Source Code
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These source-code files derive from a printout of Luminary 116 (the Apollo 12
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Ron Burkey, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071 19:09 AUG. 11,1969Note that the date is the date of the printout, not the date of the program revision. |
039760,000002: ## Copyright: Public domain.
039761,000003: ## Filename: P51-P53.agc
039762,000004: ## Purpose: A section of Luminary revision 116.
039763,000005: ## It is part of the source code for the Lunar Module's (LM)
039764,000006: ## Apollo Guidance Computer (AGC) for Apollo 12.
039765,000007: ## This file is intended to be a faithful transcription, except
039766,000008: ## that the code format has been changed to conform to the
039767,000009: ## requirements of the yaYUL assembler rather than the
039768,000010: ## original YUL assembler.
039769,000011: ## Reference: pp. 919-975
039770,000012: ## Assembler: yaYUL
039771,000013: ## Contact: Ron Burkey <info@sandroid.org>.
039772,000014: ## Website: www.ibiblio.org/apollo/index.html
039773,000015: ## Mod history: 2017-01-22 MAS Created from Luminary 99.
039774,000016: ## 2017-03-11 HG Transcribed
039775,000017: ## 2017-03-14 RSB Proofed comment text via 3-way diff vs
039776,000018: ## Luminary 99 and 131.
039777,000019: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
039778,000020: ## side-by-side diff of Luminary 69/99/116/131/210.
039779,000021: ## 2017-03-19 HG Fix operator STODL --> STORE
039780,000022:
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Page 919 |
039782,000024: # PROGRAM NAME- PROG52 DATE- JAN 9, 1967
039783,000025: # MOD NO- 0 LOG SECTION- P51-P53
039784,000026: # MODIFICATION BY- LONSKE ASSEMBLY- SUNDANCE REV 46
039785,000027:
039786,000028: # FUNCTIONAL DESCRIPTION-
039787,000029:
039788,000030: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039789,000031: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039790,000032:
039791,000033: # (A) PREFERRED ORIENTATION
039792,000034:
039793,000035: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039794,000036: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039795,000037:
039796,000038: # (B) NOMINAL ORIENTATION
039797,000039:
039798,000040: # X = UNIT ( R )
039799,000041: # -SM
039800,000042:
039801,000043: # Y = UNIT (V X R)
039802,000044: # SM
039803,000045:
039804,000046: # Z = UNIT (X X Y )
039805,000047: # SM SM SM
039806,000048:
039807,000049: # WHERE_
039808,000050: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039809,000051: # -
039810,000052:
039811,000053: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039812,000054: # -
039813,000055:
039814,000056: # (C) REFSMMAT ORIENTATION
039815,000057:
039816,000058: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039817,000059:
039818,000060: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039819,000061: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039820,000062: # SINCE THE LAST ALIGNMENT).
039821,000063:
039822,000064: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039823,000065: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039824,000066: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039825,000067: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039826,000068: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039827,000069: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039828,000070: # REQUESTED.
039829,000071:
039830,000072: # CALLING SEQUENCE-
039831,000073:
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Page 920 |
039833,000075: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039834,000076:
039835,000077: # SUBROUTINES CALLED-
039836,000078:
039837,000079: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039838,000080: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039839,000081: # 3. GOPERF4 9. FLAGUP
039840,000082: # 4. MATMOVE 10. R56
039841,000083: # 5. GOFLASH 11. R51
039842,000084: # 6. S52.3 12. GOPERF3
039843,000085:
039844,000086: # NORMAL EXIT MODES-
039845,000087:
039846,000088: # EXITS TO ENDOFJOB
039847,000089:
039848,000090: # ALARM OR ABORT EXIT MODES-
039849,000091:
039850,000092: # NONE
039851,000093:
039852,000094: # OUTPUT-
039853,000095:
039854,000096: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039855,000097: # 1. IMU ORIENTATION CODE
039856,000098: # 2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039857,000099: # 3. TIME OF NEXT IGNITION
039858,000100: # 4. GIMBAL ANGLES
039859,000101: # 5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039860,000102: # 6. PLEASE PERFORM P00
039861,000103: # THE MODE DISPLAY MAY BE CHANGED TO 20
039862,000104:
039863,000105: # ERASABLE INITIALIZATION REQUIRED-
039864,000106:
039865,000107: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039866,000108: # XSMD,YSMD,ZSMD.
039867,000109: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039868,000110:
039869,000111: # DEBRIS-
039870,000112:
039871,000113: # WORK AREA
039872,000114:
039873,000115: 33,3762 BANK 33
039874,000116: 15,2000 SETLOC P50S
039875,000117: 15,2000 BANK
039876,000118:
039877,000119: 15,2050 E5,1755 EBANK= BESTI
039878,000120: 15,2050 COUNT* $$/P52
039879,000121: 15,2050 04616 PROG52 TC BANKCALL
039880,000122: 15,2051 11236 CADR R02BOTH # IMU STATUS CHECK
039881,000123: 15,2052 34750 CAF PFRATBIT
039882,000124: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039883,000125: 15,2054 10000 CCS A
039884,000126:
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Page 921 |
039886,000128: 15,2055 02060 TC P52A # YES
039887,000129: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039888,000130: 15,2057 02061 TC P52A +1
039889,000131: 15,2060 34753 P52A CAF BIT1
039890,000132: 15,2061 55144 TS OPTION2
039891,000133: 15,2062 34753 P52B CAF BIT1
039892,000134: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039893,000135: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039894,000136: 15,2065 06001 TC GOTOPOOH
039895,000137: 15,2066 12073 TCF +5 # V33-PROCEED
039896,000138: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
039897,000139: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039898,000140: 15,2071 00014 OCT 00014
039899,000141: 15,2072 05155 TC ENDOFJOB
039900,000142:
039901,000143: 15,2073 31144 CA OPTION2
039902,000144: 15,2074 76250 MASK THREE
039903,000145: 15,2075 50000 INDEX A
039904,000146: 15,2076 02077 TC +1
039905,000147: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039906,000148: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039907,000149: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039908,000150: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039909,000151: 15,2103 77650 GOTO
039910,000152: 15,2104 32164 P52F # GO DO R51
039911,000153:
039912,000154: 15,2105 00006 OPT4 EXTEND
039913,000155: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039914,000156: 15,2107 12112 TCF P52T +2
039915,000157:
039916,000158: 15,2110 00006 P52T EXTEND
039917,000159: 15,2111 34755 DCA NEG0
039918,000160: 15,2112 53045 DXCH DSPTEM1
039919,000161: 15,2113 32170 CAF V06N34*
039920,000162: 15,2114 04616 TC BANKCALL
039921,000163: 15,2115 20477 CADR GOFLASH
039922,000164: 15,2116 06001 TC GOTOPOOH
039923,000165: 15,2117 02121 TC +2
039924,000166: 15,2120 02113 TC -5
039925,000167: 15,2121 53045 DXCH DSPTEM1
039926,000168: 15,2122 00006 EXTEND
039927,000169: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039928,000170: 15,2124 12127 TCF +3
039929,000171: 15,2125 00006 EXTEND
039930,000172: 15,2126 30025 DCA TIME2
039931,000173: 15,2127 53775 DXCH TALIGN
039932,000174: 15,2130 31144 P52V CA OPTION2
039933,000175: 15,2131 74752 MASK BIT2
039934,000176: 15,2132 10000 CCS A
039935,000177: 15,2133 02137 TC P52W
039936,000178:
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Page 922 |
039938,000180: 15,2134 06042 TC INTPRET # OPTION 4 - GET LS ORIENTATION
039939,000181: 15,2135 77650 GOTO
039940,000182: 15,2136 32220 P52LS
039941,000183:
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Page 923 |
039943,000185: # START ALIGNMENT
039944,000186:
039945,000187: 15,2137 06042 P52W TC INTPRET
039946,000188: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039947,000189: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
039948,000190: 15,2142 31651 S52.3 # ORIENTATION
039949,000191: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039950,000192: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039951,000193: 15,2145 77776 EXIT
039952,000194: 15,2146 35010 CAF V06N22
039953,000195: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039954,000196: 15,2150 20477 CADR GOFLASH
039955,000197: 15,2151 06001 TC GOTOPOOH
039956,000198: 15,2152 12171 TCF COARSTYP # V33-PROCEED, SEE IF GYRO TORQUE COARSE
039957,000199: 15,2153 06042 P52H TC INTPRET
039958,000200: 15,2154 77650 GOTO
039959,000201: 15,2155 32143 P52D
039960,000202: 15,2156 06042 REGCOARS TC INTPRET
039961,000203: 15,2157 77624 CALL # DO COARSE ALIGN
039962,000204: 15,2160 31321 CAL53A # ROUTINE
039963,000205: 15,2161 43014 COARSRET SET CLEAR
039964,000206: 15,2162 01462 REFSMFLG
039965,000207: 15,2163 01273 PFRATFLG
039966,000208: 15,2164 77624 P52F CALL
039967,000209: 15,2165 31007 R51
039968,000210: 15,2166 77776 P52OUT EXIT
039969,000211: 15,2167 06001 TC GOTOPOOH
039970,000212: 15,2170 5006 VB05N09 = V05N09
039971,000213: 15,2170 01442 V06N34* VN 634
039972,000214:
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Page 924 |
039974,000216: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039975,000217: 15,2171 32217 COARSTYP CAF OCT13
039976,000218: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039977,000219: 15,2173 20624 CADR GOPERF1
039978,000220: 15,2174 16001 TCF GOTOPOOH # V34-TERMIN&OE
039979,000221: 15,2175 12156 TCF REGCOARS # V33-NORMAL COARSE
039980,000222: 15,2176 06042 TC INTPRET # V32-GYRO TORQUE COARSE
039981,000223: 15,2177 64375 VLOAD MXV
039982,000224: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039983,000225: 15,2201 01734 REFSMMAT
039984,000226: 15,2202 77656 UNIT
039985,000227: 15,2203 26665 STOVL XDC
039986,000228: 15,2204 03615 YSMD
039987,000229: 15,2205 53521 MXV UNIT
039988,000230: 15,2206 01734 REFSMMAT
039989,000231: 15,2207 26673 STOVL YDC
039990,000232: 15,2210 03623 ZSMD
039991,000233: 15,2211 53521 MXV UNIT
039992,000234: 15,2212 01734 REFSMMAT
039993,000235: 15,2213 36701 STCALL ZDC
039994,000236: 15,2214 31156 GYCOARS
039995,000237: 15,2215 77650 GOTO
039996,000238: 15,2216 32166 P52OUT
039997,000239: 15,2217 00013 OCT13 OCT 13
039998,000240:
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Page 925 |
040000,000242: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040001,000243: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040002,000244: 15,2221 01463 LUNAFLAG
040003,000245: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040004,000246: 15,2223 77201 SETPD VLOAD
040005,000247: 15,2224 00001 0
040006,000248: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040007,000249: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040008,000250: 15,2227 02775 TALIGN
040009,000251: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040010,000252:
040011,000253: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040012,000254: 15,2232 77742 VSR2
040013,000255: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040014,000256: 15,2234 02775 TALIGN
040015,000257: 15,2235 77624 CALL
040016,000258: 15,2236 30440 N89DISP
040017,000259: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040018,000260: 15,2240 02032 ALPHAV
040019,000261: 15,2241 37607 STCALL XSMD
040020,000262: 15,2242 10775 LSORIENT
040021,000263: 15,2243 77650 GOTO
040022,000264: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
040023,000265:
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Page 926 |
040025,000267: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040026,000268:
040027,000269: 14,2000 SETLOC P50S1
040028,000270: 14,2000 BANK
040029,000271: 14,2440 E5,1642 EBANK= XSM
040030,000272:
040031,000273: 14,2440 77620 N89DISP STQ
040032,000274: 14,2441 02746 QMAJ
040033,000275: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
040034,000276: 14,2443 26351 LAT-LONG
040035,000277: 14,2444 70545 DLOAD SR1
040036,000278: 14,2445 01122 LONG
040037,000279: 14,2446 16711 STODL LANDLONG
040038,000280: 14,2447 01124 ALT
040039,000281: 14,2450 16713 STODL LANDALT
040040,000282: 14,2451 01120 LAT
040041,000283: 14,2452 02707 STORE LANDLAT
040042,000284: 14,2453 77776 EXIT
040043,000285:
040044,000286: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040045,000287: 14,2455 04616 TC BANKCALL
040046,000288: 14,2456 20477 CADR GOFLASH
040047,000289: 14,2457 16001 TCF GOTOPOOH # V34-TERMINATE-EXIT P57
040048,000290: 14,2460 12462 TCF +2 # V33-PROCEED- ACCEPT LS DATA
040049,000291: 14,2461 12454 TCF LSDISP # V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040050,000292:
040051,000293: 14,2462 06042 TC INTPRET
040052,000294: 14,2463 72545 DLOAD SL1
040053,000295: 14,2464 02711 LANDLONG
040054,000296: 14,2465 15122 STODL LONG
040055,000297: 14,2466 02713 LANDALT
040056,000298: 14,2467 15124 STODL ALT
040057,000299: 14,2470 02707 LANDLAT
040058,000300: 14,2471 15120 STODL LAT
040059,000301: 14,2472 01242 GDT/2 +4 # PICK UP TIME
040060,000302: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040061,000303: 14,2474 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040062,000304: 14,2475 77650 GOTO
040063,000305: 14,2476 02746 QMAJ
040064,000306: 14,2477 01531 V06N89* VN 689
040065,000307:
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Page 927 |
040067,000309: # NAME -S50 ALIAS LOCSAM
040068,000310: # BY
040069,000311: # VINCENT
040070,000312: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040071,000313:
040072,000314: # DEFINE
040073,000315:
040074,000316:
040075,000317: # U = UNIT( SUN WRT EARTH)
040076,000318: # ES
040077,000319:
040078,000320: # U =UNIT( MOON WRT EARTH)
040079,000321: # EM
040080,000322:
040081,000323: # R =POSITION VECTOR OF LEM
040082,000324: # L
040083,000325:
040084,000326: # R =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040085,000327: # EM
040086,000328:
040087,000329: # P =RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040088,000330: # EM
040089,000331:
040090,000332: # R =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040091,000333: # E
040092,000334:
040093,000335: # LOCSAM COMPUTES IN EARTH INFLUENCE
040094,000336:
040095,000337:
040096,000338: # VSUN = U
040097,000339: # ES
040098,000340:
040099,000341: # VEARTH = -UNIT( R )
040100,000342: # L
040101,000343:
040102,000344: # VMOON = UNIT(R .U - R )
040103,000345: # EM EM L
040104,000346:
040105,000347: # CSUN = COS 90
040106,000348:
040107,000349: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040108,000350: # E L
040109,000351:
040110,000352: # CMOON = COS 5
040111,000353:
040112,000354: # INPUT - TIME IN MPAC
040113,000355: # OUTPUT - LISTED ABOVE
040114,000356: # SUBROUTINES -LSPOS,LEMPREC
040115,000357: # DEBRIS - VAC AREA ,TSIGHT
040116,000358:
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Page 928 |
040118,000360: 14,2500 COUNT* $$/LOSAM
040119,000361:
040120,000362: 14,2500 14,2500 S50 = LOCSAM
040121,000363: 14,2500 77620 LOCSAM STQ
040122,000364: 14,2501 02745 QMIN
040123,000365: 14,2502 37562 STCALL TSIGHT
040124,000366: 14,2503 33647 LSPOS
040125,000367: 14,2504 77745 DLOAD
040126,000368: 14,2505 03562 TSIGHT
040127,000369: 14,2506 34041 STCALL TDEC1
040128,000370: 14,2507 27060 LEMPREC
040129,000371: 14,2510 61131 SSP TIX,2
040130,000372: 14,2511 00052 S2
040131,000373: 14,2512 00000 0
040132,000374: 14,2513 30535 MOONCNTR
040133,000375: 14,2514 74375 EARTCNTR VLOAD VXSC
040134,000376: 14,2515 02723 VMOON
040135,000377: 14,2516 30001 RSUBEM
040136,000378: 14,2517 52372 VSL1 VSU
040137,000379: 14,2520 00001 RATT
040138,000380: 14,2521 77656 UNIT
040139,000381: 14,2522 26723 STOVL VMOON
040140,000382: 14,2523 00001 RATT
040141,000383: 14,2524 57456 UNIT VCOMP
040142,000384: 14,2525 16707 STODL VEARTH
040143,000385: 14,2526 30005 RSUBE
040144,000386: 14,2527 77624 CALL
040145,000387: 14,2530 30567 OCCOS
040146,000388: 14,2531 14017 STODL CEARTH
040147,000389: 14,2532 30576 CSS5
040148,000390: 14,2533 34023 STCALL CMOON
040149,000391: 14,2534 30562 ENDSAM
040150,000392: 14,2535 74375 MOONCNTR VLOAD VXSC
040151,000393: 14,2536 02723 VMOON
040152,000394: 14,2537 30007 ROE
040153,000395: 14,2540 53445 BVSU UNIT
040154,000396: 14,2541 02715 VSUN
040155,000397: 14,2542 26715 STOVL VSUN
040156,000398: 14,2543 02723 VMOON
040157,000399: 14,2544 53361 VXSC VAD
040158,000400: 14,2545 30001 RSUBEM
040159,000401: 14,2546 00001 RATT
040160,000402: 14,2547 57456 UNIT VCOMP
040161,000403: 14,2550 26707 STOVL VEARTH
040162,000404: 14,2551 00001 RATT
040163,000405: 14,2552 57456 UNIT VCOMP
040164,000406: 14,2553 16723 STODL VMOON
040165,000407: 14,2554 30003 RSUBM
040166,000408: 14,2555 77624 CALL
040167,000409: 14,2556 30567 OCCOS
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Page 929 |
040169,000411: 14,2557 14023 STODL CMOON
040170,000412: 14,2560 30576 CSS5
040171,000413: 14,2561 00017 STORE CEARTH
040172,000414: 14,2562 77745 ENDSAM DLOAD
040173,000415: 14,2563 30600 CSSUN
040174,000416: 14,2564 00021 STORE CSUN
040175,000417: 14,2565 77650 GOTO
040176,000418: 14,2566 02745 QMIN
040177,000419: 14,2567 70471 OCCOS DDV SR1
040178,000420: 14,2570 00045 36D
040179,000421: 14,2571 43336 ASIN DAD
040180,000422: 14,2572 30602 5DEGREES
040181,000423: 14,2573 70546 COS SR1
040182,000424: 14,2574 77616 RVQ
040183,000425: 14,2575 CEARTH = 14D
040184,000426: 14,2575 CSUN = 16D
040185,000427: 14,2575 CMOON = 18D
040186,000428: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040187,000429: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS60)/4
040188,000430: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040189,000431:
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Page 930 |
040191,000433: # PROGRAM NAME - R56 DATE DEC 20 66
040192,000434: # MOD 1 LOG SECTION P51-P53
040193,000435: # ASSEMBLY SUNDISK REV40
040194,000436: # BY KEN VINCENT
040195,000437:
040196,000438: # FUNCTION
040197,000439: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040198,000440: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040199,000441: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040200,000442: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040201,000443: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040202,000444: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040203,000445: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040204,000446: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040205,000447: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040206,000448: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040207,000449: # 50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040208,000450: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040209,000451:
040210,000452: # CALLING SEQUENCE
040211,000453: # L TC BANKCALL
040212,000454: # L+1 CADR R56
040213,000455: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
040214,000456: # L+3 NORMAL RETURN
040215,000457:
040216,000458: # OUTPUT
040217,000459: # BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040218,000460: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040219,000461:
040220,000462: # INITIALIZATION
040221,000463: # 1)A CALL TO LOCSAM MUST BE MADE
040222,000464:
040223,000465: # DEBRIS
040224,000466: # WORK AREA
040225,000467: # X,Y,ZNB
040226,000468: # SINCDU,COSCDU
040227,000469: # STARAD - STAR +5
040228,000470: 14,2603 14,2603 R56 = PICAPAR
040229,000471: 14,2603 COUNT* $$/R56
040230,000472: 14,2603 04645 PICAPAR TC MAKECADR
040231,000473: 14,2604 55745 TS QMIN
040232,000474: 14,2605 06042 TC INTPRET
040233,000475: 14,2606 77624 CALL
040234,000476: 14,2607 47541 CDUTRIG
040235,000477: 14,2610 77624 CALL
040236,000478: 14,2611 20030 CALCSMSC
040237,000479: 14,2612 77601 SETPD
040238,000480: 14,2613 00001 0
040239,000481: 14,2614 71214 SET DLOAD # VFLAG = 1
040240,000482: 14,2615 01465 VFLAG
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Page 931 |
040242,000484: 14,2616 24007 DPZERO
040243,000485: 14,2617 26756 STOVL BESTI
040244,000486: 14,2620 02665 XNB
040245,000487: 14,2621 63361 VXSC PDVL
040246,000488: 14,2622 24005 HALFDP
040247,000489: 14,2623 02701 ZNB
040248,000490: 14,2624 74370 AXT,1 VXSC
040249,000491: 14,2625 00344 228D # X1 = 37 X 6 +6
040250,000492: 14,2626 24005 HALFDP
040251,000493: 14,2627 77655 VAD
040252,000494: 14,2630 53505 VXM UNIT
040253,000495: 14,2631 01734 REFSMMAT
040254,000496: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
040255,000497: 14,2633 66331 SSP SSP # S1=S2=6
040256,000498: 14,2634 00051 S1
040257,000499: 14,2635 00006 6
040258,000500: 14,2636 00052 S2
040259,000501: 14,2637 00006 6
040260,000502: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040261,000503: 14,2641 30643 PIC2
040262,000504: 14,2642 30760 PICEND
040263,000505: 14,2643 50373 PIC2 VLOAD* DOT
040264,000506: 14,2644 30347 CATLOG,1
040265,000507: 14,2645 02731 SAX
040266,000508: 14,2646 50025 DSU BMN
040267,000509: 14,2647 30757 CSS33
040268,000510: 14,2650 30640 PIC1
040269,000511: 14,2651 77754 LXA,2
040270,000512: 14,2652 00046 X1
040271,000513: 14,2653 52104 PIC3 TIX,2 GOTO
040272,000514: 14,2654 30656 PIC4
040273,000515: 14,2655 30640 PIC1
040274,000516: 14,2656 50373 PIC4 VLOAD* DOT
040275,000517: 14,2657 47430 CATLOG,2
040276,000518: 14,2660 02731 SAX
040277,000519: 14,2661 50025 DSU BMN
040278,000520: 14,2662 30757 CSS33
040279,000521: 14,2663 30653 PIC3
040280,000522: 14,2664 47773 VLOAD* DOT*
040281,000523: 14,2665 30347 CATLOG,1
040282,000524: 14,2666 47430 CATLOG,2
040283,000525: 14,2667 51025 DSU BPL
040284,000526: 14,2670 30755 CSS40
040285,000527: 14,2671 30653 PIC3
040286,000528: 14,2672 45173 VLOAD* CALL
040287,000529: 14,2673 30347 CATLOG,1
040288,000530: 14,2674 30732 OCCULT
040289,000531: 14,2675 77614 BON
040290,000532: 14,2676 01710 CULTFLAG
040291,000533: 14,2677 30640 PIC1
040292,000534:
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Page 932 |
040294,000536: 14,2700 45173 VLOAD* CALL
040295,000537: 14,2701 47430 CATLOG,2
040296,000538: 14,2702 30732 OCCULT
040297,000539: 14,2703 77614 BON
040298,000540: 14,2704 01710 CULTFLAG
040299,000541: 14,2705 30653 PIC3
040300,000542: 14,2706 77614 STRATGY BONCLR
040301,000543: 14,2707 01605 VFLAG
040302,000544: 14,2710 30725 NEWPAR
040303,000545: 14,2711 65120 XCHX,1 XCHX,2
040304,000546: 14,2712 02755 BESTI
040305,000547: 14,2713 02756 BESTJ
040306,000548: 14,2714 47773 STRAT VLOAD* DOT*
040307,000549: 14,2715 30347 CATLOG,1
040308,000550: 14,2716 47430 CATLOG,2
040309,000551: 14,2717 43006 PUSH BOFINV
040310,000552: 14,2720 01545 VFLAG
040311,000553: 14,2721 30711 STRAT -3
040312,000554: 14,2722 45345 DLOAD DSU
040313,000555: 14,2723 77644 BPL
040314,000556: 14,2724 30653 PIC3
040315,000557: 14,2725 67130 NEWPAR SXA,1 SXA,2
040316,000558: 14,2726 02755 BESTI
040317,000559: 14,2727 02756 BESTJ
040318,000560: 14,2730 77650 GOTO
040319,000561: 14,2731 30653 PIC3
040320,000562: 14,2732 51321 OCCULT MXV BVSU
040321,000563: 14,2733 02707 CULTRIX
040322,000564: 14,2734 00017 CSS
040323,000565: 14,2735 77654 BZE
040324,000566: 14,2736 30751 CULTED
040325,000567: 14,2737 75240 BMN SIGN
040326,000568: 14,2740 30751 CULTED
040327,000569: 14,2741 00160 MPAC +3
040328,000570: 14,2742 75240 BMN SIGN
040329,000571: 14,2743 30751 CULTED
040330,000572: 14,2744 00162 MPAC +5
040331,000573: 14,2745 43040 BMN CLRGO
040332,000574: 14,2746 30751 CULTED
040333,000575: 14,2747 01630 CULTFLAG
040334,000576: 14,2750 00052 QPRET
040335,000577: 14,2751 77614 CULTED SETGO
040336,000578: 14,2752 01430 CULTFLAG
040337,000579: 14,2753 00052 QPRET
040338,000580: 14,2754 0000016 CSS = CEARTH
040339,000581: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040340,000582: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040341,000583: 14,2760 77414 PICEND BOFF EXIT
040342,000584:
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Page 933 |
040344,000586: 14,2761 01745 VFLAG
040345,000587: 14,2762 30764 PICGXT
040346,000588: 14,2763 03005 TC PICBXT
040347,000589: 14,2764 73150 PICGXT LXA,1 LXA,2
040348,000590: 14,2765 02755 BESTI
040349,000591: 14,2766 02756 BESTJ
040350,000592: 14,2767 47775 VLOAD DOT*
040351,000593: 14,2770 02731 SAX
040352,000594: 14,2771 30347 CATLOG,1
040353,000595: 14,2772 47715 PDVL DOT*
040354,000596: 14,2773 02731 SAX
040355,000597: 14,2774 47430 CATLOG,2
040356,000598: 14,2775 77625 DSU
040357,000599: 14,2776 66044 BPL SXA,1
040358,000600: 14,2777 31003 PICNSWP
040359,000601: 14,3000 02756 BESTJ
040360,000602: 14,3001 77734 SXA,2
040361,000603: 14,3002 02755 BESTI
040362,000604: 14,3003 77776 PICNSWP EXIT
040363,000605: 14,3004 25745 INCR QMIN
040364,000606: 14,3005 31745 PICBXT CA QMIN
040365,000607: 14,3006 04622 TC SWCALL
040366,000608: 14,3007 VPD = 0D
040367,000609: 14,3007 V0 = 6D
040368,000610: 14,3007 V1 = 12D
040369,000611: 14,3007 V2 = 18D
040370,000612: 14,3007 V3 = 24D
040371,000613: 14,3007 DP0 = 30D
040372,000614: 14,3007 DP1 = 32D
040373,000615:
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Page 934 |
040375,000617: # NAME-R51 FINE ALIGN
040376,000618: # FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040377,000619: # CALLING SEQ- CALL R51
040378,000620: # INPUT - REFSMMAT
040379,000621: # OUTPUT- GYRO TORQUE PULSES
040380,000622: # SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040381,000623: 14,3007 COUNT* $$/R51
040382,000624: 14,3007 77620 R51 STQ
040383,000625: 14,3010 02746 QMAJ
040384,000626: 14,3011 77776 R51.1 EXIT
040385,000627: 14,3012 05353 TC PHASCHNG
040386,000628: 14,3013 04024 OCT 04024
040387,000629:
040388,000630: 14,3014 34761 R51C CAF OCT15
040389,000631: 14,3015 04616 TC BANKCALL
040390,000632: 14,3016 20624 CADR GOPERF1
040391,000633: 14,3017 06001 TC GOTOPOOH
040392,000634: 14,3020 03022 TC +2 # V33E
040393,000635: 14,3021 03045 TC R51E # ENTER
040394,000636: 14,3022 06042 TC INTPRET
040395,000637: 14,3023 43234 RTB DAD
040396,000638: 14,3024 21574 LOADTIME
040397,000639: 14,3025 31155 TSIGHT1
040398,000640: 14,3026 77624 CALL
040399,000641: 14,3027 30500 LOCSAM
040400,000642: 14,3030 77776 EXIT
040401,000643: 14,3031 04616 TC BANKCALL
040402,000644: 14,3032 30603 CADR R56
040403,000645: 14,3033 03035 TC R51I
040404,000646: 14,3034 03045 R51F TC R51E
040405,000647: 14,3035 05567 R51I TC ALARM
040406,000648: 14,3036 00405 OCT 405
040407,000649: 14,3037 35006 CAF VB05N09
040408,000650: 14,3040 04616 TC BANKCALL
040409,000651: 14,3041 20477 CADR GOFLASH
040410,000652: 14,3042 06001 TC GOTOPOOH
040411,000653: 14,3043 03045 TC R51E
040412,000654: 14,3044 03014 TC R51C
040413,000655: 14,3045 34755 R51E CAF ZERO
040414,000656: 14,3046 55757 TS STARIND
040415,000657: 14,3047 06042 R51.2 TC INTPRET
040416,000658: 14,3050 77776 R51.3 EXIT
040417,000659: 14,3051 05353 TC PHASCHNG
040418,000660: 14,3052 04024 OCT 04024
040419,000661:
040420,000662: 14,3053 06042 TC INTPRET
040421,000663: 14,3054 77624 CALL
040422,000664: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
040423,000665: 14,3056 77776 EXIT
040424,000666: 14,3057 04616 TC BANKCALL
040425,000667:
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Page 935 |
040427,000669: 14,3060 16000 CADR AOTMARK
040428,000670: 14,3061 04616 TC BANKCALL
040429,000671: 14,3062 17704 CADR OPTSTALL
040430,000672: 14,3063 05701 TC CURTAINS
040431,000673: 14,3064 11757 CCS STARIND
040432,000674: 14,3065 13067 TCF +2
040433,000675: 14,3066 03137 TC R51.4
040434,000676: 14,3067 06042 TC INTPRET
040435,000677: 14,3070 77775 VLOAD
040436,000678: 14,3071 02715 STARAD +6
040437,000679: 14,3072 02767 STORE STARSAV2
040438,000680: 14,3073 77776 EXIT
040439,000681: 14,3074 05353 TC PHASCHNG
040440,000682: 14,3075 04024 OCT 04024
040441,000683:
040442,000684: 14,3076 06042 TC INTPRET
040443,000685: 14,3077 45145 DLOAD CALL
040444,000686: 14,3100 03562 TSIGHT
040445,000687: 14,3101 32472 PLANET
040446,000688: 14,3102 53521 MXV UNIT
040447,000689: 14,3103 01734 REFSMMAT
040448,000690: 14,3104 26715 STOVL STARAD +6
040449,000691: 14,3105 03554 PLANVEC
040450,000692: 14,3106 53521 MXV UNIT
040451,000693: 14,3107 01734 REFSMMAT
040452,000694: 14,3110 26707 STOVL STARAD
040453,000695: 14,3111 02761 STARSAV1
040454,000696: 14,3112 24007 STOVL 6D
040455,000697: 14,3113 02767 STARSAV2
040456,000698: 14,3114 34015 STCALL 12D
040457,000699: 14,3115 31250 R54 # STAR DATA TEST
040458,000700: 14,3116 45014 BOFF CALL
040459,000701: 14,3117 00354 FREEFLAG
040460,000702: 14,3120 31126 R51K
040461,000703: 14,3121 47443 AXISGEN
040462,000704: 14,3122 77624 CALL
040463,000705: 14,3123 31216 R55 # GYRO TORQUE
040464,000706: 14,3124 77614 CLEAR
040465,000707: 14,3125 01273 PFRATFLG
040466,000708: 14,3126 77776 R51K EXIT
040467,000709: 14,3127 35741 R51P63 CAF OCT14
040468,000710: 14,3130 04616 TC BANKCALL
040469,000711: 14,3131 20624 CADR GOPERF1
040470,000712: 14,3132 06001 TC GOTOPOOH
040471,000713: 14,3133 03014 TC R51C
040472,000714: 14,3134 06042 TC INTPRET
040473,000715: 14,3135 77650 GOTO
040474,000716: 14,3136 02746 QMAJ
040475,000717: 14,3137 06042 R51.4 TC INTPRET
040476,000718: 14,3140 77775 VLOAD
040477,000719:
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Page 936 |
040479,000721: 14,3141 02715 STARAD +6
040480,000722: 14,3142 02761 STORE STARSAV1
040481,000723: 14,3143 45145 DLOAD CALL
040482,000724: 14,3144 03562 TSIGHT
040483,000725: 14,3145 32472 PLANET
040484,000726: 14,3146 03554 STORE PLANVEC
040485,000727: 14,3147 77731 SSP
040486,000728: 14,3150 02760 STARIND
040487,000729: 14,3151 00001 1
040488,000730: 14,3152 77650 GOTO
040489,000731: 14,3153 31050 R51.3
040490,000732: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040491,000733:
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Page 937 |
040493,000735: # GYRO TORQUE COARSE ALIGNMENT
040494,000736: 14,3156 45020 GYCOARS STQ CALL
040495,000737: 14,3157 02746 QMAJ
040496,000738: 14,3160 47251 CALCGTA
040497,000739: 14,3161 43014 CLEAR CLEAR
040498,000740: 14,3162 01260 DRIFTFLG
040499,000741: 14,3163 01662 REFSMFLG
040500,000742: 14,3164 77776 EXIT
040501,000743: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
040502,000744: 14,3166 04616 TC BANKCALL
040503,000745: 14,3167 20452 CADR GODSPR
040504,000746: 14,3170 33247 CA R55CDR
040505,000747: 14,3171 04616 TC BANKCALL
040506,000748: 14,3172 17315 CADR IMUPULSE
040507,000749: 14,3173 04616 TC BANKCALL
040508,000750: 14,3174 17710 CADR IMUSTALL
040509,000751: 14,3175 05701 TC CURTAINS
040510,000752: 14,3176 05353 TC PHASCHNG
040511,000753: 14,3177 04024 OCT 04024
040512,000754:
040513,000755: 14,3200 06042 TC INTPRET
040514,000756: 14,3201 75160 AXC,1 AXC,2
040515,000757: 14,3202 03606 XSMD
040516,000758: 14,3203 01733 REFSMMAT
040517,000759: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
040518,000760: 14,3205 31371 MATMOVE
040519,000761: 14,3206 43014 CLEAR SET
040520,000762: 14,3207 01273 PFRATFLG
040521,000763: 14,3210 01462 REFSMFLG
040522,000764: 14,3211 77624 CALL
040523,000765: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040524,000766: 14,3213 77650 GOTO
040525,000767: 14,3214 31126 R51K
040526,000768: 14,3215 04024 V16N20 VN 1620
040527,000769:
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Page 938 |
040529,000771: # R55 GYRO TORQUE
040530,000772: # FUNCTION-COMPUTE AND SEND GYRO PULSES
040531,000773: # CALLING SEQ- CALL R55
040532,000774: # INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040533,000775: # OUTPUT- GYRO PULSES
040534,000776: # SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040535,000777: 14,3216 COUNT* $$/R55
040536,000778: 14,3216 77620 R55 STQ
040537,000779: 14,3217 02745 QMIN
040538,000780: 14,3220 77624 CALL
040539,000781: 14,3221 47251 CALCGTA
040540,000782: 14,3222 77776 PULSEM EXIT
040541,000783: 14,3223 33246 R55.1 CAF V06N93
040542,000784: 14,3224 04616 TC BANKCALL
040543,000785: 14,3225 20477 CADR GOFLASH
040544,000786: 14,3226 06001 TC GOTOPOOH
040545,000787: 14,3227 03231 TC R55.2
040546,000788: 14,3230 03243 TC R55RET
040547,000789: 14,3231 05353 R55.2 TC PHASCHNG
040548,000790: 14,3232 00214 OCT 00214
040549,000791: 14,3233 33247 CA R55CDR
040550,000792: 14,3234 04616 TC BANKCALL
040551,000793: 14,3235 17315 CADR IMUPULSE
040552,000794: 14,3236 04616 TC BANKCALL
040553,000795: 14,3237 17710 CADR IMUSTALL
040554,000796: 14,3240 05701 TC CURTAINS
040555,000797: 14,3241 05353 TC PHASCHNG
040556,000798: 14,3242 04024 OCT 04024
040557,000799:
040558,000800: 14,3243 06042 R55RET TC INTPRET
040559,000801: 14,3244 77650 GOTO
040560,000802: 14,3245 02745 QMIN
040561,000803: 14,3246 01535 V06N93 VN 0693
040562,000804: 14,3247 02737 R55CDR ECADR OGC
040563,000805: 14,3250 14,3250 R54 = CHKSDATA
040564,000806: # ROUTINE NAME- CHKSDATA DATE- JAN 9, 1967
040565,000807: # MOD NO- 0 LOG SECTION- P51-P53
040566,000808: # MODIFICATION BY- LONSKE ASSEMBLY-
040567,000809:
040568,000810: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040569,000811: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040570,000812: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040571,000813:
040572,000814: # OS1 = OBSERVED STAR 1 VECTOR
040573,000815: # OS2 = OBSERVED STAR 2 VECTOR
040574,000816: # SS1 = STORED STAR 1 VECTOR
040575,000817: # SS2 = STORED STAR 2 VECTOR
040576,000818: # A1 = ARCCOS(OS1 - OS2)
040577,000819: # A2 = ARCCOS(SS1 - SS2)
040578,000820: # A = ABS(2(A1 - A2))
040579,000821:
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Page 939 |
040581,000823: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040582,000824: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040583,000825: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
040584,000826: # OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040585,000827: # 2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040586,000828:
040587,000829: # ERASABLE INITIALIZATION REQUIRED -
040588,000830: # 1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040589,000831: # 2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040590,000832: # DEBRIS-
040591,000833: 14,3250 COUNT* $$/R54
040592,000834: 14,3250 43020 CHKSDATA STQ SET
040593,000835: 14,3251 02745 QMIN
040594,000836: 14,3252 00074 FREEFLAG
040595,000837: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
040596,000838: 14,3254 02706 STARAD
040597,000839:
040598,000840: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
040599,000841: 14,3256 00001 0,1
040600,000842: 14,3257 00007 6,1
040601,000843: 14,3260 65552 SL1 ACOS
040602,000844: 14,3261 00025 STORE THETA
040603,000845: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
040604,000846: 14,3263 00354 FREEFLAG
040605,000847: 14,3264 31274 CHKSD
040606,000848: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
040607,000849: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
040608,000850: 14,3267 00006 6D
040609,000851: 14,3270 00025 THETA
040610,000852: 14,3271 00023 STORE 18D
040611,000853: 14,3272 77650 GOTO
040612,000854: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
040613,000855: 14,3274 45345 CHKSD DLOAD DSU
040614,000856: 14,3275 00025 THETA
040615,000857: 14,3276 00023 18D
040616,000858: 14,3277 47046 ABS RTB # COMPUTE POS DIFF
040617,000859: 14,3300 21613 SGNAGREE
040618,000860: 14,3301 01045 STORE NORMTEM1
040619,000861: 14,3302 77414 SET EXIT
040620,000862: 14,3303 00074 FREEFLAG
040621,000863: 14,3304 33320 CAF VB6N5
040622,000864: 14,3305 04616 TC BANKCALL
040623,000865: 14,3306 20477 CADR GOFLASH
040624,000866: 14,3307 16001 TCF GOTOPOOH
040625,000867: 14,3310 03315 TC CHKSDA # PROCEED
040626,000868: 14,3311 06042 TC INTPRET
040627,000869: 14,3312 52014 CLEAR GOTO
040628,000870: 14,3313 00274 FREEFLAG
040629,000871: 14,3314 02745 QMIN
040630,000872: 14,3315 06042 CHKSDA TC INTPRET
040631,000873:
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Page 940 |
040633,000875: 14,3316 77650 GOTO
040634,000876: 14,3317 02745 QMIN
040635,000877: 14,3320 01405 VB6N5 VN 605
040636,000878:
040637,000879: # NAME - CAL53A
040638,000880: # FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040639,000881: # CALLING SEQUENCE - CALL CAL53A
040640,000882: # INPUT - X,Y,ZSMD ,CDUX,Y,Z
040641,000883: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
040642,000884: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040643,000885: # SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040644,000886:
040645,000887: 14,3321 COUNT* $$/R50
040646,000888: 14,3321 77624 CAL53A CALL
040647,000889: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
040648,000890: 14,3323 66234 RTB SSP
040649,000891: 14,3324 31405 RDCDUS # READ CDUS
040650,000892: 14,3325 00051 S1
040651,000893: 14,3326 00001 1
040652,000894: 14,3327 40370 AXT,1 SETPD
040653,000895: 14,3330 00003 3
040654,000896: 14,3331 00005 4
040655,000897: 14,3332 70543 CALOOP DLOAD* SR1
040656,000898: 14,3333 00325 THETAD +3D,1
040657,000899: 14,3334 70523 PDDL* SR1
040658,000900: 14,3335 00005 4,1
040659,000901: 14,3336 51425 DSU ABS
040660,000902: 14,3337 45206 PUSH DSU
040661,000903: 14,3340 31404 DEGREE1
040662,000904: 14,3341 71240 BMN DLOAD
040663,000905: 14,3342 31360 CALOOP1
040664,000906: 14,3343 51025 DSU BPL
040665,000907: 14,3344 31405 DEG359
040666,000908: 14,3345 31360 CALOOP1
040667,000909: 14,3346 77776 EXIT
040668,000910: 14,3347 05353 TC PHASCHNG
040669,000911: 14,3350 04024 OCT 04024
040670,000912:
040671,000913: 14,3351 06042 TC INTPRET
040672,000914: 14,3352 77624 COARFINE CALL
040673,000915: 14,3353 31557 COARSE
040674,000916: 14,3354 77624 CALL
040675,000917: 14,3355 31603 NCOARSE
040676,000918: 14,3356 77650 GOTO
040677,000919: 14,3357 31362 FINEONLY
040678,000920: 14,3360 77700 CALOOP1 TIX,1
040679,000921: 14,3361 31332 CALOOP
040680,000922: 14,3362 75160 FINEONLY AXC,1 AXC,2
040681,000923: 14,3363 02642 XSM
040682,000924: 14,3364 01733 REFSMMAT
040683,000925: 14,3365 77624 CALL
040684,000926: 14,3366 31371 MATMOVE
040685,000927:
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Page 941 |
040687,000929: 14,3367 77650 GOTO
040688,000930: 14,3370 32161 COARSRET
040689,000931: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
040690,000932: 14,3372 00001 0,1
040691,000933: 14,3373 10001 STORE 0,2
040692,000934: 14,3374 77773 VLOAD*
040693,000935: 14,3375 00007 6D,1
040694,000936: 14,3376 10007 STORE 6D,2
040695,000937: 14,3377 77773 VLOAD*
040696,000938: 14,3400 00015 12D,1
040697,000939: 14,3401 10015 STORE 12D,2
040698,000940: 14,3402 77616 RVQ
040699,000941: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
040700,000942: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
040701,000943: 14,3405 00004 RDCDUS INHINT # READ CDUS
040702,000944: 14,3406 30032 CA CDUX
040703,000945: 14,3407 50120 INDEX FIXLOC
040704,000946: 14,3410 54001 TS 1
040705,000947: 14,3411 30033 CA CDUY
040706,000948: 14,3412 50120 INDEX FIXLOC
040707,000949: 14,3413 54002 TS 2
040708,000950: 14,3414 30034 CA CDUZ
040709,000951: 14,3415 50120 INDEX FIXLOC
040710,000952: 14,3416 54003 TS 3
040711,000953: 14,3417 00003 RELINT
040712,000954: 14,3420 06064 TC DANZIG # +
040713,000955: 14,3421 COUNT* $$/INFLT
040714,000956:
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Page 942 |
040716,000958: # NAME - P51 - IMU ORIENTATION DETERMINATION
040717,000959: # MOD.NO.1 23 JAN 67 LOG SECTION - P51-P53
040718,000960: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
040719,000961:
040720,000962: # FUNCTIONAL DESCRIPTION
040721,000963:
040722,000964: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040723,000965: # (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040724,000966: # STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040725,000967: # CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040726,000968:
040727,000969: # CALLING SEQUENCE
040728,000970:
040729,000971: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040730,000972:
040731,000973: # SUBROUTINES CALLED.
040732,000974:
040733,000975: # GOPERF3
040734,000976: # GOPERF1
040735,000977: # GODSPR
040736,000978: # IMUCOARS
040737,000979: # IMUFIN20
040738,000980: # AOTMARK(R53)
040739,000981: # CHKSDATA(R54)
040740,000982: # MKRELEAS
040741,000983: # AXISGEN
040742,000984: # MATMOVE
040743,000985:
040744,000986: # ALARMS
040745,000987:
040746,000988: # NONE.
040747,000989:
040748,000990: # ERASABLE INITIALIZATION
040749,000991:
040750,000992: # IMU ZERO FLAG SHOULD BE SET.
040751,000993:
040752,000994: # OUTPUT
040753,000995:
040754,000996: # REFSMMAT
040755,000997: # REFSMFLG
040756,000998:
040757,000999: # DEBRIS
040758,001000:
040759,001001: # WORK AREA
040760,001002: # STARAD
040761,001003: # STARIND
040762,001004: # BESTI
040763,001005: # BESTJ
040764,001006:
040765,001007: 14,3421 COUNT* $$/P51
040766,001008:
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Page 943 |
040768,001010: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040769,001011: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040770,001012:
040771,001013: 14,3423 34761 CAF OCT15
040772,001014: 14,3424 04616 TC BANKCALL
040773,001015: 14,3425 20624 CADR GOPERF1
040774,001016: 14,3426 06001 TC GOTOPOOH # TERM.
040775,001017: 14,3427 13453 TCF P51B # V33
040776,001018: 14,3430 05353 TC PHASCHNG
040777,001019: 14,3431 04024 OCT 04024
040778,001020:
040779,001021: 14,3432 34755 CAF ZERO
040780,001022: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040781,001023: 14,3434 54322 TS THETAD +1
040782,001024: 14,3435 54323 TS THETAD +2
040783,001025: 14,3436 35010 CAF V06N22
040784,001026: 14,3437 04616 TC BANKCALL
040785,001027: 14,3440 20447 CADR GODSPRET
040786,001028: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040787,001029: 14,3442 04616 TC BANKCALL
040788,001030: 14,3443 20447 CADR GODSPRET
040789,001031: 14,3444 06042 TC INTPRET
040790,001032: 14,3445 77624 CALL
040791,001033: 14,3446 31557 COARSE
040792,001034: 14,3447 77776 EXIT
040793,001035: 14,3450 05353 TC PHASCHNG
040794,001036: 14,3451 04024 OCT 04024
040795,001037: 14,3452 13423 TCF P51 +2
040796,001038:
040797,001039: 14,3453 05353 P51B TC PHASCHNG
040798,001040: 14,3454 00014 OCT 00014
040799,001041: 14,3455 06042 TC INTPRET
040800,001042: 14,3456 77624 CALL
040801,001043: 14,3457 31603 NCOARSE
040802,001044: 14,3460 40331 SSP SETPD
040803,001045: 14,3461 02760 STARIND # INDEX-STAR 1 OR 2
040804,001046: 14,3462 00000 0
040805,001047: 14,3463 00001 0
040806,001048: 14,3464 77776 P51C EXIT
040807,001049: 14,3465 05353 TC PHASCHNG
040808,001050: 14,3466 04024 OCT 04024
040809,001051:
040810,001052: 14,3467 04616 TC BANKCALL
040811,001053: 14,3470 16000 CADR AOTMARK # R53
040812,001054: 14,3471 04616 TC BANKCALL
040813,001055: 14,3472 17704 CADR AOTSTALL
040814,001056: 14,3473 05701 TC CURTAINS
040815,001057: 14,3474 11757 CCS STARIND
040816,001058: 14,3475 13503 TCF P51D +1
040817,001059: 14,3476 06042 TC INTPRET
040818,001060:
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Page 944 |
040820,001062: 14,3477 77775 VLOAD
040821,001063: 14,3500 02715 STARAD +6
040822,001064: 14,3501 02761 STORE STARSAV1
040823,001065: 14,3502 77776 P51D EXIT
040824,001066: 14,3503 05353 TC PHASCHNG
040825,001067: 14,3504 04024 OCT 04024
040826,001068:
040827,001069: 14,3505 11757 CCS STARIND
040828,001070: 14,3506 13522 TCF P51E
040829,001071: 14,3507 05353 TC PHASCHNG
040830,001072: 14,3510 04024 OCT 04024
040831,001073:
040832,001074: 14,3511 06042 TC INTPRET
040833,001075: 14,3512 45145 DLOAD CALL
040834,001076: 14,3513 03562 TSIGHT
040835,001077: 14,3514 32472 PLANET
040836,001078: 14,3515 03554 STORE PLANVEC
040837,001079: 14,3516 77776 EXIT
040838,001080: 14,3517 34753 CAF BIT1
040839,001081: 14,3520 55757 TS STARIND
040840,001082: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040841,001083: 14,3522 05353 P51E TC PHASCHNG
040842,001084: 14,3523 04024 OCT 04024
040843,001085:
040844,001086: 14,3524 06042 TC INTPRET
040845,001087: 14,3525 45145 DLOAD CALL
040846,001088: 14,3526 03562 TSIGHT
040847,001089: 14,3527 32472 PLANET
040848,001090: 14,3530 24015 STOVL 12D
040849,001091: 14,3531 03554 PLANVEC
040850,001092: 14,3532 24007 STOVL 6D
040851,001093: 14,3533 02761 STARSAV1
040852,001094: 14,3534 26707 STOVL STARAD
040853,001095: 14,3535 02767 STARSAV2
040854,001096: 14,3536 36715 STCALL STARAD +6
040855,001097: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040856,001098: 14,3540 77414 BON EXIT
040857,001099: 14,3541 00314 FREEFLAG
040858,001100: 14,3542 31544 P51G
040859,001101: 14,3543 03423 TC P51 +2
040860,001102: 14,3544 77624 P51G CALL
040861,001103: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040862,001104: 14,3546 75160 AXC,1 AXC,2
040863,001105: 14,3547 02664 XDC
040864,001106: 14,3550 01733 REFSMMAT
040865,001107: 14,3551 77624 CALL
040866,001108: 14,3552 31371 MATMOVE
040867,001109: 14,3553 77414 SET EXIT
040868,001110: 14,3554 01462 REFSMFLG
040869,001111: 14,3555 06001 TC GOTOPOOH # FINIS
040870,001112:
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Page 945 |
040872,001114: 14,3556 12200 V41K VN 4100
040873,001115: 14,3557 77776 COARSE EXIT
040874,001116: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040875,001117: 14,3561 00006 EXTEND
040876,001118: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040877,001119: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040878,001120: 14,3564 04616 TC BANKCALL
040879,001121: 14,3565 01736 CADR DELAYJOB
040880,001122: 14,3566 13560 TCF COARSE +1
040881,001123: 14,3567 04616 DOCORS TC BANKCALL
040882,001124: 14,3570 16772 CADR IMUCOARS
040883,001125: 14,3571 04616 TC BANKCALL
040884,001126: 14,3572 17710 CADR IMUSTALL
040885,001127: 14,3573 05701 TC CURTAINS
040886,001128: 14,3574 04616 TC BANKCALL
040887,001129: 14,3575 17202 CADR IMUFINE
040888,001130: 14,3576 04616 TC BANKCALL
040889,001131: 14,3577 17710 CADR IMUSTALL
040890,001132: 14,3600 05701 TC CURTAINS
040891,001133: 14,3601 06042 TC INTPRET
040892,001134: 14,3602 77616 RVQ
040893,001135: 14,3603 77776 NCOARSE EXIT
040894,001136: 14,3604 30025 CA TIME1
040895,001137: 14,3605 55074 TS 1/PIPADT
040896,001138: 14,3606 44755 CS ZERO
040897,001139: 14,3607 54037 TS PIPAX
040898,001140: 14,3610 54040 TS PIPAY
040899,001141: 14,3611 54041 TS PIPAZ
040900,001142: 14,3612 06042 TC INTPRET
040901,001143: 14,3613 77775 VLOAD
040902,001144: 14,3614 24007 ZEROVEC
040903,001145: 14,3615 01472 STORE GCOMP
040904,001146: 14,3616 43414 SET RVQ
040905,001147: 14,3617 01060 DRIFTFLG
040906,001148:
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Page 946 |
040908,001150: # NAME-S52.2
040909,001151: # FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040910,001152: # CALL- CALL S52.2
040911,001153: # INPUT- X,Y,ZSMD
040912,001154: # OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
040913,001155: # SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
040914,001156: 14,3620 COUNT* $$/S52.1
040915,001157: 14,3620 45020 S52.2 STQ CALL
040916,001158: 14,3621 02746 QMAJ
040917,001159: 14,3622 47541 CDUTRIG
040918,001160: 14,3623 77624 CALL
040919,001161: 14,3624 20030 CALCSMSC
040920,001162: 14,3625 66370 AXT,1 SSP
040921,001163: 14,3626 00022 18D
040922,001164: 14,3627 00051 S1
040923,001165: 14,3630 00006 6D
040924,001166: 14,3631 61373 S52.2A VLOAD* VXM
040925,001167: 14,3632 02707 XNB +18D,1
040926,001168: 14,3633 01734 REFSMMAT
040927,001169: 14,3634 77656 UNIT
040928,001170: 14,3635 06707 STORE XNB +18D,1
040929,001171: 14,3636 77700 TIX,1
040930,001172: 14,3637 31631 S52.2A
040931,001173: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040932,001174: 14,3641 03606 XSMD
040933,001175: 14,3642 02642 XSM
040934,001176: 14,3643 77624 CALL
040935,001177: 14,3644 31371 MATMOVE
040936,001178: 14,3645 77624 CALL
040937,001179: 14,3646 47355 CALCGA
040938,001180: 14,3647 77650 GOTO
040939,001181: 14,3650 02746 QMAJ
040940,001182:
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Page 947 |
040942,001184: # NAME-S52.3
040943,001185: # FUNCTION XSMD= UNIT R
040944,001186: # YSMD= UNIT(V X R)
040945,001187: # ZSMD= UNIT(XSMD X YSMD)
040946,001188: # CALL DLOAD CALL
040947,001189: # TALIGN
040948,001190: # S52.3
040949,001191: # INPUT- TIME OF ALIGNMENT IN MPAC
040950,001192: # OUTPUT- X,Y,ZSMD
040951,001193: # SUBROUTINES- CSMCONIC
040952,001194: 14,3651 COUNT* $$/S52.3
040953,001195: 14,3651 77620 S52.3 STQ
040954,001196: 14,3652 02746 QMAJ
040955,001197: 14,3653 34041 STCALL TDEC1
040956,001198: 14,3654 27101 LEMCONIC
040957,001199: 14,3655 53575 VLOAD UNIT
040958,001200: 14,3656 00001 RATT
040959,001201: 14,3657 27607 STOVL XSMD
040960,001202: 14,3660 00007 VATT
040961,001203: 14,3661 53435 VXV UNIT
040962,001204: 14,3662 00001 RATT
040963,001205: 14,3663 27615 STOVL YSMD
040964,001206: 14,3664 03607 XSMD
040965,001207: 14,3665 53435 VXV UNIT
040966,001208: 14,3666 03615 YSMD
040967,001209: 14,3667 37623 STCALL ZSMD
040968,001210: 14,3670 02746 QMAJ
040969,001211:
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Page 948 |
040971,001213: # NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040972,001214:
040973,001215: # FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040974,001216: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040975,001217:
040976,001218: # CALLING -CALL R52
040977,001219:
040978,001220: # INPUT -BESTI AND BESTJ (STAR CODES TIMES 6)
040979,001221: # OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
040980,001222: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040981,001223: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040982,001224: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040983,001225:
040984,001226: # SUBROUT -R60LEM
040985,001227:
040986,001228: 14,3671 COUNT* $$/R52
040987,001229: 14,3671 77420 R52 STQ EXIT
040988,001230: 14,3672 03665 SAVQR52
040989,001231: 14,3673 51757 INDEX STARIND
040990,001232: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040991,001233: 14,3675 00006 EXTEND
040992,001234: 14,3676 73772 MP 1/6TH
040993,001235: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040994,001236: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040995,001237:
040996,001238: 14,3701 33773 R52A CAF V01N70
040997,001239: 14,3702 04616 TC BANKCALL
040998,001240: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040999,001241: 14,3704 06001 TC GOTOPOOH # V34-TERMINATE
041000,001242: 14,3705 13707 TCF R52B # V33-PROCEED TO ORIENT LEM
041001,001243: 14,3706 13701 TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE
041002,001244:
041003,001245: 14,3707 05516 R52B TC DOWNFLAG
041004,001246: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041005,001247: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
041006,001248: 14,3712 77747 MASK HIGH9
041007,001249: 14,3713 00006 EXTEND
041008,001250: 14,3714 74743 MP BIT9
041009,001251: 14,3715 54001 TS L # TEMP STORE DETENT
041010,001252:
041011,001253: 14,3716 00006 EXTEND
041012,001254: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041013,001255:
041014,001256: 14,3720 65650 AD NEG7
041015,001257: 14,3721 00006 EXTEND
041016,001258: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
041017,001259:
041018,001260: 14,3723 E7,1551 EBANK= XYMARK
041019,001261: 14,3723 35016 CA EBANK7
041020,001262: 14,3724 54003 TS EBANK
041021,001263:
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Page 949 |
041023,001265: 14,3725 50001 INDEX L
041024,001266: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041025,001267: 14,3727 54001 TS L
041026,001268: 14,3730 E5,1642 EBANK= XSM
041027,001269: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
041028,001270: 14,3731 54003 TS EBANK
041029,001271: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
041030,001272: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041031,001273: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
041032,001274:
041033,001275: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041034,001276: 14,3736 04616 TC BANKCALL
041035,001277: 14,3737 20477 CADR GOFLASH
041036,001278: 14,3740 06001 TC GOTOPOOH # V34-TERMINATE
041037,001279: 14,3741 13743 TCF +2 # PROCEED-CALC OPTIC AXIS
041038,001280: 14,3742 13735 TCF GETAZEL # ENTER-RECYCLE
041039,001281:
041040,001282: 14,3743 00006 EXTEND
041041,001283: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
041042,001284: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041043,001285: 14,3746 52011 DXCH 8D
041044,001286: 14,3747 06042 TC INTPRET
041045,001287: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041046,001288: 14,3751 10520 OANB # SCAXIS IN NB COORDS
041047,001289: 14,3752 45034 RTB CALL
041048,001290: 14,3753 21574 LOADTIME
041049,001291: 14,3754 32472 PLANET
041050,001292: 14,3755 53521 MXV UNIT
041051,001293: 14,3756 01734 REFSMMAT
041052,001294: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
041053,001295:
041054,001296: 14,3760 77776 EXIT
041055,001297: 14,3761 04616 TC BANKCALL
041056,001298: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041057,001299:
041058,001300: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
041059,001301: 14,3764 70734 MASK STARCODE
041060,001302: 14,3765 00006 EXTEND
041061,001303: 14,3766 13701 BZF R52A
041062,001304:
041063,001305: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
041064,001306: 14,3770 77650 GOTO
041065,001307: 14,3771 03665 SAVQR52 # RETURN TO CALLER
041066,001308:
041067,001309: 14,3772 05253 1/6TH DEC .1666667
041068,001310: 14,3773 00306 V01N70 VN 0170
041069,001311: 14,3774 01527 V06N87 VN 687
041070,001312:
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Page 950 |
041072,001314: # LUNAR SURFACE STAR AQUISITION
041073,001315:
041074,001316: 15,2245 BANK 15
041075,001317: 15,2000 SETLOC P50S
041076,001318: 15,2000 BANK
041077,001319: 15,2245 COUNT* $$/R59
041078,001320:
041079,001321: 15,2245 40077 R59 CS FLAGWRD3
041080,001322: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041081,001323: 15,2247 10000 CCS A
041082,001324: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041083,001325:
041084,001326: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041085,001327: 15,2252 04616 TC BANKCALL
041086,001328: 15,2253 20477 CADR GOFLASH
041087,001329: 15,2254 06001 TC GOTOPOOH # V34-TERMINATE
041088,001330: 15,2255 12257 TCF R59A # V33-PROCEED
041089,001331: 15,2256 12245 TCF R59 # V32-RECYCLE
041090,001332:
041091,001333: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041092,001334: 15,2260 70734 MASK AOTCODE
041093,001335: 15,2261 00006 EXTEND
041094,001336: 15,2262 76245 MP REVCNT # JUST 6
041095,001337: 15,2263 56001 XCH L
041096,001338: 15,2264 51757 INDEX STARIND
041097,001339: 15,2265 55755 TS BESTI
041098,001340: 15,2266 50120 INDEX FIXLOC
041099,001341: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041100,001342: 15,2270 00006 EXTEND
041101,001343: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
041102,001344: 15,2272 40000 COM
041103,001345: 15,2273 62557 AD DEC227
041104,001346: 15,2274 00006 EXTEND
041105,001347: 15,2275 62455 BZMF R59OUT
041106,001348:
041107,001349: 15,2276 06042 TC INTPRET
041108,001350: 15,2277 64373 VLOAD* MXV
041109,001351: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041110,001352: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041111,001353: 15,2302 45056 UNIT CALL
041112,001354: 15,2303 47650 CDU*SMNB
041113,001355: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041114,001356: 15,2305 77776 EXIT
041115,001357:
041116,001358: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
041117,001359: 15,2307 55241 TS POSCODE
041118,001360:
041119,001361: 15,2310 E7,1551 EBANK= XYMARK
041120,001362: 15,2310 35016 INCAZ CA EBANK7
041121,001363: 15,2311 54003 TS EBANK
041122,001364:
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Page 951 |
041124,001366: 15,2312 51241 INDEX POSCODE
041125,001367: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041126,001368: 15,2314 54001 TS L
041127,001369:
041128,001370: 15,2315 E5,1642 EBANK= XSM
041129,001371: 15,2315 35014 CA EBANK5
041130,001372: 15,2316 54003 TS EBANK
041131,001373:
041132,001374: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041133,001375: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041134,001376: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041135,001377: 15,2322 50120 INDEX FIXLOC
041136,001378: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041137,001379:
041138,001380: 15,2324 06042 TC INTPRET
041139,001381: 15,2325 77624 CALL
041140,001382: 15,2326 10520 OANB # GO CALC OPTIC AXIS WRT NB
041141,001383: 15,2327 50375 VLOAD DOT
041142,001384: 15,2330 02731 STAR # DOT STAR WITH OA
041143,001385: 15,2331 03765 SCAXIS
041144,001386: 15,2332 65552 SL1 ARCCOS
041145,001387: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041146,001388:
041147,001389: 15,2334 51025 DSU BPL
041148,001390: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041149,001391: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
041150,001392: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041151,001393: 15,2340 00031 24D
041152,001394: 15,2341 32470 DEG.5
041153,001395: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041154,001396: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041155,001397: 15,2344 00031 24D # GET SPIRAL
041156,001398: 15,2345 42405 DMP SL4
041157,001399: 15,2346 13762 3/4 # 12 SCALED AT 16
041158,001400: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041159,001401:
041160,001402: 15,2350 03765 SCAXIS # OA
041161,001403: 15,2351 53435 VXV UNIT
041162,001404: 15,2352 24005 XUNIT
041163,001405: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041164,001406: 15,2354 03765 SCAXIS
041165,001407: 15,2355 77676 VCOMP
041166,001408: 15,2356 63256 UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11
041167,001409: 15,2357 03765 SCAXIS
041168,001410: 15,2360 53435 VXV UNIT
041169,001411: 15,2361 02731 STAR
041170,001412: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041171,001413: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041172,001414: 15,2364 65552 SL1 ARCCOS
041173,001415: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
041174,001416:
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Page 952 |
041176,001418: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041177,001419: 15,2367 71244 BPL DLOAD # IF THET NEG-GET 360-THET
041178,001420: 15,2370 32375 R59D
041179,001421: 15,2371 32047 ABOUTONE
041180,001422: 15,2372 77625 DSU
041181,001423: 15,2373 00033 26D
041182,001424: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041183,001425:
041184,001426: 15,2375 70535 R59D SLOAD SR1
041185,001427: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041186,001428: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041187,001429: 15,2400 00033 26D
041188,001430: 15,2401 77634 RTB
041189,001431: 15,2402 21615 1STO2S
041190,001432: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
041191,001433: 15,2404 00031 24D # LOAD SROT IN REVS
041192,001434: 15,2405 77615 DAD # 12(SEP) + YROT
041193,001435: 15,2406 77634 RTB
041194,001436: 15,2407 21615 1STO2S
041195,001437: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
041196,001438: 15,2411 77776 EXIT
041197,001439: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041198,001440:
041199,001441: 15,2413 77776 ZSPCR EXIT
041200,001442: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041201,001443: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
041202,001444: 15,2416 55237 TS SPIRAL
041203,001445: 15,2417 12437 TCF 79DISP
041204,001446:
041205,001447: 15,2420 77776 NXAX EXIT
041206,001448: 15,2421 25241 INCR POSCODE
041207,001449: 15,2422 41241 CS POSCODE
041208,001450: 15,2423 64757 AD SEVEN
041209,001451: 15,2424 00006 EXTEND
041210,001452: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041211,001453: 15,2426 12310 TCF INCAZ
041212,001454:
041213,001455: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
041214,001456: 15,2430 00404 OCT 404
041215,001457: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041216,001458: 15,2432 04616 TC BANKCALL
041217,001459: 15,2433 20477 CADR GOFLASH
041218,001460: 15,2434 16001 TCF GOTOPOOH # VB34-TERMINATE
041219,001461: 15,2435 12455 TCF R59OUT # VB33-PROCEED, GO WITHOUT AQUIRE
041220,001462: 15,2436 12245 TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR
041221,001463:
041222,001464: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041223,001465: 15,2440 04616 TC BANKCALL
041224,001466: 15,2441 20477 CADR GOFLASH
041225,001467: 15,2442 16001 TCF GOTOPOOH # V34-TERMINATE
041226,001468:
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Page 953 |
041228,001470: 15,2443 12445 TCF R59E # V33-PROCEED TO MARK ROUTINE
041229,001471: 15,2444 12245 TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN
041230,001472:
041231,001473: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041232,001474: 15,2446 71241 MASK POSCODE
041233,001475: 15,2447 00006 EXTEND
041234,001476: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
041235,001477: 15,2451 47747 CS HIGH9
041236,001478: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
041237,001479: 15,2453 60001 AD L
041238,001480: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
041239,001481:
041240,001482: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041241,001483: 15,2456 16000 CADR AOTMARK
041242,001484: 15,2457 04616 TC BANKCALL
041243,001485: 15,2460 17704 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041244,001486: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
041245,001487: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041246,001488:
041247,001489: 15,2463 00306 V01N70* VN 170
041248,001490: 15,2464 01517 V06N79 VN 679
041249,001491: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
041250,001492: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
041251,001493: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041252,001494: 15,2472 1235 CURSOR EQUALS GDT/2
041253,001495: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
041254,001496: 15,2472 1241 POSCODE EQUALS GDT/2 +4
041255,001497:
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Page 954 |
041257,001499: # NAME - PLANET
041258,001500: # FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041259,001501: # BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041260,001502: # MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041261,001503: # BY DSDY INPUT
041262,001504: # CALL - CALL
041263,001505: # PLANET
041264,001506: # INPUT - TIME IN MPAC
041265,001507: # OUTPUT - VECTOR IN MPAC
041266,001508: # SUBROUTINES - LOCSAM
041267,001509: # DEBRIS - VAC ,STARAD - STARAD +17
041268,001510:
041269,001511: 15,2000 SETLOC P50S
041270,001512: 15,2000 BANK
041271,001513: 15,2472 COUNT* $$/P51
041272,001514:
041273,001515: 15,2472 03562 PLANET STORE TSIGHT
041274,001516: 15,2473 77420 STQ EXIT
041275,001517: 15,2474 02736 GCTR
041276,001518: 15,2475 47747 CS HIGH9
041277,001519: 15,2476 70734 MASK AOTCODE
041278,001520: 15,2477 00006 EXTEND
041279,001521: 15,2500 76245 MP REVCNT
041280,001522: 15,2501 56001 XCH L
041281,001523: 15,2502 51757 INDEX STARIND
041282,001524: 15,2503 55755 TS BESTI
041283,001525: 15,2504 10000 CCS A
041284,001526: 15,2505 12521 TCF NOTPLAN
041285,001527: 15,2506 32560 CAF VNPLANV
041286,001528: 15,2507 04616 TC BANKCALL
041287,001529: 15,2510 20477 CADR GOFLASH
041288,001530: 15,2511 02506 TC -3
041289,001531: 15,2512 02514 TC +2
041290,001532: 15,2513 02506 TC -5
041291,001533: 15,2514 06042 TC INTPRET
041292,001534: 15,2515 53575 VLOAD UNIT
041293,001535: 15,2516 02707 STARAD
041294,001536: 15,2517 77650 GOTO
041295,001537: 15,2520 02736 GCTR
041296,001538: 15,2521 40000 NOTPLAN CS A
041297,001539: 15,2522 62557 AD DEC227
041298,001540: 15,2523 00006 EXTEND
041299,001541: 15,2524 62535 BZMF CALSAM1
041300,001542: 15,2525 51757 INDEX STARIND
041301,001543: 15,2526 31755 CA BESTI
041302,001544: 15,2527 50120 INDEX FIXLOC
041303,001545: 15,2530 54046 TS X1
041304,001546: 15,2531 06042 TC INTPRET
041305,001547: 15,2532 52173 VLOAD* GOTO
041306,001548: 15,2533 30347 CATLOG,1
041307,001549:
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Page 955 |
041309,001551: 15,2534 02736 GCTR
041310,001552: 15,2535 06042 CALSAM1 TC INTPRET
041311,001553: 15,2536 45145 CALSAM DLOAD CALL
041312,001554: 15,2537 03562 TSIGHT
041313,001555: 15,2540 30500 LOCSAM
041314,001556: 15,2541 77340 LXC,1 VLOAD
041315,001557: 15,2542 02757 STARIND
041316,001558: 15,2543 02707 VEARTH
041317,001559: 15,2544 24001 STOVL 0D
041318,001560: 15,2545 02715 VSUN
041319,001561: 15,2546 26707 STOVL VEARTH
041320,001562: 15,2547 00001 0D
041321,001563: 15,2550 02715 STORE VSUN
041322,001564: 15,2551 70143 DLOAD* LXC,1
041323,001565: 15,2552 02756 BESTI,1
041324,001566: 15,2553 00154 MPAC
041325,001567: 15,2554 52173 VLOAD* GOTO
041326,001568: 15,2555 02343 STARAD -228D,1
041327,001569: 15,2556 02736 GCTR
041328,001570: 15,2557 00343 DEC227 DEC 227 B-14
041329,001571: 15,2560 01530 VNPLANV VN 0688
041330,001572: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
041331,001573:
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Page 956 |
041333,001575: # GRAVITY VECTOR DETERMINATION ROUTINE
041334,001576: # BY KEN VINCENT
041335,001577: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041336,001578: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041337,001579: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041338,001580: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041339,001581: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041340,001582: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041341,001583: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041342,001584: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041343,001585: # READINGS.
041344,001586:
041345,001587: # CALL-
041346,001588: # TC BANKCALL
041347,001589: # CADR GVDETER
041348,001590: # INPUTS-
041349,001591: # PIPAS,CDUS
041350,001592: # OUTPUTS-
041351,001593: # STARSAV1 = UNIT GRAVITY
041352,001594: # GSAV = DITTO
041353,001595: # GRAVBIT = 1
041354,001596: # SUBROUTINES-
041355,001597: # PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041356,001598: # *NBSM*,*SNMB*, CALCGA,FOFLASH
041357,001599: # DEBRIS-
041358,001600: # VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041359,001601: 15,2561 32762 GVDETER CAF 42DEG
041360,001602: 15,2562 54321 TS THETAD
041361,001603: 15,2563 40000 COM
041362,001604: 15,2564 54322 TS THETAD +1
041363,001605: 15,2565 32763 CAF 35DEG
041364,001606: 15,2566 54323 TS THETAD +2
041365,001607: 15,2567 06042 TC INTPRET
041366,001608: 15,2570 45014 CLEAR CALL
041367,001609: 15,2571 01662 REFSMFLG
041368,001610: 15,2572 32666 LUNG
041369,001611: # FIND GIMBAL ANGLES WHICH ROTATE SM 180DEG ABOUT G VEC
041370,001612:
041371,001613: # DEFINE G COOR SYS
041372,001614: # -
041373,001615: # X UNIT G
041374,001616: # * - -
041375,001617: # M= Y = UNITEZSM * X )
041376,001618: # - - -
041377,001619: # Z UNIT(X * Y )
041378,001620: # THEN ROTATED SM WRT PRESENT IS
041379,001621:
041380,001622:
041381,001623: # 1, 0 , 0
041382,001624: # * *T * * *
041383,001625:
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Page 957 |
041385,001627: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
041386,001628: # I J
041387,001629: # 0, 0 ,-1
041388,001630:
041389,001631: # ALSO NB WRT PRES SM IS
041390,001632:
041391,001633: # * * *
041392,001634: # XNB = NBSM I
041393,001635: # * *
041394,001636: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041395,001637:
041396,001638: 15,2000 SETLOC P50S
041397,001639: 15,2000 BANK
041398,001640: 15,2573 COUNT* $$/P57
041399,001641: 15,2573 66370 AXT,1 SSP # X1=18
041400,001642: 15,2574 00022 18D # S1=6
041401,001643: 15,2575 00051 S1 # X2, -2
041402,001644: 15,2576 00006 6D
041403,001645: 15,2577 77744 LXC,2
041404,001646: 15,2600 00050 S1
041405,001647: 15,2601 45173 GRAVEL VLOAD* CALL
041406,001648: 15,2602 54000 XUNIT -6,2
041407,001649: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
041408,001650: 15,2604 06707 STORE XNB +18D,1
041409,001651: 15,2605 77775 VLOAD
041410,001652: 15,2606 02731 STAR
041411,001653: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD -
041412,001654: 15,2610 00047 X2
041413,001655: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
041414,001656: 15,2612 71152 VSL2 LXC,2
041415,001657: 15,2613 00047 X2
041416,001658: 15,2614 63047 VSU* INCR,2
041417,001659: 15,2615 54000 XUNIT -6,2
041418,001660: 15,2616 00002 2D
041419,001661: 15,2617 06665 STORE XSM +18D,1
041420,001662: 15,2620 45100 TIX,1 CALL
041421,001663: 15,2621 32601 GRAVEL
041422,001664: 15,2622 47355 CALCGA
041423,001665: 15,2623 74575 VLOAD VSR1
041424,001666: 15,2624 02715 GOUT
041425,001667: 15,2625 36723 STCALL STARAD +12D
041426,001668: 15,2626 32666 LUNG
041427,001669: 15,2627 74575 VLOAD VSR1
041428,001670: 15,2630 02715 GOUT
041429,001671: 15,2631 53455 VAD UNIT
041430,001672: 15,2632 02723 STARAD +12D
041431,001673: 15,2633 02761 STORE STARSAV1
041432,001674: 15,2634 77641 DOT
041433,001675: 15,2635 02231 GSAV
041434,001676: 15,2636 65552 SL1 ACOS
041435,001677:
![]() |
Page 958 |
041437,001679: 15,2637 01045 STORE DSPTEM1
041438,001680: 15,2640 77776 EXIT
041439,001681: 15,2641 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
041440,001682: 15,2642 00014 ADRES FREEFLAG
041441,001683:
041442,001684: 15,2643 32761 CA DISGRVER
041443,001685: 15,2644 04616 TC BANKCALL
041444,001686: 15,2645 20477 CADR GOFLASH
041445,001687: 15,2646 06001 TC GOTOPOOH
041446,001688: 15,2647 12652 TCF PROGRAV # VB33-PROCEED
041447,001689: 15,2650 05504 TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041448,001690: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041449,001691:
041450,001692: 15,2652 05353 PROGRAV TC PHASCHNG
041451,001693: 15,2653 04024 OCT 04024
041452,001694:
041453,001695: 15,2654 06042 TC INTPRET
041454,001696: 15,2655 77775 VLOAD
041455,001697: 15,2656 02761 STARSAV1
041456,001698: 15,2657 02231 STORE GSAV
041457,001699: 15,2660 77776 EXIT
041458,001700: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041459,001701: 15,2662 70074 MASK FLAGWRD0
041460,001702: 15,2663 10000 CCS A
041461,001703: 15,2664 12561 TCF GVDETER # SET
041462,001704: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
041463,001705:
041464,001706: 15,2666 77220 LUNG STQ VLOAD
041465,001707: 15,2667 02745 QMIN
041466,001708: 15,2670 24007 ZEROVEC
041467,001709: 15,2671 02707 STORE GACC
041468,001710: 15,2672 77776 EXIT
041469,001711: 15,2673 05353 TC PHASCHNG
041470,001712: 15,2674 04024 OCT 04024
041471,001713:
041472,001714: 15,2675 06042 TC INTPRET
041473,001715: 15,2676 77624 CALL
041474,001716: 15,2677 31557 COARSE
041475,001717: 15,2700 77776 EXIT
041476,001718: 15,2701 32760 CA T/2SEC
041477,001719: 15,2702 55736 TS GCTR
041478,001720: 15,2703 37721 CA PRIO31
041479,001721: 15,2704 55074 TS 1/PIPADT
041480,001722: 15,2705 04616 TC BANKCALL
041481,001723: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
041482,001724: 15,2707 05353 TC PHASCHNG
041483,001725: 15,2710 04024 OCT 04024
041484,001726:
041485,001727: 15,2711 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
041486,001728: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
041487,001729:
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Page 959 |
041489,001731: 15,2713 06042 TC INTPRET
041490,001732: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
041491,001733: 15,2715 35000 CAF 2SECS
041492,001734: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041493,001735: 15,2717 02721 ADRES GRABGRAV
041494,001736:
041495,001737: 15,2720 05155 TC ENDOFJOB
041496,001738:
041497,001739: 15,2721 04674 GRABGRAV TC IBNKCALL
041498,001740: 15,2722 77541 CADR PIPSRINE
041499,001741: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041500,001742: 15,2724 05105 TC FINDVAC
041501,001743: 15,2725 E5,1706 EBANK= STARAD
041502,001744: 15,2725 02730 32065 2CADR ADDGRAV
041503,001745:
041504,001746: 15,2727 05261 TC TASKOVER
041505,001747:
041506,001748: 15,2730 04616 ADDGRAV TC BANKCALL
041507,001749: 15,2731 15271 CADR 1/PIPA
041508,001750: 15,2732 25736 INCR GCTR
041509,001751: 15,2733 06042 TC INTPRET
041510,001752: 15,2734 53375 VLOAD VAD
041511,001753: 15,2735 00325 DELV
041512,001754: 15,2736 02707 GACC
041513,001755: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
041514,001756: 15,2740 50135 SLOAD BMN
041515,001757: 15,2741 02737 GCTR
041516,001758: 15,2742 32714 GREED
041517,001759: 15,2743 53575 VLOAD UNIT
041518,001760: 15,2744 02707 GACC
041519,001761: 15,2745 36731 STCALL STAR
041520,001762: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041521,001763: 15,2747 77624 CALL # IN OUTPUT
041522,001764: 15,2750 47673 *SMNB*
041523,001765: 15,2751 02715 STORE GOUT
041524,001766: 15,2752 77776 EXIT
041525,001767: 15,2753 05353 TC PHASCHNG
041526,001768: 15,2754 04024 OCT 04024
041527,001769:
041528,001770: 15,2755 06042 QMINEXIT TC INTPRET
041529,001771: 15,2756 77650 GOTO
041530,001772: 15,2757 02745 QMIN
041531,001773: 15,2760 77753 T/2SEC DEC -20 B-14
041532,001774: 15,2761 01404 DISGRVER VN 0604
041533,001775: 15,2762 07357 42DEG OCT 07357
041534,001776: 15,2763 06211 35DEG OCT 06211
041535,001777:
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Page 960 |
041537,001779: # NAME GYROTRIM
041538,001780:
041539,001781: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041540,001782: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041541,001783: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041542,001784:
041543,001785: # CALL CALL
041544,001786: # GYROTRIM
041545,001787:
041546,001788: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
041547,001789: # CDUX,CDUY,CDUZ
041548,001790:
041549,001791: # OUTPUT - GYRO TORQUE PULSES
041550,001792:
041551,001793: # SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041552,001794: # IMPULSE,IMUSTALL
041553,001795: # - - - * * -
041554,001796: # DEBRIS - CDUSPOT ,SINCDU ,COSCDU ,STARAD ,VAC , XDC , OGC
041555,001797: 15,2764 COUNT* $$/P57
041556,001798: 15,2764 71220 GYROTRIM STQ DLOAD
041557,001799: 15,2765 02745 QMIN
041558,001800: 15,2766 00322 THETAD
041559,001801: 15,2767 65325 PDDL PDDL
041560,001802: 15,2770 00324 THETAD +2
041561,001803: 15,2771 00323 THETAD +1
041562,001804: 15,2772 77666 VDEF
041563,001805: 15,2773 24766 STOVL CDUSPOT
041564,001806: 15,2774 24005 XUNIT
041565,001807: 15,2775 77624 CALL
041566,001808: 15,2776 47666 TRG*NBSM
041567,001809: 15,2777 26707 STOVL STARAD
041568,001810: 15,3000 24003 YUNIT
041569,001811: 15,3001 77624 CALL
041570,001812: 15,3002 47675 *NBSM*
041571,001813: 15,3003 36715 STCALL STARAD +6
041572,001814: 15,3004 47541 CDUTRIG
041573,001815: 15,3005 77624 CALL
041574,001816: 15,3006 20030 CALCSMSC
041575,001817: 15,3007 77775 VLOAD
041576,001818: 15,3010 02665 XNB
041577,001819: 15,3011 24007 STOVL 6D
041578,001820: 15,3012 02673 YNB
041579,001821: 15,3013 34015 STCALL 12D
041580,001822: 15,3014 47443 AXISGEN
041581,001823: 15,3015 77624 CALL
041582,001824: 15,3016 47251 CALCGTA
041583,001825: 15,3017 77776 JUSTTRIM EXIT
041584,001826: 15,3020 33027 CA GYRCDR
041585,001827: 15,3021 04616 TC BANKCALL
041586,001828: 15,3022 17315 CADR IMUPULSE
041587,001829:
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Page 961 |
041589,001831: 15,3023 04616 TC BANKCALL
041590,001832: 15,3024 17710 CADR IMUSTALL
041591,001833: 15,3025 05701 TC CURTAINS
041592,001834: 15,3026 12755 TCF QMINEXIT
041593,001835:
041594,001836: 15,3027 02737 GYRCDR ECADR OGC
041595,001837:
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Page 962 |
041597,001839: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
041598,001840:
041599,001841: 15,3030 34755 2STARS CAF ZERO # INITALIZE STARIND
041600,001842: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041601,001843: 15,3032 34753 1STAR CAF BIT1
041602,001844: 15,3033 55757 TS STARIND
041603,001845:
041604,001846: 15,3034 05353 TC PHASCHNG
041605,001847: 15,3035 04024 OCT 04024
041606,001848:
041607,001849: 15,3036 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
041608,001850:
041609,001851: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
041610,001852: 15,3040 00006 EXTEND
041611,001853: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
041612,001854:
041613,001855: 15,3042 05353 TC PHASCHNG
041614,001856: 15,3043 04024 OCT 04024
041615,001857:
041616,001858: 15,3044 06042 TC INTPRET
041617,001859: 15,3045 45145 DLOAD CALL
041618,001860: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
041619,001861: 15,3047 32472 PLANET
041620,001862: 15,3050 37255 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
041621,001863: 15,3051 33064 SURFLINE
041622,001864:
041623,001865: 15,3052 06042 ASTAR TC INTPRET
041624,001866: 15,3053 77775 VLOAD
041625,001867: 15,3054 02715 STARAD +6
041626,001868: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
041627,001869: 15,3056 45145 DLOAD CALL
041628,001870: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
041629,001871: 15,3060 32472 PLANET
041630,001872: 15,3061 03247 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
041631,001873: 15,3062 77776 EXIT
041632,001874: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
041633,001875:
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Page 963 |
041635,001877: # DO FINE OR COARSE ALIGNMENT OF IMU
041636,001878:
041637,001879: 15,3064 77131 SURFLINE SSP AXT,2
041638,001880: 15,3065 00052 S2
041639,001881: 15,3066 00006 6
041640,001882: 15,3067 00014 12D
041641,001883: 15,3070 64373 WRTDESIR VLOAD* MXV
041642,001884: 15,3071 74514 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
041643,001885: 15,3072 03607 XSMD
041644,001886: 15,3073 77656 UNIT
041645,001887: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
041646,001888: 15,3075 77773 VLOAD*
041647,001889: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
041648,001890: 15,3077 10023 STORE 18D,2
041649,001891: 15,3100 43104 TIX,2 BON
041650,001892: 15,3101 33070 WRTDESIR
041651,001893: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
041652,001894: 15,3103 33111 INITBY
041653,001895: 15,3104 77624 DOALIGN CALL
041654,001896: 15,3105 31250 R54 # DO CHKSDATA
041655,001897: 15,3106 77614 BOFF
041656,001898: 15,3107 00354 FREEFLAG
041657,001899: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
041658,001900: 15,3111 77624 INITBY CALL
041659,001901: 15,3112 47443 AXISGEN # GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041660,001902: 15,3113 77624 CALL
041661,001903: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
041662,001904: 15,3115 77776 EXIT
041663,001905: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041664,001906: 15,3117 70104 MASK FLAGWRD8
041665,001907: 15,3120 10000 CCS A
041666,001908: 15,3121 13130 TCF 5DEGTEST
041667,001909: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
041668,001910: 15,3123 04616 TC BANKCALL
041669,001911: 15,3124 20477 CADR GOFLASH
041670,001912: 15,3125 06001 TC GOTOPOOH # V34-TERMINATE
041671,001913: 15,3126 13130 TCF 5DEGTEST # VB33-PROCEED TO COARSE OR FINE
041672,001914: 15,3127 13172 TCF P57POST +1 # VB32-RECYCLE, MAYBE RE-ALIGN
041673,001915:
041674,001916: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041675,001917: 15,3131 40175 VLOAD BOV
041676,001918: 15,3132 02740 OGC
041677,001919: 15,3133 33134 SURFSUP
041678,001920: 15,3134 02750 SURFSUP STORE OGCT
041679,001921: 15,3135 40141 V/SC BOV
041680,001922: 15,3136 30602 5DEGREES
041681,001923: 15,3137 33237 COATRIM
041682,001924: 15,3140 52131 SSP GOTO
041683,001925: 15,3141 02746 QMIN
041684,001926: 15,3142 33144 SURFDISP
041685,001927:
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Page 964 |
041687,001929: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041688,001930:
041689,001931: 15,3144 77776 SURFDISP EXIT
041690,001932: 15,3145 05353 TC PHASCHNG
041691,001933: 15,3146 04024 OCT 04024
041692,001934:
041693,001935: 15,3147 06042 TC INTPRET
041694,001936: 15,3150 75160 AXC,1 AXC,2
041695,001937: 15,3151 03606 XSMD
041696,001938: 15,3152 01733 REFSMMAT
041697,001939: 15,3153 45014 SET CALL
041698,001940: 15,3154 01462 REFSMFLG
041699,001941: 15,3155 31371 MATMOVE
041700,001942: 15,3156 77776 EXIT
041701,001943: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
041702,001944: 15,3160 13162 TCF B2F8
041703,001945: 15,3161 13172 TCF P57POST +1
041704,001946:
041705,001947: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
041706,001948: 15,3163 70104 MASK FLAGWRD8
041707,001949: 15,3164 10000 CCS A
041708,001950: 15,3165 13544 TCF P57JUMP # ITS SET
041709,001951: 15,3166 06042 TC INTPRET
041710,001952: 15,3167 77624 CALL
041711,001953: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041712,001954: 15,3171 77776 P57POST EXIT
041713,001955: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
041714,001956: 15,3173 04616 TC BANKCALL
041715,001957: 15,3174 20624 CADR GOPERF1
041716,001958: 15,3175 16001 TCF GOTOPOOH # VB34-TERMINATE
041717,001959: 15,3176 13544 TCF P57JUMP # VB33-PROCEED TO RE-ALIGN
041718,001960: 15,3177 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
041719,001961: 15,3200 61144 AD OPTION2
041720,001962: 15,3201 00006 EXTEND
041721,001963: 15,3202 13204 BZF +2 # YES-GO CALCULATE LANDING SITE
041722,001964: 15,3203 16001 TCF GOTOPOOH # NO-EXIT P57
041723,001965: 15,3204 05353 TC PHASCHNG # RESTART PLACE
041724,001966: 15,3205 04024 OCT 04024
041725,001967: 15,3206 06042 TC INTPRET
041726,001968: 15,3207 45175 VLOAD CALL # USE GNB
041727,001969: 15,3210 02231 GSAV
041728,001970: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
041729,001971: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
041730,001972: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
041731,001973: 15,3214 01463 LUNAFLAG
041732,001974: 15,3215 51515 PDVL ABVAL
041733,001975: 15,3216 02023 RLS
041734,001976: 15,3217 45561 VXSC STADR
041735,001977: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
041736,001978: 15,3221 47014 CLEAR RTB
041737,001979:
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Page 965 |
041739,001981: 15,3222 00662 ERADFLAG
041740,001982: 15,3223 21574 LOADTIME
041741,001983: 15,3224 77624 CALL
041742,001984: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
041743,001985: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
041744,001986: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041745,001987: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
041746,001988: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
041747,001989: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
041748,001990: 15,3233 51677 R-TO-RP
041749,001991: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
041750,001992: 15,3235 77776 EXIT
041751,001993: 15,3236 16001 TCF GOTOPOOH # EXIT P57
041752,001994:
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Page 966 |
041754,001996: # COARSE AND FINE ALIGN IMU
041755,001997:
041756,001998: 15,3237 75160 COATRIM AXC,1 AXC,2
041757,001999: 15,3240 02664 XDC
041758,002000: 15,3241 02642 XSM
041759,002001: 15,3242 77624 CALL
041760,002002: 15,3243 31371 MATMOVE
041761,002003: 15,3244 77624 CALL
041762,002004: 15,3245 47541 CDUTRIG
041763,002005: 15,3246 77624 CALL
041764,002006: 15,3247 20030 CALCSMSC
041765,002007: 15,3250 77624 CALL
041766,002008: 15,3251 47355 CALCGA
041767,002009: 15,3252 77414 BOFF EXIT
041768,002010: 15,3253 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
041769,002011: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041770,002012: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041771,002013: 15,3256 04616 TC BANKCALL
041772,002014: 15,3257 20477 CADR GOFLASH
041773,002015: 15,3260 06001 TC GOTOPOOH
041774,002016: 15,3261 13263 TCF +2
041775,002017: 15,3262 13255 TCF -5
041776,002018: 15,3263 05353 TC PHASCHNG
041777,002019: 15,3264 04024 OCT 04024
041778,002020:
041779,002021: 15,3265 06042 TC INTPRET
041780,002022: 15,3266 77624 CORSIT CALL
041781,002023: 15,3267 31557 COARSE
041782,002024: 15,3270 77624 CALL
041783,002025: 15,3271 31603 NCOARSE
041784,002026: 15,3272 77624 CALL
041785,002027: 15,3273 32764 GYROTRIM
041786,002028: 15,3274 77650 GOTO
041787,002029: 15,3275 33144 SURFDISP
041788,002030: 15,3276 01535 DISPGYRO VN 0693
041789,002031:
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Page 967 |
041791,002033: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041792,002034:
041793,002035: 15,3277 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041794,002036: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
041795,002037:
041796,002038: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041797,002039: 15,3302 55144 TS OPTION2
041798,002040: 15,3303 34753 P57OPT CAF BIT1
041799,002041: 15,3304 04616 TC BANKCALL
041800,002042: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041801,002043: 15,3306 06001 TC GOTOPOOH # V34 TERMINATE
041802,002044: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041803,002045: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041804,002046:
041805,002047: 15,3311 05353 TC PHASCHNG
041806,002048: 15,3312 00014 OCT 00014
041807,002049: 15,3313 05155 TC ENDOFJOB
041808,002050:
041809,002051: 15,3314 31144 ALIGNOPT CA OPTION2
041810,002052: 15,3315 76250 MASK THREE
041811,002053: 15,3316 50000 INDEX A
041812,002054: 15,3317 13320 TCF +1
041813,002055: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041814,002056: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041815,002057: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041816,002058: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041817,002059: 15,3324 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
041818,002060: 15,3325 01733 REFSMMAT
041819,002061: 15,3326 03606 XSMD
041820,002062: 15,3327 77624 CALL
041821,002063: 15,3330 31371 MATMOVE
041822,002064: 15,3331 77650 GOTO
041823,002065: 15,3332 33373 PACKOPTN -1
041824,002066:
041825,002067: 15,3333 06042 TDISP TC INTPRET
041826,002068: 15,3334 77745 DLOAD
041827,002069: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041828,002070: 15,3336 01045 P57A STORE DSPTEM1
041829,002071: 15,3337 77776 EXIT
041830,002072: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041831,002073: 15,3341 04616 TC BANKCALL
041832,002074: 15,3342 20477 CADR GOFLASH
041833,002075: 15,3343 16001 TCF GOTOPOOH # V34-TERMINATE
041834,002076: 15,3344 13346 TCF +2
041835,002077: 15,3345 13340 TCF P57AA # VB32-RECYCLE
041836,002078:
041837,002079: 15,3346 06042 TC INTPRET
041838,002080: 15,3347 65234 RTB PDDL
041839,002081: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041840,002082: 15,3351 01045 DSPTEM1
041841,002083:
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Page 968 |
041843,002085: 15,3352 65254 BZE PDDL
041844,002086: 15,3353 33363 P57C # IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041845,002087: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041846,002088: 15,3355 01045 DSPTEM1
041847,002089: 15,3356 33363 P57C
041848,002090: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041849,002091: 15,3360 74335 STORE TIG # STORE IT IN TIG
041850,002092: 15,3361 36775 STCALL TALIGN
041851,002093: 15,3362 33365 P57D
041852,002094: 15,3363 45545 P57C DLOAD STADR
041853,002095: 15,3364 75002 STORE TALIGN
041854,002096: 15,3365 34041 P57D STCALL TDEC1
041855,002097: 15,3366 27060 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041856,002098: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041857,002099: 15,3370 00001 RATT
041858,002100: 15,3371 37607 STCALL XSMD
041859,002101: 15,3372 10775 LSORIENT
041860,002102: 15,3373 77776 EXIT
041861,002103: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041862,002104: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041863,002105: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041864,002106: 15,3377 34737 CAF REFSMBIT
041865,002107: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041866,002108: 15,3401 10000 CCS A
041867,002109: 15,3402 34745 CAF BIT7 # SET
041868,002110: 15,3403 27145 ADS OPTION1 +2 # CLEAR-JUST ZERO
041869,002111: 15,3404 34753 CAF ATTFLBIT
041870,002112: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041871,002113: 15,3406 10000 CCS A
041872,002114: 15,3407 34750 CAF BIT4 # SET
041873,002115: 15,3410 27145 ADS OPTION1 +2 # CLEAR-ZERO IN A
041874,002116: 15,3411 34750 CAF BIT4
041875,002117: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041876,002118:
041877,002119: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041878,002120: 15,3414 04616 TC BANKCALL
041879,002121: 15,3415 20477 CADR GOFLASH
041880,002122: 15,3416 16001 TCF GOTOPOOH # VB34-TERMINATE
041881,002123: 15,3417 13421 TCF +2 # V33-PROCEED
041882,002124: 15,3420 13413 TCF DSPOPTN # V32-RECYCLE
041883,002125:
041884,002126: 15,3421 34737 CAF REFSMBIT
041885,002127: 15,3422 70077 MASK FLAGWRD3
041886,002128: 15,3423 10000 CCS A
041887,002129: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041888,002130: 15,3425 34753 CAF ATTFLBIT # CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041889,002131: 15,3426 70102 MASK FLAGWRD6
041890,002132: 15,3427 10000 CCS A
041891,002133: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041892,002134: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
041893,002135:
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Page 969 |
041895,002137: 15,3432 71144 MASK OPTION2
041896,002138: 15,3433 10000 CCS A
041897,002139: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041898,002140: 15,3435 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS-ALARM 701
041899,002141: 15,3436 00701 OCT 701
041900,002142: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041901,002143: 15,3440 04616 TC BANKCALL
041902,002144: 15,3441 20477 CADR GOFLASH
041903,002145: 15,3442 16001 TCF GOTOPOOH # VB34-TERMINATE
041904,002146: 15,3443 13413 TCF DSPOPTN # V33-PROCEED ********TEMPORARY
041905,002147: 15,3444 13413 TCF DSPOPTN # VB32-RECYCLE TO OPTION DISPLAY V 05N06
041906,002148:
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Page 970 |
041908,002150: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041909,002151:
041910,002152: 15,3445 40220 MFREF STQ SETPD
041911,002153: 15,3446 02746 QMAJ
041912,002154: 15,3447 00001 0
041913,002155: 15,3450 77634 RTB
041914,002156: 15,3451 21574 LOADTIME
041915,002157: 15,3452 27562 STOVL TSIGHT
041916,002158: 15,3453 03247 VEC1
041917,002159: 15,3454 41525 PDDL PUSH
041918,002160: 15,3455 03562 TSIGHT
041919,002161: 15,3456 77624 CALL
041920,002162: 15,3457 55716 RP-TO-R
041921,002163: 15,3460 27247 STOVL VEC1
041922,002164: 15,3461 03255 VEC2
041923,002165: 15,3462 65201 SETPD PDDL
041924,002166: 15,3463 00001 0
041925,002167: 15,3464 03562 TSIGHT
041926,002168: 15,3465 45006 PUSH CALL
041927,002169: 15,3466 55716 RP-TO-R
041928,002170: 15,3467 37255 STCALL VEC2
041929,002171: 15,3470 02746 QMAJ
041930,002172:
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Page 971 |
041932,002174: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041933,002175: # STORE IN YNBSAV AND ZNBSAV
041934,002176:
041935,002177: 15,3471 45020 REFMF STQ CALL
041936,002178: 15,3472 02746 QMAJ
041937,002179: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041938,002180: 15,3474 40234 RTB SETPD
041939,002181: 15,3475 21574 LOADTIME
041940,002182: 15,3476 00001 0
041941,002183: 15,3477 37562 STCALL TSIGHT
041942,002184: 15,3500 20030 CALCSMSC # GET YNB IN SM
041943,002185: 15,3501 61375 VLOAD VXM
041944,002186: 15,3502 02673 YNB
041945,002187: 15,3503 01734 REFSMMAT # YNB TO REF
041946,002188: 15,3504 65256 UNIT PDDL
041947,002189: 15,3505 03562 TSIGHT
041948,002190: 15,3506 45006 PUSH CALL
041949,002191: 15,3507 51677 R-TO-RP
041950,002192: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041951,002193: 15,3511 02701 ZNB
041952,002194: 15,3512 53505 VXM UNIT
041953,002195: 15,3513 01734 REFSMMAT # ZNB TO REF
041954,002196: 15,3514 41525 PDDL PUSH
041955,002197: 15,3515 03562 TSIGHT
041956,002198: 15,3516 77624 CALL
041957,002199: 15,3517 51677 R-TO-RP # ZNB TO MF
041958,002200: 15,3520 02245 STORE ZNBSAV
041959,002201: 15,3521 77614 SETGO
041960,002202: 15,3522 03036 ATTFLAG
041961,002203: 15,3523 02746 QMAJ
041962,002204:
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Page 972 |
041964,002206: # BRANCH TO ALIGNMENT OPTION
041965,002207:
041966,002208: 15,3524 06042 GETLMATT TC INTPRET
041967,002209: 15,3525 77624 CALL
041968,002210: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
041969,002211: 15,3527 77776 EXIT
041970,002212:
041971,002213: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041972,002214: 15,3531 00205 ADRES INITALGN
041973,002215: 15,3532 34753 CAF BIT1
041974,002216: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041975,002217: 15,3534 10000 CCS A
041976,002218: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041977,002219:
041978,002220: 15,3536 05353 ATTCHK TC PHASCHNG
041979,002221: 15,3537 04024 OCT 04024
041980,002222:
041981,002223: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041982,002224: 15,3541 70102 MASK FLAGWRD6
041983,002225: 15,3542 10000 CCS A
041984,002226: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041985,002227: 15,3544 05353 P57JUMP TC PHASCHNG
041986,002228: 15,3545 04024 OCT 04024
041987,002229:
041988,002230: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR-RESET INTALIGN FLAG
041989,002231: 15,3547 00205 ADRES INITALGN
041990,002232: 15,3550 36250 CAF THREE
041991,002233: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041992,002234: 15,3552 50000 INDEX A
041993,002235: 15,3553 13554 TCF +1
041994,002236: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041995,002237: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041996,002238: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041997,002239: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041998,002240:
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Page 973 |
042000,002242: # OPTION 0, GET TWO ATTITUDE VECS
042001,002243:
042002,002244: 15,3560 06042 P57OPT0 TC INTPRET
042003,002245: 15,3561 77775 VLOAD
042004,002246: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042005,002247: 15,3563 27247 STOVL VEC1
042006,002248: 15,3564 02245 ZNBSAV
042007,002249: 15,3565 37255 STCALL VEC2
042008,002250: 15,3566 47541 CDUTRIG
042009,002251: 15,3567 77624 CALL
042010,002252: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042011,002253: 15,3571 77775 VLOAD
042012,002254: 15,3572 02673 YNB
042013,002255: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042014,002256: 15,3574 02701 ZNB
042015,002257: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042016,002258: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042017,002259: 15,3577 77650 GOTO
042018,002260: 15,3600 33064 SURFLINE
042019,002261:
042020,002262: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042021,002263:
042022,002264: 15,3601 06042 P57OPT1 TC INTPRET
042023,002265: 15,3602 53575 VLOAD UNIT
042024,002266: 15,3603 02023 RLS # LANDING SITE VEC
042025,002267: 15,3604 27247 STOVL VEC1
042026,002268: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
042027,002269: 15,3606 37255 STCALL VEC2
042028,002270: 15,3607 47541 CDUTRIG
042029,002271: 15,3610 77624 CALL
042030,002272: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042031,002273: 15,3612 45175 VLOAD CALL
042032,002274: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042033,002275: 15,3614 47663 CDU*NBSM
042034,002276: 15,3615 77650 GOTO
042035,002277: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
042036,002278:
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Page 974 |
042038,002280: # OPTION 2, GET TWO STAR SIGHTINGS
042039,002281:
042040,002282: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042041,002283:
042042,002284: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042043,002285:
042044,002286: 15,3620 06042 P57OPT3 TC INTPRET
042045,002287: 15,3621 53575 VLOAD UNIT
042046,002288: 15,3622 02023 RLS # LANDING SITE VEC
042047,002289: 15,3623 03247 STORE VEC1
042048,002290: 15,3624 27255 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042049,002291: 15,3625 02231 GSAV # GRAVITY VEC NB
042050,002292: 15,3626 77624 CALL
042051,002293: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042052,002294: 15,3630 36761 STCALL STARSAV1
042053,002295: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042054,002296: 15,3632 77776 EXIT
042055,002297: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042056,002298:
042057,002299: 15,3634 01206 VB05N06 VN 506
042058,002300:
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Page 975 |
042060,002302: # CHECK IMODES30 TO VARIFY IMU IS ON
042061,002303:
042062,002304: 15,3635 41277 IMUCHK CS IMODES30
042063,002305: 15,3636 74743 MASK BIT9
042064,002306: 15,3637 10000 CCS A # IS IMU ON
042065,002307: 15,3640 13644 TCF +4 # YES
042066,002308:
042067,002309: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
042068,002310: 15,3642 00210 OCT 210
042069,002311: 15,3643 06001 TC GOTOPOOH
042070,002312:
042071,002313: 15,3644 05504 TC UPFLAG
042072,002314: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
042073,002315:
042074,002316: 15,3646 04631 TC SWRETURN
042075,002317:
042076,002318: 04,2775 BANK 04
042077,002319: 04,2000 SETLOC AOTMARK2
042078,002320: 04,2000 BANK
042079,002321: 04,2775 COUNT* $$/P57
042080,002322:
042081,002323: 04,2775 77220 LSORIENT STQ VLOAD
042082,002324: 04,2776 02746 QMAJ
042083,002325: 04,2777 01555 RRECTCSM
042084,002326: 04,3000 47235 VXV VXV
042085,002327: 04,3001 01563 VRECTCSM
042086,002328: 04,3002 03607 XSMD
042087,002329: 04,3003 77656 UNIT
042088,002330: 04,3004 03623 STORE ZSMD
042089,002331: 04,3005 53435 VXV UNIT
042090,002332: 04,3006 03607 XSMD
042091,002333: 04,3007 37615 STCALL YSMD
042092,002334: 04,3010 02746 QMAJ
End of include-file P51-P53.agc. Parent file is MAIN.agc