Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
040492,000002: ## Copyright: Public domain.
040493,000003: ## Filename: P51-P53.agc
040494,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
040495,000005: ## It is part of the source code for the Lunar Module's (LM)
040496,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
040497,000007: ## Assembler: yaYUL
040498,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040499,000009: ## Website: www.ibiblio.org/apollo.
040500,000010: ## Pages: 926-983
040501,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
040502,000012: ## 2009-06-07 RSB Corrected a typo.
040503,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
040504,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
040505,000015: ## and corrected the errors found.
040506,000016: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
040507,000017: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
040508,000018: ## side-by-side diff of Luminary 69/99/116/131/210.
040509,000019:
040510,000020: ## This source code has been transcribed or otherwise adapted from
040511,000021: ## digitized images of a hardcopy from the MIT Museum. The digitization
040512,000022: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040513,000023: ## the Museum. Many thanks to both. The images (with suitable reduction
040514,000024: ## in storage size and consequent reduction in image quality as well) are
040515,000025: ## available online at www.ibiblio.org/apollo. If for some reason you
040516,000026: ## find that the images are illegible, contact me at info@sandroid.org
040517,000027: ## about getting access to the (much) higher-quality images which Paul
040518,000028: ## actually created.
040519,000029: ##
040520,000030: ## Notations on the hardcopy document read, in part:
040521,000031: ##
040522,000032: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040523,000033: ## 16:27 JULY 14, 1969
040524,000034:
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Page 926 |
040526,000036: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
040527,000037: # MOD NO - 0 LOG SECTION - P51-P53
040528,000038: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
040529,000039:
040530,000040: # FUNCTIONAL DESCRIPTION -
040531,000041:
040532,000042: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040533,000043: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
040534,000044:
040535,000045: # (A) PREFERRED ORIENTATION
040536,000046:
040537,000047: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
040538,000048: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040539,000049:
040540,000050: # (B) NOMINAL ORIENTATION
040541,000051:
040542,000052: # X = UNIT ( R )
040543,000053: # -SM
040544,000054:
040545,000055: # Y = UNIT (V X R)
040546,000056: # SM
040547,000057:
040548,000058: # Z = UNIT (X X Y )
040549,000059: # SM SM SM
040550,000060:
040551,000061: # WHERE_
040552,000062:
040553,000063: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040554,000064: # -
040555,000065:
040556,000066: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040557,000067: # -
040558,000068:
040559,000069: # (C) REFSMMAT ORIENTATION
040560,000070:
040561,000071: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040562,000072:
040563,000073: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040564,000074: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040565,000075: # SINCE THE LAST ALIGNMENT).
040566,000076:
040567,000077: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040568,000078: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040569,000079: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040570,000080: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040571,000081: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040572,000082: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040573,000083: # REQUESTED.
040574,000084:
040575,000085: # CALLING SEQUENCE -
040576,000086:
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Page 927 |
040578,000088: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040579,000089:
040580,000090: # SUBROUTINES CALLED -
040581,000091:
040582,000092: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040583,000093: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040584,000094: # 3. GOPERF4 9. FLAGUP
040585,000095: # 4. MATMOVE 10. R56
040586,000096: # 5. GOFLASH 11. R51
040587,000097: # 6. S52.3 12. GOPERF3
040588,000098:
040589,000099: # NORMAL EXIT MODES -
040590,000100:
040591,000101: # EXITS TO ENDOFJOB
040592,000102:
040593,000103: # ALARM OR ABORT EXIT MODES -
040594,000104:
040595,000105: # NONE
040596,000106:
040597,000107: # OUTPUT -
040598,000108:
040599,000109: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040600,000110: # 1. IMU ORIENTATION CODE
040601,000111: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
040602,000112: # 3. TIME OF NEXT IGNITION
040603,000113: # 4. GIMBAL ANGLES
040604,000114: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
040605,000115: # 6. PLEASE PERFORM P00
040606,000116: # THE MODE DISPLAY MAY BE CHANGED TO 20
040607,000117:
040608,000118: # ERASABLE INITIALIZATION REQUIRED -
040609,000119:
040610,000120: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040611,000121: # XSMD, YSMD, ZSMD.
040612,000122:
040613,000123: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040614,000124:
040615,000125: # DEBRIS -
040616,000126:
040617,000127: # WORK AREA
040618,000128:
040619,000129: 33,3777 BANK 33
040620,000130: 15,2000 SETLOC P50S
040621,000131: 15,2000 BANK
040622,000132:
040623,000133: 15,2050 E5,1755 EBANK= BESTI
040624,000134: 15,2050 COUNT* $$/P52
040625,000135: 15,2050 04616 PROG52 TC BANKCALL
040626,000136: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040627,000137: 15,2052 34750 CAF PFRATBIT
040628,000138: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040629,000139: 15,2054 10000 CCS A
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Page 928 |
040631,000141: 15,2055 02060 TC P52A # YES
040632,000142: 15,2056 34752 CAF BIT2 # NO
040633,000143: 15,2057 02061 TC P52A +1
040634,000144: 15,2060 34753 P52A CAF BIT1
040635,000145: 15,2061 55145 TS OPTION2
040636,000146: 15,2062 34753 P52B CAF BIT1
040637,000147: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040638,000148: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040639,000149: 15,2065 06001 TC GOTOPOOH
040640,000150: 15,2066 12073 TCF +5 # V33 - PROCEED
040641,000151: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
040642,000152: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040643,000153: 15,2071 00014 OCT 00014
040644,000154: 15,2072 05155 TC ENDOFJOB
040645,000155:
040646,000156: 15,2073 31145 CA OPTION2
040647,000157: 15,2074 76245 MASK THREE
040648,000158: 15,2075 50000 INDEX A
040649,000159: 15,2076 02077 TC +1
040650,000160: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040651,000161: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040652,000162: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040653,000163: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040654,000164: 15,2103 77650 GOTO
040655,000165: 15,2104 32164 P52F # GO DO R51
040656,000166:
040657,000167: 15,2105 00006 OPT4 EXTEND
040658,000168: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040659,000169: 15,2107 12112 TCF P52T +2
040660,000170:
040661,000171: 15,2110 00006 P52T EXTEND
040662,000172: 15,2111 34755 DCA NEG0
040663,000173: 15,2112 53046 DXCH DSPTEM1
040664,000174: 15,2113 32170 CAF V06N34*
040665,000175: 15,2114 04616 TC BANKCALL
040666,000176: 15,2115 20476 CADR GOFLASH
040667,000177: 15,2116 06001 TC GOTOPOOH
040668,000178: 15,2117 02121 TC +2
040669,000179: 15,2120 02113 TC -5
040670,000180: 15,2121 53046 DXCH DSPTEM1
040671,000181: 15,2122 00006 EXTEND
040672,000182: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040673,000183: 15,2124 12127 TCF +3
040674,000184: 15,2125 00006 EXTEND
040675,000185: 15,2126 30025 DCA TIME2
040676,000186: 15,2127 53775 DXCH TALIGN
040677,000187: 15,2130 31145 P52V CA OPTION2
040678,000188: 15,2131 74752 MASK BIT2
040679,000189: 15,2132 10000 CCS A
040680,000190: 15,2133 02137 TC P52W
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Page 929 |
040682,000192: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
040683,000193: 15,2135 77650 GOTO
040684,000194: 15,2136 32220 P52LS
040685,000195:
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Page 930 |
040687,000197: # START ALIGNMENT
040688,000198:
040689,000199: 15,2137 06037 P52W TC INTPRET
040690,000200: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040691,000201: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
040692,000202: 15,2142 31650 S52.3 # ORIENTATION
040693,000203: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040694,000204: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040695,000205: 15,2145 77776 EXIT
040696,000206: 15,2146 35010 CAF V06N22
040697,000207: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040698,000208: 15,2150 20476 CADR GOFLASH
040699,000209: 15,2151 06001 TC GOTOPOOH
040700,000210: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040701,000211: 15,2153 06037 P52H TC INTPRET
040702,000212: 15,2154 77650 GOTO
040703,000213: 15,2155 32143 P52D
040704,000214: 15,2156 06037 REGCOARS TC INTPRET
040705,000215: 15,2157 77624 CALL # DO COARSE ALIGN
040706,000216: 15,2160 31327 CAL53A # ROUTINE
040707,000217: 15,2161 43014 COARSRET SET CLEAR
040708,000218: 15,2162 01462 REFSMFLG
040709,000219: 15,2163 01273 PFRATFLG
040710,000220: 15,2164 77624 P52F CALL
040711,000221: 15,2165 31015 R51
040712,000222: 15,2166 77776 P52OUT EXIT
040713,000223: 15,2167 06001 TC GOTOPOOH
040714,000224: 15,2170 5006 VB05N09 = V05N09
040715,000225: 15,2170 01442 V06N34* VN 634
040716,000226:
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Page 931 |
040718,000228: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040719,000229:
040720,000230: 15,2171 32217 COARSTYP CAF OCT13
040721,000231: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040722,000232: 15,2173 20623 CADR GOPERF1
040723,000233: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
040724,000234: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
040725,000235: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
040726,000236: 15,2177 64375 VLOAD MXV
040727,000237: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040728,000238: 15,2201 01734 REFSMMAT
040729,000239: 15,2202 77656 UNIT
040730,000240: 15,2203 26665 STOVL XDC
040731,000241: 15,2204 03615 YSMD
040732,000242: 15,2205 53521 MXV UNIT
040733,000243: 15,2206 01734 REFSMMAT
040734,000244: 15,2207 26673 STOVL YDC
040735,000245: 15,2210 03623 ZSMD
040736,000246: 15,2211 53521 MXV UNIT
040737,000247: 15,2212 01734 REFSMMAT
040738,000248: 15,2213 36701 STCALL ZDC
040739,000249: 15,2214 31164 GYCOARS
040740,000250: 15,2215 77650 GOTO
040741,000251: 15,2216 32166 P52OUT
040742,000252: 15,2217 00013 OCT13 OCT 13
040743,000253:
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Page 932 |
040745,000255: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040746,000256:
040747,000257: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040748,000258: 15,2221 01463 LUNAFLAG
040749,000259: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040750,000260: 15,2223 77201 SETPD VLOAD
040751,000261: 15,2224 00001 0
040752,000262: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040753,000263: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040754,000264: 15,2227 02775 TALIGN
040755,000265: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040756,000266: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040757,000267: 15,2232 77742 VSR2
040758,000268: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040759,000269: 15,2234 02775 TALIGN
040760,000270: 15,2235 77624 CALL
040761,000271: 15,2236 30446 N89DISP
040762,000272: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040763,000273: 15,2240 02032 ALPHAV
040764,000274: 15,2241 37607 STCALL XSMD
040765,000275: 15,2242 11013 LSORIENT
040766,000276: 15,2243 77650 GOTO
040767,000277: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040768,000278:
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Page 933 |
040770,000280: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040771,000281:
040772,000282: 14,2000 SETLOC P50S1
040773,000283: 14,2000 BANK
040774,000284: 14,2446 E5,1642 EBANK= XSM
040775,000285:
040776,000286: 14,2446 77620 N89DISP STQ
040777,000287: 14,2447 02746 QMAJ
040778,000288: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040779,000289: 14,2451 26351 LAT-LONG
040780,000290: 14,2452 70545 DLOAD SR1
040781,000291: 14,2453 01123 LONG
040782,000292: 14,2454 16711 STODL LANDLONG
040783,000293: 14,2455 01125 ALT
040784,000294: 14,2456 16713 STODL LANDALT
040785,000295: 14,2457 01121 LAT
040786,000296: 14,2460 16707 STODL LANDLAT
040787,000297: 14,2461 77776 EXIT
040788,000298:
040789,000299: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040790,000300: 14,2463 04616 TC BANKCALL
040791,000301: 14,2464 20476 CADR GOFLASH
040792,000302: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040793,000303: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040794,000304: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040795,000305:
040796,000306: 14,2470 06037 TC INTPRET
040797,000307: 14,2471 72545 DLOAD SL1
040798,000308: 14,2472 02711 LANDLONG
040799,000309: 14,2473 15123 STODL LONG
040800,000310: 14,2474 02713 LANDALT
040801,000311: 14,2475 15125 STODL ALT
040802,000312: 14,2476 02707 LANDLAT
040803,000313: 14,2477 15121 STODL LAT
040804,000314: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040805,000315: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040806,000316: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040807,000317: 14,2503 77650 GOTO
040808,000318: 14,2504 02746 QMAJ
040809,000319: 14,2505 01531 V06N89* VN 689
040810,000320:
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Page 934 |
040812,000322: # NAME - S50 ALIAS LOCSAM
040813,000323: # BY
040814,000324: # VINCENT
040815,000325:
040816,000326: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040817,000327:
040818,000328: # DEFINE
040819,000329:
040820,000330: # U = UNIT( SUN WRT EARTH )
040821,000331: # ES
040822,000332:
040823,000333: # U = UNIT( MOON WRT EARTH )
040824,000334: # EM
040825,000335:
040826,000336: # R = POSITION VECTOR OF LEM
040827,000337: # L
040828,000338:
040829,000339: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040830,000340: # EM
040831,000341:
040832,000342: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040833,000343: # EM
040834,000344:
040835,000345: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040836,000346: # E
040837,000347:
040838,000348: # LOCSAM COMPUTES IN EARTH INFLUENCE
040839,000349:
040840,000350: # VSUN = U
040841,000351: # ES
040842,000352:
040843,000353: # VEARTH = -UNIT( R )
040844,000354: # L
040845,000355:
040846,000356: # VMOON = UNIT(R .U - R )
040847,000357: # EM EM L
040848,000358:
040849,000359: # CSUN = COS 90
040850,000360:
040851,000361: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040852,000362: # E L
040853,000363:
040854,000364: # CMOON = COS 5
040855,000365:
040856,000366: # INPUT - TIME IN MPAC
040857,000367:
040858,000368: # OUTPUT - LISTED ABOVE
040859,000369:
040860,000370: # SUBROUTINES - LSPOS, LEMPREC
040861,000371:
040862,000372: # DEBRIS - VAC AREA, TSIGHT
040863,000373:
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Page 935 |
040865,000375: 14,2506 COUNT* $$/LOSAM
040866,000376:
040867,000377: 14,2506 14,2506 S50 = LOCSAM
040868,000378: 14,2506 77620 LOCSAM STQ
040869,000379: 14,2507 02745 QMIN
040870,000380: 14,2510 37562 STCALL TSIGHT
040871,000381: 14,2511 33664 LSPOS
040872,000382: 14,2512 77745 DLOAD
040873,000383: 14,2513 03562 TSIGHT
040874,000384: 14,2514 34041 STCALL TDEC1
040875,000385: 14,2515 27057 LEMPREC
040876,000386: 14,2516 61131 SSP TIX,2
040877,000387: 14,2517 00052 S2
040878,000388: 14,2520 00000 0
040879,000389: 14,2521 30543 MOONCNTR
040880,000390: 14,2522 74375 EARTCNTR VLOAD VXSC
040881,000391: 14,2523 02723 VMOON
040882,000392: 14,2524 30001 RSUBEM
040883,000393: 14,2525 52372 VSL1 VSU
040884,000394: 14,2526 00001 RATT
040885,000395: 14,2527 77656 UNIT
040886,000396: 14,2530 26723 STOVL VMOON
040887,000397: 14,2531 00001 RATT
040888,000398: 14,2532 57456 UNIT VCOMP
040889,000399: 14,2533 16707 STODL VEARTH
040890,000400: 14,2534 30005 RSUBE
040891,000401: 14,2535 77624 CALL
040892,000402: 14,2536 30575 OCCOS
040893,000403: 14,2537 14017 STODL CEARTH
040894,000404: 14,2540 30604 CSS5
040895,000405: 14,2541 34023 STCALL CMOON
040896,000406: 14,2542 30570 ENDSAM
040897,000407: 14,2543 74375 MOONCNTR VLOAD VXSC
040898,000408: 14,2544 02723 VMOON
040899,000409: 14,2545 30007 ROE
040900,000410: 14,2546 53445 BVSU UNIT
040901,000411: 14,2547 02715 VSUN
040902,000412: 14,2550 26715 STOVL VSUN
040903,000413: 14,2551 02723 VMOON
040904,000414: 14,2552 53361 VXSC VAD
040905,000415: 14,2553 30001 RSUBEM
040906,000416: 14,2554 00001 RATT
040907,000417: 14,2555 57456 UNIT VCOMP
040908,000418: 14,2556 26707 STOVL VEARTH
040909,000419: 14,2557 00001 RATT
040910,000420: 14,2560 57456 UNIT VCOMP
040911,000421: 14,2561 16723 STODL VMOON
040912,000422: 14,2562 30003 RSUBM
040913,000423: 14,2563 77624 CALL
040914,000424: 14,2564 30575 OCCOS
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Page 936 |
040916,000426: 14,2565 14023 STODL CMOON
040917,000427: 14,2566 30604 CSS5
040918,000428: 14,2567 00017 STORE CEARTH
040919,000429: 14,2570 77745 ENDSAM DLOAD
040920,000430: 14,2571 30606 CSSUN
040921,000431: 14,2572 00021 STORE CSUN
040922,000432: 14,2573 77650 GOTO
040923,000433: 14,2574 02745 QMIN
040924,000434: 14,2575 70471 OCCOS DDV SR1
040925,000435: 14,2576 00045 36D
040926,000436: 14,2577 43336 ASIN DAD
040927,000437: 14,2600 30610 5DEGREES
040928,000438: 14,2601 70546 COS SR1
040929,000439: 14,2602 77616 RVQ
040930,000440: 14,2603 CEARTH = 14D
040931,000441: 14,2603 CSUN = 16D
040932,000442: 14,2603 CMOON = 18D
040933,000443: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040934,000444: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040935,000445: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040936,000446:
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Page 937 |
040938,000448: # PROGRAM NAME - R56 DATE DEC 20 66
040939,000449: # MOD 1 LOG SECTION P51-P53
040940,000450: # ASSEMBLY SUNDISK REV40
040941,000451: # BY KEN VINCENT
040942,000452:
040943,000453: # FUNCTION
040944,000454: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040945,000455: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040946,000456: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040947,000457: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040948,000458: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040949,000459: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040950,000460: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040951,000461: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040952,000462: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040953,000463: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040954,000464: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040955,000465: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040956,000466:
040957,000467: # CALLING SEQUENCE
040958,000468: # L TC BANKCALL
040959,000469: # L+1 CADR R56
040960,000470: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040961,000471: # L+3 NORMAL RETURN
040962,000472:
040963,000473: # OUTPUT
040964,000474: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040965,000475: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040966,000476:
040967,000477: # INITIALIZATION
040968,000478: # 1) A CALL TO LOCSAM MUST BE MADE
040969,000479:
040970,000480: # DEBRIS
040971,000481: # WORKAREA
040972,000482: # X,Y,ZNB
040973,000483: # SINCDU, COSCDU
040974,000484: # STARAD - STAR +5
040975,000485:
040976,000486: 14,2611 14,2611 R56 = PICAPAR
040977,000487: 14,2611 COUNT* $$/R56
040978,000488: 14,2611 04645 PICAPAR TC MAKECADR
040979,000489: 14,2612 55745 TS QMIN
040980,000490: 14,2613 06037 TC INTPRET
040981,000491: 14,2614 77624 CALL
040982,000492: 14,2615 47537 CDUTRIG
040983,000493: 14,2616 77624 CALL
040984,000494: 14,2617 20030 CALCSMSC
040985,000495: 14,2620 77601 SETPD
040986,000496: 14,2621 00001 0
040987,000497: 14,2622 71214 SET DLOAD # VFLAG = 1
040988,000498: 14,2623 01465 VFLAG
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Page 938 |
040990,000500: 14,2624 24007 DPZERO
040991,000501: 14,2625 26756 STOVL BESTI
040992,000502: 14,2626 02665 XNB
040993,000503: 14,2627 63361 VXSC PDVL
040994,000504: 14,2630 24005 HALFDP
040995,000505: 14,2631 02701 ZNB
040996,000506: 14,2632 74370 AXT,1 VXSC
040997,000507: 14,2633 00344 228D # X1 = 37 X 6 + 6
040998,000508: 14,2634 24005 HALFDP
040999,000509: 14,2635 77655 VAD
041000,000510: 14,2636 53505 VXM UNIT
041001,000511: 14,2637 01734 REFSMMAT
041002,000512: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041003,000513: 14,2641 66331 SSP SSP # S1 = S2 = 6
041004,000514: 14,2642 00051 S1
041005,000515: 14,2643 00006 6
041006,000516: 14,2644 00052 S2
041007,000517: 14,2645 00006 6
041008,000518: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041009,000519: 14,2647 30651 PIC2
041010,000520: 14,2650 30766 PICEND
041011,000521: 14,2651 50373 PIC2 VLOAD* DOT
041012,000522: 14,2652 30347 CATLOG,1
041013,000523: 14,2653 02731 SAX
041014,000524: 14,2654 50025 DSU BMN
041015,000525: 14,2655 30765 CSS33
041016,000526: 14,2656 30646 PIC1
041017,000527: 14,2657 77754 LXA,2
041018,000528: 14,2660 00046 X1
041019,000529: 14,2661 52104 PIC3 TIX,2 GOTO
041020,000530: 14,2662 30664 PIC4
041021,000531: 14,2663 30646 PIC1
041022,000532: 14,2664 50373 PIC4 VLOAD* DOT
041023,000533: 14,2665 47430 CATLOG,2
041024,000534: 14,2666 02731 SAX
041025,000535: 14,2667 50025 DSU BMN
041026,000536: 14,2670 30765 CSS33
041027,000537: 14,2671 30661 PIC3
041028,000538: 14,2672 47773 VLOAD* DOT*
041029,000539: 14,2673 30347 CATLOG,1
041030,000540: 14,2674 47430 CATLOG,2
041031,000541: 14,2675 51025 DSU BPL
041032,000542: 14,2676 30763 CSS40
041033,000543: 14,2677 30661 PIC3
041034,000544: 14,2700 45173 VLOAD* CALL
041035,000545: 14,2701 30347 CATLOG,1
041036,000546: 14,2702 30740 OCCULT
041037,000547: 14,2703 77614 BON
041038,000548: 14,2704 01710 CULTFLAG
041039,000549: 14,2705 30646 PIC1
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Page 939 |
041041,000551: 14,2706 45173 VLOAD* CALL
041042,000552: 14,2707 47430 CATLOG,2
041043,000553: 14,2710 30740 OCCULT
041044,000554: 14,2711 77614 BON
041045,000555: 14,2712 01710 CULTFLAG
041046,000556: 14,2713 30661 PIC3
041047,000557: 14,2714 77614 STRATGY BONCLR
041048,000558: 14,2715 01605 VFLAG
041049,000559: 14,2716 30733 NEWPAR
041050,000560: 14,2717 65120 XCHX,1 XCHX,2
041051,000561: 14,2720 02755 BESTI
041052,000562: 14,2721 02756 BESTJ
041053,000563: 14,2722 47773 STRAT VLOAD* DOT*
041054,000564: 14,2723 30347 CATLOG,1
041055,000565: 14,2724 47430 CATLOG,2
041056,000566: 14,2725 43006 PUSH BOFINV
041057,000567: 14,2726 01545 VFLAG
041058,000568: 14,2727 30717 STRAT -3
041059,000569: 14,2730 45345 DLOAD DSU
041060,000570: 14,2731 77644 BPL
041061,000571: 14,2732 30661 PIC3
041062,000572: 14,2733 67130 NEWPAR SXA,1 SXA,2
041063,000573: 14,2734 02755 BESTI
041064,000574: 14,2735 02756 BESTJ
041065,000575: 14,2736 77650 GOTO
041066,000576: 14,2737 30661 PIC3
041067,000577: 14,2740 51321 OCCULT MXV BVSU
041068,000578: 14,2741 02707 CULTRIX
041069,000579: 14,2742 00017 CSS
041070,000580: 14,2743 77654 BZE
041071,000581: 14,2744 30757 CULTED
041072,000582: 14,2745 75240 BMN SIGN
041073,000583: 14,2746 30757 CULTED
041074,000584: 14,2747 00160 MPAC +3
041075,000585: 14,2750 75240 BMN SIGN
041076,000586: 14,2751 30757 CULTED
041077,000587: 14,2752 00162 MPAC +5
041078,000588: 14,2753 43040 BMN CLRGO
041079,000589: 14,2754 30757 CULTED
041080,000590: 14,2755 01630 CULTFLAG
041081,000591: 14,2756 00052 QPRET
041082,000592: 14,2757 77614 CULTED SETGO
041083,000593: 14,2760 01430 CULTFLAG
041084,000594: 14,2761 00052 QPRET
041085,000595: 14,2762 0000016 CSS = CEARTH
041086,000596: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041087,000597: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041088,000598: 14,2766 77414 PICEND BOFF EXIT
041089,000599:
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Page 940 |
041091,000601: 14,2767 01745 VFLAG
041092,000602: 14,2770 30772 PICGXT
041093,000603: 14,2771 03013 TC PICBXT
041094,000604: 14,2772 73150 PICGXT LXA,1 LXA,2
041095,000605: 14,2773 02755 BESTI
041096,000606: 14,2774 02756 BESTJ
041097,000607: 14,2775 47775 VLOAD DOT*
041098,000608: 14,2776 02731 SAX
041099,000609: 14,2777 30347 CATLOG,1
041100,000610: 14,3000 47715 PDVL DOT*
041101,000611: 14,3001 02731 SAX
041102,000612: 14,3002 47430 CATLOG,2
041103,000613: 14,3003 77625 DSU
041104,000614: 14,3004 66044 BPL SXA,1
041105,000615: 14,3005 31011 PICNSWP
041106,000616: 14,3006 02756 BESTJ
041107,000617: 14,3007 77734 SXA,2
041108,000618: 14,3010 02755 BESTI
041109,000619: 14,3011 77776 PICNSWP EXIT
041110,000620: 14,3012 25745 INCR QMIN
041111,000621: 14,3013 31745 PICBXT CA QMIN
041112,000622: 14,3014 04622 TC SWCALL
041113,000623: 14,3015 VPD = 0D
041114,000624: 14,3015 V0 = 6D
041115,000625: 14,3015 V1 = 12D
041116,000626: 14,3015 V2 = 18D
041117,000627: 14,3015 V3 = 24D
041118,000628: 14,3015 DP0 = 30D
041119,000629: 14,3015 DP1 = 32D
041120,000630:
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Page 941 |
041122,000632: # NAME - R51 FINE ALIGN
041123,000633: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041124,000634: # CALLING SEQ - CALL R51
041125,000635: # INPUT - REFSMMAT
041126,000636: # OUTPUT - GYRO TORQUE PULSES
041127,000637: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041128,000638:
041129,000639: 14,3015 COUNT* $$/R51
041130,000640: 14,3015 77620 R51 STQ
041131,000641: 14,3016 02746 QMAJ
041132,000642: 14,3017 77776 R51.1 EXIT
041133,000643: 14,3020 05353 TC PHASCHNG
041134,000644: 14,3021 04024 OCT 04024
041135,000645:
041136,000646: 14,3022 34761 R51C CAF OCT15
041137,000647: 14,3023 04616 TC BANKCALL
041138,000648: 14,3024 20623 CADR GOPERF1
041139,000649: 14,3025 06001 TC GOTOPOOH
041140,000650: 14,3026 03030 TC +2 # V33E
041141,000651: 14,3027 03053 TC R51E # ENTER
041142,000652: 14,3030 06037 TC INTPRET
041143,000653: 14,3031 43234 RTB DAD
041144,000654: 14,3032 21573 LOADTIME
041145,000655: 14,3033 31163 TSIGHT1
041146,000656: 14,3034 77624 CALL
041147,000657: 14,3035 30506 LOCSAM
041148,000658: 14,3036 77776 EXIT
041149,000659: 14,3037 04616 TC BANKCALL
041150,000660: 14,3040 30611 CADR R56
041151,000661: 14,3041 03043 TC R51I
041152,000662: 14,3042 03053 R51F TC R51E
041153,000663: 14,3043 05567 R51I TC ALARM
041154,000664: 14,3044 00405 OCT 405
041155,000665: 14,3045 35006 CAF VB05N09
041156,000666: 14,3046 04616 TC BANKCALL
041157,000667: 14,3047 20476 CADR GOFLASH
041158,000668: 14,3050 06001 TC GOTOPOOH
041159,000669: 14,3051 03053 TC R51E
041160,000670: 14,3052 03022 TC R51C
041161,000671: 14,3053 34755 R51E CAF ZERO
041162,000672: 14,3054 55757 TS STARIND
041163,000673: 14,3055 06037 R51.2 TC INTPRET
041164,000674: 14,3056 77776 R51.3 EXIT
041165,000675: 14,3057 05353 TC PHASCHNG
041166,000676: 14,3060 04024 OCT 04024
041167,000677:
041168,000678: 14,3061 06037 TC INTPRET
041169,000679: 14,3062 77624 CALL
041170,000680: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041171,000681: 14,3064 77776 EXIT
041172,000682: 14,3065 04616 TC BANKCALL
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Page 942 |
041174,000684: 14,3066 16000 CADR AOTMARK
041175,000685: 14,3067 04616 TC BANKCALL
041176,000686: 14,3070 17712 CADR OPTSTALL
041177,000687: 14,3071 05711 TC CURTAINS
041178,000688: 14,3072 11757 CCS STARIND
041179,000689: 14,3073 13075 TCF +2
041180,000690: 14,3074 03145 TC R51.4
041181,000691: 14,3075 06037 TC INTPRET
041182,000692: 14,3076 77775 VLOAD
041183,000693: 14,3077 02715 STARAD +6
041184,000694: 14,3100 02767 STORE STARSAV2
041185,000695: 14,3101 77776 EXIT
041186,000696: 14,3102 05353 TC PHASCHNG
041187,000697: 14,3103 04024 OCT 04024
041188,000698:
041189,000699: 14,3104 06037 TC INTPRET
041190,000700: 14,3105 45145 DLOAD CALL
041191,000701: 14,3106 03562 TSIGHT
041192,000702: 14,3107 32472 PLANET
041193,000703: 14,3110 53521 MXV UNIT
041194,000704: 14,3111 01734 REFSMMAT
041195,000705: 14,3112 26715 STOVL STARAD +6
041196,000706: 14,3113 03554 PLANVEC
041197,000707: 14,3114 53521 MXV UNIT
041198,000708: 14,3115 01734 REFSMMAT
041199,000709: 14,3116 26707 STOVL STARAD
041200,000710: 14,3117 02761 STARSAV1
041201,000711: 14,3120 24007 STOVL 6D
041202,000712: 14,3121 02767 STARSAV2
041203,000713: 14,3122 34015 STCALL 12D
041204,000714: 14,3123 31256 R54 # STAR DATA TEST
041205,000715: 14,3124 45014 BOFF CALL
041206,000716: 14,3125 00354 FREEFLAG
041207,000717: 14,3126 31134 R51K
041208,000718: 14,3127 47441 AXISGEN
041209,000719: 14,3130 77624 CALL
041210,000720: 14,3131 31224 R55 # GYRO TORQUE
041211,000721: 14,3132 77614 CLEAR
041212,000722: 14,3133 01273 PFRATFLG
041213,000723: 14,3134 77776 R51K EXIT
041214,000724: 14,3135 35751 R51P63 CAF OCT14
041215,000725: 14,3136 04616 TC BANKCALL
041216,000726: 14,3137 20623 CADR GOPERF1
041217,000727: 14,3140 06001 TC GOTOPOOH
041218,000728: 14,3141 03022 TC R51C
041219,000729: 14,3142 06037 TC INTPRET
041220,000730: 14,3143 77650 GOTO
041221,000731: 14,3144 02746 QMAJ
041222,000732: 14,3145 06037 R51.4 TC INTPRET
041223,000733: 14,3146 77775 VLOAD
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Page 943 |
041225,000735: 14,3147 02715 STARAD +6
041226,000736: 14,3150 02761 STORE STARSAV1
041227,000737: 14,3151 45145 DLOAD CALL
041228,000738: 14,3152 03562 TSIGHT
041229,000739: 14,3153 32472 PLANET
041230,000740: 14,3154 03554 STORE PLANVEC
041231,000741: 14,3155 77731 SSP
041232,000742: 14,3156 02760 STARIND
041233,000743: 14,3157 00001 1
041234,000744: 14,3160 77650 GOTO
041235,000745: 14,3161 31056 R51.3
041236,000746: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
041237,000747:
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Page 944 |
041239,000749: # GYRO TORQUE COARSE ALIGNMENT
041240,000750:
041241,000751: 14,3164 45020 GYCOARS STQ CALL
041242,000752: 14,3165 02746 QMAJ
041243,000753: 14,3166 47247 CALCGTA
041244,000754: 14,3167 43014 CLEAR CLEAR
041245,000755: 14,3170 01260 DRIFTFLG
041246,000756: 14,3171 01662 REFSMFLG
041247,000757: 14,3172 77776 EXIT
041248,000758: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
041249,000759: 14,3174 04616 TC BANKCALL
041250,000760: 14,3175 20451 CADR GODSPR
041251,000761: 14,3176 33255 CA R55CDR
041252,000762: 14,3177 04616 TC BANKCALL
041253,000763: 14,3200 17323 CADR IMUPULSE
041254,000764: 14,3201 04616 TC BANKCALL
041255,000765: 14,3202 17716 CADR IMUSTALL
041256,000766: 14,3203 05711 TC CURTAINS
041257,000767: 14,3204 05353 TC PHASCHNG
041258,000768: 14,3205 04024 OCT 04024
041259,000769:
041260,000770: 14,3206 06037 TC INTPRET
041261,000771: 14,3207 75160 AXC,1 AXC,2
041262,000772: 14,3210 03606 XSMD
041263,000773: 14,3211 01733 REFSMMAT
041264,000774: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
041265,000775: 14,3213 31377 MATMOVE
041266,000776: 14,3214 43014 CLEAR SET
041267,000777: 14,3215 01273 PFRATFLG
041268,000778: 14,3216 01462 REFSMFLG
041269,000779: 14,3217 77624 CALL
041270,000780: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
041271,000781: 14,3221 77650 GOTO
041272,000782: 14,3222 31134 R51K
041273,000783: 14,3223 04024 V16N20 VN 1620
041274,000784:
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Page 945 |
041276,000786: # R55 GYRO TORQUE
041277,000787: # FUNCTION - COMPUTE AND SEND GYRO PULSES
041278,000788: # CALLING SEQ - CALL R55
041279,000789: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
041280,000790: # OUTPUT - GYRO PULSES
041281,000791: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041282,000792:
041283,000793: 14,3224 COUNT* $$/R55
041284,000794: 14,3224 77620 R55 STQ
041285,000795: 14,3225 02745 QMIN
041286,000796: 14,3226 77624 CALL
041287,000797: 14,3227 47247 CALCGTA
041288,000798: 14,3230 77776 PULSEM EXIT
041289,000799: 14,3231 33254 R55.1 CAF V06N93
041290,000800: 14,3232 04616 TC BANKCALL
041291,000801: 14,3233 20476 CADR GOFLASH
041292,000802: 14,3234 06001 TC GOTOPOOH
041293,000803: 14,3235 03237 TC R55.2
041294,000804: 14,3236 03251 TC R55RET
041295,000805: 14,3237 05353 R55.2 TC PHASCHNG
041296,000806: 14,3240 00214 OCT 00214
041297,000807: 14,3241 33255 CA R55CDR
041298,000808: 14,3242 04616 TC BANKCALL
041299,000809: 14,3243 17323 CADR IMUPULSE
041300,000810: 14,3244 04616 TC BANKCALL
041301,000811: 14,3245 17716 CADR IMUSTALL
041302,000812: 14,3246 05711 TC CURTAINS
041303,000813: 14,3247 05353 TC PHASCHNG
041304,000814: 14,3250 04024 OCT 04024
041305,000815:
041306,000816: 14,3251 06037 R55RET TC INTPRET
041307,000817: 14,3252 77650 GOTO
041308,000818: 14,3253 02745 QMIN
041309,000819: 14,3254 01535 V06N93 VN 0693
041310,000820: 14,3255 02737 R55CDR ECADR OGC
041311,000821: 14,3256 14,3256 R54 = CHKSDATA
041312,000822:
041313,000823: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
041314,000824: # MOD NO - 0 LOG SECTION - P51-P53
041315,000825: # MODIFICATION BY - LONSKE ASSEMBLY -
041316,000826:
041317,000827: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041318,000828: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041319,000829: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041320,000830: # OS1 = OBSERVED STAR 1 VECTOR
041321,000831: # OS2 = OBSERVED STAR 2 VECTOR
041322,000832: # SS1 = STORED STAR 1 VECTOR
041323,000833: # SS2 = STORED STAR 2 VECTOR
041324,000834: # A1 = ARCCOS(OS1 - OS2)
041325,000835: # A2 = ARCCOS(SS1 - SS2)
041326,000836: # A = ABS(2(A1 - A2))
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Page 946 |
041328,000838: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041329,000839:
041330,000840: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041331,000841: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
041332,000842:
041333,000843: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041334,000844: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041335,000845:
041336,000846: # ERASABLE INITIALIZATION REQUIRED -
041337,000847: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041338,000848: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041339,000849:
041340,000850: # DEBRIS -
041341,000851:
041342,000852: 14,3256 COUNT* $$/R54
041343,000853: 14,3256 43020 CHKSDATA STQ SET
041344,000854: 14,3257 02745 QMIN
041345,000855: 14,3260 00074 FREEFLAG
041346,000856: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041347,000857: 14,3262 02706 STARAD
041348,000858:
041349,000859: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041350,000860: 14,3264 00001 0,1
041351,000861: 14,3265 00007 6,1
041352,000862: 14,3266 65552 SL1 ACOS
041353,000863: 14,3267 00025 STORE THETA
041354,000864: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041355,000865: 14,3271 00354 FREEFLAG
041356,000866: 14,3272 31302 CHKSD
041357,000867: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041358,000868: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041359,000869: 14,3275 00006 6D
041360,000870: 14,3276 00025 THETA
041361,000871: 14,3277 00023 STORE 18D
041362,000872: 14,3300 77650 GOTO
041363,000873: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041364,000874: 14,3302 45345 CHKSD DLOAD DSU
041365,000875: 14,3303 00025 THETA
041366,000876: 14,3304 00023 18D
041367,000877: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041368,000878: 14,3306 21612 SGNAGREE
041369,000879: 14,3307 01046 STORE NORMTEM1
041370,000880: 14,3310 77414 SET EXIT
041371,000881: 14,3311 00074 FREEFLAG
041372,000882: 14,3312 33326 CAF VB6N5
041373,000883: 14,3313 04616 TC BANKCALL
041374,000884: 14,3314 20476 CADR GOFLASH
041375,000885: 14,3315 16001 TCF GOTOPOOH
041376,000886: 14,3316 03323 TC CHKSDA # PROCEED
041377,000887: 14,3317 06037 TC INTPRET
041378,000888: 14,3320 52014 CLEAR GOTO
041379,000889: 14,3321 00274 FREEFLAG
041380,000890: 14,3322 02745 QMIN
041381,000891: 14,3323 06037 CHKSDA TC INTPRET
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Page 947 |
041383,000893: 14,3324 77650 GOTO
041384,000894: 14,3325 02745 QMIN
041385,000895: 14,3326 01405 VB6N5 VN 605
041386,000896:
041387,000897: # NAME - CAL53A
041388,000898: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041389,000899: # CALLING SEQUENCE - CALL CAL53A
041390,000900: # INPUT - X,Y,ZSMD, CDUX,Y,Z
041391,000901: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
041392,000902: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041393,000903: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
041394,000904:
041395,000905: 14,3327 COUNT* $$/R50
041396,000906: 14,3327 77624 CAL53A CALL
041397,000907: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
041398,000908: 14,3331 66234 RTB SSP
041399,000909: 14,3332 31413 RDCDUS # READ CDUS
041400,000910: 14,3333 00051 S1
041401,000911: 14,3334 00001 1
041402,000912: 14,3335 40370 AXT,1 SETPD
041403,000913: 14,3336 00003 3
041404,000914: 14,3337 00005 4
041405,000915: 14,3340 70543 CALOOP DLOAD* SR1
041406,000916: 14,3341 00325 THETAD +3D,1
041407,000917: 14,3342 70523 PDDL* SR1
041408,000918: 14,3343 00005 4,1
041409,000919: 14,3344 51425 DSU ABS
041410,000920: 14,3345 45206 PUSH DSU
041411,000921: 14,3346 31412 DEGREE1
041412,000922: 14,3347 71240 BMN DLOAD
041413,000923: 14,3350 31366 CALOOP1
041414,000924: 14,3351 51025 DSU BPL
041415,000925: 14,3352 31413 DEG359
041416,000926: 14,3353 31366 CALOOP1
041417,000927: 14,3354 77776 EXIT
041418,000928: 14,3355 05353 TC PHASCHNG
041419,000929: 14,3356 04024 OCT 04024
041420,000930:
041421,000931: 14,3357 06037 TC INTPRET
041422,000932: 14,3360 77624 COARFINE CALL
041423,000933: 14,3361 31565 COARSE
041424,000934: 14,3362 77624 CALL
041425,000935: 14,3363 31602 NCOARSE
041426,000936: 14,3364 77650 GOTO
041427,000937: 14,3365 31370 FINEONLY
041428,000938: 14,3366 77700 CALOOP1 TIX,1
041429,000939: 14,3367 31340 CALOOP
041430,000940: 14,3370 75160 FINEONLY AXC,1 AXC,2
041431,000941: 14,3371 02642 XSM
041432,000942: 14,3372 01733 REFSMMAT
041433,000943: 14,3373 77624 CALL
041434,000944: 14,3374 31377 MATMOVE
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Page 948 |
041436,000946: 14,3375 77650 GOTO
041437,000947: 14,3376 32161 COARSRET
041438,000948: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041439,000949: 14,3400 00001 0,1
041440,000950: 14,3401 10001 STORE 0,2
041441,000951: 14,3402 77773 VLOAD*
041442,000952: 14,3403 00007 6D,1
041443,000953: 14,3404 10007 STORE 6D,2
041444,000954: 14,3405 77773 VLOAD*
041445,000955: 14,3406 00015 12D,1
041446,000956: 14,3407 10015 STORE 12D,2
041447,000957: 14,3410 77616 RVQ
041448,000958: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041449,000959: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041450,000960: 14,3413 00004 RDCDUS INHINT # READ CDUS
041451,000961: 14,3414 30032 CA CDUX
041452,000962: 14,3415 50120 INDEX FIXLOC
041453,000963: 14,3416 54001 TS 1
041454,000964: 14,3417 30033 CA CDUY
041455,000965: 14,3420 50120 INDEX FIXLOC
041456,000966: 14,3421 54002 TS 2
041457,000967: 14,3422 30034 CA CDUZ
041458,000968: 14,3423 50120 INDEX FIXLOC
041459,000969: 14,3424 54003 TS 3
041460,000970: 14,3425 00003 RELINT
041461,000971: 14,3426 06061 TC DANZIG # +
041462,000972: 14,3427 COUNT* $$/INFLT
041463,000973:
![]() |
Page 949 |
041465,000975: # NAME - P51 - IMU ORIENTATION DETERMINATION
041466,000976: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
041467,000977: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041468,000978:
041469,000979: # FUNCTIONAL DESCRIPTION
041470,000980: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041471,000981: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041472,000982: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041473,000983: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041474,000984:
041475,000985: # CALLING SEQUENCE
041476,000986: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041477,000987:
041478,000988: # SUBROUTINES CALLED.
041479,000989: # GOPERF3
041480,000990: # GOPERF1
041481,000991: # GODSPR
041482,000992: # IMUCOARS
041483,000993: # IMUFIN20
041484,000994: # AOTMARK (R53)
041485,000995: # CHKSDATA (R54)
041486,000996: # MKRELEAS
041487,000997: # AXISGEN
041488,000998: # MATMOVE
041489,000999:
041490,001000: # ALARMS
041491,001001: # NONE.
041492,001002:
041493,001003: # ERASABLE INITIALIZATION
041494,001004: # IMU ZERO FLAG SHOULD BE SET.
041495,001005:
041496,001006: # OUTPUT
041497,001007: # REFSMMAT
041498,001008: # REFSMFLG
041499,001009:
041500,001010: # DEBRIS
041501,001011: # WORK AREA
041502,001012: # STARAD
041503,001013: # STARIND
041504,001014: # BESTI
041505,001015: # BESTJ
041506,001016:
041507,001017: 14,3427 COUNT* $$/P51
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Page 950 |
041509,001019: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041510,001020: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041511,001021:
041512,001022: 14,3431 34761 CAF OCT15
041513,001023: 14,3432 04616 TC BANKCALL
041514,001024: 14,3433 20623 CADR GOPERF1
041515,001025: 14,3434 06001 TC GOTOPOOH # TERM.
041516,001026: 14,3435 13461 TCF P51B # V33
041517,001027: 14,3436 05353 TC PHASCHNG
041518,001028: 14,3437 04024 OCT 04024
041519,001029:
041520,001030: 14,3440 34755 CAF ZERO
041521,001031: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041522,001032: 14,3442 54322 TS THETAD +1
041523,001033: 14,3443 54323 TS THETAD +2
041524,001034: 14,3444 35010 CAF V06N22
041525,001035: 14,3445 04616 TC BANKCALL
041526,001036: 14,3446 20446 CADR GODSPRET
041527,001037: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041528,001038: 14,3450 04616 TC BANKCALL
041529,001039: 14,3451 20446 CADR GODSPRET
041530,001040: 14,3452 06037 TC INTPRET
041531,001041: 14,3453 77624 CALL
041532,001042: 14,3454 31565 COARSE
041533,001043: 14,3455 77776 EXIT
041534,001044: 14,3456 05353 TC PHASCHNG
041535,001045: 14,3457 04024 OCT 04024
041536,001046: 14,3460 13431 TCF P51 +2
041537,001047:
041538,001048: 14,3461 05353 P51B TC PHASCHNG
041539,001049: 14,3462 00014 OCT 00014
041540,001050: 14,3463 06037 TC INTPRET
041541,001051: 14,3464 77624 CALL
041542,001052: 14,3465 31602 NCOARSE
041543,001053: 14,3466 40331 SSP SETPD
041544,001054: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
041545,001055: 14,3470 00000 0
041546,001056: 14,3471 00001 0
041547,001057: 14,3472 77776 P51C EXIT
041548,001058: 14,3473 05353 TC PHASCHNG
041549,001059: 14,3474 04024 OCT 04024
041550,001060:
041551,001061: 14,3475 04616 TC BANKCALL
041552,001062: 14,3476 16000 CADR AOTMARK # R53
041553,001063: 14,3477 04616 TC BANKCALL
041554,001064: 14,3500 17712 CADR AOTSTALL
041555,001065: 14,3501 05711 TC CURTAINS
041556,001066: 14,3502 11757 CCS STARIND
041557,001067: 14,3503 13511 TCF P51D +1
041558,001068: 14,3504 06037 TC INTPRET
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Page 951 |
041560,001070: 14,3505 77775 VLOAD
041561,001071: 14,3506 02715 STARAD +6
041562,001072: 14,3507 02761 STORE STARSAV1
041563,001073: 14,3510 77776 P51D EXIT
041564,001074: 14,3511 05353 TC PHASCHNG
041565,001075: 14,3512 04024 OCT 04024
041566,001076:
041567,001077: 14,3513 11757 CCS STARIND
041568,001078: 14,3514 13530 TCF P51E
041569,001079: 14,3515 05353 TC PHASCHNG
041570,001080: 14,3516 04024 OCT 04024
041571,001081:
041572,001082: 14,3517 06037 TC INTPRET
041573,001083: 14,3520 45145 DLOAD CALL
041574,001084: 14,3521 03562 TSIGHT
041575,001085: 14,3522 32472 PLANET
041576,001086: 14,3523 03554 STORE PLANVEC
041577,001087: 14,3524 77776 EXIT
041578,001088: 14,3525 34753 CAF BIT1
041579,001089: 14,3526 55757 TS STARIND
041580,001090: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041581,001091: 14,3530 05353 P51E TC PHASCHNG
041582,001092: 14,3531 04024 OCT 04024
041583,001093:
041584,001094: 14,3532 06037 TC INTPRET
041585,001095: 14,3533 45145 DLOAD CALL
041586,001096: 14,3534 03562 TSIGHT
041587,001097: 14,3535 32472 PLANET
041588,001098: 14,3536 24015 STOVL 12D
041589,001099: 14,3537 03554 PLANVEC
041590,001100: 14,3540 24007 STOVL 6D
041591,001101: 14,3541 02761 STARSAV1
041592,001102: 14,3542 26707 STOVL STARAD
041593,001103: 14,3543 02767 STARSAV2
041594,001104: 14,3544 36715 STCALL STARAD +6
041595,001105: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041596,001106: 14,3546 77414 BON EXIT
041597,001107: 14,3547 00314 FREEFLAG
041598,001108: 14,3550 31552 P51G
041599,001109: 14,3551 03431 TC P51 +2
041600,001110: 14,3552 77624 P51G CALL
041601,001111: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041602,001112: 14,3554 75160 AXC,1 AXC,2
041603,001113: 14,3555 02664 XDC
041604,001114: 14,3556 01733 REFSMMAT
041605,001115: 14,3557 77624 CALL
041606,001116: 14,3560 31377 MATMOVE
041607,001117: 14,3561 77414 SET EXIT
041608,001118: 14,3562 01462 REFSMFLG
041609,001119: 14,3563 06001 TC GOTOPOOH # FINIS
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Page 952 |
041611,001121: 14,3564 12200 V41K VN 4100
041612,001122: 14,3565 77776 COARSE EXIT
041613,001123: 14,3566 04616 TC BANKCALL
041614,001124: 14,3567 17000 CADR IMUCOARS
041615,001125: 14,3570 04616 TC BANKCALL
041616,001126: 14,3571 17716 CADR IMUSTALL
041617,001127: 14,3572 05711 TC CURTAINS
041618,001128: 14,3573 04616 TC BANKCALL
041619,001129: 14,3574 17210 CADR IMUFINE
041620,001130: 14,3575 04616 TC BANKCALL
041621,001131: 14,3576 17716 CADR IMUSTALL
041622,001132: 14,3577 05711 TC CURTAINS
041623,001133: 14,3600 06037 TC INTPRET
041624,001134: 14,3601 77616 RVQ
041625,001135: 14,3602 77776 NCOARSE EXIT
041626,001136: 14,3603 30025 CA TIME1
041627,001137: 14,3604 55075 TS 1/PIPADT
041628,001138: 14,3605 44755 CS ZERO
041629,001139: 14,3606 54037 TS PIPAX
041630,001140: 14,3607 54040 TS PIPAY
041631,001141: 14,3610 54041 TS PIPAZ
041632,001142: 14,3611 06037 TC INTPRET
041633,001143: 14,3612 77775 VLOAD
041634,001144: 14,3613 24007 ZEROVEC
041635,001145: 14,3614 01472 STORE GCOMP
041636,001146: 14,3615 43414 SET RVQ
041637,001147: 14,3616 01060 DRIFTFLG
041638,001148:
![]() |
Page 953 |
041640,001150: # NAME - S52.2
041641,001151: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041642,001152: # CALL - CALL S52.2
041643,001153: # INPUT - X,Y,ZSMD
041644,001154: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
041645,001155: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041646,001156:
041647,001157: 14,3617 COUNT* $$/S52.1
041648,001158: 14,3617 45020 S52.2 STQ CALL
041649,001159: 14,3620 02746 QMAJ
041650,001160: 14,3621 47537 CDUTRIG
041651,001161: 14,3622 77624 CALL
041652,001162: 14,3623 20030 CALCSMSC
041653,001163: 14,3624 66370 AXT,1 SSP
041654,001164: 14,3625 00022 18D
041655,001165: 14,3626 00051 S1
041656,001166: 14,3627 00006 6D
041657,001167: 14,3630 61373 S52.2A VLOAD* VXM
041658,001168: 14,3631 02707 XNB +18D,1
041659,001169: 14,3632 01734 REFSMMAT
041660,001170: 14,3633 77656 UNIT
041661,001171: 14,3634 06707 STORE XNB +18D,1
041662,001172: 14,3635 77700 TIX,1
041663,001173: 14,3636 31630 S52.2A
041664,001174: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041665,001175: 14,3640 03606 XSMD
041666,001176: 14,3641 02642 XSM
041667,001177: 14,3642 77624 CALL
041668,001178: 14,3643 31377 MATMOVE
041669,001179: 14,3644 77624 CALL
041670,001180: 14,3645 47353 CALCGA
041671,001181: 14,3646 77650 GOTO
041672,001182: 14,3647 02746 QMAJ
041673,001183:
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Page 954 |
041675,001185: # NAME - S52.3
041676,001186: # FUNCTION XSMD= UNIT R
041677,001187: # YSMD= UNIT(V X R)
041678,001188: # ZSMD= UNIT(XSMD X YSMD)
041679,001189: # CALL DLOAD CALL
041680,001190: # TALIGN
041681,001191: # S52.3
041682,001192: # INPUT - TIME OF ALIGNMENT IN MPAC
041683,001193: # OUTPUT - X,Y,ZSMD
041684,001194: # SUBROUTINES - CSMCONIC
041685,001195:
041686,001196: 14,3650 COUNT* $$/S52.3
041687,001197: 14,3650 77620 S52.3 STQ
041688,001198: 14,3651 02746 QMAJ
041689,001199: 14,3652 34041 STCALL TDEC1
041690,001200: 14,3653 27100 LEMCONIC
041691,001201: 14,3654 53575 VLOAD UNIT
041692,001202: 14,3655 00001 RATT
041693,001203: 14,3656 27607 STOVL XSMD
041694,001204: 14,3657 00007 VATT
041695,001205: 14,3660 53435 VXV UNIT
041696,001206: 14,3661 00001 RATT
041697,001207: 14,3662 27615 STOVL YSMD
041698,001208: 14,3663 03607 XSMD
041699,001209: 14,3664 53435 VXV UNIT
041700,001210: 14,3665 03615 YSMD
041701,001211: 14,3666 37623 STCALL ZSMD
041702,001212: 14,3667 02746 QMAJ
041703,001213:
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Page 955 |
041705,001215: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041706,001216:
041707,001217: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041708,001218: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041709,001219:
041710,001220: # CALLING - CALL R52
041711,001221:
041712,001222: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041713,001223:
041714,001224: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041715,001225: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041716,001226: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041717,001227: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041718,001228:
041719,001229: # SUBROUT - R60LEM
041720,001230:
041721,001231: 14,3670 COUNT* $$/R52
041722,001232: 14,3670 77420 R52 STQ EXIT
041723,001233: 14,3671 03665 SAVQR52
041724,001234: 14,3672 51757 INDEX STARIND
041725,001235: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041726,001236: 14,3674 00006 EXTEND
041727,001237: 14,3675 73771 MP 1/6TH
041728,001238: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041729,001239: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041730,001240:
041731,001241: 14,3700 33772 R52A CAF V01N70
041732,001242: 14,3701 04616 TC BANKCALL
041733,001243: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041734,001244: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
041735,001245: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
041736,001246: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
041737,001247:
041738,001248: 14,3706 05516 R52B TC DOWNFLAG
041739,001249: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041740,001250: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041741,001251: 14,3711 77744 MASK HIGH9
041742,001252: 14,3712 00006 EXTEND
041743,001253: 14,3713 74743 MP BIT9
041744,001254: 14,3714 54001 TS L # TEMP STORE DETENT
041745,001255:
041746,001256: 14,3715 00006 EXTEND
041747,001257: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041748,001258:
041749,001259: 14,3717 65660 AD NEG7
041750,001260: 14,3720 00006 EXTEND
041751,001261: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041752,001262:
041753,001263: 14,3722 E7,1551 EBANK= XYMARK
041754,001264: 14,3722 35016 CA EBANK7
041755,001265: 14,3723 54003 TS EBANK
![]() |
Page 956 |
041757,001267: 14,3724 50001 INDEX L
041758,001268: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041759,001269: 14,3726 54001 TS L
041760,001270: 14,3727 E5,1642 EBANK= XSM
041761,001271: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041762,001272: 14,3730 54003 TS EBANK
041763,001273: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041764,001274: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041765,001275: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041766,001276:
041767,001277: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041768,001278: 14,3735 04616 TC BANKCALL
041769,001279: 14,3736 20476 CADR GOFLASH
041770,001280: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041771,001281: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041772,001282: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041773,001283:
041774,001284: 14,3742 00006 EXTEND
041775,001285: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041776,001286: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041777,001287: 14,3745 52011 DXCH 8D
041778,001288: 14,3746 06037 TC INTPRET
041779,001289: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041780,001290: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041781,001291: 14,3751 45034 RTB CALL
041782,001292: 14,3752 21573 LOADTIME
041783,001293: 14,3753 32472 PLANET
041784,001294: 14,3754 53521 MXV UNIT
041785,001295: 14,3755 01734 REFSMMAT
041786,001296: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041787,001297:
041788,001298: 14,3757 77776 EXIT
041789,001299: 14,3760 04616 TC BANKCALL
041790,001300: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041791,001301:
041792,001302: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041793,001303: 14,3763 70735 MASK STARCODE
041794,001304: 14,3764 00006 EXTEND
041795,001305: 14,3765 13700 BZF R52A
041796,001306:
041797,001307: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041798,001308: 14,3767 77650 GOTO
041799,001309: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041800,001310:
041801,001311: 14,3771 05253 1/6TH DEC .1666667
041802,001312: 14,3772 00306 V01N70 VN 0170
041803,001313: 14,3773 01527 V06N87 VN 687
041804,001314:
![]() |
Page 957 |
041806,001316: # LUNAR SURFACE STAR AQUISITION
041807,001317:
041808,001318: 15,2245 BANK 15
041809,001319: 15,2000 SETLOC P50S
041810,001320: 15,2000 BANK
041811,001321: 15,2245 COUNT* $$/R59
041812,001322:
041813,001323: 15,2245 40077 R59 CS FLAGWRD3
041814,001324: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041815,001325: 15,2247 10000 CCS A
041816,001326: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041817,001327:
041818,001328: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041819,001329: 15,2252 04616 TC BANKCALL
041820,001330: 15,2253 20476 CADR GOFLASH
041821,001331: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041822,001332: 15,2255 12257 TCF R59A # V33 - PROCEED
041823,001333: 15,2256 12245 TCF R59 # V32 - RECYCLE
041824,001334:
041825,001335: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041826,001336: 15,2260 70735 MASK AOTCODE
041827,001337: 15,2261 00006 EXTEND
041828,001338: 15,2262 76242 MP REVCNT # JUST 6
041829,001339: 15,2263 56001 XCH L
041830,001340: 15,2264 51757 INDEX STARIND
041831,001341: 15,2265 55755 TS BESTI
041832,001342: 15,2266 50120 INDEX FIXLOC
041833,001343: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041834,001344: 15,2270 00006 EXTEND
041835,001345: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041836,001346: 15,2272 40000 COM
041837,001347: 15,2273 62561 AD DEC227
041838,001348: 15,2274 00006 EXTEND
041839,001349: 15,2275 62455 BZMF R59OUT
041840,001350:
041841,001351: 15,2276 06037 TC INTPRET
041842,001352: 15,2277 64373 VLOAD* MXV
041843,001353: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041844,001354: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041845,001355: 15,2302 45056 UNIT CALL
041846,001356: 15,2303 47646 CDU*SMNB
041847,001357: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041848,001358: 15,2305 77776 EXIT
041849,001359:
041850,001360: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041851,001361: 15,2307 55242 TS POSCODE
041852,001362:
041853,001363: 15,2310 E7,1551 EBANK= XYMARK
041854,001364: 15,2310 35016 INCAZ CA EBANK7
041855,001365: 15,2311 54003 TS EBANK
041856,001366:
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Page 958 |
041858,001368: 15,2312 51242 INDEX POSCODE
041859,001369: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041860,001370: 15,2314 54001 TS L
041861,001371:
041862,001372: 15,2315 E5,1642 EBANK= XSM
041863,001373: 15,2315 35014 CA EBANK5
041864,001374: 15,2316 54003 TS EBANK
041865,001375:
041866,001376: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041867,001377: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041868,001378: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041869,001379: 15,2322 50120 INDEX FIXLOC
041870,001380: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041871,001381:
041872,001382: 15,2324 06037 TC INTPRET
041873,001383: 15,2325 77624 CALL
041874,001384: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041875,001385: 15,2327 50375 VLOAD DOT
041876,001386: 15,2330 02731 STAR # DOT STAR WITH OA
041877,001387: 15,2331 03765 SCAXIS
041878,001388: 15,2332 65552 SL1 ARCCOS
041879,001389: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041880,001390:
041881,001391: 15,2334 51025 DSU BPL
041882,001392: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041883,001393: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041884,001394: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041885,001395: 15,2340 00031 24D
041886,001396: 15,2341 32470 DEG.5
041887,001397: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041888,001398: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041889,001399: 15,2344 00031 24D # GET SPIRAL
041890,001400: 15,2345 42405 DMP SL4
041891,001401: 15,2346 25764 3/4 # 12 SCALED AT 16
041892,001402: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041893,001403:
041894,001404: 15,2350 03765 SCAXIS # OA
041895,001405: 15,2351 53435 VXV UNIT
041896,001406: 15,2352 24005 XUNIT
041897,001407: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041898,001408: 15,2354 03765 SCAXIS
041899,001409: 15,2355 77676 VCOMP
041900,001410: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041901,001411: 15,2357 03765 SCAXIS
041902,001412: 15,2360 53435 VXV UNIT
041903,001413: 15,2361 02731 STAR
041904,001414: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041905,001415: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041906,001416: 15,2364 65552 SL1 ARCCOS
041907,001417: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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Page 959 |
041909,001419: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041910,001420: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041911,001421: 15,2370 32375 R59D
041912,001422: 15,2371 32047 ABOUTONE
041913,001423: 15,2372 77625 DSU
041914,001424: 15,2373 00033 26D
041915,001425: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041916,001426:
041917,001427: 15,2375 70535 R59D SLOAD SR1
041918,001428: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041919,001429: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041920,001430: 15,2400 00033 26D
041921,001431: 15,2401 77634 RTB
041922,001432: 15,2402 21614 1STO2S
041923,001433: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041924,001434: 15,2404 00031 24D # LOAD SROT IN REVS
041925,001435: 15,2405 77615 DAD # 12(SEP) + YROT
041926,001436: 15,2406 77634 RTB
041927,001437: 15,2407 21614 1STO2S
041928,001438: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041929,001439: 15,2411 77776 EXIT
041930,001440: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041931,001441:
041932,001442: 15,2413 77776 ZSPCR EXIT
041933,001443: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041934,001444: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041935,001445: 15,2416 55240 TS SPIRAL
041936,001446: 15,2417 12437 TCF 79DISP
041937,001447:
041938,001448: 15,2420 77776 NXAX EXIT
041939,001449: 15,2421 25242 INCR POSCODE
041940,001450: 15,2422 41242 CS POSCODE
041941,001451: 15,2423 64757 AD SEVEN
041942,001452: 15,2424 00006 EXTEND
041943,001453: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041944,001454: 15,2426 12310 TCF INCAZ
041945,001455:
041946,001456: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041947,001457: 15,2430 00404 OCT 404
041948,001458: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041949,001459: 15,2432 04616 TC BANKCALL
041950,001460: 15,2433 20476 CADR GOFLASH
041951,001461: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041952,001462: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041953,001463: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041954,001464:
041955,001465: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041956,001466: 15,2440 04616 TC BANKCALL
041957,001467: 15,2441 20476 CADR GOFLASH
041958,001468: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
![]() |
Page 960 |
041960,001470: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041961,001471: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041962,001472:
041963,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041964,001474: 15,2446 71242 MASK POSCODE
041965,001475: 15,2447 00006 EXTEND
041966,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041967,001477: 15,2451 47744 CS HIGH9
041968,001478: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041969,001479: 15,2453 60001 AD L
041970,001480: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041971,001481:
041972,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041973,001483: 15,2456 16000 CADR AOTMARK
041974,001484: 15,2457 04616 TC BANKCALL
041975,001485: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041976,001486: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041977,001487: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041978,001488:
041979,001489: 15,2463 00306 V01N70* VN 170
041980,001490: 15,2464 01517 V06N79 VN 679
041981,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041982,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041983,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041984,001494: 15,2472 1236 CURSOR EQUALS GDT/2
041985,001495: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041986,001496: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041987,001497:
![]() |
Page 961 |
041989,001499: # NAME - PLANET
041990,001500: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041991,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041992,001502: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041993,001503: # BY DSDY INPUT
041994,001504: # CALL - CALL
041995,001505: # PLANET
041996,001506: # INPUT - TIME IN MPAC
041997,001507: # OUTPUT - VECTOR IN MPAC
041998,001508: # SUBROUTINES - LOCSAM
041999,001509: # DEBRIS - VAC, STARAD - STARAD +17
042000,001510:
042001,001511: 15,2000 SETLOC P50S
042002,001512: 15,2000 BANK
042003,001513: 15,2472 COUNT* $$/P51
042004,001514:
042005,001515: 15,2472 27562 PLANET STOVL TSIGHT
042006,001516: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042007,001517: 15,2474 02707 STORE STARAD
042008,001518: 15,2475 77420 STQ EXIT
042009,001519: 15,2476 02736 GCTR
042010,001520: 15,2477 47744 CS HIGH9
042011,001521: 15,2500 70735 MASK AOTCODE
042012,001522: 15,2501 00006 EXTEND
042013,001523: 15,2502 76242 MP REVCNT
042014,001524: 15,2503 56001 XCH L
042015,001525: 15,2504 51757 INDEX STARIND
042016,001526: 15,2505 55755 TS BESTI
042017,001527: 15,2506 10000 CCS A
042018,001528: 15,2507 12523 TCF NOTPLAN
042019,001529: 15,2510 32562 CAF VNPLANV
042020,001530: 15,2511 04616 TC BANKCALL
042021,001531: 15,2512 20476 CADR GOFLASH
042022,001532: 15,2513 02510 TC -3
042023,001533: 15,2514 02516 TC +2
042024,001534: 15,2515 02510 TC -5
042025,001535: 15,2516 06037 TC INTPRET
042026,001536: 15,2517 53575 VLOAD UNIT
042027,001537: 15,2520 02707 STARAD
042028,001538: 15,2521 77650 GOTO
042029,001539: 15,2522 02736 GCTR
042030,001540: 15,2523 40000 NOTPLAN CS A
042031,001541: 15,2524 62561 AD DEC227
042032,001542: 15,2525 00006 EXTEND
042033,001543: 15,2526 62537 BZMF CALSAM1
042034,001544: 15,2527 51757 INDEX STARIND
042035,001545: 15,2530 31755 CA BESTI
042036,001546: 15,2531 50120 INDEX FIXLOC
042037,001547: 15,2532 54046 TS X1
042038,001548: 15,2533 06037 TC INTPRET
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Page 962 |
042040,001550: 15,2534 52173 VLOAD* GOTO
042041,001551: 15,2535 30347 CATLOG,1
042042,001552: 15,2536 02736 GCTR
042043,001553: 15,2537 06037 CALSAM1 TC INTPRET
042044,001554: 15,2540 45145 CALSAM DLOAD CALL
042045,001555: 15,2541 03562 TSIGHT
042046,001556: 15,2542 30506 LOCSAM
042047,001557: 15,2543 77340 LXC,1 VLOAD
042048,001558: 15,2544 02757 STARIND
042049,001559: 15,2545 02707 VEARTH
042050,001560: 15,2546 24001 STOVL 0D
042051,001561: 15,2547 02715 VSUN
042052,001562: 15,2550 26707 STOVL VEARTH
042053,001563: 15,2551 00001 0D
042054,001564: 15,2552 02715 STORE VSUN
042055,001565: 15,2553 70143 DLOAD* LXC,1
042056,001566: 15,2554 02756 BESTI,1
042057,001567: 15,2555 00154 MPAC
042058,001568: 15,2556 52173 VLOAD* GOTO
042059,001569: 15,2557 02343 STARAD -228D,1
042060,001570: 15,2560 02736 GCTR
042061,001571: 15,2561 00343 DEC227 DEC 227 B-14
042062,001572: 15,2562 01530 VNPLANV VN 0688
042063,001573: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042064,001574:
![]() |
Page 963 |
042066,001576: # GRAVITY VECTOR DETERMINATION ROUTINE
042067,001577: # BY KEN VINCENT
042068,001578:
042069,001579: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042070,001580:
042071,001581: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042072,001582: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042073,001583: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042074,001584: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042075,001585: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042076,001586: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042077,001587: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042078,001588: # READINGS.
042079,001589:
042080,001590: # CALL -
042081,001591: # TC BANKCALL
042082,001592: # CADR GVDETER
042083,001593:
042084,001594: # INPUTS -
042085,001595: # PIPAS, CDUS
042086,001596:
042087,001597: # OUTPUTS -
042088,001598: # STARSAV1 = UNIT GRAVITY
042089,001599: # GSAV = DITTO
042090,001600: # GRAVBIT = 1
042091,001601:
042092,001602: # SUBROUTINES -
042093,001603: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042094,001604: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042095,001605:
042096,001606: # DEBRIS -
042097,001607: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042098,001608:
042099,001609: 15,2563 32772 GVDETER CAF 42DEG
042100,001610: 15,2564 54321 TS THETAD
042101,001611: 15,2565 40000 COM
042102,001612: 15,2566 54322 TS THETAD +1
042103,001613: 15,2567 32773 CAF 35DEG
042104,001614: 15,2570 54323 TS THETAD +2
042105,001615: 15,2571 06037 TC INTPRET
042106,001616: 15,2572 45014 CLEAR CALL
042107,001617: 15,2573 01662 REFSMFLG
042108,001618: 15,2574 32670 LUNG
042109,001619:
042110,001620: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042111,001621:
042112,001622: # DEFINE G COOR SYS
042113,001623: # -
042114,001624: # X UNIT G
042115,001625: # * - -
042116,001626: # M = Y = UNITEZSM * X )
042117,001627: # - - -
042118,001628: # Z UNIT(X * Y )
042119,001629:
042120,001630: # THEN ROTATED SM WRT PRESENT IS
042121,001631:
042122,001632: # 1, 0, 0
042123,001633: # * *T * * *
![]() |
Page 964 |
042125,001635: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042126,001636: # I J
042127,001637: # 0, 0, -1
042128,001638:
042129,001639: # ALSO NB WRT PRES SM IS
042130,001640:
042131,001641: # * * *
042132,001642: # XNB = NBSM I
042133,001643: # * *
042134,001644: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042135,001645:
042136,001646: 15,2000 SETLOC P50S
042137,001647: 15,2000 BANK
042138,001648: 15,2575 COUNT* $$/P57
042139,001649: 15,2575 66370 AXT,1 SSP # X1=18
042140,001650: 15,2576 00022 18D # S1=6
042141,001651: 15,2577 00051 S1 # X2, -2
042142,001652: 15,2600 00006 6D
042143,001653: 15,2601 77744 LXC,2
042144,001654: 15,2602 00050 S1
042145,001655: 15,2603 45173 GRAVEL VLOAD* CALL
042146,001656: 15,2604 54000 XUNIT -6,2
042147,001657: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042148,001658: 15,2606 06707 STORE XNB +18D,1
042149,001659: 15,2607 77775 VLOAD
042150,001660: 15,2610 02731 STAR
042151,001661: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042152,001662: 15,2612 00047 X2
042153,001663: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042154,001664: 15,2614 71152 VSL2 LXC,2
042155,001665: 15,2615 00047 X2
042156,001666: 15,2616 63047 VSU* INCR,2
042157,001667: 15,2617 54000 XUNIT -6,2
042158,001668: 15,2620 00002 2D
042159,001669: 15,2621 06665 STORE XSM +18D,1
042160,001670: 15,2622 45100 TIX,1 CALL
042161,001671: 15,2623 32603 GRAVEL
042162,001672: 15,2624 47353 CALCGA
042163,001673: 15,2625 74575 VLOAD VSR1
042164,001674: 15,2626 02715 GOUT
042165,001675: 15,2627 36723 STCALL STARAD +12D
042166,001676: 15,2630 32670 LUNG
042167,001677: 15,2631 74575 VLOAD VSR1
042168,001678: 15,2632 02715 GOUT
042169,001679: 15,2633 53455 VAD UNIT
042170,001680: 15,2634 02723 STARAD +12D
042171,001681: 15,2635 02761 STORE STARSAV1
042172,001682: 15,2636 77641 DOT
042173,001683: 15,2637 02231 GSAV
042174,001684: 15,2640 65552 SL1 ACOS
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Page 965 |
042176,001686: 15,2641 01046 STORE DSPTEM1
042177,001687: 15,2642 77776 EXIT
042178,001688: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042179,001689: 15,2644 00014 ADRES FREEFLAG
042180,001690:
042181,001691: 15,2645 32771 CA DISGRVER
042182,001692: 15,2646 04616 TC BANKCALL
042183,001693: 15,2647 20476 CADR GOFLASH
042184,001694: 15,2650 06001 TC GOTOPOOH
042185,001695: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042186,001696: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042187,001697: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042188,001698:
042189,001699: 15,2654 05353 PROGRAV TC PHASCHNG
042190,001700: 15,2655 04024 OCT 04024
042191,001701:
042192,001702: 15,2656 06037 TC INTPRET
042193,001703: 15,2657 77775 VLOAD
042194,001704: 15,2660 02761 STARSAV1
042195,001705: 15,2661 02231 STORE GSAV
042196,001706: 15,2662 77776 EXIT
042197,001707: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042198,001708: 15,2664 70074 MASK FLAGWRD0
042199,001709: 15,2665 10000 CCS A
042200,001710: 15,2666 12563 TCF GVDETER # SET
042201,001711: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042202,001712:
042203,001713: 15,2670 77220 LUNG STQ VLOAD
042204,001714: 15,2671 02745 QMIN
042205,001715: 15,2672 24007 ZEROVEC
042206,001716: 15,2673 02707 STORE GACC
042207,001717: 15,2674 77776 EXIT
042208,001718: 15,2675 05353 TC PHASCHNG
042209,001719: 15,2676 04024 OCT 04024
042210,001720:
042211,001721: 15,2677 04616 TC BANKCALL
042212,001722: 15,2700 17000 CADR IMUCOARS
042213,001723: 15,2701 04616 TC BANKCALL
042214,001724: 15,2702 17716 CADR IMUSTALL
042215,001725: 15,2703 05711 TC CURTAINS
042216,001726: 15,2704 04616 TC BANKCALL
042217,001727: 15,2705 17210 CADR IMUFINE
042218,001728: 15,2706 04616 TC BANKCALL
042219,001729: 15,2707 17716 CADR IMUSTALL
042220,001730: 15,2710 05711 TC CURTAINS
042221,001731: 15,2711 32770 CA T/2SEC
042222,001732: 15,2712 55736 TS GCTR
042223,001733: 15,2713 37716 CA PRIO31
042224,001734: 15,2714 55075 TS 1/PIPADT
042225,001735: 15,2715 04616 TC BANKCALL
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Page 966 |
042227,001737: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
042228,001738: 15,2717 05353 TC PHASCHNG
042229,001739: 15,2720 04024 OCT 04024
042230,001740:
042231,001741: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
042232,001742: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
042233,001743: 15,2723 06037 TC INTPRET
042234,001744: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
042235,001745: 15,2725 35000 CAF 2SECS
042236,001746: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
042237,001747: 15,2727 02731 ADRES GRABGRAV
042238,001748:
042239,001749: 15,2730 05155 TC ENDOFJOB
042240,001750:
042241,001751: 15,2731 04674 GRABGRAV TC IBNKCALL
042242,001752: 15,2732 77544 CADR PIPSRINE
042243,001753: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
042244,001754: 15,2734 05105 TC FINDVAC
042245,001755: 15,2735 E5,1706 EBANK= STARAD
042246,001756: 15,2735 02740 32065 2CADR ADDGRAV
042247,001757:
042248,001758: 15,2737 05261 TC TASKOVER
042249,001759:
042250,001760: 15,2740 04616 ADDGRAV TC BANKCALL
042251,001761: 15,2741 15263 CADR 1/PIPA
042252,001762: 15,2742 25736 INCR GCTR
042253,001763: 15,2743 06037 TC INTPRET
042254,001764: 15,2744 53375 VLOAD VAD
042255,001765: 15,2745 00325 DELV
042256,001766: 15,2746 02707 GACC
042257,001767: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
042258,001768: 15,2750 50135 SLOAD BMN
042259,001769: 15,2751 02737 GCTR
042260,001770: 15,2752 32724 GREED
042261,001771: 15,2753 53575 VLOAD UNIT
042262,001772: 15,2754 02707 GACC
042263,001773: 15,2755 36731 STCALL STAR
042264,001774: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
042265,001775: 15,2757 77624 CALL # IN OUTPUT
042266,001776: 15,2760 47671 *SMNB*
042267,001777: 15,2761 02715 STORE GOUT
042268,001778: 15,2762 77776 EXIT
042269,001779: 15,2763 05353 TC PHASCHNG
042270,001780: 15,2764 04024 OCT 04024
042271,001781:
042272,001782: 15,2765 06037 QMINEXIT TC INTPRET
042273,001783: 15,2766 77650 GOTO
042274,001784: 15,2767 02745 QMIN
042275,001785: 15,2770 77753 T/2SEC DEC -20 B-14
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Page 967 |
042277,001787: 15,2771 01404 DISGRVER VN 0604
042278,001788: 15,2772 07357 42DEG OCT 07357
042279,001789: 15,2773 06211 35DEG OCT 06211
042280,001790:
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Page 968 |
042282,001792: # NAME GYROTRIM
042283,001793:
042284,001794: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042285,001795: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042286,001796: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042287,001797:
042288,001798: # CALL CALL
042289,001799: # GYROTRIM
042290,001800:
042291,001801: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042292,001802: # CDUX,CDUY,CDUZ
042293,001803:
042294,001804: # OUTPUT - GYRO TORQUE PULSES
042295,001805:
042296,001806: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042297,001807: # IMPULSE, IMUSTALL
042298,001808: # - - - * * -
042299,001809: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042300,001810:
042301,001811: 15,2774 COUNT* $$/P57
042302,001812: 15,2774 71220 GYROTRIM STQ DLOAD
042303,001813: 15,2775 02745 QMIN
042304,001814: 15,2776 00322 THETAD
042305,001815: 15,2777 65325 PDDL PDDL
042306,001816: 15,3000 00324 THETAD +2
042307,001817: 15,3001 00323 THETAD +1
042308,001818: 15,3002 77666 VDEF
042309,001819: 15,3003 24767 STOVL CDUSPOT
042310,001820: 15,3004 24005 XUNIT
042311,001821: 15,3005 77624 CALL
042312,001822: 15,3006 47664 TRG*NBSM
042313,001823: 15,3007 26707 STOVL STARAD
042314,001824: 15,3010 24003 YUNIT
042315,001825: 15,3011 77624 CALL
042316,001826: 15,3012 47673 *NBSM*
042317,001827: 15,3013 36715 STCALL STARAD +6
042318,001828: 15,3014 47537 CDUTRIG
042319,001829: 15,3015 77624 CALL
042320,001830: 15,3016 20030 CALCSMSC
042321,001831: 15,3017 77775 VLOAD
042322,001832: 15,3020 02665 XNB
042323,001833: 15,3021 24007 STOVL 6D
042324,001834: 15,3022 02673 YNB
042325,001835: 15,3023 34015 STCALL 12D
042326,001836: 15,3024 47441 AXISGEN
042327,001837: 15,3025 77624 CALL
042328,001838: 15,3026 47247 CALCGTA
042329,001839: 15,3027 77776 JUSTTRIM EXIT
042330,001840: 15,3030 04616 TC BANKCALL
042331,001841: 15,3031 17210 CADR IMUFINE
042332,001842: 15,3032 04616 TC BANKCALL
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Page 969 |
042334,001844: 15,3033 17716 CADR IMUSTALL
042335,001845: 15,3034 05711 TC CURTAINS
042336,001846: 15,3035 33044 CA GYRCDR
042337,001847: 15,3036 04616 TC BANKCALL
042338,001848: 15,3037 17323 CADR IMUPULSE
042339,001849: 15,3040 04616 TC BANKCALL
042340,001850: 15,3041 17716 CADR IMUSTALL
042341,001851: 15,3042 05711 TC CURTAINS
042342,001852: 15,3043 12765 TCF QMINEXIT
042343,001853:
042344,001854: 15,3044 02737 GYRCDR ECADR OGC
042345,001855:
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Page 970 |
042347,001857: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
042348,001858:
042349,001859: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
042350,001860: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042351,001861: 15,3047 34753 1STAR CAF BIT1
042352,001862: 15,3050 55757 TS STARIND
042353,001863:
042354,001864: 15,3051 05353 TC PHASCHNG
042355,001865: 15,3052 04024 OCT 04024
042356,001866:
042357,001867: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
042358,001868:
042359,001869: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042360,001870: 15,3055 00006 EXTEND
042361,001871: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042362,001872:
042363,001873: 15,3057 05353 TC PHASCHNG
042364,001874: 15,3060 04024 OCT 04024
042365,001875:
042366,001876: 15,3061 06037 TC INTPRET
042367,001877: 15,3062 45145 DLOAD CALL
042368,001878: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042369,001879: 15,3064 32472 PLANET
042370,001880: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042371,001881: 15,3066 33101 SURFLINE
042372,001882:
042373,001883: 15,3067 06037 ASTAR TC INTPRET
042374,001884: 15,3070 77775 VLOAD
042375,001885: 15,3071 02715 STARAD +6
042376,001886: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042377,001887: 15,3073 45145 DLOAD CALL
042378,001888: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042379,001889: 15,3075 32472 PLANET
042380,001890: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042381,001891: 15,3077 77776 EXIT
042382,001892: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042383,001893:
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Page 971 |
042385,001895: # DO FINE OR COARSE ALIGNMENT OF IMU
042386,001896:
042387,001897: 15,3101 77131 SURFLINE SSP AXT,2
042388,001898: 15,3102 00052 S2
042389,001899: 15,3103 00006 6
042390,001900: 15,3104 00014 12D
042391,001901: 15,3105 64373 WRTDESIR VLOAD* MXV
042392,001902: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042393,001903: 15,3107 03607 XSMD
042394,001904: 15,3110 77656 UNIT
042395,001905: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042396,001906: 15,3112 77773 VLOAD*
042397,001907: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042398,001908: 15,3114 10023 STORE 18D,2
042399,001909: 15,3115 43104 TIX,2 BON
042400,001910: 15,3116 33105 WRTDESIR
042401,001911: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042402,001912: 15,3120 33126 INITBY
042403,001913: 15,3121 77624 DOALIGN CALL
042404,001914: 15,3122 31256 R54 # DO CHKSDATA
042405,001915: 15,3123 77614 BOFF
042406,001916: 15,3124 00354 FREEFLAG
042407,001917: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042408,001918: 15,3126 77624 INITBY CALL
042409,001919: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042410,001920: 15,3130 77624 CALL
042411,001921: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042412,001922: 15,3132 77776 EXIT
042413,001923: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042414,001924: 15,3134 70104 MASK FLAGWRD8
042415,001925: 15,3135 10000 CCS A
042416,001926: 15,3136 13145 TCF 5DEGTEST
042417,001927: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042418,001928: 15,3140 04616 TC BANKCALL
042419,001929: 15,3141 20476 CADR GOFLASH
042420,001930: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
042421,001931: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
042422,001932: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
042423,001933:
042424,001934: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042425,001935: 15,3146 40175 VLOAD BOV
042426,001936: 15,3147 02740 OGC
042427,001937: 15,3150 33151 SURFSUP
042428,001938: 15,3151 02750 SURFSUP STORE OGCT
042429,001939: 15,3152 40141 V/SC BOV
042430,001940: 15,3153 30610 5DEGREES
042431,001941: 15,3154 33254 COATRIM
042432,001942: 15,3155 52131 SSP GOTO
042433,001943: 15,3156 02746 QMIN
042434,001944: 15,3157 33161 SURFDISP
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Page 972 |
042436,001946: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042437,001947:
042438,001948: 15,3161 77776 SURFDISP EXIT
042439,001949: 15,3162 05353 TC PHASCHNG
042440,001950: 15,3163 04024 OCT 04024
042441,001951:
042442,001952: 15,3164 06037 TC INTPRET
042443,001953: 15,3165 75160 AXC,1 AXC,2
042444,001954: 15,3166 03606 XSMD
042445,001955: 15,3167 01733 REFSMMAT
042446,001956: 15,3170 45014 SET CALL
042447,001957: 15,3171 01462 REFSMFLG
042448,001958: 15,3172 31377 MATMOVE
042449,001959: 15,3173 77776 EXIT
042450,001960: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042451,001961: 15,3175 13177 TCF B2F8
042452,001962: 15,3176 13207 TCF P57POST +1
042453,001963:
042454,001964: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042455,001965: 15,3200 70104 MASK FLAGWRD8
042456,001966: 15,3201 10000 CCS A
042457,001967: 15,3202 13561 TCF P57JUMP # ITS SET
042458,001968: 15,3203 06037 TC INTPRET
042459,001969: 15,3204 77624 CALL
042460,001970: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042461,001971: 15,3206 77776 P57POST EXIT
042462,001972: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042463,001973: 15,3210 04616 TC BANKCALL
042464,001974: 15,3211 20623 CADR GOPERF1
042465,001975: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
042466,001976: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
042467,001977: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
042468,001978: 15,3215 61145 AD OPTION2
042469,001979: 15,3216 00006 EXTEND
042470,001980: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
042471,001981: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
042472,001982: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042473,001983: 15,3222 04024 OCT 04024
042474,001984: 15,3223 06037 TC INTPRET
042475,001985: 15,3224 45175 VLOAD CALL # USE GNB
042476,001986: 15,3225 02231 GSAV
042477,001987: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042478,001988: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042479,001989: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042480,001990: 15,3231 01463 LUNAFLAG
042481,001991: 15,3232 51515 PDVL ABVAL
042482,001992: 15,3233 02023 RLS
042483,001993: 15,3234 45561 VXSC STADR
042484,001994: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042485,001995: 15,3236 47014 CLEAR RTB
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Page 973 |
042487,001997: 15,3237 00662 ERADFLAG
042488,001998: 15,3240 21573 LOADTIME
042489,001999: 15,3241 77624 CALL
042490,002000: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042491,002001: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042492,002002: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042493,002003: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042494,002004: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042495,002005: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042496,002006: 15,3250 51670 R-TO-RP
042497,002007: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042498,002008: 15,3252 77776 EXIT
042499,002009: 15,3253 16001 TCF GOTOPOOH # EXIT P57
042500,002010:
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Page 974 |
042502,002012: # COARSE AND FINE ALIGN IMU
042503,002013:
042504,002014: 15,3254 75160 COATRIM AXC,1 AXC,2
042505,002015: 15,3255 02664 XDC
042506,002016: 15,3256 02642 XSM
042507,002017: 15,3257 77624 CALL
042508,002018: 15,3260 31377 MATMOVE
042509,002019: 15,3261 77624 CALL
042510,002020: 15,3262 47537 CDUTRIG
042511,002021: 15,3263 77624 CALL
042512,002022: 15,3264 20030 CALCSMSC
042513,002023: 15,3265 77624 CALL
042514,002024: 15,3266 47353 CALCGA
042515,002025: 15,3267 77414 BOFF EXIT
042516,002026: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
042517,002027: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042518,002028: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042519,002029: 15,3273 04616 TC BANKCALL
042520,002030: 15,3274 20476 CADR GOFLASH
042521,002031: 15,3275 06001 TC GOTOPOOH
042522,002032: 15,3276 13300 TCF +2
042523,002033: 15,3277 13272 TCF -5
042524,002034: 15,3300 05353 TC PHASCHNG
042525,002035: 15,3301 04024 OCT 04024
042526,002036:
042527,002037: 15,3302 06037 TC INTPRET
042528,002038: 15,3303 77624 CORSIT CALL
042529,002039: 15,3304 31565 COARSE
042530,002040: 15,3305 77624 CALL
042531,002041: 15,3306 31602 NCOARSE
042532,002042: 15,3307 77624 CALL
042533,002043: 15,3310 32774 GYROTRIM
042534,002044: 15,3311 77650 GOTO
042535,002045: 15,3312 33161 SURFDISP
042536,002046: 15,3313 01535 DISPGYRO VN 0693
042537,002047:
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Page 975 |
042539,002049: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042540,002050:
042541,002051: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042542,002052: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
042543,002053:
042544,002054: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042545,002055: 15,3317 55145 TS OPTION2
042546,002056: 15,3320 34753 P57OPT CAF BIT1
042547,002057: 15,3321 04616 TC BANKCALL
042548,002058: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042549,002059: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
042550,002060: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042551,002061: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042552,002062:
042553,002063: 15,3326 05353 TC PHASCHNG
042554,002064: 15,3327 00014 OCT 00014
042555,002065: 15,3330 05155 TC ENDOFJOB
042556,002066:
042557,002067: 15,3331 31145 ALIGNOPT CA OPTION2
042558,002068: 15,3332 76245 MASK THREE
042559,002069: 15,3333 50000 INDEX A
042560,002070: 15,3334 13335 TCF +1
042561,002071: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042562,002072: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042563,002073: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042564,002074: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042565,002075: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042566,002076: 15,3342 01733 REFSMMAT
042567,002077: 15,3343 03606 XSMD
042568,002078: 15,3344 77624 CALL
042569,002079: 15,3345 31377 MATMOVE
042570,002080: 15,3346 77650 GOTO
042571,002081: 15,3347 33410 PACKOPTN -1
042572,002082:
042573,002083: 15,3350 06037 TDISP TC INTPRET
042574,002084: 15,3351 77745 DLOAD
042575,002085: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042576,002086: 15,3353 01046 P57A STORE DSPTEM1
042577,002087: 15,3354 77776 EXIT
042578,002088: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042579,002089: 15,3356 04616 TC BANKCALL
042580,002090: 15,3357 20476 CADR GOFLASH
042581,002091: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
042582,002092: 15,3361 13363 TCF +2
042583,002093: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
042584,002094:
042585,002095: 15,3363 06037 TC INTPRET
042586,002096: 15,3364 65234 RTB PDDL
042587,002097: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042588,002098: 15,3366 01046 DSPTEM1
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Page 976 |
042590,002100: 15,3367 65254 BZE PDDL
042591,002101: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042592,002102: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042593,002103: 15,3372 01046 DSPTEM1
042594,002104: 15,3373 33400 P57C
042595,002105: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042596,002106: 15,3375 74335 STORE TIG # STORE IT IN TIG
042597,002107: 15,3376 36775 STCALL TALIGN
042598,002108: 15,3377 33402 P57D
042599,002109: 15,3400 45545 P57C DLOAD STADR
042600,002110: 15,3401 75002 STORE TALIGN
042601,002111: 15,3402 34041 P57D STCALL TDEC1
042602,002112: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042603,002113: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042604,002114: 15,3405 00001 RATT
042605,002115: 15,3406 37607 STCALL XSMD
042606,002116: 15,3407 11013 LSORIENT
042607,002117: 15,3410 77776 EXIT
042608,002118: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042609,002119: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042610,002120: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042611,002121: 15,3414 34737 CAF REFSMBIT
042612,002122: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042613,002123: 15,3416 10000 CCS A
042614,002124: 15,3417 34745 CAF BIT7 # SET
042615,002125: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
042616,002126: 15,3421 34753 CAF ATTFLBIT
042617,002127: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042618,002128: 15,3423 10000 CCS A
042619,002129: 15,3424 34750 CAF BIT4 # SET
042620,002130: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
042621,002131: 15,3426 34750 CAF BIT4
042622,002132: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042623,002133:
042624,002134: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042625,002135: 15,3431 04616 TC BANKCALL
042626,002136: 15,3432 20476 CADR GOFLASH
042627,002137: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
042628,002138: 15,3434 13436 TCF +2 # V33 - PROCEED
042629,002139: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
042630,002140:
042631,002141: 15,3436 34737 CAF REFSMBIT
042632,002142: 15,3437 70077 MASK FLAGWRD3
042633,002143: 15,3440 10000 CCS A
042634,002144: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042635,002145: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
042636,002146: 15,3443 70102 MASK FLAGWRD6
042637,002147: 15,3444 10000 CCS A
042638,002148: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042639,002149: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 977 |
042641,002151: 15,3447 71145 MASK OPTION2
042642,002152: 15,3450 10000 CCS A
042643,002153: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042644,002154: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
042645,002155: 15,3453 00701 OCT 701
042646,002156: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042647,002157: 15,3455 04616 TC BANKCALL
042648,002158: 15,3456 20476 CADR GOFLASH
042649,002159: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
042650,002160: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
042651,002161: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
042652,002162:
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Page 978 |
042654,002164: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042655,002165:
042656,002166: 15,3462 40220 MFREF STQ SETPD
042657,002167: 15,3463 02746 QMAJ
042658,002168: 15,3464 00001 0
042659,002169: 15,3465 77634 RTB
042660,002170: 15,3466 21573 LOADTIME
042661,002171: 15,3467 27562 STOVL TSIGHT
042662,002172: 15,3470 02723 VEC1
042663,002173: 15,3471 41525 PDDL PUSH
042664,002174: 15,3472 03562 TSIGHT
042665,002175: 15,3473 77624 CALL
042666,002176: 15,3474 55716 RP-TO-R
042667,002177: 15,3475 26723 STOVL VEC1
042668,002178: 15,3476 02731 VEC2
042669,002179: 15,3477 65201 SETPD PDDL
042670,002180: 15,3500 00001 0
042671,002181: 15,3501 03562 TSIGHT
042672,002182: 15,3502 45006 PUSH CALL
042673,002183: 15,3503 55716 RP-TO-R
042674,002184: 15,3504 36731 STCALL VEC2
042675,002185: 15,3505 02746 QMAJ
042676,002186:
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Page 979 |
042678,002188: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042679,002189: # STORE IN YNBSAV AND ZNBSAV
042680,002190:
042681,002191: 15,3506 45020 REFMF STQ CALL
042682,002192: 15,3507 02746 QMAJ
042683,002193: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042684,002194: 15,3511 40234 RTB SETPD
042685,002195: 15,3512 21573 LOADTIME
042686,002196: 15,3513 00001 0
042687,002197: 15,3514 37562 STCALL TSIGHT
042688,002198: 15,3515 20030 CALCSMSC # GET YNB IN SM
042689,002199: 15,3516 61375 VLOAD VXM
042690,002200: 15,3517 02673 YNB
042691,002201: 15,3520 01734 REFSMMAT # YNB TO REF
042692,002202: 15,3521 65256 UNIT PDDL
042693,002203: 15,3522 03562 TSIGHT
042694,002204: 15,3523 45006 PUSH CALL
042695,002205: 15,3524 51670 R-TO-RP
042696,002206: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042697,002207: 15,3526 02701 ZNB
042698,002208: 15,3527 53505 VXM UNIT
042699,002209: 15,3530 01734 REFSMMAT # ZNB TO REF
042700,002210: 15,3531 41525 PDDL PUSH
042701,002211: 15,3532 03562 TSIGHT
042702,002212: 15,3533 77624 CALL
042703,002213: 15,3534 51670 R-TO-RP # ZNB TO MF
042704,002214: 15,3535 02245 STORE ZNBSAV
042705,002215: 15,3536 77614 SETGO
042706,002216: 15,3537 03036 ATTFLAG
042707,002217: 15,3540 02746 QMAJ
042708,002218:
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Page 980 |
042710,002220: # BRANCH TO ALIGNMENT OPTION
042711,002221:
042712,002222: 15,3541 06037 GETLMATT TC INTPRET
042713,002223: 15,3542 77624 CALL
042714,002224: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042715,002225: 15,3544 77776 EXIT
042716,002226:
042717,002227: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042718,002228: 15,3546 00205 ADRES INITALGN
042719,002229: 15,3547 34753 CAF BIT1
042720,002230: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042721,002231: 15,3551 10000 CCS A
042722,002232: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042723,002233:
042724,002234: 15,3553 05353 ATTCHK TC PHASCHNG
042725,002235: 15,3554 04024 OCT 04024
042726,002236:
042727,002237: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042728,002238: 15,3556 70102 MASK FLAGWRD6
042729,002239: 15,3557 10000 CCS A
042730,002240: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042731,002241: 15,3561 05353 P57JUMP TC PHASCHNG
042732,002242: 15,3562 04024 OCT 04024
042733,002243:
042734,002244: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
042735,002245: 15,3564 00205 ADRES INITALGN
042736,002246: 15,3565 36245 CAF THREE
042737,002247: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042738,002248: 15,3567 50000 INDEX A
042739,002249: 15,3570 13571 TCF +1
042740,002250: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042741,002251: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042742,002252: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042743,002253: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042744,002254:
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Page 981 |
042746,002256: # OPTION 0, GET TWO ATTITUDE VECS
042747,002257:
042748,002258: 15,3575 06037 P57OPT0 TC INTPRET
042749,002259: 15,3576 77775 VLOAD
042750,002260: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042751,002261: 15,3600 26723 STOVL VEC1
042752,002262: 15,3601 02245 ZNBSAV
042753,002263: 15,3602 36731 STCALL VEC2
042754,002264: 15,3603 47537 CDUTRIG
042755,002265: 15,3604 77624 CALL
042756,002266: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042757,002267: 15,3606 77775 VLOAD
042758,002268: 15,3607 02673 YNB
042759,002269: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042760,002270: 15,3611 02701 ZNB
042761,002271: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042762,002272: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042763,002273: 15,3614 77650 GOTO
042764,002274: 15,3615 33101 SURFLINE
042765,002275:
042766,002276: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042767,002277:
042768,002278: 15,3616 06037 P57OPT1 TC INTPRET
042769,002279: 15,3617 53575 VLOAD UNIT
042770,002280: 15,3620 02023 RLS # LANDING SITE VEC
042771,002281: 15,3621 26723 STOVL VEC1
042772,002282: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042773,002283: 15,3623 36731 STCALL VEC2
042774,002284: 15,3624 47537 CDUTRIG
042775,002285: 15,3625 77624 CALL
042776,002286: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042777,002287: 15,3627 45175 VLOAD CALL
042778,002288: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042779,002289: 15,3631 47661 CDU*NBSM
042780,002290: 15,3632 77650 GOTO
042781,002291: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042782,002292:
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Page 982 |
042784,002294: # OPTION 2, GET TWO STAR SIGHTINGS
042785,002295:
042786,002296: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042787,002297:
042788,002298: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042789,002299:
042790,002300: 15,3635 06037 P57OPT3 TC INTPRET
042791,002301: 15,3636 53575 VLOAD UNIT
042792,002302: 15,3637 02023 RLS # LANDING SITE VEC
042793,002303: 15,3640 02723 STORE VEC1
042794,002304: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042795,002305: 15,3642 02231 GSAV # GRAVITY VEC NB
042796,002306: 15,3643 77624 CALL
042797,002307: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042798,002308: 15,3645 36761 STCALL STARSAV1
042799,002309: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042800,002310: 15,3647 77776 EXIT
042801,002311: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042802,002312:
042803,002313: 15,3651 01206 VB05N06 VN 506
042804,002314:
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Page 983 |
042806,002316: # CHECK IMODES30 TO VARIFY IMU IS ON
042807,002317:
042808,002318: 15,3652 41302 IMUCHK CS IMODES30
042809,002319: 15,3653 74743 MASK BIT9
042810,002320: 15,3654 10000 CCS A # IS IMU ON
042811,002321: 15,3655 13661 TCF +4 # YES
042812,002322:
042813,002323: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042814,002324: 15,3657 00210 OCT 210
042815,002325: 15,3660 06001 TC GOTOPOOH
042816,002326:
042817,002327: 15,3661 05504 TC UPFLAG
042818,002328: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042819,002329:
042820,002330: 15,3663 04631 TC SWRETURN
042821,002331:
042822,002332: 04,3013 BANK 04
042823,002333: 04,2000 SETLOC AOTMARK2
042824,002334: 04,2000 BANK
042825,002335: 04,3013 COUNT* $$/P57
042826,002336:
042827,002337: 04,3013 77220 LSORIENT STQ VLOAD
042828,002338: 04,3014 02746 QMAJ
042829,002339: 04,3015 01555 RRECTCSM
042830,002340: 04,3016 47235 VXV VXV
042831,002341: 04,3017 01563 VRECTCSM
042832,002342: 04,3020 03607 XSMD
042833,002343: 04,3021 77656 UNIT
042834,002344: 04,3022 03623 STORE ZSMD
042835,002345: 04,3023 53435 VXV UNIT
042836,002346: 04,3024 03607 XSMD
042837,002347: 04,3025 37615 STCALL YSMD
042838,002348: 04,3026 02746 QMAJ
042839,002349:
End of include-file P51-P53.agc. Parent file is MAIN.agc