Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
039755,000002: ## Copyright: Public domain.
039756,000003: ## Filename: P51-P53.agc
039757,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039758,000005: ## It is part of the source code for the Lunar Module's (LM)
039759,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039760,000007: ## Assembler: yaYUL
039761,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039762,000009: ## Website: www.ibiblio.org/apollo.
039763,000010: ## Pages: 926-983
039764,000011: ## Mod history: 2009-05-31 HG Transcribed from page images.
039765,000012: ## 2009-06-07 RSB Corrected a typo.
039766,000013: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
039767,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039768,000015: ## and corrected the errors found.
039769,000016: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
039770,000017: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039771,000018: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039772,000019: ## side-by-side diff of Luminary 69/99/116/131/210.
039773,000020:
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Page 926 |
039775,000022: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039776,000023: # MOD NO - 0 LOG SECTION - P51-P53
039777,000024: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039778,000025:
039779,000026: # FUNCTIONAL DESCRIPTION -
039780,000027:
039781,000028: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039782,000029: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039783,000030:
039784,000031: # (A) PREFERRED ORIENTATION
039785,000032:
039786,000033: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039787,000034: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039788,000035:
039789,000036: # (B) NOMINAL ORIENTATION
039790,000037:
039791,000038: # X = UNIT ( R )
039792,000039: # -SM
039793,000040:
039794,000041: # Y = UNIT (V X R)
039795,000042: # SM
039796,000043:
039797,000044: # Z = UNIT (X X Y )
039798,000045: # SM SM SM
039799,000046:
039800,000047: # WHERE_
039801,000048:
039802,000049: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039803,000050: # -
039804,000051:
039805,000052: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039806,000053: # -
039807,000054:
039808,000055: # (C) REFSMMAT ORIENTATION
039809,000056:
039810,000057: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039811,000058:
039812,000059: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039813,000060: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039814,000061: # SINCE THE LAST ALIGNMENT).
039815,000062:
039816,000063: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039817,000064: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039818,000065: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039819,000066: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039820,000067: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039821,000068: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039822,000069: # REQUESTED.
039823,000070:
039824,000071: # CALLING SEQUENCE -
039825,000072:
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Page 927 |
039827,000074: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039828,000075:
039829,000076: # SUBROUTINES CALLED -
039830,000077:
039831,000078: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039832,000079: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039833,000080: # 3. GOPERF4 9. FLAGUP
039834,000081: # 4. MATMOVE 10. R56
039835,000082: # 5. GOFLASH 11. R51
039836,000083: # 6. S52.3 12. GOPERF3
039837,000084:
039838,000085: # NORMAL EXIT MODES -
039839,000086:
039840,000087: # EXITS TO ENDOFJOB
039841,000088:
039842,000089: # ALARM OR ABORT EXIT MODES -
039843,000090:
039844,000091: # NONE
039845,000092:
039846,000093: # OUTPUT -
039847,000094:
039848,000095: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039849,000096: # 1. IMU ORIENTATION CODE
039850,000097: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039851,000098: # 3. TIME OF NEXT IGNITION
039852,000099: # 4. GIMBAL ANGLES
039853,000100: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039854,000101: # 6. PLEASE PERFORM P00
039855,000102: # THE MODE DISPLAY MAY BE CHANGED TO 20
039856,000103:
039857,000104: # ERASABLE INITIALIZATION REQUIRED -
039858,000105:
039859,000106: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039860,000107: # XSMD, YSMD, ZSMD.
039861,000108:
039862,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039863,000110:
039864,000111: # DEBRIS -
039865,000112:
039866,000113: # WORK AREA
039867,000114:
039868,000115: 33,3777 BANK 33
039869,000116: 15,2000 SETLOC P50S
039870,000117: 15,2000 BANK
039871,000118:
039872,000119: 15,2050 E5,1755 EBANK= BESTI
039873,000120: 15,2050 COUNT* $$/P52
039874,000121: 15,2050 04616 PROG52 TC BANKCALL
039875,000122: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
039876,000123: 15,2052 34750 CAF PFRATBIT
039877,000124: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039878,000125: 15,2054 10000 CCS A
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Page 928 |
039880,000127: 15,2055 02060 TC P52A # YES
039881,000128: 15,2056 34752 CAF BIT2 # NO
039882,000129: 15,2057 02061 TC P52A +1
039883,000130: 15,2060 34753 P52A CAF BIT1
039884,000131: 15,2061 55145 TS OPTION2
039885,000132: 15,2062 34753 P52B CAF BIT1
039886,000133: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039887,000134: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
039888,000135: 15,2065 06001 TC GOTOPOOH
039889,000136: 15,2066 12073 TCF +5 # V33 - PROCEED
039890,000137: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039891,000138: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039892,000139: 15,2071 00014 OCT 00014
039893,000140: 15,2072 05155 TC ENDOFJOB
039894,000141:
039895,000142: 15,2073 31145 CA OPTION2
039896,000143: 15,2074 76245 MASK THREE
039897,000144: 15,2075 50000 INDEX A
039898,000145: 15,2076 02077 TC +1
039899,000146: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039900,000147: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039901,000148: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039902,000149: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
039903,000150: 15,2103 77650 GOTO
039904,000151: 15,2104 32164 P52F # GO DO R51
039905,000152:
039906,000153: 15,2105 00006 OPT4 EXTEND
039907,000154: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039908,000155: 15,2107 12112 TCF P52T +2
039909,000156:
039910,000157: 15,2110 00006 P52T EXTEND
039911,000158: 15,2111 34755 DCA NEG0
039912,000159: 15,2112 53046 DXCH DSPTEM1
039913,000160: 15,2113 32170 CAF V06N34*
039914,000161: 15,2114 04616 TC BANKCALL
039915,000162: 15,2115 20476 CADR GOFLASH
039916,000163: 15,2116 06001 TC GOTOPOOH
039917,000164: 15,2117 02121 TC +2
039918,000165: 15,2120 02113 TC -5
039919,000166: 15,2121 53046 DXCH DSPTEM1
039920,000167: 15,2122 00006 EXTEND
039921,000168: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039922,000169: 15,2124 12127 TCF +3
039923,000170: 15,2125 00006 EXTEND
039924,000171: 15,2126 30025 DCA TIME2
039925,000172: 15,2127 53775 DXCH TALIGN
039926,000173: 15,2130 31145 P52V CA OPTION2
039927,000174: 15,2131 74752 MASK BIT2
039928,000175: 15,2132 10000 CCS A
039929,000176: 15,2133 02137 TC P52W
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Page 929 |
039931,000178: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039932,000179: 15,2135 77650 GOTO
039933,000180: 15,2136 32220 P52LS
039934,000181:
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Page 930 |
039936,000183: # START ALIGNMENT
039937,000184:
039938,000185: 15,2137 06037 P52W TC INTPRET
039939,000186: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039940,000187: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039941,000188: 15,2142 31650 S52.3 # ORIENTATION
039942,000189: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039943,000190: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
039944,000191: 15,2145 77776 EXIT
039945,000192: 15,2146 35010 CAF V06N22
039946,000193: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039947,000194: 15,2150 20476 CADR GOFLASH
039948,000195: 15,2151 06001 TC GOTOPOOH
039949,000196: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039950,000197: 15,2153 06037 P52H TC INTPRET
039951,000198: 15,2154 77650 GOTO
039952,000199: 15,2155 32143 P52D
039953,000200: 15,2156 06037 REGCOARS TC INTPRET
039954,000201: 15,2157 77624 CALL # DO COARSE ALIGN
039955,000202: 15,2160 31327 CAL53A # ROUTINE
039956,000203: 15,2161 43014 COARSRET SET CLEAR
039957,000204: 15,2162 01462 REFSMFLG
039958,000205: 15,2163 01273 PFRATFLG
039959,000206: 15,2164 77624 P52F CALL
039960,000207: 15,2165 31015 R51
039961,000208: 15,2166 77776 P52OUT EXIT
039962,000209: 15,2167 06001 TC GOTOPOOH
039963,000210: 15,2170 5006 VB05N09 = V05N09
039964,000211: 15,2170 01442 V06N34* VN 634
039965,000212:
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Page 931 |
039967,000214: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039968,000215:
039969,000216: 15,2171 32217 COARSTYP CAF OCT13
039970,000217: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039971,000218: 15,2173 20623 CADR GOPERF1
039972,000219: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039973,000220: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039974,000221: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
039975,000222: 15,2177 64375 VLOAD MXV
039976,000223: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039977,000224: 15,2201 01734 REFSMMAT
039978,000225: 15,2202 77656 UNIT
039979,000226: 15,2203 26665 STOVL XDC
039980,000227: 15,2204 03615 YSMD
039981,000228: 15,2205 53521 MXV UNIT
039982,000229: 15,2206 01734 REFSMMAT
039983,000230: 15,2207 26673 STOVL YDC
039984,000231: 15,2210 03623 ZSMD
039985,000232: 15,2211 53521 MXV UNIT
039986,000233: 15,2212 01734 REFSMMAT
039987,000234: 15,2213 36701 STCALL ZDC
039988,000235: 15,2214 31164 GYCOARS
039989,000236: 15,2215 77650 GOTO
039990,000237: 15,2216 32166 P52OUT
039991,000238: 15,2217 00013 OCT13 OCT 13
039992,000239:
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Page 932 |
039994,000241: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039995,000242:
039996,000243: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039997,000244: 15,2221 01463 LUNAFLAG
039998,000245: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039999,000246: 15,2223 77201 SETPD VLOAD
040000,000247: 15,2224 00001 0
040001,000248: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040002,000249: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040003,000250: 15,2227 02775 TALIGN
040004,000251: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040005,000252: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040006,000253: 15,2232 77742 VSR2
040007,000254: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040008,000255: 15,2234 02775 TALIGN
040009,000256: 15,2235 77624 CALL
040010,000257: 15,2236 30446 N89DISP
040011,000258: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040012,000259: 15,2240 02032 ALPHAV
040013,000260: 15,2241 37607 STCALL XSMD
040014,000261: 15,2242 11013 LSORIENT
040015,000262: 15,2243 77650 GOTO
040016,000263: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040017,000264:
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Page 933 |
040019,000266: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040020,000267:
040021,000268: 14,2000 SETLOC P50S1
040022,000269: 14,2000 BANK
040023,000270: 14,2446 E5,1642 EBANK= XSM
040024,000271:
040025,000272: 14,2446 77620 N89DISP STQ
040026,000273: 14,2447 02746 QMAJ
040027,000274: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040028,000275: 14,2451 26351 LAT-LONG
040029,000276: 14,2452 70545 DLOAD SR1
040030,000277: 14,2453 01123 LONG
040031,000278: 14,2454 16711 STODL LANDLONG
040032,000279: 14,2455 01125 ALT
040033,000280: 14,2456 16713 STODL LANDALT
040034,000281: 14,2457 01121 LAT
040035,000282: 14,2460 16707 STODL LANDLAT
040036,000283: 14,2461 77776 EXIT
040037,000284:
040038,000285: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040039,000286: 14,2463 04616 TC BANKCALL
040040,000287: 14,2464 20476 CADR GOFLASH
040041,000288: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
040042,000289: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
040043,000290: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040044,000291:
040045,000292: 14,2470 06037 TC INTPRET
040046,000293: 14,2471 72545 DLOAD SL1
040047,000294: 14,2472 02711 LANDLONG
040048,000295: 14,2473 15123 STODL LONG
040049,000296: 14,2474 02713 LANDALT
040050,000297: 14,2475 15125 STODL ALT
040051,000298: 14,2476 02707 LANDLAT
040052,000299: 14,2477 15121 STODL LAT
040053,000300: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040054,000301: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040055,000302: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040056,000303: 14,2503 77650 GOTO
040057,000304: 14,2504 02746 QMAJ
040058,000305: 14,2505 01531 V06N89* VN 689
040059,000306:
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Page 934 |
040061,000308: # NAME - S50 ALIAS LOCSAM
040062,000309: # BY
040063,000310: # VINCENT
040064,000311:
040065,000312: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040066,000313:
040067,000314: # DEFINE
040068,000315:
040069,000316: # U = UNIT( SUN WRT EARTH )
040070,000317: # ES
040071,000318:
040072,000319: # U = UNIT( MOON WRT EARTH )
040073,000320: # EM
040074,000321:
040075,000322: # R = POSITION VECTOR OF LEM
040076,000323: # L
040077,000324:
040078,000325: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040079,000326: # EM
040080,000327:
040081,000328: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040082,000329: # EM
040083,000330:
040084,000331: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040085,000332: # E
040086,000333:
040087,000334: # LOCSAM COMPUTES IN EARTH INFLUENCE
040088,000335:
040089,000336: # VSUN = U
040090,000337: # ES
040091,000338:
040092,000339: # VEARTH = -UNIT( R )
040093,000340: # L
040094,000341:
040095,000342: # VMOON = UNIT(R .U - R )
040096,000343: # EM EM L
040097,000344:
040098,000345: # CSUN = COS 90
040099,000346:
040100,000347: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040101,000348: # E L
040102,000349:
040103,000350: # CMOON = COS 5
040104,000351:
040105,000352: # INPUT - TIME IN MPAC
040106,000353:
040107,000354: # OUTPUT - LISTED ABOVE
040108,000355:
040109,000356: # SUBROUTINES - LSPOS, LEMPREC
040110,000357:
040111,000358: # DEBRIS - VAC AREA, TSIGHT
040112,000359:
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Page 935 |
040114,000361: 14,2506 COUNT* $$/LOSAM
040115,000362:
040116,000363: 14,2506 14,2506 S50 = LOCSAM
040117,000364: 14,2506 77620 LOCSAM STQ
040118,000365: 14,2507 02745 QMIN
040119,000366: 14,2510 37562 STCALL TSIGHT
040120,000367: 14,2511 33664 LSPOS
040121,000368: 14,2512 77745 DLOAD
040122,000369: 14,2513 03562 TSIGHT
040123,000370: 14,2514 34041 STCALL TDEC1
040124,000371: 14,2515 27057 LEMPREC
040125,000372: 14,2516 61131 SSP TIX,2
040126,000373: 14,2517 00052 S2
040127,000374: 14,2520 00000 0
040128,000375: 14,2521 30543 MOONCNTR
040129,000376: 14,2522 74375 EARTCNTR VLOAD VXSC
040130,000377: 14,2523 02723 VMOON
040131,000378: 14,2524 30001 RSUBEM
040132,000379: 14,2525 52372 VSL1 VSU
040133,000380: 14,2526 00001 RATT
040134,000381: 14,2527 77656 UNIT
040135,000382: 14,2530 26723 STOVL VMOON
040136,000383: 14,2531 00001 RATT
040137,000384: 14,2532 57456 UNIT VCOMP
040138,000385: 14,2533 16707 STODL VEARTH
040139,000386: 14,2534 30005 RSUBE
040140,000387: 14,2535 77624 CALL
040141,000388: 14,2536 30575 OCCOS
040142,000389: 14,2537 14017 STODL CEARTH
040143,000390: 14,2540 30604 CSS5
040144,000391: 14,2541 34023 STCALL CMOON
040145,000392: 14,2542 30570 ENDSAM
040146,000393: 14,2543 74375 MOONCNTR VLOAD VXSC
040147,000394: 14,2544 02723 VMOON
040148,000395: 14,2545 30007 ROE
040149,000396: 14,2546 53445 BVSU UNIT
040150,000397: 14,2547 02715 VSUN
040151,000398: 14,2550 26715 STOVL VSUN
040152,000399: 14,2551 02723 VMOON
040153,000400: 14,2552 53361 VXSC VAD
040154,000401: 14,2553 30001 RSUBEM
040155,000402: 14,2554 00001 RATT
040156,000403: 14,2555 57456 UNIT VCOMP
040157,000404: 14,2556 26707 STOVL VEARTH
040158,000405: 14,2557 00001 RATT
040159,000406: 14,2560 57456 UNIT VCOMP
040160,000407: 14,2561 16723 STODL VMOON
040161,000408: 14,2562 30003 RSUBM
040162,000409: 14,2563 77624 CALL
040163,000410: 14,2564 30575 OCCOS
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Page 936 |
040165,000412: 14,2565 14023 STODL CMOON
040166,000413: 14,2566 30604 CSS5
040167,000414: 14,2567 00017 STORE CEARTH
040168,000415: 14,2570 77745 ENDSAM DLOAD
040169,000416: 14,2571 30606 CSSUN
040170,000417: 14,2572 00021 STORE CSUN
040171,000418: 14,2573 77650 GOTO
040172,000419: 14,2574 02745 QMIN
040173,000420: 14,2575 70471 OCCOS DDV SR1
040174,000421: 14,2576 00045 36D
040175,000422: 14,2577 43336 ASIN DAD
040176,000423: 14,2600 30610 5DEGREES
040177,000424: 14,2601 70546 COS SR1
040178,000425: 14,2602 77616 RVQ
040179,000426: 14,2603 CEARTH = 14D
040180,000427: 14,2603 CSUN = 16D
040181,000428: 14,2603 CMOON = 18D
040182,000429: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040183,000430: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040184,000431: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040185,000432:
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Page 937 |
040187,000434: # PROGRAM NAME - R56 DATE DEC 20 66
040188,000435: # MOD 1 LOG SECTION P51-P53
040189,000436: # ASSEMBLY SUNDISK REV40
040190,000437: # BY KEN VINCENT
040191,000438:
040192,000439: # FUNCTION
040193,000440: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040194,000441: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040195,000442: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040196,000443: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
040197,000444: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040198,000445: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040199,000446: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040200,000447: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040201,000448: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040202,000449: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040203,000450: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040204,000451: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040205,000452:
040206,000453: # CALLING SEQUENCE
040207,000454: # L TC BANKCALL
040208,000455: # L+1 CADR R56
040209,000456: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040210,000457: # L+3 NORMAL RETURN
040211,000458:
040212,000459: # OUTPUT
040213,000460: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040214,000461: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040215,000462:
040216,000463: # INITIALIZATION
040217,000464: # 1) A CALL TO LOCSAM MUST BE MADE
040218,000465:
040219,000466: # DEBRIS
040220,000467: # WORKAREA
040221,000468: # X,Y,ZNB
040222,000469: # SINCDU, COSCDU
040223,000470: # STARAD - STAR +5
040224,000471:
040225,000472: 14,2611 14,2611 R56 = PICAPAR
040226,000473: 14,2611 COUNT* $$/R56
040227,000474: 14,2611 04645 PICAPAR TC MAKECADR
040228,000475: 14,2612 55745 TS QMIN
040229,000476: 14,2613 06037 TC INTPRET
040230,000477: 14,2614 77624 CALL
040231,000478: 14,2615 47537 CDUTRIG
040232,000479: 14,2616 77624 CALL
040233,000480: 14,2617 20030 CALCSMSC
040234,000481: 14,2620 77601 SETPD
040235,000482: 14,2621 00001 0
040236,000483: 14,2622 71214 SET DLOAD # VFLAG = 1
040237,000484: 14,2623 01465 VFLAG
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Page 938 |
040239,000486: 14,2624 24007 DPZERO
040240,000487: 14,2625 26756 STOVL BESTI
040241,000488: 14,2626 02665 XNB
040242,000489: 14,2627 63361 VXSC PDVL
040243,000490: 14,2630 24005 HALFDP
040244,000491: 14,2631 02701 ZNB
040245,000492: 14,2632 74370 AXT,1 VXSC
040246,000493: 14,2633 00344 228D # X1 = 37 X 6 + 6
040247,000494: 14,2634 24005 HALFDP
040248,000495: 14,2635 77655 VAD
040249,000496: 14,2636 53505 VXM UNIT
040250,000497: 14,2637 01734 REFSMMAT
040251,000498: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040252,000499: 14,2641 66331 SSP SSP # S1 = S2 = 6
040253,000500: 14,2642 00051 S1
040254,000501: 14,2643 00006 6
040255,000502: 14,2644 00052 S2
040256,000503: 14,2645 00006 6
040257,000504: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040258,000505: 14,2647 30651 PIC2
040259,000506: 14,2650 30766 PICEND
040260,000507: 14,2651 50373 PIC2 VLOAD* DOT
040261,000508: 14,2652 30347 CATLOG,1
040262,000509: 14,2653 02731 SAX
040263,000510: 14,2654 50025 DSU BMN
040264,000511: 14,2655 30765 CSS33
040265,000512: 14,2656 30646 PIC1
040266,000513: 14,2657 77754 LXA,2
040267,000514: 14,2660 00046 X1
040268,000515: 14,2661 52104 PIC3 TIX,2 GOTO
040269,000516: 14,2662 30664 PIC4
040270,000517: 14,2663 30646 PIC1
040271,000518: 14,2664 50373 PIC4 VLOAD* DOT
040272,000519: 14,2665 47430 CATLOG,2
040273,000520: 14,2666 02731 SAX
040274,000521: 14,2667 50025 DSU BMN
040275,000522: 14,2670 30765 CSS33
040276,000523: 14,2671 30661 PIC3
040277,000524: 14,2672 47773 VLOAD* DOT*
040278,000525: 14,2673 30347 CATLOG,1
040279,000526: 14,2674 47430 CATLOG,2
040280,000527: 14,2675 51025 DSU BPL
040281,000528: 14,2676 30763 CSS40
040282,000529: 14,2677 30661 PIC3
040283,000530: 14,2700 45173 VLOAD* CALL
040284,000531: 14,2701 30347 CATLOG,1
040285,000532: 14,2702 30740 OCCULT
040286,000533: 14,2703 77614 BON
040287,000534: 14,2704 01710 CULTFLAG
040288,000535: 14,2705 30646 PIC1
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Page 939 |
040290,000537: 14,2706 45173 VLOAD* CALL
040291,000538: 14,2707 47430 CATLOG,2
040292,000539: 14,2710 30740 OCCULT
040293,000540: 14,2711 77614 BON
040294,000541: 14,2712 01710 CULTFLAG
040295,000542: 14,2713 30661 PIC3
040296,000543: 14,2714 77614 STRATGY BONCLR
040297,000544: 14,2715 01605 VFLAG
040298,000545: 14,2716 30733 NEWPAR
040299,000546: 14,2717 65120 XCHX,1 XCHX,2
040300,000547: 14,2720 02755 BESTI
040301,000548: 14,2721 02756 BESTJ
040302,000549: 14,2722 47773 STRAT VLOAD* DOT*
040303,000550: 14,2723 30347 CATLOG,1
040304,000551: 14,2724 47430 CATLOG,2
040305,000552: 14,2725 43006 PUSH BOFINV
040306,000553: 14,2726 01545 VFLAG
040307,000554: 14,2727 30717 STRAT -3
040308,000555: 14,2730 45345 DLOAD DSU
040309,000556: 14,2731 77644 BPL
040310,000557: 14,2732 30661 PIC3
040311,000558: 14,2733 67130 NEWPAR SXA,1 SXA,2
040312,000559: 14,2734 02755 BESTI
040313,000560: 14,2735 02756 BESTJ
040314,000561: 14,2736 77650 GOTO
040315,000562: 14,2737 30661 PIC3
040316,000563: 14,2740 51321 OCCULT MXV BVSU
040317,000564: 14,2741 02707 CULTRIX
040318,000565: 14,2742 00017 CSS
040319,000566: 14,2743 77654 BZE
040320,000567: 14,2744 30757 CULTED
040321,000568: 14,2745 75240 BMN SIGN
040322,000569: 14,2746 30757 CULTED
040323,000570: 14,2747 00160 MPAC +3
040324,000571: 14,2750 75240 BMN SIGN
040325,000572: 14,2751 30757 CULTED
040326,000573: 14,2752 00162 MPAC +5
040327,000574: 14,2753 43040 BMN CLRGO
040328,000575: 14,2754 30757 CULTED
040329,000576: 14,2755 01630 CULTFLAG
040330,000577: 14,2756 00052 QPRET
040331,000578: 14,2757 77614 CULTED SETGO
040332,000579: 14,2760 01430 CULTFLAG
040333,000580: 14,2761 00052 QPRET
040334,000581: 14,2762 0000016 CSS = CEARTH
040335,000582: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040336,000583: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040337,000584: 14,2766 77414 PICEND BOFF EXIT
040338,000585:
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Page 940 |
040340,000587: 14,2767 01745 VFLAG
040341,000588: 14,2770 30772 PICGXT
040342,000589: 14,2771 03013 TC PICBXT
040343,000590: 14,2772 73150 PICGXT LXA,1 LXA,2
040344,000591: 14,2773 02755 BESTI
040345,000592: 14,2774 02756 BESTJ
040346,000593: 14,2775 47775 VLOAD DOT*
040347,000594: 14,2776 02731 SAX
040348,000595: 14,2777 30347 CATLOG,1
040349,000596: 14,3000 47715 PDVL DOT*
040350,000597: 14,3001 02731 SAX
040351,000598: 14,3002 47430 CATLOG,2
040352,000599: 14,3003 77625 DSU
040353,000600: 14,3004 66044 BPL SXA,1
040354,000601: 14,3005 31011 PICNSWP
040355,000602: 14,3006 02756 BESTJ
040356,000603: 14,3007 77734 SXA,2
040357,000604: 14,3010 02755 BESTI
040358,000605: 14,3011 77776 PICNSWP EXIT
040359,000606: 14,3012 25745 INCR QMIN
040360,000607: 14,3013 31745 PICBXT CA QMIN
040361,000608: 14,3014 04622 TC SWCALL
040362,000609: 14,3015 VPD = 0D
040363,000610: 14,3015 V0 = 6D
040364,000611: 14,3015 V1 = 12D
040365,000612: 14,3015 V2 = 18D
040366,000613: 14,3015 V3 = 24D
040367,000614: 14,3015 DP0 = 30D
040368,000615: 14,3015 DP1 = 32D
040369,000616:
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Page 941 |
040371,000618: # NAME - R51 FINE ALIGN
040372,000619: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040373,000620: # CALLING SEQ - CALL R51
040374,000621: # INPUT - REFSMMAT
040375,000622: # OUTPUT - GYRO TORQUE PULSES
040376,000623: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040377,000624:
040378,000625: 14,3015 COUNT* $$/R51
040379,000626: 14,3015 77620 R51 STQ
040380,000627: 14,3016 02746 QMAJ
040381,000628: 14,3017 77776 R51.1 EXIT
040382,000629: 14,3020 05353 TC PHASCHNG
040383,000630: 14,3021 04024 OCT 04024
040384,000631:
040385,000632: 14,3022 34761 R51C CAF OCT15
040386,000633: 14,3023 04616 TC BANKCALL
040387,000634: 14,3024 20623 CADR GOPERF1
040388,000635: 14,3025 06001 TC GOTOPOOH
040389,000636: 14,3026 03030 TC +2 # V33E
040390,000637: 14,3027 03053 TC R51E # ENTER
040391,000638: 14,3030 06037 TC INTPRET
040392,000639: 14,3031 43234 RTB DAD
040393,000640: 14,3032 21573 LOADTIME
040394,000641: 14,3033 31163 TSIGHT1
040395,000642: 14,3034 77624 CALL
040396,000643: 14,3035 30506 LOCSAM
040397,000644: 14,3036 77776 EXIT
040398,000645: 14,3037 04616 TC BANKCALL
040399,000646: 14,3040 30611 CADR R56
040400,000647: 14,3041 03043 TC R51I
040401,000648: 14,3042 03053 R51F TC R51E
040402,000649: 14,3043 05567 R51I TC ALARM
040403,000650: 14,3044 00405 OCT 405
040404,000651: 14,3045 35006 CAF VB05N09
040405,000652: 14,3046 04616 TC BANKCALL
040406,000653: 14,3047 20476 CADR GOFLASH
040407,000654: 14,3050 06001 TC GOTOPOOH
040408,000655: 14,3051 03053 TC R51E
040409,000656: 14,3052 03022 TC R51C
040410,000657: 14,3053 34755 R51E CAF ZERO
040411,000658: 14,3054 55757 TS STARIND
040412,000659: 14,3055 06037 R51.2 TC INTPRET
040413,000660: 14,3056 77776 R51.3 EXIT
040414,000661: 14,3057 05353 TC PHASCHNG
040415,000662: 14,3060 04024 OCT 04024
040416,000663:
040417,000664: 14,3061 06037 TC INTPRET
040418,000665: 14,3062 77624 CALL
040419,000666: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040420,000667: 14,3064 77776 EXIT
040421,000668: 14,3065 04616 TC BANKCALL
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Page 942 |
040423,000670: 14,3066 16000 CADR AOTMARK
040424,000671: 14,3067 04616 TC BANKCALL
040425,000672: 14,3070 17712 CADR OPTSTALL
040426,000673: 14,3071 05711 TC CURTAINS
040427,000674: 14,3072 11757 CCS STARIND
040428,000675: 14,3073 13075 TCF +2
040429,000676: 14,3074 03145 TC R51.4
040430,000677: 14,3075 06037 TC INTPRET
040431,000678: 14,3076 77775 VLOAD
040432,000679: 14,3077 02715 STARAD +6
040433,000680: 14,3100 02767 STORE STARSAV2
040434,000681: 14,3101 77776 EXIT
040435,000682: 14,3102 05353 TC PHASCHNG
040436,000683: 14,3103 04024 OCT 04024
040437,000684:
040438,000685: 14,3104 06037 TC INTPRET
040439,000686: 14,3105 45145 DLOAD CALL
040440,000687: 14,3106 03562 TSIGHT
040441,000688: 14,3107 32472 PLANET
040442,000689: 14,3110 53521 MXV UNIT
040443,000690: 14,3111 01734 REFSMMAT
040444,000691: 14,3112 26715 STOVL STARAD +6
040445,000692: 14,3113 03554 PLANVEC
040446,000693: 14,3114 53521 MXV UNIT
040447,000694: 14,3115 01734 REFSMMAT
040448,000695: 14,3116 26707 STOVL STARAD
040449,000696: 14,3117 02761 STARSAV1
040450,000697: 14,3120 24007 STOVL 6D
040451,000698: 14,3121 02767 STARSAV2
040452,000699: 14,3122 34015 STCALL 12D
040453,000700: 14,3123 31256 R54 # STAR DATA TEST
040454,000701: 14,3124 45014 BOFF CALL
040455,000702: 14,3125 00354 FREEFLAG
040456,000703: 14,3126 31134 R51K
040457,000704: 14,3127 47441 AXISGEN
040458,000705: 14,3130 77624 CALL
040459,000706: 14,3131 31224 R55 # GYRO TORQUE
040460,000707: 14,3132 77614 CLEAR
040461,000708: 14,3133 01273 PFRATFLG
040462,000709: 14,3134 77776 R51K EXIT
040463,000710: 14,3135 35751 R51P63 CAF OCT14
040464,000711: 14,3136 04616 TC BANKCALL
040465,000712: 14,3137 20623 CADR GOPERF1
040466,000713: 14,3140 06001 TC GOTOPOOH
040467,000714: 14,3141 03022 TC R51C
040468,000715: 14,3142 06037 TC INTPRET
040469,000716: 14,3143 77650 GOTO
040470,000717: 14,3144 02746 QMAJ
040471,000718: 14,3145 06037 R51.4 TC INTPRET
040472,000719: 14,3146 77775 VLOAD
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Page 943 |
040474,000721: 14,3147 02715 STARAD +6
040475,000722: 14,3150 02761 STORE STARSAV1
040476,000723: 14,3151 45145 DLOAD CALL
040477,000724: 14,3152 03562 TSIGHT
040478,000725: 14,3153 32472 PLANET
040479,000726: 14,3154 03554 STORE PLANVEC
040480,000727: 14,3155 77731 SSP
040481,000728: 14,3156 02760 STARIND
040482,000729: 14,3157 00001 1
040483,000730: 14,3160 77650 GOTO
040484,000731: 14,3161 31056 R51.3
040485,000732: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040486,000733:
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Page 944 |
040488,000735: # GYRO TORQUE COARSE ALIGNMENT
040489,000736:
040490,000737: 14,3164 45020 GYCOARS STQ CALL
040491,000738: 14,3165 02746 QMAJ
040492,000739: 14,3166 47247 CALCGTA
040493,000740: 14,3167 43014 CLEAR CLEAR
040494,000741: 14,3170 01260 DRIFTFLG
040495,000742: 14,3171 01662 REFSMFLG
040496,000743: 14,3172 77776 EXIT
040497,000744: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040498,000745: 14,3174 04616 TC BANKCALL
040499,000746: 14,3175 20451 CADR GODSPR
040500,000747: 14,3176 33255 CA R55CDR
040501,000748: 14,3177 04616 TC BANKCALL
040502,000749: 14,3200 17323 CADR IMUPULSE
040503,000750: 14,3201 04616 TC BANKCALL
040504,000751: 14,3202 17716 CADR IMUSTALL
040505,000752: 14,3203 05711 TC CURTAINS
040506,000753: 14,3204 05353 TC PHASCHNG
040507,000754: 14,3205 04024 OCT 04024
040508,000755:
040509,000756: 14,3206 06037 TC INTPRET
040510,000757: 14,3207 75160 AXC,1 AXC,2
040511,000758: 14,3210 03606 XSMD
040512,000759: 14,3211 01733 REFSMMAT
040513,000760: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040514,000761: 14,3213 31377 MATMOVE
040515,000762: 14,3214 43014 CLEAR SET
040516,000763: 14,3215 01273 PFRATFLG
040517,000764: 14,3216 01462 REFSMFLG
040518,000765: 14,3217 77624 CALL
040519,000766: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040520,000767: 14,3221 77650 GOTO
040521,000768: 14,3222 31134 R51K
040522,000769: 14,3223 04024 V16N20 VN 1620
040523,000770:
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Page 945 |
040525,000772: # R55 GYRO TORQUE
040526,000773: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040527,000774: # CALLING SEQ - CALL R55
040528,000775: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040529,000776: # OUTPUT - GYRO PULSES
040530,000777: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040531,000778:
040532,000779: 14,3224 COUNT* $$/R55
040533,000780: 14,3224 77620 R55 STQ
040534,000781: 14,3225 02745 QMIN
040535,000782: 14,3226 77624 CALL
040536,000783: 14,3227 47247 CALCGTA
040537,000784: 14,3230 77776 PULSEM EXIT
040538,000785: 14,3231 33254 R55.1 CAF V06N93
040539,000786: 14,3232 04616 TC BANKCALL
040540,000787: 14,3233 20476 CADR GOFLASH
040541,000788: 14,3234 06001 TC GOTOPOOH
040542,000789: 14,3235 03237 TC R55.2
040543,000790: 14,3236 03251 TC R55RET
040544,000791: 14,3237 05353 R55.2 TC PHASCHNG
040545,000792: 14,3240 00214 OCT 00214
040546,000793: 14,3241 33255 CA R55CDR
040547,000794: 14,3242 04616 TC BANKCALL
040548,000795: 14,3243 17323 CADR IMUPULSE
040549,000796: 14,3244 04616 TC BANKCALL
040550,000797: 14,3245 17716 CADR IMUSTALL
040551,000798: 14,3246 05711 TC CURTAINS
040552,000799: 14,3247 05353 TC PHASCHNG
040553,000800: 14,3250 04024 OCT 04024
040554,000801:
040555,000802: 14,3251 06037 R55RET TC INTPRET
040556,000803: 14,3252 77650 GOTO
040557,000804: 14,3253 02745 QMIN
040558,000805: 14,3254 01535 V06N93 VN 0693
040559,000806: 14,3255 02737 R55CDR ECADR OGC
040560,000807: 14,3256 14,3256 R54 = CHKSDATA
040561,000808:
040562,000809: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040563,000810: # MOD NO - 0 LOG SECTION - P51-P53
040564,000811: # MODIFICATION BY - LONSKE ASSEMBLY -
040565,000812:
040566,000813: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040567,000814: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040568,000815: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040569,000816: # OS1 = OBSERVED STAR 1 VECTOR
040570,000817: # OS2 = OBSERVED STAR 2 VECTOR
040571,000818: # SS1 = STORED STAR 1 VECTOR
040572,000819: # SS2 = STORED STAR 2 VECTOR
040573,000820: # A1 = ARCCOS(OS1 - OS2)
040574,000821: # A2 = ARCCOS(SS1 - SS2)
040575,000822: # A = ABS(2(A1 - A2))
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Page 946 |
040577,000824: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040578,000825:
040579,000826: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040580,000827: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040581,000828:
040582,000829: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040583,000830: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040584,000831:
040585,000832: # ERASABLE INITIALIZATION REQUIRED -
040586,000833: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040587,000834: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040588,000835:
040589,000836: # DEBRIS -
040590,000837:
040591,000838: 14,3256 COUNT* $$/R54
040592,000839: 14,3256 43020 CHKSDATA STQ SET
040593,000840: 14,3257 02745 QMIN
040594,000841: 14,3260 00074 FREEFLAG
040595,000842: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040596,000843: 14,3262 02706 STARAD
040597,000844:
040598,000845: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040599,000846: 14,3264 00001 0,1
040600,000847: 14,3265 00007 6,1
040601,000848: 14,3266 65552 SL1 ACOS
040602,000849: 14,3267 00025 STORE THETA
040603,000850: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040604,000851: 14,3271 00354 FREEFLAG
040605,000852: 14,3272 31302 CHKSD
040606,000853: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
040607,000854: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040608,000855: 14,3275 00006 6D
040609,000856: 14,3276 00025 THETA
040610,000857: 14,3277 00023 STORE 18D
040611,000858: 14,3300 77650 GOTO
040612,000859: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
040613,000860: 14,3302 45345 CHKSD DLOAD DSU
040614,000861: 14,3303 00025 THETA
040615,000862: 14,3304 00023 18D
040616,000863: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
040617,000864: 14,3306 21612 SGNAGREE
040618,000865: 14,3307 01046 STORE NORMTEM1
040619,000866: 14,3310 77414 SET EXIT
040620,000867: 14,3311 00074 FREEFLAG
040621,000868: 14,3312 33326 CAF VB6N5
040622,000869: 14,3313 04616 TC BANKCALL
040623,000870: 14,3314 20476 CADR GOFLASH
040624,000871: 14,3315 16001 TCF GOTOPOOH
040625,000872: 14,3316 03323 TC CHKSDA # PROCEED
040626,000873: 14,3317 06037 TC INTPRET
040627,000874: 14,3320 52014 CLEAR GOTO
040628,000875: 14,3321 00274 FREEFLAG
040629,000876: 14,3322 02745 QMIN
040630,000877: 14,3323 06037 CHKSDA TC INTPRET
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Page 947 |
040632,000879: 14,3324 77650 GOTO
040633,000880: 14,3325 02745 QMIN
040634,000881: 14,3326 01405 VB6N5 VN 605
040635,000882:
040636,000883: # NAME - CAL53A
040637,000884: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040638,000885: # CALLING SEQUENCE - CALL CAL53A
040639,000886: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040640,000887: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040641,000888: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040642,000889: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040643,000890:
040644,000891: 14,3327 COUNT* $$/R50
040645,000892: 14,3327 77624 CAL53A CALL
040646,000893: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040647,000894: 14,3331 66234 RTB SSP
040648,000895: 14,3332 31413 RDCDUS # READ CDUS
040649,000896: 14,3333 00051 S1
040650,000897: 14,3334 00001 1
040651,000898: 14,3335 40370 AXT,1 SETPD
040652,000899: 14,3336 00003 3
040653,000900: 14,3337 00005 4
040654,000901: 14,3340 70543 CALOOP DLOAD* SR1
040655,000902: 14,3341 00325 THETAD +3D,1
040656,000903: 14,3342 70523 PDDL* SR1
040657,000904: 14,3343 00005 4,1
040658,000905: 14,3344 51425 DSU ABS
040659,000906: 14,3345 45206 PUSH DSU
040660,000907: 14,3346 31412 DEGREE1
040661,000908: 14,3347 71240 BMN DLOAD
040662,000909: 14,3350 31366 CALOOP1
040663,000910: 14,3351 51025 DSU BPL
040664,000911: 14,3352 31413 DEG359
040665,000912: 14,3353 31366 CALOOP1
040666,000913: 14,3354 77776 EXIT
040667,000914: 14,3355 05353 TC PHASCHNG
040668,000915: 14,3356 04024 OCT 04024
040669,000916:
040670,000917: 14,3357 06037 TC INTPRET
040671,000918: 14,3360 77624 COARFINE CALL
040672,000919: 14,3361 31565 COARSE
040673,000920: 14,3362 77624 CALL
040674,000921: 14,3363 31602 NCOARSE
040675,000922: 14,3364 77650 GOTO
040676,000923: 14,3365 31370 FINEONLY
040677,000924: 14,3366 77700 CALOOP1 TIX,1
040678,000925: 14,3367 31340 CALOOP
040679,000926: 14,3370 75160 FINEONLY AXC,1 AXC,2
040680,000927: 14,3371 02642 XSM
040681,000928: 14,3372 01733 REFSMMAT
040682,000929: 14,3373 77624 CALL
040683,000930: 14,3374 31377 MATMOVE
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Page 948 |
040685,000932: 14,3375 77650 GOTO
040686,000933: 14,3376 32161 COARSRET
040687,000934: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040688,000935: 14,3400 00001 0,1
040689,000936: 14,3401 10001 STORE 0,2
040690,000937: 14,3402 77773 VLOAD*
040691,000938: 14,3403 00007 6D,1
040692,000939: 14,3404 10007 STORE 6D,2
040693,000940: 14,3405 77773 VLOAD*
040694,000941: 14,3406 00015 12D,1
040695,000942: 14,3407 10015 STORE 12D,2
040696,000943: 14,3410 77616 RVQ
040697,000944: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040698,000945: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040699,000946: 14,3413 00004 RDCDUS INHINT # READ CDUS
040700,000947: 14,3414 30032 CA CDUX
040701,000948: 14,3415 50120 INDEX FIXLOC
040702,000949: 14,3416 54001 TS 1
040703,000950: 14,3417 30033 CA CDUY
040704,000951: 14,3420 50120 INDEX FIXLOC
040705,000952: 14,3421 54002 TS 2
040706,000953: 14,3422 30034 CA CDUZ
040707,000954: 14,3423 50120 INDEX FIXLOC
040708,000955: 14,3424 54003 TS 3
040709,000956: 14,3425 00003 RELINT
040710,000957: 14,3426 06061 TC DANZIG # +
040711,000958: 14,3427 COUNT* $$/INFLT
040712,000959:
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Page 949 |
040714,000961: # NAME - P51 - IMU ORIENTATION DETERMINATION
040715,000962: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040716,000963: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040717,000964:
040718,000965: # FUNCTIONAL DESCRIPTION
040719,000966: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040720,000967: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040721,000968: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040722,000969: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040723,000970:
040724,000971: # CALLING SEQUENCE
040725,000972: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040726,000973:
040727,000974: # SUBROUTINES CALLED.
040728,000975: # GOPERF3
040729,000976: # GOPERF1
040730,000977: # GODSPR
040731,000978: # IMUCOARS
040732,000979: # IMUFIN20
040733,000980: # AOTMARK (R53)
040734,000981: # CHKSDATA (R54)
040735,000982: # MKRELEAS
040736,000983: # AXISGEN
040737,000984: # MATMOVE
040738,000985:
040739,000986: # ALARMS
040740,000987: # NONE.
040741,000988:
040742,000989: # ERASABLE INITIALIZATION
040743,000990: # IMU ZERO FLAG SHOULD BE SET.
040744,000991:
040745,000992: # OUTPUT
040746,000993: # REFSMMAT
040747,000994: # REFSMFLG
040748,000995:
040749,000996: # DEBRIS
040750,000997: # WORK AREA
040751,000998: # STARAD
040752,000999: # STARIND
040753,001000: # BESTI
040754,001001: # BESTJ
040755,001002:
040756,001003: 14,3427 COUNT* $$/P51
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Page 950 |
040758,001005: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040759,001006: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040760,001007:
040761,001008: 14,3431 34761 CAF OCT15
040762,001009: 14,3432 04616 TC BANKCALL
040763,001010: 14,3433 20623 CADR GOPERF1
040764,001011: 14,3434 06001 TC GOTOPOOH # TERM.
040765,001012: 14,3435 13461 TCF P51B # V33
040766,001013: 14,3436 05353 TC PHASCHNG
040767,001014: 14,3437 04024 OCT 04024
040768,001015:
040769,001016: 14,3440 34755 CAF ZERO
040770,001017: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
040771,001018: 14,3442 54322 TS THETAD +1
040772,001019: 14,3443 54323 TS THETAD +2
040773,001020: 14,3444 35010 CAF V06N22
040774,001021: 14,3445 04616 TC BANKCALL
040775,001022: 14,3446 20446 CADR GODSPRET
040776,001023: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040777,001024: 14,3450 04616 TC BANKCALL
040778,001025: 14,3451 20446 CADR GODSPRET
040779,001026: 14,3452 06037 TC INTPRET
040780,001027: 14,3453 77624 CALL
040781,001028: 14,3454 31565 COARSE
040782,001029: 14,3455 77776 EXIT
040783,001030: 14,3456 05353 TC PHASCHNG
040784,001031: 14,3457 04024 OCT 04024
040785,001032: 14,3460 13431 TCF P51 +2
040786,001033:
040787,001034: 14,3461 05353 P51B TC PHASCHNG
040788,001035: 14,3462 00014 OCT 00014
040789,001036: 14,3463 06037 TC INTPRET
040790,001037: 14,3464 77624 CALL
040791,001038: 14,3465 31602 NCOARSE
040792,001039: 14,3466 40331 SSP SETPD
040793,001040: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
040794,001041: 14,3470 00000 0
040795,001042: 14,3471 00001 0
040796,001043: 14,3472 77776 P51C EXIT
040797,001044: 14,3473 05353 TC PHASCHNG
040798,001045: 14,3474 04024 OCT 04024
040799,001046:
040800,001047: 14,3475 04616 TC BANKCALL
040801,001048: 14,3476 16000 CADR AOTMARK # R53
040802,001049: 14,3477 04616 TC BANKCALL
040803,001050: 14,3500 17712 CADR AOTSTALL
040804,001051: 14,3501 05711 TC CURTAINS
040805,001052: 14,3502 11757 CCS STARIND
040806,001053: 14,3503 13511 TCF P51D +1
040807,001054: 14,3504 06037 TC INTPRET
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Page 951 |
040809,001056: 14,3505 77775 VLOAD
040810,001057: 14,3506 02715 STARAD +6
040811,001058: 14,3507 02761 STORE STARSAV1
040812,001059: 14,3510 77776 P51D EXIT
040813,001060: 14,3511 05353 TC PHASCHNG
040814,001061: 14,3512 04024 OCT 04024
040815,001062:
040816,001063: 14,3513 11757 CCS STARIND
040817,001064: 14,3514 13530 TCF P51E
040818,001065: 14,3515 05353 TC PHASCHNG
040819,001066: 14,3516 04024 OCT 04024
040820,001067:
040821,001068: 14,3517 06037 TC INTPRET
040822,001069: 14,3520 45145 DLOAD CALL
040823,001070: 14,3521 03562 TSIGHT
040824,001071: 14,3522 32472 PLANET
040825,001072: 14,3523 03554 STORE PLANVEC
040826,001073: 14,3524 77776 EXIT
040827,001074: 14,3525 34753 CAF BIT1
040828,001075: 14,3526 55757 TS STARIND
040829,001076: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
040830,001077: 14,3530 05353 P51E TC PHASCHNG
040831,001078: 14,3531 04024 OCT 04024
040832,001079:
040833,001080: 14,3532 06037 TC INTPRET
040834,001081: 14,3533 45145 DLOAD CALL
040835,001082: 14,3534 03562 TSIGHT
040836,001083: 14,3535 32472 PLANET
040837,001084: 14,3536 24015 STOVL 12D
040838,001085: 14,3537 03554 PLANVEC
040839,001086: 14,3540 24007 STOVL 6D
040840,001087: 14,3541 02761 STARSAV1
040841,001088: 14,3542 26707 STOVL STARAD
040842,001089: 14,3543 02767 STARSAV2
040843,001090: 14,3544 36715 STCALL STARAD +6
040844,001091: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040845,001092: 14,3546 77414 BON EXIT
040846,001093: 14,3547 00314 FREEFLAG
040847,001094: 14,3550 31552 P51G
040848,001095: 14,3551 03431 TC P51 +2
040849,001096: 14,3552 77624 P51G CALL
040850,001097: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040851,001098: 14,3554 75160 AXC,1 AXC,2
040852,001099: 14,3555 02664 XDC
040853,001100: 14,3556 01733 REFSMMAT
040854,001101: 14,3557 77624 CALL
040855,001102: 14,3560 31377 MATMOVE
040856,001103: 14,3561 77414 SET EXIT
040857,001104: 14,3562 01462 REFSMFLG
040858,001105: 14,3563 06001 TC GOTOPOOH # FINIS
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Page 952 |
040860,001107: 14,3564 12200 V41K VN 4100
040861,001108: 14,3565 77776 COARSE EXIT
040862,001109: 14,3566 04616 TC BANKCALL
040863,001110: 14,3567 17000 CADR IMUCOARS
040864,001111: 14,3570 04616 TC BANKCALL
040865,001112: 14,3571 17716 CADR IMUSTALL
040866,001113: 14,3572 05711 TC CURTAINS
040867,001114: 14,3573 04616 TC BANKCALL
040868,001115: 14,3574 17210 CADR IMUFINE
040869,001116: 14,3575 04616 TC BANKCALL
040870,001117: 14,3576 17716 CADR IMUSTALL
040871,001118: 14,3577 05711 TC CURTAINS
040872,001119: 14,3600 06037 TC INTPRET
040873,001120: 14,3601 77616 RVQ
040874,001121: 14,3602 77776 NCOARSE EXIT
040875,001122: 14,3603 30025 CA TIME1
040876,001123: 14,3604 55075 TS 1/PIPADT
040877,001124: 14,3605 44755 CS ZERO
040878,001125: 14,3606 54037 TS PIPAX
040879,001126: 14,3607 54040 TS PIPAY
040880,001127: 14,3610 54041 TS PIPAZ
040881,001128: 14,3611 06037 TC INTPRET
040882,001129: 14,3612 77775 VLOAD
040883,001130: 14,3613 24007 ZEROVEC
040884,001131: 14,3614 01472 STORE GCOMP
040885,001132: 14,3615 43414 SET RVQ
040886,001133: 14,3616 01060 DRIFTFLG
040887,001134:
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Page 953 |
040889,001136: # NAME - S52.2
040890,001137: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040891,001138: # CALL - CALL S52.2
040892,001139: # INPUT - X,Y,ZSMD
040893,001140: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040894,001141: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040895,001142:
040896,001143: 14,3617 COUNT* $$/S52.1
040897,001144: 14,3617 45020 S52.2 STQ CALL
040898,001145: 14,3620 02746 QMAJ
040899,001146: 14,3621 47537 CDUTRIG
040900,001147: 14,3622 77624 CALL
040901,001148: 14,3623 20030 CALCSMSC
040902,001149: 14,3624 66370 AXT,1 SSP
040903,001150: 14,3625 00022 18D
040904,001151: 14,3626 00051 S1
040905,001152: 14,3627 00006 6D
040906,001153: 14,3630 61373 S52.2A VLOAD* VXM
040907,001154: 14,3631 02707 XNB +18D,1
040908,001155: 14,3632 01734 REFSMMAT
040909,001156: 14,3633 77656 UNIT
040910,001157: 14,3634 06707 STORE XNB +18D,1
040911,001158: 14,3635 77700 TIX,1
040912,001159: 14,3636 31630 S52.2A
040913,001160: 14,3637 75160 S52.2.1 AXC,1 AXC,2
040914,001161: 14,3640 03606 XSMD
040915,001162: 14,3641 02642 XSM
040916,001163: 14,3642 77624 CALL
040917,001164: 14,3643 31377 MATMOVE
040918,001165: 14,3644 77624 CALL
040919,001166: 14,3645 47353 CALCGA
040920,001167: 14,3646 77650 GOTO
040921,001168: 14,3647 02746 QMAJ
040922,001169:
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Page 954 |
040924,001171: # NAME - S52.3
040925,001172: # FUNCTION XSMD= UNIT R
040926,001173: # YSMD= UNIT(V X R)
040927,001174: # ZSMD= UNIT(XSMD X YSMD)
040928,001175: # CALL DLOAD CALL
040929,001176: # TALIGN
040930,001177: # S52.3
040931,001178: # INPUT - TIME OF ALIGNMENT IN MPAC
040932,001179: # OUTPUT - X,Y,ZSMD
040933,001180: # SUBROUTINES - CSMCONIC
040934,001181:
040935,001182: 14,3650 COUNT* $$/S52.3
040936,001183: 14,3650 77620 S52.3 STQ
040937,001184: 14,3651 02746 QMAJ
040938,001185: 14,3652 34041 STCALL TDEC1
040939,001186: 14,3653 27100 LEMCONIC
040940,001187: 14,3654 53575 VLOAD UNIT
040941,001188: 14,3655 00001 RATT
040942,001189: 14,3656 27607 STOVL XSMD
040943,001190: 14,3657 00007 VATT
040944,001191: 14,3660 53435 VXV UNIT
040945,001192: 14,3661 00001 RATT
040946,001193: 14,3662 27615 STOVL YSMD
040947,001194: 14,3663 03607 XSMD
040948,001195: 14,3664 53435 VXV UNIT
040949,001196: 14,3665 03615 YSMD
040950,001197: 14,3666 37623 STCALL ZSMD
040951,001198: 14,3667 02746 QMAJ
040952,001199:
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Page 955 |
040954,001201: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040955,001202:
040956,001203: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040957,001204: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040958,001205:
040959,001206: # CALLING - CALL R52
040960,001207:
040961,001208: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040962,001209:
040963,001210: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040964,001211: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040965,001212: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040966,001213: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040967,001214:
040968,001215: # SUBROUT - R60LEM
040969,001216:
040970,001217: 14,3670 COUNT* $$/R52
040971,001218: 14,3670 77420 R52 STQ EXIT
040972,001219: 14,3671 03665 SAVQR52
040973,001220: 14,3672 51757 INDEX STARIND
040974,001221: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040975,001222: 14,3674 00006 EXTEND
040976,001223: 14,3675 73771 MP 1/6TH
040977,001224: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
040978,001225: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
040979,001226:
040980,001227: 14,3700 33772 R52A CAF V01N70
040981,001228: 14,3701 04616 TC BANKCALL
040982,001229: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040983,001230: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
040984,001231: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
040985,001232: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040986,001233:
040987,001234: 14,3706 05516 R52B TC DOWNFLAG
040988,001235: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040989,001236: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
040990,001237: 14,3711 77744 MASK HIGH9
040991,001238: 14,3712 00006 EXTEND
040992,001239: 14,3713 74743 MP BIT9
040993,001240: 14,3714 54001 TS L # TEMP STORE DETENT
040994,001241:
040995,001242: 14,3715 00006 EXTEND
040996,001243: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040997,001244:
040998,001245: 14,3717 65660 AD NEG7
040999,001246: 14,3720 00006 EXTEND
041000,001247: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041001,001248:
041002,001249: 14,3722 E7,1551 EBANK= XYMARK
041003,001250: 14,3722 35016 CA EBANK7
041004,001251: 14,3723 54003 TS EBANK
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Page 956 |
041006,001253: 14,3724 50001 INDEX L
041007,001254: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041008,001255: 14,3726 54001 TS L
041009,001256: 14,3727 E5,1642 EBANK= XSM
041010,001257: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041011,001258: 14,3730 54003 TS EBANK
041012,001259: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041013,001260: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041014,001261: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041015,001262:
041016,001263: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041017,001264: 14,3735 04616 TC BANKCALL
041018,001265: 14,3736 20476 CADR GOFLASH
041019,001266: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
041020,001267: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
041021,001268: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
041022,001269:
041023,001270: 14,3742 00006 EXTEND
041024,001271: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041025,001272: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041026,001273: 14,3745 52011 DXCH 8D
041027,001274: 14,3746 06037 TC INTPRET
041028,001275: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041029,001276: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041030,001277: 14,3751 45034 RTB CALL
041031,001278: 14,3752 21573 LOADTIME
041032,001279: 14,3753 32472 PLANET
041033,001280: 14,3754 53521 MXV UNIT
041034,001281: 14,3755 01734 REFSMMAT
041035,001282: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041036,001283:
041037,001284: 14,3757 77776 EXIT
041038,001285: 14,3760 04616 TC BANKCALL
041039,001286: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041040,001287:
041041,001288: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041042,001289: 14,3763 70735 MASK STARCODE
041043,001290: 14,3764 00006 EXTEND
041044,001291: 14,3765 13700 BZF R52A
041045,001292:
041046,001293: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041047,001294: 14,3767 77650 GOTO
041048,001295: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041049,001296:
041050,001297: 14,3771 05253 1/6TH DEC .1666667
041051,001298: 14,3772 00306 V01N70 VN 0170
041052,001299: 14,3773 01527 V06N87 VN 687
041053,001300:
![]() |
Page 957 |
041055,001302: # LUNAR SURFACE STAR AQUISITION
041056,001303:
041057,001304: 15,2245 BANK 15
041058,001305: 15,2000 SETLOC P50S
041059,001306: 15,2000 BANK
041060,001307: 15,2245 COUNT* $$/R59
041061,001308:
041062,001309: 15,2245 40077 R59 CS FLAGWRD3
041063,001310: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041064,001311: 15,2247 10000 CCS A
041065,001312: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041066,001313:
041067,001314: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041068,001315: 15,2252 04616 TC BANKCALL
041069,001316: 15,2253 20476 CADR GOFLASH
041070,001317: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
041071,001318: 15,2255 12257 TCF R59A # V33 - PROCEED
041072,001319: 15,2256 12245 TCF R59 # V32 - RECYCLE
041073,001320:
041074,001321: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041075,001322: 15,2260 70735 MASK AOTCODE
041076,001323: 15,2261 00006 EXTEND
041077,001324: 15,2262 76242 MP REVCNT # JUST 6
041078,001325: 15,2263 56001 XCH L
041079,001326: 15,2264 51757 INDEX STARIND
041080,001327: 15,2265 55755 TS BESTI
041081,001328: 15,2266 50120 INDEX FIXLOC
041082,001329: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041083,001330: 15,2270 00006 EXTEND
041084,001331: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041085,001332: 15,2272 40000 COM
041086,001333: 15,2273 62561 AD DEC227
041087,001334: 15,2274 00006 EXTEND
041088,001335: 15,2275 62455 BZMF R59OUT
041089,001336:
041090,001337: 15,2276 06037 TC INTPRET
041091,001338: 15,2277 64373 VLOAD* MXV
041092,001339: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041093,001340: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041094,001341: 15,2302 45056 UNIT CALL
041095,001342: 15,2303 47646 CDU*SMNB
041096,001343: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041097,001344: 15,2305 77776 EXIT
041098,001345:
041099,001346: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041100,001347: 15,2307 55242 TS POSCODE
041101,001348:
041102,001349: 15,2310 E7,1551 EBANK= XYMARK
041103,001350: 15,2310 35016 INCAZ CA EBANK7
041104,001351: 15,2311 54003 TS EBANK
041105,001352:
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Page 958 |
041107,001354: 15,2312 51242 INDEX POSCODE
041108,001355: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041109,001356: 15,2314 54001 TS L
041110,001357:
041111,001358: 15,2315 E5,1642 EBANK= XSM
041112,001359: 15,2315 35014 CA EBANK5
041113,001360: 15,2316 54003 TS EBANK
041114,001361:
041115,001362: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041116,001363: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041117,001364: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041118,001365: 15,2322 50120 INDEX FIXLOC
041119,001366: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041120,001367:
041121,001368: 15,2324 06037 TC INTPRET
041122,001369: 15,2325 77624 CALL
041123,001370: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041124,001371: 15,2327 50375 VLOAD DOT
041125,001372: 15,2330 02731 STAR # DOT STAR WITH OA
041126,001373: 15,2331 03765 SCAXIS
041127,001374: 15,2332 65552 SL1 ARCCOS
041128,001375: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041129,001376:
041130,001377: 15,2334 51025 DSU BPL
041131,001378: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041132,001379: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041133,001380: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041134,001381: 15,2340 00031 24D
041135,001382: 15,2341 32470 DEG.5
041136,001383: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041137,001384: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041138,001385: 15,2344 00031 24D # GET SPIRAL
041139,001386: 15,2345 42405 DMP SL4
041140,001387: 15,2346 25764 3/4 # 12 SCALED AT 16
041141,001388: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041142,001389:
041143,001390: 15,2350 03765 SCAXIS # OA
041144,001391: 15,2351 53435 VXV UNIT
041145,001392: 15,2352 24005 XUNIT
041146,001393: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041147,001394: 15,2354 03765 SCAXIS
041148,001395: 15,2355 77676 VCOMP
041149,001396: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041150,001397: 15,2357 03765 SCAXIS
041151,001398: 15,2360 53435 VXV UNIT
041152,001399: 15,2361 02731 STAR
041153,001400: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041154,001401: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041155,001402: 15,2364 65552 SL1 ARCCOS
041156,001403: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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Page 959 |
041158,001405: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041159,001406: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
041160,001407: 15,2370 32375 R59D
041161,001408: 15,2371 32047 ABOUTONE
041162,001409: 15,2372 77625 DSU
041163,001410: 15,2373 00033 26D
041164,001411: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041165,001412:
041166,001413: 15,2375 70535 R59D SLOAD SR1
041167,001414: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041168,001415: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041169,001416: 15,2400 00033 26D
041170,001417: 15,2401 77634 RTB
041171,001418: 15,2402 21614 1STO2S
041172,001419: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041173,001420: 15,2404 00031 24D # LOAD SROT IN REVS
041174,001421: 15,2405 77615 DAD # 12(SEP) + YROT
041175,001422: 15,2406 77634 RTB
041176,001423: 15,2407 21614 1STO2S
041177,001424: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041178,001425: 15,2411 77776 EXIT
041179,001426: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041180,001427:
041181,001428: 15,2413 77776 ZSPCR EXIT
041182,001429: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041183,001430: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041184,001431: 15,2416 55240 TS SPIRAL
041185,001432: 15,2417 12437 TCF 79DISP
041186,001433:
041187,001434: 15,2420 77776 NXAX EXIT
041188,001435: 15,2421 25242 INCR POSCODE
041189,001436: 15,2422 41242 CS POSCODE
041190,001437: 15,2423 64757 AD SEVEN
041191,001438: 15,2424 00006 EXTEND
041192,001439: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041193,001440: 15,2426 12310 TCF INCAZ
041194,001441:
041195,001442: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041196,001443: 15,2430 00404 OCT 404
041197,001444: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041198,001445: 15,2432 04616 TC BANKCALL
041199,001446: 15,2433 20476 CADR GOFLASH
041200,001447: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
041201,001448: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
041202,001449: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
041203,001450:
041204,001451: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041205,001452: 15,2440 04616 TC BANKCALL
041206,001453: 15,2441 20476 CADR GOFLASH
041207,001454: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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Page 960 |
041209,001456: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
041210,001457: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
041211,001458:
041212,001459: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041213,001460: 15,2446 71242 MASK POSCODE
041214,001461: 15,2447 00006 EXTEND
041215,001462: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041216,001463: 15,2451 47744 CS HIGH9
041217,001464: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041218,001465: 15,2453 60001 AD L
041219,001466: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041220,001467:
041221,001468: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041222,001469: 15,2456 16000 CADR AOTMARK
041223,001470: 15,2457 04616 TC BANKCALL
041224,001471: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041225,001472: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041226,001473: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041227,001474:
041228,001475: 15,2463 00306 V01N70* VN 170
041229,001476: 15,2464 01517 V06N79 VN 679
041230,001477: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041231,001478: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041232,001479: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041233,001480: 15,2472 1236 CURSOR EQUALS GDT/2
041234,001481: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041235,001482: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041236,001483:
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Page 961 |
041238,001485: # NAME - PLANET
041239,001486: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041240,001487: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041241,001488: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041242,001489: # BY DSDY INPUT
041243,001490: # CALL - CALL
041244,001491: # PLANET
041245,001492: # INPUT - TIME IN MPAC
041246,001493: # OUTPUT - VECTOR IN MPAC
041247,001494: # SUBROUTINES - LOCSAM
041248,001495: # DEBRIS - VAC, STARAD - STARAD +17
041249,001496:
041250,001497: 15,2000 SETLOC P50S
041251,001498: 15,2000 BANK
041252,001499: 15,2472 COUNT* $$/P51
041253,001500:
041254,001501: 15,2472 27562 PLANET STOVL TSIGHT
041255,001502: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
041256,001503: 15,2474 02707 STORE STARAD
041257,001504: 15,2475 77420 STQ EXIT
041258,001505: 15,2476 02736 GCTR
041259,001506: 15,2477 47744 CS HIGH9
041260,001507: 15,2500 70735 MASK AOTCODE
041261,001508: 15,2501 00006 EXTEND
041262,001509: 15,2502 76242 MP REVCNT
041263,001510: 15,2503 56001 XCH L
041264,001511: 15,2504 51757 INDEX STARIND
041265,001512: 15,2505 55755 TS BESTI
041266,001513: 15,2506 10000 CCS A
041267,001514: 15,2507 12523 TCF NOTPLAN
041268,001515: 15,2510 32562 CAF VNPLANV
041269,001516: 15,2511 04616 TC BANKCALL
041270,001517: 15,2512 20476 CADR GOFLASH
041271,001518: 15,2513 02510 TC -3
041272,001519: 15,2514 02516 TC +2
041273,001520: 15,2515 02510 TC -5
041274,001521: 15,2516 06037 TC INTPRET
041275,001522: 15,2517 53575 VLOAD UNIT
041276,001523: 15,2520 02707 STARAD
041277,001524: 15,2521 77650 GOTO
041278,001525: 15,2522 02736 GCTR
041279,001526: 15,2523 40000 NOTPLAN CS A
041280,001527: 15,2524 62561 AD DEC227
041281,001528: 15,2525 00006 EXTEND
041282,001529: 15,2526 62537 BZMF CALSAM1
041283,001530: 15,2527 51757 INDEX STARIND
041284,001531: 15,2530 31755 CA BESTI
041285,001532: 15,2531 50120 INDEX FIXLOC
041286,001533: 15,2532 54046 TS X1
041287,001534: 15,2533 06037 TC INTPRET
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Page 962 |
041289,001536: 15,2534 52173 VLOAD* GOTO
041290,001537: 15,2535 30347 CATLOG,1
041291,001538: 15,2536 02736 GCTR
041292,001539: 15,2537 06037 CALSAM1 TC INTPRET
041293,001540: 15,2540 45145 CALSAM DLOAD CALL
041294,001541: 15,2541 03562 TSIGHT
041295,001542: 15,2542 30506 LOCSAM
041296,001543: 15,2543 77340 LXC,1 VLOAD
041297,001544: 15,2544 02757 STARIND
041298,001545: 15,2545 02707 VEARTH
041299,001546: 15,2546 24001 STOVL 0D
041300,001547: 15,2547 02715 VSUN
041301,001548: 15,2550 26707 STOVL VEARTH
041302,001549: 15,2551 00001 0D
041303,001550: 15,2552 02715 STORE VSUN
041304,001551: 15,2553 70143 DLOAD* LXC,1
041305,001552: 15,2554 02756 BESTI,1
041306,001553: 15,2555 00154 MPAC
041307,001554: 15,2556 52173 VLOAD* GOTO
041308,001555: 15,2557 02343 STARAD -228D,1
041309,001556: 15,2560 02736 GCTR
041310,001557: 15,2561 00343 DEC227 DEC 227 B-14
041311,001558: 15,2562 01530 VNPLANV VN 0688
041312,001559: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041313,001560:
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Page 963 |
041315,001562: # GRAVITY VECTOR DETERMINATION ROUTINE
041316,001563: # BY KEN VINCENT
041317,001564:
041318,001565: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041319,001566:
041320,001567: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041321,001568: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041322,001569: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041323,001570: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041324,001571: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041325,001572: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041326,001573: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041327,001574: # READINGS.
041328,001575:
041329,001576: # CALL -
041330,001577: # TC BANKCALL
041331,001578: # CADR GVDETER
041332,001579:
041333,001580: # INPUTS -
041334,001581: # PIPAS, CDUS
041335,001582:
041336,001583: # OUTPUTS -
041337,001584: # STARSAV1 = UNIT GRAVITY
041338,001585: # GSAV = DITTO
041339,001586: # GRAVBIT = 1
041340,001587:
041341,001588: # SUBROUTINES -
041342,001589: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041343,001590: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041344,001591:
041345,001592: # DEBRIS -
041346,001593: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041347,001594:
041348,001595: 15,2563 32772 GVDETER CAF 42DEG
041349,001596: 15,2564 54321 TS THETAD
041350,001597: 15,2565 40000 COM
041351,001598: 15,2566 54322 TS THETAD +1
041352,001599: 15,2567 32773 CAF 35DEG
041353,001600: 15,2570 54323 TS THETAD +2
041354,001601: 15,2571 06037 TC INTPRET
041355,001602: 15,2572 45014 CLEAR CALL
041356,001603: 15,2573 01662 REFSMFLG
041357,001604: 15,2574 32670 LUNG
041358,001605:
041359,001606: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041360,001607:
041361,001608: # DEFINE G COOR SYS
041362,001609: # -
041363,001610: # X UNIT G
041364,001611: # * - -
041365,001612: # M = Y = UNITEZSM * X )
041366,001613: # - - -
041367,001614: # Z UNIT(X * Y )
041368,001615:
041369,001616: # THEN ROTATED SM WRT PRESENT IS
041370,001617:
041371,001618: # 1, 0, 0
041372,001619: # * *T * * *
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Page 964 |
041374,001621: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041375,001622: # I J
041376,001623: # 0, 0, -1
041377,001624:
041378,001625: # ALSO NB WRT PRES SM IS
041379,001626:
041380,001627: # * * *
041381,001628: # XNB = NBSM I
041382,001629: # * *
041383,001630: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041384,001631:
041385,001632: 15,2000 SETLOC P50S
041386,001633: 15,2000 BANK
041387,001634: 15,2575 COUNT* $$/P57
041388,001635: 15,2575 66370 AXT,1 SSP # X1=18
041389,001636: 15,2576 00022 18D # S1=6
041390,001637: 15,2577 00051 S1 # X2, -2
041391,001638: 15,2600 00006 6D
041392,001639: 15,2601 77744 LXC,2
041393,001640: 15,2602 00050 S1
041394,001641: 15,2603 45173 GRAVEL VLOAD* CALL
041395,001642: 15,2604 54000 XUNIT -6,2
041396,001643: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041397,001644: 15,2606 06707 STORE XNB +18D,1
041398,001645: 15,2607 77775 VLOAD
041399,001646: 15,2610 02731 STAR
041400,001647: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041401,001648: 15,2612 00047 X2
041402,001649: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041403,001650: 15,2614 71152 VSL2 LXC,2
041404,001651: 15,2615 00047 X2
041405,001652: 15,2616 63047 VSU* INCR,2
041406,001653: 15,2617 54000 XUNIT -6,2
041407,001654: 15,2620 00002 2D
041408,001655: 15,2621 06665 STORE XSM +18D,1
041409,001656: 15,2622 45100 TIX,1 CALL
041410,001657: 15,2623 32603 GRAVEL
041411,001658: 15,2624 47353 CALCGA
041412,001659: 15,2625 74575 VLOAD VSR1
041413,001660: 15,2626 02715 GOUT
041414,001661: 15,2627 36723 STCALL STARAD +12D
041415,001662: 15,2630 32670 LUNG
041416,001663: 15,2631 74575 VLOAD VSR1
041417,001664: 15,2632 02715 GOUT
041418,001665: 15,2633 53455 VAD UNIT
041419,001666: 15,2634 02723 STARAD +12D
041420,001667: 15,2635 02761 STORE STARSAV1
041421,001668: 15,2636 77641 DOT
041422,001669: 15,2637 02231 GSAV
041423,001670: 15,2640 65552 SL1 ACOS
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Page 965 |
041425,001672: 15,2641 01046 STORE DSPTEM1
041426,001673: 15,2642 77776 EXIT
041427,001674: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041428,001675: 15,2644 00014 ADRES FREEFLAG
041429,001676:
041430,001677: 15,2645 32771 CA DISGRVER
041431,001678: 15,2646 04616 TC BANKCALL
041432,001679: 15,2647 20476 CADR GOFLASH
041433,001680: 15,2650 06001 TC GOTOPOOH
041434,001681: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
041435,001682: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041436,001683: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041437,001684:
041438,001685: 15,2654 05353 PROGRAV TC PHASCHNG
041439,001686: 15,2655 04024 OCT 04024
041440,001687:
041441,001688: 15,2656 06037 TC INTPRET
041442,001689: 15,2657 77775 VLOAD
041443,001690: 15,2660 02761 STARSAV1
041444,001691: 15,2661 02231 STORE GSAV
041445,001692: 15,2662 77776 EXIT
041446,001693: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041447,001694: 15,2664 70074 MASK FLAGWRD0
041448,001695: 15,2665 10000 CCS A
041449,001696: 15,2666 12563 TCF GVDETER # SET
041450,001697: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041451,001698:
041452,001699: 15,2670 77220 LUNG STQ VLOAD
041453,001700: 15,2671 02745 QMIN
041454,001701: 15,2672 24007 ZEROVEC
041455,001702: 15,2673 02707 STORE GACC
041456,001703: 15,2674 77776 EXIT
041457,001704: 15,2675 05353 TC PHASCHNG
041458,001705: 15,2676 04024 OCT 04024
041459,001706:
041460,001707: 15,2677 04616 TC BANKCALL
041461,001708: 15,2700 17000 CADR IMUCOARS
041462,001709: 15,2701 04616 TC BANKCALL
041463,001710: 15,2702 17716 CADR IMUSTALL
041464,001711: 15,2703 05711 TC CURTAINS
041465,001712: 15,2704 04616 TC BANKCALL
041466,001713: 15,2705 17210 CADR IMUFINE
041467,001714: 15,2706 04616 TC BANKCALL
041468,001715: 15,2707 17716 CADR IMUSTALL
041469,001716: 15,2710 05711 TC CURTAINS
041470,001717: 15,2711 32770 CA T/2SEC
041471,001718: 15,2712 55736 TS GCTR
041472,001719: 15,2713 37716 CA PRIO31
041473,001720: 15,2714 55075 TS 1/PIPADT
041474,001721: 15,2715 04616 TC BANKCALL
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Page 966 |
041476,001723: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041477,001724: 15,2717 05353 TC PHASCHNG
041478,001725: 15,2720 04024 OCT 04024
041479,001726:
041480,001727: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041481,001728: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041482,001729: 15,2723 06037 TC INTPRET
041483,001730: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041484,001731: 15,2725 35000 CAF 2SECS
041485,001732: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041486,001733: 15,2727 02731 ADRES GRABGRAV
041487,001734:
041488,001735: 15,2730 05155 TC ENDOFJOB
041489,001736:
041490,001737: 15,2731 04674 GRABGRAV TC IBNKCALL
041491,001738: 15,2732 77544 CADR PIPSRINE
041492,001739: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041493,001740: 15,2734 05105 TC FINDVAC
041494,001741: 15,2735 E5,1706 EBANK= STARAD
041495,001742: 15,2735 02740 32065 2CADR ADDGRAV
041496,001743:
041497,001744: 15,2737 05261 TC TASKOVER
041498,001745:
041499,001746: 15,2740 04616 ADDGRAV TC BANKCALL
041500,001747: 15,2741 15263 CADR 1/PIPA
041501,001748: 15,2742 25736 INCR GCTR
041502,001749: 15,2743 06037 TC INTPRET
041503,001750: 15,2744 53375 VLOAD VAD
041504,001751: 15,2745 00325 DELV
041505,001752: 15,2746 02707 GACC
041506,001753: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041507,001754: 15,2750 50135 SLOAD BMN
041508,001755: 15,2751 02737 GCTR
041509,001756: 15,2752 32724 GREED
041510,001757: 15,2753 53575 VLOAD UNIT
041511,001758: 15,2754 02707 GACC
041512,001759: 15,2755 36731 STCALL STAR
041513,001760: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041514,001761: 15,2757 77624 CALL # IN OUTPUT
041515,001762: 15,2760 47671 *SMNB*
041516,001763: 15,2761 02715 STORE GOUT
041517,001764: 15,2762 77776 EXIT
041518,001765: 15,2763 05353 TC PHASCHNG
041519,001766: 15,2764 04024 OCT 04024
041520,001767:
041521,001768: 15,2765 06037 QMINEXIT TC INTPRET
041522,001769: 15,2766 77650 GOTO
041523,001770: 15,2767 02745 QMIN
041524,001771: 15,2770 77753 T/2SEC DEC -20 B-14
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Page 967 |
041526,001773: 15,2771 01404 DISGRVER VN 0604
041527,001774: 15,2772 07357 42DEG OCT 07357
041528,001775: 15,2773 06211 35DEG OCT 06211
041529,001776:
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Page 968 |
041531,001778: # NAME GYROTRIM
041532,001779:
041533,001780: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041534,001781: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041535,001782: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041536,001783:
041537,001784: # CALL CALL
041538,001785: # GYROTRIM
041539,001786:
041540,001787: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041541,001788: # CDUX,CDUY,CDUZ
041542,001789:
041543,001790: # OUTPUT - GYRO TORQUE PULSES
041544,001791:
041545,001792: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041546,001793: # IMPULSE, IMUSTALL
041547,001794: # - - - * * -
041548,001795: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041549,001796:
041550,001797: 15,2774 COUNT* $$/P57
041551,001798: 15,2774 71220 GYROTRIM STQ DLOAD
041552,001799: 15,2775 02745 QMIN
041553,001800: 15,2776 00322 THETAD
041554,001801: 15,2777 65325 PDDL PDDL
041555,001802: 15,3000 00324 THETAD +2
041556,001803: 15,3001 00323 THETAD +1
041557,001804: 15,3002 77666 VDEF
041558,001805: 15,3003 24767 STOVL CDUSPOT
041559,001806: 15,3004 24005 XUNIT
041560,001807: 15,3005 77624 CALL
041561,001808: 15,3006 47664 TRG*NBSM
041562,001809: 15,3007 26707 STOVL STARAD
041563,001810: 15,3010 24003 YUNIT
041564,001811: 15,3011 77624 CALL
041565,001812: 15,3012 47673 *NBSM*
041566,001813: 15,3013 36715 STCALL STARAD +6
041567,001814: 15,3014 47537 CDUTRIG
041568,001815: 15,3015 77624 CALL
041569,001816: 15,3016 20030 CALCSMSC
041570,001817: 15,3017 77775 VLOAD
041571,001818: 15,3020 02665 XNB
041572,001819: 15,3021 24007 STOVL 6D
041573,001820: 15,3022 02673 YNB
041574,001821: 15,3023 34015 STCALL 12D
041575,001822: 15,3024 47441 AXISGEN
041576,001823: 15,3025 77624 CALL
041577,001824: 15,3026 47247 CALCGTA
041578,001825: 15,3027 77776 JUSTTRIM EXIT
041579,001826: 15,3030 04616 TC BANKCALL
041580,001827: 15,3031 17210 CADR IMUFINE
041581,001828: 15,3032 04616 TC BANKCALL
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Page 969 |
041583,001830: 15,3033 17716 CADR IMUSTALL
041584,001831: 15,3034 05711 TC CURTAINS
041585,001832: 15,3035 33044 CA GYRCDR
041586,001833: 15,3036 04616 TC BANKCALL
041587,001834: 15,3037 17323 CADR IMUPULSE
041588,001835: 15,3040 04616 TC BANKCALL
041589,001836: 15,3041 17716 CADR IMUSTALL
041590,001837: 15,3042 05711 TC CURTAINS
041591,001838: 15,3043 12765 TCF QMINEXIT
041592,001839:
041593,001840: 15,3044 02737 GYRCDR ECADR OGC
041594,001841:
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Page 970 |
041596,001843: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041597,001844:
041598,001845: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
041599,001846: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041600,001847: 15,3047 34753 1STAR CAF BIT1
041601,001848: 15,3050 55757 TS STARIND
041602,001849:
041603,001850: 15,3051 05353 TC PHASCHNG
041604,001851: 15,3052 04024 OCT 04024
041605,001852:
041606,001853: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041607,001854:
041608,001855: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041609,001856: 15,3055 00006 EXTEND
041610,001857: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
041611,001858:
041612,001859: 15,3057 05353 TC PHASCHNG
041613,001860: 15,3060 04024 OCT 04024
041614,001861:
041615,001862: 15,3061 06037 TC INTPRET
041616,001863: 15,3062 45145 DLOAD CALL
041617,001864: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
041618,001865: 15,3064 32472 PLANET
041619,001866: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041620,001867: 15,3066 33101 SURFLINE
041621,001868:
041622,001869: 15,3067 06037 ASTAR TC INTPRET
041623,001870: 15,3070 77775 VLOAD
041624,001871: 15,3071 02715 STARAD +6
041625,001872: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041626,001873: 15,3073 45145 DLOAD CALL
041627,001874: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
041628,001875: 15,3075 32472 PLANET
041629,001876: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041630,001877: 15,3077 77776 EXIT
041631,001878: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
041632,001879:
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Page 971 |
041634,001881: # DO FINE OR COARSE ALIGNMENT OF IMU
041635,001882:
041636,001883: 15,3101 77131 SURFLINE SSP AXT,2
041637,001884: 15,3102 00052 S2
041638,001885: 15,3103 00006 6
041639,001886: 15,3104 00014 12D
041640,001887: 15,3105 64373 WRTDESIR VLOAD* MXV
041641,001888: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041642,001889: 15,3107 03607 XSMD
041643,001890: 15,3110 77656 UNIT
041644,001891: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
041645,001892: 15,3112 77773 VLOAD*
041646,001893: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041647,001894: 15,3114 10023 STORE 18D,2
041648,001895: 15,3115 43104 TIX,2 BON
041649,001896: 15,3116 33105 WRTDESIR
041650,001897: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041651,001898: 15,3120 33126 INITBY
041652,001899: 15,3121 77624 DOALIGN CALL
041653,001900: 15,3122 31256 R54 # DO CHKSDATA
041654,001901: 15,3123 77614 BOFF
041655,001902: 15,3124 00354 FREEFLAG
041656,001903: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041657,001904: 15,3126 77624 INITBY CALL
041658,001905: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041659,001906: 15,3130 77624 CALL
041660,001907: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041661,001908: 15,3132 77776 EXIT
041662,001909: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041663,001910: 15,3134 70104 MASK FLAGWRD8
041664,001911: 15,3135 10000 CCS A
041665,001912: 15,3136 13145 TCF 5DEGTEST
041666,001913: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041667,001914: 15,3140 04616 TC BANKCALL
041668,001915: 15,3141 20476 CADR GOFLASH
041669,001916: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
041670,001917: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041671,001918: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041672,001919:
041673,001920: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041674,001921: 15,3146 40175 VLOAD BOV
041675,001922: 15,3147 02740 OGC
041676,001923: 15,3150 33151 SURFSUP
041677,001924: 15,3151 02750 SURFSUP STORE OGCT
041678,001925: 15,3152 40141 V/SC BOV
041679,001926: 15,3153 30610 5DEGREES
041680,001927: 15,3154 33254 COATRIM
041681,001928: 15,3155 52131 SSP GOTO
041682,001929: 15,3156 02746 QMIN
041683,001930: 15,3157 33161 SURFDISP
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Page 972 |
041685,001932: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041686,001933:
041687,001934: 15,3161 77776 SURFDISP EXIT
041688,001935: 15,3162 05353 TC PHASCHNG
041689,001936: 15,3163 04024 OCT 04024
041690,001937:
041691,001938: 15,3164 06037 TC INTPRET
041692,001939: 15,3165 75160 AXC,1 AXC,2
041693,001940: 15,3166 03606 XSMD
041694,001941: 15,3167 01733 REFSMMAT
041695,001942: 15,3170 45014 SET CALL
041696,001943: 15,3171 01462 REFSMFLG
041697,001944: 15,3172 31377 MATMOVE
041698,001945: 15,3173 77776 EXIT
041699,001946: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
041700,001947: 15,3175 13177 TCF B2F8
041701,001948: 15,3176 13207 TCF P57POST +1
041702,001949:
041703,001950: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041704,001951: 15,3200 70104 MASK FLAGWRD8
041705,001952: 15,3201 10000 CCS A
041706,001953: 15,3202 13561 TCF P57JUMP # ITS SET
041707,001954: 15,3203 06037 TC INTPRET
041708,001955: 15,3204 77624 CALL
041709,001956: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041710,001957: 15,3206 77776 P57POST EXIT
041711,001958: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041712,001959: 15,3210 04616 TC BANKCALL
041713,001960: 15,3211 20623 CADR GOPERF1
041714,001961: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
041715,001962: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041716,001963: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041717,001964: 15,3215 61145 AD OPTION2
041718,001965: 15,3216 00006 EXTEND
041719,001966: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
041720,001967: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
041721,001968: 15,3221 05353 TC PHASCHNG # RESTART PLACE
041722,001969: 15,3222 04024 OCT 04024
041723,001970: 15,3223 06037 TC INTPRET
041724,001971: 15,3224 45175 VLOAD CALL # USE GNB
041725,001972: 15,3225 02231 GSAV
041726,001973: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
041727,001974: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
041728,001975: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041729,001976: 15,3231 01463 LUNAFLAG
041730,001977: 15,3232 51515 PDVL ABVAL
041731,001978: 15,3233 02023 RLS
041732,001979: 15,3234 45561 VXSC STADR
041733,001980: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041734,001981: 15,3236 47014 CLEAR RTB
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Page 973 |
041736,001983: 15,3237 00662 ERADFLAG
041737,001984: 15,3240 21573 LOADTIME
041738,001985: 15,3241 77624 CALL
041739,001986: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041740,001987: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
041741,001988: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041742,001989: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041743,001990: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
041744,001991: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
041745,001992: 15,3250 51670 R-TO-RP
041746,001993: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041747,001994: 15,3252 77776 EXIT
041748,001995: 15,3253 16001 TCF GOTOPOOH # EXIT P57
041749,001996:
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Page 974 |
041751,001998: # COARSE AND FINE ALIGN IMU
041752,001999:
041753,002000: 15,3254 75160 COATRIM AXC,1 AXC,2
041754,002001: 15,3255 02664 XDC
041755,002002: 15,3256 02642 XSM
041756,002003: 15,3257 77624 CALL
041757,002004: 15,3260 31377 MATMOVE
041758,002005: 15,3261 77624 CALL
041759,002006: 15,3262 47537 CDUTRIG
041760,002007: 15,3263 77624 CALL
041761,002008: 15,3264 20030 CALCSMSC
041762,002009: 15,3265 77624 CALL
041763,002010: 15,3266 47353 CALCGA
041764,002011: 15,3267 77414 BOFF EXIT
041765,002012: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041766,002013: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041767,002014: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
041768,002015: 15,3273 04616 TC BANKCALL
041769,002016: 15,3274 20476 CADR GOFLASH
041770,002017: 15,3275 06001 TC GOTOPOOH
041771,002018: 15,3276 13300 TCF +2
041772,002019: 15,3277 13272 TCF -5
041773,002020: 15,3300 05353 TC PHASCHNG
041774,002021: 15,3301 04024 OCT 04024
041775,002022:
041776,002023: 15,3302 06037 TC INTPRET
041777,002024: 15,3303 77624 CORSIT CALL
041778,002025: 15,3304 31565 COARSE
041779,002026: 15,3305 77624 CALL
041780,002027: 15,3306 31602 NCOARSE
041781,002028: 15,3307 77624 CALL
041782,002029: 15,3310 32774 GYROTRIM
041783,002030: 15,3311 77650 GOTO
041784,002031: 15,3312 33161 SURFDISP
041785,002032: 15,3313 01535 DISPGYRO VN 0693
041786,002033:
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Page 975 |
041788,002035: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041789,002036:
041790,002037: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041791,002038: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041792,002039:
041793,002040: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041794,002041: 15,3317 55145 TS OPTION2
041795,002042: 15,3320 34753 P57OPT CAF BIT1
041796,002043: 15,3321 04616 TC BANKCALL
041797,002044: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041798,002045: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
041799,002046: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
041800,002047: 15,3325 13320 TCF P57OPT # V32 RECYCLE
041801,002048:
041802,002049: 15,3326 05353 TC PHASCHNG
041803,002050: 15,3327 00014 OCT 00014
041804,002051: 15,3330 05155 TC ENDOFJOB
041805,002052:
041806,002053: 15,3331 31145 ALIGNOPT CA OPTION2
041807,002054: 15,3332 76245 MASK THREE
041808,002055: 15,3333 50000 INDEX A
041809,002056: 15,3334 13335 TCF +1
041810,002057: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
041811,002058: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
041812,002059: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041813,002060: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
041814,002061: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041815,002062: 15,3342 01733 REFSMMAT
041816,002063: 15,3343 03606 XSMD
041817,002064: 15,3344 77624 CALL
041818,002065: 15,3345 31377 MATMOVE
041819,002066: 15,3346 77650 GOTO
041820,002067: 15,3347 33410 PACKOPTN -1
041821,002068:
041822,002069: 15,3350 06037 TDISP TC INTPRET
041823,002070: 15,3351 77745 DLOAD
041824,002071: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041825,002072: 15,3353 01046 P57A STORE DSPTEM1
041826,002073: 15,3354 77776 EXIT
041827,002074: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041828,002075: 15,3356 04616 TC BANKCALL
041829,002076: 15,3357 20476 CADR GOFLASH
041830,002077: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
041831,002078: 15,3361 13363 TCF +2
041832,002079: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
041833,002080:
041834,002081: 15,3363 06037 TC INTPRET
041835,002082: 15,3364 65234 RTB PDDL
041836,002083: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041837,002084: 15,3366 01046 DSPTEM1
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Page 976 |
041839,002086: 15,3367 65254 BZE PDDL
041840,002087: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041841,002088: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041842,002089: 15,3372 01046 DSPTEM1
041843,002090: 15,3373 33400 P57C
041844,002091: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041845,002092: 15,3375 74335 STORE TIG # STORE IT IN TIG
041846,002093: 15,3376 36775 STCALL TALIGN
041847,002094: 15,3377 33402 P57D
041848,002095: 15,3400 45545 P57C DLOAD STADR
041849,002096: 15,3401 75002 STORE TALIGN
041850,002097: 15,3402 34041 P57D STCALL TDEC1
041851,002098: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041852,002099: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
041853,002100: 15,3405 00001 RATT
041854,002101: 15,3406 37607 STCALL XSMD
041855,002102: 15,3407 11013 LSORIENT
041856,002103: 15,3410 77776 EXIT
041857,002104: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041858,002105: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041859,002106: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041860,002107: 15,3414 34737 CAF REFSMBIT
041861,002108: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
041862,002109: 15,3416 10000 CCS A
041863,002110: 15,3417 34745 CAF BIT7 # SET
041864,002111: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
041865,002112: 15,3421 34753 CAF ATTFLBIT
041866,002113: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
041867,002114: 15,3423 10000 CCS A
041868,002115: 15,3424 34750 CAF BIT4 # SET
041869,002116: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
041870,002117: 15,3426 34750 CAF BIT4
041871,002118: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041872,002119:
041873,002120: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041874,002121: 15,3431 04616 TC BANKCALL
041875,002122: 15,3432 20476 CADR GOFLASH
041876,002123: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
041877,002124: 15,3434 13436 TCF +2 # V33 - PROCEED
041878,002125: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
041879,002126:
041880,002127: 15,3436 34737 CAF REFSMBIT
041881,002128: 15,3437 70077 MASK FLAGWRD3
041882,002129: 15,3440 10000 CCS A
041883,002130: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041884,002131: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041885,002132: 15,3443 70102 MASK FLAGWRD6
041886,002133: 15,3444 10000 CCS A
041887,002134: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041888,002135: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 977 |
041890,002137: 15,3447 71145 MASK OPTION2
041891,002138: 15,3450 10000 CCS A
041892,002139: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041893,002140: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041894,002141: 15,3453 00701 OCT 701
041895,002142: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041896,002143: 15,3455 04616 TC BANKCALL
041897,002144: 15,3456 20476 CADR GOFLASH
041898,002145: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
041899,002146: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
041900,002147: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041901,002148:
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Page 978 |
041903,002150: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041904,002151:
041905,002152: 15,3462 40220 MFREF STQ SETPD
041906,002153: 15,3463 02746 QMAJ
041907,002154: 15,3464 00001 0
041908,002155: 15,3465 77634 RTB
041909,002156: 15,3466 21573 LOADTIME
041910,002157: 15,3467 27562 STOVL TSIGHT
041911,002158: 15,3470 02723 VEC1
041912,002159: 15,3471 41525 PDDL PUSH
041913,002160: 15,3472 03562 TSIGHT
041914,002161: 15,3473 77624 CALL
041915,002162: 15,3474 55716 RP-TO-R
041916,002163: 15,3475 26723 STOVL VEC1
041917,002164: 15,3476 02731 VEC2
041918,002165: 15,3477 65201 SETPD PDDL
041919,002166: 15,3500 00001 0
041920,002167: 15,3501 03562 TSIGHT
041921,002168: 15,3502 45006 PUSH CALL
041922,002169: 15,3503 55716 RP-TO-R
041923,002170: 15,3504 36731 STCALL VEC2
041924,002171: 15,3505 02746 QMAJ
041925,002172:
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Page 979 |
041927,002174: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041928,002175: # STORE IN YNBSAV AND ZNBSAV
041929,002176:
041930,002177: 15,3506 45020 REFMF STQ CALL
041931,002178: 15,3507 02746 QMAJ
041932,002179: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
041933,002180: 15,3511 40234 RTB SETPD
041934,002181: 15,3512 21573 LOADTIME
041935,002182: 15,3513 00001 0
041936,002183: 15,3514 37562 STCALL TSIGHT
041937,002184: 15,3515 20030 CALCSMSC # GET YNB IN SM
041938,002185: 15,3516 61375 VLOAD VXM
041939,002186: 15,3517 02673 YNB
041940,002187: 15,3520 01734 REFSMMAT # YNB TO REF
041941,002188: 15,3521 65256 UNIT PDDL
041942,002189: 15,3522 03562 TSIGHT
041943,002190: 15,3523 45006 PUSH CALL
041944,002191: 15,3524 51670 R-TO-RP
041945,002192: 15,3525 26237 STOVL YNBSAV # YNB TO MF
041946,002193: 15,3526 02701 ZNB
041947,002194: 15,3527 53505 VXM UNIT
041948,002195: 15,3530 01734 REFSMMAT # ZNB TO REF
041949,002196: 15,3531 41525 PDDL PUSH
041950,002197: 15,3532 03562 TSIGHT
041951,002198: 15,3533 77624 CALL
041952,002199: 15,3534 51670 R-TO-RP # ZNB TO MF
041953,002200: 15,3535 02245 STORE ZNBSAV
041954,002201: 15,3536 77614 SETGO
041955,002202: 15,3537 03036 ATTFLAG
041956,002203: 15,3540 02746 QMAJ
041957,002204:
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Page 980 |
041959,002206: # BRANCH TO ALIGNMENT OPTION
041960,002207:
041961,002208: 15,3541 06037 GETLMATT TC INTPRET
041962,002209: 15,3542 77624 CALL
041963,002210: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041964,002211: 15,3544 77776 EXIT
041965,002212:
041966,002213: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041967,002214: 15,3546 00205 ADRES INITALGN
041968,002215: 15,3547 34753 CAF BIT1
041969,002216: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
041970,002217: 15,3551 10000 CCS A
041971,002218: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041972,002219:
041973,002220: 15,3553 05353 ATTCHK TC PHASCHNG
041974,002221: 15,3554 04024 OCT 04024
041975,002222:
041976,002223: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041977,002224: 15,3556 70102 MASK FLAGWRD6
041978,002225: 15,3557 10000 CCS A
041979,002226: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041980,002227: 15,3561 05353 P57JUMP TC PHASCHNG
041981,002228: 15,3562 04024 OCT 04024
041982,002229:
041983,002230: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041984,002231: 15,3564 00205 ADRES INITALGN
041985,002232: 15,3565 36245 CAF THREE
041986,002233: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
041987,002234: 15,3567 50000 INDEX A
041988,002235: 15,3570 13571 TCF +1
041989,002236: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
041990,002237: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
041991,002238: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
041992,002239: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
041993,002240:
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Page 981 |
041995,002242: # OPTION 0, GET TWO ATTITUDE VECS
041996,002243:
041997,002244: 15,3575 06037 P57OPT0 TC INTPRET
041998,002245: 15,3576 77775 VLOAD
041999,002246: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042000,002247: 15,3600 26723 STOVL VEC1
042001,002248: 15,3601 02245 ZNBSAV
042002,002249: 15,3602 36731 STCALL VEC2
042003,002250: 15,3603 47537 CDUTRIG
042004,002251: 15,3604 77624 CALL
042005,002252: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042006,002253: 15,3606 77775 VLOAD
042007,002254: 15,3607 02673 YNB
042008,002255: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042009,002256: 15,3611 02701 ZNB
042010,002257: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042011,002258: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042012,002259: 15,3614 77650 GOTO
042013,002260: 15,3615 33101 SURFLINE
042014,002261:
042015,002262: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042016,002263:
042017,002264: 15,3616 06037 P57OPT1 TC INTPRET
042018,002265: 15,3617 53575 VLOAD UNIT
042019,002266: 15,3620 02023 RLS # LANDING SITE VEC
042020,002267: 15,3621 26723 STOVL VEC1
042021,002268: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042022,002269: 15,3623 36731 STCALL VEC2
042023,002270: 15,3624 47537 CDUTRIG
042024,002271: 15,3625 77624 CALL
042025,002272: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042026,002273: 15,3627 45175 VLOAD CALL
042027,002274: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042028,002275: 15,3631 47661 CDU*NBSM
042029,002276: 15,3632 77650 GOTO
042030,002277: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042031,002278:
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Page 982 |
042033,002280: # OPTION 2, GET TWO STAR SIGHTINGS
042034,002281:
042035,002282: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042036,002283:
042037,002284: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042038,002285:
042039,002286: 15,3635 06037 P57OPT3 TC INTPRET
042040,002287: 15,3636 53575 VLOAD UNIT
042041,002288: 15,3637 02023 RLS # LANDING SITE VEC
042042,002289: 15,3640 02723 STORE VEC1
042043,002290: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042044,002291: 15,3642 02231 GSAV # GRAVITY VEC NB
042045,002292: 15,3643 77624 CALL
042046,002293: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042047,002294: 15,3645 36761 STCALL STARSAV1
042048,002295: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042049,002296: 15,3647 77776 EXIT
042050,002297: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042051,002298:
042052,002299: 15,3651 01206 VB05N06 VN 506
042053,002300:
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Page 983 |
042055,002302: # CHECK IMODES30 TO VARIFY IMU IS ON
042056,002303:
042057,002304: 15,3652 41302 IMUCHK CS IMODES30
042058,002305: 15,3653 74743 MASK BIT9
042059,002306: 15,3654 10000 CCS A # IS IMU ON
042060,002307: 15,3655 13661 TCF +4 # YES
042061,002308:
042062,002309: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042063,002310: 15,3657 00210 OCT 210
042064,002311: 15,3660 06001 TC GOTOPOOH
042065,002312:
042066,002313: 15,3661 05504 TC UPFLAG
042067,002314: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042068,002315:
042069,002316: 15,3663 04631 TC SWRETURN
042070,002317:
042071,002318: 04,3013 BANK 04
042072,002319: 04,2000 SETLOC AOTMARK2
042073,002320: 04,2000 BANK
042074,002321: 04,3013 COUNT* $$/P57
042075,002322:
042076,002323: 04,3013 77220 LSORIENT STQ VLOAD
042077,002324: 04,3014 02746 QMAJ
042078,002325: 04,3015 01555 RRECTCSM
042079,002326: 04,3016 47235 VXV VXV
042080,002327: 04,3017 01563 VRECTCSM
042081,002328: 04,3020 03607 XSMD
042082,002329: 04,3021 77656 UNIT
042083,002330: 04,3022 03623 STORE ZSMD
042084,002331: 04,3023 53435 VXV UNIT
042085,002332: 04,3024 03607 XSMD
042086,002333: 04,3025 37615 STCALL YSMD
042087,002334: 04,3026 02746 QMAJ
042088,002335:
End of include-file P51-P53.agc. Parent file is MAIN.agc