 15,3440 04616 TC BANKCALL
041670,002143: 15,3441 20477 CADR GOFLASH
041671,002144: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041672,002145: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041673,002146: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041674,002147:
![]() |
Page 972 |
041676,002149: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041677,002150:
041678,002151: 15,3445 40220 MFREF STQ SETPD
041679,002152: 15,3446 02746 QMAJ
041680,002153: 15,3447 00001 0
041681,002154: 15,3450 77634 RTB
041682,002155: 15,3451 21574 LOADTIME
041683,002156: 15,3452 27562 STOVL TSIGHT
041684,002157: 15,3453 03246 VEC1
041685,002158: 15,3454 41525 PDDL PUSH
041686,002159: 15,3455 03562 TSIGHT
041687,002160: 15,3456 77624 CALL
041688,002161: 15,3457 55716 RP-TO-R
041689,002162: 15,3460 27246 STOVL VEC1
041690,002163: 15,3461 03254 VEC2
041691,002164: 15,3462 65201 SETPD PDDL
041692,002165: 15,3463 00001 0
041693,002166: 15,3464 03562 TSIGHT
041694,002167: 15,3465 45006 PUSH CALL
041695,002168: 15,3466 55716 RP-TO-R
041696,002169: 15,3467 37254 STCALL VEC2
041697,002170: 15,3470 02746 QMAJ
041698,002171:
![]() |
Page 973 |
041700,002173: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041701,002174: # STORE IN YNBSAV AND ZNBSAV
041702,002175:
041703,002176: 15,3471 45020 REFMF STQ CALL
041704,002177: 15,3472 02746 QMAJ
041705,002178: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041706,002179: 15,3474 40234 RTB SETPD
041707,002180: 15,3475 21574 LOADTIME
041708,002181: 15,3476 00001 0
041709,002182: 15,3477 37562 STCALL TSIGHT
041710,002183: 15,3500 20030 CALCSMSC # GET YNB IN SM
041711,002184: 15,3501 61375 VLOAD VXM
041712,002185: 15,3502 02673 YNB
041713,002186: 15,3503 01734 REFSMMAT # YNB TO REF
041714,002187: 15,3504 65256 UNIT PDDL
041715,002188: 15,3505 03562 TSIGHT
041716,002189: 15,3506 45006 PUSH CALL
041717,002190: 15,3507 51700 R-TO-RP
041718,002191: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041719,002192: 15,3511 02701 ZNB
041720,002193: 15,3512 53505 VXM UNIT
041721,002194: 15,3513 01734 REFSMMAT # ZNB TO REF
041722,002195: 15,3514 41525 PDDL PUSH
041723,002196: 15,3515 03562 TSIGHT
041724,002197: 15,3516 77624 CALL
041725,002198: 15,3517 51700 R-TO-RP # ZNB TO MF
041726,002199: 15,3520 02245 STORE ZNBSAV
041727,002200: 15,3521 77614 SETGO
041728,002201: 15,3522 03036 ATTFLAG
041729,002202: 15,3523 02746 QMAJ
041730,002203:
![]() |
Page 974 |
041732,002205: # BRANCH TO ALIGNMENT OPTION
041733,002206:
041734,002207: 15,3524 06042 GETLMATT TC INTPRET
041735,002208: 15,3525 77624 CALL
041736,002209: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041737,002210: 15,3527 77776 EXIT
041738,002211:
041739,002212: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041740,002213: 15,3531 00205 ADRES INITALGN
041741,002214: 15,3532 34753 CAF BIT1
041742,002215: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041743,002216: 15,3534 10000 CCS A
041744,002217: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041745,002218:
041746,002219: 15,3536 05353 ATTCHK TC PHASCHNG
041747,002220: 15,3537 04024 OCT 04024
041748,002221:
041749,002222: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041750,002223: 15,3541 70102 MASK FLAGWRD6
041751,002224: 15,3542 10000 CCS A
041752,002225: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041753,002226: 15,3544 05353 P57JUMP TC PHASCHNG
041754,002227: 15,3545 04024 OCT 04024
041755,002228:
041756,002229: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041757,002230: 15,3547 00205 ADRES INITALGN
041758,002231: 15,3550 36250 CAF THREE
041759,002232: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041760,002233: 15,3552 50000 INDEX A
041761,002234: 15,3553 13554 TCF +1
041762,002235: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041763,002236: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041764,002237: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041765,002238: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041766,002239:
![]() |
Page 975 |
041768,002241: # OPTION 0, GET TWO ATTITUDE VECS
041769,002242:
041770,002243: 15,3560 06042 P57OPT0 TC INTPRET
041771,002244: 15,3561 77775 VLOAD
041772,002245: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041773,002246: 15,3563 27246 STOVL VEC1
041774,002247: 15,3564 02245 ZNBSAV
041775,002248: 15,3565 37254 STCALL VEC2
041776,002249: 15,3566 47541 CDUTRIG
041777,002250: 15,3567 77624 CALL
041778,002251: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041779,002252: 15,3571 77775 VLOAD
041780,002253: 15,3572 02673 YNB
041781,002254: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041782,002255: 15,3574 02701 ZNB
041783,002256: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041784,002257: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041785,002258: 15,3577 77650 GOTO
041786,002259: 15,3600 33064 SURFLINE
041787,002260:
041788,002261: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041789,002262:
041790,002263: 15,3601 06042 P57OPT1 TC INTPRET
041791,002264: 15,3602 53575 VLOAD UNIT
041792,002265: 15,3603 02023 RLS # LANDING SITE VEC
041793,002266: 15,3604 27246 STOVL VEC1
041794,002267: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
041795,002268: 15,3606 37254 STCALL VEC2
041796,002269: 15,3607 47541 CDUTRIG
041797,002270: 15,3610 77624 CALL
041798,002271: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041799,002272: 15,3612 45175 VLOAD CALL
041800,002273: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041801,002274: 15,3614 47663 CDU*NBSM
041802,002275: 15,3615 77650 GOTO
041803,002276: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
041804,002277:
![]() |
Page 976 |
041806,002279: # OPTION 2, GET TWO STAR SIGHTINGS
041807,002280:
041808,002281: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041809,002282:
041810,002283: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041811,002284:
041812,002285: 15,3620 06042 P57OPT3 TC INTPRET
041813,002286: 15,3621 53575 VLOAD UNIT
041814,002287: 15,3622 02023 RLS # LANDING SITE VEC
041815,002288: 15,3623 03246 STORE VEC1
041816,002289: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041817,002290: 15,3625 02231 GSAV # GRAVITY VEC NB
041818,002291: 15,3626 77624 CALL
041819,002292: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041820,002293: 15,3630 36761 STCALL STARSAV1
041821,002294: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041822,002295: 15,3632 77776 EXIT
041823,002296: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
041824,002297:
041825,002298: 15,3634 01206 VB05N06 VN 506
041826,002299:
![]() |
Page 977 |
041828,002301: # CHECK IMODES30 TO VARIFY IMU IS ON
041829,002302:
041830,002303: 15,3635 41277 IMUCHK CS IMODES30
041831,002304: 15,3636 74743 MASK BIT9
041832,002305: 15,3637 10000 CCS A # IS IMU ON
041833,002306: 15,3640 13644 TCF +4 # YES
041834,002307:
041835,002308: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
041836,002309: 15,3642 00210 OCT 210
041837,002310: 15,3643 06001 TC GOTOPOOH
041838,002311:
041839,002312: 15,3644 05504 TC UPFLAG
041840,002313: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
041841,002314:
041842,002315: 15,3646 04631 TC SWRETURN
041843,002316:
041844,002317: 04,2757 BANK 04
041845,002318: 04,2000 SETLOC AOTMARK2
041846,002319: 04,2000 BANK
041847,002320: 04,2757 COUNT* $$/P57
041848,002321:
041849,002322: 04,2757 77220 LSORIENT STQ VLOAD
041850,002323: 04,2760 02746 QMAJ
041851,002324: 04,2761 01555 RRECTCSM
041852,002325: 04,2762 47235 VXV VXV
041853,002326: 04,2763 01563 VRECTCSM
041854,002327: 04,2764 03607 XSMD
041855,002328: 04,2765 77656 UNIT
041856,002329: 04,2766 03623 STORE ZSMD
041857,002330: 04,2767 53435 VXV UNIT
041858,002331: 04,2770 03607 XSMD
041859,002332: 04,2771 37615 STCALL YSMD
041860,002333: 04,2772 02746 QMAJ
041861,002334:
End of include-file P51-P53.agc. Parent file is MAIN.agc