Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of Luminary 069. They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Onno Hommes. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the Luminary 69 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011 19:02 NOV. 25,1968Note that the date is the date of the printout, not the date of the program revision. |
040995,000002: ## Copyright: Public domain.
040996,000003: ## Filename: P51-P53.agc
040997,000004: ## Purpose: The main source file for Luminary revision 069.
040998,000005: ## It is part of the source code for the original release
040999,000006: ## of the flight software for the Lunar Module's (LM) Apollo
041000,000007: ## Guidance Computer (AGC) for Apollo 10. The actual flown
041001,000008: ## version was Luminary 69 revision 2, which included a
041002,000009: ## newer lunar gravity model and only affected module 2.
041003,000010: ## This file is intended to be a faithful transcription, except
041004,000011: ## that the code format has been changed to conform to the
041005,000012: ## requirements of the yaYUL assembler rather than the
041006,000013: ## original YUL assembler.
041007,000014: ## Reference: pp. 925-978
041008,000015: ## Assembler: yaYUL
041009,000016: ## Contact: Ron Burkey <info@sandroid.org>.
041010,000017: ## Website: www.ibiblio.org/apollo/index.html
041011,000018: ## Mod history: 2016-12-13 MAS Created from Luminary 99.
041012,000019: ## 2016-12-18 MAS Updated from comment-proofed Luminary 99 version.
041013,000020: ## 2017-01-22 HG Transcribed
041014,000021: ## 2017-01-22 HG Fix operand V06N22 -> V6N22
041015,000022: ## V06N22 -> V06N22*
041016,000023: ## DSPTEM1 -> DSPTEM2
041017,000024: ## Fix interpretive operator SET EXIT -> SET
041018,000025: ## STOVL -> STORE
041019,000026: ## Fix operator XCH -> TS
041020,000027: ## +2 -> +5
041021,000028: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
041022,000029: ## side-by-side diff of Luminary 69/99/116/131/210.
041023,000030:
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Page 925 |
041025,000032: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
041026,000033: # MOD NO- 0 LOG SECTION- P51-P53
041027,000034: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
041028,000035:
041029,000036: # FUNCTIONAL DESCRIPTION-
041030,000037:
041031,000038: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041032,000039: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041033,000040:
041034,000041: # (A) PREFERRED ORIENTATION
041035,000042:
041036,000043: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041037,000044: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041038,000045:
041039,000046: # (B) NOMINAL ORIENTATION
041040,000047:
041041,000048: # X = UNIT ( R )
041042,000049: # -SM
041043,000050:
041044,000051: # Y = UNIT (V X R)
041045,000052: # SM
041046,000053:
041047,000054: # Z = UNIT (X X Y )
041048,000055: # SM SM SM
041049,000056:
041050,000057: # WHERE_
041051,000058: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041052,000059: # -
041053,000060:
041054,000061: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041055,000062: # -
041056,000063:
041057,000064: # (C) REFSMMAT ORIENTATION
041058,000065:
041059,000066: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041060,000067:
041061,000068: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041062,000069: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041063,000070: # SINCE THE LAST ALIGNMENT).
041064,000071:
041065,000072: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041066,000073: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041067,000074: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041068,000075: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041069,000076: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041070,000077: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041071,000078: # REQUESTED.
041072,000079:
041073,000080: # CALLING SEQUENCE-
041074,000081:
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Page 926 |
041076,000083: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041077,000084:
041078,000085: # SUBROUTINES CALLED-
041079,000086:
041080,000087: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041081,000088: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041082,000089: # 3. GOPERF4 9. FLAGUP
041083,000090: # 4. MATMOVE 10. R56
041084,000091: # 5. GOFLASH 11. R51
041085,000092: # 6. S52.3 12. GOPERF3
041086,000093:
041087,000094: # NORMAL EXIT MODES-
041088,000095:
041089,000096: # EXITS TO ENDOFJOB
041090,000097:
041091,000098: # ALARM OR ABORT EXIT MODES-
041092,000099:
041093,000100: # NONE
041094,000101:
041095,000102: # OUTPUT-
041096,000103:
041097,000104: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041098,000105: # 1. IMU ORIENTATION CODE
041099,000106: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041100,000107: # 3. TIME OF NEXT IGNITION
041101,000108: # 4. GIMBAL ANGLES
041102,000109: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041103,000110: # 6. PLEASE PERFORM P00
041104,000111: # THE MODE DISPLAY MAY BE CHANGED TO 20
041105,000112:
041106,000113: # ERASABLE INITIALIZATION REQUIRED-
041107,000114:
041108,000115: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041109,000116: # XSMD,YSMD,ZSMD.
041110,000117: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041111,000118:
041112,000119: # DEBRIS-
041113,000120:
041114,000121: # WORK AREA
041115,000122: 33,3755 BANK 33
041116,000123: 15,2000 SETLOC P50S
041117,000124: 15,2000 BANK
041118,000125:
041119,000126: 15,2050 E5,1755 EBANK= BESTI
041120,000127: 15,2050 COUNT* $$/P52
041121,000128: 15,2050 04616 PROG52 TC BANKCALL
041122,000129: 15,2051 11175 CADR R02BOTH # IMU STATUS CHECK
041123,000130: 15,2052 34750 CAF PFRATBIT
041124,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041125,000132: 15,2054 10000 CCS A
041126,000133:
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Page 927 |
041128,000135: 15,2055 02060 TC P52A # YES
041129,000136: 15,2056 34752 CAF BIT2 # NO
041130,000137: 15,2057 02061 TC P52A +1
041131,000138: 15,2060 34753 P52A CAF BIT1
041132,000139: 15,2061 55145 TS OPTION2
041133,000140: 15,2062 34753 P52B CAF BIT1
041134,000141: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041135,000142: 15,2064 20566 CADR GOPERF4R # FLASH V04N06
041136,000143: 15,2065 06001 TC GOTOPOOH
041137,000144: 15,2066 12073 TCF +5 # V33-PROCEED
041138,000145: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041139,000146: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
041140,000147: 15,2071 00014 OCT 00014
041141,000148: 15,2072 05155 TC ENDOFJOB
041142,000149:
041143,000150: 15,2073 31145 CA OPTION2
041144,000151: 15,2074 76244 MASK THREE
041145,000152: 15,2075 50000 INDEX A
041146,000153: 15,2076 02077 TC +1
041147,000154: 15,2077 02105 TC P52T
041148,000155: 15,2100 02166 TC P52H
041149,000156: 15,2101 02105 TC P52T
041150,000157: 15,2102 06036 P52E TC INTPRET
041151,000158: 15,2103 77650 GOTO
041152,000159: 15,2104 32162 P52F
041153,000160: 15,2105 00006 P52T EXTEND
041154,000161: 15,2106 34755 DCA NEG0
041155,000162: 15,2107 53046 DXCH DSPTEM1
041156,000163: 15,2110 32172 CAF V06N34*
041157,000164: 15,2111 04616 TC BANKCALL
041158,000165: 15,2112 20351 CADR GOFLASH
041159,000166: 15,2113 06001 TC GOTOPOOH
041160,000167: 15,2114 02116 TC +2
041161,000168: 15,2115 02110 TC -5
041162,000169: 15,2116 53046 DXCH DSPTEM1
041163,000170: 15,2117 00006 EXTEND
041164,000171: 15,2120 62122 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041165,000172: 15,2121 12124 TCF +3
041166,000173: 15,2122 00006 EXTEND
041167,000174: 15,2123 30025 DCA TIME2
041168,000175: 15,2124 53775 DXCH TALIGN
041169,000176: 15,2125 31145 P52V CA OPTION2
041170,000177: 15,2126 74752 MASK BIT2
041171,000178: 15,2127 10000 CCS A
041172,000179: 15,2130 02134 TC P52W
041173,000180: 15,2131 06036 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041174,000181: 15,2132 77650 GOTO
041175,000182: 15,2133 32223 P52LS
041176,000183:
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Page 928 |
041178,000185: # START ALIGNMENT
041179,000186:
041180,000187: 15,2134 06036 P52W TC INTPRET
041181,000188: 15,2135 77745 DLOAD
041182,000189: 15,2136 02775 TALIGN # PICK UP ALIGN TIME
041183,000190: 15,2137 77624 CALL # COMPUTE NOMINAL IMU
041184,000191: 15,2140 31566 S52.3 # ORIENTATION
041185,000192: 15,2141 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041186,000193: 15,2142 31534 S52.2 # COMPUTE GIMBAL ANGLES
041187,000194: 15,2143 77776 EXIT
041188,000195: 15,2144 32171 CAF V06N22*
041189,000196: 15,2145 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041190,000197: 15,2146 20351 CADR GOFLASH
041191,000198: 15,2147 06001 TC GOTOPOOH
041192,000199: 15,2150 12174 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
041193,000200: 15,2151 06036 TC INTPRET # RECYCLE - VEHICLE HAS BEEN MANUEVERED
041194,000201: 15,2152 77650 GOTO
041195,000202: 15,2153 32141 P52D
041196,000203: 15,2154 06036 REGCOARS TC INTPRET
041197,000204: 15,2155 77624 CALL # DO COARSE ALIGN
041198,000205: 15,2156 31172 CAL53A # ROUTINE
041199,000206: 15,2157 43014 SET CLEAR
041200,000207: 15,2160 01462 REFSMFLG
041201,000208: 15,2161 01273 PFRATFLG
041202,000209: 15,2162 77624 P52F CALL
041203,000210: 15,2163 30656 R51
041204,000211: 15,2164 77776 P52OUT EXIT
041205,000212: 15,2165 06001 TC GOTOPOOH
041206,000213: 15,2166 06036 P52H TC INTPRET # PREFERRED OPTION, GO COMPUTE GIMBALS
041207,000214: 15,2167 77650 GOTO
041208,000215: 15,2170 32141 P52D
041209,000216:
041210,000217: 15,2171 5006 VB05N09 = V05N09
041211,000218: 15,2171 01426 V06N22* VN 00622
041212,000219: 15,2172 01442 V06N34* VN 634
041213,000220:
041214,000221: 15,2173 01531 V06N89* VN 0689
041215,000222:
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Page 929 |
041217,000224: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041218,000225: 15,2174 32222 COARSTYP CAF OCT13
041219,000226: 15,2175 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041220,000227: 15,2176 20476 CADR GOPERF1
041221,000228: 15,2177 16001 TCF GOTOPOOH # V34-TERMIN&OE
041222,000229: 15,2200 12154 TCF REGCOARS # V33-NORMAL COARSE
041223,000230: 15,2201 06036 TC INTPRET # V32-GYRO TORQUE COARSE
041224,000231: 15,2202 64375 VLOAD MXV
041225,000232: 15,2203 03605 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041226,000233: 15,2204 01734 REFSMMAT
041227,000234: 15,2205 77656 UNIT
041228,000235: 15,2206 26665 STOVL XDC
041229,000236: 15,2207 03613 YSMD
041230,000237: 15,2210 53521 MXV UNIT
041231,000238: 15,2211 01734 REFSMMAT
041232,000239: 15,2212 26673 STOVL YDC
041233,000240: 15,2213 03621 ZSMD
041234,000241: 15,2214 53521 MXV UNIT
041235,000242: 15,2215 01734 REFSMMAT
041236,000243: 15,2216 36701 STCALL ZDC
041237,000244: 15,2217 31025 GYCOARS
041238,000245: 15,2220 77650 GOTO
041239,000246: 15,2221 32164 P52OUT
041240,000247: 15,2222 00013 OCT13 OCT 13
041241,000248:
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Page 930 |
041243,000250: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041244,000251: 15,2223 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041245,000252: 15,2224 01463 LUNAFLAG
041246,000253: 15,2225 00662 ERADFLAG # TO PICK UP RLS
041247,000254: 15,2226 77201 SETPD VLOAD
041248,000255: 15,2227 00001 0
041249,000256: 15,2230 02023 RLS # PICK UP LANDING SITE VEC IN MF
041250,000257: 15,2231 41525 PDDL PUSH # RLS PD 0-5
041251,000258: 15,2232 02775 TALIGN
041252,000259: 15,2233 77624 CALL
041253,000260: 15,2234 51504 RP-TO-R # TRANS RLS TO REF
041254,000261: 15,2235 77742 VSR2
041255,000262: 15,2236 16032 STODL ALPHAV # INPUT TO LAT-LONG
041256,000263: 15,2237 02775 TALIGN
041257,000264: 15,2240 77624 CALL
041258,000265: 15,2241 26351 LAT-LONG # GET LAT, LONG, AND ALT
041259,000266: 15,2242 70545 DLOAD SR1 # RESCALE LONG TO DEGREES/2
041260,000267: 15,2243 01123 LONG
041261,000268: 15,2244 16711 STODL LANDLONG
041262,000269: 15,2245 01125 ALT
041263,000270: 15,2246 16713 STODL LANDALT # ALT ALREADY AT 2(29) METERS
041264,000271: 15,2247 01121 LAT
041265,000272: 15,2250 02707 STORE LANDLAT
041266,000273: 15,2251 77776 EXIT
041267,000274:
041268,000275: 15,2252 32173 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2, ALT
041269,000276: 15,2253 04616 TC BANKCALL
041270,000277: 15,2254 20351 CADR GOFLASH
041271,000278: 15,2255 16001 TCF GOTOPOOH # VB34 TERMINATE
041272,000279: 15,2256 12260 TCF +2 # VB33 PROCEED
041273,000280: 15,2257 12252 TCF LSDISP # VB32 RECYCLE
041274,000281:
041275,000282: 15,2260 06036 TC INTPRET
041276,000283: 15,2261 72545 DLOAD SL1
041277,000284: 15,2262 02711 LANDLONG
041278,000285: 15,2263 15123 STODL LONG
041279,000286: 15,2264 02713 LANDALT
041280,000287: 15,2265 15125 STODL ALT
041281,000288: 15,2266 02707 LANDLAT
041282,000289: 15,2267 15121 STODL LAT
041283,000290: 15,2270 02775 TALIGN
041284,000291: 15,2271 77624 CALL
041285,000292: 15,2272 26422 LALOTORV
041286,000293: 15,2273 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041287,000294: 15,2274 02032 ALPHAV
041288,000295: 15,2275 37605 STCALL XSMD
041289,000296: 15,2276 33647 LSORIENT
041290,000297: 15,2277 77650 GOTO
041291,000298: 15,2300 32141 P52D # NOW GO COMPUTE GIMBAL ANGLES
041292,000299:
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Page 931 |
041294,000301: # NAME -S50 ALIAS LOCSAM
041295,000302: # BY
041296,000303: # VINCENT
041297,000304: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041298,000305:
041299,000306: # DEFINE
041300,000307:
041301,000308:
041302,000309: # U = UNIT( SUN WRT EARTH)
041303,000310: # ES
041304,000311:
041305,000312: # U =UNIT( MOON WRT EARTH)
041306,000313: # EM
041307,000314:
041308,000315: # R =POSITION VECTOR OF LEM
041309,000316: # L
041310,000317:
041311,000318: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041312,000319: # EM
041313,000320:
041314,000321: # P =RATIO R /(DISTANCE SUN TO EARTH) >.00257125
041315,000322: # EM
041316,000323:
041317,000324: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041318,000325: # E
041319,000326:
041320,000327: # LOCSAM COMPUTES IN EARTH INFLUENCE
041321,000328:
041322,000329:
041323,000330: # VSUN = U
041324,000331: # ES
041325,000332:
041326,000333: # VEARTH = -UNIT( R )
041327,000334: # L
041328,000335:
041329,000336: # VMOON = UNIT(R .U - R )
041330,000337: # EM EM L
041331,000338:
041332,000339: # CSUN = COS 90
041333,000340:
041334,000341: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041335,000342: # E L
041336,000343:
041337,000344: # CMOON = COS 5
041338,000345:
041339,000346:
041340,000347: # INPUT - TIME IN MPAC
041341,000348: # OUTPUT - LISTED ABOVE
041342,000349: # SUBROUTINES -LSPOS,LEMPREC
041343,000350: # DEBRIS - VAC AREA ,TSIGHT
041344,000351:
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Page 932 |
041346,000353: 14,2000 SETLOC P50S1
041347,000354: 14,2000 BANK
041348,000355: 14,2347 E5,1642 EBANK= XSM
041349,000356:
041350,000357: 14,2347 COUNT* $$/LOSAM
041351,000358:
041352,000359: 14,2347 14,2347 S50 = LOCSAM
041353,000360: 14,2347 77620 LOCSAM STQ
041354,000361: 14,2350 02745 QMIN
041355,000362: 14,2351 37560 STCALL TSIGHT
041356,000363: 14,2352 33663 LSPOS
041357,000364: 14,2353 77745 DLOAD
041358,000365: 14,2354 03560 TSIGHT
041359,000366: 14,2355 34041 STCALL TDEC1
041360,000367: 14,2356 27057 LEMPREC
041361,000368: 14,2357 61131 SSP TIX,2
041362,000369: 14,2360 00052 S2
041363,000370: 14,2361 00000 0
041364,000371: 14,2362 30404 MOONCNTR
041365,000372: 14,2363 74375 EARTCNTR VLOAD VXSC
041366,000373: 14,2364 02723 VMOON
041367,000374: 14,2365 30001 RSUBEM
041368,000375: 14,2366 52372 VSL1 VSU
041369,000376: 14,2367 00001 RATT
041370,000377: 14,2370 77656 UNIT
041371,000378: 14,2371 26723 STOVL VMOON
041372,000379: 14,2372 00001 RATT
041373,000380: 14,2373 57456 UNIT VCOMP
041374,000381: 14,2374 16707 STODL VEARTH
041375,000382: 14,2375 30005 RSUBE
041376,000383: 14,2376 77624 CALL
041377,000384: 14,2377 30436 OCCOS
041378,000385: 14,2400 14017 STODL CEARTH
041379,000386: 14,2401 30445 CSS5
041380,000387: 14,2402 34023 STCALL CMOON
041381,000388: 14,2403 30431 ENDSAM
041382,000389: 14,2404 74375 MOONCNTR VLOAD VXSC
041383,000390: 14,2405 02723 VMOON
041384,000391: 14,2406 30007 ROE
041385,000392: 14,2407 53445 BVSU UNIT
041386,000393: 14,2410 02715 VSUN
041387,000394: 14,2411 26715 STOVL VSUN
041388,000395: 14,2412 02723 VMOON
041389,000396: 14,2413 53361 VXSC VAD
041390,000397: 14,2414 30001 RSUBEM
041391,000398: 14,2415 00001 RATT
041392,000399: 14,2416 57456 UNIT VCOMP
041393,000400: 14,2417 26707 STOVL VEARTH
041394,000401: 14,2420 00001 RATT
041395,000402: 14,2421 57456 UNIT VCOMP
041396,000403:
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Page 933 |
041398,000405: 14,2422 16723 STODL VMOON
041399,000406: 14,2423 30003 RSUBM
041400,000407: 14,2424 77624 CALL
041401,000408: 14,2425 30436 OCCOS
041402,000409: 14,2426 14023 STODL CMOON
041403,000410: 14,2427 30445 CSS5
041404,000411: 14,2430 00017 STORE CEARTH
041405,000412: 14,2431 77745 ENDSAM DLOAD
041406,000413: 14,2432 30447 CSSUN
041407,000414: 14,2433 00021 STORE CSUN
041408,000415: 14,2434 77650 GOTO
041409,000416: 14,2435 02745 QMIN
041410,000417: 14,2436 70471 OCCOS DDV SR1
041411,000418: 14,2437 00045 36D
041412,000419: 14,2440 43336 ASIN DAD
041413,000420: 14,2441 30451 5DEGREES
041414,000421: 14,2442 70546 COS SR1
041415,000422: 14,2443 77616 RVQ
041416,000423: 14,2444 CEARTH = 14D
041417,000424: 14,2444 CSUN = 16D
041418,000425: 14,2444 CMOON = 18D
041419,000426: 14,2444 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041420,000427: 14,2446 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041421,000428: 14,2450 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041422,000429:
![]() |
Page 934 |
041424,000431: # PROGRAM NAME - R56 DATE DEC 20 66
041425,000432: # MOD 1 LOG SECTION P51-P53
041426,000433: # ASSEMBLY SUNDISK REV40
041427,000434: # BY KEN VINCENT
041428,000435:
041429,000436: # FUNCTION
041430,000437: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041431,000438: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041432,000439: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041433,000440: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041434,000441: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041435,000442: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041436,000443: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041437,000444: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041438,000445: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041439,000446: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041440,000447: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041441,000448: # THOSE WITH GOOD SEPARATION,AND IN FIELD OF VIEW.
041442,000449:
041443,000450: # CALLING SEQUENCE
041444,000451: # L TC BANKCALL
041445,000452: # L+1 CADR R56
041446,000453: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041447,000454: # L+3 NORMAL RETURN
041448,000455:
041449,000456: # OUTPUT
041450,000457: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041451,000458: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041452,000459:
041453,000460: # INITIALIZATION
041454,000461: # 1)A CALL TO LOCSAM MUST BE MADE
041455,000462:
041456,000463: # DEBRIS
041457,000464: # WORK AREA
041458,000465: # X,Y,ZNB
041459,000466: # SINCDU,COSCDU
041460,000467: # STARAD - STAR +5
041461,000468: 14,2452 14,2452 R56 = PICAPAR
041462,000469: 14,2452 COUNT* $$/R56
041463,000470: 14,2452 04645 PICAPAR TC MAKECADR
041464,000471: 14,2453 55745 TS QMIN
041465,000472: 14,2454 06036 TC INTPRET
041466,000473: 14,2455 77624 CALL
041467,000474: 14,2456 47443 CDUTRIG
041468,000475: 14,2457 77624 CALL
041469,000476: 14,2460 31267 CALCSMSC
041470,000477: 14,2461 77601 SETPD
041471,000478: 14,2462 00001 0
041472,000479: 14,2463 71214 SET DLOAD # VFLAG = 1
041473,000480: 14,2464 01465 VFLAG
041474,000481:
![]() |
Page 935 |
041476,000483: 14,2465 22275 DPZERO
041477,000484: 14,2466 26756 STOVL BESTI
041478,000485: 14,2467 02665 XNB
041479,000486: 14,2470 63361 VXSC PDVL
041480,000487: 14,2471 22273 HALFDP
041481,000488: 14,2472 02701 ZNB
041482,000489: 14,2473 74370 AXT,1 VXSC
041483,000490: 14,2474 00344 228D # X1 = 37 X 6 + 6
041484,000491: 14,2475 22273 HALFDP
041485,000492: 14,2476 77655 VAD
041486,000493: 14,2477 53505 VXM UNIT
041487,000494: 14,2500 01734 REFSMMAT
041488,000495: 14,2501 02731 STORE SAX # SAX = SHAFT AXIS
041489,000496: 14,2502 66331 SSP SSP # S1=S2=6
041490,000497: 14,2503 00051 S1
041491,000498: 14,2504 00006 6
041492,000499: 14,2505 00052 S2
041493,000500: 14,2506 00006 6
041494,000501: 14,2507 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041495,000502: 14,2510 30512 PIC2
041496,000503: 14,2511 30627 PICEND
041497,000504: 14,2512 50373 PIC2 VLOAD* DOT
041498,000505: 14,2513 30347 CATLOG,1
041499,000506: 14,2514 02731 SAX
041500,000507: 14,2515 50025 DSU BMN
041501,000508: 14,2516 30626 CSS33
041502,000509: 14,2517 30507 PIC1
041503,000510: 14,2520 77754 LXA,2
041504,000511: 14,2521 00046 X1
041505,000512: 14,2522 52104 PIC3 TIX,2 GOTO
041506,000513: 14,2523 30525 PIC4
041507,000514: 14,2524 30507 PIC1
041508,000515: 14,2525 50373 PIC4 VLOAD* DOT
041509,000516: 14,2526 47430 CATLOG,2
041510,000517: 14,2527 02731 SAX
041511,000518: 14,2530 50025 DSU BMN
041512,000519: 14,2531 30626 CSS33
041513,000520: 14,2532 30522 PIC3
041514,000521: 14,2533 47773 VLOAD* DOT*
041515,000522: 14,2534 30347 CATLOG,1
041516,000523: 14,2535 47430 CATLOG,2
041517,000524: 14,2536 51025 DSU BPL
041518,000525: 14,2537 30624 CSS40
041519,000526: 14,2540 30522 PIC3
041520,000527: 14,2541 45173 VLOAD* CALL
041521,000528: 14,2542 30347 CATLOG,1
041522,000529: 14,2543 30601 OCCULT
041523,000530: 14,2544 77614 BON
041524,000531: 14,2545 01710 CULTFLAG
041525,000532: 14,2546 30507 PIC1
041526,000533:
![]() |
Page 936 |
041528,000535: 14,2547 45173 VLOAD* CALL
041529,000536: 14,2550 47430 CATLOG,2
041530,000537: 14,2551 30601 OCCULT
041531,000538: 14,2552 77614 BON
041532,000539: 14,2553 01710 CULTFLAG
041533,000540: 14,2554 30522 PIC3
041534,000541: 14,2555 77614 STRATGY BONCLR
041535,000542: 14,2556 01605 VFLAG
041536,000543: 14,2557 30574 NEWPAR
041537,000544: 14,2560 65120 XCHX,1 XCHX,2
041538,000545: 14,2561 02755 BESTI
041539,000546: 14,2562 02756 BESTJ
041540,000547: 14,2563 47773 STRAT VLOAD* DOT*
041541,000548: 14,2564 30347 CATLOG,1
041542,000549: 14,2565 47430 CATLOG,2
041543,000550: 14,2566 43006 PUSH BOFINV
041544,000551: 14,2567 01545 VFLAG
041545,000552: 14,2570 30560 STRAT -3
041546,000553: 14,2571 45345 DLOAD DSU
041547,000554: 14,2572 77644 BPL
041548,000555: 14,2573 30522 PIC3
041549,000556: 14,2574 67130 NEWPAR SXA,1 SXA,2
041550,000557: 14,2575 02755 BESTI
041551,000558: 14,2576 02756 BESTJ
041552,000559: 14,2577 77650 GOTO
041553,000560: 14,2600 30522 PIC3
041554,000561: 14,2601 51321 OCCULT MXV BVSU
041555,000562: 14,2602 02707 CULTRIX
041556,000563: 14,2603 00017 CSS
041557,000564: 14,2604 77654 BZE
041558,000565: 14,2605 30620 CULTED
041559,000566: 14,2606 75240 BMN SIGN
041560,000567: 14,2607 30620 CULTED
041561,000568: 14,2610 00160 MPAC +3
041562,000569: 14,2611 75240 BMN SIGN
041563,000570: 14,2612 30620 CULTED
041564,000571: 14,2613 00162 MPAC +5
041565,000572: 14,2614 43040 BMN CLRGO
041566,000573: 14,2615 30620 CULTED
041567,000574: 14,2616 01630 CULTFLAG
041568,000575: 14,2617 00052 QPRET
041569,000576: 14,2620 77614 CULTED SETGO
041570,000577: 14,2621 01430 CULTFLAG
041571,000578: 14,2622 00052 QPRET
041572,000579: 14,2623 0000016 CSS = CEARTH
041573,000580: 14,2623 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041574,000581: 14,2625 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041575,000582: 14,2627 77414 PICEND BOFF EXIT
041576,000583:
![]() |
Page 937 |
041578,000585: 14,2630 01745 VFLAG
041579,000586: 14,2631 30633 PICGXT
041580,000587: 14,2632 02654 TC PICBXT
041581,000588: 14,2633 73150 PICGXT LXA,1 LXA,2
041582,000589: 14,2634 02755 BESTI
041583,000590: 14,2635 02756 BESTJ
041584,000591: 14,2636 47775 VLOAD DOT*
041585,000592: 14,2637 02731 SAX
041586,000593: 14,2640 30347 CATLOG,1
041587,000594: 14,2641 47715 PDVL DOT*
041588,000595: 14,2642 02731 SAX
041589,000596: 14,2643 47430 CATLOG,2
041590,000597: 14,2644 77625 DSU
041591,000598: 14,2645 66044 BPL SXA,1
041592,000599: 14,2646 30652 PICNSWP
041593,000600: 14,2647 02756 BESTJ
041594,000601: 14,2650 77734 SXA,2
041595,000602: 14,2651 02755 BESTI
041596,000603: 14,2652 77776 PICNSWP EXIT
041597,000604: 14,2653 25745 INCR QMIN
041598,000605: 14,2654 31745 PICBXT CA QMIN
041599,000606: 14,2655 04622 TC SWCALL
041600,000607: 14,2656 VPD = 0D
041601,000608: 14,2656 V0 = 6D
041602,000609: 14,2656 V1 = 12D
041603,000610: 14,2656 V2 = 18D
041604,000611: 14,2656 V3 = 24D
041605,000612: 14,2656 DP0 = 30D
041606,000613: 14,2656 DP1 = 32D
041607,000614:
![]() |
Page 938 |
041609,000616: # NAME-R51 FINE ALIGN
041610,000617: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041611,000618: # CALLING SEQ- CALL R51
041612,000619: # INPUT - REFSMMAT
041613,000620: # OUTPUT- GYRO TORQUE PULSES
041614,000621: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041615,000622: 14,2656 COUNT* $$/R51
041616,000623: 14,2656 77620 R51 STQ
041617,000624: 14,2657 02746 QMAJ
041618,000625: 14,2660 77776 R51.1 EXIT
041619,000626: 14,2661 34761 R51C CAF OCT15
041620,000627: 14,2662 04616 TC BANKCALL
041621,000628: 14,2663 20476 CADR GOPERF1
041622,000629: 14,2664 06001 TC GOTOPOOH
041623,000630: 14,2665 02667 TC +2 # V33E
041624,000631: 14,2666 02712 TC R51E # ENTER
041625,000632: 14,2667 06036 TC INTPRET
041626,000633: 14,2670 43234 RTB DAD
041627,000634: 14,2671 21462 LOADTIME
041628,000635: 14,2672 31024 TSIGHT1
041629,000636: 14,2673 77624 CALL
041630,000637: 14,2674 30347 LOCSAM
041631,000638: 14,2675 77776 EXIT
041632,000639: 14,2676 04616 TC BANKCALL
041633,000640: 14,2677 30452 CADR R56
041634,000641: 14,2700 02702 TC R51I
041635,000642: 14,2701 02712 R51F TC R51E
041636,000643: 14,2702 05567 R51I TC ALARM
041637,000644: 14,2703 00405 OCT 405
041638,000645: 14,2704 35006 CAF VB05N09
041639,000646: 14,2705 04616 TC BANKCALL
041640,000647: 14,2706 20351 CADR GOFLASH
041641,000648: 14,2707 06001 TC GOTOPOOH
041642,000649: 14,2710 02712 TC R51E
041643,000650: 14,2711 02661 TC R51C
041644,000651: 14,2712 34755 R51E CAF ZERO
041645,000652: 14,2713 55757 TS STARIND
041646,000653: 14,2714 06036 R51.2 TC INTPRET
041647,000654: 14,2715 77776 R51.3 EXIT
041648,000655: 14,2716 05353 TC PHASCHNG
041649,000656: 14,2717 05024 OCT 05024
041650,000657: 14,2720 13000 OCT 13000
041651,000658: 14,2721 06036 TC INTPRET
041652,000659: 14,2722 77624 CALL
041653,000660: 14,2723 31610 R52 # AOP WILL MAKE CALLS TO SIGHTING
041654,000661: 14,2724 77776 EXIT
041655,000662: 14,2725 04616 TC BANKCALL
041656,000663: 14,2726 16000 CADR AOTMARK
041657,000664: 14,2727 04616 TC BANKCALL
041658,000665: 14,2730 17665 CADR OPTSTALL
041659,000666:
![]() |
Page 939 |
041661,000668: 14,2731 05703 TC CURTAINS
041662,000669: 14,2732 11757 CCS STARIND
041663,000670: 14,2733 12735 TCF +2
041664,000671: 14,2734 03006 TC R51.4
041665,000672: 14,2735 06036 TC INTPRET
041666,000673: 14,2736 77775 VLOAD
041667,000674: 14,2737 02715 STARAD +6
041668,000675: 14,2740 02767 STORE STARSAV2
041669,000676: 14,2741 77776 EXIT
041670,000677: 14,2742 05353 TC PHASCHNG
041671,000678: 14,2743 05024 OCT 05024
041672,000679: 14,2744 13000 OCT 13000
041673,000680: 14,2745 06036 TC INTPRET
041674,000681: 14,2746 45145 DLOAD CALL
041675,000682: 14,2747 03560 TSIGHT
041676,000683: 14,2750 32540 PLANET
041677,000684: 14,2751 53521 MXV UNIT
041678,000685: 14,2752 01734 REFSMMAT
041679,000686: 14,2753 26715 STOVL STARAD +6
041680,000687: 14,2754 03552 PLANVEC
041681,000688: 14,2755 53521 MXV UNIT
041682,000689: 14,2756 01734 REFSMMAT
041683,000690: 14,2757 26707 STOVL STARAD
041684,000691: 14,2760 02761 STARSAV1
041685,000692: 14,2761 24007 STOVL 6D
041686,000693: 14,2762 02767 STARSAV2
041687,000694: 14,2763 34015 STCALL 12D
041688,000695: 14,2764 31121 R54 # STAR DATA TEST
041689,000696: 14,2765 45014 BOFF CALL
041690,000697: 14,2766 00354 FREEFLAG
041691,000698: 14,2767 30775 R51K
041692,000699: 14,2770 47345 AXISGEN
041693,000700: 14,2771 77624 CALL
041694,000701: 14,2772 31066 R55 # GYRO TORQUE
041695,000702: 14,2773 77614 CLEAR
041696,000703: 14,2774 01273 PFRATFLG
041697,000704: 14,2775 77776 R51K EXIT
041698,000705: 14,2776 35742 R51P63 CAF OCT14
041699,000706: 14,2777 04616 TC BANKCALL
041700,000707: 14,3000 20476 CADR GOPERF1
041701,000708: 14,3001 06001 TC GOTOPOOH
041702,000709: 14,3002 02661 TC R51C
041703,000710: 14,3003 06036 TC INTPRET
041704,000711: 14,3004 77650 GOTO
041705,000712: 14,3005 02746 QMAJ
041706,000713: 14,3006 06036 R51.4 TC INTPRET
041707,000714: 14,3007 77775 VLOAD
041708,000715: 14,3010 02715 STARAD +6
041709,000716: 14,3011 02761 STORE STARSAV1
041710,000717: 14,3012 45145 DLOAD CALL
041711,000718:
![]() |
Page 940 |
041713,000720: 14,3013 03560 TSIGHT
041714,000721: 14,3014 32540 PLANET
041715,000722: 14,3015 03552 STORE PLANVEC
041716,000723: 14,3016 77731 SSP
041717,000724: 14,3017 02760 STARIND
041718,000725: 14,3020 00001 1
041719,000726: 14,3021 77650 GOTO
041720,000727: 14,3022 30715 R51.3
041721,000728: 14,3023 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041722,000729:
![]() |
Page 941 |
041724,000731: # GYRO TORQUE COARSE ALIGNMENT
041725,000732: 14,3025 45020 GYCOARS STQ CALL
041726,000733: 14,3026 02746 QMAJ
041727,000734: 14,3027 47151 CALCGTA
041728,000735: 14,3030 43014 CLEAR CLEAR
041729,000736: 14,3031 01260 DRIFTFLG
041730,000737: 14,3032 01662 REFSMFLG
041731,000738: 14,3033 77776 EXIT
041732,000739: 14,3034 33065 CAF V16N20 # MONITOR GIMBALS
041733,000740: 14,3035 04616 TC BANKCALL
041734,000741: 14,3036 20327 CADR GODSPR
041735,000742: 14,3037 33120 CA R55CDR
041736,000743: 14,3040 04616 TC BANKCALL
041737,000744: 14,3041 17276 CADR IMUPULSE
041738,000745: 14,3042 04616 TC BANKCALL
041739,000746: 14,3043 17671 CADR IMUSTALL
041740,000747: 14,3044 05703 TC CURTAINS
041741,000748: 14,3045 05353 TC PHASCHNG
041742,000749: 14,3046 05024 OCT 05024
041743,000750: 14,3047 13000 OCT 13000
041744,000751: 14,3050 06036 TC INTPRET
041745,000752: 14,3051 75160 AXC,1 AXC,2
041746,000753: 14,3052 03604 XSMD
041747,000754: 14,3053 01733 REFSMMAT
041748,000755: 14,3054 77624 CALL # STORE DESIRED REFSMMAT
041749,000756: 14,3055 31237 MATMOVE
041750,000757: 14,3056 43014 CLEAR SET
041751,000758: 14,3057 01273 PFRATFLG
041752,000759: 14,3060 01462 REFSMFLG
041753,000760: 14,3061 77624 CALL
041754,000761: 14,3062 31523 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041755,000762: 14,3063 77650 GOTO
041756,000763: 14,3064 30775 R51K
041757,000764: 14,3065 04024 V16N20 VN 1620
041758,000765:
![]() |
Page 942 |
041760,000767: # R55 GYRO TORQUE
041761,000768: # FUNCTION-COMPUTE AND SEND GYRO PULSES
041762,000769: # CALLING SEQ- CALL R55
041763,000770: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041764,000771: # OUTPUT- GYRO PULSES
041765,000772: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041766,000773: 14,3066 COUNT* $$/R55
041767,000774: 14,3066 77620 R55 STQ
041768,000775: 14,3067 02745 QMIN
041769,000776: 14,3070 77624 CALL
041770,000777: 14,3071 47151 CALCGTA
041771,000778: 14,3072 77776 PULSEM EXIT
041772,000779: 14,3073 33117 R55.1 CAF V06N93
041773,000780: 14,3074 04616 TC BANKCALL
041774,000781: 14,3075 20351 CADR GOFLASH
041775,000782: 14,3076 06001 TC GOTOPOOH
041776,000783: 14,3077 03101 TC R55.2
041777,000784: 14,3100 03114 TC R55RET
041778,000785: 14,3101 05353 R55.2 TC PHASCHNG
041779,000786: 14,3102 00214 OCT 00214
041780,000787: 14,3103 33120 CA R55CDR
041781,000788: 14,3104 04616 TC BANKCALL
041782,000789: 14,3105 17276 CADR IMUPULSE
041783,000790: 14,3106 04616 TC BANKCALL
041784,000791: 14,3107 17671 CADR IMUSTALL
041785,000792: 14,3110 05703 TC CURTAINS
041786,000793: 14,3111 05353 TC PHASCHNG
041787,000794: 14,3112 05024 OCT 05024
041788,000795: 14,3113 13000 OCT 13000
041789,000796: 14,3114 06036 R55RET TC INTPRET
041790,000797: 14,3115 77650 GOTO
041791,000798: 14,3116 02745 QMIN
041792,000799: 14,3117 01535 V06N93 VN 0693
041793,000800: 14,3120 02737 R55CDR ECADR OGC
041794,000801: 14,3121 14,3121 R54 = CHKSDATA
041795,000802: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
041796,000803: # MOD NO- 0 LOG SECTION- P51-P53
041797,000804: # MODIFICATION BY- LONSKE ASSEMBLY-
041798,000805:
041799,000806: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041800,000807: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041801,000808: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041802,000809:
041803,000810: # OS1 = OBSERVED STAR 1 VECTOR
041804,000811: # OS2 = OBSERVED STAR 2 VECTOR
041805,000812: # SS1 = STORED STAR 1 VECTOR
041806,000813: # SS2 = STORED STAR 2 VECTOR
041807,000814: # A1 = ARCCOS(OS1 - OS2)
041808,000815: # A2 = ARCCOS(SS1 - SS2)
041809,000816: # A = ABS(2(A1 - A2))
041810,000817:
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Page 943 |
041812,000819: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041813,000820: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041814,000821: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041815,000822: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041816,000823: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041817,000824:
041818,000825: # ERASABLE INITIALIZATION REQUIRED -
041819,000826: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041820,000827: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041821,000828: # DEBRIS -
041822,000829: 14,3121 COUNT* $$/R54
041823,000830: 14,3121 43020 CHKSDATA STQ SET
041824,000831: 14,3122 02745 QMIN
041825,000832: 14,3123 00074 FREEFLAG
041826,000833: 14,3124 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041827,000834: 14,3125 02706 STARAD
041828,000835:
041829,000836: 14,3126 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041830,000837: 14,3127 00001 0,1
041831,000838: 14,3130 00007 6,1
041832,000839: 14,3131 65552 SL1 ACOS
041833,000840: 14,3132 00025 STORE THETA
041834,000841: 14,3133 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041835,000842: 14,3134 00354 FREEFLAG
041836,000843: 14,3135 31145 CHKSD
041837,000844: 14,3136 00174 FREEFLAG # CLEAR FREEFLAG
041838,000845: 14,3137 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041839,000846: 14,3140 00006 6D
041840,000847: 14,3141 00025 THETA
041841,000848: 14,3142 00023 STORE 18D
041842,000849: 14,3143 77650 GOTO
041843,000850: 14,3144 31126 CHKSB # RETURN TO CAL. 2ND ANGLE
041844,000851: 14,3145 45345 CHKSD DLOAD DSU
041845,000852: 14,3146 00025 THETA
041846,000853: 14,3147 00023 18D
041847,000854: 14,3150 47046 ABS RTB # COMPUTE POS DIFF
041848,000855: 14,3151 21516 SGNAGREE
041849,000856: 14,3152 01046 STORE NORMTEM1
041850,000857: 14,3153 77414 SET EXIT
041851,000858: 14,3154 00074 FREEFLAG
041852,000859: 14,3155 33171 CAF VB6N5
041853,000860: 14,3156 04616 TC BANKCALL
041854,000861: 14,3157 20351 CADR GOFLASH
041855,000862: 14,3160 16001 TCF GOTOPOOH
041856,000863: 14,3161 03166 TC CHKSDA # PROCEED
041857,000864: 14,3162 06036 TC INTPRET
041858,000865: 14,3163 52014 CLEAR GOTO
041859,000866: 14,3164 00274 FREEFLAG
041860,000867: 14,3165 02745 QMIN
041861,000868: 14,3166 06036 CHKSDA TC INTPRET
041862,000869:
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Page 944 |
041864,000871: 14,3167 77650 GOTO
041865,000872: 14,3170 02745 QMIN
041866,000873: 14,3171 01405 VB6N5 VN 605
041867,000874: # NAME - CAL53A
041868,000875: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041869,000876: # CALLING SEQUENCE - CALL CAL53A
041870,000877: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
041871,000878: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041872,000879: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041873,000880: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041874,000881: 14,3172 COUNT* $$/R50
041875,000882: 14,3172 45020 CAL53A STQ CALL
041876,000883: 14,3173 00035 29D
041877,000884: 14,3174 31534 S52.2 # MAKE ONE FINAL COMP OF GIMBLE ANGLES
041878,000885: 14,3175 66234 RTB SSP
041879,000886: 14,3176 31253 RDCDUS # READ CDUS
041880,000887: 14,3177 00051 S1
041881,000888: 14,3200 00001 1
041882,000889: 14,3201 40370 AXT,1 SETPD
041883,000890: 14,3202 00003 3
041884,000891: 14,3203 00005 4
041885,000892: 14,3204 70543 CALOOP DLOAD* SR1
041886,000893: 14,3205 00325 THETAD +3D,1
041887,000894: 14,3206 70523 PDDL* SR1
041888,000895: 14,3207 00005 4,1
041889,000896: 14,3210 51425 DSU ABS
041890,000897: 14,3211 45206 PUSH DSU
041891,000898: 14,3212 31252 DEGREE1
041892,000899: 14,3213 71240 BMN DLOAD
041893,000900: 14,3214 31226 CALOOP1
041894,000901: 14,3215 51025 DSU BPL
041895,000902: 14,3216 31253 DEG359
041896,000903: 14,3217 31226 CALOOP1
041897,000904: 14,3220 77624 COARFINE CALL
041898,000905: 14,3221 31506 COARSE
041899,000906: 14,3222 77624 CALL
041900,000907: 14,3223 31523 NCOARSE
041901,000908: 14,3224 77650 GOTO
041902,000909: 14,3225 31230 FINEONLY
041903,000910: 14,3226 77700 CALOOP1 TIX,1
041904,000911: 14,3227 31204 CALOOP
041905,000912: 14,3230 75160 FINEONLY AXC,1 AXC,2
041906,000913: 14,3231 02642 XSM
041907,000914: 14,3232 01733 REFSMMAT
041908,000915: 14,3233 77624 CALL
041909,000916: 14,3234 31237 MATMOVE
041910,000917: 14,3235 77650 GOTO
041911,000918: 14,3236 00035 29D
041912,000919: 14,3237 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041913,000920: 14,3240 00001 0,1
041914,000921:
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Page 945 |
041916,000923: 14,3241 10001 STORE 0,2
041917,000924: 14,3242 77773 VLOAD*
041918,000925: 14,3243 00007 6D,1
041919,000926: 14,3244 10007 STORE 6D,2
041920,000927: 14,3245 77773 VLOAD*
041921,000928: 14,3246 00015 12D,1
041922,000929: 14,3247 10015 STORE 12D,2
041923,000930: 14,3250 77616 RVQ
041924,000931: 14,3251 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041925,000932: 14,3252 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041926,000933: 14,3253 00004 RDCDUS INHINT # READ CDUS
041927,000934: 14,3254 30032 CA CDUX
041928,000935: 14,3255 50120 INDEX FIXLOC
041929,000936: 14,3256 54001 TS 1
041930,000937: 14,3257 30033 CA CDUY
041931,000938: 14,3260 50120 INDEX FIXLOC
041932,000939: 14,3261 54002 TS 2
041933,000940: 14,3262 30034 CA CDUZ
041934,000941: 14,3263 50120 INDEX FIXLOC
041935,000942: 14,3264 54003 TS 3
041936,000943: 14,3265 00003 RELINT
041937,000944: 14,3266 06060 TC DANZIG # +
041938,000945: 14,3267 COUNT* $$/INFLT
041939,000946: 14,3267 77760 CALCSMSC AXC,1
041940,000947: 14,3270 02664 XNB
041941,000948:
041942,000949: 14,3271 41345 XNBNDX DLOAD DMP
041943,000950: 14,3272 00737 SINCDUY
041944,000951: 14,3273 00747 COSCDUZ
041945,000952: 14,3274 77676 DCOMP
041946,000953: 14,3275 70525 PDDL SR1
041947,000954: 14,3276 00741 SINCDUZ
041948,000955: 14,3277 41325 PDDL DMP
041949,000956: 14,3300 00745 COSCDUY
041950,000957: 14,3301 00747 COSCDUZ
041951,000958: 14,3302 76466 VDEF VSL1
041952,000959: 14,3303 04001 STORE 0,1
041953,000960: 14,3304 41345 DLOAD DMP
041954,000961: 14,3305 00743 SINCDUX
041955,000962: 14,3306 00741 SINCDUZ
041956,000963: 14,3307 77752 SL1
041957,000964: 14,3310 00033 STORE 26D
041958,000965: 14,3311 77605 DMP
041959,000966: 14,3312 00737 SINCDUY
041960,000967: 14,3313 41325 PDDL DMP
041961,000968: 14,3314 00751 COSCDUX
041962,000969: 14,3315 00745 COSCDUY
041963,000970: 14,3316 77625 DSU
041964,000971: 14,3317 41325 PDDL DMP
041965,000972: 14,3320 00743 SINCDUX
041966,000973:
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Page 946 |
041968,000975: 14,3321 00747 COSCDUZ
041969,000976: 14,3322 77676 DCOMP
041970,000977: 14,3323 41325 PDDL DMP
041971,000978: 14,3324 00751 COSCDUX
041972,000979: 14,3325 00737 SINCDUY
041973,000980: 14,3326 41325 PDDL DMP
041974,000981: 14,3327 00745 COSCDUY
041975,000982: 14,3330 00033 26D
041976,000983: 14,3331 55415 DAD VDEF
041977,000984: 14,3332 77772 VSL1
041978,000985: 14,3333 04015 STORE 14,1
041979,000986: 14,3334 76433 VXV* VSL1
041980,000987: 14,3335 00001 0,1
041981,000988: 14,3336 04007 STORE 6,1
041982,000989: 14,3337 77616 RVQ
041983,000990:
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Page 947 |
041985,000992: # NAME - P51 - IMU ORIENTATION DETERMINATION
041986,000993: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
041987,000994: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041988,000995:
041989,000996: # FUNCTIONAL DESCRIPTION
041990,000997:
041991,000998: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041992,000999: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041993,001000: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041994,001001: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041995,001002:
041996,001003: # CALLING SEQUENCE
041997,001004:
041998,001005: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041999,001006:
042000,001007: # SUBROUTINES CALLED.
042001,001008:
042002,001009: # GOPERF3
042003,001010: # GOPERF1
042004,001011: # GODSPR
042005,001012: # IMUCOARS
042006,001013: # IMUFIN20
042007,001014: # AOTMARK(R53)
042008,001015: # CHKSDATA(R54)
042009,001016: # MKRELEAS
042010,001017: # AXISGEN
042011,001018: # MATMOVE
042012,001019:
042013,001020: # ALARMS
042014,001021:
042015,001022: # NONE.
042016,001023:
042017,001024: # ERASABLE INITIALIZATION
042018,001025:
042019,001026: # IMU ZERO FLAG SHOULD BE SET.
042020,001027:
042021,001028: # OUTPUT
042022,001029:
042023,001030: # REFSMMAT
042024,001031: # REFSMFLG
042025,001032:
042026,001033: # DEBRIS
042027,001034:
042028,001035: # WORK AREA
042029,001036: # STARAD
042030,001037: # STARIND
042031,001038: # BESTI
042032,001039: # BESTJ
042033,001040:
042034,001041: 14,3340 COUNT* $$/P51
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Page 948 |
042036,001043: 14,3340 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042037,001044: 14,3341 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042038,001045:
042039,001046: 14,3342 34761 CAF PRFMSTAQ
042040,001047: 14,3343 04616 TC BANKCALL
042041,001048: 14,3344 20476 CADR GOPERF1
042042,001049: 14,3345 06001 TC GOTOPOOH # TERM.
042043,001050: 14,3346 13374 TCF P51B # V33
042044,001051: 14,3347 05353 TC PHASCHNG
042045,001052: 14,3350 05024 OCT 05024
042046,001053: 14,3351 13000 OCT 13000
042047,001054: 14,3352 34755 CAF P51ZERO
042048,001055: 14,3353 54321 TS THETAD # ZERO THE GIMBALS
042049,001056: 14,3354 54322 TS THETAD +1
042050,001057: 14,3355 54323 TS THETAD +2
042051,001058: 14,3356 33504 CAF V6N22
042052,001059: 14,3357 04616 TC BANKCALL
042053,001060: 14,3360 20324 CADR GODSPRET
042054,001061: 14,3361 33505 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042055,001062: 14,3362 04616 TC BANKCALL
042056,001063: 14,3363 20324 CADR GODSPRET
042057,001064: 14,3364 06036 TC INTPRET
042058,001065: 14,3365 77624 CALL
042059,001066: 14,3366 31506 COARSE
042060,001067: 14,3367 77776 EXIT
042061,001068: 14,3370 05353 TC PHASCHNG
042062,001069: 14,3371 05024 OCT 05024
042063,001070: 14,3372 13000 OCT 13000
042064,001071: 14,3373 13342 TCF P51 +2
042065,001072:
042066,001073: 14,3374 05353 P51B TC PHASCHNG
042067,001074: 14,3375 00014 OCT 00014
042068,001075: 14,3376 06036 TC INTPRET
042069,001076: 14,3377 77624 CALL
042070,001077: 14,3400 31523 NCOARSE
042071,001078: 14,3401 40331 SSP SETPD
042072,001079: 14,3402 02760 STARIND # INDEX-STAR 1 OR 2
042073,001080: 14,3403 00000 0
042074,001081: 14,3404 00001 0
042075,001082: 14,3405 77776 P51C EXIT
042076,001083: 14,3406 05353 TC PHASCHNG
042077,001084: 14,3407 05024 OCT 05024
042078,001085: 14,3410 13000 OCT 13000
042079,001086: 14,3411 04616 TC BANKCALL
042080,001087: 14,3412 16000 CADR AOTMARK # R53
042081,001088: 14,3413 04616 TC BANKCALL
042082,001089: 14,3414 17665 CADR AOTSTALL
042083,001090: 14,3415 05703 TC CURTAINS
042084,001091: 14,3416 11757 CCS STARIND
042085,001092: 14,3417 13425 TCF P51D +1
042086,001093:
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Page 949 |
042088,001095: 14,3420 06036 TC INTPRET
042089,001096: 14,3421 77775 VLOAD
042090,001097: 14,3422 02715 STARAD +6
042091,001098: 14,3423 02761 STORE STARSAV1
042092,001099: 14,3424 77776 P51D EXIT
042093,001100: 14,3425 05353 TC PHASCHNG
042094,001101: 14,3426 05024 OCT 05024
042095,001102: 14,3427 13000 OCT 13000
042096,001103: 14,3430 11757 CCS STARIND
042097,001104: 14,3431 13446 TCF P51E
042098,001105: 14,3432 05353 TC PHASCHNG
042099,001106: 14,3433 05024 OCT 05024
042100,001107: 14,3434 13000 OCT 13000
042101,001108: 14,3435 06036 TC INTPRET
042102,001109: 14,3436 45145 DLOAD CALL
042103,001110: 14,3437 03560 TSIGHT
042104,001111: 14,3440 32540 PLANET
042105,001112: 14,3441 03552 STORE PLANVEC
042106,001113: 14,3442 77776 EXIT
042107,001114: 14,3443 34753 CAF BIT1
042108,001115: 14,3444 55757 TS STARIND
042109,001116: 14,3445 13406 TCF P51C +1 # DO SECOND STAR
042110,001117: 14,3446 05353 P51E TC PHASCHNG
042111,001118: 14,3447 05024 OCT 05024
042112,001119: 14,3450 13000 OCT 13000
042113,001120: 14,3451 06036 TC INTPRET
042114,001121: 14,3452 45145 DLOAD CALL
042115,001122: 14,3453 03560 TSIGHT
042116,001123: 14,3454 32540 PLANET
042117,001124: 14,3455 24015 STOVL 12D
042118,001125: 14,3456 03552 PLANVEC
042119,001126: 14,3457 24007 STOVL 6D
042120,001127: 14,3460 02761 STARSAV1
042121,001128: 14,3461 26707 STOVL STARAD
042122,001129: 14,3462 02767 STARSAV2
042123,001130: 14,3463 36715 STCALL STARAD +6
042124,001131: 14,3464 31121 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042125,001132: 14,3465 77414 BON EXIT
042126,001133: 14,3466 00314 FREEFLAG
042127,001134: 14,3467 31471 P51G
042128,001135: 14,3470 03342 TC P51 +2
042129,001136: 14,3471 77624 P51G CALL
042130,001137: 14,3472 47345 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042131,001138: 14,3473 75160 AXC,1 AXC,2
042132,001139: 14,3474 02664 XDC
042133,001140: 14,3475 01733 REFSMMAT
042134,001141: 14,3476 77624 CALL
042135,001142: 14,3477 31237 MATMOVE
042136,001143: 14,3500 77614 SET
042137,001144: 14,3501 01462 REFSMFLG
042138,001145:
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Page 950 |
042140,001147: 14,3502 77776 EXIT
042141,001148: 14,3503 06001 TC GOTOPOOH # FINIS
042142,001149: 14,3504 4761 PRFMSTAQ = OCT15
042143,001150: 14,3504 4755 P51ZERO = ZERO
042144,001151: 14,3504 4756 P51FIVE = FIVE
042145,001152: 14,3504 01426 V6N22 VN 0622
042146,001153: 14,3505 12200 V41K VN 4100
042147,001154: 14,3506 77776 COARSE EXIT
042148,001155: 14,3507 04616 TC BANKCALL
042149,001156: 14,3510 16753 CADR IMUCOARS
042150,001157: 14,3511 04616 TC BANKCALL
042151,001158: 14,3512 17671 CADR IMUSTALL
042152,001159: 14,3513 05703 TC CURTAINS
042153,001160: 14,3514 04616 TC BANKCALL
042154,001161: 14,3515 17163 CADR IMUFINE
042155,001162: 14,3516 04616 TC BANKCALL
042156,001163: 14,3517 17671 CADR IMUSTALL
042157,001164: 14,3520 05703 TC CURTAINS
042158,001165: 14,3521 06036 TC INTPRET
042159,001166: 14,3522 77616 RVQ
042160,001167: 14,3523 77776 NCOARSE EXIT
042161,001168: 14,3524 30025 CA TIME1
042162,001169: 14,3525 55075 TS 1/PIPADT
042163,001170: 14,3526 06036 TC INTPRET
042164,001171: 14,3527 77775 VLOAD
042165,001172: 14,3530 22275 ZEROVEC
042166,001173: 14,3531 01472 STORE GCOMP
042167,001174: 14,3532 43414 SET RVQ
042168,001175: 14,3533 01060 DRIFTFLG
042169,001176:
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Page 951 |
042171,001178: # NAME-S52.2
042172,001179: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042173,001180: # CALL- CALL S52.2
042174,001181: # INPUT- X,Y,ZSMD
042175,001182: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042176,001183: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042177,001184: 14,3534 COUNT* $$/S52.1
042178,001185: 14,3534 77620 S52.2 STQ
042179,001186: 14,3535 02746 QMAJ
042180,001187: 14,3536 77624 CALL
042181,001188: 14,3537 47443 CDUTRIG
042182,001189: 14,3540 77624 CALL
042183,001190: 14,3541 31267 CALCSMSC
042184,001191: 14,3542 66370 AXT,1 SSP
042185,001192: 14,3543 00022 18D
042186,001193: 14,3544 00051 S1
042187,001194: 14,3545 00006 6D
042188,001195: 14,3546 61373 S52.2A VLOAD* VXM
042189,001196: 14,3547 02707 XNB +18D,1
042190,001197: 14,3550 01734 REFSMMAT
042191,001198: 14,3551 77656 UNIT
042192,001199: 14,3552 06707 STORE XNB +18D,1
042193,001200: 14,3553 77700 TIX,1
042194,001201: 14,3554 31546 S52.2A
042195,001202: 14,3555 75160 S52.2.1 AXC,1 AXC,2
042196,001203: 14,3556 03604 XSMD
042197,001204: 14,3557 02642 XSM
042198,001205: 14,3560 77624 CALL
042199,001206: 14,3561 31237 MATMOVE
042200,001207: 14,3562 77624 CALL
042201,001208: 14,3563 47255 CALCGA
042202,001209: 14,3564 77650 GOTO
042203,001210: 14,3565 02746 QMAJ
042204,001211:
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Page 952 |
042206,001213: # NAME-S52.3
042207,001214: # FUNCTION XSMD= UNIT R
042208,001215: # YSMD= UNIT(V X R)
042209,001216: # ZSMD= UNIT(XSMD X YSMD)
042210,001217: # CALL DLOAD CALL
042211,001218: # TALIGN
042212,001219: # S52.3
042213,001220: # INPUT- TIME OF ALIGNMENT IN MPAC
042214,001221: # OUTPUT- X,Y,ZSMD
042215,001222: # SUBROUTINES- CSMCONIC
042216,001223: 14,3566 COUNT* $$/S52.3
042217,001224: 14,3566 77620 S52.3 STQ
042218,001225: 14,3567 02746 QMAJ
042219,001226: 14,3570 34041 STCALL TDEC1
042220,001227: 14,3571 27100 LEMCONIC
042221,001228: 14,3572 77601 SETPD
042222,001229: 14,3573 00001 0
042223,001230: 14,3574 53575 VLOAD UNIT
042224,001231: 14,3575 00001 RATT
042225,001232: 14,3576 27605 STOVL XSMD
042226,001233: 14,3577 00007 VATT
042227,001234: 14,3600 53435 VXV UNIT
042228,001235: 14,3601 00001 RATT
042229,001236: 14,3602 27613 STOVL YSMD
042230,001237: 14,3603 03605 XSMD
042231,001238: 14,3604 53435 VXV UNIT
042232,001239: 14,3605 03613 YSMD
042233,001240: 14,3606 37621 STCALL ZSMD
042234,001241: 14,3607 02746 QMAJ
042235,001242:
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Page 953 |
042237,001244: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042238,001245:
042239,001246: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042240,001247: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042241,001248:
042242,001249: # CALLING -CALL R52
042243,001250:
042244,001251: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
042245,001252: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042246,001253: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042247,001254: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042248,001255: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042249,001256:
042250,001257: # SUBROUT -R60LEM
042251,001258:
042252,001259: 14,3610 COUNT* $$/R52
042253,001260: 14,3610 77420 R52 STQ EXIT
042254,001261: 14,3611 03663 SAVQR52
042255,001262: 14,3612 51757 INDEX STARIND
042256,001263: 14,3613 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042257,001264: 14,3614 00006 EXTEND
042258,001265: 14,3615 73706 MP 1/6TH
042259,001266: 14,3616 64744 AD BIT8 # SET DETENT POSITION 2
042260,001267: 14,3617 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042261,001268:
042262,001269: 14,3620 33707 R52A CAF V01N70
042263,001270: 14,3621 04616 TC BANKCALL
042264,001271: 14,3622 20351 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042265,001272: 14,3623 06001 TC GOTOPOOH # V34-TERMINATE
042266,001273: 14,3624 13626 TCF R52B # V33-PROCEED TO ORIENT LEM
042267,001274: 14,3625 13620 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
042268,001275:
042269,001276: 14,3626 05516 R52B TC DOWNFLAG
042270,001277: 14,3627 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042271,001278: 14,3630 30735 CA STARCODE # GRAB DETENT CODE
042272,001279: 14,3631 77743 MASK HIGH9
042273,001280: 14,3632 00006 EXTEND
042274,001281: 14,3633 63620 BZMF R52A # DONT ALLOW ZERO CODE-RECYCLE
042275,001282: 14,3634 74743 MASK BIT9 # SEE IF CODE 4 OR 5
042276,001283: 14,3635 10000 CCS A
042277,001284: 14,3636 13655 TCF GETAZEL # CODE 4 OR 5-GET CALIBRATION AZ EL
042278,001285: 14,3637 E7,1547 EBANK= XYMARK
042279,001286: 14,3637 35016 CA EBANK7
042280,001287: 14,3640 54003 TS EBANK
042281,001288: 14,3641 37743 CAF HIGH9 # FORWARD DETENT, INDEX DETENT AND GRAB
042282,001289: 14,3642 70735 MASK STARCODE # AZIMUTH ANGLE AND ELV = 45 DEG
042283,001290: 14,3643 00006 EXTEND
042284,001291: 14,3644 74743 MP BIT9 # SHIFT DETENT TO BITS1-2 FOR INDEX
042285,001292: 14,3645 50000 INDEX A
042286,001293: 14,3646 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042287,001294:
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Page 954 |
042289,001296: 14,3647 54001 TS L
042290,001297: 14,3650 E5,1642 EBANK= XSM
042291,001298: 14,3650 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042292,001299: 14,3651 54003 TS EBANK
042293,001300: 14,3652 34737 CA BIT13 # SET ELV TO 45 DEG
042294,001301: 14,3653 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042295,001302: 14,3654 13665 TCF AZEL # GO COMP OPTIC AXIS
042296,001303:
042297,001304: 14,3655 33710 GETAZEL CAF V06N87 # CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042298,001305: 14,3656 04616 TC BANKCALL
042299,001306: 14,3657 20351 CADR GOFLASH
042300,001307: 14,3660 06001 TC GOTOPOOH # V34-TERMINATE
042301,001308: 14,3661 13663 TCF +2 # PROCEED-CALC OPTIC AXIS
042302,001309: 14,3662 13655 TCF GETAZEL # ENTER-RECYCLE
042303,001310:
042304,001311: 14,3663 00006 EXTEND
042305,001312: 14,3664 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042306,001313: 14,3665 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042307,001314: 14,3666 52011 DXCH 8D
042308,001315: 14,3667 06036 TC INTPRET
042309,001316: 14,3670 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042310,001317: 14,3671 13370 OANB # SCAXIS IN NB COORDS
042311,001318: 14,3672 45034 RTB CALL
042312,001319: 14,3673 21462 LOADTIME
042313,001320: 14,3674 32540 PLANET
042314,001321: 14,3675 53521 MXV UNIT
042315,001322: 14,3676 01734 REFSMMAT
042316,001323: 14,3677 03767 STORE POINTVSM # STORE FOR VECPOINT
042317,001324:
042318,001325: 14,3700 77776 EXIT
042319,001326: 14,3701 04616 TC BANKCALL
042320,001327: 14,3702 54101 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042321,001328:
042322,001329: 14,3703 06036 TC INTPRET # RETURN FROM KALCMANU
042323,001330: 14,3704 77650 GOTO
042324,001331: 14,3705 03663 SAVQR52 # RETURN TO CALLER
042325,001332:
042326,001333: 14,3706 05253 1/6TH DEC .1666667
042327,001334: 14,3707 00306 V01N70 VN 0170
042328,001335: 14,3710 01527 V06N87 VN 687
042329,001336:
![]() |
Page 955 |
042331,001338: # LUNAR SURFACE STAR AQUISITION
042332,001339:
042333,001340: 15,2301 BANK 15
042334,001341: 15,2000 SETLOC P50S
042335,001342: 15,2000 BANK
042336,001343: 15,2301 COUNT* $$/R59
042337,001344:
042338,001345: 15,2301 40077 R59 CS FLAGWRD3
042339,001346: 15,2302 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042340,001347: 15,2303 10000 CCS A
042341,001348: 15,2304 12523 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042342,001349:
042343,001350: 15,2305 32531 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042344,001351: 15,2306 04616 TC BANKCALL
042345,001352: 15,2307 20351 CADR GOFLASH
042346,001353: 15,2310 06001 TC GOTOPOOH # V34-TERMINATE
042347,001354: 15,2311 12313 TCF R59A # V33-PROCEED
042348,001355: 15,2312 12301 TCF R59 # V32-RECYCLE
042349,001356:
042350,001357: 15,2313 47743 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042351,001358: 15,2314 70735 MASK AOTCODE
042352,001359: 15,2315 00006 EXTEND
042353,001360: 15,2316 76241 MP REVCNT # JUST 6
042354,001361: 15,2317 56001 XCH L
042355,001362: 15,2320 51757 INDEX STARIND
042356,001363: 15,2321 55755 TS BESTI
042357,001364: 15,2322 50120 INDEX FIXLOC
042358,001365: 15,2323 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042359,001366: 15,2324 00006 EXTEND
042360,001367: 15,2325 12523 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042361,001368: 15,2326 40000 COM
042362,001369: 15,2327 62625 AD DEC227
042363,001370: 15,2330 00006 EXTEND
042364,001371: 15,2331 62523 BZMF R59OUT
042365,001372:
042366,001373: 15,2332 06036 TC INTPRET
042367,001374: 15,2333 77624 CALL
042368,001375: 15,2334 47443 CDUTRIG # GET CDU JAZZ FOR SMNB
042369,001376: 15,2335 64373 VLOAD* MXV
042370,001377: 15,2336 30347 CATLOG,1 # GRAB STAR VECTOR
042371,001378: 15,2337 01734 REFSMMAT # TRANSFORM TO SM
042372,001379: 15,2340 45056 UNIT CALL
042373,001380: 15,2341 47575 *SMNB* # TRANSFORM TO NB
042374,001381: 15,2342 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042375,001382: 15,2343 77776 EXIT
042376,001383:
042377,001384: 15,2344 34753 CAF BIT1 # INITIALIZE POS TO ONE
042378,001385: 15,2345 55052 TS POSCODE
042379,001386: 15,2346 42537 CS DEG60 # AS(N) TO -60 DEG
042380,001387: 15,2347 55745 TS QMIN
042381,001388:
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Page 956 |
042383,001390:
042384,001391:
042385,001392: 15,2350 54000 STORPOS TS A # DETECT OVF AZ = -120
042386,001393: 15,2351 12354 TCF +3 # NO OVF
042387,001394: 15,2352 34735 CAF BIT15 # OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042388,001395: 15,2353 27745 ADS QMIN
042389,001396: 15,2354 34737 CAF BIT13 # ELV=45 DEG
042390,001397: 15,2355 54001 TS L
042391,001398: 15,2356 31745 CA QMIN
042392,001399: 15,2357 50120 INDEX FIXLOC
042393,001400: 15,2360 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042394,001401:
042395,001402: 15,2361 06036 TC INTPRET
042396,001403: 15,2362 77624 CALL
042397,001404: 15,2363 13370 OANB # GO CALC OPTIC AXIS WRT NB
042398,001405: 15,2364 50375 VLOAD DOT
042399,001406: 15,2365 02731 STAR # DOT STAR WITH OA
042400,001407: 15,2366 03761 SCAXIS
042401,001408: 15,2367 65552 SL1 ARCCOS
042402,001409: 15,2370 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042403,001410:
042404,001411: 15,2371 51025 DSU BPL
042405,001412: 15,2372 32534 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042406,001413: 15,2373 32455 NXAX # NOT IN FIELD - TRY NEXT POSITION
042407,001414: 15,2374 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042408,001415: 15,2375 00031 24D
042409,001416: 15,2376 32536 DEG.5
042410,001417: 15,2377 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042411,001418: 15,2400 32450 ZSPCR # GO ZERO CURSOR AND SPIRAL
042412,001419: 15,2401 00031 24D # GET SPIRAL
042413,001420: 15,2402 42405 DMP SL4
042414,001421: 15,2403 23710 3/4 # 12 SCALED AT 16
042415,001422: 15,2404 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042416,001423:
042417,001424: 15,2405 03761 SCAXIS # OA
042418,001425: 15,2406 53435 VXV UNIT
042419,001426: 15,2407 22273 XUNIT
042420,001427: 15,2410 47206 PUSH VXV # OA X UNITX PD 0-5
042421,001428: 15,2411 03761 SCAXIS
042422,001429: 15,2412 77676 VCOMP
042423,001430: 15,2413 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
042424,001431: 15,2414 03761 SCAXIS
042425,001432: 15,2415 53435 VXV UNIT
042426,001433: 15,2416 02731 STAR
042427,001434: 15,2417 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042428,001435: 15,2420 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042429,001436: 15,2421 65552 SL1 ARCCOS
042430,001437: 15,2422 24033 STOVL 26D # STORE THET SCALED IN REVS
042431,001438:
042432,001439: 15,2423 77641 DOT # UP 12-17, UP 6-11 FOR C2
042433,001440: 15,2424 71244 BPL DLOAD # IF THET NEG-GET 360-THET
042434,001441: 15,2425 32432 R59D
042435,001442:
![]() |
Page 957 |
042437,001444: 15,2426 32047 ABOUTONE
042438,001445: 15,2427 77625 DSU
042439,001446: 15,2430 00033 26D
042440,001447: 15,2431 00033 STORE 26D # 360-THET SCALED IN REVS
042441,001448:
042442,001449: 15,2432 70535 R59D SLOAD SR1
042443,001450: 15,2433 02746 QMIN # RESCALE AZ(N) TO REVS
042444,001451: 15,2434 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042445,001452: 15,2435 00033 26D
042446,001453: 15,2436 77634 RTB
042447,001454: 15,2437 21520 1STO2S
042448,001455: 15,2440 15046 STODL CURSOR # YROT IN 1/2 REVS
042449,001456: 15,2441 00031 24D # LOAD SROT IN REVS
042450,001457: 15,2442 77615 DAD # 12(SEP) + YROT
042451,001458: 15,2443 77634 RTB
042452,001459: 15,2444 21520 1STO2S
042453,001460: 15,2445 01047 STORE SPIRAL # SROT IN 1/2 REVS
042454,001461: 15,2446 77776 EXIT
042455,001462: 15,2447 12476 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042456,001463:
042457,001464: 15,2450 77776 ZSPCR EXIT
042458,001465: 15,2451 34755 CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR
042459,001466: 15,2452 55045 TS CURSOR # AND SPIRAL ANGLES
042460,001467: 15,2453 55046 TS SPIRAL
042461,001468: 15,2454 12476 TCF 79DISP
042462,001469:
042463,001470: 15,2455 77776 NXAX EXIT
042464,001471: 15,2456 25052 INCR POSCODE
042465,001472: 15,2457 41052 CS POSCODE
042466,001473: 15,2460 64757 AD SEVEN
042467,001474: 15,2461 00006 EXTEND
042468,001475: 15,2462 62466 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042469,001476: 15,2463 32537 CAF DEG60 # ADVANCE AZ(N) BY 60 DEG
042470,001477: 15,2464 27745 ADS QMIN # IF OVF, QMIN CONTAINS OVF CORRECTED
042471,001478: 15,2465 12350 TCF STORPOS
042472,001479: 15,2466 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042473,001480: 15,2467 00404 OCT 404
042474,001481: 15,2470 35006 CAF VB05N09 # DISPLAY ALARM
042475,001482: 15,2471 04616 TC BANKCALL
042476,001483: 15,2472 20351 CADR GOFLASH
042477,001484: 15,2473 16001 TCF GOTOPOOH # VB34-TERMINATE
042478,001485: 15,2474 12523 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
042479,001486: 15,2475 12301 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
042480,001487:
042481,001488: 15,2476 32532 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042482,001489: 15,2477 04616 TC BANKCALL
042483,001490: 15,2500 20351 CADR GOFLASH
042484,001491: 15,2501 16001 TCF GOTOPOOH # V34-TERMINATE
042485,001492: 15,2502 12504 TCF R59E # V33-PROCEED TO MARK ROUTINE
042486,001493: 15,2503 12301 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
042487,001494:
![]() |
Page 958 |
042489,001496: 15,2504 34751 R59E CAF BIT3 # GET DETENT CORRESPONDING TO POSITION COD
042490,001497: 15,2505 71052 MASK POSCODE # KEYED IN POS CODE
042491,001498: 15,2506 00006 EXTEND
042492,001499: 15,2507 12511 BZF +2 # FORWARD DETENT
042493,001500: 15,2510 12513 TCF +3 # ITS REAR DETENT, 4 ALREADY IN (A)
042494,001501: 15,2511 34757 CAF SEVEN # GET FORWARD DETENT
042495,001502: 15,2512 71052 MASK POSCODE
042496,001503: 15,2513 00006 EXTEND
042497,001504: 15,2514 74745 MP BIT7
042498,001505: 15,2515 56001 XCH L
042499,001506: 15,2516 55745 TS QMIN
042500,001507: 15,2517 47743 CS HIGH9
042501,001508: 15,2520 70735 MASK AOTCODE
042502,001509: 15,2521 61745 AD QMIN
042503,001510: 15,2522 54735 TS AOTCODE # STORE DETENT IN 7-9
042504,001511:
042505,001512: 15,2523 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042506,001513: 15,2524 16000 CADR AOTMARK
042507,001514: 15,2525 04616 TC BANKCALL
042508,001515: 15,2526 17665 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042509,001516: 15,2527 05703 TC CURTAINS # BADEND RETURN FROM AOTMARK
042510,001517: 15,2530 13123 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042511,001518:
042512,001519: 15,2531 00306 V01N70* VN 170
042513,001520: 15,2532 01517 V06N79 VN 679
042514,001521: 15,2533 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042515,001522: 15,2535 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042516,001523: 15,2537 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042517,001524: 15,2540 1045 CURSOR EQUALS DSPTEM1
042518,001525: 15,2540 1046 SPIRAL EQUALS DSPTEM1 +1
042519,001526: 15,2540 1052 POSCODE EQUALS DSPTEM2 +2
042520,001527:
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Page 959 |
042522,001529: # NAME - PLANET
042523,001530: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042524,001531: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042525,001532: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042526,001533: # BY DSDY INPUT
042527,001534: # CALL - CALL
042528,001535: # PLANET
042529,001536: # INPUT - TIME IN MPAC
042530,001537: # OUTPUT - VECTOR IN MPAC
042531,001538: # SUBROUTINES - LOCSAM
042532,001539: # DEBRIS - VAC ,STARAD - STARAD +17
042533,001540:
042534,001541: 15,2000 SETLOC P50S
042535,001542: 15,2000 BANK
042536,001543: 15,2540 COUNT* $$/P51
042537,001544:
042538,001545: 15,2540 03560 PLANET STORE TSIGHT
042539,001546: 15,2541 77420 STQ EXIT
042540,001547: 15,2542 02736 GCTR
042541,001548: 15,2543 47743 CS HIGH9
042542,001549: 15,2544 70735 MASK AOTCODE
042543,001550: 15,2545 00006 EXTEND
042544,001551: 15,2546 76241 MP REVCNT
042545,001552: 15,2547 56001 XCH L
042546,001553: 15,2550 51757 INDEX STARIND
042547,001554: 15,2551 55755 TS BESTI
042548,001555: 15,2552 10000 CCS A
042549,001556: 15,2553 12567 TCF NOTPLAN
042550,001557: 15,2554 32626 CAF VNPLANV
042551,001558: 15,2555 04616 TC BANKCALL
042552,001559: 15,2556 20351 CADR GOFLASH
042553,001560: 15,2557 02554 TC -3
042554,001561: 15,2560 02562 TC +2
042555,001562: 15,2561 02554 TC -5
042556,001563: 15,2562 06036 TC INTPRET
042557,001564: 15,2563 53575 VLOAD UNIT
042558,001565: 15,2564 02707 STARAD
042559,001566: 15,2565 77650 GOTO
042560,001567: 15,2566 02736 GCTR
042561,001568: 15,2567 40000 NOTPLAN CS A
042562,001569: 15,2570 62625 AD DEC227
042563,001570: 15,2571 00006 EXTEND
042564,001571: 15,2572 62603 BZMF CALSAM1
042565,001572: 15,2573 51757 INDEX STARIND
042566,001573: 15,2574 31755 CA BESTI
042567,001574: 15,2575 50120 INDEX FIXLOC
042568,001575: 15,2576 54046 TS X1
042569,001576: 15,2577 06036 TC INTPRET
042570,001577: 15,2600 52173 VLOAD* GOTO
042571,001578: 15,2601 30347 CATLOG,1
042572,001579:
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Page 960 |
042574,001581: 15,2602 02736 GCTR
042575,001582: 15,2603 06036 CALSAM1 TC INTPRET
042576,001583: 15,2604 45145 CALSAM DLOAD CALL
042577,001584: 15,2605 03560 TSIGHT
042578,001585: 15,2606 30347 LOCSAM
042579,001586: 15,2607 77340 LXC,1 VLOAD
042580,001587: 15,2610 02757 STARIND
042581,001588: 15,2611 02707 VEARTH
042582,001589: 15,2612 24001 STOVL 0D
042583,001590: 15,2613 02715 VSUN
042584,001591: 15,2614 26707 STOVL VEARTH
042585,001592: 15,2615 00001 0D
042586,001593: 15,2616 02715 STORE VSUN
042587,001594: 15,2617 70143 DLOAD* LXC,1
042588,001595: 15,2620 02756 BESTI,1
042589,001596: 15,2621 00154 MPAC
042590,001597: 15,2622 52173 VLOAD* GOTO
042591,001598: 15,2623 02343 STARAD -228D,1
042592,001599: 15,2624 02736 GCTR
042593,001600: 15,2625 00343 DEC227 DEC 227 B-14
042594,001601: 15,2626 01530 VNPLANV VN 0688
042595,001602: 15,2627 37,3533 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042596,001603:
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Page 961 |
042598,001605: # GRAVITY VECTOR DETERMINATION ROUTINE
042599,001606: # BY KEN VINCENT
042600,001607: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042601,001608: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042602,001609: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042603,001610: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042604,001611: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042605,001612: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042606,001613: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042607,001614: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042608,001615: # READINGS.
042609,001616:
042610,001617: # CALL-
042611,001618: # TC BANKCALL
042612,001619: # CADR GVDETER
042613,001620: # INPUTS-
042614,001621: # PIPAS,CDUS
042615,001622: # OUTPUTS-
042616,001623: # STARSAV1 = UNIT GRAVITY
042617,001624: # GSAV = DITTO
042618,001625: # GRAVBIT = 1
042619,001626: # SUBROUTINES-
042620,001627: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042621,001628: # *NBSM* ,*SNMB*, CALCGA,FOFLASH
042622,001629: # DEBRIS-
042623,001630: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042624,001631: 15,2627 44737 GVDETER CS BIT13 # JAM 45 DEG IN DESIRED GIMBAL ANGLES
042625,001632: 15,2630 54322 TS THETAD +1
042626,001633: 15,2631 40000 COM
042627,001634: 15,2632 54323 TS THETAD +2
042628,001635: 15,2633 54321 TS THETAD
042629,001636: 15,2634 06036 TC INTPRET
042630,001637: 15,2635 45014 CLEAR CALL
042631,001638: 15,2636 01662 REFSMFLG
042632,001639: 15,2637 32734 LUNG
042633,001640: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
042634,001641:
042635,001642: # DEFINE G COOR SYS
042636,001643: # -
042637,001644: # X UNIT G
042638,001645: # * - -
042639,001646: # M= Y = UNITEZSM * X )
042640,001647: # - - -
042641,001648: # Z UNIT(X * Y )
042642,001649: # THEN ROTATED SM WRT PRESENT IS
042643,001650:
042644,001651:
042645,001652: # 1, 0 , 0
042646,001653: # * *T * * *
042647,001654: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
042648,001655:
![]() |
Page 962 |
042650,001657: # I J
042651,001658: # 0, 0 ,-1
042652,001659:
042653,001660: # ALSO NB WRT PRES SM IS
042654,001661:
042655,001662: # * * *
042656,001663: # XNB = NBSM I
042657,001664: # * *
042658,001665: # GIMBAL ANGLES = CALCGA( XSM , XNB )
042659,001666:
042660,001667: 15,2000 SETLOC P50S
042661,001668: 15,2000 BANK
042662,001669: 15,2640 COUNT* $$/P57
042663,001670: 15,2640 66370 AXT,1 SSP # X1=18
042664,001671: 15,2641 00022 18D # S1= 6
042665,001672: 15,2642 00051 S1 # X2, -2
042666,001673: 15,2643 00006 6D
042667,001674: 15,2644 77744 LXC,2
042668,001675: 15,2645 00050 S1
042669,001676: 15,2646 45173 GRAVEL VLOAD* CALL
042670,001677: 15,2647 55512 XUNIT -6,2
042671,001678: 15,2650 47577 *NBSM* # SIN AND COS COMPUTED IN LUNG
042672,001679: 15,2651 06707 STORE XNB +18D,1
042673,001680: 15,2652 77775 VLOAD
042674,001681: 15,2653 02731 STAR
042675,001682: 15,2654 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
042676,001683: 15,2655 00047 X2
042677,001684: 15,2656 75040 STAR +6,2 # OUTER PRODUCT
042678,001685: 15,2657 71152 VSL2 LXC,2
042679,001686: 15,2660 00047 X2
042680,001687: 15,2661 63047 VSU* INCR,2
042681,001688: 15,2662 55512 XUNIT -6,2
042682,001689: 15,2663 00002 2D
042683,001690: 15,2664 06665 STORE XSM +18D,1
042684,001691: 15,2665 45100 TIX,1 CALL
042685,001692: 15,2666 32646 GRAVEL
042686,001693: 15,2667 47255 CALCGA
042687,001694: 15,2670 74575 VLOAD VSR1
042688,001695: 15,2671 02715 GOUT
042689,001696: 15,2672 36723 STCALL STARAD +12D
042690,001697: 15,2673 32734 LUNG
042691,001698: 15,2674 74575 VLOAD VSR1
042692,001699: 15,2675 02715 GOUT
042693,001700: 15,2676 53455 VAD UNIT
042694,001701: 15,2677 02723 STARAD +12D
042695,001702: 15,2700 02761 STORE STARSAV1
042696,001703: 15,2701 77641 DOT
042697,001704: 15,2702 02235 GSAV
042698,001705: 15,2703 65552 SL1 ACOS
042699,001706: 15,2704 01046 STORE DSPTEM1
042700,001707:
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Page 963 |
042702,001709: 15,2705 77776 EXIT
042703,001710: 15,2706 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042704,001711: 15,2707 00014 ADRES FREEFLAG
042705,001712:
042706,001713: 15,2710 33040 CA DISGRVER
042707,001714: 15,2711 04616 TC BANKCALL
042708,001715: 15,2712 20351 CADR GOFLASH
042709,001716: 15,2713 06001 TC GOTOPOOH
042710,001717: 15,2714 12717 TCF PROGRAV # VB33-PROCEED
042711,001718: 15,2715 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042712,001719: 15,2716 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042713,001720:
042714,001721: 15,2717 05353 PROGRAV TC PHASCHNG
042715,001722: 15,2720 05024 OCT 05024
042716,001723: 15,2721 13000 OCT 13000
042717,001724: 15,2722 06036 TC INTPRET
042718,001725: 15,2723 77775 VLOAD
042719,001726: 15,2724 02761 STARSAV1
042720,001727: 15,2725 02235 STORE GSAV
042721,001728: 15,2726 77776 EXIT
042722,001729: 15,2727 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042723,001730: 15,2730 70074 MASK FLAGWRD0
042724,001731: 15,2731 10000 CCS A
042725,001732: 15,2732 12627 TCF GVDETER # SET
042726,001733: 15,2733 13535 TCF ATTCHK # EXIT FROM GVDETER
042727,001734:
042728,001735: 15,2734 77220 LUNG STQ VLOAD
042729,001736: 15,2735 02745 QMIN
042730,001737: 15,2736 22275 ZEROVEC
042731,001738: 15,2737 02707 STORE GACC
042732,001739: 15,2740 77776 EXIT
042733,001740: 15,2741 05353 TC PHASCHNG
042734,001741: 15,2742 05024 OCT 05024
042735,001742: 15,2743 13000 OCT 13000
042736,001743: 15,2744 04616 TC BANKCALL
042737,001744: 15,2745 16753 CADR IMUCOARS
042738,001745: 15,2746 04616 TC BANKCALL
042739,001746: 15,2747 17671 CADR IMUSTALL
042740,001747: 15,2750 05703 TC CURTAINS
042741,001748: 15,2751 04616 TC BANKCALL
042742,001749: 15,2752 17163 CADR IMUFINE
042743,001750: 15,2753 04616 TC BANKCALL
042744,001751: 15,2754 17671 CADR IMUSTALL
042745,001752: 15,2755 05703 TC CURTAINS
042746,001753: 15,2756 33037 CA T/2SEC
042747,001754: 15,2757 55736 TS GCTR
042748,001755: 15,2760 37715 CA PRIO31
042749,001756: 15,2761 55075 TS 1/PIPADT
042750,001757: 15,2762 04616 TC BANKCALL
042751,001758: 15,2763 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042752,001759:
![]() |
Page 964 |
042754,001761: 15,2764 05353 TC PHASCHNG
042755,001762: 15,2765 05024 OCT 05024
042756,001763: 15,2766 13000 OCT 13000
042757,001764: 15,2767 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042758,001765: 15,2770 77533 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042759,001766: 15,2771 06036 TC INTPRET
042760,001767: 15,2772 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042761,001768: 15,2773 35000 CAF 2SECS
042762,001769: 15,2774 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042763,001770: 15,2775 02777 ADRES GRABGRAV
042764,001771:
042765,001772: 15,2776 05155 TC ENDOFJOB
042766,001773:
042767,001774: 15,2777 04674 GRABGRAV TC IBNKCALL
042768,001775: 15,3000 77533 CADR PIPSRINE
042769,001776: 15,3001 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042770,001777: 15,3002 05105 TC FINDVAC
042771,001778: 15,3003 E5,1706 EBANK= STARAD
042772,001779: 15,3003 03006 32065 2CADR ADDGRAV
042773,001780:
042774,001781: 15,3005 05261 TC TASKOVER
042775,001782:
042776,001783: 15,3006 04616 ADDGRAV TC BANKCALL
042777,001784: 15,3007 15263 CADR 1/PIPA
042778,001785: 15,3010 25736 INCR GCTR
042779,001786: 15,3011 06036 TC INTPRET
042780,001787: 15,3012 53375 VLOAD VAD
042781,001788: 15,3013 00325 DELV
042782,001789: 15,3014 02707 GACC
042783,001790: 15,3015 02707 STORE GACC # ACCUMULATE G VECTOR
042784,001791: 15,3016 50135 SLOAD BMN
042785,001792: 15,3017 02737 GCTR
042786,001793: 15,3020 32772 GREED
042787,001794: 15,3021 53575 VLOAD UNIT
042788,001795: 15,3022 02707 GACC
042789,001796: 15,3023 36731 STCALL STAR
042790,001797: 15,3024 47443 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042791,001798: 15,3025 77624 CALL # IN OUTPUT
042792,001799: 15,3026 47575 *SMNB*
042793,001800: 15,3027 02715 STORE GOUT
042794,001801: 15,3030 77776 EXIT
042795,001802: 15,3031 05353 TC PHASCHNG
042796,001803: 15,3032 05024 OCT 05024
042797,001804: 15,3033 13000 OCT 13000
042798,001805: 15,3034 06036 TC INTPRET
042799,001806: 15,3035 77650 GOTO
042800,001807: 15,3036 02745 QMIN
042801,001808: 15,3037 77751 T/2SEC DEC -22 B-14
042802,001809: 15,3040 01404 DISGRVER VN 0604
042803,001810:
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Page 965 |
042805,001812: # NAME GYROTRIM
042806,001813:
042807,001814: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042808,001815: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042809,001816: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042810,001817:
042811,001818: # CALL CALL
042812,001819: # GYROTRIM
042813,001820:
042814,001821: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042815,001822: # CDUX,CDUY,CDUZ
042816,001823:
042817,001824: # OUTPUT - GYRO TORQUE PULSES
042818,001825:
042819,001826: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042820,001827: # IMPULSE,IMUSTALL
042821,001828: # - - - * * -
042822,001829: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042823,001830: 15,3041 COUNT* $$/P57
042824,001831: 15,3041 71220 GYROTRIM STQ DLOAD
042825,001832: 15,3042 02745 QMIN
042826,001833: 15,3043 00322 THETAD
042827,001834: 15,3044 65325 PDDL PDDL
042828,001835: 15,3045 00324 THETAD +2
042829,001836: 15,3046 00323 THETAD +1
042830,001837: 15,3047 77666 VDEF
042831,001838: 15,3050 24767 STOVL CDUSPOT
042832,001839: 15,3051 22273 XUNIT
042833,001840: 15,3052 77624 CALL
042834,001841: 15,3053 47570 TRG*NBSM
042835,001842: 15,3054 26707 STOVL STARAD
042836,001843: 15,3055 22271 YUNIT
042837,001844: 15,3056 77624 CALL
042838,001845: 15,3057 47577 *NBSM*
042839,001846: 15,3060 36715 STCALL STARAD +6
042840,001847: 15,3061 47443 CDUTRIG
042841,001848: 15,3062 77624 CALL
042842,001849: 15,3063 31267 CALCSMSC
042843,001850: 15,3064 77775 VLOAD
042844,001851: 15,3065 02665 XNB
042845,001852: 15,3066 24007 STOVL 6D
042846,001853: 15,3067 02673 YNB
042847,001854: 15,3070 34015 STCALL 12D
042848,001855: 15,3071 47345 AXISGEN
042849,001856: 15,3072 77624 CALL
042850,001857: 15,3073 47151 CALCGTA
042851,001858: 15,3074 77776 JUSTTRIM EXIT
042852,001859: 15,3075 04616 TC BANKCALL
042853,001860: 15,3076 17163 CADR IMUFINE
042854,001861: 15,3077 04616 TC BANKCALL
042855,001862:
![]() |
Page 966 |
042857,001864: 15,3100 17671 CADR IMUSTALL
042858,001865: 15,3101 05703 TC CURTAINS
042859,001866: 15,3102 33113 CA GYRCDR
042860,001867: 15,3103 04616 TC BANKCALL
042861,001868: 15,3104 17276 CADR IMUPULSE
042862,001869: 15,3105 04616 TC BANKCALL
042863,001870: 15,3106 17671 CADR IMUSTALL
042864,001871: 15,3107 05703 TC CURTAINS
042865,001872: 15,3110 06036 TC INTPRET
042866,001873: 15,3111 77650 GOTO
042867,001874: 15,3112 02745 QMIN
042868,001875: 15,3113 02737 GYRCDR ECADR OGC
042869,001876:
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Page 967 |
042871,001878: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042872,001879:
042873,001880: 15,3114 34755 2STARS CAF ZERO # INITALIZE STARIND
042874,001881: 15,3115 13117 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042875,001882: 15,3116 34753 1STAR CAF BIT1
042876,001883: 15,3117 55757 TS STARIND
042877,001884:
042878,001885: 15,3120 05353 TC PHASCHNG
042879,001886: 15,3121 04024 OCT 04024
042880,001887:
042881,001888: 15,3122 12301 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042882,001889:
042883,001890: 15,3123 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042884,001891: 15,3124 00006 EXTEND
042885,001892: 15,3125 13144 BZF ASTAR # 1ST STAR MARKED
042886,001893:
042887,001894: 15,3126 06036 TC INTPRET # 2ND STAR MARKED
042888,001895: 15,3127 77775 VLOAD
042889,001896: 15,3130 02715 STARAD +6
042890,001897: 15,3131 02767 STORE STARSAV2 # 2ND STAR IN SM
042891,001898:
042892,001899: 15,3132 77776 EXIT
042893,001900: 15,3133 05353 TC PHASCHNG
042894,001901: 15,3134 05024 OCT 05024
042895,001902: 15,3135 13000 OCT 13000
042896,001903:
042897,001904: 15,3136 06036 TC INTPRET
042898,001905: 15,3137 45145 DLOAD CALL
042899,001906: 15,3140 03560 TSIGHT # TIME OF 2ND MARK
042900,001907: 15,3141 32540 PLANET
042901,001908: 15,3142 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042902,001909: 15,3143 33156 SURFLINE
042903,001910:
042904,001911: 15,3144 06036 ASTAR TC INTPRET
042905,001912: 15,3145 77775 VLOAD
042906,001913: 15,3146 02715 STARAD +6
042907,001914: 15,3147 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042908,001915: 15,3150 45145 DLOAD CALL
042909,001916: 15,3151 03560 TSIGHT # TIME OF 1ST MARK
042910,001917: 15,3152 32540 PLANET
042911,001918: 15,3153 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042912,001919: 15,3154 77776 EXIT
042913,001920: 15,3155 13116 TCF 1STAR # GO GET 2ND STAR SIGHTING
042914,001921:
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Page 968 |
042916,001923: # DO FINE OR COARSE ALIGNMENT OF IMU
042917,001924:
042918,001925: 15,3156 77131 SURFLINE SSP AXT,2
042919,001926: 15,3157 00052 S2
042920,001927: 15,3160 00006 6
042921,001928: 15,3161 00014 12D
042922,001929: 15,3162 64373 WRTDESIR VLOAD* MXV
042923,001930: 15,3163 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042924,001931: 15,3164 03605 XSMD
042925,001932: 15,3165 77656 UNIT
042926,001933: 15,3166 12723 STORE STARAD +12D,2 # VEC IN SM
042927,001934: 15,3167 77773 VLOAD*
042928,001935: 15,3170 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042929,001936: 15,3171 10023 STORE 18D,2
042930,001937: 15,3172 43104 TIX,2 BON
042931,001938: 15,3173 33162 WRTDESIR
042932,001939: 15,3174 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042933,001940: 15,3175 33203 INITBY
042934,001941: 15,3176 77624 DOALIGN CALL
042935,001942: 15,3177 31121 R54 # DO CHKSDATA
042936,001943: 15,3200 77614 BOFF
042937,001944: 15,3201 00354 FREEFLAG
042938,001945: 15,3202 33264 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042939,001946: 15,3203 77624 INITBY CALL
042940,001947: 15,3204 47345 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042941,001948: 15,3205 77624 CALL
042942,001949: 15,3206 47151 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042943,001950: 15,3207 77776 EXIT
042944,001951: 15,3210 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042945,001952: 15,3211 70104 MASK FLAGWRD8
042946,001953: 15,3212 10000 CCS A
042947,001954: 15,3213 13222 TCF 5DEGTEST
042948,001955: 15,3214 33316 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042949,001956: 15,3215 04616 TC BANKCALL
042950,001957: 15,3216 20351 CADR GOFLASH
042951,001958: 15,3217 06001 TC GOTOPOOH # V34-TERMINATE
042952,001959: 15,3220 13222 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
042953,001960: 15,3221 13265 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
042954,001961:
042955,001962: 15,3222 06036 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042956,001963: 15,3223 40175 VLOAD BOV
042957,001964: 15,3224 02740 OGC
042958,001965: 15,3225 33226 SURFSUP
042959,001966: 15,3226 02750 SURFSUP STORE OGCT
042960,001967: 15,3227 40141 V/SC BOV
042961,001968: 15,3230 30451 5DEGREES
042962,001969: 15,3231 33273 COATRIM
042963,001970: 15,3232 52131 SSP GOTO
042964,001971: 15,3233 02746 QMIN
042965,001972: 15,3234 33236 SURFDISP
042966,001973:
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Page 969 |
042968,001975: 15,3235 33074 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042969,001976:
042970,001977: 15,3236 77776 SURFDISP EXIT
042971,001978: 15,3237 05353 TC PHASCHNG
042972,001979: 15,3240 05024 OCT 05024 # STORE REFSMMAT ,SET REFSMFLG AND
042973,001980: 15,3241 13000 OCT 13000 # DISPLAY ORIGINAL TORQ ANGLES
042974,001981: 15,3242 06036 TC INTPRET
042975,001982: 15,3243 75160 AXC,1 AXC,2
042976,001983: 15,3244 03604 XSMD
042977,001984: 15,3245 01733 REFSMMAT
042978,001985: 15,3246 45014 SET CALL
042979,001986: 15,3247 01462 REFSMFLG
042980,001987: 15,3250 31237 MATMOVE
042981,001988: 15,3251 77776 EXIT
042982,001989: 15,3252 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042983,001990: 15,3253 13255 TCF B2F8
042984,001991: 15,3254 13265 TCF P57POST +1
042985,001992:
042986,001993: 15,3255 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042987,001994: 15,3256 70104 MASK FLAGWRD8
042988,001995: 15,3257 10000 CCS A
042989,001996: 15,3260 13543 TCF P57JUMP # ITS SET
042990,001997: 15,3261 06036 TC INTPRET
042991,001998: 15,3262 77624 CALL
042992,001999: 15,3263 33470 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042993,002000: 15,3264 77776 P57POST EXIT
042994,002001: 15,3265 35742 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042995,002002: 15,3266 04616 TC BANKCALL
042996,002003: 15,3267 20476 CADR GOPERF1
042997,002004: 15,3270 16001 TCF GOTOPOOH # VB34-TERMINATE
042998,002005: 15,3271 13543 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
042999,002006: 15,3272 16001 TCF GOTOPOOH # VB32-R59 DONE-GO TO PROG 00
043000,002007:
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Page 970 |
043002,002009: # COARSE AND FINE ALIGN IMU
043003,002010: 15,3273 75160 COATRIM AXC,1 AXC,2
043004,002011: 15,3274 02664 XDC
043005,002012: 15,3275 02642 XSM
043006,002013: 15,3276 77624 CALL
043007,002014: 15,3277 31237 MATMOVE
043008,002015: 15,3300 77624 CALL
043009,002016: 15,3301 47443 CDUTRIG
043010,002017: 15,3302 77624 CALL
043011,002018: 15,3303 31267 CALCSMSC
043012,002019: 15,3304 77624 CALL
043013,002020: 15,3305 47255 CALCGA
043014,002021: 15,3306 77624 CALL
043015,002022: 15,3307 31506 COARSE
043016,002023: 15,3310 77624 CALL
043017,002024: 15,3311 31523 NCOARSE
043018,002025: 15,3312 77624 CALL
043019,002026: 15,3313 33041 GYROTRIM
043020,002027: 15,3314 77650 GOTO
043021,002028: 15,3315 33236 SURFDISP
043022,002029: 15,3316 01535 DISPGYRO VN 0693
043023,002030:
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Page 971 |
043025,002032: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043026,002033:
043027,002034: 15,3317 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043028,002035: 15,3320 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
043029,002036:
043030,002037: 15,3321 06036 TC INTPRET
043031,002038: 15,3322 77745 DLOAD
043032,002039: 15,3323 03440 TIG # LOAD ASCENT TIME FOR DISPLAY
043033,002040: 15,3324 01046 P57A STORE DSPTEM1
043034,002041: 15,3325 77776 EXIT
043035,002042: 15,3326 32172 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043036,002043: 15,3327 04616 TC BANKCALL
043037,002044: 15,3330 20510 CADR GOFLASHR
043038,002045: 15,3331 16001 TCF GOTOPOOH # V34-TERMINATE
043039,002046: 15,3332 13337 TCF +5
043040,002047: 15,3333 13326 TCF P57AA # VB32-RECYCLE
043041,002048:
043042,002049: 15,3334 05353 TC PHASCHNG
043043,002050: 15,3335 00014 OCT 00014
043044,002051: 15,3336 05155 TC ENDOFJOB
043045,002052:
043046,002053: 15,3337 06036 TC INTPRET
043047,002054: 15,3340 50145 DLOAD BMN
043048,002055: 15,3341 01046 DSPTEM1
043049,002056: 15,3342 33367 PACKOPTN -1 # NEG TIME-PREF ORIENT IN XSMD MATRIX
043050,002057: 15,3343 65234 RTB PDDL
043051,002058: 15,3344 21462 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043052,002059: 15,3345 01046 DSPTEM1
043053,002060: 15,3346 65254 BZE PDDL
043054,002061: 15,3347 33357 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043055,002062: 15,3350 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043056,002063: 15,3351 01046 DSPTEM1
043057,002064: 15,3352 33357 P57C
043058,002065: 15,3353 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043059,002066: 15,3354 74337 STORE TIG # STORE IT IN TIG
043060,002067: 15,3355 36775 STCALL TALIGN
043061,002068: 15,3356 33361 P57D
043062,002069: 15,3357 45545 P57C DLOAD STADR
043063,002070: 15,3360 75002 STORE TALIGN
043064,002071: 15,3361 34041 P57D STCALL TDEC1
043065,002072: 15,3362 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043066,002073: 15,3363 53575 VLOAD UNIT # IN X,Y,ZSMD
043067,002074: 15,3364 00001 RATT
043068,002075: 15,3365 37605 STCALL XSMD
043069,002076: 15,3366 33647 LSORIENT
043070,002077: 15,3367 77776 EXIT
043071,002078: 15,3370 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043072,002079: 15,3371 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043073,002080: 15,3372 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043074,002081: 15,3373 34737 CAF REFSMBIT
043075,002082:
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Page 972 |
043077,002084: 15,3374 70077 MASK FLAGWRD3 # REFSMFLG
043078,002085: 15,3375 10000 CCS A
043079,002086: 15,3376 34745 CAF BIT7 # SET
043080,002087: 15,3377 27146 ADS OPTION1 +2 # CLEAR-JUST ZERO
043081,002088: 15,3400 34753 CAF ATTFLBIT
043082,002089: 15,3401 70102 MASK FLAGWRD6 # ATTFLG
043083,002090: 15,3402 10000 CCS A
043084,002091: 15,3403 34750 CAF BIT4 # SET
043085,002092: 15,3404 27146 ADS OPTION1 +2 # CLEAR-ZERO IN A
043086,002093: 15,3405 34750 CAF BIT4
043087,002094: 15,3406 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043088,002095:
043089,002096: 15,3407 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043090,002097: 15,3410 04616 TC BANKCALL
043091,002098: 15,3411 20351 CADR GOFLASH
043092,002099: 15,3412 16001 TCF GOTOPOOH # VB34-TERMINATE
043093,002100: 15,3413 13415 TCF +2 # V33-PROCEED
043094,002101: 15,3414 13407 TCF DSPOPTN # V32-RECYCLE
043095,002102:
043096,002103: 15,3415 05353 TC PHASCHNG
043097,002104: 15,3416 05024 OCT 05024
043098,002105: 15,3417 13000 OCT 13000
043099,002106: 15,3420 34737 CAF REFSMBIT
043100,002107: 15,3421 70077 MASK FLAGWRD3
043101,002108: 15,3422 10000 CCS A
043102,002109: 15,3423 13523 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043103,002110: 15,3424 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043104,002111: 15,3425 70102 MASK FLAGWRD6
043105,002112: 15,3426 10000 CCS A
043106,002113: 15,3427 13527 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043107,002114: 15,3430 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
043108,002115: 15,3431 71145 MASK OPTION2
043109,002116: 15,3432 10000 CCS A
043110,002117: 15,3433 13527 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043111,002118: 15,3434 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
043112,002119: 15,3435 00701 OCT 701
043113,002120: 15,3436 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043114,002121: 15,3437 04616 TC BANKCALL
043115,002122: 15,3440 20351 CADR GOFLASH
043116,002123: 15,3441 16001 TCF GOTOPOOH # VB34-TERMINATE
043117,002124: 15,3442 13407 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
043118,002125: 15,3443 13407 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
043119,002126:
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Page 973 |
043121,002128: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043122,002129:
043123,002130: 15,3444 40220 MFREF STQ SETPD
043124,002131: 15,3445 02746 QMAJ
043125,002132: 15,3446 00001 0
043126,002133: 15,3447 77634 RTB
043127,002134: 15,3450 21462 LOADTIME
043128,002135: 15,3451 27560 STOVL TSIGHT
043129,002136: 15,3452 02723 VEC1
043130,002137: 15,3453 41525 PDDL PUSH
043131,002138: 15,3454 03560 TSIGHT
043132,002139: 15,3455 77624 CALL
043133,002140: 15,3456 51504 RP-TO-R
043134,002141: 15,3457 26723 STOVL VEC1
043135,002142: 15,3460 02731 VEC2
043136,002143: 15,3461 65201 SETPD PDDL
043137,002144: 15,3462 00001 0
043138,002145: 15,3463 03560 TSIGHT
043139,002146: 15,3464 45006 PUSH CALL
043140,002147: 15,3465 51504 RP-TO-R
043141,002148: 15,3466 36731 STCALL VEC2
043142,002149: 15,3467 02746 QMAJ
043143,002150:
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Page 974 |
043145,002152: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043146,002153: # STORE IN YNBSAV AND ZNBSAV
043147,002154:
043148,002155: 15,3470 45020 REFMF STQ CALL
043149,002156: 15,3471 02746 QMAJ
043150,002157: 15,3472 47443 CDUTRIG # GET SIN AND COS OF CDUS
043151,002158: 15,3473 40234 RTB SETPD
043152,002159: 15,3474 21462 LOADTIME
043153,002160: 15,3475 00001 0
043154,002161: 15,3476 37560 STCALL TSIGHT
043155,002162: 15,3477 31267 CALCSMSC # GET YNB IN SM
043156,002163: 15,3500 61375 VLOAD VXM
043157,002164: 15,3501 02673 YNB
043158,002165: 15,3502 01734 REFSMMAT # YNB TO REF
043159,002166: 15,3503 65256 UNIT PDDL
043160,002167: 15,3504 03560 TSIGHT
043161,002168: 15,3505 45006 PUSH CALL
043162,002169: 15,3506 51531 R-TO-RP
043163,002170: 15,3507 26243 STOVL YNBSAV # YNB TO MF
043164,002171: 15,3510 02701 ZNB
043165,002172: 15,3511 53505 VXM UNIT
043166,002173: 15,3512 01734 REFSMMAT # ZNB TO REF
043167,002174: 15,3513 41525 PDDL PUSH
043168,002175: 15,3514 03560 TSIGHT
043169,002176: 15,3515 77624 CALL
043170,002177: 15,3516 51531 R-TO-RP # ZNB TO MF
043171,002178: 15,3517 02251 STORE ZNBSAV
043172,002179: 15,3520 77614 SETGO
043173,002180: 15,3521 03036 ATTFLAG
043174,002181: 15,3522 02746 QMAJ
043175,002182:
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Page 975 |
043177,002184: # BRANCH TO ALIGNMENT OPTION
043178,002185:
043179,002186: 15,3523 06036 GETLMATT TC INTPRET
043180,002187: 15,3524 77624 CALL
043181,002188: 15,3525 33470 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043182,002189: 15,3526 77776 EXIT
043183,002190:
043184,002191: 15,3527 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043185,002192: 15,3530 00205 ADRES INITALGN
043186,002193: 15,3531 34753 CAF BIT1
043187,002194: 15,3532 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
043188,002195: 15,3533 10000 CCS A
043189,002196: 15,3534 12627 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043190,002197:
043191,002198: 15,3535 05353 ATTCHK TC PHASCHNG
043192,002199: 15,3536 04024 OCT 04024
043193,002200:
043194,002201: 15,3537 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043195,002202: 15,3540 70102 MASK FLAGWRD6
043196,002203: 15,3541 10000 CCS A
043197,002204: 15,3542 13557 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043198,002205: 15,3543 05353 P57JUMP TC PHASCHNG
043199,002206: 15,3544 04024 OCT 04024
043200,002207:
043201,002208: 15,3545 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
043202,002209: 15,3546 00205 ADRES INITALGN
043203,002210: 15,3547 36244 CAF THREE
043204,002211: 15,3550 71145 MASK OPTION2 # BRANCH ON OPTION CODE
043205,002212: 15,3551 50000 INDEX A
043206,002213: 15,3552 13553 TCF +1
043207,002214: 15,3553 13557 TCF P57OPT0 # OPTION IS 0
043208,002215: 15,3554 13600 TCF P57OPT1 # OPTION IS 1
043209,002216: 15,3555 13616 TCF P57OPT2 # OPTION IS 2
043210,002217: 15,3556 13617 TCF P57OPT3 # OPTION IS 3
043211,002218:
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Page 976 |
043213,002220: # OPTION 0, GET TWO ATTITUDE VECS
043214,002221:
043215,002222: 15,3557 06036 P57OPT0 TC INTPRET
043216,002223: 15,3560 77775 VLOAD
043217,002224: 15,3561 02243 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043218,002225: 15,3562 26723 STOVL VEC1
043219,002226: 15,3563 02251 ZNBSAV
043220,002227: 15,3564 36731 STCALL VEC2
043221,002228: 15,3565 47443 CDUTRIG
043222,002229: 15,3566 77624 CALL
043223,002230: 15,3567 31267 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043224,002231: 15,3570 77775 VLOAD
043225,002232: 15,3571 02673 YNB
043226,002233: 15,3572 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043227,002234: 15,3573 02701 ZNB
043228,002235: 15,3574 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043229,002236: 15,3575 33444 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043230,002237: 15,3576 77650 GOTO
043231,002238: 15,3577 33156 SURFLINE
043232,002239:
043233,002240: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043234,002241:
043235,002242: 15,3600 06036 P57OPT1 TC INTPRET
043236,002243: 15,3601 53575 VLOAD UNIT
043237,002244: 15,3602 02023 RLS # LANDING SITE VEC
043238,002245: 15,3603 26723 STOVL VEC1
043239,002246: 15,3604 02251 ZNBSAV # Z ATTITUDE VEC
043240,002247: 15,3605 36731 STCALL VEC2
043241,002248: 15,3606 47443 CDUTRIG
043242,002249: 15,3607 77624 CALL
043243,002250: 15,3610 31267 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043244,002251: 15,3611 45175 VLOAD CALL
043245,002252: 15,3612 02235 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043246,002253: 15,3613 47565 CDU*NBSM
043247,002254: 15,3614 77650 GOTO
043248,002255: 15,3615 33572 SAMETYP # NOW DO SAME AS OPTION 0
043249,002256:
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Page 977 |
043251,002258: # OPTION 2, GET TWO STAR SIGHTINGS
043252,002259:
043253,002260: 15,3616 13114 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043254,002261:
043255,002262: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043256,002263:
043257,002264: 15,3617 06036 P57OPT3 TC INTPRET
043258,002265: 15,3620 53575 VLOAD UNIT
043259,002266: 15,3621 02023 RLS # LANDING SITE VEC
043260,002267: 15,3622 02723 STORE VEC1
043261,002268: 15,3623 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043262,002269: 15,3624 02235 GSAV # GRAVITY VEC NB
043263,002270: 15,3625 77624 CALL
043264,002271: 15,3626 47565 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043265,002272: 15,3627 36761 STCALL STARSAV1
043266,002273: 15,3630 33444 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043267,002274: 15,3631 77776 EXIT
043268,002275: 15,3632 13116 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043269,002276:
043270,002277: 15,3633 00701 BADOPT OCT 00701 # **** TEMP ****
043271,002278: 15,3634 01206 VB05N06 VN 506
043272,002279:
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Page 978 |
043274,002281: # CHECK IMODES30 TO VARIFY IMU IS ON
043275,002282:
043276,002283: 15,3635 41302 IMUCHK CS IMODES30
043277,002284: 15,3636 74743 MASK BIT9
043278,002285: 15,3637 10000 CCS A # IS IMU ON
043279,002286: 15,3640 13644 TCF +4 # YES
043280,002287:
043281,002288: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
043282,002289: 15,3642 00210 OCT 210
043283,002290: 15,3643 06001 TC GOTOPOOH
043284,002291:
043285,002292: 15,3644 05504 TC UPFLAG
043286,002293: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
043287,002294:
043288,002295: 15,3646 04631 TC SWRETURN
043289,002296:
043290,002297: 15,3647 77220 LSORIENT STQ VLOAD
043291,002298: 15,3650 02746 QMAJ
043292,002299: 15,3651 01555 RRECTCSM
043293,002300: 15,3652 47235 VXV VXV
043294,002301: 15,3653 01563 VRECTCSM
043295,002302: 15,3654 03605 XSMD
043296,002303: 15,3655 77656 UNIT
043297,002304: 15,3656 03621 STORE ZSMD
043298,002305: 15,3657 53435 VXV UNIT
043299,002306: 15,3660 03605 XSMD
043300,002307: 15,3661 37613 STCALL YSMD
043301,002308: 15,3662 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc