Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
039767,000002: ## Copyright: Public domain.
039768,000003: ## Filename: P51-P53.agc
039769,000004: ## Purpose: A section of Luminary revision 116.
039770,000005: ## It is part of the source code for the Lunar Module's (LM)
039771,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
039772,000007: ## This file is intended to be a faithful transcription, except
039773,000008: ## that the code format has been changed to conform to the
039774,000009: ## requirements of the yaYUL assembler rather than the
039775,000010: ## original YUL assembler.
039776,000011: ## Reference: pp. 919-975
039777,000012: ## Assembler: yaYUL
039778,000013: ## Contact: Ron Burkey <info@sandroid.org>.
039779,000014: ## Website: www.ibiblio.org/apollo/index.html
039780,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
039781,000016: ## 2017-03-11 HG Transcribed
039782,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
039783,000018: ## Luminary 99 and 131.
039784,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039785,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
039786,000021: ## 2017-03-19 HG Fix operator STODL --> STORE
039787,000022:
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Page 919 |
039789,000024: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039790,000025: # MOD NO- 0 LOG SECTION- P51-P53
039791,000026: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039792,000027:
039793,000028: # FUNCTIONAL DESCRIPTION-
039794,000029:
039795,000030: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039796,000031: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039797,000032:
039798,000033: # (A) PREFERRED ORIENTATION
039799,000034:
039800,000035: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039801,000036: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039802,000037:
039803,000038: # (B) NOMINAL ORIENTATION
039804,000039:
039805,000040: # X = UNIT ( R )
039806,000041: # -SM
039807,000042:
039808,000043: # Y = UNIT (V X R)
039809,000044: # SM
039810,000045:
039811,000046: # Z = UNIT (X X Y )
039812,000047: # SM SM SM
039813,000048:
039814,000049: # WHERE_
039815,000050: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039816,000051: # -
039817,000052:
039818,000053: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039819,000054: # -
039820,000055:
039821,000056: # (C) REFSMMAT ORIENTATION
039822,000057:
039823,000058: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039824,000059:
039825,000060: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039826,000061: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039827,000062: # SINCE THE LAST ALIGNMENT).
039828,000063:
039829,000064: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039830,000065: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039831,000066: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039832,000067: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039833,000068: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039834,000069: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039835,000070: # REQUESTED.
039836,000071:
039837,000072: # CALLING SEQUENCE-
039838,000073:
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Page 920 |
039840,000075: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039841,000076:
039842,000077: # SUBROUTINES CALLED-
039843,000078:
039844,000079: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039845,000080: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039846,000081: # 3. GOPERF4 9. FLAGUP
039847,000082: # 4. MATMOVE 10. R56
039848,000083: # 5. GOFLASH 11. R51
039849,000084: # 6. S52.3 12. GOPERF3
039850,000085:
039851,000086: # NORMAL EXIT MODES-
039852,000087:
039853,000088: # EXITS TO ENDOFJOB
039854,000089:
039855,000090: # ALARM OR ABORT EXIT MODES-
039856,000091:
039857,000092: # NONE
039858,000093:
039859,000094: # OUTPUT-
039860,000095:
039861,000096: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039862,000097: # 1. IMU ORIENTATION CODE
039863,000098: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039864,000099: # 3. TIME OF NEXT IGNITION
039865,000100: # 4. GIMBAL ANGLES
039866,000101: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039867,000102: # 6. PLEASE PERFORM P00
039868,000103: # THE MODE DISPLAY MAY BE CHANGED TO 20
039869,000104:
039870,000105: # ERASABLE INITIALIZATION REQUIRED-
039871,000106:
039872,000107: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039873,000108: # XSMD,YSMD,ZSMD.
039874,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039875,000110:
039876,000111: # DEBRIS-
039877,000112:
039878,000113: # WORK AREA
039879,000114:
039880,000115: 33,3762 BANK 33
039881,000116: 15,2000 SETLOC P50S
039882,000117: 15,2000 BANK
039883,000118:
039884,000119: 15,2050 E5,1755 EBANK= BESTI
039885,000120: 15,2050 COUNT* $$/P52
039886,000121: 15,2050 04616 PROG52 TC BANKCALL
039887,000122: 15,2051 11236 CADR R02BOTH # IMU STATUS CHECK
039888,000123: 15,2052 34750 CAF PFRATBIT
039889,000124: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039890,000125: 15,2054 10000 CCS A
039891,000126:
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Page 921 |
039893,000128: 15,2055 02060 TC P52A # YES
039894,000129: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039895,000130: 15,2057 02061 TC P52A +1
039896,000131: 15,2060 34753 P52A CAF BIT1
039897,000132: 15,2061 55144 TS OPTION2
039898,000133: 15,2062 34753 P52B CAF BIT1
039899,000134: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039900,000135: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039901,000136: 15,2065 06001 TC GOTOPOOH
039902,000137: 15,2066 12073 TCF +5 # V33-PROCEED
039903,000138: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039904,000139: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039905,000140: 15,2071 00014 OCT 00014
039906,000141: 15,2072 05155 TC ENDOFJOB
039907,000142:
039908,000143: 15,2073 31144 CA OPTION2
039909,000144: 15,2074 76250 MASK THREE
039910,000145: 15,2075 50000 INDEX A
039911,000146: 15,2076 02077 TC +1
039912,000147: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039913,000148: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039914,000149: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039915,000150: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039916,000151: 15,2103 77650 GOTO
039917,000152: 15,2104 32164 P52F # GO DO R51
039918,000153:
039919,000154: 15,2105 00006 OPT4 EXTEND
039920,000155: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039921,000156: 15,2107 12112 TCF P52T +2
039922,000157:
039923,000158: 15,2110 00006 P52T EXTEND
039924,000159: 15,2111 34755 DCA NEG0
039925,000160: 15,2112 53045 DXCH DSPTEM1
039926,000161: 15,2113 32170 CAF V06N34*
039927,000162: 15,2114 04616 TC BANKCALL
039928,000163: 15,2115 20477 CADR GOFLASH
039929,000164: 15,2116 06001 TC GOTOPOOH
039930,000165: 15,2117 02121 TC +2
039931,000166: 15,2120 02113 TC -5
039932,000167: 15,2121 53045 DXCH DSPTEM1
039933,000168: 15,2122 00006 EXTEND
039934,000169: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039935,000170: 15,2124 12127 TCF +3
039936,000171: 15,2125 00006 EXTEND
039937,000172: 15,2126 30025 DCA TIME2
039938,000173: 15,2127 53775 DXCH TALIGN
039939,000174: 15,2130 31144 P52V CA OPTION2
039940,000175: 15,2131 74752 MASK BIT2
039941,000176: 15,2132 10000 CCS A
039942,000177: 15,2133 02137 TC P52W
039943,000178:
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Page 922 |
039945,000180: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039946,000181: 15,2135 77650 GOTO
039947,000182: 15,2136 32220 P52LS
039948,000183:
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Page 923 |
039950,000185: # START ALIGNMENT
039951,000186:
039952,000187: 15,2137 06042 P52W TC INTPRET
039953,000188: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039954,000189: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039955,000190: 15,2142 31651 S52.3 # ORIENTATION
039956,000191: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039957,000192: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039958,000193: 15,2145 77776 EXIT
039959,000194: 15,2146 35010 CAF V06N22
039960,000195: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039961,000196: 15,2150 20477 CADR GOFLASH
039962,000197: 15,2151 06001 TC GOTOPOOH
039963,000198: 15,2152 12171 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
039964,000199: 15,2153 06042 P52H TC INTPRET
039965,000200: 15,2154 77650 GOTO
039966,000201: 15,2155 32143 P52D
039967,000202: 15,2156 06042 REGCOARS TC INTPRET
039968,000203: 15,2157 77624 CALL # DO COARSE ALIGN
039969,000204: 15,2160 31321 CAL53A # ROUTINE
039970,000205: 15,2161 43014 COARSRET SET CLEAR
039971,000206: 15,2162 01462 REFSMFLG
039972,000207: 15,2163 01273 PFRATFLG
039973,000208: 15,2164 77624 P52F CALL
039974,000209: 15,2165 31007 R51
039975,000210: 15,2166 77776 P52OUT EXIT
039976,000211: 15,2167 06001 TC GOTOPOOH
039977,000212: 15,2170 5006 VB05N09 = V05N09
039978,000213: 15,2170 01442 V06N34* VN 634
039979,000214:
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Page 924 |
039981,000216: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039982,000217: 15,2171 32217 COARSTYP CAF OCT13
039983,000218: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039984,000219: 15,2173 20624 CADR GOPERF1
039985,000220: 15,2174 16001 TCF GOTOPOOH # V34-TERMIN&OE
039986,000221: 15,2175 12156 TCF REGCOARS # V33-NORMAL COARSE
039987,000222: 15,2176 06042 TC INTPRET # V32-GYRO TORQUE COARSE
039988,000223: 15,2177 64375 VLOAD MXV
039989,000224: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039990,000225: 15,2201 01734 REFSMMAT
039991,000226: 15,2202 77656 UNIT
039992,000227: 15,2203 26665 STOVL XDC
039993,000228: 15,2204 03615 YSMD
039994,000229: 15,2205 53521 MXV UNIT
039995,000230: 15,2206 01734 REFSMMAT
039996,000231: 15,2207 26673 STOVL YDC
039997,000232: 15,2210 03623 ZSMD
039998,000233: 15,2211 53521 MXV UNIT
039999,000234: 15,2212 01734 REFSMMAT
040000,000235: 15,2213 36701 STCALL ZDC
040001,000236: 15,2214 31156 GYCOARS
040002,000237: 15,2215 77650 GOTO
040003,000238: 15,2216 32166 P52OUT
040004,000239: 15,2217 00013 OCT13 OCT 13
040005,000240:
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Page 925 |
040007,000242: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040008,000243: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040009,000244: 15,2221 01463 LUNAFLAG
040010,000245: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040011,000246: 15,2223 77201 SETPD VLOAD
040012,000247: 15,2224 00001 0
040013,000248: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040014,000249: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040015,000250: 15,2227 02775 TALIGN
040016,000251: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040017,000252:
040018,000253: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040019,000254: 15,2232 77742 VSR2
040020,000255: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040021,000256: 15,2234 02775 TALIGN
040022,000257: 15,2235 77624 CALL
040023,000258: 15,2236 30440 N89DISP
040024,000259: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040025,000260: 15,2240 02032 ALPHAV
040026,000261: 15,2241 37607 STCALL XSMD
040027,000262: 15,2242 10775 LSORIENT
040028,000263: 15,2243 77650 GOTO
040029,000264: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040030,000265:
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Page 926 |
040032,000267: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040033,000268:
040034,000269: 14,2000 SETLOC P50S1
040035,000270: 14,2000 BANK
040036,000271: 14,2440 E5,1642 EBANK= XSM
040037,000272:
040038,000273: 14,2440 77620 N89DISP STQ
040039,000274: 14,2441 02746 QMAJ
040040,000275: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040041,000276: 14,2443 26351 LAT-LONG
040042,000277: 14,2444 70545 DLOAD SR1
040043,000278: 14,2445 01122 LONG
040044,000279: 14,2446 16711 STODL LANDLONG
040045,000280: 14,2447 01124 ALT
040046,000281: 14,2450 16713 STODL LANDALT
040047,000282: 14,2451 01120 LAT
040048,000283: 14,2452 02707 STORE LANDLAT
040049,000284: 14,2453 77776 EXIT
040050,000285:
040051,000286: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040052,000287: 14,2455 04616 TC BANKCALL
040053,000288: 14,2456 20477 CADR GOFLASH
040054,000289: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040055,000290: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040056,000291: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040057,000292:
040058,000293: 14,2462 06042 TC INTPRET
040059,000294: 14,2463 72545 DLOAD SL1
040060,000295: 14,2464 02711 LANDLONG
040061,000296: 14,2465 15122 STODL LONG
040062,000297: 14,2466 02713 LANDALT
040063,000298: 14,2467 15124 STODL ALT
040064,000299: 14,2470 02707 LANDLAT
040065,000300: 14,2471 15120 STODL LAT
040066,000301: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040067,000302: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040068,000303: 14,2474 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040069,000304: 14,2475 77650 GOTO
040070,000305: 14,2476 02746 QMAJ
040071,000306: 14,2477 01531 V06N89* VN 689
040072,000307:
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Page 927 |
040074,000309: # NAME -S50 ALIAS LOCSAM
040075,000310: # BY
040076,000311: # VINCENT
040077,000312: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040078,000313:
040079,000314: # DEFINE
040080,000315:
040081,000316:
040082,000317: # U = UNIT( SUN WRT EARTH)
040083,000318: # ES
040084,000319:
040085,000320: # U =UNIT( MOON WRT EARTH)
040086,000321: # EM
040087,000322:
040088,000323: # R =POSITION VECTOR OF LEM
040089,000324: # L
040090,000325:
040091,000326: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040092,000327: # EM
040093,000328:
040094,000329: # P =RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040095,000330: # EM
040096,000331:
040097,000332: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040098,000333: # E
040099,000334:
040100,000335: # LOCSAM COMPUTES IN EARTH INFLUENCE
040101,000336:
040102,000337:
040103,000338: # VSUN = U
040104,000339: # ES
040105,000340:
040106,000341: # VEARTH = -UNIT( R )
040107,000342: # L
040108,000343:
040109,000344: # VMOON = UNIT(R .U - R )
040110,000345: # EM EM L
040111,000346:
040112,000347: # CSUN = COS 90
040113,000348:
040114,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040115,000350: # E L
040116,000351:
040117,000352: # CMOON = COS 5
040118,000353:
040119,000354: # INPUT - TIME IN MPAC
040120,000355: # OUTPUT - LISTED ABOVE
040121,000356: # SUBROUTINES -LSPOS,LEMPREC
040122,000357: # DEBRIS - VAC AREA ,TSIGHT
040123,000358:
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Page 928 |
040125,000360: 14,2500 COUNT* $$/LOSAM
040126,000361:
040127,000362: 14,2500 14,2500 S50 = LOCSAM
040128,000363: 14,2500 77620 LOCSAM STQ
040129,000364: 14,2501 02745 QMIN
040130,000365: 14,2502 37562 STCALL TSIGHT
040131,000366: 14,2503 33647 LSPOS
040132,000367: 14,2504 77745 DLOAD
040133,000368: 14,2505 03562 TSIGHT
040134,000369: 14,2506 34041 STCALL TDEC1
040135,000370: 14,2507 27060 LEMPREC
040136,000371: 14,2510 61131 SSP TIX,2
040137,000372: 14,2511 00052 S2
040138,000373: 14,2512 00000 0
040139,000374: 14,2513 30535 MOONCNTR
040140,000375: 14,2514 74375 EARTCNTR VLOAD VXSC
040141,000376: 14,2515 02723 VMOON
040142,000377: 14,2516 30001 RSUBEM
040143,000378: 14,2517 52372 VSL1 VSU
040144,000379: 14,2520 00001 RATT
040145,000380: 14,2521 77656 UNIT
040146,000381: 14,2522 26723 STOVL VMOON
040147,000382: 14,2523 00001 RATT
040148,000383: 14,2524 57456 UNIT VCOMP
040149,000384: 14,2525 16707 STODL VEARTH
040150,000385: 14,2526 30005 RSUBE
040151,000386: 14,2527 77624 CALL
040152,000387: 14,2530 30567 OCCOS
040153,000388: 14,2531 14017 STODL CEARTH
040154,000389: 14,2532 30576 CSS5
040155,000390: 14,2533 34023 STCALL CMOON
040156,000391: 14,2534 30562 ENDSAM
040157,000392: 14,2535 74375 MOONCNTR VLOAD VXSC
040158,000393: 14,2536 02723 VMOON
040159,000394: 14,2537 30007 ROE
040160,000395: 14,2540 53445 BVSU UNIT
040161,000396: 14,2541 02715 VSUN
040162,000397: 14,2542 26715 STOVL VSUN
040163,000398: 14,2543 02723 VMOON
040164,000399: 14,2544 53361 VXSC VAD
040165,000400: 14,2545 30001 RSUBEM
040166,000401: 14,2546 00001 RATT
040167,000402: 14,2547 57456 UNIT VCOMP
040168,000403: 14,2550 26707 STOVL VEARTH
040169,000404: 14,2551 00001 RATT
040170,000405: 14,2552 57456 UNIT VCOMP
040171,000406: 14,2553 16723 STODL VMOON
040172,000407: 14,2554 30003 RSUBM
040173,000408: 14,2555 77624 CALL
040174,000409: 14,2556 30567 OCCOS
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Page 929 |
040176,000411: 14,2557 14023 STODL CMOON
040177,000412: 14,2560 30576 CSS5
040178,000413: 14,2561 00017 STORE CEARTH
040179,000414: 14,2562 77745 ENDSAM DLOAD
040180,000415: 14,2563 30600 CSSUN
040181,000416: 14,2564 00021 STORE CSUN
040182,000417: 14,2565 77650 GOTO
040183,000418: 14,2566 02745 QMIN
040184,000419: 14,2567 70471 OCCOS DDV SR1
040185,000420: 14,2570 00045 36D
040186,000421: 14,2571 43336 ASIN DAD
040187,000422: 14,2572 30602 5DEGREES
040188,000423: 14,2573 70546 COS SR1
040189,000424: 14,2574 77616 RVQ
040190,000425: 14,2575 CEARTH = 14D
040191,000426: 14,2575 CSUN = 16D
040192,000427: 14,2575 CMOON = 18D
040193,000428: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040194,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040195,000430: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040196,000431:
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Page 930 |
040198,000433: # PROGRAM NAME - R56 DATE DEC 20 66
040199,000434: # MOD 1 LOG SECTION P51-P53
040200,000435: # ASSEMBLY SUNDISK REV40
040201,000436: # BY KEN VINCENT
040202,000437:
040203,000438: # FUNCTION
040204,000439: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040205,000440: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040206,000441: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040207,000442: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040208,000443: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040209,000444: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040210,000445: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040211,000446: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040212,000447: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040213,000448: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040214,000449: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040215,000450: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040216,000451:
040217,000452: # CALLING SEQUENCE
040218,000453: # L TC BANKCALL
040219,000454: # L+1 CADR R56
040220,000455: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040221,000456: # L+3 NORMAL RETURN
040222,000457:
040223,000458: # OUTPUT
040224,000459: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040225,000460: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040226,000461:
040227,000462: # INITIALIZATION
040228,000463: # 1)A CALL TO LOCSAM MUST BE MADE
040229,000464:
040230,000465: # DEBRIS
040231,000466: # WORK AREA
040232,000467: # X,Y,ZNB
040233,000468: # SINCDU,COSCDU
040234,000469: # STARAD - STAR +5
040235,000470: 14,2603 14,2603 R56 = PICAPAR
040236,000471: 14,2603 COUNT* $$/R56
040237,000472: 14,2603 04645 PICAPAR TC MAKECADR
040238,000473: 14,2604 55745 TS QMIN
040239,000474: 14,2605 06042 TC INTPRET
040240,000475: 14,2606 77624 CALL
040241,000476: 14,2607 47541 CDUTRIG
040242,000477: 14,2610 77624 CALL
040243,000478: 14,2611 20030 CALCSMSC
040244,000479: 14,2612 77601 SETPD
040245,000480: 14,2613 00001 0
040246,000481: 14,2614 71214 SET DLOAD # VFLAG = 1
040247,000482: 14,2615 01465 VFLAG
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Page 931 |
040249,000484: 14,2616 24007 DPZERO
040250,000485: 14,2617 26756 STOVL BESTI
040251,000486: 14,2620 02665 XNB
040252,000487: 14,2621 63361 VXSC PDVL
040253,000488: 14,2622 24005 HALFDP
040254,000489: 14,2623 02701 ZNB
040255,000490: 14,2624 74370 AXT,1 VXSC
040256,000491: 14,2625 00344 228D # X1 = 37 X 6 +6
040257,000492: 14,2626 24005 HALFDP
040258,000493: 14,2627 77655 VAD
040259,000494: 14,2630 53505 VXM UNIT
040260,000495: 14,2631 01734 REFSMMAT
040261,000496: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040262,000497: 14,2633 66331 SSP SSP # S1=S2=6
040263,000498: 14,2634 00051 S1
040264,000499: 14,2635 00006 6
040265,000500: 14,2636 00052 S2
040266,000501: 14,2637 00006 6
040267,000502: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040268,000503: 14,2641 30643 PIC2
040269,000504: 14,2642 30760 PICEND
040270,000505: 14,2643 50373 PIC2 VLOAD* DOT
040271,000506: 14,2644 30347 CATLOG,1
040272,000507: 14,2645 02731 SAX
040273,000508: 14,2646 50025 DSU BMN
040274,000509: 14,2647 30757 CSS33
040275,000510: 14,2650 30640 PIC1
040276,000511: 14,2651 77754 LXA,2
040277,000512: 14,2652 00046 X1
040278,000513: 14,2653 52104 PIC3 TIX,2 GOTO
040279,000514: 14,2654 30656 PIC4
040280,000515: 14,2655 30640 PIC1
040281,000516: 14,2656 50373 PIC4 VLOAD* DOT
040282,000517: 14,2657 47430 CATLOG,2
040283,000518: 14,2660 02731 SAX
040284,000519: 14,2661 50025 DSU BMN
040285,000520: 14,2662 30757 CSS33
040286,000521: 14,2663 30653 PIC3
040287,000522: 14,2664 47773 VLOAD* DOT*
040288,000523: 14,2665 30347 CATLOG,1
040289,000524: 14,2666 47430 CATLOG,2
040290,000525: 14,2667 51025 DSU BPL
040291,000526: 14,2670 30755 CSS40
040292,000527: 14,2671 30653 PIC3
040293,000528: 14,2672 45173 VLOAD* CALL
040294,000529: 14,2673 30347 CATLOG,1
040295,000530: 14,2674 30732 OCCULT
040296,000531: 14,2675 77614 BON
040297,000532: 14,2676 01710 CULTFLAG
040298,000533: 14,2677 30640 PIC1
040299,000534:
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Page 932 |
040301,000536: 14,2700 45173 VLOAD* CALL
040302,000537: 14,2701 47430 CATLOG,2
040303,000538: 14,2702 30732 OCCULT
040304,000539: 14,2703 77614 BON
040305,000540: 14,2704 01710 CULTFLAG
040306,000541: 14,2705 30653 PIC3
040307,000542: 14,2706 77614 STRATGY BONCLR
040308,000543: 14,2707 01605 VFLAG
040309,000544: 14,2710 30725 NEWPAR
040310,000545: 14,2711 65120 XCHX,1 XCHX,2
040311,000546: 14,2712 02755 BESTI
040312,000547: 14,2713 02756 BESTJ
040313,000548: 14,2714 47773 STRAT VLOAD* DOT*
040314,000549: 14,2715 30347 CATLOG,1
040315,000550: 14,2716 47430 CATLOG,2
040316,000551: 14,2717 43006 PUSH BOFINV
040317,000552: 14,2720 01545 VFLAG
040318,000553: 14,2721 30711 STRAT -3
040319,000554: 14,2722 45345 DLOAD DSU
040320,000555: 14,2723 77644 BPL
040321,000556: 14,2724 30653 PIC3
040322,000557: 14,2725 67130 NEWPAR SXA,1 SXA,2
040323,000558: 14,2726 02755 BESTI
040324,000559: 14,2727 02756 BESTJ
040325,000560: 14,2730 77650 GOTO
040326,000561: 14,2731 30653 PIC3
040327,000562: 14,2732 51321 OCCULT MXV BVSU
040328,000563: 14,2733 02707 CULTRIX
040329,000564: 14,2734 00017 CSS
040330,000565: 14,2735 77654 BZE
040331,000566: 14,2736 30751 CULTED
040332,000567: 14,2737 75240 BMN SIGN
040333,000568: 14,2740 30751 CULTED
040334,000569: 14,2741 00160 MPAC +3
040335,000570: 14,2742 75240 BMN SIGN
040336,000571: 14,2743 30751 CULTED
040337,000572: 14,2744 00162 MPAC +5
040338,000573: 14,2745 43040 BMN CLRGO
040339,000574: 14,2746 30751 CULTED
040340,000575: 14,2747 01630 CULTFLAG
040341,000576: 14,2750 00052 QPRET
040342,000577: 14,2751 77614 CULTED SETGO
040343,000578: 14,2752 01430 CULTFLAG
040344,000579: 14,2753 00052 QPRET
040345,000580: 14,2754 0000016 CSS = CEARTH
040346,000581: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040347,000582: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040348,000583: 14,2760 77414 PICEND BOFF EXIT
040349,000584:
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Page 933 |
040351,000586: 14,2761 01745 VFLAG
040352,000587: 14,2762 30764 PICGXT
040353,000588: 14,2763 03005 TC PICBXT
040354,000589: 14,2764 73150 PICGXT LXA,1 LXA,2
040355,000590: 14,2765 02755 BESTI
040356,000591: 14,2766 02756 BESTJ
040357,000592: 14,2767 47775 VLOAD DOT*
040358,000593: 14,2770 02731 SAX
040359,000594: 14,2771 30347 CATLOG,1
040360,000595: 14,2772 47715 PDVL DOT*
040361,000596: 14,2773 02731 SAX
040362,000597: 14,2774 47430 CATLOG,2
040363,000598: 14,2775 77625 DSU
040364,000599: 14,2776 66044 BPL SXA,1
040365,000600: 14,2777 31003 PICNSWP
040366,000601: 14,3000 02756 BESTJ
040367,000602: 14,3001 77734 SXA,2
040368,000603: 14,3002 02755 BESTI
040369,000604: 14,3003 77776 PICNSWP EXIT
040370,000605: 14,3004 25745 INCR QMIN
040371,000606: 14,3005 31745 PICBXT CA QMIN
040372,000607: 14,3006 04622 TC SWCALL
040373,000608: 14,3007 VPD = 0D
040374,000609: 14,3007 V0 = 6D
040375,000610: 14,3007 V1 = 12D
040376,000611: 14,3007 V2 = 18D
040377,000612: 14,3007 V3 = 24D
040378,000613: 14,3007 DP0 = 30D
040379,000614: 14,3007 DP1 = 32D
040380,000615:
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Page 934 |
040382,000617: # NAME-R51 FINE ALIGN
040383,000618: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040384,000619: # CALLING SEQ- CALL R51
040385,000620: # INPUT - REFSMMAT
040386,000621: # OUTPUT- GYRO TORQUE PULSES
040387,000622: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040388,000623: 14,3007 COUNT* $$/R51
040389,000624: 14,3007 77620 R51 STQ
040390,000625: 14,3010 02746 QMAJ
040391,000626: 14,3011 77776 R51.1 EXIT
040392,000627: 14,3012 05353 TC PHASCHNG
040393,000628: 14,3013 04024 OCT 04024
040394,000629:
040395,000630: 14,3014 34761 R51C CAF OCT15
040396,000631: 14,3015 04616 TC BANKCALL
040397,000632: 14,3016 20624 CADR GOPERF1
040398,000633: 14,3017 06001 TC GOTOPOOH
040399,000634: 14,3020 03022 TC +2 # V33E
040400,000635: 14,3021 03045 TC R51E # ENTER
040401,000636: 14,3022 06042 TC INTPRET
040402,000637: 14,3023 43234 RTB DAD
040403,000638: 14,3024 21574 LOADTIME
040404,000639: 14,3025 31155 TSIGHT1
040405,000640: 14,3026 77624 CALL
040406,000641: 14,3027 30500 LOCSAM
040407,000642: 14,3030 77776 EXIT
040408,000643: 14,3031 04616 TC BANKCALL
040409,000644: 14,3032 30603 CADR R56
040410,000645: 14,3033 03035 TC R51I
040411,000646: 14,3034 03045 R51F TC R51E
040412,000647: 14,3035 05567 R51I TC ALARM
040413,000648: 14,3036 00405 OCT 405
040414,000649: 14,3037 35006 CAF VB05N09
040415,000650: 14,3040 04616 TC BANKCALL
040416,000651: 14,3041 20477 CADR GOFLASH
040417,000652: 14,3042 06001 TC GOTOPOOH
040418,000653: 14,3043 03045 TC R51E
040419,000654: 14,3044 03014 TC R51C
040420,000655: 14,3045 34755 R51E CAF ZERO
040421,000656: 14,3046 55757 TS STARIND
040422,000657: 14,3047 06042 R51.2 TC INTPRET
040423,000658: 14,3050 77776 R51.3 EXIT
040424,000659: 14,3051 05353 TC PHASCHNG
040425,000660: 14,3052 04024 OCT 04024
040426,000661:
040427,000662: 14,3053 06042 TC INTPRET
040428,000663: 14,3054 77624 CALL
040429,000664: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040430,000665: 14,3056 77776 EXIT
040431,000666: 14,3057 04616 TC BANKCALL
040432,000667:
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Page 935 |
040434,000669: 14,3060 16000 CADR AOTMARK
040435,000670: 14,3061 04616 TC BANKCALL
040436,000671: 14,3062 17704 CADR OPTSTALL
040437,000672: 14,3063 05701 TC CURTAINS
040438,000673: 14,3064 11757 CCS STARIND
040439,000674: 14,3065 13067 TCF +2
040440,000675: 14,3066 03137 TC R51.4
040441,000676: 14,3067 06042 TC INTPRET
040442,000677: 14,3070 77775 VLOAD
040443,000678: 14,3071 02715 STARAD +6
040444,000679: 14,3072 02767 STORE STARSAV2
040445,000680: 14,3073 77776 EXIT
040446,000681: 14,3074 05353 TC PHASCHNG
040447,000682: 14,3075 04024 OCT 04024
040448,000683:
040449,000684: 14,3076 06042 TC INTPRET
040450,000685: 14,3077 45145 DLOAD CALL
040451,000686: 14,3100 03562 TSIGHT
040452,000687: 14,3101 32472 PLANET
040453,000688: 14,3102 53521 MXV UNIT
040454,000689: 14,3103 01734 REFSMMAT
040455,000690: 14,3104 26715 STOVL STARAD +6
040456,000691: 14,3105 03554 PLANVEC
040457,000692: 14,3106 53521 MXV UNIT
040458,000693: 14,3107 01734 REFSMMAT
040459,000694: 14,3110 26707 STOVL STARAD
040460,000695: 14,3111 02761 STARSAV1
040461,000696: 14,3112 24007 STOVL 6D
040462,000697: 14,3113 02767 STARSAV2
040463,000698: 14,3114 34015 STCALL 12D
040464,000699: 14,3115 31250 R54 # STAR DATA TEST
040465,000700: 14,3116 45014 BOFF CALL
040466,000701: 14,3117 00354 FREEFLAG
040467,000702: 14,3120 31126 R51K
040468,000703: 14,3121 47443 AXISGEN
040469,000704: 14,3122 77624 CALL
040470,000705: 14,3123 31216 R55 # GYRO TORQUE
040471,000706: 14,3124 77614 CLEAR
040472,000707: 14,3125 01273 PFRATFLG
040473,000708: 14,3126 77776 R51K EXIT
040474,000709: 14,3127 35741 R51P63 CAF OCT14
040475,000710: 14,3130 04616 TC BANKCALL
040476,000711: 14,3131 20624 CADR GOPERF1
040477,000712: 14,3132 06001 TC GOTOPOOH
040478,000713: 14,3133 03014 TC R51C
040479,000714: 14,3134 06042 TC INTPRET
040480,000715: 14,3135 77650 GOTO
040481,000716: 14,3136 02746 QMAJ
040482,000717: 14,3137 06042 R51.4 TC INTPRET
040483,000718: 14,3140 77775 VLOAD
040484,000719:
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Page 936 |
040486,000721: 14,3141 02715 STARAD +6
040487,000722: 14,3142 02761 STORE STARSAV1
040488,000723: 14,3143 45145 DLOAD CALL
040489,000724: 14,3144 03562 TSIGHT
040490,000725: 14,3145 32472 PLANET
040491,000726: 14,3146 03554 STORE PLANVEC
040492,000727: 14,3147 77731 SSP
040493,000728: 14,3150 02760 STARIND
040494,000729: 14,3151 00001 1
040495,000730: 14,3152 77650 GOTO
040496,000731: 14,3153 31050 R51.3
040497,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040498,000733:
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Page 937 |
040500,000735: # GYRO TORQUE COARSE ALIGNMENT
040501,000736: 14,3156 45020 GYCOARS STQ CALL
040502,000737: 14,3157 02746 QMAJ
040503,000738: 14,3160 47251 CALCGTA
040504,000739: 14,3161 43014 CLEAR CLEAR
040505,000740: 14,3162 01260 DRIFTFLG
040506,000741: 14,3163 01662 REFSMFLG
040507,000742: 14,3164 77776 EXIT
040508,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040509,000744: 14,3166 04616 TC BANKCALL
040510,000745: 14,3167 20452 CADR GODSPR
040511,000746: 14,3170 33247 CA R55CDR
040512,000747: 14,3171 04616 TC BANKCALL
040513,000748: 14,3172 17315 CADR IMUPULSE
040514,000749: 14,3173 04616 TC BANKCALL
040515,000750: 14,3174 17710 CADR IMUSTALL
040516,000751: 14,3175 05701 TC CURTAINS
040517,000752: 14,3176 05353 TC PHASCHNG
040518,000753: 14,3177 04024 OCT 04024
040519,000754:
040520,000755: 14,3200 06042 TC INTPRET
040521,000756: 14,3201 75160 AXC,1 AXC,2
040522,000757: 14,3202 03606 XSMD
040523,000758: 14,3203 01733 REFSMMAT
040524,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040525,000760: 14,3205 31371 MATMOVE
040526,000761: 14,3206 43014 CLEAR SET
040527,000762: 14,3207 01273 PFRATFLG
040528,000763: 14,3210 01462 REFSMFLG
040529,000764: 14,3211 77624 CALL
040530,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040531,000766: 14,3213 77650 GOTO
040532,000767: 14,3214 31126 R51K
040533,000768: 14,3215 04024 V16N20 VN 1620
040534,000769:
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Page 938 |
040536,000771: # R55 GYRO TORQUE
040537,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040538,000773: # CALLING SEQ- CALL R55
040539,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040540,000775: # OUTPUT- GYRO PULSES
040541,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040542,000777: 14,3216 COUNT* $$/R55
040543,000778: 14,3216 77620 R55 STQ
040544,000779: 14,3217 02745 QMIN
040545,000780: 14,3220 77624 CALL
040546,000781: 14,3221 47251 CALCGTA
040547,000782: 14,3222 77776 PULSEM EXIT
040548,000783: 14,3223 33246 R55.1 CAF V06N93
040549,000784: 14,3224 04616 TC BANKCALL
040550,000785: 14,3225 20477 CADR GOFLASH
040551,000786: 14,3226 06001 TC GOTOPOOH
040552,000787: 14,3227 03231 TC R55.2
040553,000788: 14,3230 03243 TC R55RET
040554,000789: 14,3231 05353 R55.2 TC PHASCHNG
040555,000790: 14,3232 00214 OCT 00214
040556,000791: 14,3233 33247 CA R55CDR
040557,000792: 14,3234 04616 TC BANKCALL
040558,000793: 14,3235 17315 CADR IMUPULSE
040559,000794: 14,3236 04616 TC BANKCALL
040560,000795: 14,3237 17710 CADR IMUSTALL
040561,000796: 14,3240 05701 TC CURTAINS
040562,000797: 14,3241 05353 TC PHASCHNG
040563,000798: 14,3242 04024 OCT 04024
040564,000799:
040565,000800: 14,3243 06042 R55RET TC INTPRET
040566,000801: 14,3244 77650 GOTO
040567,000802: 14,3245 02745 QMIN
040568,000803: 14,3246 01535 V06N93 VN 0693
040569,000804: 14,3247 02737 R55CDR ECADR OGC
040570,000805: 14,3250 14,3250 R54 = CHKSDATA
040571,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040572,000807: # MOD NO- 0 LOG SECTION- P51-P53
040573,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040574,000809:
040575,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040576,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040577,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040578,000813:
040579,000814: # OS1 = OBSERVED STAR 1 VECTOR
040580,000815: # OS2 = OBSERVED STAR 2 VECTOR
040581,000816: # SS1 = STORED STAR 1 VECTOR
040582,000817: # SS2 = STORED STAR 2 VECTOR
040583,000818: # A1 = ARCCOS(OS1 - OS2)
040584,000819: # A2 = ARCCOS(SS1 - SS2)
040585,000820: # A = ABS(2(A1 - A2))
040586,000821:
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Page 939 |
040588,000823: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040589,000824: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040590,000825: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040591,000826: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040592,000827: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040593,000828:
040594,000829: # ERASABLE INITIALIZATION REQUIRED -
040595,000830: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040596,000831: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040597,000832: # DEBRIS-
040598,000833: 14,3250 COUNT* $$/R54
040599,000834: 14,3250 43020 CHKSDATA STQ SET
040600,000835: 14,3251 02745 QMIN
040601,000836: 14,3252 00074 FREEFLAG
040602,000837: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040603,000838: 14,3254 02706 STARAD
040604,000839:
040605,000840: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040606,000841: 14,3256 00001 0,1
040607,000842: 14,3257 00007 6,1
040608,000843: 14,3260 65552 SL1 ACOS
040609,000844: 14,3261 00025 STORE THETA
040610,000845: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040611,000846: 14,3263 00354 FREEFLAG
040612,000847: 14,3264 31274 CHKSD
040613,000848: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040614,000849: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040615,000850: 14,3267 00006 6D
040616,000851: 14,3270 00025 THETA
040617,000852: 14,3271 00023 STORE 18D
040618,000853: 14,3272 77650 GOTO
040619,000854: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040620,000855: 14,3274 45345 CHKSD DLOAD DSU
040621,000856: 14,3275 00025 THETA
040622,000857: 14,3276 00023 18D
040623,000858: 14,3277 47046 ABS RTB # COMPUTE POS DIFF
040624,000859: 14,3300 21613 SGNAGREE
040625,000860: 14,3301 01045 STORE NORMTEM1
040626,000861: 14,3302 77414 SET EXIT
040627,000862: 14,3303 00074 FREEFLAG
040628,000863: 14,3304 33320 CAF VB6N5
040629,000864: 14,3305 04616 TC BANKCALL
040630,000865: 14,3306 20477 CADR GOFLASH
040631,000866: 14,3307 16001 TCF GOTOPOOH
040632,000867: 14,3310 03315 TC CHKSDA # PROCEED
040633,000868: 14,3311 06042 TC INTPRET
040634,000869: 14,3312 52014 CLEAR GOTO
040635,000870: 14,3313 00274 FREEFLAG
040636,000871: 14,3314 02745 QMIN
040637,000872: 14,3315 06042 CHKSDA TC INTPRET
040638,000873:
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Page 940 |
040640,000875: 14,3316 77650 GOTO
040641,000876: 14,3317 02745 QMIN
040642,000877: 14,3320 01405 VB6N5 VN 605
040643,000878:
040644,000879: # NAME - CAL53A
040645,000880: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040646,000881: # CALLING SEQUENCE - CALL CAL53A
040647,000882: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040648,000883: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040649,000884: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040650,000885: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040651,000886:
040652,000887: 14,3321 COUNT* $$/R50
040653,000888: 14,3321 77624 CAL53A CALL
040654,000889: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040655,000890: 14,3323 66234 RTB SSP
040656,000891: 14,3324 31405 RDCDUS # READ CDUS
040657,000892: 14,3325 00051 S1
040658,000893: 14,3326 00001 1
040659,000894: 14,3327 40370 AXT,1 SETPD
040660,000895: 14,3330 00003 3
040661,000896: 14,3331 00005 4
040662,000897: 14,3332 70543 CALOOP DLOAD* SR1
040663,000898: 14,3333 00325 THETAD +3D,1
040664,000899: 14,3334 70523 PDDL* SR1
040665,000900: 14,3335 00005 4,1
040666,000901: 14,3336 51425 DSU ABS
040667,000902: 14,3337 45206 PUSH DSU
040668,000903: 14,3340 31404 DEGREE1
040669,000904: 14,3341 71240 BMN DLOAD
040670,000905: 14,3342 31360 CALOOP1
040671,000906: 14,3343 51025 DSU BPL
040672,000907: 14,3344 31405 DEG359
040673,000908: 14,3345 31360 CALOOP1
040674,000909: 14,3346 77776 EXIT
040675,000910: 14,3347 05353 TC PHASCHNG
040676,000911: 14,3350 04024 OCT 04024
040677,000912:
040678,000913: 14,3351 06042 TC INTPRET
040679,000914: 14,3352 77624 COARFINE CALL
040680,000915: 14,3353 31557 COARSE
040681,000916: 14,3354 77624 CALL
040682,000917: 14,3355 31603 NCOARSE
040683,000918: 14,3356 77650 GOTO
040684,000919: 14,3357 31362 FINEONLY
040685,000920: 14,3360 77700 CALOOP1 TIX,1
040686,000921: 14,3361 31332 CALOOP
040687,000922: 14,3362 75160 FINEONLY AXC,1 AXC,2
040688,000923: 14,3363 02642 XSM
040689,000924: 14,3364 01733 REFSMMAT
040690,000925: 14,3365 77624 CALL
040691,000926: 14,3366 31371 MATMOVE
040692,000927:
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Page 941 |
040694,000929: 14,3367 77650 GOTO
040695,000930: 14,3370 32161 COARSRET
040696,000931: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040697,000932: 14,3372 00001 0,1
040698,000933: 14,3373 10001 STORE 0,2
040699,000934: 14,3374 77773 VLOAD*
040700,000935: 14,3375 00007 6D,1
040701,000936: 14,3376 10007 STORE 6D,2
040702,000937: 14,3377 77773 VLOAD*
040703,000938: 14,3400 00015 12D,1
040704,000939: 14,3401 10015 STORE 12D,2
040705,000940: 14,3402 77616 RVQ
040706,000941: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040707,000942: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040708,000943: 14,3405 00004 RDCDUS INHINT # READ CDUS
040709,000944: 14,3406 30032 CA CDUX
040710,000945: 14,3407 50120 INDEX FIXLOC
040711,000946: 14,3410 54001 TS 1
040712,000947: 14,3411 30033 CA CDUY
040713,000948: 14,3412 50120 INDEX FIXLOC
040714,000949: 14,3413 54002 TS 2
040715,000950: 14,3414 30034 CA CDUZ
040716,000951: 14,3415 50120 INDEX FIXLOC
040717,000952: 14,3416 54003 TS 3
040718,000953: 14,3417 00003 RELINT
040719,000954: 14,3420 06064 TC DANZIG # +
040720,000955: 14,3421 COUNT* $$/INFLT
040721,000956:
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Page 942 |
040723,000958: # NAME - P51 - IMU ORIENTATION DETERMINATION
040724,000959: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040725,000960: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040726,000961:
040727,000962: # FUNCTIONAL DESCRIPTION
040728,000963:
040729,000964: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040730,000965: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040731,000966: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040732,000967: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040733,000968:
040734,000969: # CALLING SEQUENCE
040735,000970:
040736,000971: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040737,000972:
040738,000973: # SUBROUTINES CALLED.
040739,000974:
040740,000975: # GOPERF3
040741,000976: # GOPERF1
040742,000977: # GODSPR
040743,000978: # IMUCOARS
040744,000979: # IMUFIN20
040745,000980: # AOTMARK(R53)
040746,000981: # CHKSDATA(R54)
040747,000982: # MKRELEAS
040748,000983: # AXISGEN
040749,000984: # MATMOVE
040750,000985:
040751,000986: # ALARMS
040752,000987:
040753,000988: # NONE.
040754,000989:
040755,000990: # ERASABLE INITIALIZATION
040756,000991:
040757,000992: # IMU ZERO FLAG SHOULD BE SET.
040758,000993:
040759,000994: # OUTPUT
040760,000995:
040761,000996: # REFSMMAT
040762,000997: # REFSMFLG
040763,000998:
040764,000999: # DEBRIS
040765,001000:
040766,001001: # WORK AREA
040767,001002: # STARAD
040768,001003: # STARIND
040769,001004: # BESTI
040770,001005: # BESTJ
040771,001006:
040772,001007: 14,3421 COUNT* $$/P51
040773,001008:
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Page 943 |
040775,001010: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040776,001011: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040777,001012:
040778,001013: 14,3423 34761 CAF OCT15
040779,001014: 14,3424 04616 TC BANKCALL
040780,001015: 14,3425 20624 CADR GOPERF1
040781,001016: 14,3426 06001 TC GOTOPOOH # TERM.
040782,001017: 14,3427 13453 TCF P51B # V33
040783,001018: 14,3430 05353 TC PHASCHNG
040784,001019: 14,3431 04024 OCT 04024
040785,001020:
040786,001021: 14,3432 34755 CAF ZERO
040787,001022: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040788,001023: 14,3434 54322 TS THETAD +1
040789,001024: 14,3435 54323 TS THETAD +2
040790,001025: 14,3436 35010 CAF V06N22
040791,001026: 14,3437 04616 TC BANKCALL
040792,001027: 14,3440 20447 CADR GODSPRET
040793,001028: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040794,001029: 14,3442 04616 TC BANKCALL
040795,001030: 14,3443 20447 CADR GODSPRET
040796,001031: 14,3444 06042 TC INTPRET
040797,001032: 14,3445 77624 CALL
040798,001033: 14,3446 31557 COARSE
040799,001034: 14,3447 77776 EXIT
040800,001035: 14,3450 05353 TC PHASCHNG
040801,001036: 14,3451 04024 OCT 04024
040802,001037: 14,3452 13423 TCF P51 +2
040803,001038:
040804,001039: 14,3453 05353 P51B TC PHASCHNG
040805,001040: 14,3454 00014 OCT 00014
040806,001041: 14,3455 06042 TC INTPRET
040807,001042: 14,3456 77624 CALL
040808,001043: 14,3457 31603 NCOARSE
040809,001044: 14,3460 40331 SSP SETPD
040810,001045: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040811,001046: 14,3462 00000 0
040812,001047: 14,3463 00001 0
040813,001048: 14,3464 77776 P51C EXIT
040814,001049: 14,3465 05353 TC PHASCHNG
040815,001050: 14,3466 04024 OCT 04024
040816,001051:
040817,001052: 14,3467 04616 TC BANKCALL
040818,001053: 14,3470 16000 CADR AOTMARK # R53
040819,001054: 14,3471 04616 TC BANKCALL
040820,001055: 14,3472 17704 CADR AOTSTALL
040821,001056: 14,3473 05701 TC CURTAINS
040822,001057: 14,3474 11757 CCS STARIND
040823,001058: 14,3475 13503 TCF P51D +1
040824,001059: 14,3476 06042 TC INTPRET
040825,001060:
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Page 944 |
040827,001062: 14,3477 77775 VLOAD
040828,001063: 14,3500 02715 STARAD +6
040829,001064: 14,3501 02761 STORE STARSAV1
040830,001065: 14,3502 77776 P51D EXIT
040831,001066: 14,3503 05353 TC PHASCHNG
040832,001067: 14,3504 04024 OCT 04024
040833,001068:
040834,001069: 14,3505 11757 CCS STARIND
040835,001070: 14,3506 13522 TCF P51E
040836,001071: 14,3507 05353 TC PHASCHNG
040837,001072: 14,3510 04024 OCT 04024
040838,001073:
040839,001074: 14,3511 06042 TC INTPRET
040840,001075: 14,3512 45145 DLOAD CALL
040841,001076: 14,3513 03562 TSIGHT
040842,001077: 14,3514 32472 PLANET
040843,001078: 14,3515 03554 STORE PLANVEC
040844,001079: 14,3516 77776 EXIT
040845,001080: 14,3517 34753 CAF BIT1
040846,001081: 14,3520 55757 TS STARIND
040847,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040848,001083: 14,3522 05353 P51E TC PHASCHNG
040849,001084: 14,3523 04024 OCT 04024
040850,001085:
040851,001086: 14,3524 06042 TC INTPRET
040852,001087: 14,3525 45145 DLOAD CALL
040853,001088: 14,3526 03562 TSIGHT
040854,001089: 14,3527 32472 PLANET
040855,001090: 14,3530 24015 STOVL 12D
040856,001091: 14,3531 03554 PLANVEC
040857,001092: 14,3532 24007 STOVL 6D
040858,001093: 14,3533 02761 STARSAV1
040859,001094: 14,3534 26707 STOVL STARAD
040860,001095: 14,3535 02767 STARSAV2
040861,001096: 14,3536 36715 STCALL STARAD +6
040862,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040863,001098: 14,3540 77414 BON EXIT
040864,001099: 14,3541 00314 FREEFLAG
040865,001100: 14,3542 31544 P51G
040866,001101: 14,3543 03423 TC P51 +2
040867,001102: 14,3544 77624 P51G CALL
040868,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040869,001104: 14,3546 75160 AXC,1 AXC,2
040870,001105: 14,3547 02664 XDC
040871,001106: 14,3550 01733 REFSMMAT
040872,001107: 14,3551 77624 CALL
040873,001108: 14,3552 31371 MATMOVE
040874,001109: 14,3553 77414 SET EXIT
040875,001110: 14,3554 01462 REFSMFLG
040876,001111: 14,3555 06001 TC GOTOPOOH # FINIS
040877,001112:
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Page 945 |
040879,001114: 14,3556 12200 V41K VN 4100
040880,001115: 14,3557 77776 COARSE EXIT
040881,001116: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040882,001117: 14,3561 00006 EXTEND
040883,001118: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040884,001119: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040885,001120: 14,3564 04616 TC BANKCALL
040886,001121: 14,3565 01736 CADR DELAYJOB
040887,001122: 14,3566 13560 TCF COARSE +1
040888,001123: 14,3567 04616 DOCORS TC BANKCALL
040889,001124: 14,3570 16772 CADR IMUCOARS
040890,001125: 14,3571 04616 TC BANKCALL
040891,001126: 14,3572 17710 CADR IMUSTALL
040892,001127: 14,3573 05701 TC CURTAINS
040893,001128: 14,3574 04616 TC BANKCALL
040894,001129: 14,3575 17202 CADR IMUFINE
040895,001130: 14,3576 04616 TC BANKCALL
040896,001131: 14,3577 17710 CADR IMUSTALL
040897,001132: 14,3600 05701 TC CURTAINS
040898,001133: 14,3601 06042 TC INTPRET
040899,001134: 14,3602 77616 RVQ
040900,001135: 14,3603 77776 NCOARSE EXIT
040901,001136: 14,3604 30025 CA TIME1
040902,001137: 14,3605 55074 TS 1/PIPADT
040903,001138: 14,3606 44755 CS ZERO
040904,001139: 14,3607 54037 TS PIPAX
040905,001140: 14,3610 54040 TS PIPAY
040906,001141: 14,3611 54041 TS PIPAZ
040907,001142: 14,3612 06042 TC INTPRET
040908,001143: 14,3613 77775 VLOAD
040909,001144: 14,3614 24007 ZEROVEC
040910,001145: 14,3615 01472 STORE GCOMP
040911,001146: 14,3616 43414 SET RVQ
040912,001147: 14,3617 01060 DRIFTFLG
040913,001148:
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Page 946 |
040915,001150: # NAME-S52.2
040916,001151: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040917,001152: # CALL- CALL S52.2
040918,001153: # INPUT- X,Y,ZSMD
040919,001154: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
040920,001155: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
040921,001156: 14,3620 COUNT* $$/S52.1
040922,001157: 14,3620 45020 S52.2 STQ CALL
040923,001158: 14,3621 02746 QMAJ
040924,001159: 14,3622 47541 CDUTRIG
040925,001160: 14,3623 77624 CALL
040926,001161: 14,3624 20030 CALCSMSC
040927,001162: 14,3625 66370 AXT,1 SSP
040928,001163: 14,3626 00022 18D
040929,001164: 14,3627 00051 S1
040930,001165: 14,3630 00006 6D
040931,001166: 14,3631 61373 S52.2A VLOAD* VXM
040932,001167: 14,3632 02707 XNB +18D,1
040933,001168: 14,3633 01734 REFSMMAT
040934,001169: 14,3634 77656 UNIT
040935,001170: 14,3635 06707 STORE XNB +18D,1
040936,001171: 14,3636 77700 TIX,1
040937,001172: 14,3637 31631 S52.2A
040938,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040939,001174: 14,3641 03606 XSMD
040940,001175: 14,3642 02642 XSM
040941,001176: 14,3643 77624 CALL
040942,001177: 14,3644 31371 MATMOVE
040943,001178: 14,3645 77624 CALL
040944,001179: 14,3646 47355 CALCGA
040945,001180: 14,3647 77650 GOTO
040946,001181: 14,3650 02746 QMAJ
040947,001182:
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Page 947 |
040949,001184: # NAME-S52.3
040950,001185: # FUNCTION XSMD= UNIT R
040951,001186: # YSMD= UNIT(V X R)
040952,001187: # ZSMD= UNIT(XSMD X YSMD)
040953,001188: # CALL DLOAD CALL
040954,001189: # TALIGN
040955,001190: # S52.3
040956,001191: # INPUT- TIME OF ALIGNMENT IN MPAC
040957,001192: # OUTPUT- X,Y,ZSMD
040958,001193: # SUBROUTINES- CSMCONIC
040959,001194: 14,3651 COUNT* $$/S52.3
040960,001195: 14,3651 77620 S52.3 STQ
040961,001196: 14,3652 02746 QMAJ
040962,001197: 14,3653 34041 STCALL TDEC1
040963,001198: 14,3654 27101 LEMCONIC
040964,001199: 14,3655 53575 VLOAD UNIT
040965,001200: 14,3656 00001 RATT
040966,001201: 14,3657 27607 STOVL XSMD
040967,001202: 14,3660 00007 VATT
040968,001203: 14,3661 53435 VXV UNIT
040969,001204: 14,3662 00001 RATT
040970,001205: 14,3663 27615 STOVL YSMD
040971,001206: 14,3664 03607 XSMD
040972,001207: 14,3665 53435 VXV UNIT
040973,001208: 14,3666 03615 YSMD
040974,001209: 14,3667 37623 STCALL ZSMD
040975,001210: 14,3670 02746 QMAJ
040976,001211:
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Page 948 |
040978,001213: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040979,001214:
040980,001215: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040981,001216: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040982,001217:
040983,001218: # CALLING -CALL R52
040984,001219:
040985,001220: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
040986,001221: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
040987,001222: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040988,001223: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040989,001224: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040990,001225:
040991,001226: # SUBROUT -R60LEM
040992,001227:
040993,001228: 14,3671 COUNT* $$/R52
040994,001229: 14,3671 77420 R52 STQ EXIT
040995,001230: 14,3672 03665 SAVQR52
040996,001231: 14,3673 51757 INDEX STARIND
040997,001232: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040998,001233: 14,3675 00006 EXTEND
040999,001234: 14,3676 73772 MP 1/6TH
041000,001235: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
041001,001236: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
041002,001237:
041003,001238: 14,3701 33773 R52A CAF V01N70
041004,001239: 14,3702 04616 TC BANKCALL
041005,001240: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041006,001241: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041007,001242: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041008,001243: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041009,001244:
041010,001245: 14,3707 05516 R52B TC DOWNFLAG
041011,001246: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041012,001247: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041013,001248: 14,3712 77747 MASK HIGH9
041014,001249: 14,3713 00006 EXTEND
041015,001250: 14,3714 74743 MP BIT9
041016,001251: 14,3715 54001 TS L # TEMP STORE DETENT
041017,001252:
041018,001253: 14,3716 00006 EXTEND
041019,001254: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041020,001255:
041021,001256: 14,3720 65650 AD NEG7
041022,001257: 14,3721 00006 EXTEND
041023,001258: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041024,001259:
041025,001260: 14,3723 E7,1551 EBANK= XYMARK
041026,001261: 14,3723 35016 CA EBANK7
041027,001262: 14,3724 54003 TS EBANK
041028,001263:
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Page 949 |
041030,001265: 14,3725 50001 INDEX L
041031,001266: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041032,001267: 14,3727 54001 TS L
041033,001268: 14,3730 E5,1642 EBANK= XSM
041034,001269: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041035,001270: 14,3731 54003 TS EBANK
041036,001271: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041037,001272: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041038,001273: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041039,001274:
041040,001275: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041041,001276: 14,3736 04616 TC BANKCALL
041042,001277: 14,3737 20477 CADR GOFLASH
041043,001278: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041044,001279: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041045,001280: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041046,001281:
041047,001282: 14,3743 00006 EXTEND
041048,001283: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041049,001284: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041050,001285: 14,3746 52011 DXCH 8D
041051,001286: 14,3747 06042 TC INTPRET
041052,001287: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041053,001288: 14,3751 10520 OANB # SCAXIS IN NB COORDS
041054,001289: 14,3752 45034 RTB CALL
041055,001290: 14,3753 21574 LOADTIME
041056,001291: 14,3754 32472 PLANET
041057,001292: 14,3755 53521 MXV UNIT
041058,001293: 14,3756 01734 REFSMMAT
041059,001294: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041060,001295:
041061,001296: 14,3760 77776 EXIT
041062,001297: 14,3761 04616 TC BANKCALL
041063,001298: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041064,001299:
041065,001300: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041066,001301: 14,3764 70734 MASK STARCODE
041067,001302: 14,3765 00006 EXTEND
041068,001303: 14,3766 13701 BZF R52A
041069,001304:
041070,001305: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041071,001306: 14,3770 77650 GOTO
041072,001307: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041073,001308:
041074,001309: 14,3772 05253 1/6TH DEC .1666667
041075,001310: 14,3773 00306 V01N70 VN 0170
041076,001311: 14,3774 01527 V06N87 VN 687
041077,001312:
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Page 950 |
041079,001314: # LUNAR SURFACE STAR AQUISITION
041080,001315:
041081,001316: 15,2245 BANK 15
041082,001317: 15,2000 SETLOC P50S
041083,001318: 15,2000 BANK
041084,001319: 15,2245 COUNT* $$/R59
041085,001320:
041086,001321: 15,2245 40077 R59 CS FLAGWRD3
041087,001322: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041088,001323: 15,2247 10000 CCS A
041089,001324: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041090,001325:
041091,001326: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041092,001327: 15,2252 04616 TC BANKCALL
041093,001328: 15,2253 20477 CADR GOFLASH
041094,001329: 15,2254 06001 TC GOTOPOOH # V34-TERMINATE
041095,001330: 15,2255 12257 TCF R59A # V33-PROCEED
041096,001331: 15,2256 12245 TCF R59 # V32-RECYCLE
041097,001332:
041098,001333: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041099,001334: 15,2260 70734 MASK AOTCODE
041100,001335: 15,2261 00006 EXTEND
041101,001336: 15,2262 76245 MP REVCNT # JUST 6
041102,001337: 15,2263 56001 XCH L
041103,001338: 15,2264 51757 INDEX STARIND
041104,001339: 15,2265 55755 TS BESTI
041105,001340: 15,2266 50120 INDEX FIXLOC
041106,001341: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041107,001342: 15,2270 00006 EXTEND
041108,001343: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041109,001344: 15,2272 40000 COM
041110,001345: 15,2273 62557 AD DEC227
041111,001346: 15,2274 00006 EXTEND
041112,001347: 15,2275 62455 BZMF R59OUT
041113,001348:
041114,001349: 15,2276 06042 TC INTPRET
041115,001350: 15,2277 64373 VLOAD* MXV
041116,001351: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041117,001352: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041118,001353: 15,2302 45056 UNIT CALL
041119,001354: 15,2303 47650 CDU*SMNB
041120,001355: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041121,001356: 15,2305 77776 EXIT
041122,001357:
041123,001358: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041124,001359: 15,2307 55241 TS POSCODE
041125,001360:
041126,001361: 15,2310 E7,1551 EBANK= XYMARK
041127,001362: 15,2310 35016 INCAZ CA EBANK7
041128,001363: 15,2311 54003 TS EBANK
041129,001364:
![]() |
Page 951 |
041131,001366: 15,2312 51241 INDEX POSCODE
041132,001367: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041133,001368: 15,2314 54001 TS L
041134,001369:
041135,001370: 15,2315 E5,1642 EBANK= XSM
041136,001371: 15,2315 35014 CA EBANK5
041137,001372: 15,2316 54003 TS EBANK
041138,001373:
041139,001374: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041140,001375: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041141,001376: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041142,001377: 15,2322 50120 INDEX FIXLOC
041143,001378: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041144,001379:
041145,001380: 15,2324 06042 TC INTPRET
041146,001381: 15,2325 77624 CALL
041147,001382: 15,2326 10520 OANB # GO CALC OPTIC AXIS WRT NB
041148,001383: 15,2327 50375 VLOAD DOT
041149,001384: 15,2330 02731 STAR # DOT STAR WITH OA
041150,001385: 15,2331 03765 SCAXIS
041151,001386: 15,2332 65552 SL1 ARCCOS
041152,001387: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041153,001388:
041154,001389: 15,2334 51025 DSU BPL
041155,001390: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041156,001391: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041157,001392: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041158,001393: 15,2340 00031 24D
041159,001394: 15,2341 32470 DEG.5
041160,001395: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041161,001396: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041162,001397: 15,2344 00031 24D # GET SPIRAL
041163,001398: 15,2345 42405 DMP SL4
041164,001399: 15,2346 13762 3/4 # 12 SCALED AT 16
041165,001400: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041166,001401:
041167,001402: 15,2350 03765 SCAXIS # OA
041168,001403: 15,2351 53435 VXV UNIT
041169,001404: 15,2352 24005 XUNIT
041170,001405: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041171,001406: 15,2354 03765 SCAXIS
041172,001407: 15,2355 77676 VCOMP
041173,001408: 15,2356 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041174,001409: 15,2357 03765 SCAXIS
041175,001410: 15,2360 53435 VXV UNIT
041176,001411: 15,2361 02731 STAR
041177,001412: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041178,001413: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041179,001414: 15,2364 65552 SL1 ARCCOS
041180,001415: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
041181,001416:
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Page 952 |
041183,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041184,001419: 15,2367 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041185,001420: 15,2370 32375 R59D
041186,001421: 15,2371 32047 ABOUTONE
041187,001422: 15,2372 77625 DSU
041188,001423: 15,2373 00033 26D
041189,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041190,001425:
041191,001426: 15,2375 70535 R59D SLOAD SR1
041192,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041193,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041194,001429: 15,2400 00033 26D
041195,001430: 15,2401 77634 RTB
041196,001431: 15,2402 21615 1STO2S
041197,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
041198,001433: 15,2404 00031 24D # LOAD SROT IN REVS
041199,001434: 15,2405 77615 DAD # 12(SEP) + YROT
041200,001435: 15,2406 77634 RTB
041201,001436: 15,2407 21615 1STO2S
041202,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
041203,001438: 15,2411 77776 EXIT
041204,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041205,001440:
041206,001441: 15,2413 77776 ZSPCR EXIT
041207,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041208,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
041209,001444: 15,2416 55237 TS SPIRAL
041210,001445: 15,2417 12437 TCF 79DISP
041211,001446:
041212,001447: 15,2420 77776 NXAX EXIT
041213,001448: 15,2421 25241 INCR POSCODE
041214,001449: 15,2422 41241 CS POSCODE
041215,001450: 15,2423 64757 AD SEVEN
041216,001451: 15,2424 00006 EXTEND
041217,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041218,001453: 15,2426 12310 TCF INCAZ
041219,001454:
041220,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041221,001456: 15,2430 00404 OCT 404
041222,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041223,001458: 15,2432 04616 TC BANKCALL
041224,001459: 15,2433 20477 CADR GOFLASH
041225,001460: 15,2434 16001 TCF GOTOPOOH # VB34-TERMINATE
041226,001461: 15,2435 12455 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041227,001462: 15,2436 12245 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041228,001463:
041229,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041230,001465: 15,2440 04616 TC BANKCALL
041231,001466: 15,2441 20477 CADR GOFLASH
041232,001467: 15,2442 16001 TCF GOTOPOOH # V34-TERMINATE
041233,001468:
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Page 953 |
041235,001470: 15,2443 12445 TCF R59E # V33-PROCEED TO MARK ROUTINE
041236,001471: 15,2444 12245 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041237,001472:
041238,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041239,001474: 15,2446 71241 MASK POSCODE
041240,001475: 15,2447 00006 EXTEND
041241,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041242,001477: 15,2451 47747 CS HIGH9
041243,001478: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041244,001479: 15,2453 60001 AD L
041245,001480: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041246,001481:
041247,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041248,001483: 15,2456 16000 CADR AOTMARK
041249,001484: 15,2457 04616 TC BANKCALL
041250,001485: 15,2460 17704 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041251,001486: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041252,001487: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041253,001488:
041254,001489: 15,2463 00306 V01N70* VN 170
041255,001490: 15,2464 01517 V06N79 VN 679
041256,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041257,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041258,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041259,001494: 15,2472 1235 CURSOR EQUALS GDT/2
041260,001495: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041261,001496: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041262,001497:
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Page 954 |
041264,001499: # NAME - PLANET
041265,001500: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041266,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041267,001502: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041268,001503: # BY DSDY INPUT
041269,001504: # CALL - CALL
041270,001505: # PLANET
041271,001506: # INPUT - TIME IN MPAC
041272,001507: # OUTPUT - VECTOR IN MPAC
041273,001508: # SUBROUTINES - LOCSAM
041274,001509: # DEBRIS - VAC ,STARAD - STARAD +17
041275,001510:
041276,001511: 15,2000 SETLOC P50S
041277,001512: 15,2000 BANK
041278,001513: 15,2472 COUNT* $$/P51
041279,001514:
041280,001515: 15,2472 03562 PLANET STORE TSIGHT
041281,001516: 15,2473 77420 STQ EXIT
041282,001517: 15,2474 02736 GCTR
041283,001518: 15,2475 47747 CS HIGH9
041284,001519: 15,2476 70734 MASK AOTCODE
041285,001520: 15,2477 00006 EXTEND
041286,001521: 15,2500 76245 MP REVCNT
041287,001522: 15,2501 56001 XCH L
041288,001523: 15,2502 51757 INDEX STARIND
041289,001524: 15,2503 55755 TS BESTI
041290,001525: 15,2504 10000 CCS A
041291,001526: 15,2505 12521 TCF NOTPLAN
041292,001527: 15,2506 32560 CAF VNPLANV
041293,001528: 15,2507 04616 TC BANKCALL
041294,001529: 15,2510 20477 CADR GOFLASH
041295,001530: 15,2511 02506 TC -3
041296,001531: 15,2512 02514 TC +2
041297,001532: 15,2513 02506 TC -5
041298,001533: 15,2514 06042 TC INTPRET
041299,001534: 15,2515 53575 VLOAD UNIT
041300,001535: 15,2516 02707 STARAD
041301,001536: 15,2517 77650 GOTO
041302,001537: 15,2520 02736 GCTR
041303,001538: 15,2521 40000 NOTPLAN CS A
041304,001539: 15,2522 62557 AD DEC227
041305,001540: 15,2523 00006 EXTEND
041306,001541: 15,2524 62535 BZMF CALSAM1
041307,001542: 15,2525 51757 INDEX STARIND
041308,001543: 15,2526 31755 CA BESTI
041309,001544: 15,2527 50120 INDEX FIXLOC
041310,001545: 15,2530 54046 TS X1
041311,001546: 15,2531 06042 TC INTPRET
041312,001547: 15,2532 52173 VLOAD* GOTO
041313,001548: 15,2533 30347 CATLOG,1
041314,001549:
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Page 955 |
041316,001551: 15,2534 02736 GCTR
041317,001552: 15,2535 06042 CALSAM1 TC INTPRET
041318,001553: 15,2536 45145 CALSAM DLOAD CALL
041319,001554: 15,2537 03562 TSIGHT
041320,001555: 15,2540 30500 LOCSAM
041321,001556: 15,2541 77340 LXC,1 VLOAD
041322,001557: 15,2542 02757 STARIND
041323,001558: 15,2543 02707 VEARTH
041324,001559: 15,2544 24001 STOVL 0D
041325,001560: 15,2545 02715 VSUN
041326,001561: 15,2546 26707 STOVL VEARTH
041327,001562: 15,2547 00001 0D
041328,001563: 15,2550 02715 STORE VSUN
041329,001564: 15,2551 70143 DLOAD* LXC,1
041330,001565: 15,2552 02756 BESTI,1
041331,001566: 15,2553 00154 MPAC
041332,001567: 15,2554 52173 VLOAD* GOTO
041333,001568: 15,2555 02343 STARAD -228D,1
041334,001569: 15,2556 02736 GCTR
041335,001570: 15,2557 00343 DEC227 DEC 227 B-14
041336,001571: 15,2560 01530 VNPLANV VN 0688
041337,001572: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041338,001573:
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Page 956 |
041340,001575: # GRAVITY VECTOR DETERMINATION ROUTINE
041341,001576: # BY KEN VINCENT
041342,001577: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041343,001578: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041344,001579: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041345,001580: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041346,001581: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041347,001582: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041348,001583: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041349,001584: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041350,001585: # READINGS.
041351,001586:
041352,001587: # CALL-
041353,001588: # TC BANKCALL
041354,001589: # CADR GVDETER
041355,001590: # INPUTS-
041356,001591: # PIPAS,CDUS
041357,001592: # OUTPUTS-
041358,001593: # STARSAV1 = UNIT GRAVITY
041359,001594: # GSAV = DITTO
041360,001595: # GRAVBIT = 1
041361,001596: # SUBROUTINES-
041362,001597: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041363,001598: # *NBSM*,*SNMB*, CALCGA,FOFLASH
041364,001599: # DEBRIS-
041365,001600: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041366,001601: 15,2561 32762 GVDETER CAF 42DEG
041367,001602: 15,2562 54321 TS THETAD
041368,001603: 15,2563 40000 COM
041369,001604: 15,2564 54322 TS THETAD +1
041370,001605: 15,2565 32763 CAF 35DEG
041371,001606: 15,2566 54323 TS THETAD +2
041372,001607: 15,2567 06042 TC INTPRET
041373,001608: 15,2570 45014 CLEAR CALL
041374,001609: 15,2571 01662 REFSMFLG
041375,001610: 15,2572 32666 LUNG
041376,001611: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041377,001612:
041378,001613: # DEFINE G COOR SYS
041379,001614: # -
041380,001615: # X UNIT G
041381,001616: # * - -
041382,001617: # M= Y = UNITEZSM * X )
041383,001618: # - - -
041384,001619: # Z UNIT(X * Y )
041385,001620: # THEN ROTATED SM WRT PRESENT IS
041386,001621:
041387,001622:
041388,001623: # 1, 0 , 0
041389,001624: # * *T * * *
041390,001625:
![]() |
Page 957 |
041392,001627: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041393,001628: # I J
041394,001629: # 0, 0 ,-1
041395,001630:
041396,001631: # ALSO NB WRT PRES SM IS
041397,001632:
041398,001633: # * * *
041399,001634: # XNB = NBSM I
041400,001635: # * *
041401,001636: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041402,001637:
041403,001638: 15,2000 SETLOC P50S
041404,001639: 15,2000 BANK
041405,001640: 15,2573 COUNT* $$/P57
041406,001641: 15,2573 66370 AXT,1 SSP # X1=18
041407,001642: 15,2574 00022 18D # S1=6
041408,001643: 15,2575 00051 S1 # X2, -2
041409,001644: 15,2576 00006 6D
041410,001645: 15,2577 77744 LXC,2
041411,001646: 15,2600 00050 S1
041412,001647: 15,2601 45173 GRAVEL VLOAD* CALL
041413,001648: 15,2602 54000 XUNIT -6,2
041414,001649: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041415,001650: 15,2604 06707 STORE XNB +18D,1
041416,001651: 15,2605 77775 VLOAD
041417,001652: 15,2606 02731 STAR
041418,001653: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041419,001654: 15,2610 00047 X2
041420,001655: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041421,001656: 15,2612 71152 VSL2 LXC,2
041422,001657: 15,2613 00047 X2
041423,001658: 15,2614 63047 VSU* INCR,2
041424,001659: 15,2615 54000 XUNIT -6,2
041425,001660: 15,2616 00002 2D
041426,001661: 15,2617 06665 STORE XSM +18D,1
041427,001662: 15,2620 45100 TIX,1 CALL
041428,001663: 15,2621 32601 GRAVEL
041429,001664: 15,2622 47355 CALCGA
041430,001665: 15,2623 74575 VLOAD VSR1
041431,001666: 15,2624 02715 GOUT
041432,001667: 15,2625 36723 STCALL STARAD +12D
041433,001668: 15,2626 32666 LUNG
041434,001669: 15,2627 74575 VLOAD VSR1
041435,001670: 15,2630 02715 GOUT
041436,001671: 15,2631 53455 VAD UNIT
041437,001672: 15,2632 02723 STARAD +12D
041438,001673: 15,2633 02761 STORE STARSAV1
041439,001674: 15,2634 77641 DOT
041440,001675: 15,2635 02231 GSAV
041441,001676: 15,2636 65552 SL1 ACOS
041442,001677:
![]() |
Page 958 |
041444,001679: 15,2637 01045 STORE DSPTEM1
041445,001680: 15,2640 77776 EXIT
041446,001681: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041447,001682: 15,2642 00014 ADRES FREEFLAG
041448,001683:
041449,001684: 15,2643 32761 CA DISGRVER
041450,001685: 15,2644 04616 TC BANKCALL
041451,001686: 15,2645 20477 CADR GOFLASH
041452,001687: 15,2646 06001 TC GOTOPOOH
041453,001688: 15,2647 12652 TCF PROGRAV # VB33-PROCEED
041454,001689: 15,2650 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041455,001690: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041456,001691:
041457,001692: 15,2652 05353 PROGRAV TC PHASCHNG
041458,001693: 15,2653 04024 OCT 04024
041459,001694:
041460,001695: 15,2654 06042 TC INTPRET
041461,001696: 15,2655 77775 VLOAD
041462,001697: 15,2656 02761 STARSAV1
041463,001698: 15,2657 02231 STORE GSAV
041464,001699: 15,2660 77776 EXIT
041465,001700: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041466,001701: 15,2662 70074 MASK FLAGWRD0
041467,001702: 15,2663 10000 CCS A
041468,001703: 15,2664 12561 TCF GVDETER # SET
041469,001704: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041470,001705:
041471,001706: 15,2666 77220 LUNG STQ VLOAD
041472,001707: 15,2667 02745 QMIN
041473,001708: 15,2670 24007 ZEROVEC
041474,001709: 15,2671 02707 STORE GACC
041475,001710: 15,2672 77776 EXIT
041476,001711: 15,2673 05353 TC PHASCHNG
041477,001712: 15,2674 04024 OCT 04024
041478,001713:
041479,001714: 15,2675 06042 TC INTPRET
041480,001715: 15,2676 77624 CALL
041481,001716: 15,2677 31557 COARSE
041482,001717: 15,2700 77776 EXIT
041483,001718: 15,2701 32760 CA T/2SEC
041484,001719: 15,2702 55736 TS GCTR
041485,001720: 15,2703 37721 CA PRIO31
041486,001721: 15,2704 55074 TS 1/PIPADT
041487,001722: 15,2705 04616 TC BANKCALL
041488,001723: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041489,001724: 15,2707 05353 TC PHASCHNG
041490,001725: 15,2710 04024 OCT 04024
041491,001726:
041492,001727: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041493,001728: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041494,001729:
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Page 959 |
041496,001731: 15,2713 06042 TC INTPRET
041497,001732: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041498,001733: 15,2715 35000 CAF 2SECS
041499,001734: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041500,001735: 15,2717 02721 ADRES GRABGRAV
041501,001736:
041502,001737: 15,2720 05155 TC ENDOFJOB
041503,001738:
041504,001739: 15,2721 04674 GRABGRAV TC IBNKCALL
041505,001740: 15,2722 77541 CADR PIPSRINE
041506,001741: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041507,001742: 15,2724 05105 TC FINDVAC
041508,001743: 15,2725 E5,1706 EBANK= STARAD
041509,001744: 15,2725 02730 32065 2CADR ADDGRAV
041510,001745:
041511,001746: 15,2727 05261 TC TASKOVER
041512,001747:
041513,001748: 15,2730 04616 ADDGRAV TC BANKCALL
041514,001749: 15,2731 15271 CADR 1/PIPA
041515,001750: 15,2732 25736 INCR GCTR
041516,001751: 15,2733 06042 TC INTPRET
041517,001752: 15,2734 53375 VLOAD VAD
041518,001753: 15,2735 00325 DELV
041519,001754: 15,2736 02707 GACC
041520,001755: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041521,001756: 15,2740 50135 SLOAD BMN
041522,001757: 15,2741 02737 GCTR
041523,001758: 15,2742 32714 GREED
041524,001759: 15,2743 53575 VLOAD UNIT
041525,001760: 15,2744 02707 GACC
041526,001761: 15,2745 36731 STCALL STAR
041527,001762: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041528,001763: 15,2747 77624 CALL # IN OUTPUT
041529,001764: 15,2750 47673 *SMNB*
041530,001765: 15,2751 02715 STORE GOUT
041531,001766: 15,2752 77776 EXIT
041532,001767: 15,2753 05353 TC PHASCHNG
041533,001768: 15,2754 04024 OCT 04024
041534,001769:
041535,001770: 15,2755 06042 QMINEXIT TC INTPRET
041536,001771: 15,2756 77650 GOTO
041537,001772: 15,2757 02745 QMIN
041538,001773: 15,2760 77753 T/2SEC DEC -20 B-14
041539,001774: 15,2761 01404 DISGRVER VN 0604
041540,001775: 15,2762 07357 42DEG OCT 07357
041541,001776: 15,2763 06211 35DEG OCT 06211
041542,001777:
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Page 960 |
041544,001779: # NAME GYROTRIM
041545,001780:
041546,001781: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041547,001782: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041548,001783: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041549,001784:
041550,001785: # CALL CALL
041551,001786: # GYROTRIM
041552,001787:
041553,001788: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041554,001789: # CDUX,CDUY,CDUZ
041555,001790:
041556,001791: # OUTPUT - GYRO TORQUE PULSES
041557,001792:
041558,001793: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041559,001794: # IMPULSE,IMUSTALL
041560,001795: # - - - * * -
041561,001796: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU ,STARAD ,VAC , XDC , OGC
041562,001797: 15,2764 COUNT* $$/P57
041563,001798: 15,2764 71220 GYROTRIM STQ DLOAD
041564,001799: 15,2765 02745 QMIN
041565,001800: 15,2766 00322 THETAD
041566,001801: 15,2767 65325 PDDL PDDL
041567,001802: 15,2770 00324 THETAD +2
041568,001803: 15,2771 00323 THETAD +1
041569,001804: 15,2772 77666 VDEF
041570,001805: 15,2773 24766 STOVL CDUSPOT
041571,001806: 15,2774 24005 XUNIT
041572,001807: 15,2775 77624 CALL
041573,001808: 15,2776 47666 TRG*NBSM
041574,001809: 15,2777 26707 STOVL STARAD
041575,001810: 15,3000 24003 YUNIT
041576,001811: 15,3001 77624 CALL
041577,001812: 15,3002 47675 *NBSM*
041578,001813: 15,3003 36715 STCALL STARAD +6
041579,001814: 15,3004 47541 CDUTRIG
041580,001815: 15,3005 77624 CALL
041581,001816: 15,3006 20030 CALCSMSC
041582,001817: 15,3007 77775 VLOAD
041583,001818: 15,3010 02665 XNB
041584,001819: 15,3011 24007 STOVL 6D
041585,001820: 15,3012 02673 YNB
041586,001821: 15,3013 34015 STCALL 12D
041587,001822: 15,3014 47443 AXISGEN
041588,001823: 15,3015 77624 CALL
041589,001824: 15,3016 47251 CALCGTA
041590,001825: 15,3017 77776 JUSTTRIM EXIT
041591,001826: 15,3020 33027 CA GYRCDR
041592,001827: 15,3021 04616 TC BANKCALL
041593,001828: 15,3022 17315 CADR IMUPULSE
041594,001829:
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Page 961 |
041596,001831: 15,3023 04616 TC BANKCALL
041597,001832: 15,3024 17710 CADR IMUSTALL
041598,001833: 15,3025 05701 TC CURTAINS
041599,001834: 15,3026 12755 TCF QMINEXIT
041600,001835:
041601,001836: 15,3027 02737 GYRCDR ECADR OGC
041602,001837:
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Page 962 |
041604,001839: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041605,001840:
041606,001841: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041607,001842: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041608,001843: 15,3032 34753 1STAR CAF BIT1
041609,001844: 15,3033 55757 TS STARIND
041610,001845:
041611,001846: 15,3034 05353 TC PHASCHNG
041612,001847: 15,3035 04024 OCT 04024
041613,001848:
041614,001849: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041615,001850:
041616,001851: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041617,001852: 15,3040 00006 EXTEND
041618,001853: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041619,001854:
041620,001855: 15,3042 05353 TC PHASCHNG
041621,001856: 15,3043 04024 OCT 04024
041622,001857:
041623,001858: 15,3044 06042 TC INTPRET
041624,001859: 15,3045 45145 DLOAD CALL
041625,001860: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041626,001861: 15,3047 32472 PLANET
041627,001862: 15,3050 37255 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041628,001863: 15,3051 33064 SURFLINE
041629,001864:
041630,001865: 15,3052 06042 ASTAR TC INTPRET
041631,001866: 15,3053 77775 VLOAD
041632,001867: 15,3054 02715 STARAD +6
041633,001868: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041634,001869: 15,3056 45145 DLOAD CALL
041635,001870: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041636,001871: 15,3060 32472 PLANET
041637,001872: 15,3061 03247 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041638,001873: 15,3062 77776 EXIT
041639,001874: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041640,001875:
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Page 963 |
041642,001877: # DO FINE OR COARSE ALIGNMENT OF IMU
041643,001878:
041644,001879: 15,3064 77131 SURFLINE SSP AXT,2
041645,001880: 15,3065 00052 S2
041646,001881: 15,3066 00006 6
041647,001882: 15,3067 00014 12D
041648,001883: 15,3070 64373 WRTDESIR VLOAD* MXV
041649,001884: 15,3071 74514 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041650,001885: 15,3072 03607 XSMD
041651,001886: 15,3073 77656 UNIT
041652,001887: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041653,001888: 15,3075 77773 VLOAD*
041654,001889: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041655,001890: 15,3077 10023 STORE 18D,2
041656,001891: 15,3100 43104 TIX,2 BON
041657,001892: 15,3101 33070 WRTDESIR
041658,001893: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041659,001894: 15,3103 33111 INITBY
041660,001895: 15,3104 77624 DOALIGN CALL
041661,001896: 15,3105 31250 R54 # DO CHKSDATA
041662,001897: 15,3106 77614 BOFF
041663,001898: 15,3107 00354 FREEFLAG
041664,001899: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041665,001900: 15,3111 77624 INITBY CALL
041666,001901: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041667,001902: 15,3113 77624 CALL
041668,001903: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041669,001904: 15,3115 77776 EXIT
041670,001905: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041671,001906: 15,3117 70104 MASK FLAGWRD8
041672,001907: 15,3120 10000 CCS A
041673,001908: 15,3121 13130 TCF 5DEGTEST
041674,001909: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041675,001910: 15,3123 04616 TC BANKCALL
041676,001911: 15,3124 20477 CADR GOFLASH
041677,001912: 15,3125 06001 TC GOTOPOOH # V34-TERMINATE
041678,001913: 15,3126 13130 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041679,001914: 15,3127 13172 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041680,001915:
041681,001916: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041682,001917: 15,3131 40175 VLOAD BOV
041683,001918: 15,3132 02740 OGC
041684,001919: 15,3133 33134 SURFSUP
041685,001920: 15,3134 02750 SURFSUP STORE OGCT
041686,001921: 15,3135 40141 V/SC BOV
041687,001922: 15,3136 30602 5DEGREES
041688,001923: 15,3137 33237 COATRIM
041689,001924: 15,3140 52131 SSP GOTO
041690,001925: 15,3141 02746 QMIN
041691,001926: 15,3142 33144 SURFDISP
041692,001927:
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Page 964 |
041694,001929: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041695,001930:
041696,001931: 15,3144 77776 SURFDISP EXIT
041697,001932: 15,3145 05353 TC PHASCHNG
041698,001933: 15,3146 04024 OCT 04024
041699,001934:
041700,001935: 15,3147 06042 TC INTPRET
041701,001936: 15,3150 75160 AXC,1 AXC,2
041702,001937: 15,3151 03606 XSMD
041703,001938: 15,3152 01733 REFSMMAT
041704,001939: 15,3153 45014 SET CALL
041705,001940: 15,3154 01462 REFSMFLG
041706,001941: 15,3155 31371 MATMOVE
041707,001942: 15,3156 77776 EXIT
041708,001943: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041709,001944: 15,3160 13162 TCF B2F8
041710,001945: 15,3161 13172 TCF P57POST +1
041711,001946:
041712,001947: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041713,001948: 15,3163 70104 MASK FLAGWRD8
041714,001949: 15,3164 10000 CCS A
041715,001950: 15,3165 13544 TCF P57JUMP # ITS SET
041716,001951: 15,3166 06042 TC INTPRET
041717,001952: 15,3167 77624 CALL
041718,001953: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041719,001954: 15,3171 77776 P57POST EXIT
041720,001955: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041721,001956: 15,3173 04616 TC BANKCALL
041722,001957: 15,3174 20624 CADR GOPERF1
041723,001958: 15,3175 16001 TCF GOTOPOOH # VB34-TERMINATE
041724,001959: 15,3176 13544 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041725,001960: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041726,001961: 15,3200 61144 AD OPTION2
041727,001962: 15,3201 00006 EXTEND
041728,001963: 15,3202 13204 BZF +2 # YES-GO CALCULATE LANDING SITE
041729,001964: 15,3203 16001 TCF GOTOPOOH # NO-EXIT P57
041730,001965: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041731,001966: 15,3205 04024 OCT 04024
041732,001967: 15,3206 06042 TC INTPRET
041733,001968: 15,3207 45175 VLOAD CALL # USE GNB
041734,001969: 15,3210 02231 GSAV
041735,001970: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041736,001971: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041737,001972: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041738,001973: 15,3214 01463 LUNAFLAG
041739,001974: 15,3215 51515 PDVL ABVAL
041740,001975: 15,3216 02023 RLS
041741,001976: 15,3217 45561 VXSC STADR
041742,001977: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041743,001978: 15,3221 47014 CLEAR RTB
041744,001979:
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Page 965 |
041746,001981: 15,3222 00662 ERADFLAG
041747,001982: 15,3223 21574 LOADTIME
041748,001983: 15,3224 77624 CALL
041749,001984: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041750,001985: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041751,001986: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041752,001987: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041753,001988: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041754,001989: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041755,001990: 15,3233 51677 R-TO-RP
041756,001991: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041757,001992: 15,3235 77776 EXIT
041758,001993: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041759,001994:
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Page 966 |
041761,001996: # COARSE AND FINE ALIGN IMU
041762,001997:
041763,001998: 15,3237 75160 COATRIM AXC,1 AXC,2
041764,001999: 15,3240 02664 XDC
041765,002000: 15,3241 02642 XSM
041766,002001: 15,3242 77624 CALL
041767,002002: 15,3243 31371 MATMOVE
041768,002003: 15,3244 77624 CALL
041769,002004: 15,3245 47541 CDUTRIG
041770,002005: 15,3246 77624 CALL
041771,002006: 15,3247 20030 CALCSMSC
041772,002007: 15,3250 77624 CALL
041773,002008: 15,3251 47355 CALCGA
041774,002009: 15,3252 77414 BOFF EXIT
041775,002010: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041776,002011: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041777,002012: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041778,002013: 15,3256 04616 TC BANKCALL
041779,002014: 15,3257 20477 CADR GOFLASH
041780,002015: 15,3260 06001 TC GOTOPOOH
041781,002016: 15,3261 13263 TCF +2
041782,002017: 15,3262 13255 TCF -5
041783,002018: 15,3263 05353 TC PHASCHNG
041784,002019: 15,3264 04024 OCT 04024
041785,002020:
041786,002021: 15,3265 06042 TC INTPRET
041787,002022: 15,3266 77624 CORSIT CALL
041788,002023: 15,3267 31557 COARSE
041789,002024: 15,3270 77624 CALL
041790,002025: 15,3271 31603 NCOARSE
041791,002026: 15,3272 77624 CALL
041792,002027: 15,3273 32764 GYROTRIM
041793,002028: 15,3274 77650 GOTO
041794,002029: 15,3275 33144 SURFDISP
041795,002030: 15,3276 01535 DISPGYRO VN 0693
041796,002031:
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Page 967 |
041798,002033: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041799,002034:
041800,002035: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041801,002036: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041802,002037:
041803,002038: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041804,002039: 15,3302 55144 TS OPTION2
041805,002040: 15,3303 34753 P57OPT CAF BIT1
041806,002041: 15,3304 04616 TC BANKCALL
041807,002042: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041808,002043: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041809,002044: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041810,002045: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041811,002046:
041812,002047: 15,3311 05353 TC PHASCHNG
041813,002048: 15,3312 00014 OCT 00014
041814,002049: 15,3313 05155 TC ENDOFJOB
041815,002050:
041816,002051: 15,3314 31144 ALIGNOPT CA OPTION2
041817,002052: 15,3315 76250 MASK THREE
041818,002053: 15,3316 50000 INDEX A
041819,002054: 15,3317 13320 TCF +1
041820,002055: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041821,002056: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041822,002057: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041823,002058: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041824,002059: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041825,002060: 15,3325 01733 REFSMMAT
041826,002061: 15,3326 03606 XSMD
041827,002062: 15,3327 77624 CALL
041828,002063: 15,3330 31371 MATMOVE
041829,002064: 15,3331 77650 GOTO
041830,002065: 15,3332 33373 PACKOPTN -1
041831,002066:
041832,002067: 15,3333 06042 TDISP TC INTPRET
041833,002068: 15,3334 77745 DLOAD
041834,002069: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041835,002070: 15,3336 01045 P57A STORE DSPTEM1
041836,002071: 15,3337 77776 EXIT
041837,002072: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041838,002073: 15,3341 04616 TC BANKCALL
041839,002074: 15,3342 20477 CADR GOFLASH
041840,002075: 15,3343 16001 TCF GOTOPOOH # V34-TERMINATE
041841,002076: 15,3344 13346 TCF +2
041842,002077: 15,3345 13340 TCF P57AA # VB32-RECYCLE
041843,002078:
041844,002079: 15,3346 06042 TC INTPRET
041845,002080: 15,3347 65234 RTB PDDL
041846,002081: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041847,002082: 15,3351 01045 DSPTEM1
041848,002083:
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Page 968 |
041850,002085: 15,3352 65254 BZE PDDL
041851,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041852,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041853,002088: 15,3355 01045 DSPTEM1
041854,002089: 15,3356 33363 P57C
041855,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041856,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041857,002092: 15,3361 36775 STCALL TALIGN
041858,002093: 15,3362 33365 P57D
041859,002094: 15,3363 45545 P57C DLOAD STADR
041860,002095: 15,3364 75002 STORE TALIGN
041861,002096: 15,3365 34041 P57D STCALL TDEC1
041862,002097: 15,3366 27060 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041863,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041864,002099: 15,3370 00001 RATT
041865,002100: 15,3371 37607 STCALL XSMD
041866,002101: 15,3372 10775 LSORIENT
041867,002102: 15,3373 77776 EXIT
041868,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041869,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041870,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041871,002106: 15,3377 34737 CAF REFSMBIT
041872,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041873,002108: 15,3401 10000 CCS A
041874,002109: 15,3402 34745 CAF BIT7 # SET
041875,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
041876,002111: 15,3404 34753 CAF ATTFLBIT
041877,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041878,002113: 15,3406 10000 CCS A
041879,002114: 15,3407 34750 CAF BIT4 # SET
041880,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
041881,002116: 15,3411 34750 CAF BIT4
041882,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041883,002118:
041884,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041885,002120: 15,3414 04616 TC BANKCALL
041886,002121: 15,3415 20477 CADR GOFLASH
041887,002122: 15,3416 16001 TCF GOTOPOOH # VB34-TERMINATE
041888,002123: 15,3417 13421 TCF +2 # V33-PROCEED
041889,002124: 15,3420 13413 TCF DSPOPTN # V32-RECYCLE
041890,002125:
041891,002126: 15,3421 34737 CAF REFSMBIT
041892,002127: 15,3422 70077 MASK FLAGWRD3
041893,002128: 15,3423 10000 CCS A
041894,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041895,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041896,002131: 15,3426 70102 MASK FLAGWRD6
041897,002132: 15,3427 10000 CCS A
041898,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041899,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
041900,002135:
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Page 969 |
041902,002137: 15,3432 71144 MASK OPTION2
041903,002138: 15,3433 10000 CCS A
041904,002139: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041905,002140: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
041906,002141: 15,3436 00701 OCT 701
041907,002142: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041908,002143: 15,3440 04616 TC BANKCALL
041909,002144: 15,3441 20477 CADR GOFLASH
041910,002145: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041911,002146: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041912,002147: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041913,002148:
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Page 970 |
041915,002150: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041916,002151:
041917,002152: 15,3445 40220 MFREF STQ SETPD
041918,002153: 15,3446 02746 QMAJ
041919,002154: 15,3447 00001 0
041920,002155: 15,3450 77634 RTB
041921,002156: 15,3451 21574 LOADTIME
041922,002157: 15,3452 27562 STOVL TSIGHT
041923,002158: 15,3453 03247 VEC1
041924,002159: 15,3454 41525 PDDL PUSH
041925,002160: 15,3455 03562 TSIGHT
041926,002161: 15,3456 77624 CALL
041927,002162: 15,3457 55716 RP-TO-R
041928,002163: 15,3460 27247 STOVL VEC1
041929,002164: 15,3461 03255 VEC2
041930,002165: 15,3462 65201 SETPD PDDL
041931,002166: 15,3463 00001 0
041932,002167: 15,3464 03562 TSIGHT
041933,002168: 15,3465 45006 PUSH CALL
041934,002169: 15,3466 55716 RP-TO-R
041935,002170: 15,3467 37255 STCALL VEC2
041936,002171: 15,3470 02746 QMAJ
041937,002172:
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Page 971 |
041939,002174: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041940,002175: # STORE IN YNBSAV AND ZNBSAV
041941,002176:
041942,002177: 15,3471 45020 REFMF STQ CALL
041943,002178: 15,3472 02746 QMAJ
041944,002179: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041945,002180: 15,3474 40234 RTB SETPD
041946,002181: 15,3475 21574 LOADTIME
041947,002182: 15,3476 00001 0
041948,002183: 15,3477 37562 STCALL TSIGHT
041949,002184: 15,3500 20030 CALCSMSC # GET YNB IN SM
041950,002185: 15,3501 61375 VLOAD VXM
041951,002186: 15,3502 02673 YNB
041952,002187: 15,3503 01734 REFSMMAT # YNB TO REF
041953,002188: 15,3504 65256 UNIT PDDL
041954,002189: 15,3505 03562 TSIGHT
041955,002190: 15,3506 45006 PUSH CALL
041956,002191: 15,3507 51677 R-TO-RP
041957,002192: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041958,002193: 15,3511 02701 ZNB
041959,002194: 15,3512 53505 VXM UNIT
041960,002195: 15,3513 01734 REFSMMAT # ZNB TO REF
041961,002196: 15,3514 41525 PDDL PUSH
041962,002197: 15,3515 03562 TSIGHT
041963,002198: 15,3516 77624 CALL
041964,002199: 15,3517 51677 R-TO-RP # ZNB TO MF
041965,002200: 15,3520 02245 STORE ZNBSAV
041966,002201: 15,3521 77614 SETGO
041967,002202: 15,3522 03036 ATTFLAG
041968,002203: 15,3523 02746 QMAJ
041969,002204:
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Page 972 |
041971,002206: # BRANCH TO ALIGNMENT OPTION
041972,002207:
041973,002208: 15,3524 06042 GETLMATT TC INTPRET
041974,002209: 15,3525 77624 CALL
041975,002210: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
041976,002211: 15,3527 77776 EXIT
041977,002212:
041978,002213: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041979,002214: 15,3531 00205 ADRES INITALGN
041980,002215: 15,3532 34753 CAF BIT1
041981,002216: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041982,002217: 15,3534 10000 CCS A
041983,002218: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041984,002219:
041985,002220: 15,3536 05353 ATTCHK TC PHASCHNG
041986,002221: 15,3537 04024 OCT 04024
041987,002222:
041988,002223: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041989,002224: 15,3541 70102 MASK FLAGWRD6
041990,002225: 15,3542 10000 CCS A
041991,002226: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041992,002227: 15,3544 05353 P57JUMP TC PHASCHNG
041993,002228: 15,3545 04024 OCT 04024
041994,002229:
041995,002230: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
041996,002231: 15,3547 00205 ADRES INITALGN
041997,002232: 15,3550 36250 CAF THREE
041998,002233: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041999,002234: 15,3552 50000 INDEX A
042000,002235: 15,3553 13554 TCF +1
042001,002236: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
042002,002237: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
042003,002238: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
042004,002239: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
042005,002240:
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Page 973 |
042007,002242: # OPTION 0, GET TWO ATTITUDE VECS
042008,002243:
042009,002244: 15,3560 06042 P57OPT0 TC INTPRET
042010,002245: 15,3561 77775 VLOAD
042011,002246: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042012,002247: 15,3563 27247 STOVL VEC1
042013,002248: 15,3564 02245 ZNBSAV
042014,002249: 15,3565 37255 STCALL VEC2
042015,002250: 15,3566 47541 CDUTRIG
042016,002251: 15,3567 77624 CALL
042017,002252: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042018,002253: 15,3571 77775 VLOAD
042019,002254: 15,3572 02673 YNB
042020,002255: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042021,002256: 15,3574 02701 ZNB
042022,002257: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042023,002258: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042024,002259: 15,3577 77650 GOTO
042025,002260: 15,3600 33064 SURFLINE
042026,002261:
042027,002262: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042028,002263:
042029,002264: 15,3601 06042 P57OPT1 TC INTPRET
042030,002265: 15,3602 53575 VLOAD UNIT
042031,002266: 15,3603 02023 RLS # LANDING SITE VEC
042032,002267: 15,3604 27247 STOVL VEC1
042033,002268: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
042034,002269: 15,3606 37255 STCALL VEC2
042035,002270: 15,3607 47541 CDUTRIG
042036,002271: 15,3610 77624 CALL
042037,002272: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042038,002273: 15,3612 45175 VLOAD CALL
042039,002274: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042040,002275: 15,3614 47663 CDU*NBSM
042041,002276: 15,3615 77650 GOTO
042042,002277: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
042043,002278:
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Page 974 |
042045,002280: # OPTION 2, GET TWO STAR SIGHTINGS
042046,002281:
042047,002282: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042048,002283:
042049,002284: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042050,002285:
042051,002286: 15,3620 06042 P57OPT3 TC INTPRET
042052,002287: 15,3621 53575 VLOAD UNIT
042053,002288: 15,3622 02023 RLS # LANDING SITE VEC
042054,002289: 15,3623 03247 STORE VEC1
042055,002290: 15,3624 27255 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042056,002291: 15,3625 02231 GSAV # GRAVITY VEC NB
042057,002292: 15,3626 77624 CALL
042058,002293: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042059,002294: 15,3630 36761 STCALL STARSAV1
042060,002295: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042061,002296: 15,3632 77776 EXIT
042062,002297: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042063,002298:
042064,002299: 15,3634 01206 VB05N06 VN 506
042065,002300:
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Page 975 |
042067,002302: # CHECK IMODES30 TO VARIFY IMU IS ON
042068,002303:
042069,002304: 15,3635 41277 IMUCHK CS IMODES30
042070,002305: 15,3636 74743 MASK BIT9
042071,002306: 15,3637 10000 CCS A # IS IMU ON
042072,002307: 15,3640 13644 TCF +4 # YES
042073,002308:
042074,002309: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042075,002310: 15,3642 00210 OCT 210
042076,002311: 15,3643 06001 TC GOTOPOOH
042077,002312:
042078,002313: 15,3644 05504 TC UPFLAG
042079,002314: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042080,002315:
042081,002316: 15,3646 04631 TC SWRETURN
042082,002317:
042083,002318: 04,2775 BANK 04
042084,002319: 04,2000 SETLOC AOTMARK2
042085,002320: 04,2000 BANK
042086,002321: 04,2775 COUNT* $$/P57
042087,002322:
042088,002323: 04,2775 77220 LSORIENT STQ VLOAD
042089,002324: 04,2776 02746 QMAJ
042090,002325: 04,2777 01555 RRECTCSM
042091,002326: 04,3000 47235 VXV VXV
042092,002327: 04,3001 01563 VRECTCSM
042093,002328: 04,3002 03607 XSMD
042094,002329: 04,3003 77656 UNIT
042095,002330: 04,3004 03623 STORE ZSMD
042096,002331: 04,3005 53435 VXV UNIT
042097,002332: 04,3006 03607 XSMD
042098,002333: 04,3007 37615 STCALL YSMD
042099,002334: 04,3010 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc