Source Code
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This source code is very close to the Apollo Guidance Computer software for the
Apollo 13 Lunar module. This revision of the Luminary 131 program is from December
of 1969, whereas there was a later revision in January of 1970, and still another
revision in February, which is the code that flew on the mission.
As far as this transcription is concerned, it was originally from a copy made in 1991 of
a printout from the collection of AGC developer Don Eyles for collector David Craig.
It was subsequently scanned by Gary Neff, reprocessed for online
presentation at the now-discontinued History of Recent Science and Technology (HRST) website
of MIT's Dibner Institute (the full-quality scans being discarded in the process),
and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a
high-quality replacement scan for a completely illegible page was later provided by Gary
Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many
errors to be introduced into the transcription. Accordingly, a second scan of the same physical
printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive,
and used to correct the transcription errors. All of the scanned materials mentioned,
as well as other Luminary 131 related material, are available online.
Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017,
so the two scans are not identical in that respect. The page-headings in the printout read, in part:GAP: ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091 17:53 DEC. 19, 1969Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together. |
039515,000002: ## Copyright: Public domain.
039516,000003: ## Filename: P51-P53.agc
039517,000004: ## Purpose: A section of Luminary 1C, revision 131.
039518,000005: ## It is part of the source code for the Lunar Module's (LM)
039519,000006: ## Apollo Guidance Computer (AGC) for Apollo 13.
039520,000007: ## This file is intended to be a faithful transcription, except
039521,000008: ## that the code format has been changed to conform to the
039522,000009: ## requirements of the yaYUL assembler rather than the
039523,000010: ## original YUL assembler.
039524,000011: ## Reference: pp. 921-977
039525,000012: ## Contact: Ron Burkey <info@sandroid.org>.
039526,000013: ## Website: www.ibiblio.org/apollo
039527,000014: ## Mod history: 05/29/03 RSB. Began transcribing.
039528,000015: ## 2010-10-25 JL Indentation fixes.
039529,000016: ## 2017-01-06 RSB Page numbers now agree with those on the
039530,000017: ## original hardcopy, as opposed to the PDF page
039531,000018: ## numbers in 1701.pdf.
039532,000019: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039533,000020: ## 2017-03-01 RSB Fixed lingering typos.
039534,000021: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
039535,000022: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039536,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
039537,000024:
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Page 921 |
039539,000026: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
039540,000027: # MOD NO - 0 LOG SECTION - P51-P53
039541,000028: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
039542,000029:
039543,000030: # FUNCTIONAL DESCRIPTION -
039544,000031:
039545,000032: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039546,000033: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039547,000034:
039548,000035: # (A) PREFERRED ORIENTATION
039549,000036:
039550,000037: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039551,000038: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039552,000039:
039553,000040: # (B) NOMINAL ORIENTATION
039554,000041:
039555,000042: # X = UNIT ( R )
039556,000043: # -SM
039557,000044:
039558,000045: # Y = UNIT (V X R)
039559,000046: # SM
039560,000047:
039561,000048: # Z = UNIT (X X Y )
039562,000049: # SM SM SM
039563,000050:
039564,000051: # WHERE_
039565,000052: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039566,000053: # -
039567,000054:
039568,000055: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039569,000056: # -
039570,000057:
039571,000058: # (C) REFSMMAT ORIENTATION
039572,000059:
039573,000060: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039574,000061:
039575,000062: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039576,000063: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039577,000064: # SINCE THE LAST ALIGNMENT).
039578,000065:
039579,000066: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039580,000067: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039581,000068: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039582,000069: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039583,000070: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039584,000071: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039585,000072: # REQUESTED.
039586,000073:
039587,000074: # CALLING SEQUENCE -
039588,000075:
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Page 922 |
039590,000077: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039591,000078:
039592,000079: # SUBROUTINES CALLED -
039593,000080:
039594,000081: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039595,000082: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039596,000083: # 3. GOPERF4 9. FLAGUP
039597,000084: # 4. MATMOVE 10. R56
039598,000085: # 5. GOFLASH 11. R51
039599,000086: # 6. S52.3 12. GOPERF3
039600,000087:
039601,000088: # NORMAL EXIT MODES -
039602,000089:
039603,000090: # EXITS TO ENDOFJOB
039604,000091:
039605,000092: # ALARM OR ABORT EXIT MODES -
039606,000093:
039607,000094: # NONE
039608,000095:
039609,000096: # OUTPUT -
039610,000097:
039611,000098: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039612,000099: # 1. IMU ORIENTATION CODE
039613,000100: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039614,000101: # 3. TIME OF NEXT IGNITION
039615,000102: # 4. GIMBAL ANGLES
039616,000103: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039617,000104: # 6. PLEASE PERFORM P00
039618,000105: # THE MODE DISPLAY MAY BE CHANGED TO 20
039619,000106:
039620,000107: # ERASABLE INITIALIZATION REQUIRED -
039621,000108:
039622,000109: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039623,000110: # XSMD, YSMD, ZSMD.
039624,000111:
039625,000112: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039626,000113:
039627,000114: # DEBRIS -
039628,000115:
039629,000116: # WORKAREA
039630,000117:
039631,000118: 33,3760 BANK 33
039632,000119: 15,2000 SETLOC P50S
039633,000120: 15,2000 BANK
039634,000121:
039635,000122: 15,2050 E5,1755 EBANK= BESTI
039636,000123: 15,2050 COUNT* $$/P52
039637,000124: 15,2050 04616 PROG52 TC BANKCALL
039638,000125: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039639,000126: 15,2052 34750 CAF PFRATBIT
039640,000127: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039641,000128: 15,2054 10000 CCS A
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Page 923 |
039643,000130: 15,2055 02060 TC P52A # YES
039644,000131: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039645,000132: 15,2057 02061 TC P52A +1
039646,000133: 15,2060 34753 P52A CAF BIT1
039647,000134: 15,2061 55144 TS OPTION2
039648,000135: 15,2062 34753 P52B CAF BIT1
039649,000136: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039650,000137: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039651,000138: 15,2065 06001 TC GOTOPOOH
039652,000139: 15,2066 12073 TCF +5 # V33 - PROCEED
039653,000140: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039654,000141: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039655,000142: 15,2071 00014 OCT 00014
039656,000143: 15,2072 05155 TC ENDOFJOB
039657,000144:
039658,000145: 15,2073 31144 CA OPTION2
039659,000146: 15,2074 76250 MASK THREE
039660,000147: 15,2075 50000 INDEX A
039661,000148: 15,2076 02077 TC +1
039662,000149: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039663,000150: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039664,000151: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039665,000152: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039666,000153: 15,2103 77650 GOTO
039667,000154: 15,2104 32164 P52F # GO DO R51
039668,000155:
039669,000156: 15,2105 00006 OPT4 EXTEND
039670,000157: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039671,000158: 15,2107 12112 TCF P52T +2
039672,000159:
039673,000160: 15,2110 00006 P52T EXTEND
039674,000161: 15,2111 34755 DCA NEG0
039675,000162: 15,2112 53045 DXCH DSPTEM1
039676,000163: 15,2113 32170 CAF V06N34*
039677,000164: 15,2114 04616 TC BANKCALL
039678,000165: 15,2115 20477 CADR GOFLASH
039679,000166: 15,2116 06001 TC GOTOPOOH
039680,000167: 15,2117 02121 TC +2
039681,000168: 15,2120 02113 TC -5
039682,000169: 15,2121 53045 DXCH DSPTEM1
039683,000170: 15,2122 00006 EXTEND
039684,000171: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039685,000172: 15,2124 12127 TCF +3
039686,000173: 15,2125 00006 EXTEND
039687,000174: 15,2126 30025 DCA TIME2
039688,000175: 15,2127 53775 DXCH TALIGN
039689,000176: 15,2130 31144 P52V CA OPTION2
039690,000177: 15,2131 74752 MASK BIT2
039691,000178: 15,2132 10000 CCS A
039692,000179: 15,2133 02137 TC P52W
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Page 924 |
039694,000181: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039695,000182: 15,2135 77650 GOTO
039696,000183: 15,2136 32220 P52LS
039697,000184:
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Page 925 |
039699,000186: # START ALIGNMENT
039700,000187:
039701,000188: 15,2137 06042 P52W TC INTPRET
039702,000189: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039703,000190: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039704,000191: 15,2142 31651 S52.3 # ORIENTATION
039705,000192: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039706,000193: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039707,000194: 15,2145 77776 EXIT
039708,000195: 15,2146 35010 CAF V06N22
039709,000196: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039710,000197: 15,2150 20477 CADR GOFLASH
039711,000198: 15,2151 06001 TC GOTOPOOH
039712,000199: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039713,000200: 15,2153 06042 P52H TC INTPRET
039714,000201: 15,2154 77650 GOTO
039715,000202: 15,2155 32143 P52D
039716,000203: 15,2156 06042 REGCOARS TC INTPRET
039717,000204: 15,2157 77624 CALL # DO COARSE ALIGN
039718,000205: 15,2160 31321 CAL53A # ROUTINE
039719,000206: 15,2161 43014 COARSRET SET CLEAR
039720,000207: 15,2162 01462 REFSMFLG
039721,000208: 15,2163 01273 PFRATFLG
039722,000209: 15,2164 77624 P52F CALL
039723,000210: 15,2165 31007 R51
039724,000211: 15,2166 77776 P52OUT EXIT
039725,000212: 15,2167 06001 TC GOTOPOOH
039726,000213: 15,2170 5006 VB05N09 = V05N09
039727,000214: 15,2170 01442 V06N34* VN 634
039728,000215:
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Page 926 |
039730,000217: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039731,000218:
039732,000219: 15,2171 32217 COARSTYP CAF OCT13
039733,000220: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039734,000221: 15,2173 20624 CADR GOPERF1
039735,000222: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
039736,000223: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
039737,000224: 15,2176 06042 TC INTPRET # V32 - GYRO TORQUE COARSE
039738,000225: 15,2177 64375 VLOAD MXV
039739,000226: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039740,000227: 15,2201 01734 REFSMMAT
039741,000228: 15,2202 77656 UNIT
039742,000229: 15,2203 26665 STOVL XDC
039743,000230: 15,2204 03615 YSMD
039744,000231: 15,2205 53521 MXV UNIT
039745,000232: 15,2206 01734 REFSMMAT
039746,000233: 15,2207 26673 STOVL YDC
039747,000234: 15,2210 03623 ZSMD
039748,000235: 15,2211 53521 MXV UNIT
039749,000236: 15,2212 01734 REFSMMAT
039750,000237: 15,2213 36701 STCALL ZDC
039751,000238: 15,2214 31156 GYCOARS
039752,000239: 15,2215 77650 GOTO
039753,000240: 15,2216 32166 P52OUT
039754,000241: 15,2217 00013 OCT13 OCT 13
039755,000242:
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Page 927 |
039757,000244: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039758,000245:
039759,000246: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039760,000247: 15,2221 01463 LUNAFLAG
039761,000248: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039762,000249: 15,2223 77201 SETPD VLOAD
039763,000250: 15,2224 00001 0
039764,000251: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039765,000252: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039766,000253: 15,2227 02775 TALIGN
039767,000254: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039768,000255: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039769,000256: 15,2232 77742 VSR2
039770,000257: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039771,000258: 15,2234 02775 TALIGN
039772,000259: 15,2235 77624 CALL
039773,000260: 15,2236 30440 N89DISP
039774,000261: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039775,000262: 15,2240 02032 ALPHAV
039776,000263: 15,2241 37607 STCALL XSMD
039777,000264: 15,2242 10757 LSORIENT
039778,000265: 15,2243 77650 GOTO
039779,000266: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
039780,000267:
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Page 928 |
039782,000269: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039783,000270:
039784,000271: 14,2000 SETLOC P50S1
039785,000272: 14,2000 BANK
039786,000273: 14,2440 E5,1642 EBANK= XSM
039787,000274:
039788,000275: 14,2440 77620 N89DISP STQ
039789,000276: 14,2441 02746 QMAJ
039790,000277: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
039791,000278: 14,2443 26347 LAT-LONG
039792,000279: 14,2444 70545 DLOAD SR1
039793,000280: 14,2445 01122 LONG
039794,000281: 14,2446 16711 STODL LANDLONG
039795,000282: 14,2447 01124 ALT
039796,000283: 14,2450 16713 STODL LANDALT
039797,000284: 14,2451 01120 LAT
039798,000285: 14,2452 02707 STORE LANDLAT
039799,000286: 14,2453 77776 EXIT
039800,000287:
039801,000288: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039802,000289: 14,2455 04616 TC BANKCALL
039803,000290: 14,2456 20477 CADR GOFLASH
039804,000291: 14,2457 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
039805,000292: 14,2460 12462 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
039806,000293: 14,2461 12454 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039807,000294:
039808,000295: 14,2462 06042 TC INTPRET
039809,000296: 14,2463 72545 DLOAD SL1
039810,000297: 14,2464 02711 LANDLONG
039811,000298: 14,2465 15122 STODL LONG
039812,000299: 14,2466 02713 LANDALT
039813,000300: 14,2467 15124 STODL ALT
039814,000301: 14,2470 02707 LANDLAT
039815,000302: 14,2471 15120 STODL LAT
039816,000303: 14,2472 01242 GDT/2 +4 # PICK UP TIME
039817,000304: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039818,000305: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
039819,000306: 14,2475 77650 GOTO
039820,000307: 14,2476 02746 QMAJ
039821,000308: 14,2477 01531 V06N89* VN 689
039822,000309:
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Page 929 |
039824,000311: # NAME - S50 ALIAS LOCSAM
039825,000312: # BY
039826,000313: # VINCENT
039827,000314:
039828,000315: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039829,000316:
039830,000317: # DEFINE
039831,000318:
039832,000319: # U = UNIT( SUN WRT EARTH )
039833,000320: # ES
039834,000321:
039835,000322: # U = UNIT( MOON WRT EARTH )
039836,000323: # EM
039837,000324:
039838,000325: # R = POSITION VECTOR OF LEM
039839,000326: # L
039840,000327:
039841,000328: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039842,000329: # EM
039843,000330:
039844,000331: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039845,000332: # EM
039846,000333:
039847,000334: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039848,000335: # E
039849,000336:
039850,000337: # LOCSAM COMPUTES IN EARTH INFLUENCE
039851,000338:
039852,000339: # VSUN = U
039853,000340: # ES
039854,000341:
039855,000342: # VEARTH = -UNIT( R )
039856,000343: # L
039857,000344:
039858,000345: # VMOON = UNIT(R .U - R )
039859,000346: # EM EM L
039860,000347:
039861,000348: # CSUN = COS 90
039862,000349:
039863,000350: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039864,000351: # E L
039865,000352:
039866,000353: # CMOON = COS 5
039867,000354:
039868,000355: # INPUT - TIME IN MPAC
039869,000356:
039870,000357: # OUTPUT - LISTED ABOVE
039871,000358:
039872,000359: # SUBROUTINES - LSPOS, LEMPREC
039873,000360:
039874,000361: # DEBRIS - VAC AREA, TSIGHT
039875,000362:
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Page 930 |
039877,000364: 14,2500 COUNT* $$/LOSAM
039878,000365:
039879,000366: 14,2500 14,2500 S50 = LOCSAM
039880,000367: 14,2500 77620 LOCSAM STQ
039881,000368: 14,2501 02745 QMIN
039882,000369: 14,2502 37562 STCALL TSIGHT
039883,000370: 14,2503 33647 LSPOS
039884,000371: 14,2504 77745 DLOAD
039885,000372: 14,2505 03562 TSIGHT
039886,000373: 14,2506 34041 STCALL TDEC1
039887,000374: 14,2507 27056 LEMPREC
039888,000375: 14,2510 61131 SSP TIX,2
039889,000376: 14,2511 00052 S2
039890,000377: 14,2512 00000 0
039891,000378: 14,2513 30535 MOONCNTR
039892,000379: 14,2514 74375 EARTCNTR VLOAD VXSC
039893,000380: 14,2515 02723 VMOON
039894,000381: 14,2516 30001 RSUBEM
039895,000382: 14,2517 52372 VSL1 VSU
039896,000383: 14,2520 00001 RATT
039897,000384: 14,2521 77656 UNIT
039898,000385: 14,2522 26723 STOVL VMOON
039899,000386: 14,2523 00001 RATT
039900,000387: 14,2524 57456 UNIT VCOMP
039901,000388: 14,2525 16707 STODL VEARTH
039902,000389: 14,2526 30005 RSUBE
039903,000390: 14,2527 77624 CALL
039904,000391: 14,2530 30567 OCCOS
039905,000392: 14,2531 14017 STODL CEARTH
039906,000393: 14,2532 30576 CSS5
039907,000394: 14,2533 34023 STCALL CMOON
039908,000395: 14,2534 30562 ENDSAM
039909,000396: 14,2535 74375 MOONCNTR VLOAD VXSC
039910,000397: 14,2536 02723 VMOON
039911,000398: 14,2537 30007 ROE
039912,000399: 14,2540 53445 BVSU UNIT
039913,000400: 14,2541 02715 VSUN
039914,000401: 14,2542 26715 STOVL VSUN
039915,000402: 14,2543 02723 VMOON
039916,000403: 14,2544 53361 VXSC VAD
039917,000404: 14,2545 30001 RSUBEM
039918,000405: 14,2546 00001 RATT
039919,000406: 14,2547 57456 UNIT VCOMP
039920,000407: 14,2550 26707 STOVL VEARTH
039921,000408: 14,2551 00001 RATT
039922,000409: 14,2552 57456 UNIT VCOMP
039923,000410: 14,2553 16723 STODL VMOON
039924,000411: 14,2554 30003 RSUBM
039925,000412: 14,2555 77624 CALL
039926,000413: 14,2556 30567 OCCOS
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Page 931 |
039928,000415: 14,2557 14023 STODL CMOON
039929,000416: 14,2560 30576 CSS5
039930,000417: 14,2561 00017 STORE CEARTH
039931,000418: 14,2562 77745 ENDSAM DLOAD
039932,000419: 14,2563 30600 CSSUN
039933,000420: 14,2564 00021 STORE CSUN
039934,000421: 14,2565 77650 GOTO
039935,000422: 14,2566 02745 QMIN
039936,000423: 14,2567 70471 OCCOS DDV SR1
039937,000424: 14,2570 00045 36D
039938,000425: 14,2571 43336 ASIN DAD
039939,000426: 14,2572 30602 5DEGREES
039940,000427: 14,2573 70546 COS SR1
039941,000428: 14,2574 77616 RVQ
039942,000429: 14,2575 CEARTH = 14D
039943,000430: 14,2575 CSUN = 16D
039944,000431: 14,2575 CMOON = 18D
039945,000432: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039946,000433: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039947,000434: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039948,000435:
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Page 932 |
039950,000437: # PROGRAM NAME - R56 DATE DEC 20 66
039951,000438: # MOD 1 LOG SECTION P51-P53
039952,000439: # ASSEMBLY SUNDISK REV40
039953,000440: # BY KEN VINCENT
039954,000441:
039955,000442: # FUNCTION
039956,000443: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039957,000444: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039958,000445: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
039959,000446: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
039960,000447: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039961,000448: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039962,000449: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039963,000450: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039964,000451: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039965,000452: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039966,000453: # 50 DEGREESOF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039967,000454: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039968,000455:
039969,000456: # CALLING SEQUENCE
039970,000457: # L TC BANKCALL
039971,000458: # L+1 CADR R56
039972,000459: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
039973,000460: # L+3 NORMAL RETURN
039974,000461:
039975,000462: # OUTPUT
039976,000463: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039977,000464: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039978,000465:
039979,000466: # INITIALIZATION
039980,000467: # 1) A CALL TO LOCSAM MUST BE MADE
039981,000468:
039982,000469: # DEBRIS
039983,000470: # WORKAREA
039984,000471: # X,Y,ZNB
039985,000472: # SINCDU, COSCDU
039986,000473: # STARAD - STAR +5
039987,000474:
039988,000475: 14,2603 14,2603 R56 = PICAPAR
039989,000476: 14,2603 COUNT* $$/R56
039990,000477: 14,2603 04645 PICAPAR TC MAKECADR
039991,000478: 14,2604 55745 TS QMIN
039992,000479: 14,2605 06042 TC INTPRET
039993,000480: 14,2606 77624 CALL
039994,000481: 14,2607 47541 CDUTRIG
039995,000482: 14,2610 77624 CALL
039996,000483: 14,2611 20030 CALCSMSC
039997,000484: 14,2612 77601 SETPD
039998,000485: 14,2613 00001 0
039999,000486: 14,2614 71214 SET DLOAD # VFLAG = 1
040000,000487: 14,2615 01465 VFLAG
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Page 933 |
040002,000489: 14,2616 24007 DPZERO
040003,000490: 14,2617 26756 STOVL BESTI
040004,000491: 14,2620 02665 XNB
040005,000492: 14,2621 63361 VXSC PDVL
040006,000493: 14,2622 24005 HALFDP
040007,000494: 14,2623 02701 ZNB
040008,000495: 14,2624 74370 AXT,1 VXSC
040009,000496: 14,2625 00344 228D # X1 = 37 X 6 + 6
040010,000497: 14,2626 24005 HALFDP
040011,000498: 14,2627 77655 VAD
040012,000499: 14,2630 53505 VXM UNIT
040013,000500: 14,2631 01734 REFSMMAT
040014,000501: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040015,000502: 14,2633 66331 SSP SSP # S1 = S2 = 6
040016,000503: 14,2634 00051 S1
040017,000504: 14,2635 00006 6
040018,000505: 14,2636 00052 S2
040019,000506: 14,2637 00006 6
040020,000507: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040021,000508: 14,2641 30643 PIC2
040022,000509: 14,2642 30760 PICEND
040023,000510: 14,2643 50373 PIC2 VLOAD* DOT
040024,000511: 14,2644 30347 CATLOG,1
040025,000512: 14,2645 02731 SAX
040026,000513: 14,2646 50025 DSU BMN
040027,000514: 14,2647 30757 CSS33
040028,000515: 14,2650 30640 PIC1
040029,000516: 14,2651 77754 LXA,2
040030,000517: 14,2652 00046 X1
040031,000518: 14,2653 52104 PIC3 TIX,2 GOTO
040032,000519: 14,2654 30656 PIC4
040033,000520: 14,2655 30640 PIC1
040034,000521: 14,2656 50373 PIC4 VLOAD* DOT
040035,000522: 14,2657 47430 CATLOG,2
040036,000523: 14,2660 02731 SAX
040037,000524: 14,2661 50025 DSU BMN
040038,000525: 14,2662 30757 CSS33
040039,000526: 14,2663 30653 PIC3
040040,000527: 14,2664 47773 VLOAD* DOT*
040041,000528: 14,2665 30347 CATLOG,1
040042,000529: 14,2666 47430 CATLOG,2
040043,000530: 14,2667 51025 DSU BPL
040044,000531: 14,2670 30755 CSS40
040045,000532: 14,2671 30653 PIC3
040046,000533: 14,2672 45173 VLOAD* CALL
040047,000534: 14,2673 30347 CATLOG,1
040048,000535: 14,2674 30732 OCCULT
040049,000536: 14,2675 77614 BON
040050,000537: 14,2676 01710 CULTFLAG
040051,000538: 14,2677 30640 PIC1
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Page 934 |
040053,000540: 14,2700 45173 VLOAD* CALL
040054,000541: 14,2701 47430 CATLOG,2
040055,000542: 14,2702 30732 OCCULT
040056,000543: 14,2703 77614 BON
040057,000544: 14,2704 01710 CULTFLAG
040058,000545: 14,2705 30653 PIC3
040059,000546: 14,2706 77614 STRATGY BONCLR
040060,000547: 14,2707 01605 VFLAG
040061,000548: 14,2710 30725 NEWPAR
040062,000549: 14,2711 65120 XCHX,1 XCHX,2
040063,000550: 14,2712 02755 BESTI
040064,000551: 14,2713 02756 BESTJ
040065,000552: 14,2714 47773 STRAT VLOAD* DOT*
040066,000553: 14,2715 30347 CATLOG,1
040067,000554: 14,2716 47430 CATLOG,2
040068,000555: 14,2717 43006 PUSH BOFINV
040069,000556: 14,2720 01545 VFLAG
040070,000557: 14,2721 30711 STRAT -3
040071,000558: 14,2722 45345 DLOAD DSU
040072,000559: 14,2723 77644 BPL
040073,000560: 14,2724 30653 PIC3
040074,000561: 14,2725 67130 NEWPAR SXA,1 SXA,2
040075,000562: 14,2726 02755 BESTI
040076,000563: 14,2727 02756 BESTJ
040077,000564: 14,2730 77650 GOTO
040078,000565: 14,2731 30653 PIC3
040079,000566: 14,2732 51321 OCCULT MXV BVSU
040080,000567: 14,2733 02707 CULTRIX
040081,000568: 14,2734 00017 CSS
040082,000569: 14,2735 77654 BZE
040083,000570: 14,2736 30751 CULTED
040084,000571: 14,2737 75240 BMN SIGN
040085,000572: 14,2740 30751 CULTED
040086,000573: 14,2741 00160 MPAC +3
040087,000574: 14,2742 75240 BMN SIGN
040088,000575: 14,2743 30751 CULTED
040089,000576: 14,2744 00162 MPAC +5
040090,000577: 14,2745 43040 BMN CLRGO
040091,000578: 14,2746 30751 CULTED
040092,000579: 14,2747 01630 CULTFLAG
040093,000580: 14,2750 00052 QPRET
040094,000581: 14,2751 77614 CULTED SETGO
040095,000582: 14,2752 01430 CULTFLAG
040096,000583: 14,2753 00052 QPRET
040097,000584: 14,2754 0000016 CSS = CEARTH
040098,000585: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040099,000586: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040100,000587: 14,2760 77414 PICEND BOFF EXIT
040101,000588:
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Page 935 |
040103,000590: 14,2761 01745 VFLAG
040104,000591: 14,2762 30764 PICGXT
040105,000592: 14,2763 03005 TC PICBXT
040106,000593: 14,2764 73150 PICGXT LXA,1 LXA,2
040107,000594: 14,2765 02755 BESTI
040108,000595: 14,2766 02756 BESTJ
040109,000596: 14,2767 47775 VLOAD DOT*
040110,000597: 14,2770 02731 SAX
040111,000598: 14,2771 30347 CATLOG,1
040112,000599: 14,2772 47715 PDVL DOT*
040113,000600: 14,2773 02731 SAX
040114,000601: 14,2774 47430 CATLOG,2
040115,000602: 14,2775 77625 DSU
040116,000603: 14,2776 66044 BPL SXA,1
040117,000604: 14,2777 31003 PICNSWP
040118,000605: 14,3000 02756 BESTJ
040119,000606: 14,3001 77734 SXA,2
040120,000607: 14,3002 02755 BESTI
040121,000608: 14,3003 77776 PICNSWP EXIT
040122,000609: 14,3004 25745 INCR QMIN
040123,000610: 14,3005 31745 PICBXT CA QMIN
040124,000611: 14,3006 04622 TC SWCALL
040125,000612: 14,3007 VPD = 0D
040126,000613: 14,3007 V0 = 6D
040127,000614: 14,3007 V1 = 12D
040128,000615: 14,3007 V2 = 18D
040129,000616: 14,3007 V3 = 24D
040130,000617: 14,3007 DP0 = 30D
040131,000618: 14,3007 DP1 = 32D
040132,000619:
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Page 936 |
040134,000621: # NAME - R51 FINE ALIGN
040135,000622: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040136,000623: # CALLING SEQ - CALL R51
040137,000624: # INPUT - REFSMMAT
040138,000625: # OUTPUT - GYRO TORQUE PULSES
040139,000626: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040140,000627:
040141,000628: 14,3007 COUNT* $$/R51
040142,000629: 14,3007 77620 R51 STQ
040143,000630: 14,3010 02746 QMAJ
040144,000631: 14,3011 77776 R51.1 EXIT
040145,000632: 14,3012 05353 TC PHASCHNG
040146,000633: 14,3013 04024 OCT 04024
040147,000634:
040148,000635: 14,3014 34761 R51C CAF OCT15
040149,000636: 14,3015 04616 TC BANKCALL
040150,000637: 14,3016 20624 CADR GOPERF1
040151,000638: 14,3017 06001 TC GOTOPOOH
040152,000639: 14,3020 03022 TC +2 # V33E
040153,000640: 14,3021 03045 TC R51E # ENTER
040154,000641: 14,3022 06042 TC INTPRET
040155,000642: 14,3023 43234 RTB DAD
040156,000643: 14,3024 21574 LOADTIME
040157,000644: 14,3025 31155 TSIGHT1
040158,000645: 14,3026 77624 CALL
040159,000646: 14,3027 30500 LOCSAM
040160,000647: 14,3030 77776 EXIT
040161,000648: 14,3031 04616 TC BANKCALL
040162,000649: 14,3032 30603 CADR R56
040163,000650: 14,3033 03035 TC R51I
040164,000651: 14,3034 03045 R51F TC R51E
040165,000652: 14,3035 05567 R51I TC ALARM
040166,000653: 14,3036 00405 OCT 405
040167,000654: 14,3037 35006 CAF VB05N09
040168,000655: 14,3040 04616 TC BANKCALL
040169,000656: 14,3041 20477 CADR GOFLASH
040170,000657: 14,3042 06001 TC GOTOPOOH
040171,000658: 14,3043 03045 TC R51E
040172,000659: 14,3044 03014 TC R51C
040173,000660: 14,3045 34755 R51E CAF ZERO
040174,000661: 14,3046 55757 TS STARIND
040175,000662: 14,3047 06042 R51.2 TC INTPRET
040176,000663: 14,3050 77776 R51.3 EXIT
040177,000664: 14,3051 05353 TC PHASCHNG
040178,000665: 14,3052 04024 OCT 04024
040179,000666:
040180,000667: 14,3053 06042 TC INTPRET
040181,000668: 14,3054 77624 CALL
040182,000669: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040183,000670: 14,3056 77776 EXIT
040184,000671: 14,3057 04616 TC BANKCALL
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Page 937 |
040186,000673: 14,3060 16000 CADR AOTMARK
040187,000674: 14,3061 04616 TC BANKCALL
040188,000675: 14,3062 17703 CADR OPTSTALL
040189,000676: 14,3063 05701 TC CURTAINS
040190,000677: 14,3064 11757 CCS STARIND
040191,000678: 14,3065 13067 TCF +2
040192,000679: 14,3066 03137 TC R51.4
040193,000680: 14,3067 06042 TC INTPRET
040194,000681: 14,3070 77775 VLOAD
040195,000682: 14,3071 02715 STARAD +6
040196,000683: 14,3072 02767 STORE STARSAV2
040197,000684: 14,3073 77776 EXIT
040198,000685: 14,3074 05353 TC PHASCHNG
040199,000686: 14,3075 04024 OCT 04024
040200,000687:
040201,000688: 14,3076 06042 TC INTPRET
040202,000689: 14,3077 45145 DLOAD CALL
040203,000690: 14,3100 03562 TSIGHT
040204,000691: 14,3101 32472 PLANET
040205,000692: 14,3102 53521 MXV UNIT
040206,000693: 14,3103 01734 REFSMMAT
040207,000694: 14,3104 26715 STOVL STARAD +6
040208,000695: 14,3105 03554 PLANVEC
040209,000696: 14,3106 53521 MXV UNIT
040210,000697: 14,3107 01734 REFSMMAT
040211,000698: 14,3110 26707 STOVL STARAD
040212,000699: 14,3111 02761 STARSAV1
040213,000700: 14,3112 24007 STOVL 6D
040214,000701: 14,3113 02767 STARSAV2
040215,000702: 14,3114 34015 STCALL 12D
040216,000703: 14,3115 31250 R54 # STAR DATA TEST
040217,000704: 14,3116 45014 BOFF CALL
040218,000705: 14,3117 00354 FREEFLAG
040219,000706: 14,3120 31126 R51K
040220,000707: 14,3121 47443 AXISGEN
040221,000708: 14,3122 77624 CALL
040222,000709: 14,3123 31216 R55 # GYRO TORQUE
040223,000710: 14,3124 77614 CLEAR
040224,000711: 14,3125 01273 PFRATFLG
040225,000712: 14,3126 77776 R51K EXIT
040226,000713: 14,3127 35741 R51P63 CAF OCT14
040227,000714: 14,3130 04616 TC BANKCALL
040228,000715: 14,3131 20624 CADR GOPERF1
040229,000716: 14,3132 06001 TC GOTOPOOH
040230,000717: 14,3133 03014 TC R51C
040231,000718: 14,3134 06042 TC INTPRET
040232,000719: 14,3135 77650 GOTO
040233,000720: 14,3136 02746 QMAJ
040234,000721: 14,3137 06042 R51.4 TC INTPRET
040235,000722: 14,3140 77775 VLOAD
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Page 938 |
040237,000724: 14,3141 02715 STARAD +6
040238,000725: 14,3142 02761 STORE STARSAV1
040239,000726: 14,3143 45145 DLOAD CALL
040240,000727: 14,3144 03562 TSIGHT
040241,000728: 14,3145 32472 PLANET
040242,000729: 14,3146 03554 STORE PLANVEC
040243,000730: 14,3147 77731 SSP
040244,000731: 14,3150 02760 STARIND
040245,000732: 14,3151 00001 1
040246,000733: 14,3152 77650 GOTO
040247,000734: 14,3153 31050 R51.3
040248,000735: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040249,000736:
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Page 939 |
040251,000738: # GYRO TORQUE COARSE ALIGNMENT
040252,000739:
040253,000740: 14,3156 45020 GYCOARS STQ CALL
040254,000741: 14,3157 02746 QMAJ
040255,000742: 14,3160 47251 CALCGTA
040256,000743: 14,3161 43014 CLEAR CLEAR
040257,000744: 14,3162 01260 DRIFTFLG
040258,000745: 14,3163 01662 REFSMFLG
040259,000746: 14,3164 77776 EXIT
040260,000747: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040261,000748: 14,3166 04616 TC BANKCALL
040262,000749: 14,3167 20452 CADR GODSPR
040263,000750: 14,3170 33247 CA R55CDR
040264,000751: 14,3171 04616 TC BANKCALL
040265,000752: 14,3172 17314 CADR IMUPULSE
040266,000753: 14,3173 04616 TC BANKCALL
040267,000754: 14,3174 17707 CADR IMUSTALL
040268,000755: 14,3175 05701 TC CURTAINS
040269,000756: 14,3176 05353 TC PHASCHNG
040270,000757: 14,3177 04024 OCT 04024
040271,000758:
040272,000759: 14,3200 06042 TC INTPRET
040273,000760: 14,3201 75160 AXC,1 AXC,2
040274,000761: 14,3202 03606 XSMD
040275,000762: 14,3203 01733 REFSMMAT
040276,000763: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040277,000764: 14,3205 31371 MATMOVE
040278,000765: 14,3206 43014 CLEAR SET
040279,000766: 14,3207 01273 PFRATFLG
040280,000767: 14,3210 01462 REFSMFLG
040281,000768: 14,3211 77624 CALL
040282,000769: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040283,000770: 14,3213 77650 GOTO
040284,000771: 14,3214 31126 R51K
040285,000772: 14,3215 04024 V16N20 VN 1620
040286,000773:
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Page 940 |
040288,000775: # R55 GYROTORQUE
040289,000776: # FUNCTION - COMPUTE AND SEND GYRO PULSES
040290,000777: # CALLING SEQ - CALL R55
040291,000778: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040292,000779: # OUTPUT - GYRO PULSES
040293,000780: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040294,000781:
040295,000782: 14,3216 COUNT* $$/R55
040296,000783: 14,3216 77620 R55 STQ
040297,000784: 14,3217 02745 QMIN
040298,000785: 14,3220 77624 CALL
040299,000786: 14,3221 47251 CALCGTA
040300,000787: 14,3222 77776 PULSEM EXIT
040301,000788: 14,3223 33246 R55.1 CAF V06N93
040302,000789: 14,3224 04616 TC BANKCALL
040303,000790: 14,3225 20477 CADR GOFLASH
040304,000791: 14,3226 06001 TC GOTOPOOH
040305,000792: 14,3227 03231 TC R55.2
040306,000793: 14,3230 03243 TC R55RET
040307,000794: 14,3231 05353 R55.2 TC PHASCHNG
040308,000795: 14,3232 00214 OCT 00214
040309,000796: 14,3233 33247 CA R55CDR
040310,000797: 14,3234 04616 TC BANKCALL
040311,000798: 14,3235 17314 CADR IMUPULSE
040312,000799: 14,3236 04616 TC BANKCALL
040313,000800: 14,3237 17707 CADR IMUSTALL
040314,000801: 14,3240 05701 TC CURTAINS
040315,000802: 14,3241 05353 TC PHASCHNG
040316,000803: 14,3242 04024 OCT 04024
040317,000804:
040318,000805: 14,3243 06042 R55RET TC INTPRET
040319,000806: 14,3244 77650 GOTO
040320,000807: 14,3245 02745 QMIN
040321,000808: 14,3246 01535 V06N93 VN 0693
040322,000809: 14,3247 02737 R55CDR ECADR OGC
040323,000810: 14,3250 14,3250 R54 = CHKSDATA
040324,000811:
040325,000812: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
040326,000813: # MOD NO - 0 LOG SECTION - P51-P53
040327,000814: # MODIFICATION BY - LONSKE ASSEMBLY -
040328,000815:
040329,000816: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040330,000817: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040331,000818: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040332,000819: # OS1 = OBSERVED STAR 1 VECTOR
040333,000820: # OS2 = OBSERVED STAR 2 VECTOR
040334,000821: # SS1 = STORED STAR 1 VECTOR
040335,000822: # SS2 = STORED STAR 2 VECTOR
040336,000823: # A1 = ARCCOS(OS1 - OS2)
040337,000824: # A2 = ARCCOS(SS1 - SS2)
040338,000825: # A = ABS(2(A1 - A2))
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Page 941 |
040340,000827: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040341,000828:
040342,000829: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040343,000830: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040344,000831: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040345,000832: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040346,000833:
040347,000834: # ERASABLE INITIALIZATION REQUIRED -
040348,000835: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040349,000836: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040350,000837:
040351,000838: # DEBRIS -
040352,000839:
040353,000840: 14,3250 COUNT* $$/R54
040354,000841: 14,3250 43020 CHKSDATA STQ SET
040355,000842: 14,3251 02745 QMIN
040356,000843: 14,3252 00074 FREEFLAG
040357,000844: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040358,000845: 14,3254 02706 STARAD
040359,000846:
040360,000847: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040361,000848: 14,3256 00001 0,1
040362,000849: 14,3257 00007 6,1
040363,000850: 14,3260 65552 SL1 ACOS
040364,000851: 14,3261 00025 STORE THETA
040365,000852: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040366,000853: 14,3263 00354 FREEFLAG
040367,000854: 14,3264 31274 CHKSD
040368,000855: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040369,000856: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040370,000857: 14,3267 00006 6D
040371,000858: 14,3270 00025 THETA
040372,000859: 14,3271 00023 STORE 18D
040373,000860: 14,3272 77650 GOTO
040374,000861: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040375,000862: 14,3274 45345 CHKSD DLOAD DSU
040376,000863: 14,3275 00025 THETA
040377,000864: 14,3276 00023 18D
040378,000865: 14,3277 77634 RTB # COMPUTE POS DIFF
040379,000866: 14,3300 21613 SGNAGREE
040380,000867: 14,3301 01045 STORE NORMTEM1
040381,000868: 14,3302 77414 SET EXIT
040382,000869: 14,3303 00074 FREEFLAG
040383,000870: 14,3304 33320 CAF VB6N5
040384,000871: 14,3305 04616 TC BANKCALL
040385,000872: 14,3306 20477 CADR GOFLASH
040386,000873: 14,3307 16001 TCF GOTOPOOH
040387,000874: 14,3310 03315 TC CHKSDA # PROCEED
040388,000875: 14,3311 06042 TC INTPRET
040389,000876: 14,3312 52014 CLEAR GOTO
040390,000877: 14,3313 00274 FREEFLAG
040391,000878: 14,3314 02745 QMIN
040392,000879: 14,3315 06042 CHKSDA TC INTPRET
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Page 942 |
040394,000881: 14,3316 77650 GOTO
040395,000882: 14,3317 02745 QMIN
040396,000883: 14,3320 01405 VB6N5 VN 605
040397,000884:
040398,000885: # NAME - CAL53A
040399,000886: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040400,000887: # CALLING SEQUENCE - CALL CAL53A
040401,000888: # INPUT - X,Y,ZSMD, CDUX,Y,Z
040402,000889: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040403,000890: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
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The printout appears to say "IMUGOARSE" in the line below, but many other AGC versions have an identical card reading "IMUCOARSE", so I believe there is a smudge on the paper that merely makes the 'C' appear to be a 'G' — RSB 2017. |
040408,000895: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040409,000896:
040410,000897: 14,3321 COUNT* $$/R50
040411,000898: 14,3321 77624 CAL53A CALL
040412,000899: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040413,000900: 14,3323 66234 RTB SSP
040414,000901: 14,3324 31405 RDCDUS # READ CDUS
040415,000902: 14,3325 00051 S1
040416,000903: 14,3326 00001 1
040417,000904: 14,3327 40370 AXT,1 SETPD
040418,000905: 14,3330 00003 3
040419,000906: 14,3331 00005 4
040420,000907: 14,3332 70543 CALOOP DLOAD* SR1
040421,000908: 14,3333 00325 THETAD +3D,1
040422,000909: 14,3334 70523 PDDL* SR1
040423,000910: 14,3335 00005 4,1
040424,000911: 14,3336 51425 DSU ABS
040425,000912: 14,3337 45206 PUSH DSU
040426,000913: 14,3340 31404 DEGREE1
040427,000914: 14,3341 71240 BMN DLOAD
040428,000915: 14,3342 31360 CALOOP1
040429,000916: 14,3343 51025 DSU BPL
040430,000917: 14,3344 31405 DEG359
040431,000918: 14,3345 31360 CALOOP1
040432,000919: 14,3346 77776 EXIT
040433,000920: 14,3347 05353 TC PHASCHNG
040434,000921: 14,3350 04024 OCT 04024
040435,000922:
040436,000923: 14,3351 06042 TC INTPRET
040437,000924: 14,3352 77624 COARFINE CALL
040438,000925: 14,3353 31557 COARSE
040439,000926: 14,3354 77624 CALL
040440,000927: 14,3355 31603 NCOARSE
040441,000928: 14,3356 77650 GOTO
040442,000929: 14,3357 31362 FINEONLY
040443,000930: 14,3360 77700 CALOOP1 TIX,1
040444,000931: 14,3361 31332 CALOOP
040445,000932: 14,3362 75160 FINEONLY AXC,1 AXC,2
040446,000933: 14,3363 02642 XSM
040447,000934: 14,3364 01733 REFSMMAT
040448,000935: 14,3365 77624 CALL
040449,000936: 14,3366 31371 MATMOVE
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Page 943 |
040451,000938: 14,3367 77650 GOTO
040452,000939: 14,3370 32161 COARSRET
040453,000940: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040454,000941: 14,3372 00001 0,1
040455,000942: 14,3373 10001 STORE 0,2
040456,000943: 14,3374 77773 VLOAD*
040457,000944: 14,3375 00007 6D,1
040458,000945: 14,3376 10007 STORE 6D,2
040459,000946: 14,3377 77773 VLOAD*
040460,000947: 14,3400 00015 12D,1
040461,000948: 14,3401 10015 STORE 12D,2
040462,000949: 14,3402 77616 RVQ
040463,000950: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040464,000951: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040465,000952: 14,3405 00004 RDCDUS INHINT # READ CDUS
040466,000953: 14,3406 30032 CA CDUX
040467,000954: 14,3407 50120 INDEX FIXLOC
040468,000955: 14,3410 54001 TS 1
040469,000956: 14,3411 30033 CA CDUY
040470,000957: 14,3412 50120 INDEX FIXLOC
040471,000958: 14,3413 54002 TS 2
040472,000959: 14,3414 30034 CA CDUZ
040473,000960: 14,3415 50120 INDEX FIXLOC
040474,000961: 14,3416 54003 TS 3
040475,000962: 14,3417 00003 RELINT
040476,000963: 14,3420 06064 TC DANZIG # +
040477,000964: 14,3421 COUNT* $$/INFLT
040478,000965:
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Page 944 |
040480,000967: # NAME - P51 - IMU ORIENTATION DETERMINATION
040481,000968: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
040482,000969: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040483,000970:
040484,000971: # FUNCTIONAL DESCRIPTION
040485,000972: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040486,000973: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040487,000974: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040488,000975: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040489,000976:
040490,000977: # CALLING SEQUENCE
040491,000978: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040492,000979:
040493,000980: # SUBROUTINES CALLED.
040494,000981: # GOPERF3
040495,000982: # GOPERF1
040496,000983: # GODSPR
040497,000984: # IMUCOARS
040498,000985: # IMUFIN20
040499,000986: # AOTMARK (R53)
040500,000987: # CHKSDATA (R54)
040501,000988: # MKRELEAS
040502,000989: # AXISGEN
040503,000990: # MATMOVE
040504,000991:
040505,000992: # ALARMS
040506,000993: # NONE.
040507,000994:
040508,000995: # ERASABLE INITIALIZATION
040509,000996: # IMU ZERO FLAG SHOULD BE SET.
040510,000997:
040511,000998: # OUTPUT
040512,000999: # REFSMMAT
040513,001000: # REFSMFLG
040514,001001:
040515,001002: # DEBRIS
040516,001003: # WORK AREA
040517,001004: # STARAD
040518,001005: # STARIND
040519,001006: # BESTI
040520,001007: # BESTJ
040521,001008:
040522,001009: 14,3421 COUNT* $$/P51
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Page 945 |
040524,001011: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040525,001012: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040526,001013:
040527,001014: 14,3423 34761 CAF OCT15
040528,001015: 14,3424 04616 TC BANKCALL
040529,001016: 14,3425 20624 CADR GOPERF1
040530,001017: 14,3426 06001 TC GOTOPOOH # TERM.
040531,001018: 14,3427 13453 TCF P51B # V33
040532,001019: 14,3430 05353 TC PHASCHNG
040533,001020: 14,3431 04024 OCT 04024
040534,001021:
040535,001022: 14,3432 34755 CAF ZERO
040536,001023: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040537,001024: 14,3434 54322 TS THETAD +1
040538,001025: 14,3435 54323 TS THETAD +2
040539,001026: 14,3436 35010 CAF V06N22
040540,001027: 14,3437 04616 TC BANKCALL
040541,001028: 14,3440 20447 CADR GODSPRET
040542,001029: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040543,001030: 14,3442 04616 TC BANKCALL
040544,001031: 14,3443 20447 CADR GODSPRET
040545,001032: 14,3444 06042 TC INTPRET
040546,001033: 14,3445 77624 CALL
040547,001034: 14,3446 31557 COARSE
040548,001035: 14,3447 77776 EXIT
040549,001036: 14,3450 05353 TC PHASCHNG
040550,001037: 14,3451 04024 OCT 04024
040551,001038: 14,3452 13423 TCF P51 +2
040552,001039:
040553,001040: 14,3453 05353 P51B TC PHASCHNG
040554,001041: 14,3454 00014 OCT 00014
040555,001042: 14,3455 06042 TC INTPRET
040556,001043: 14,3456 77624 CALL
040557,001044: 14,3457 31603 NCOARSE
040558,001045: 14,3460 40331 SSP SETPD
040559,001046: 14,3461 02760 STARIND # INDEX - STAR 1 OR 2
040560,001047: 14,3462 00000 0
040561,001048: 14,3463 00001 0
040562,001049: 14,3464 77776 P51C EXIT
040563,001050: 14,3465 05353 TC PHASCHNG
040564,001051: 14,3466 04024 OCT 04024
040565,001052:
040566,001053: 14,3467 04616 TC BANKCALL
040567,001054: 14,3470 16000 CADR AOTMARK # R53
040568,001055: 14,3471 04616 TC BANKCALL
040569,001056: 14,3472 17703 CADR AOTSTALL
040570,001057: 14,3473 05701 TC CURTAINS
040571,001058: 14,3474 11757 CCS STARIND
040572,001059: 14,3475 13503 TCF P51D +1
040573,001060: 14,3476 06042 TC INTPRET
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Page 946 |
040575,001062: 14,3477 77775 VLOAD
040576,001063: 14,3500 02715 STARAD +6
040577,001064: 14,3501 02761 STORE STARSAV1
040578,001065: 14,3502 77776 P51D EXIT
040579,001066: 14,3503 05353 TC PHASCHNG
040580,001067: 14,3504 04024 OCT 04024
040581,001068:
040582,001069: 14,3505 11757 CCS STARIND
040583,001070: 14,3506 13522 TCF P51E
040584,001071: 14,3507 05353 TC PHASCHNG
040585,001072: 14,3510 04024 OCT 04024
040586,001073:
040587,001074: 14,3511 06042 TC INTPRET
040588,001075: 14,3512 45145 DLOAD CALL
040589,001076: 14,3513 03562 TSIGHT
040590,001077: 14,3514 32472 PLANET
040591,001078: 14,3515 03554 STORE PLANVEC
040592,001079: 14,3516 77776 EXIT
040593,001080: 14,3517 34753 CAF BIT1
040594,001081: 14,3520 55757 TS STARIND
040595,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040596,001083: 14,3522 05353 P51E TC PHASCHNG
040597,001084: 14,3523 04024 OCT 04024
040598,001085:
040599,001086: 14,3524 06042 TC INTPRET
040600,001087: 14,3525 45145 DLOAD CALL
040601,001088: 14,3526 03562 TSIGHT
040602,001089: 14,3527 32472 PLANET
040603,001090: 14,3530 24015 STOVL 12D
040604,001091: 14,3531 03554 PLANVEC
040605,001092: 14,3532 24007 STOVL 6D
040606,001093: 14,3533 02761 STARSAV1
040607,001094: 14,3534 26707 STOVL STARAD
040608,001095: 14,3535 02767 STARSAV2
040609,001096: 14,3536 36715 STCALL STARAD +6
040610,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040611,001098: 14,3540 77414 BON EXIT
040612,001099: 14,3541 00314 FREEFLAG
040613,001100: 14,3542 31544 P51G
040614,001101: 14,3543 03423 TC P51 +2
040615,001102: 14,3544 77624 P51G CALL
040616,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040617,001104: 14,3546 75160 AXC,1 AXC,2
040618,001105: 14,3547 02664 XDC
040619,001106: 14,3550 01733 REFSMMAT
040620,001107: 14,3551 77624 CALL
040621,001108: 14,3552 31371 MATMOVE
040622,001109: 14,3553 77414 SET EXIT
040623,001110: 14,3554 01462 REFSMFLG
040624,001111: 14,3555 06001 TC GOTOPOOH # FINIS
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Page 947 |
040626,001113: 14,3556 12200 V41K VN 4100
040627,001114: 14,3557 77776 COARSE EXIT
040628,001115: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040629,001116: 14,3561 00006 EXTEND
040630,001117: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040631,001118: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040632,001119: 14,3564 04616 TC BANKCALL
040633,001120: 14,3565 01736 CADR DELAYJOB
040634,001121: 14,3566 13560 TCF COARSE +1
040635,001122: 14,3567 04616 DOCORS TC BANKCALL
040636,001123: 14,3570 16771 CADR IMUCOARS
040637,001124: 14,3571 04616 TC BANKCALL
040638,001125: 14,3572 17707 CADR IMUSTALL
040639,001126: 14,3573 05701 TC CURTAINS
040640,001127: 14,3574 04616 TC BANKCALL
040641,001128: 14,3575 17201 CADR IMUFINE
040642,001129: 14,3576 04616 TC BANKCALL
040643,001130: 14,3577 17707 CADR IMUSTALL
040644,001131: 14,3600 05701 TC CURTAINS
040645,001132: 14,3601 06042 TC INTPRET
040646,001133: 14,3602 77616 RVQ
040647,001134: 14,3603 77776 NCOARSE EXIT
040648,001135: 14,3604 30025 CA TIME1
040649,001136: 14,3605 55074 TS 1/PIPADT
040650,001137: 14,3606 44755 CS ZERO
040651,001138: 14,3607 54037 TS PIPAX
040652,001139: 14,3610 54040 TS PIPAY
040653,001140: 14,3611 54041 TS PIPAZ
040654,001141: 14,3612 06042 TC INTPRET
040655,001142: 14,3613 77775 VLOAD
040656,001143: 14,3614 24007 ZEROVEC
040657,001144: 14,3615 01472 STORE GCOMP
040658,001145: 14,3616 43414 SET RVQ
040659,001146: 14,3617 01060 DRIFTFLG
040660,001147:
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Page 948 |
040662,001149: # NAME - S52.2
040663,001150: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040664,001151: # CALL - CALL S52.2
040665,001152: # INPUT - X,Y,ZSMD
040666,001153: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040667,001154: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040668,001155:
040669,001156: 14,3620 COUNT* $$/S52.1
040670,001157: 14,3620 45020 S52.2 STQ CALL
040671,001158: 14,3621 02746 QMAJ
040672,001159: 14,3622 47541 CDUTRIG
040673,001160: 14,3623 77624 CALL
040674,001161: 14,3624 20030 CALCSMSC
040675,001162: 14,3625 66370 AXT,1 SSP
040676,001163: 14,3626 00022 18D
040677,001164: 14,3627 00051 S1
040678,001165: 14,3630 00006 6D
040679,001166: 14,3631 61373 S52.2A VLOAD* VXM
040680,001167: 14,3632 02707 XNB +18D,1
040681,001168: 14,3633 01734 REFSMMAT
040682,001169: 14,3634 77656 UNIT
040683,001170: 14,3635 06707 STORE XNB +18D,1
040684,001171: 14,3636 77700 TIX,1
040685,001172: 14,3637 31631 S52.2A
040686,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040687,001174: 14,3641 03606 XSMD
040688,001175: 14,3642 02642 XSM
040689,001176: 14,3643 77624 CALL
040690,001177: 14,3644 31371 MATMOVE
040691,001178: 14,3645 77624 CALL
040692,001179: 14,3646 47355 CALCGA
040693,001180: 14,3647 77650 GOTO
040694,001181: 14,3650 02746 QMAJ
040695,001182:
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Page 949 |
040697,001184: # NAME - S52.3
040698,001185: # FUNCTION XSMD= UNIT R
040699,001186: # YSMD= UNIT(V X R)
040700,001187: # ZSMD= UNIT(XSMD X YSMD)
040701,001188: # CALL DLOAD CALL
040702,001189: # TALIGN
040703,001190: # S52.3
040704,001191: # INPUT - TIME OF ALIGNMENT IN MPAC
040705,001192: # OUTPUT - X,Y,ZSMD
040706,001193: # SUBROUTINES - CSMCONIC
040707,001194:
040708,001195: 14,3651 COUNT* $$/S52.3
040709,001196: 14,3651 77620 S52.3 STQ
040710,001197: 14,3652 02746 QMAJ
040711,001198: 14,3653 34041 STCALL TDEC1
040712,001199: 14,3654 27077 LEMCONIC
040713,001200: 14,3655 53575 VLOAD UNIT
040714,001201: 14,3656 00001 RATT
040715,001202: 14,3657 27607 STOVL XSMD
040716,001203: 14,3660 00007 VATT
040717,001204: 14,3661 53435 VXV UNIT
040718,001205: 14,3662 00001 RATT
040719,001206: 14,3663 27615 STOVL YSMD
040720,001207: 14,3664 03607 XSMD
040721,001208: 14,3665 53435 VXV UNIT
040722,001209: 14,3666 03615 YSMD
040723,001210: 14,3667 37623 STCALL ZSMD
040724,001211: 14,3670 02746 QMAJ
040725,001212:
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Page 950 |
040727,001214: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040728,001215:
040729,001216: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040730,001217: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040731,001218:
040732,001219: # CALLING - CALL R52
040733,001220:
040734,001221: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040735,001222:
040736,001223: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040737,001224: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040738,001225: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040739,001226: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040740,001227:
040741,001228: # SUBROUT - R60LEM
040742,001229:
040743,001230: 14,3671 COUNT* $$/R52
040744,001231: 14,3671 77420 R52 STQ EXIT
040745,001232: 14,3672 03665 SAVQR52
040746,001233: 14,3673 51757 INDEX STARIND
040747,001234: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040748,001235: 14,3675 00006 EXTEND
040749,001236: 14,3676 73772 MP 1/6TH
040750,001237: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040751,001238: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040752,001239:
040753,001240: 14,3701 33773 R52A CAF V01N70
040754,001241: 14,3702 04616 TC BANKCALL
040755,001242: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040756,001243: 14,3704 06001 TC GOTOPOOH # V34 - TERMINATE
040757,001244: 14,3705 13707 TCF R52B # V33 - PROCEED TO ORIENT LEM
040758,001245: 14,3706 13701 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
040759,001246:
040760,001247: 14,3707 05516 R52B TC DOWNFLAG
040761,001248: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040762,001249: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040763,001250: 14,3712 77747 MASK HIGH9
040764,001251: 14,3713 00006 EXTEND
040765,001252: 14,3714 74743 MP BIT9
040766,001253: 14,3715 54001 TS L # TEMP STORE DETENT
040767,001254:
040768,001255: 14,3716 00006 EXTEND
040769,001256: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040770,001257:
040771,001258: 14,3720 65650 AD NEG7
040772,001259: 14,3721 00006 EXTEND
040773,001260: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
040774,001261:
040775,001262: 14,3723 E7,1551 EBANK= XYMARK
040776,001263: 14,3723 35016 CA EBANK7
040777,001264: 14,3724 54003 TS EBANK
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Page 951 |
040779,001266: 14,3725 50001 INDEX L
040780,001267: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040781,001268: 14,3727 54001 TS L
040782,001269: 14,3730 E5,1642 EBANK= XSM
040783,001270: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
040784,001271: 14,3731 54003 TS EBANK
040785,001272: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
040786,001273: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040787,001274: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
040788,001275:
040789,001276: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040790,001277: 14,3736 04616 TC BANKCALL
040791,001278: 14,3737 20477 CADR GOFLASH
040792,001279: 14,3740 06001 TC GOTOPOOH # V34 - TERMINATE
040793,001280: 14,3741 13743 TCF +2 # PROCEED - CALC OPTIC AXIS
040794,001281: 14,3742 13735 TCF GETAZEL # ENTER - RECYCLE
040795,001282:
040796,001283: 14,3743 00006 EXTEND
040797,001284: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
040798,001285: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040799,001286: 14,3746 52011 DXCH 8D
040800,001287: 14,3747 06042 TC INTPRET
040801,001288: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040802,001289: 14,3751 10522 OANB # SCAXIS IN NB COORDS
040803,001290: 14,3752 45034 RTB CALL
040804,001291: 14,3753 21574 LOADTIME
040805,001292: 14,3754 32472 PLANET
040806,001293: 14,3755 53521 MXV UNIT
040807,001294: 14,3756 01734 REFSMMAT
040808,001295: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
040809,001296:
040810,001297: 14,3760 77776 EXIT
040811,001298: 14,3761 04616 TC BANKCALL
040812,001299: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040813,001300:
040814,001301: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
040815,001302: 14,3764 70734 MASK STARCODE
040816,001303: 14,3765 00006 EXTEND
040817,001304: 14,3766 13701 BZF R52A
040818,001305:
040819,001306: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
040820,001307: 14,3770 77650 GOTO
040821,001308: 14,3771 03665 SAVQR52 # RETURN TO CALLER
040822,001309:
040823,001310: 14,3772 05253 1/6TH DEC .1666667
040824,001311: 14,3773 00306 V01N70 VN 0170
040825,001312: 14,3774 01527 V06N87 VN 687
040826,001313:
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Page 952 |
040828,001315: # LUNAR SURFACE STAR AQUISITION
040829,001316:
040830,001317: 15,2245 BANK 15
040831,001318: 15,2000 SETLOC P50S
040832,001319: 15,2000 BANK
040833,001320: 15,2245 COUNT* $$/R59
040834,001321:
040835,001322: 15,2245 40077 R59 CS FLAGWRD3
040836,001323: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040837,001324: 15,2247 10000 CCS A
040838,001325: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040839,001326:
040840,001327: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040841,001328: 15,2252 04616 TC BANKCALL
040842,001329: 15,2253 20477 CADR GOFLASH
040843,001330: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
040844,001331: 15,2255 12257 TCF R59A # V33 - PROCEED
040845,001332: 15,2256 12245 TCF R59 # V32 - RECYCLE
040846,001333:
040847,001334: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040848,001335: 15,2260 70734 MASK AOTCODE
040849,001336: 15,2261 00006 EXTEND
040850,001337: 15,2262 76245 MP REVCNT # JUST 6
040851,001338: 15,2263 56001 XCH L
040852,001339: 15,2264 51757 INDEX STARIND
040853,001340: 15,2265 55755 TS BESTI
040854,001341: 15,2266 50120 INDEX FIXLOC
040855,001342: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040856,001343: 15,2270 00006 EXTEND
040857,001344: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
040858,001345: 15,2272 40000 COM
040859,001346: 15,2273 62557 AD DEC227
040860,001347: 15,2274 00006 EXTEND
040861,001348: 15,2275 62455 BZMF R59OUT
040862,001349:
040863,001350: 15,2276 06042 TC INTPRET
040864,001351: 15,2277 64373 VLOAD* MXV
040865,001352: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040866,001353: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040867,001354: 15,2302 45056 UNIT CALL
040868,001355: 15,2303 47650 CDU*SMNB
040869,001356: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040870,001357: 15,2305 77776 EXIT
040871,001358:
040872,001359: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
040873,001360: 15,2307 55241 TS POSCODE
040874,001361:
040875,001362: 15,2310 E7,1551 EBANK= XYMARK
040876,001363: 15,2310 35016 INCAZ CA EBANK7
040877,001364: 15,2311 54003 TS EBANK
040878,001365:
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Page 953 |
040880,001367: 15,2312 51241 INDEX POSCODE
040881,001368: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040882,001369: 15,2314 54001 TS L
040883,001370:
040884,001371: 15,2315 E5,1642 EBANK= XSM
040885,001372: 15,2315 35014 CA EBANK5
040886,001373: 15,2316 54003 TS EBANK
040887,001374:
040888,001375: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040889,001376: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040890,001377: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040891,001378: 15,2322 50120 INDEX FIXLOC
040892,001379: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040893,001380:
040894,001381: 15,2324 06042 TC INTPRET
040895,001382: 15,2325 77624 CALL
040896,001383: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
040897,001384: 15,2327 50375 VLOAD DOT
040898,001385: 15,2330 02731 STAR # DOT STAR WITH OA
040899,001386: 15,2331 03765 SCAXIS
040900,001387: 15,2332 65552 SL1 ARCCOS
040901,001388: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040902,001389:
040903,001390: 15,2334 51025 DSU BPL
040904,001391: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040905,001392: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
040906,001393: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040907,001394: 15,2340 00031 24D
040908,001395: 15,2341 32470 DEG.5
040909,001396: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040910,001397: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040911,001398: 15,2344 00031 24D # GET SPIRAL
040912,001399: 15,2345 42405 DMP SL4
040913,001400: 15,2346 11220 3/4 # 12 SCALED AT 16
040914,001401: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040915,001402:
040916,001403: 15,2350 03765 SCAXIS # OA
040917,001404: 15,2351 53435 VXV UNIT
040918,001405: 15,2352 24005 XUNIT
040919,001406: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040920,001407: 15,2354 03765 SCAXIS
040921,001408: 15,2355 77676 VCOMP
040922,001409: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040923,001410: 15,2357 03765 SCAXIS
040924,001411: 15,2360 53435 VXV UNIT
040925,001412: 15,2361 02731 STAR
040926,001413: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040927,001414: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040928,001415: 15,2364 65552 SL1 ARCCOS
040929,001416: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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Page 954 |
040931,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040932,001419: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
040933,001420: 15,2370 32375 R59D
040934,001421: 15,2371 32047 ABOUTONE
040935,001422: 15,2372 77625 DSU
040936,001423: 15,2373 00033 26D
040937,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040938,001425:
040939,001426: 15,2375 70535 R59D SLOAD SR1
040940,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040941,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040942,001429: 15,2400 00033 26D
040943,001430: 15,2401 77634 RTB
040944,001431: 15,2402 21615 1STO2S
040945,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
040946,001433: 15,2404 00031 24D # LOAD SROT IN REVS
040947,001434: 15,2405 77615 DAD # 12(SEP) + YROT
040948,001435: 15,2406 77634 RTB
040949,001436: 15,2407 21615 1STO2S
040950,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
040951,001438: 15,2411 77776 EXIT
040952,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040953,001440:
040954,001441: 15,2413 77776 ZSPCR EXIT
040955,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040956,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
040957,001444: 15,2416 55237 TS SPIRAL
040958,001445: 15,2417 12437 TCF 79DISP
040959,001446:
040960,001447: 15,2420 77776 NXAX EXIT
040961,001448: 15,2421 25241 INCR POSCODE
040962,001449: 15,2422 41241 CS POSCODE
040963,001450: 15,2423 64757 AD SEVEN
040964,001451: 15,2424 00006 EXTEND
040965,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040966,001453: 15,2426 12310 TCF INCAZ
040967,001454:
040968,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
040969,001456: 15,2430 00404 OCT 404
040970,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040971,001458: 15,2432 04616 TC BANKCALL
040972,001459: 15,2433 20477 CADR GOFLASH
040973,001460: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
040974,001461: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
040975,001462: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
040976,001463:
040977,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040978,001465: 15,2440 04616 TC BANKCALL
040979,001466: 15,2441 20477 CADR GOFLASH
040980,001467: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
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Page 955 |
040982,001469: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
040983,001470: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
040984,001471:
040985,001472: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
040986,001473: 15,2446 71241 MASK POSCODE
040987,001474: 15,2447 00006 EXTEND
040988,001475: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
040989,001476: 15,2451 47747 CS HIGH9
040990,001477: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
040991,001478: 15,2453 60001 AD L
040992,001479: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
040993,001480:
040994,001481: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
040995,001482: 15,2456 16000 CADR AOTMARK
040996,001483: 15,2457 04616 TC BANKCALL
040997,001484: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
040998,001485: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
040999,001486: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041000,001487:
041001,001488: 15,2463 00306 V01N70* VN 170
041002,001489: 15,2464 01517 V06N79 VN 679
041003,001490: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041004,001491: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041005,001492: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041006,001493: 15,2472 1235 CURSOR EQUALS GDT/2
041007,001494: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041008,001495: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041009,001496:
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Page 956 |
041011,001498: # NAME - PLANET
041012,001499: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041013,001500: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041014,001501: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041015,001502: # BY DSDY INPUT
041016,001503: # CALL - CALL
041017,001504: # PLANET
041018,001505: # INPUT - TIME IN MPAC
041019,001506: # OUTPUT - VECTOR IN MPAC
041020,001507: # SUBROUTINES - LOCSAM
041021,001508: # DEBRIS - VAC, STARAD - STARAD +17
041022,001509:
041023,001510: 15,2000 SETLOC P50S
041024,001511: 15,2000 BANK
041025,001512: 15,2472 COUNT* $$/P51
041026,001513:
041027,001514: 15,2472 03562 PLANET STORE TSIGHT
041028,001515: 15,2473 77420 STQ EXIT
041029,001516: 15,2474 02736 GCTR
041030,001517: 15,2475 47747 CS HIGH9
041031,001518: 15,2476 70734 MASK AOTCODE
041032,001519: 15,2477 00006 EXTEND
041033,001520: 15,2500 76245 MP REVCNT
041034,001521: 15,2501 56001 XCH L
041035,001522: 15,2502 51757 INDEX STARIND
041036,001523: 15,2503 55755 TS BESTI
041037,001524: 15,2504 10000 CCS A
041038,001525: 15,2505 12521 TCF NOTPLAN
041039,001526: 15,2506 32560 CAF VNPLANV
041040,001527: 15,2507 04616 TC BANKCALL
041041,001528: 15,2510 20477 CADR GOFLASH
041042,001529: 15,2511 02506 TC -3
041043,001530: 15,2512 02514 TC +2
041044,001531: 15,2513 02506 TC -5
041045,001532: 15,2514 06042 TC INTPRET
041046,001533: 15,2515 53575 VLOAD UNIT
041047,001534: 15,2516 02707 STARAD
041048,001535: 15,2517 77650 GOTO
041049,001536: 15,2520 02736 GCTR
041050,001537: 15,2521 40000 NOTPLAN CS A
041051,001538: 15,2522 62557 AD DEC227
041052,001539: 15,2523 00006 EXTEND
041053,001540: 15,2524 62535 BZMF CALSAM1
041054,001541: 15,2525 51757 INDEX STARIND
041055,001542: 15,2526 31755 CA BESTI
041056,001543: 15,2527 50120 INDEX FIXLOC
041057,001544: 15,2530 54046 TS X1
041058,001545: 15,2531 06042 TC INTPRET
041059,001546: 15,2532 52173 VLOAD* GOTO
041060,001547: 15,2533 30347 CATLOG,1
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Page 957 |
041062,001549: 15,2534 02736 GCTR
041063,001550: 15,2535 06042 CALSAM1 TC INTPRET
041064,001551: 15,2536 45145 CALSAM DLOAD CALL
041065,001552: 15,2537 03562 TSIGHT
041066,001553: 15,2540 30500 LOCSAM
041067,001554: 15,2541 77340 LXC,1 VLOAD
041068,001555: 15,2542 02757 STARIND
041069,001556: 15,2543 02707 VEARTH
041070,001557: 15,2544 24001 STOVL 0D
041071,001558: 15,2545 02715 VSUN
041072,001559: 15,2546 26707 STOVL VEARTH
041073,001560: 15,2547 00001 0D
041074,001561: 15,2550 02715 STORE VSUN
041075,001562: 15,2551 70143 DLOAD* LXC,1
041076,001563: 15,2552 02756 BESTI,1
041077,001564: 15,2553 00154 MPAC
041078,001565: 15,2554 52173 VLOAD* GOTO
041079,001566: 15,2555 02343 STARAD -228D,1
041080,001567: 15,2556 02736 GCTR
041081,001568: 15,2557 00343 DEC227 DEC 227 B-14
041082,001569: 15,2560 01530 VNPLANV VN 0688
041083,001570: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041084,001571:
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Page 958 |
041086,001573: # GRAVITY VECTOR DETERMINATION ROUTINE
041087,001574: # BY KEN VINCENT
041088,001575:
041089,001576: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041090,001577: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041091,001578: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041092,001579: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041093,001580: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041094,001581: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041095,001582: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041096,001583: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041097,001584: # READINGS.
041098,001585:
041099,001586: # CALL -
041100,001587: # TC BANKCALL
041101,001588: # CADR GVDETER
041102,001589:
041103,001590: # INPUTS -
041104,001591: # PIPAS, CDUS
041105,001592:
041106,001593: # OUTPUTS -
041107,001594: # STARSAV1 = UNIT GRAVITY
041108,001595: # GSAV = DITTO
041109,001596: # GRAVBIT = 1
041110,001597:
041111,001598: # SUBROUTINES -
041112,001599: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041113,001600: # *NBSM*, *SNMB*, CALCGA, FOFLASH
041114,001601:
041115,001602: # DEBRIS -
041116,001603: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041117,001604:
041118,001605: 15,2561 32762 GVDETER CAF 42DEG
041119,001606: 15,2562 54321 TS THETAD
041120,001607: 15,2563 40000 COM
041121,001608: 15,2564 54322 TS THETAD +1
041122,001609: 15,2565 32763 CAF 35DEG
041123,001610: 15,2566 54323 TS THETAD +2
041124,001611: 15,2567 06042 TC INTPRET
041125,001612: 15,2570 45014 CLEAR CALL
041126,001613: 15,2571 01662 REFSMFLG
041127,001614: 15,2572 32666 LUNG
041128,001615:
041129,001616: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041130,001617:
041131,001618: # DEFINE G COOR SYS
041132,001619: # -
041133,001620: # X UNIT G
041134,001621: # * - -
041135,001622: # M = Y = UNITEZSM * X )
041136,001623: # - - -
041137,001624: # Z UNIT( X * Y )
041138,001625:
041139,001626: # THEN ROTATED SM WRT PRESENT IS
041140,001627:
041141,001628: # 1, 0 , 0
041142,001629: # * *T * * *
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Page 959 |
041144,001631: # XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I *
041145,001632: # I J
041146,001633: # 0 , 0 ,-1
041147,001634:
041148,001635: # ALSO NB WRT PRES SM IS
041149,001636:
041150,001637: # * * *
041151,001638: # XNB = NBSM I
041152,001639:
041153,001640: # * *
041154,001641: # GIMBAL ANGLES = CALCGA( XSM , XNB )
041155,001642:
041156,001643: 15,2000 SETLOC P50S
041157,001644: 15,2000 BANK
041158,001645: 15,2573 COUNT* $$/P57
041159,001646: 15,2573 66370 AXT,1 SSP # X1=18
041160,001647: 15,2574 00022 18D # S1=6
041161,001648: 15,2575 00051 S1 # X2, -2
041162,001649: 15,2576 00006 6D
041163,001650: 15,2577 77744 LXC,2
041164,001651: 15,2600 00050 S1
041165,001652: 15,2601 45173 GRAVEL VLOAD* CALL
041166,001653: 15,2602 54000 XUNIT -6,2
041167,001654: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041168,001655: 15,2604 06707 STORE XNB +18D,1
041169,001656: 15,2605 77775 VLOAD
041170,001657: 15,2606 02731 STAR
041171,001658: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
041172,001659: 15,2610 00047 X2
041173,001660: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041174,001661: 15,2612 71152 VSL2 LXC,2
041175,001662: 15,2613 00047 X2
041176,001663: 15,2614 63047 VSU* INCR,2
041177,001664: 15,2615 54000 XUNIT -6,2
041178,001665: 15,2616 00002 2D
041179,001666: 15,2617 06665 STORE XSM +18D,1
041180,001667: 15,2620 45100 TIX,1 CALL
041181,001668: 15,2621 32601 GRAVEL
041182,001669: 15,2622 47355 CALCGA
041183,001670: 15,2623 74575 VLOAD VSR1
041184,001671: 15,2624 02715 GOUT
041185,001672: 15,2625 36723 STCALL STARAD +12D
041186,001673: 15,2626 32666 LUNG
041187,001674: 15,2627 74575 VLOAD VSR1
041188,001675: 15,2630 02715 GOUT
041189,001676: 15,2631 53455 VAD UNIT
041190,001677: 15,2632 02723 STARAD +12D
041191,001678: 15,2633 02761 STORE STARSAV1
041192,001679: 15,2634 77641 DOT
041193,001680: 15,2635 02231 GSAV
041194,001681: 15,2636 65552 SL1 ACOS
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Page 960 |
041196,001683: 15,2637 01045 STORE DSPTEM1
041197,001684: 15,2640 77776 EXIT
041198,001685: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041199,001686: 15,2642 00014 ADRES FREEFLAG
041200,001687:
041201,001688: 15,2643 32761 CA DISGRVER
041202,001689: 15,2644 04616 TC BANKCALL
041203,001690: 15,2645 20477 CADR GOFLASH
041204,001691: 15,2646 06001 TC GOTOPOOH
041205,001692: 15,2647 12652 TCF PROGRAV # VB33 - PROCEED
041206,001693: 15,2650 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041207,001694: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041208,001695:
041209,001696: 15,2652 05353 PROGRAV TC PHASCHNG
041210,001697: 15,2653 04024 OCT 04024
041211,001698:
041212,001699: 15,2654 06042 TC INTPRET
041213,001700: 15,2655 77775 VLOAD
041214,001701: 15,2656 02761 STARSAV1
041215,001702: 15,2657 02231 STORE GSAV
041216,001703: 15,2660 77776 EXIT
041217,001704: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041218,001705: 15,2662 70074 MASK FLAGWRD0
041219,001706: 15,2663 10000 CCS A
041220,001707: 15,2664 12561 TCF GVDETER # SET
041221,001708: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041222,001709:
041223,001710: 15,2666 77220 LUNG STQ VLOAD
041224,001711: 15,2667 02745 QMIN
041225,001712: 15,2670 24007 ZEROVEC
041226,001713: 15,2671 02707 STORE GACC
041227,001714: 15,2672 77776 EXIT
041228,001715: 15,2673 05353 TC PHASCHNG
041229,001716: 15,2674 04024 OCT 04024
041230,001717:
041231,001718: 15,2675 06042 TC INTPRET
041232,001719: 15,2676 77624 CALL
041233,001720: 15,2677 31557 COARSE
041234,001721: 15,2700 77776 EXIT
041235,001722: 15,2701 32760 CA T/2SEC
041236,001723: 15,2702 55736 TS GCTR
041237,001724: 15,2703 37721 CA PRIO31
041238,001725: 15,2704 55074 TS 1/PIPADT
041239,001726: 15,2705 04616 TC BANKCALL
041240,001727: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041241,001728: 15,2707 05353 TC PHASCHNG
041242,001729: 15,2710 04024 OCT 04024
041243,001730:
041244,001731: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041245,001732: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
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Page 961 |
041247,001734: 15,2713 06042 TC INTPRET
041248,001735: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041249,001736: 15,2715 35000 CAF 2SECS
041250,001737: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041251,001738: 15,2717 02721 ADRES GRABGRAV
041252,001739:
041253,001740: 15,2720 05155 TC ENDOFJOB
041254,001741:
041255,001742: 15,2721 04674 GRABGRAV TC IBNKCALL
041256,001743: 15,2722 77541 CADR PIPSRINE
041257,001744: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041258,001745: 15,2724 05105 TC FINDVAC
041259,001746: 15,2725 E5,1706 EBANK= STARAD
041260,001747: 15,2725 02730 32065 2CADR ADDGRAV
041261,001748:
041262,001749: 15,2727 05261 TC TASKOVER
041263,001750:
041264,001751: 15,2730 04616 ADDGRAV TC BANKCALL
041265,001752: 15,2731 15271 CADR 1/PIPA
041266,001753: 15,2732 25736 INCR GCTR
041267,001754: 15,2733 06042 TC INTPRET
041268,001755: 15,2734 53375 VLOAD VAD
041269,001756: 15,2735 00325 DELV
041270,001757: 15,2736 02707 GACC
041271,001758: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041272,001759: 15,2740 50135 SLOAD BMN
041273,001760: 15,2741 02737 GCTR
041274,001761: 15,2742 32714 GREED
041275,001762: 15,2743 53575 VLOAD UNIT
041276,001763: 15,2744 02707 GACC
041277,001764: 15,2745 36731 STCALL STAR
041278,001765: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041279,001766: 15,2747 77624 CALL # IN OUTPUT
041280,001767: 15,2750 47673 *SMNB*
041281,001768: 15,2751 02715 STORE GOUT
041282,001769: 15,2752 77776 EXIT
041283,001770: 15,2753 05353 TC PHASCHNG
041284,001771: 15,2754 04024 OCT 04024
041285,001772:
041286,001773: 15,2755 06042 QMINEXIT TC INTPRET
041287,001774: 15,2756 77650 GOTO
041288,001775: 15,2757 02745 QMIN
041289,001776: 15,2760 77753 T/2SEC DEC -20 B-14
041290,001777: 15,2761 01404 DISGRVER VN 0604
041291,001778: 15,2762 07357 42DEG OCT 07357
041292,001779: 15,2763 06211 35DEG OCT 06211
041293,001780:
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Page 962 |
041295,001782: # NAME GYROTRIM
041296,001783:
041297,001784: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041298,001785: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041299,001786: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041300,001787:
041301,001788: # CALL CALL
041302,001789: # GYROTRIM
041303,001790:
041304,001791: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041305,001792: # CDUX,CDUY,CDUZ
041306,001793:
041307,001794: # OUTPUT - GYRO TORQUE PULSES
041308,001795:
041309,001796: # SUBROUTINES- TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041310,001797: # IMPULSE, IMUSTALL
041311,001798: # - - - * * -
041312,001799: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041313,001800:
041314,001801: 15,2764 COUNT* $$/P57
041315,001802: 15,2764 71220 GYROTRIM STQ DLOAD
041316,001803: 15,2765 02745 QMIN
041317,001804: 15,2766 00322 THETAD
041318,001805: 15,2767 65325 PDDL PDDL
041319,001806: 15,2770 00324 THETAD +2
041320,001807: 15,2771 00323 THETAD +1
041321,001808: 15,2772 77666 VDEF
041322,001809: 15,2773 24766 STOVL CDUSPOT
041323,001810: 15,2774 24005 XUNIT
041324,001811: 15,2775 77624 CALL
041325,001812: 15,2776 47666 TRG*NBSM
041326,001813: 15,2777 26707 STOVL STARAD
041327,001814: 15,3000 24003 YUNIT
041328,001815: 15,3001 77624 CALL
041329,001816: 15,3002 47675 *NBSM*
041330,001817: 15,3003 36715 STCALL STARAD +6
041331,001818: 15,3004 47541 CDUTRIG
041332,001819: 15,3005 77624 CALL
041333,001820: 15,3006 20030 CALCSMSC
041334,001821: 15,3007 77775 VLOAD
041335,001822: 15,3010 02665 XNB
041336,001823: 15,3011 24007 STOVL 6D
041337,001824: 15,3012 02673 YNB
041338,001825: 15,3013 34015 STCALL 12D
041339,001826: 15,3014 47443 AXISGEN
041340,001827: 15,3015 77624 CALL
041341,001828: 15,3016 47251 CALCGTA
041342,001829: 15,3017 77776 JUSTTRIM EXIT
041343,001830: 15,3020 33027 CA GYRCDR
041344,001831: 15,3021 04616 TC BANKCALL
041345,001832: 15,3022 17314 CADR IMUPULSE
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Page 963 |
041347,001834: 15,3023 04616 TC BANKCALL
041348,001835: 15,3024 17707 CADR IMUSTALL
041349,001836: 15,3025 05701 TC CURTAINS
041350,001837: 15,3026 12755 TCF QMINEXIT
041351,001838:
041352,001839: 15,3027 02737 GYRCDR ECADR OGC
041353,001840:
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Page 964 |
041355,001842: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041356,001843:
041357,001844: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041358,001845: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041359,001846: 15,3032 34753 1STAR CAF BIT1
041360,001847: 15,3033 55757 TS STARIND
041361,001848:
041362,001849: 15,3034 05353 TC PHASCHNG
041363,001850: 15,3035 04024 OCT 04024
041364,001851:
041365,001852: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041366,001853:
041367,001854: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041368,001855: 15,3040 00006 EXTEND
041369,001856: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041370,001857:
041371,001858: 15,3042 05353 TC PHASCHNG
041372,001859: 15,3043 04024 OCT 04024
041373,001860:
041374,001861: 15,3044 06042 TC INTPRET
041375,001862: 15,3045 45145 DLOAD CALL
041376,001863: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041377,001864: 15,3047 32472 PLANET
041378,001865: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041379,001866: 15,3051 33064 SURFLINE
041380,001867:
041381,001868: 15,3052 06042 ASTAR TC INTPRET
041382,001869: 15,3053 77775 VLOAD
041383,001870: 15,3054 02715 STARAD +6
041384,001871: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041385,001872: 15,3056 45145 DLOAD CALL
041386,001873: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041387,001874: 15,3060 32472 PLANET
041388,001875: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041389,001876: 15,3062 77776 EXIT
041390,001877: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041391,001878:
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Page 965 |
041393,001880: # DO FINE OR COARSE ALIGNMENT OF IMU
041394,001881:
041395,001882: 15,3064 77131 SURFLINE SSP AXT,2
041396,001883: 15,3065 00052 S2
041397,001884: 15,3066 00006 6
041398,001885: 15,3067 00014 12D
041399,001886: 15,3070 64373 WRTDESIR VLOAD* MXV
041400,001887: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041401,001888: 15,3072 03607 XSMD
041402,001889: 15,3073 77656 UNIT
041403,001890: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041404,001891: 15,3075 77773 VLOAD*
041405,001892: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041406,001893: 15,3077 10023 STORE 18D,2
041407,001894: 15,3100 43104 TIX,2 BON
041408,001895: 15,3101 33070 WRTDESIR
041409,001896: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041410,001897: 15,3103 33111 INITBY
041411,001898: 15,3104 77624 DOALIGN CALL
041412,001899: 15,3105 31250 R54 # DO CHKSDATA
041413,001900: 15,3106 77614 BOFF
041414,001901: 15,3107 00354 FREEFLAG
041415,001902: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041416,001903: 15,3111 77624 INITBY CALL
041417,001904: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041418,001905: 15,3113 77624 CALL
041419,001906: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041420,001907: 15,3115 77776 EXIT
041421,001908: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041422,001909: 15,3117 70104 MASK FLAGWRD8
041423,001910: 15,3120 10000 CCS A
041424,001911: 15,3121 13130 TCF 5DEGTEST
041425,001912: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041426,001913: 15,3123 04616 TC BANKCALL
041427,001914: 15,3124 20477 CADR GOFLASH
041428,001915: 15,3125 06001 TC GOTOPOOH # V34 - TERMINATE
041429,001916: 15,3126 13130 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
041430,001917: 15,3127 13172 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
041431,001918:
041432,001919: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041433,001920: 15,3131 40175 VLOAD BOV
041434,001921: 15,3132 02740 OGC
041435,001922: 15,3133 33134 SURFSUP
041436,001923: 15,3134 02750 SURFSUP STORE OGCT
041437,001924: 15,3135 40141 V/SC BOV
041438,001925: 15,3136 30602 5DEGREES
041439,001926: 15,3137 33237 COATRIM
041440,001927: 15,3140 52131 SSP GOTO
041441,001928: 15,3141 02746 QMIN
041442,001929: 15,3142 33144 SURFDISP
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Page 966 |
041444,001931: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5DEG, DO GYRO TORQ
041445,001932:
041446,001933: 15,3144 77776 SURFDISP EXIT
041447,001934: 15,3145 05353 TC PHASCHNG
041448,001935: 15,3146 04024 OCT 04024
041449,001936:
041450,001937: 15,3147 06042 TC INTPRET
041451,001938: 15,3150 75160 AXC,1 AXC,2
041452,001939: 15,3151 03606 XSMD
041453,001940: 15,3152 01733 REFSMMAT
041454,001941: 15,3153 45014 SET CALL
041455,001942: 15,3154 01462 REFSMFLG
041456,001943: 15,3155 31371 MATMOVE
041457,001944: 15,3156 77776 EXIT
041458,001945: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041459,001946: 15,3160 13162 TCF B2F8
041460,001947: 15,3161 13172 TCF P57POST +1
041461,001948:
041462,001949: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041463,001950: 15,3163 70104 MASK FLAGWRD8
041464,001951: 15,3164 10000 CCS A
041465,001952: 15,3165 13544 TCF P57JUMP # ITS SET
041466,001953: 15,3166 06042 TC INTPRET
041467,001954: 15,3167 77624 CALL
041468,001955: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041469,001956: 15,3171 77776 P57POST EXIT
041470,001957: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041471,001958: 15,3173 04616 TC BANKCALL
041472,001959: 15,3174 20624 CADR GOPERF1
041473,001960: 15,3175 16001 TCF GOTOPOOH # VB34 - TERMINATE
041474,001961: 15,3176 13544 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
041475,001962: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041476,001963: 15,3200 61144 AD OPTION2
041477,001964: 15,3201 00006 EXTEND
041478,001965: 15,3202 13204 BZF +2 # YES - GO CALCULATE LANDING SITE
041479,001966: 15,3203 16001 TCF GOTOPOOH # NO - EXIT P57
041480,001967: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041481,001968: 15,3205 04024 OCT 04024
041482,001969: 15,3206 06042 TC INTPRET
041483,001970: 15,3207 45175 VLOAD CALL # USE GNB
041484,001971: 15,3210 02231 GSAV
041485,001972: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041486,001973: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041487,001974: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041488,001975: 15,3214 01463 LUNAFLAG
041489,001976: 15,3215 51515 PDVL ABVAL
041490,001977: 15,3216 02023 RLS
041491,001978: 15,3217 45561 VXSC STADR
041492,001979: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041493,001980: 15,3221 47014 CLEAR RTB
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Page 967 |
041495,001982: 15,3222 00662 ERADFLAG
041496,001983: 15,3223 21574 LOADTIME
041497,001984: 15,3224 77624 CALL
041498,001985: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041499,001986: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041500,001987: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041501,001988: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041502,001989: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041503,001990: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041504,001991: 15,3233 51700 R-TO-RP
041505,001992: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041506,001993: 15,3235 77776 EXIT
041507,001994: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041508,001995:
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Page 968 |
041510,001997: # COARSE AND FINE ALIGN IMU
041511,001998:
041512,001999: 15,3237 75160 COATRIM AXC,1 AXC,2
041513,002000: 15,3240 02664 XDC
041514,002001: 15,3241 02642 XSM
041515,002002: 15,3242 77624 CALL
041516,002003: 15,3243 31371 MATMOVE
041517,002004: 15,3244 77624 CALL
041518,002005: 15,3245 47541 CDUTRIG
041519,002006: 15,3246 77624 CALL
041520,002007: 15,3247 20030 CALCSMSC
041521,002008: 15,3250 77624 CALL
041522,002009: 15,3251 47355 CALCGA
041523,002010: 15,3252 77414 BOFF EXIT
041524,002011: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041525,002012: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041526,002013: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041527,002014: 15,3256 04616 TC BANKCALL
041528,002015: 15,3257 20477 CADR GOFLASH
041529,002016: 15,3260 06001 TC GOTOPOOH
041530,002017: 15,3261 13263 TCF +2
041531,002018: 15,3262 13255 TCF -5
041532,002019: 15,3263 05353 TC PHASCHNG
041533,002020: 15,3264 04024 OCT 04024
041534,002021:
041535,002022: 15,3265 06042 TC INTPRET
041536,002023: 15,3266 77624 CORSIT CALL
041537,002024: 15,3267 31557 COARSE
041538,002025: 15,3270 77624 CALL
041539,002026: 15,3271 31603 NCOARSE
041540,002027: 15,3272 77624 CALL
041541,002028: 15,3273 32764 GYROTRIM
041542,002029: 15,3274 77650 GOTO
041543,002030: 15,3275 33144 SURFDISP
041544,002031: 15,3276 01535 DISPGYRO VN 0693
041545,002032:
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Page 969 |
041547,002034: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041548,002035:
041549,002036: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041550,002037: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041551,002038:
041552,002039: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041553,002040: 15,3302 55144 TS OPTION2
041554,002041: 15,3303 34753 P57OPT CAF BIT1
041555,002042: 15,3304 04616 TC BANKCALL
041556,002043: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041557,002044: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041558,002045: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041559,002046: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041560,002047:
041561,002048: 15,3311 05353 TC PHASCHNG
041562,002049: 15,3312 00014 OCT 00014
041563,002050: 15,3313 05155 TC ENDOFJOB
041564,002051:
041565,002052: 15,3314 31144 ALIGNOPT CA OPTION2
041566,002053: 15,3315 76250 MASK THREE
041567,002054: 15,3316 50000 INDEX A
041568,002055: 15,3317 13320 TCF +1
041569,002056: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041570,002057: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041571,002058: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041572,002059: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041573,002060: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041574,002061: 15,3325 01733 REFSMMAT
041575,002062: 15,3326 03606 XSMD
041576,002063: 15,3327 77624 CALL
041577,002064: 15,3330 31371 MATMOVE
041578,002065: 15,3331 77650 GOTO
041579,002066: 15,3332 33373 PACKOPTN -1
041580,002067:
041581,002068: 15,3333 06042 TDISP TC INTPRET
041582,002069: 15,3334 77745 DLOAD
041583,002070: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041584,002071: 15,3336 01045 P57A STORE DSPTEM1
041585,002072: 15,3337 77776 EXIT
041586,002073: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041587,002074: 15,3341 04616 TC BANKCALL
041588,002075: 15,3342 20477 CADR GOFLASH
041589,002076: 15,3343 16001 TCF GOTOPOOH # V34 - TERMINATE
041590,002077: 15,3344 13346 TCF +2
041591,002078: 15,3345 13340 TCF P57AA # VB32 - RECYCLE
041592,002079:
041593,002080: 15,3346 06042 TC INTPRET
041594,002081: 15,3347 65234 RTB PDDL
041595,002082: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041596,002083: 15,3351 01045 DSPTEM1
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Page 970 |
041598,002085: 15,3352 65254 BZE PDDL
041599,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041600,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041601,002088: 15,3355 01045 DSPTEM1
041602,002089: 15,3356 33363 P57C
041603,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041604,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041605,002092: 15,3361 36775 STCALL TALIGN
041606,002093: 15,3362 33365 P57D
041607,002094: 15,3363 45545 P57C DLOAD STADR
041608,002095: 15,3364 75002 STORE TALIGN
041609,002096: 15,3365 34041 P57D STCALL TDEC1
041610,002097: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041611,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041612,002099: 15,3370 00001 RATT
041613,002100: 15,3371 37607 STCALL XSMD
041614,002101: 15,3372 10757 LSORIENT
041615,002102: 15,3373 77776 EXIT
041616,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041617,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041618,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041619,002106: 15,3377 34737 CAF REFSMBIT
041620,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041621,002108: 15,3401 10000 CCS A
041622,002109: 15,3402 34745 CAF BIT7 # SET
041623,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR - JUST ZERO
041624,002111: 15,3404 34753 CAF ATTFLBIT
041625,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041626,002113: 15,3406 10000 CCS A
041627,002114: 15,3407 34750 CAF BIT4 # SET
041628,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR - ZERO IN A
041629,002116: 15,3411 34750 CAF BIT4
041630,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041631,002118:
041632,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041633,002120: 15,3414 04616 TC BANKCALL
041634,002121: 15,3415 20477 CADR GOFLASH
041635,002122: 15,3416 16001 TCF GOTOPOOH # VB34 - TERMINATE
041636,002123: 15,3417 13421 TCF +2 # V33 - PROCEED
041637,002124: 15,3420 13413 TCF DSPOPTN # V32 - RECYCLE
041638,002125:
041639,002126: 15,3421 34737 CAF REFSMBIT
041640,002127: 15,3422 70077 MASK FLAGWRD3
041641,002128: 15,3423 10000 CCS A
041642,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041643,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041644,002131: 15,3426 70102 MASK FLAGWRD6
041645,002132: 15,3427 10000 CCS A
041646,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041647,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 971 |
041649,002136: 15,3432 71144 MASK OPTION2
041650,002137: 15,3433 10000 CCS A
041651,002138: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041652,002139: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
041653,002140: 15,3436 00701 OCT 701
041654,002141: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041655,002142: 15,3440 04616 TC BANKCALL
041656,002143: 15,3441 20477 CADR GOFLASH
041657,002144: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041658,002145: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041659,002146: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041660,002147:
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Page 972 |
041662,002149: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041663,002150:
041664,002151: 15,3445 40220 MFREF STQ SETPD
041665,002152: 15,3446 02746 QMAJ
041666,002153: 15,3447 00001 0
041667,002154: 15,3450 77634 RTB
041668,002155: 15,3451 21574 LOADTIME
041669,002156: 15,3452 27562 STOVL TSIGHT
041670,002157: 15,3453 03246 VEC1
041671,002158: 15,3454 41525 PDDL PUSH
041672,002159: 15,3455 03562 TSIGHT
041673,002160: 15,3456 77624 CALL
041674,002161: 15,3457 55716 RP-TO-R
041675,002162: 15,3460 27246 STOVL VEC1
041676,002163: 15,3461 03254 VEC2
041677,002164: 15,3462 65201 SETPD PDDL
041678,002165: 15,3463 00001 0
041679,002166: 15,3464 03562 TSIGHT
041680,002167: 15,3465 45006 PUSH CALL
041681,002168: 15,3466 55716 RP-TO-R
041682,002169: 15,3467 37254 STCALL VEC2
041683,002170: 15,3470 02746 QMAJ
041684,002171:
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Page 973 |
041686,002173: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041687,002174: # STORE IN YNBSAV AND ZNBSAV
041688,002175:
041689,002176: 15,3471 45020 REFMF STQ CALL
041690,002177: 15,3472 02746 QMAJ
041691,002178: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041692,002179: 15,3474 40234 RTB SETPD
041693,002180: 15,3475 21574 LOADTIME
041694,002181: 15,3476 00001 0
041695,002182: 15,3477 37562 STCALL TSIGHT
041696,002183: 15,3500 20030 CALCSMSC # GET YNB IN SM
041697,002184: 15,3501 61375 VLOAD VXM
041698,002185: 15,3502 02673 YNB
041699,002186: 15,3503 01734 REFSMMAT # YNB TO REF
041700,002187: 15,3504 65256 UNIT PDDL
041701,002188: 15,3505 03562 TSIGHT
041702,002189: 15,3506 45006 PUSH CALL
041703,002190: 15,3507 51700 R-TO-RP
041704,002191: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041705,002192: 15,3511 02701 ZNB
041706,002193: 15,3512 53505 VXM UNIT
041707,002194: 15,3513 01734 REFSMMAT # ZNB TO REF
041708,002195: 15,3514 41525 PDDL PUSH
041709,002196: 15,3515 03562 TSIGHT
041710,002197: 15,3516 77624 CALL
041711,002198: 15,3517 51700 R-TO-RP # ZNB TO MF
041712,002199: 15,3520 02245 STORE ZNBSAV
041713,002200: 15,3521 77614 SETGO
041714,002201: 15,3522 03036 ATTFLAG
041715,002202: 15,3523 02746 QMAJ
041716,002203:
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Page 974 |
041718,002205: # BRANCH TO ALIGNMENT OPTION
041719,002206:
041720,002207: 15,3524 06042 GETLMATT TC INTPRET
041721,002208: 15,3525 77624 CALL
041722,002209: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041723,002210: 15,3527 77776 EXIT
041724,002211:
041725,002212: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041726,002213: 15,3531 00205 ADRES INITALGN
041727,002214: 15,3532 34753 CAF BIT1
041728,002215: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041729,002216: 15,3534 10000 CCS A
041730,002217: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041731,002218:
041732,002219: 15,3536 05353 ATTCHK TC PHASCHNG
041733,002220: 15,3537 04024 OCT 04024
041734,002221:
041735,002222: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041736,002223: 15,3541 70102 MASK FLAGWRD6
041737,002224: 15,3542 10000 CCS A
041738,002225: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041739,002226: 15,3544 05353 P57JUMP TC PHASCHNG
041740,002227: 15,3545 04024 OCT 04024
041741,002228:
041742,002229: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
041743,002230: 15,3547 00205 ADRES INITALGN
041744,002231: 15,3550 36250 CAF THREE
041745,002232: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041746,002233: 15,3552 50000 INDEX A
041747,002234: 15,3553 13554 TCF +1
041748,002235: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041749,002236: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041750,002237: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041751,002238: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041752,002239:
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Page 975 |
041754,002241: # OPTION 0, GET TWO ATTITUDE VECS
041755,002242:
041756,002243: 15,3560 06042 P57OPT0 TC INTPRET
041757,002244: 15,3561 77775 VLOAD
041758,002245: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041759,002246: 15,3563 27246 STOVL VEC1
041760,002247: 15,3564 02245 ZNBSAV
041761,002248: 15,3565 37254 STCALL VEC2
041762,002249: 15,3566 47541 CDUTRIG
041763,002250: 15,3567 77624 CALL
041764,002251: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041765,002252: 15,3571 77775 VLOAD
041766,002253: 15,3572 02673 YNB
041767,002254: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041768,002255: 15,3574 02701 ZNB
041769,002256: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041770,002257: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041771,002258: 15,3577 77650 GOTO
041772,002259: 15,3600 33064 SURFLINE
041773,002260:
041774,002261: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041775,002262:
041776,002263: 15,3601 06042 P57OPT1 TC INTPRET
041777,002264: 15,3602 53575 VLOAD UNIT
041778,002265: 15,3603 02023 RLS # LANDING SITE VEC
041779,002266: 15,3604 27246 STOVL VEC1
041780,002267: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
041781,002268: 15,3606 37254 STCALL VEC2
041782,002269: 15,3607 47541 CDUTRIG
041783,002270: 15,3610 77624 CALL
041784,002271: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041785,002272: 15,3612 45175 VLOAD CALL
041786,002273: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041787,002274: 15,3614 47663 CDU*NBSM
041788,002275: 15,3615 77650 GOTO
041789,002276: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
041790,002277:
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Page 976 |
041792,002279: # OPTION 2, GET TWO STAR SIGHTINGS
041793,002280:
041794,002281: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041795,002282:
041796,002283: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041797,002284:
041798,002285: 15,3620 06042 P57OPT3 TC INTPRET
041799,002286: 15,3621 53575 VLOAD UNIT
041800,002287: 15,3622 02023 RLS # LANDING SITE VEC
041801,002288: 15,3623 03246 STORE VEC1
041802,002289: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041803,002290: 15,3625 02231 GSAV # GRAVITY VEC NB
041804,002291: 15,3626 77624 CALL
041805,002292: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041806,002293: 15,3630 36761 STCALL STARSAV1
041807,002294: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041808,002295: 15,3632 77776 EXIT
041809,002296: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
041810,002297:
041811,002298: 15,3634 01206 VB05N06 VN 506
041812,002299:
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Page 977 |
041814,002301: # CHECK IMODES30 TO VARIFY IMU IS ON
041815,002302:
041816,002303: 15,3635 41277 IMUCHK CS IMODES30
041817,002304: 15,3636 74743 MASK BIT9
041818,002305: 15,3637 10000 CCS A # IS IMU ON
041819,002306: 15,3640 13644 TCF +4 # YES
041820,002307:
041821,002308: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
041822,002309: 15,3642 00210 OCT 210
041823,002310: 15,3643 06001 TC GOTOPOOH
041824,002311:
041825,002312: 15,3644 05504 TC UPFLAG
041826,002313: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
041827,002314:
041828,002315: 15,3646 04631 TC SWRETURN
041829,002316:
041830,002317: 04,2757 BANK 04
041831,002318: 04,2000 SETLOC AOTMARK2
041832,002319: 04,2000 BANK
041833,002320: 04,2757 COUNT* $$/P57
041834,002321:
041835,002322: 04,2757 77220 LSORIENT STQ VLOAD
041836,002323: 04,2760 02746 QMAJ
041837,002324: 04,2761 01555 RRECTCSM
041838,002325: 04,2762 47235 VXV VXV
041839,002326: 04,2763 01563 VRECTCSM
041840,002327: 04,2764 03607 XSMD
041841,002328: 04,2765 77656 UNIT
041842,002329: 04,2766 03623 STORE ZSMD
041843,002330: 04,2767 53435 VXV UNIT
041844,002331: 04,2770 03607 XSMD
041845,002332: 04,2771 37615 STCALL YSMD
041846,002333: 04,2772 02746 QMAJ
041847,002334:
End of include-file P51-P53.agc. Parent file is MAIN.agc