Source Code
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This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the
second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97.
A bug (which had been around since at least Apollo 10, Luminary 69) was
discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute
revision into Rev 1,
which is what actually flew rather than
the Rev 0 presented here. A hardcopy of Rev 0 is known to
exist — it belonged to AGC developer Allan Klumpp for many years — but
unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus
the code you see here had been reconstructed (we believe accurately) rather than
transcribed. The first step of the reconstruction of the Rev 0 source code was
the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection.
The process of reverting the active portion of the source code (i.e., other than
program comments) from Rev 1 to Rev 0 was very minor, consisting
only of moving the position of the STARTSB1 label in
FRESH START AND RESTART. Allan had previously given
us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums
identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read,
in part:GAP: ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051 A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here. |
041258,000002: ## Copyright: Public domain.
041259,000003: ## Filename: P51-P53.agc
041260,000004: ## Purpose: Part of the reconstructed source code for LMY99 Rev 0,
041261,000005: ## otherwise known as Luminary Rev 99, the second release
041262,000006: ## of the Apollo Guidance Computer (AGC) software for Apollo 11.
041263,000007: ## It differs from LMY99 Rev 1 (the flown version) only in the
041264,000008: ## placement of a single label. The corrections shown here have
041265,000009: ## been verified to have the same bank checksums as AGC developer
041266,000010: ## Allan Klumpp's copy of Luminary Rev 99, and so are believed
041267,000011: ## to be accurate. This file is intended to be a faithful
041268,000012: ## recreation, except that the code format has been changed to
041269,000013: ## conform to the requirements of the yaYUL assembler rather than
041270,000014: ## the original YUL assembler.
041271,000015: ##
041272,000016: ## Assembler: yaYUL
041273,000017: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
041274,000018: ## Website: www.ibiblio.org/apollo.
041275,000019: ## Pages: 926-983
041276,000020: ## Mod history: 2009-05-31 HG Transcribed from page images.
041277,000021: ## 2009-06-07 RSB Corrected a typo.
041278,000022: ## 2016-12-13 RSB GOTOP00H -> GOTOPOOH
041279,000023: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
041280,000024: ## and corrected the errors found.
041281,000025: ## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
041282,000026: ## 2017-03-16 RSB Comment-text fixes identified in 5-way
041283,000027: ## side-by-side diff of Luminary 69/99/116/131/210.
041284,000028: ## 2017-08-01 MAS Created from LMY99 Rev 1.
041285,000029:
041286,000030: ## This source code has been transcribed or otherwise adapted from
041287,000031: ## digitized images of a hardcopy from the MIT Museum. The digitization
041288,000032: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
041289,000033: ## the Museum. Many thanks to both. The images (with suitable reduction
041290,000034: ## in storage size and consequent reduction in image quality as well) are
041291,000035: ## available online at www.ibiblio.org/apollo. If for some reason you
041292,000036: ## find that the images are illegible, contact me at info@sandroid.org
041293,000037: ## about getting access to the (much) higher-quality images which Paul
041294,000038: ## actually created.
041295,000039: ##
041296,000040: ## The code has been modified to match LMY99 Revision 0, otherwise
041297,000041: ## known as Luminary Revision 99, the Apollo 11 software release preceeding
041298,000042: ## the listing from which it was transcribed. It has been verified to
041299,000043: ## contain the same bank checksums as AGC developer Allan Klumpp's listing
041300,000044: ## of Luminary Revision 99 (for which we do not have scans).
041301,000045: ##
041302,000046: ## Notations on Allan Klumpp's listing read, in part:
041303,000047: ##
041304,000048: ## ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
041305,000049:
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Page 926 |
041307,000051: # PROGRAM NAME - PROG52 DATE - JAN 9, 1967
041308,000052: # MOD NO - 0 LOG SECTION - P51-P53
041309,000053: # MODIFICATION BY - LONSKE ASSEMBLY - SUNDANCE REV 46
041310,000054:
041311,000055: # FUNCTIONAL DESCRIPTION -
041312,000056:
041313,000057: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041314,000058: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041315,000059:
041316,000060: # (A) PREFERRED ORIENTATION
041317,000061:
041318,000062: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041319,000063: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
041320,000064:
041321,000065: # (B) NOMINAL ORIENTATION
041322,000066:
041323,000067: # X = UNIT ( R )
041324,000068: # -SM
041325,000069:
041326,000070: # Y = UNIT (V X R)
041327,000071: # SM
041328,000072:
041329,000073: # Z = UNIT (X X Y )
041330,000074: # SM SM SM
041331,000075:
041332,000076: # WHERE_
041333,000077:
041334,000078: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041335,000079: # -
041336,000080:
041337,000081: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041338,000082: # -
041339,000083:
041340,000084: # (C) REFSMMAT ORIENTATION
041341,000085:
041342,000086: # (D) LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041343,000087:
041344,000088: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041345,000089: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041346,000090: # SINCE THE LAST ALIGNMENT).
041347,000091:
041348,000092: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041349,000093: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041350,000094: # COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041351,000095: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041352,000096: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041353,000097: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041354,000098: # REQUESTED.
041355,000099:
041356,000100: # CALLING SEQUENCE -
041357,000101:
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Page 927 |
041359,000103: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041360,000104:
041361,000105: # SUBROUTINES CALLED -
041362,000106:
041363,000107: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
041364,000108: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
041365,000109: # 3. GOPERF4 9. FLAGUP
041366,000110: # 4. MATMOVE 10. R56
041367,000111: # 5. GOFLASH 11. R51
041368,000112: # 6. S52.3 12. GOPERF3
041369,000113:
041370,000114: # NORMAL EXIT MODES -
041371,000115:
041372,000116: # EXITS TO ENDOFJOB
041373,000117:
041374,000118: # ALARM OR ABORT EXIT MODES -
041375,000119:
041376,000120: # NONE
041377,000121:
041378,000122: # OUTPUT -
041379,000123:
041380,000124: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
041381,000125: # 1. IMU ORIENTATION CODE
041382,000126: # 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
041383,000127: # 3. TIME OF NEXT IGNITION
041384,000128: # 4. GIMBAL ANGLES
041385,000129: # 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
041386,000130: # 6. PLEASE PERFORM P00
041387,000131: # THE MODE DISPLAY MAY BE CHANGED TO 20
041388,000132:
041389,000133: # ERASABLE INITIALIZATION REQUIRED -
041390,000134:
041391,000135: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
041392,000136: # XSMD, YSMD, ZSMD.
041393,000137:
041394,000138: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041395,000139:
041396,000140: # DEBRIS -
041397,000141:
041398,000142: # WORK AREA
041399,000143:
041400,000144: 33,3777 BANK 33
041401,000145: 15,2000 SETLOC P50S
041402,000146: 15,2000 BANK
041403,000147:
041404,000148: 15,2050 E5,1755 EBANK= BESTI
041405,000149: 15,2050 COUNT* $$/P52
041406,000150: 15,2050 04616 PROG52 TC BANKCALL
041407,000151: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
041408,000152: 15,2052 34750 CAF PFRATBIT
041409,000153: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
041410,000154: 15,2054 10000 CCS A
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Page 928 |
041412,000156: 15,2055 02060 TC P52A # YES
041413,000157: 15,2056 34752 CAF BIT2 # NO
041414,000158: 15,2057 02061 TC P52A +1
041415,000159: 15,2060 34753 P52A CAF BIT1
041416,000160: 15,2061 55145 TS OPTION2
041417,000161: 15,2062 34753 P52B CAF BIT1
041418,000162: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
041419,000163: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
041420,000164: 15,2065 06001 TC GOTOPOOH
041421,000165: 15,2066 12073 TCF +5 # V33 - PROCEED
041422,000166: 15,2067 02062 TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
041423,000167: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
041424,000168: 15,2071 00014 OCT 00014
041425,000169: 15,2072 05155 TC ENDOFJOB
041426,000170:
041427,000171: 15,2073 31145 CA OPTION2
041428,000172: 15,2074 76245 MASK THREE
041429,000173: 15,2075 50000 INDEX A
041430,000174: 15,2076 02077 TC +1
041431,000175: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
041432,000176: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
041433,000177: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
041434,000178: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
041435,000179: 15,2103 77650 GOTO
041436,000180: 15,2104 32164 P52F # GO DO R51
041437,000181:
041438,000182: 15,2105 00006 OPT4 EXTEND
041439,000183: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
041440,000184: 15,2107 12112 TCF P52T +2
041441,000185:
041442,000186: 15,2110 00006 P52T EXTEND
041443,000187: 15,2111 34755 DCA NEG0
041444,000188: 15,2112 53046 DXCH DSPTEM1
041445,000189: 15,2113 32170 CAF V06N34*
041446,000190: 15,2114 04616 TC BANKCALL
041447,000191: 15,2115 20476 CADR GOFLASH
041448,000192: 15,2116 06001 TC GOTOPOOH
041449,000193: 15,2117 02121 TC +2
041450,000194: 15,2120 02113 TC -5
041451,000195: 15,2121 53046 DXCH DSPTEM1
041452,000196: 15,2122 00006 EXTEND
041453,000197: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
041454,000198: 15,2124 12127 TCF +3
041455,000199: 15,2125 00006 EXTEND
041456,000200: 15,2126 30025 DCA TIME2
041457,000201: 15,2127 53775 DXCH TALIGN
041458,000202: 15,2130 31145 P52V CA OPTION2
041459,000203: 15,2131 74752 MASK BIT2
041460,000204: 15,2132 10000 CCS A
041461,000205: 15,2133 02137 TC P52W
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Page 929 |
041463,000207: 15,2134 06037 TC INTPRET # OPTION 4 - GET LS ORIENTATION
041464,000208: 15,2135 77650 GOTO
041465,000209: 15,2136 32220 P52LS
041466,000210:
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Page 930 |
041468,000212: # START ALIGNMENT
041469,000213:
041470,000214: 15,2137 06037 P52W TC INTPRET
041471,000215: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
041472,000216: 15,2141 02775 TALIGN # COMPUTE NOMINAL IMU
041473,000217: 15,2142 31650 S52.3 # ORIENTATION
041474,000218: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
041475,000219: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
041476,000220: 15,2145 77776 EXIT
041477,000221: 15,2146 35010 CAF V06N22
041478,000222: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
041479,000223: 15,2150 20476 CADR GOFLASH
041480,000224: 15,2151 06001 TC GOTOPOOH
041481,000225: 15,2152 12171 TCF COARSTYP # V33 - PROCEED, SEE IF GYRO TORQUE COARSE
041482,000226: 15,2153 06037 P52H TC INTPRET
041483,000227: 15,2154 77650 GOTO
041484,000228: 15,2155 32143 P52D
041485,000229: 15,2156 06037 REGCOARS TC INTPRET
041486,000230: 15,2157 77624 CALL # DO COARSE ALIGN
041487,000231: 15,2160 31327 CAL53A # ROUTINE
041488,000232: 15,2161 43014 COARSRET SET CLEAR
041489,000233: 15,2162 01462 REFSMFLG
041490,000234: 15,2163 01273 PFRATFLG
041491,000235: 15,2164 77624 P52F CALL
041492,000236: 15,2165 31015 R51
041493,000237: 15,2166 77776 P52OUT EXIT
041494,000238: 15,2167 06001 TC GOTOPOOH
041495,000239: 15,2170 5006 VB05N09 = V05N09
041496,000240: 15,2170 01442 V06N34* VN 634
041497,000241:
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Page 931 |
041499,000243: # CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041500,000244:
041501,000245: 15,2171 32217 COARSTYP CAF OCT13
041502,000246: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041503,000247: 15,2173 20623 CADR GOPERF1
041504,000248: 15,2174 16001 TCF GOTOPOOH # V34 - TERMIN&OE
041505,000249: 15,2175 12156 TCF REGCOARS # V33 - NORMAL COARSE
041506,000250: 15,2176 06037 TC INTPRET # V32 - GYRO TORQUE COARSE
041507,000251: 15,2177 64375 VLOAD MXV
041508,000252: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
041509,000253: 15,2201 01734 REFSMMAT
041510,000254: 15,2202 77656 UNIT
041511,000255: 15,2203 26665 STOVL XDC
041512,000256: 15,2204 03615 YSMD
041513,000257: 15,2205 53521 MXV UNIT
041514,000258: 15,2206 01734 REFSMMAT
041515,000259: 15,2207 26673 STOVL YDC
041516,000260: 15,2210 03623 ZSMD
041517,000261: 15,2211 53521 MXV UNIT
041518,000262: 15,2212 01734 REFSMMAT
041519,000263: 15,2213 36701 STCALL ZDC
041520,000264: 15,2214 31164 GYCOARS
041521,000265: 15,2215 77650 GOTO
041522,000266: 15,2216 32166 P52OUT
041523,000267: 15,2217 00013 OCT13 OCT 13
041524,000268:
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Page 932 |
041526,000270: # COMPUTE LANDING ORIENTATION FOR OPTION 4
041527,000271:
041528,000272: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
041529,000273: 15,2221 01463 LUNAFLAG
041530,000274: 15,2222 00662 ERADFLAG # TO PICK UP RLS
041531,000275: 15,2223 77201 SETPD VLOAD
041532,000276: 15,2224 00001 0
041533,000277: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
041534,000278: 15,2226 41525 PDDL PUSH # RLS PD 0-5
041535,000279: 15,2227 02775 TALIGN
041536,000280: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
041537,000281: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
041538,000282: 15,2232 77742 VSR2
041539,000283: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
041540,000284: 15,2234 02775 TALIGN
041541,000285: 15,2235 77624 CALL
041542,000286: 15,2236 30446 N89DISP
041543,000287: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
041544,000288: 15,2240 02032 ALPHAV
041545,000289: 15,2241 37607 STCALL XSMD
041546,000290: 15,2242 11013 LSORIENT
041547,000291: 15,2243 77650 GOTO
041548,000292: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES
041549,000293:
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Page 933 |
041551,000295: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041552,000296:
041553,000297: 14,2000 SETLOC P50S1
041554,000298: 14,2000 BANK
041555,000299: 14,2446 E5,1642 EBANK= XSM
041556,000300:
041557,000301: 14,2446 77620 N89DISP STQ
041558,000302: 14,2447 02746 QMAJ
041559,000303: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
041560,000304: 14,2451 26351 LAT-LONG
041561,000305: 14,2452 70545 DLOAD SR1
041562,000306: 14,2453 01123 LONG
041563,000307: 14,2454 16711 STODL LANDLONG
041564,000308: 14,2455 01125 ALT
041565,000309: 14,2456 16713 STODL LANDALT
041566,000310: 14,2457 01121 LAT
041567,000311: 14,2460 16707 STODL LANDLAT
041568,000312: 14,2461 77776 EXIT
041569,000313:
041570,000314: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
041571,000315: 14,2463 04616 TC BANKCALL
041572,000316: 14,2464 20476 CADR GOFLASH
041573,000317: 14,2465 16001 TCF GOTOPOOH # V34 - TERMINATE - EXIT P57
041574,000318: 14,2466 12470 TCF +2 # V33 - PROCEED - ACCEPT LS DATA
041575,000319: 14,2467 12462 TCF LSDISP # V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
041576,000320:
041577,000321: 14,2470 06037 TC INTPRET
041578,000322: 14,2471 72545 DLOAD SL1
041579,000323: 14,2472 02711 LANDLONG
041580,000324: 14,2473 15123 STODL LONG
041581,000325: 14,2474 02713 LANDALT
041582,000326: 14,2475 15125 STODL ALT
041583,000327: 14,2476 02707 LANDLAT
041584,000328: 14,2477 15121 STODL LAT
041585,000329: 14,2500 01243 GDT/2 +4 # PICK UP TIME
041586,000330: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
041587,000331: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
041588,000332: 14,2503 77650 GOTO
041589,000333: 14,2504 02746 QMAJ
041590,000334: 14,2505 01531 V06N89* VN 689
041591,000335:
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Page 934 |
041593,000337: # NAME - S50 ALIAS LOCSAM
041594,000338: # BY
041595,000339: # VINCENT
041596,000340:
041597,000341: # FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
041598,000342:
041599,000343: # DEFINE
041600,000344:
041601,000345: # U = UNIT( SUN WRT EARTH )
041602,000346: # ES
041603,000347:
041604,000348: # U = UNIT( MOON WRT EARTH )
041605,000349: # EM
041606,000350:
041607,000351: # R = POSITION VECTOR OF LEM
041608,000352: # L
041609,000353:
041610,000354: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041611,000355: # EM
041612,000356:
041613,000357: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
041614,000358: # EM
041615,000359:
041616,000360: # R = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041617,000361: # E
041618,000362:
041619,000363: # LOCSAM COMPUTES IN EARTH INFLUENCE
041620,000364:
041621,000365: # VSUN = U
041622,000366: # ES
041623,000367:
041624,000368: # VEARTH = -UNIT( R )
041625,000369: # L
041626,000370:
041627,000371: # VMOON = UNIT(R .U - R )
041628,000372: # EM EM L
041629,000373:
041630,000374: # CSUN = COS 90
041631,000375:
041632,000376: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
041633,000377: # E L
041634,000378:
041635,000379: # CMOON = COS 5
041636,000380:
041637,000381: # INPUT - TIME IN MPAC
041638,000382:
041639,000383: # OUTPUT - LISTED ABOVE
041640,000384:
041641,000385: # SUBROUTINES - LSPOS, LEMPREC
041642,000386:
041643,000387: # DEBRIS - VAC AREA, TSIGHT
041644,000388:
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Page 935 |
041646,000390: 14,2506 COUNT* $$/LOSAM
041647,000391:
041648,000392: 14,2506 14,2506 S50 = LOCSAM
041649,000393: 14,2506 77620 LOCSAM STQ
041650,000394: 14,2507 02745 QMIN
041651,000395: 14,2510 37562 STCALL TSIGHT
041652,000396: 14,2511 33664 LSPOS
041653,000397: 14,2512 77745 DLOAD
041654,000398: 14,2513 03562 TSIGHT
041655,000399: 14,2514 34041 STCALL TDEC1
041656,000400: 14,2515 27057 LEMPREC
041657,000401: 14,2516 61131 SSP TIX,2
041658,000402: 14,2517 00052 S2
041659,000403: 14,2520 00000 0
041660,000404: 14,2521 30543 MOONCNTR
041661,000405: 14,2522 74375 EARTCNTR VLOAD VXSC
041662,000406: 14,2523 02723 VMOON
041663,000407: 14,2524 30001 RSUBEM
041664,000408: 14,2525 52372 VSL1 VSU
041665,000409: 14,2526 00001 RATT
041666,000410: 14,2527 77656 UNIT
041667,000411: 14,2530 26723 STOVL VMOON
041668,000412: 14,2531 00001 RATT
041669,000413: 14,2532 57456 UNIT VCOMP
041670,000414: 14,2533 16707 STODL VEARTH
041671,000415: 14,2534 30005 RSUBE
041672,000416: 14,2535 77624 CALL
041673,000417: 14,2536 30575 OCCOS
041674,000418: 14,2537 14017 STODL CEARTH
041675,000419: 14,2540 30604 CSS5
041676,000420: 14,2541 34023 STCALL CMOON
041677,000421: 14,2542 30570 ENDSAM
041678,000422: 14,2543 74375 MOONCNTR VLOAD VXSC
041679,000423: 14,2544 02723 VMOON
041680,000424: 14,2545 30007 ROE
041681,000425: 14,2546 53445 BVSU UNIT
041682,000426: 14,2547 02715 VSUN
041683,000427: 14,2550 26715 STOVL VSUN
041684,000428: 14,2551 02723 VMOON
041685,000429: 14,2552 53361 VXSC VAD
041686,000430: 14,2553 30001 RSUBEM
041687,000431: 14,2554 00001 RATT
041688,000432: 14,2555 57456 UNIT VCOMP
041689,000433: 14,2556 26707 STOVL VEARTH
041690,000434: 14,2557 00001 RATT
041691,000435: 14,2560 57456 UNIT VCOMP
041692,000436: 14,2561 16723 STODL VMOON
041693,000437: 14,2562 30003 RSUBM
041694,000438: 14,2563 77624 CALL
041695,000439: 14,2564 30575 OCCOS
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Page 936 |
041697,000441: 14,2565 14023 STODL CMOON
041698,000442: 14,2566 30604 CSS5
041699,000443: 14,2567 00017 STORE CEARTH
041700,000444: 14,2570 77745 ENDSAM DLOAD
041701,000445: 14,2571 30606 CSSUN
041702,000446: 14,2572 00021 STORE CSUN
041703,000447: 14,2573 77650 GOTO
041704,000448: 14,2574 02745 QMIN
041705,000449: 14,2575 70471 OCCOS DDV SR1
041706,000450: 14,2576 00045 36D
041707,000451: 14,2577 43336 ASIN DAD
041708,000452: 14,2600 30610 5DEGREES
041709,000453: 14,2601 70546 COS SR1
041710,000454: 14,2602 77616 RVQ
041711,000455: 14,2603 CEARTH = 14D
041712,000456: 14,2603 CSUN = 16D
041713,000457: 14,2603 CMOON = 18D
041714,000458: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
041715,000459: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
041716,000460: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
041717,000461:
![]() |
Page 937 |
041719,000463: # PROGRAM NAME - R56 DATE DEC 20 66
041720,000464: # MOD 1 LOG SECTION P51-P53
041721,000465: # ASSEMBLY SUNDISK REV40
041722,000466: # BY KEN VINCENT
041723,000467:
041724,000468: # FUNCTION
041725,000469: # THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041726,000470: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041727,000471: # WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041728,000472: # TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
041729,000473: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041730,000474: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041731,000475: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
041732,000476: # HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041733,000477: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041734,000478: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
041735,000479: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041736,000480: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
041737,000481:
041738,000482: # CALLING SEQUENCE
041739,000483: # L TC BANKCALL
041740,000484: # L+1 CADR R56
041741,000485: # L+2 ERROR RETURN - NO STARS IN FIELD OF VIEW
041742,000486: # L+3 NORMAL RETURN
041743,000487:
041744,000488: # OUTPUT
041745,000489: # BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
041746,000490: # VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
041747,000491:
041748,000492: # INITIALIZATION
041749,000493: # 1) A CALL TO LOCSAM MUST BE MADE
041750,000494:
041751,000495: # DEBRIS
041752,000496: # WORKAREA
041753,000497: # X,Y,ZNB
041754,000498: # SINCDU, COSCDU
041755,000499: # STARAD - STAR +5
041756,000500:
041757,000501: 14,2611 14,2611 R56 = PICAPAR
041758,000502: 14,2611 COUNT* $$/R56
041759,000503: 14,2611 04645 PICAPAR TC MAKECADR
041760,000504: 14,2612 55745 TS QMIN
041761,000505: 14,2613 06037 TC INTPRET
041762,000506: 14,2614 77624 CALL
041763,000507: 14,2615 47537 CDUTRIG
041764,000508: 14,2616 77624 CALL
041765,000509: 14,2617 20030 CALCSMSC
041766,000510: 14,2620 77601 SETPD
041767,000511: 14,2621 00001 0
041768,000512: 14,2622 71214 SET DLOAD # VFLAG = 1
041769,000513: 14,2623 01465 VFLAG
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Page 938 |
041771,000515: 14,2624 24007 DPZERO
041772,000516: 14,2625 26756 STOVL BESTI
041773,000517: 14,2626 02665 XNB
041774,000518: 14,2627 63361 VXSC PDVL
041775,000519: 14,2630 24005 HALFDP
041776,000520: 14,2631 02701 ZNB
041777,000521: 14,2632 74370 AXT,1 VXSC
041778,000522: 14,2633 00344 228D # X1 = 37 X 6 + 6
041779,000523: 14,2634 24005 HALFDP
041780,000524: 14,2635 77655 VAD
041781,000525: 14,2636 53505 VXM UNIT
041782,000526: 14,2637 01734 REFSMMAT
041783,000527: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
041784,000528: 14,2641 66331 SSP SSP # S1 = S2 = 6
041785,000529: 14,2642 00051 S1
041786,000530: 14,2643 00006 6
041787,000531: 14,2644 00052 S2
041788,000532: 14,2645 00006 6
041789,000533: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
041790,000534: 14,2647 30651 PIC2
041791,000535: 14,2650 30766 PICEND
041792,000536: 14,2651 50373 PIC2 VLOAD* DOT
041793,000537: 14,2652 30347 CATLOG,1
041794,000538: 14,2653 02731 SAX
041795,000539: 14,2654 50025 DSU BMN
041796,000540: 14,2655 30765 CSS33
041797,000541: 14,2656 30646 PIC1
041798,000542: 14,2657 77754 LXA,2
041799,000543: 14,2660 00046 X1
041800,000544: 14,2661 52104 PIC3 TIX,2 GOTO
041801,000545: 14,2662 30664 PIC4
041802,000546: 14,2663 30646 PIC1
041803,000547: 14,2664 50373 PIC4 VLOAD* DOT
041804,000548: 14,2665 47430 CATLOG,2
041805,000549: 14,2666 02731 SAX
041806,000550: 14,2667 50025 DSU BMN
041807,000551: 14,2670 30765 CSS33
041808,000552: 14,2671 30661 PIC3
041809,000553: 14,2672 47773 VLOAD* DOT*
041810,000554: 14,2673 30347 CATLOG,1
041811,000555: 14,2674 47430 CATLOG,2
041812,000556: 14,2675 51025 DSU BPL
041813,000557: 14,2676 30763 CSS40
041814,000558: 14,2677 30661 PIC3
041815,000559: 14,2700 45173 VLOAD* CALL
041816,000560: 14,2701 30347 CATLOG,1
041817,000561: 14,2702 30740 OCCULT
041818,000562: 14,2703 77614 BON
041819,000563: 14,2704 01710 CULTFLAG
041820,000564: 14,2705 30646 PIC1
![]() |
Page 939 |
041822,000566: 14,2706 45173 VLOAD* CALL
041823,000567: 14,2707 47430 CATLOG,2
041824,000568: 14,2710 30740 OCCULT
041825,000569: 14,2711 77614 BON
041826,000570: 14,2712 01710 CULTFLAG
041827,000571: 14,2713 30661 PIC3
041828,000572: 14,2714 77614 STRATGY BONCLR
041829,000573: 14,2715 01605 VFLAG
041830,000574: 14,2716 30733 NEWPAR
041831,000575: 14,2717 65120 XCHX,1 XCHX,2
041832,000576: 14,2720 02755 BESTI
041833,000577: 14,2721 02756 BESTJ
041834,000578: 14,2722 47773 STRAT VLOAD* DOT*
041835,000579: 14,2723 30347 CATLOG,1
041836,000580: 14,2724 47430 CATLOG,2
041837,000581: 14,2725 43006 PUSH BOFINV
041838,000582: 14,2726 01545 VFLAG
041839,000583: 14,2727 30717 STRAT -3
041840,000584: 14,2730 45345 DLOAD DSU
041841,000585: 14,2731 77644 BPL
041842,000586: 14,2732 30661 PIC3
041843,000587: 14,2733 67130 NEWPAR SXA,1 SXA,2
041844,000588: 14,2734 02755 BESTI
041845,000589: 14,2735 02756 BESTJ
041846,000590: 14,2736 77650 GOTO
041847,000591: 14,2737 30661 PIC3
041848,000592: 14,2740 51321 OCCULT MXV BVSU
041849,000593: 14,2741 02707 CULTRIX
041850,000594: 14,2742 00017 CSS
041851,000595: 14,2743 77654 BZE
041852,000596: 14,2744 30757 CULTED
041853,000597: 14,2745 75240 BMN SIGN
041854,000598: 14,2746 30757 CULTED
041855,000599: 14,2747 00160 MPAC +3
041856,000600: 14,2750 75240 BMN SIGN
041857,000601: 14,2751 30757 CULTED
041858,000602: 14,2752 00162 MPAC +5
041859,000603: 14,2753 43040 BMN CLRGO
041860,000604: 14,2754 30757 CULTED
041861,000605: 14,2755 01630 CULTFLAG
041862,000606: 14,2756 00052 QPRET
041863,000607: 14,2757 77614 CULTED SETGO
041864,000608: 14,2760 01430 CULTFLAG
041865,000609: 14,2761 00052 QPRET
041866,000610: 14,2762 0000016 CSS = CEARTH
041867,000611: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
041868,000612: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
041869,000613: 14,2766 77414 PICEND BOFF EXIT
041870,000614:
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Page 940 |
041872,000616: 14,2767 01745 VFLAG
041873,000617: 14,2770 30772 PICGXT
041874,000618: 14,2771 03013 TC PICBXT
041875,000619: 14,2772 73150 PICGXT LXA,1 LXA,2
041876,000620: 14,2773 02755 BESTI
041877,000621: 14,2774 02756 BESTJ
041878,000622: 14,2775 47775 VLOAD DOT*
041879,000623: 14,2776 02731 SAX
041880,000624: 14,2777 30347 CATLOG,1
041881,000625: 14,3000 47715 PDVL DOT*
041882,000626: 14,3001 02731 SAX
041883,000627: 14,3002 47430 CATLOG,2
041884,000628: 14,3003 77625 DSU
041885,000629: 14,3004 66044 BPL SXA,1
041886,000630: 14,3005 31011 PICNSWP
041887,000631: 14,3006 02756 BESTJ
041888,000632: 14,3007 77734 SXA,2
041889,000633: 14,3010 02755 BESTI
041890,000634: 14,3011 77776 PICNSWP EXIT
041891,000635: 14,3012 25745 INCR QMIN
041892,000636: 14,3013 31745 PICBXT CA QMIN
041893,000637: 14,3014 04622 TC SWCALL
041894,000638: 14,3015 VPD = 0D
041895,000639: 14,3015 V0 = 6D
041896,000640: 14,3015 V1 = 12D
041897,000641: 14,3015 V2 = 18D
041898,000642: 14,3015 V3 = 24D
041899,000643: 14,3015 DP0 = 30D
041900,000644: 14,3015 DP1 = 32D
041901,000645:
![]() |
Page 941 |
041903,000647: # NAME - R51 FINE ALIGN
041904,000648: # FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041905,000649: # CALLING SEQ - CALL R51
041906,000650: # INPUT - REFSMMAT
041907,000651: # OUTPUT - GYRO TORQUE PULSES
041908,000652: # SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041909,000653:
041910,000654: 14,3015 COUNT* $$/R51
041911,000655: 14,3015 77620 R51 STQ
041912,000656: 14,3016 02746 QMAJ
041913,000657: 14,3017 77776 R51.1 EXIT
041914,000658: 14,3020 05353 TC PHASCHNG
041915,000659: 14,3021 04024 OCT 04024
041916,000660:
041917,000661: 14,3022 34761 R51C CAF OCT15
041918,000662: 14,3023 04616 TC BANKCALL
041919,000663: 14,3024 20623 CADR GOPERF1
041920,000664: 14,3025 06001 TC GOTOPOOH
041921,000665: 14,3026 03030 TC +2 # V33E
041922,000666: 14,3027 03053 TC R51E # ENTER
041923,000667: 14,3030 06037 TC INTPRET
041924,000668: 14,3031 43234 RTB DAD
041925,000669: 14,3032 21573 LOADTIME
041926,000670: 14,3033 31163 TSIGHT1
041927,000671: 14,3034 77624 CALL
041928,000672: 14,3035 30506 LOCSAM
041929,000673: 14,3036 77776 EXIT
041930,000674: 14,3037 04616 TC BANKCALL
041931,000675: 14,3040 30611 CADR R56
041932,000676: 14,3041 03043 TC R51I
041933,000677: 14,3042 03053 R51F TC R51E
041934,000678: 14,3043 05567 R51I TC ALARM
041935,000679: 14,3044 00405 OCT 405
041936,000680: 14,3045 35006 CAF VB05N09
041937,000681: 14,3046 04616 TC BANKCALL
041938,000682: 14,3047 20476 CADR GOFLASH
041939,000683: 14,3050 06001 TC GOTOPOOH
041940,000684: 14,3051 03053 TC R51E
041941,000685: 14,3052 03022 TC R51C
041942,000686: 14,3053 34755 R51E CAF ZERO
041943,000687: 14,3054 55757 TS STARIND
041944,000688: 14,3055 06037 R51.2 TC INTPRET
041945,000689: 14,3056 77776 R51.3 EXIT
041946,000690: 14,3057 05353 TC PHASCHNG
041947,000691: 14,3060 04024 OCT 04024
041948,000692:
041949,000693: 14,3061 06037 TC INTPRET
041950,000694: 14,3062 77624 CALL
041951,000695: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
041952,000696: 14,3064 77776 EXIT
041953,000697: 14,3065 04616 TC BANKCALL
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Page 942 |
041955,000699: 14,3066 16000 CADR AOTMARK
041956,000700: 14,3067 04616 TC BANKCALL
041957,000701: 14,3070 17712 CADR OPTSTALL
041958,000702: 14,3071 05711 TC CURTAINS
041959,000703: 14,3072 11757 CCS STARIND
041960,000704: 14,3073 13075 TCF +2
041961,000705: 14,3074 03145 TC R51.4
041962,000706: 14,3075 06037 TC INTPRET
041963,000707: 14,3076 77775 VLOAD
041964,000708: 14,3077 02715 STARAD +6
041965,000709: 14,3100 02767 STORE STARSAV2
041966,000710: 14,3101 77776 EXIT
041967,000711: 14,3102 05353 TC PHASCHNG
041968,000712: 14,3103 04024 OCT 04024
041969,000713:
041970,000714: 14,3104 06037 TC INTPRET
041971,000715: 14,3105 45145 DLOAD CALL
041972,000716: 14,3106 03562 TSIGHT
041973,000717: 14,3107 32472 PLANET
041974,000718: 14,3110 53521 MXV UNIT
041975,000719: 14,3111 01734 REFSMMAT
041976,000720: 14,3112 26715 STOVL STARAD +6
041977,000721: 14,3113 03554 PLANVEC
041978,000722: 14,3114 53521 MXV UNIT
041979,000723: 14,3115 01734 REFSMMAT
041980,000724: 14,3116 26707 STOVL STARAD
041981,000725: 14,3117 02761 STARSAV1
041982,000726: 14,3120 24007 STOVL 6D
041983,000727: 14,3121 02767 STARSAV2
041984,000728: 14,3122 34015 STCALL 12D
041985,000729: 14,3123 31256 R54 # STAR DATA TEST
041986,000730: 14,3124 45014 BOFF CALL
041987,000731: 14,3125 00354 FREEFLAG
041988,000732: 14,3126 31134 R51K
041989,000733: 14,3127 47441 AXISGEN
041990,000734: 14,3130 77624 CALL
041991,000735: 14,3131 31224 R55 # GYRO TORQUE
041992,000736: 14,3132 77614 CLEAR
041993,000737: 14,3133 01273 PFRATFLG
041994,000738: 14,3134 77776 R51K EXIT
041995,000739: 14,3135 35751 R51P63 CAF OCT14
041996,000740: 14,3136 04616 TC BANKCALL
041997,000741: 14,3137 20623 CADR GOPERF1
041998,000742: 14,3140 06001 TC GOTOPOOH
041999,000743: 14,3141 03022 TC R51C
042000,000744: 14,3142 06037 TC INTPRET
042001,000745: 14,3143 77650 GOTO
042002,000746: 14,3144 02746 QMAJ
042003,000747: 14,3145 06037 R51.4 TC INTPRET
042004,000748: 14,3146 77775 VLOAD
![]() |
Page 943 |
042006,000750: 14,3147 02715 STARAD +6
042007,000751: 14,3150 02761 STORE STARSAV1
042008,000752: 14,3151 45145 DLOAD CALL
042009,000753: 14,3152 03562 TSIGHT
042010,000754: 14,3153 32472 PLANET
042011,000755: 14,3154 03554 STORE PLANVEC
042012,000756: 14,3155 77731 SSP
042013,000757: 14,3156 02760 STARIND
042014,000758: 14,3157 00001 1
042015,000759: 14,3160 77650 GOTO
042016,000760: 14,3161 31056 R51.3
042017,000761: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
042018,000762:
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Page 944 |
042020,000764: # GYRO TORQUE COARSE ALIGNMENT
042021,000765:
042022,000766: 14,3164 45020 GYCOARS STQ CALL
042023,000767: 14,3165 02746 QMAJ
042024,000768: 14,3166 47247 CALCGTA
042025,000769: 14,3167 43014 CLEAR CLEAR
042026,000770: 14,3170 01260 DRIFTFLG
042027,000771: 14,3171 01662 REFSMFLG
042028,000772: 14,3172 77776 EXIT
042029,000773: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
042030,000774: 14,3174 04616 TC BANKCALL
042031,000775: 14,3175 20451 CADR GODSPR
042032,000776: 14,3176 33255 CA R55CDR
042033,000777: 14,3177 04616 TC BANKCALL
042034,000778: 14,3200 17323 CADR IMUPULSE
042035,000779: 14,3201 04616 TC BANKCALL
042036,000780: 14,3202 17716 CADR IMUSTALL
042037,000781: 14,3203 05711 TC CURTAINS
042038,000782: 14,3204 05353 TC PHASCHNG
042039,000783: 14,3205 04024 OCT 04024
042040,000784:
042041,000785: 14,3206 06037 TC INTPRET
042042,000786: 14,3207 75160 AXC,1 AXC,2
042043,000787: 14,3210 03606 XSMD
042044,000788: 14,3211 01733 REFSMMAT
042045,000789: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
042046,000790: 14,3213 31377 MATMOVE
042047,000791: 14,3214 43014 CLEAR SET
042048,000792: 14,3215 01273 PFRATFLG
042049,000793: 14,3216 01462 REFSMFLG
042050,000794: 14,3217 77624 CALL
042051,000795: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
042052,000796: 14,3221 77650 GOTO
042053,000797: 14,3222 31134 R51K
042054,000798: 14,3223 04024 V16N20 VN 1620
042055,000799:
![]() |
Page 945 |
042057,000801: # R55 GYRO TORQUE
042058,000802: # FUNCTION - COMPUTE AND SEND GYRO PULSES
042059,000803: # CALLING SEQ - CALL R55
042060,000804: # INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
042061,000805: # OUTPUT - GYRO PULSES
042062,000806: # SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
042063,000807:
042064,000808: 14,3224 COUNT* $$/R55
042065,000809: 14,3224 77620 R55 STQ
042066,000810: 14,3225 02745 QMIN
042067,000811: 14,3226 77624 CALL
042068,000812: 14,3227 47247 CALCGTA
042069,000813: 14,3230 77776 PULSEM EXIT
042070,000814: 14,3231 33254 R55.1 CAF V06N93
042071,000815: 14,3232 04616 TC BANKCALL
042072,000816: 14,3233 20476 CADR GOFLASH
042073,000817: 14,3234 06001 TC GOTOPOOH
042074,000818: 14,3235 03237 TC R55.2
042075,000819: 14,3236 03251 TC R55RET
042076,000820: 14,3237 05353 R55.2 TC PHASCHNG
042077,000821: 14,3240 00214 OCT 00214
042078,000822: 14,3241 33255 CA R55CDR
042079,000823: 14,3242 04616 TC BANKCALL
042080,000824: 14,3243 17323 CADR IMUPULSE
042081,000825: 14,3244 04616 TC BANKCALL
042082,000826: 14,3245 17716 CADR IMUSTALL
042083,000827: 14,3246 05711 TC CURTAINS
042084,000828: 14,3247 05353 TC PHASCHNG
042085,000829: 14,3250 04024 OCT 04024
042086,000830:
042087,000831: 14,3251 06037 R55RET TC INTPRET
042088,000832: 14,3252 77650 GOTO
042089,000833: 14,3253 02745 QMIN
042090,000834: 14,3254 01535 V06N93 VN 0693
042091,000835: 14,3255 02737 R55CDR ECADR OGC
042092,000836: 14,3256 14,3256 R54 = CHKSDATA
042093,000837:
042094,000838: # ROUTINE NAME - CHKSDATA DATE - JAN 9, 1967
042095,000839: # MOD NO - 0 LOG SECTION - P51-P53
042096,000840: # MODIFICATION BY - LONSKE ASSEMBLY -
042097,000841:
042098,000842: # FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
042099,000843: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
042100,000844: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
042101,000845: # OS1 = OBSERVED STAR 1 VECTOR
042102,000846: # OS2 = OBSERVED STAR 2 VECTOR
042103,000847: # SS1 = STORED STAR 1 VECTOR
042104,000848: # SS2 = STORED STAR 2 VECTOR
042105,000849: # A1 = ARCCOS(OS1 - OS2)
042106,000850: # A2 = ARCCOS(SS1 - SS2)
042107,000851: # A = ABS(2(A1 - A2))
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Page 946 |
042109,000853: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
042110,000854:
042111,000855: # EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
042112,000856: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
042113,000857:
042114,000858: # OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
042115,000859: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
042116,000860:
042117,000861: # ERASABLE INITIALIZATION REQUIRED -
042118,000862: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
042119,000863: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
042120,000864:
042121,000865: # DEBRIS -
042122,000866:
042123,000867: 14,3256 COUNT* $$/R54
042124,000868: 14,3256 43020 CHKSDATA STQ SET
042125,000869: 14,3257 02745 QMIN
042126,000870: 14,3260 00074 FREEFLAG
042127,000871: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
042128,000872: 14,3262 02706 STARAD
042129,000873:
042130,000874: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
042131,000875: 14,3264 00001 0,1
042132,000876: 14,3265 00007 6,1
042133,000877: 14,3266 65552 SL1 ACOS
042134,000878: 14,3267 00025 STORE THETA
042135,000879: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
042136,000880: 14,3271 00354 FREEFLAG
042137,000881: 14,3272 31302 CHKSD
042138,000882: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
042139,000883: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
042140,000884: 14,3275 00006 6D
042141,000885: 14,3276 00025 THETA
042142,000886: 14,3277 00023 STORE 18D
042143,000887: 14,3300 77650 GOTO
042144,000888: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
042145,000889: 14,3302 45345 CHKSD DLOAD DSU
042146,000890: 14,3303 00025 THETA
042147,000891: 14,3304 00023 18D
042148,000892: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
042149,000893: 14,3306 21612 SGNAGREE
042150,000894: 14,3307 01046 STORE NORMTEM1
042151,000895: 14,3310 77414 SET EXIT
042152,000896: 14,3311 00074 FREEFLAG
042153,000897: 14,3312 33326 CAF VB6N5
042154,000898: 14,3313 04616 TC BANKCALL
042155,000899: 14,3314 20476 CADR GOFLASH
042156,000900: 14,3315 16001 TCF GOTOPOOH
042157,000901: 14,3316 03323 TC CHKSDA # PROCEED
042158,000902: 14,3317 06037 TC INTPRET
042159,000903: 14,3320 52014 CLEAR GOTO
042160,000904: 14,3321 00274 FREEFLAG
042161,000905: 14,3322 02745 QMIN
042162,000906: 14,3323 06037 CHKSDA TC INTPRET
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Page 947 |
042164,000908: 14,3324 77650 GOTO
042165,000909: 14,3325 02745 QMIN
042166,000910: 14,3326 01405 VB6N5 VN 605
042167,000911:
042168,000912: # NAME - CAL53A
042169,000913: # FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
042170,000914: # CALLING SEQUENCE - CALL CAL53A
042171,000915: # INPUT - X,Y,ZSMD, CDUX,Y,Z
042172,000916: # DESIRED GIMBAL ANGLES - THETAD,+1,+2
042173,000917: # OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
042174,000918: # SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
042175,000919:
042176,000920: 14,3327 COUNT* $$/R50
042177,000921: 14,3327 77624 CAL53A CALL
042178,000922: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBALE ANGLES
042179,000923: 14,3331 66234 RTB SSP
042180,000924: 14,3332 31413 RDCDUS # READ CDUS
042181,000925: 14,3333 00051 S1
042182,000926: 14,3334 00001 1
042183,000927: 14,3335 40370 AXT,1 SETPD
042184,000928: 14,3336 00003 3
042185,000929: 14,3337 00005 4
042186,000930: 14,3340 70543 CALOOP DLOAD* SR1
042187,000931: 14,3341 00325 THETAD +3D,1
042188,000932: 14,3342 70523 PDDL* SR1
042189,000933: 14,3343 00005 4,1
042190,000934: 14,3344 51425 DSU ABS
042191,000935: 14,3345 45206 PUSH DSU
042192,000936: 14,3346 31412 DEGREE1
042193,000937: 14,3347 71240 BMN DLOAD
042194,000938: 14,3350 31366 CALOOP1
042195,000939: 14,3351 51025 DSU BPL
042196,000940: 14,3352 31413 DEG359
042197,000941: 14,3353 31366 CALOOP1
042198,000942: 14,3354 77776 EXIT
042199,000943: 14,3355 05353 TC PHASCHNG
042200,000944: 14,3356 04024 OCT 04024
042201,000945:
042202,000946: 14,3357 06037 TC INTPRET
042203,000947: 14,3360 77624 COARFINE CALL
042204,000948: 14,3361 31565 COARSE
042205,000949: 14,3362 77624 CALL
042206,000950: 14,3363 31602 NCOARSE
042207,000951: 14,3364 77650 GOTO
042208,000952: 14,3365 31370 FINEONLY
042209,000953: 14,3366 77700 CALOOP1 TIX,1
042210,000954: 14,3367 31340 CALOOP
042211,000955: 14,3370 75160 FINEONLY AXC,1 AXC,2
042212,000956: 14,3371 02642 XSM
042213,000957: 14,3372 01733 REFSMMAT
042214,000958: 14,3373 77624 CALL
042215,000959: 14,3374 31377 MATMOVE
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Page 948 |
042217,000961: 14,3375 77650 GOTO
042218,000962: 14,3376 32161 COARSRET
042219,000963: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
042220,000964: 14,3400 00001 0,1
042221,000965: 14,3401 10001 STORE 0,2
042222,000966: 14,3402 77773 VLOAD*
042223,000967: 14,3403 00007 6D,1
042224,000968: 14,3404 10007 STORE 6D,2
042225,000969: 14,3405 77773 VLOAD*
042226,000970: 14,3406 00015 12D,1
042227,000971: 14,3407 10015 STORE 12D,2
042228,000972: 14,3410 77616 RVQ
042229,000973: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
042230,000974: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
042231,000975: 14,3413 00004 RDCDUS INHINT # READ CDUS
042232,000976: 14,3414 30032 CA CDUX
042233,000977: 14,3415 50120 INDEX FIXLOC
042234,000978: 14,3416 54001 TS 1
042235,000979: 14,3417 30033 CA CDUY
042236,000980: 14,3420 50120 INDEX FIXLOC
042237,000981: 14,3421 54002 TS 2
042238,000982: 14,3422 30034 CA CDUZ
042239,000983: 14,3423 50120 INDEX FIXLOC
042240,000984: 14,3424 54003 TS 3
042241,000985: 14,3425 00003 RELINT
042242,000986: 14,3426 06061 TC DANZIG # +
042243,000987: 14,3427 COUNT* $$/INFLT
042244,000988:
![]() |
Page 949 |
042246,000990: # NAME - P51 - IMU ORIENTATION DETERMINATION
042247,000991: # MOD. NO. 1 23 JAN 67 LOG SECTION - P51-P53
042248,000992: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
042249,000993:
042250,000994: # FUNCTIONAL DESCRIPTION
042251,000995: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042252,000996: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
042253,000997: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042254,000998: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042255,000999:
042256,001000: # CALLING SEQUENCE
042257,001001: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042258,001002:
042259,001003: # SUBROUTINES CALLED.
042260,001004: # GOPERF3
042261,001005: # GOPERF1
042262,001006: # GODSPR
042263,001007: # IMUCOARS
042264,001008: # IMUFIN20
042265,001009: # AOTMARK (R53)
042266,001010: # CHKSDATA (R54)
042267,001011: # MKRELEAS
042268,001012: # AXISGEN
042269,001013: # MATMOVE
042270,001014:
042271,001015: # ALARMS
042272,001016: # NONE.
042273,001017:
042274,001018: # ERASABLE INITIALIZATION
042275,001019: # IMU ZERO FLAG SHOULD BE SET.
042276,001020:
042277,001021: # OUTPUT
042278,001022: # REFSMMAT
042279,001023: # REFSMFLG
042280,001024:
042281,001025: # DEBRIS
042282,001026: # WORK AREA
042283,001027: # STARAD
042284,001028: # STARIND
042285,001029: # BESTI
042286,001030: # BESTJ
042287,001031:
042288,001032: 14,3427 COUNT* $$/P51
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Page 950 |
042290,001034: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
042291,001035: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042292,001036:
042293,001037: 14,3431 34761 CAF OCT15
042294,001038: 14,3432 04616 TC BANKCALL
042295,001039: 14,3433 20623 CADR GOPERF1
042296,001040: 14,3434 06001 TC GOTOPOOH # TERM.
042297,001041: 14,3435 13461 TCF P51B # V33
042298,001042: 14,3436 05353 TC PHASCHNG
042299,001043: 14,3437 04024 OCT 04024
042300,001044:
042301,001045: 14,3440 34755 CAF ZERO
042302,001046: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
042303,001047: 14,3442 54322 TS THETAD +1
042304,001048: 14,3443 54323 TS THETAD +2
042305,001049: 14,3444 35010 CAF V06N22
042306,001050: 14,3445 04616 TC BANKCALL
042307,001051: 14,3446 20446 CADR GODSPRET
042308,001052: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
042309,001053: 14,3450 04616 TC BANKCALL
042310,001054: 14,3451 20446 CADR GODSPRET
042311,001055: 14,3452 06037 TC INTPRET
042312,001056: 14,3453 77624 CALL
042313,001057: 14,3454 31565 COARSE
042314,001058: 14,3455 77776 EXIT
042315,001059: 14,3456 05353 TC PHASCHNG
042316,001060: 14,3457 04024 OCT 04024
042317,001061: 14,3460 13431 TCF P51 +2
042318,001062:
042319,001063: 14,3461 05353 P51B TC PHASCHNG
042320,001064: 14,3462 00014 OCT 00014
042321,001065: 14,3463 06037 TC INTPRET
042322,001066: 14,3464 77624 CALL
042323,001067: 14,3465 31602 NCOARSE
042324,001068: 14,3466 40331 SSP SETPD
042325,001069: 14,3467 02760 STARIND # INDEX - STAR 1 OR 2
042326,001070: 14,3470 00000 0
042327,001071: 14,3471 00001 0
042328,001072: 14,3472 77776 P51C EXIT
042329,001073: 14,3473 05353 TC PHASCHNG
042330,001074: 14,3474 04024 OCT 04024
042331,001075:
042332,001076: 14,3475 04616 TC BANKCALL
042333,001077: 14,3476 16000 CADR AOTMARK # R53
042334,001078: 14,3477 04616 TC BANKCALL
042335,001079: 14,3500 17712 CADR AOTSTALL
042336,001080: 14,3501 05711 TC CURTAINS
042337,001081: 14,3502 11757 CCS STARIND
042338,001082: 14,3503 13511 TCF P51D +1
042339,001083: 14,3504 06037 TC INTPRET
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Page 951 |
042341,001085: 14,3505 77775 VLOAD
042342,001086: 14,3506 02715 STARAD +6
042343,001087: 14,3507 02761 STORE STARSAV1
042344,001088: 14,3510 77776 P51D EXIT
042345,001089: 14,3511 05353 TC PHASCHNG
042346,001090: 14,3512 04024 OCT 04024
042347,001091:
042348,001092: 14,3513 11757 CCS STARIND
042349,001093: 14,3514 13530 TCF P51E
042350,001094: 14,3515 05353 TC PHASCHNG
042351,001095: 14,3516 04024 OCT 04024
042352,001096:
042353,001097: 14,3517 06037 TC INTPRET
042354,001098: 14,3520 45145 DLOAD CALL
042355,001099: 14,3521 03562 TSIGHT
042356,001100: 14,3522 32472 PLANET
042357,001101: 14,3523 03554 STORE PLANVEC
042358,001102: 14,3524 77776 EXIT
042359,001103: 14,3525 34753 CAF BIT1
042360,001104: 14,3526 55757 TS STARIND
042361,001105: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
042362,001106: 14,3530 05353 P51E TC PHASCHNG
042363,001107: 14,3531 04024 OCT 04024
042364,001108:
042365,001109: 14,3532 06037 TC INTPRET
042366,001110: 14,3533 45145 DLOAD CALL
042367,001111: 14,3534 03562 TSIGHT
042368,001112: 14,3535 32472 PLANET
042369,001113: 14,3536 24015 STOVL 12D
042370,001114: 14,3537 03554 PLANVEC
042371,001115: 14,3540 24007 STOVL 6D
042372,001116: 14,3541 02761 STARSAV1
042373,001117: 14,3542 26707 STOVL STARAD
042374,001118: 14,3543 02767 STARSAV2
042375,001119: 14,3544 36715 STCALL STARAD +6
042376,001120: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
042377,001121: 14,3546 77414 BON EXIT
042378,001122: 14,3547 00314 FREEFLAG
042379,001123: 14,3550 31552 P51G
042380,001124: 14,3551 03431 TC P51 +2
042381,001125: 14,3552 77624 P51G CALL
042382,001126: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
042383,001127: 14,3554 75160 AXC,1 AXC,2
042384,001128: 14,3555 02664 XDC
042385,001129: 14,3556 01733 REFSMMAT
042386,001130: 14,3557 77624 CALL
042387,001131: 14,3560 31377 MATMOVE
042388,001132: 14,3561 77414 SET EXIT
042389,001133: 14,3562 01462 REFSMFLG
042390,001134: 14,3563 06001 TC GOTOPOOH # FINIS
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Page 952 |
042392,001136: 14,3564 12200 V41K VN 4100
042393,001137: 14,3565 77776 COARSE EXIT
042394,001138: 14,3566 04616 TC BANKCALL
042395,001139: 14,3567 17000 CADR IMUCOARS
042396,001140: 14,3570 04616 TC BANKCALL
042397,001141: 14,3571 17716 CADR IMUSTALL
042398,001142: 14,3572 05711 TC CURTAINS
042399,001143: 14,3573 04616 TC BANKCALL
042400,001144: 14,3574 17210 CADR IMUFINE
042401,001145: 14,3575 04616 TC BANKCALL
042402,001146: 14,3576 17716 CADR IMUSTALL
042403,001147: 14,3577 05711 TC CURTAINS
042404,001148: 14,3600 06037 TC INTPRET
042405,001149: 14,3601 77616 RVQ
042406,001150: 14,3602 77776 NCOARSE EXIT
042407,001151: 14,3603 30025 CA TIME1
042408,001152: 14,3604 55075 TS 1/PIPADT
042409,001153: 14,3605 44755 CS ZERO
042410,001154: 14,3606 54037 TS PIPAX
042411,001155: 14,3607 54040 TS PIPAY
042412,001156: 14,3610 54041 TS PIPAZ
042413,001157: 14,3611 06037 TC INTPRET
042414,001158: 14,3612 77775 VLOAD
042415,001159: 14,3613 24007 ZEROVEC
042416,001160: 14,3614 01472 STORE GCOMP
042417,001161: 14,3615 43414 SET RVQ
042418,001162: 14,3616 01060 DRIFTFLG
042419,001163:
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Page 953 |
042421,001165: # NAME - S52.2
042422,001166: # FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042423,001167: # CALL - CALL S52.2
042424,001168: # INPUT - X,Y,ZSMD
042425,001169: # OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
042426,001170: # SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
042427,001171:
042428,001172: 14,3617 COUNT* $$/S52.1
042429,001173: 14,3617 45020 S52.2 STQ CALL
042430,001174: 14,3620 02746 QMAJ
042431,001175: 14,3621 47537 CDUTRIG
042432,001176: 14,3622 77624 CALL
042433,001177: 14,3623 20030 CALCSMSC
042434,001178: 14,3624 66370 AXT,1 SSP
042435,001179: 14,3625 00022 18D
042436,001180: 14,3626 00051 S1
042437,001181: 14,3627 00006 6D
042438,001182: 14,3630 61373 S52.2A VLOAD* VXM
042439,001183: 14,3631 02707 XNB +18D,1
042440,001184: 14,3632 01734 REFSMMAT
042441,001185: 14,3633 77656 UNIT
042442,001186: 14,3634 06707 STORE XNB +18D,1
042443,001187: 14,3635 77700 TIX,1
042444,001188: 14,3636 31630 S52.2A
042445,001189: 14,3637 75160 S52.2.1 AXC,1 AXC,2
042446,001190: 14,3640 03606 XSMD
042447,001191: 14,3641 02642 XSM
042448,001192: 14,3642 77624 CALL
042449,001193: 14,3643 31377 MATMOVE
042450,001194: 14,3644 77624 CALL
042451,001195: 14,3645 47353 CALCGA
042452,001196: 14,3646 77650 GOTO
042453,001197: 14,3647 02746 QMAJ
042454,001198:
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Page 954 |
042456,001200: # NAME - S52.3
042457,001201: # FUNCTION XSMD= UNIT R
042458,001202: # YSMD= UNIT(V X R)
042459,001203: # ZSMD= UNIT(XSMD X YSMD)
042460,001204: # CALL DLOAD CALL
042461,001205: # TALIGN
042462,001206: # S52.3
042463,001207: # INPUT - TIME OF ALIGNMENT IN MPAC
042464,001208: # OUTPUT - X,Y,ZSMD
042465,001209: # SUBROUTINES - CSMCONIC
042466,001210:
042467,001211: 14,3650 COUNT* $$/S52.3
042468,001212: 14,3650 77620 S52.3 STQ
042469,001213: 14,3651 02746 QMAJ
042470,001214: 14,3652 34041 STCALL TDEC1
042471,001215: 14,3653 27100 LEMCONIC
042472,001216: 14,3654 53575 VLOAD UNIT
042473,001217: 14,3655 00001 RATT
042474,001218: 14,3656 27607 STOVL XSMD
042475,001219: 14,3657 00007 VATT
042476,001220: 14,3660 53435 VXV UNIT
042477,001221: 14,3661 00001 RATT
042478,001222: 14,3662 27615 STOVL YSMD
042479,001223: 14,3663 03607 XSMD
042480,001224: 14,3664 53435 VXV UNIT
042481,001225: 14,3665 03615 YSMD
042482,001226: 14,3666 37623 STCALL ZSMD
042483,001227: 14,3667 02746 QMAJ
042484,001228:
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Page 955 |
042486,001230: # NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042487,001231:
042488,001232: # FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042489,001233: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042490,001234:
042491,001235: # CALLING - CALL R52
042492,001236:
042493,001237: # INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
042494,001238:
042495,001239: # OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
042496,001240: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
042497,001241: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042498,001242: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042499,001243:
042500,001244: # SUBROUT - R60LEM
042501,001245:
042502,001246: 14,3670 COUNT* $$/R52
042503,001247: 14,3670 77420 R52 STQ EXIT
042504,001248: 14,3671 03665 SAVQR52
042505,001249: 14,3672 51757 INDEX STARIND
042506,001250: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
042507,001251: 14,3674 00006 EXTEND
042508,001252: 14,3675 73771 MP 1/6TH
042509,001253: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
042510,001254: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
042511,001255:
042512,001256: 14,3700 33772 R52A CAF V01N70
042513,001257: 14,3701 04616 TC BANKCALL
042514,001258: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
042515,001259: 14,3703 06001 TC GOTOPOOH # V34 - TERMINATE
042516,001260: 14,3704 13706 TCF R52B # V33 - PROCEED TO ORIENT LEM
042517,001261: 14,3705 13700 TCF R52A # ENTER - SELECT NEW STARCODE - RECYCLE
042518,001262:
042519,001263: 14,3706 05516 R52B TC DOWNFLAG
042520,001264: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042521,001265: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
042522,001266: 14,3711 77744 MASK HIGH9
042523,001267: 14,3712 00006 EXTEND
042524,001268: 14,3713 74743 MP BIT9
042525,001269: 14,3714 54001 TS L # TEMP STORE DETENT
042526,001270:
042527,001271: 14,3715 00006 EXTEND
042528,001272: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
042529,001273:
042530,001274: 14,3717 65660 AD NEG7
042531,001275: 14,3720 00006 EXTEND
042532,001276: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
042533,001277:
042534,001278: 14,3722 E7,1551 EBANK= XYMARK
042535,001279: 14,3722 35016 CA EBANK7
042536,001280: 14,3723 54003 TS EBANK
![]() |
Page 956 |
042538,001282: 14,3724 50001 INDEX L
042539,001283: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
042540,001284: 14,3726 54001 TS L
042541,001285: 14,3727 E5,1642 EBANK= XSM
042542,001286: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L
042543,001287: 14,3730 54003 TS EBANK
042544,001288: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
042545,001289: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042546,001290: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
042547,001291:
042548,001292: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
042549,001293: 14,3735 04616 TC BANKCALL
042550,001294: 14,3736 20476 CADR GOFLASH
042551,001295: 14,3737 06001 TC GOTOPOOH # V34 - TERMINATE
042552,001296: 14,3740 13742 TCF +2 # PROCEED - CALC OPTIC AXIS
042553,001297: 14,3741 13734 TCF GETAZEL # ENTER - RECYCLE
042554,001298:
042555,001299: 14,3742 00006 EXTEND
042556,001300: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2S COMP
042557,001301: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
042558,001302: 14,3745 52011 DXCH 8D
042559,001303: 14,3746 06037 TC INTPRET
042560,001304: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
042561,001305: 14,3750 10536 OANB # SCAXIS IN NB COORDS
042562,001306: 14,3751 45034 RTB CALL
042563,001307: 14,3752 21573 LOADTIME
042564,001308: 14,3753 32472 PLANET
042565,001309: 14,3754 53521 MXV UNIT
042566,001310: 14,3755 01734 REFSMMAT
042567,001311: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
042568,001312:
042569,001313: 14,3757 77776 EXIT
042570,001314: 14,3760 04616 TC BANKCALL
042571,001315: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
042572,001316:
042573,001317: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0, RECYCLE
042574,001318: 14,3763 70735 MASK STARCODE
042575,001319: 14,3764 00006 EXTEND
042576,001320: 14,3765 13700 BZF R52A
042577,001321:
042578,001322: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
042579,001323: 14,3767 77650 GOTO
042580,001324: 14,3770 03665 SAVQR52 # RETURN TO CALLER
042581,001325:
042582,001326: 14,3771 05253 1/6TH DEC .1666667
042583,001327: 14,3772 00306 V01N70 VN 0170
042584,001328: 14,3773 01527 V06N87 VN 687
042585,001329:
![]() |
Page 957 |
042587,001331: # LUNAR SURFACE STAR AQUISITION
042588,001332:
042589,001333: 15,2245 BANK 15
042590,001334: 15,2000 SETLOC P50S
042591,001335: 15,2000 BANK
042592,001336: 15,2245 COUNT* $$/R59
042593,001337:
042594,001338: 15,2245 40077 R59 CS FLAGWRD3
042595,001339: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042596,001340: 15,2247 10000 CCS A
042597,001341: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
042598,001342:
042599,001343: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
042600,001344: 15,2252 04616 TC BANKCALL
042601,001345: 15,2253 20476 CADR GOFLASH
042602,001346: 15,2254 06001 TC GOTOPOOH # V34 - TERMINATE
042603,001347: 15,2255 12257 TCF R59A # V33 - PROCEED
042604,001348: 15,2256 12245 TCF R59 # V32 - RECYCLE
042605,001349:
042606,001350: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
042607,001351: 15,2260 70735 MASK AOTCODE
042608,001352: 15,2261 00006 EXTEND
042609,001353: 15,2262 76242 MP REVCNT # JUST 6
042610,001354: 15,2263 56001 XCH L
042611,001355: 15,2264 51757 INDEX STARIND
042612,001356: 15,2265 55755 TS BESTI
042613,001357: 15,2266 50120 INDEX FIXLOC
042614,001358: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
042615,001359: 15,2270 00006 EXTEND
042616,001360: 15,2271 12455 BZF R59OUT # BYPASS AQUISITION IF NOT CATLOG STAR
042617,001361: 15,2272 40000 COM
042618,001362: 15,2273 62561 AD DEC227
042619,001363: 15,2274 00006 EXTEND
042620,001364: 15,2275 62455 BZMF R59OUT
042621,001365:
042622,001366: 15,2276 06037 TC INTPRET
042623,001367: 15,2277 64373 VLOAD* MXV
042624,001368: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
042625,001369: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
042626,001370: 15,2302 45056 UNIT CALL
042627,001371: 15,2303 47646 CDU*SMNB
042628,001372: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
042629,001373: 15,2305 77776 EXIT
042630,001374:
042631,001375: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60)
042632,001376: 15,2307 55242 TS POSCODE
042633,001377:
042634,001378: 15,2310 E7,1551 EBANK= XYMARK
042635,001379: 15,2310 35016 INCAZ CA EBANK7
042636,001380: 15,2311 54003 TS EBANK
042637,001381:
![]() |
Page 958 |
042639,001383: 15,2312 51242 INDEX POSCODE
042640,001384: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
042641,001385: 15,2314 54001 TS L
042642,001386:
042643,001387: 15,2315 E5,1642 EBANK= XSM
042644,001388: 15,2315 35014 CA EBANK5
042645,001389: 15,2316 54003 TS EBANK
042646,001390:
042647,001391: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
042648,001392: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
042649,001393: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
042650,001394: 15,2322 50120 INDEX FIXLOC
042651,001395: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042652,001396:
042653,001397: 15,2324 06037 TC INTPRET
042654,001398: 15,2325 77624 CALL
042655,001399: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
042656,001400: 15,2327 50375 VLOAD DOT
042657,001401: 15,2330 02731 STAR # DOT STAR WITH OA
042658,001402: 15,2331 03765 SCAXIS
042659,001403: 15,2332 65552 SL1 ARCCOS
042660,001404: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
042661,001405:
042662,001406: 15,2334 51025 DSU BPL
042663,001407: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
042664,001408: 15,2336 32420 NXAX # NOT IN FIELD - TRY NEXT POSITION
042665,001409: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
042666,001410: 15,2340 00031 24D
042667,001411: 15,2341 32470 DEG.5
042668,001412: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
042669,001413: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
042670,001414: 15,2344 00031 24D # GET SPIRAL
042671,001415: 15,2345 42405 DMP SL4
042672,001416: 15,2346 25764 3/4 # 12 SCALED AT 16
042673,001417: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
042674,001418:
042675,001419: 15,2350 03765 SCAXIS # OA
042676,001420: 15,2351 53435 VXV UNIT
042677,001421: 15,2352 24005 XUNIT
042678,001422: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
042679,001423: 15,2354 03765 SCAXIS
042680,001424: 15,2355 77676 VCOMP
042681,001425: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
042682,001426: 15,2357 03765 SCAXIS
042683,001427: 15,2360 53435 VXV UNIT
042684,001428: 15,2361 02731 STAR
042685,001429: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
042686,001430: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
042687,001431: 15,2364 65552 SL1 ARCCOS
042688,001432: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
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Page 959 |
042690,001434: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
042691,001435: 15,2367 71244 BPL DLOAD # IF THET NEG - GET 360-THET
042692,001436: 15,2370 32375 R59D
042693,001437: 15,2371 32047 ABOUTONE
042694,001438: 15,2372 77625 DSU
042695,001439: 15,2373 00033 26D
042696,001440: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
042697,001441:
042698,001442: 15,2375 70535 R59D SLOAD SR1
042699,001443: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
042700,001444: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
042701,001445: 15,2400 00033 26D
042702,001446: 15,2401 77634 RTB
042703,001447: 15,2402 21614 1STO2S
042704,001448: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
042705,001449: 15,2404 00031 24D # LOAD SROT IN REVS
042706,001450: 15,2405 77615 DAD # 12(SEP) + YROT
042707,001451: 15,2406 77634 RTB
042708,001452: 15,2407 21614 1STO2S
042709,001453: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
042710,001454: 15,2411 77776 EXIT
042711,001455: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
042712,001456:
042713,001457: 15,2413 77776 ZSPCR EXIT
042714,001458: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
042715,001459: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
042716,001460: 15,2416 55240 TS SPIRAL
042717,001461: 15,2417 12437 TCF 79DISP
042718,001462:
042719,001463: 15,2420 77776 NXAX EXIT
042720,001464: 15,2421 25242 INCR POSCODE
042721,001465: 15,2422 41242 CS POSCODE
042722,001466: 15,2423 64757 AD SEVEN
042723,001467: 15,2424 00006 EXTEND
042724,001468: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
042725,001469: 15,2426 12310 TCF INCAZ
042726,001470:
042727,001471: 15,2427 05567 R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD
042728,001472: 15,2430 00404 OCT 404
042729,001473: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
042730,001474: 15,2432 04616 TC BANKCALL
042731,001475: 15,2433 20476 CADR GOFLASH
042732,001476: 15,2434 16001 TCF GOTOPOOH # VB34 - TERMINATE
042733,001477: 15,2435 12455 TCF R59OUT # VB33 - PROCEED, GO WITHOUT AQUIRE
042734,001478: 15,2436 12245 TCF R59 # VB32 - RECYCLE AND TRY ANOTHER STAR
042735,001479:
042736,001480: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
042737,001481: 15,2440 04616 TC BANKCALL
042738,001482: 15,2441 20476 CADR GOFLASH
042739,001483: 15,2442 16001 TCF GOTOPOOH # V34 - TERMINATE
![]() |
Page 960 |
042741,001485: 15,2443 12445 TCF R59E # V33 - PROCEED TO MARK ROUTINE
042742,001486: 15,2444 12245 TCF R59 # V32 - RECYCLE TO TOP OF R59 AGAIN
042743,001487:
042744,001488: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
042745,001489: 15,2446 71242 MASK POSCODE
042746,001490: 15,2447 00006 EXTEND
042747,001491: 15,2450 74745 MP BIT7 # DETENT CODE NOW IN L
042748,001492: 15,2451 47744 CS HIGH9
042749,001493: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO IN BIT 1-6
042750,001494: 15,2453 60001 AD L
042751,001495: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
042752,001496:
042753,001497: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
042754,001498: 15,2456 16000 CADR AOTMARK
042755,001499: 15,2457 04616 TC BANKCALL
042756,001500: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
042757,001501: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
042758,001502: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
042759,001503:
042760,001504: 15,2463 00306 V01N70* VN 170
042761,001505: 15,2464 01517 V06N79 VN 679
042762,001506: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGRESS
042763,001507: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGRESS SCALED IN REVS
042764,001508: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
042765,001509: 15,2472 1236 CURSOR EQUALS GDT/2
042766,001510: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
042767,001511: 15,2472 1242 POSCODE EQUALS GDT/2 +4
042768,001512:
![]() |
Page 961 |
042770,001514: # NAME - PLANET
042771,001515: # FUNCTION - TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042772,001516: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042773,001517: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042774,001518: # BY DSDY INPUT
042775,001519: # CALL - CALL
042776,001520: # PLANET
042777,001521: # INPUT - TIME IN MPAC
042778,001522: # OUTPUT - VECTOR IN MPAC
042779,001523: # SUBROUTINES - LOCSAM
042780,001524: # DEBRIS - VAC, STARAD - STARAD +17
042781,001525:
042782,001526: 15,2000 SETLOC P50S
042783,001527: 15,2000 BANK
042784,001528: 15,2472 COUNT* $$/P51
042785,001529:
042786,001530: 15,2472 27562 PLANET STOVL TSIGHT
042787,001531: 15,2473 24007 ZEROVEC # ZERO N88 DISPLAY VEC
042788,001532: 15,2474 02707 STORE STARAD
042789,001533: 15,2475 77420 STQ EXIT
042790,001534: 15,2476 02736 GCTR
042791,001535: 15,2477 47744 CS HIGH9
042792,001536: 15,2500 70735 MASK AOTCODE
042793,001537: 15,2501 00006 EXTEND
042794,001538: 15,2502 76242 MP REVCNT
042795,001539: 15,2503 56001 XCH L
042796,001540: 15,2504 51757 INDEX STARIND
042797,001541: 15,2505 55755 TS BESTI
042798,001542: 15,2506 10000 CCS A
042799,001543: 15,2507 12523 TCF NOTPLAN
042800,001544: 15,2510 32562 CAF VNPLANV
042801,001545: 15,2511 04616 TC BANKCALL
042802,001546: 15,2512 20476 CADR GOFLASH
042803,001547: 15,2513 02510 TC -3
042804,001548: 15,2514 02516 TC +2
042805,001549: 15,2515 02510 TC -5
042806,001550: 15,2516 06037 TC INTPRET
042807,001551: 15,2517 53575 VLOAD UNIT
042808,001552: 15,2520 02707 STARAD
042809,001553: 15,2521 77650 GOTO
042810,001554: 15,2522 02736 GCTR
042811,001555: 15,2523 40000 NOTPLAN CS A
042812,001556: 15,2524 62561 AD DEC227
042813,001557: 15,2525 00006 EXTEND
042814,001558: 15,2526 62537 BZMF CALSAM1
042815,001559: 15,2527 51757 INDEX STARIND
042816,001560: 15,2530 31755 CA BESTI
042817,001561: 15,2531 50120 INDEX FIXLOC
042818,001562: 15,2532 54046 TS X1
042819,001563: 15,2533 06037 TC INTPRET
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Page 962 |
042821,001565: 15,2534 52173 VLOAD* GOTO
042822,001566: 15,2535 30347 CATLOG,1
042823,001567: 15,2536 02736 GCTR
042824,001568: 15,2537 06037 CALSAM1 TC INTPRET
042825,001569: 15,2540 45145 CALSAM DLOAD CALL
042826,001570: 15,2541 03562 TSIGHT
042827,001571: 15,2542 30506 LOCSAM
042828,001572: 15,2543 77340 LXC,1 VLOAD
042829,001573: 15,2544 02757 STARIND
042830,001574: 15,2545 02707 VEARTH
042831,001575: 15,2546 24001 STOVL 0D
042832,001576: 15,2547 02715 VSUN
042833,001577: 15,2550 26707 STOVL VEARTH
042834,001578: 15,2551 00001 0D
042835,001579: 15,2552 02715 STORE VSUN
042836,001580: 15,2553 70143 DLOAD* LXC,1
042837,001581: 15,2554 02756 BESTI,1
042838,001582: 15,2555 00154 MPAC
042839,001583: 15,2556 52173 VLOAD* GOTO
042840,001584: 15,2557 02343 STARAD -228D,1
042841,001585: 15,2560 02736 GCTR
042842,001586: 15,2561 00343 DEC227 DEC 227 B-14
042843,001587: 15,2562 01530 VNPLANV VN 0688
042844,001588: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1
042845,001589:
![]() |
Page 963 |
042847,001591: # GRAVITY VECTOR DETERMINATION ROUTINE
042848,001592: # BY KEN VINCENT
042849,001593:
042850,001594: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042851,001595:
042852,001596: # THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042853,001597: # WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042854,001598: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042855,001599: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042856,001600: # PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042857,001601: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042858,001602: # ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042859,001603: # READINGS.
042860,001604:
042861,001605: # CALL -
042862,001606: # TC BANKCALL
042863,001607: # CADR GVDETER
042864,001608:
042865,001609: # INPUTS -
042866,001610: # PIPAS, CDUS
042867,001611:
042868,001612: # OUTPUTS -
042869,001613: # STARSAV1 = UNIT GRAVITY
042870,001614: # GSAV = DITTO
042871,001615: # GRAVBIT = 1
042872,001616:
042873,001617: # SUBROUTINES -
042874,001618: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042875,001619: # *NBSM*, *SNMB*, CALCGA, FOFLASH
042876,001620:
042877,001621: # DEBRIS -
042878,001622: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042879,001623:
042880,001624: 15,2563 32772 GVDETER CAF 42DEG
042881,001625: 15,2564 54321 TS THETAD
042882,001626: 15,2565 40000 COM
042883,001627: 15,2566 54322 TS THETAD +1
042884,001628: 15,2567 32773 CAF 35DEG
042885,001629: 15,2570 54323 TS THETAD +2
042886,001630: 15,2571 06037 TC INTPRET
042887,001631: 15,2572 45014 CLEAR CALL
042888,001632: 15,2573 01662 REFSMFLG
042889,001633: 15,2574 32670 LUNG
042890,001634:
042891,001635: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042892,001636:
042893,001637: # DEFINE G COOR SYS
042894,001638: # -
042895,001639: # X UNIT G
042896,001640: # * - -
042897,001641: # M = Y = UNITEZSM * X )
042898,001642: # - - -
042899,001643: # Z UNIT(X * Y )
042900,001644:
042901,001645: # THEN ROTATED SM WRT PRESENT IS
042902,001646:
042903,001647: # 1, 0, 0
042904,001648: # * *T * * *
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Page 964 |
042906,001650: # XSM = M 0, -1, 0 M = 2 (X X ) - 1/2 I *
042907,001651: # I J
042908,001652: # 0, 0, -1
042909,001653:
042910,001654: # ALSO NB WRT PRES SM IS
042911,001655:
042912,001656: # * * *
042913,001657: # XNB = NBSM I
042914,001658: # * *
042915,001659: # GIMBAL ANGLES = CALCGA( XSM, XNB )
042916,001660:
042917,001661: 15,2000 SETLOC P50S
042918,001662: 15,2000 BANK
042919,001663: 15,2575 COUNT* $$/P57
042920,001664: 15,2575 66370 AXT,1 SSP # X1=18
042921,001665: 15,2576 00022 18D # S1=6
042922,001666: 15,2577 00051 S1 # X2, -2
042923,001667: 15,2600 00006 6D
042924,001668: 15,2601 77744 LXC,2
042925,001669: 15,2602 00050 S1
042926,001670: 15,2603 45173 GRAVEL VLOAD* CALL
042927,001671: 15,2604 54000 XUNIT -6,2
042928,001672: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
042929,001673: 15,2606 06707 STORE XNB +18D,1
042930,001674: 15,2607 77775 VLOAD
042931,001675: 15,2610 02731 STAR
042932,001676: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT - UNITX ARE BACKWARD -
042933,001677: 15,2612 00047 X2
042934,001678: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
042935,001679: 15,2614 71152 VSL2 LXC,2
042936,001680: 15,2615 00047 X2
042937,001681: 15,2616 63047 VSU* INCR,2
042938,001682: 15,2617 54000 XUNIT -6,2
042939,001683: 15,2620 00002 2D
042940,001684: 15,2621 06665 STORE XSM +18D,1
042941,001685: 15,2622 45100 TIX,1 CALL
042942,001686: 15,2623 32603 GRAVEL
042943,001687: 15,2624 47353 CALCGA
042944,001688: 15,2625 74575 VLOAD VSR1
042945,001689: 15,2626 02715 GOUT
042946,001690: 15,2627 36723 STCALL STARAD +12D
042947,001691: 15,2630 32670 LUNG
042948,001692: 15,2631 74575 VLOAD VSR1
042949,001693: 15,2632 02715 GOUT
042950,001694: 15,2633 53455 VAD UNIT
042951,001695: 15,2634 02723 STARAD +12D
042952,001696: 15,2635 02761 STORE STARSAV1
042953,001697: 15,2636 77641 DOT
042954,001698: 15,2637 02231 GSAV
042955,001699: 15,2640 65552 SL1 ACOS
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Page 965 |
042957,001701: 15,2641 01046 STORE DSPTEM1
042958,001702: 15,2642 77776 EXIT
042959,001703: 15,2643 05516 TC DOWNFLAG # CLEAR FREEFLAG IN CASE OF RECYCLE
042960,001704: 15,2644 00014 ADRES FREEFLAG
042961,001705:
042962,001706: 15,2645 32771 CA DISGRVER
042963,001707: 15,2646 04616 TC BANKCALL
042964,001708: 15,2647 20476 CADR GOFLASH
042965,001709: 15,2650 06001 TC GOTOPOOH
042966,001710: 15,2651 12654 TCF PROGRAV # VB33 - PROCEED
042967,001711: 15,2652 05504 TC UPFLAG # VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042968,001712: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
042969,001713:
042970,001714: 15,2654 05353 PROGRAV TC PHASCHNG
042971,001715: 15,2655 04024 OCT 04024
042972,001716:
042973,001717: 15,2656 06037 TC INTPRET
042974,001718: 15,2657 77775 VLOAD
042975,001719: 15,2660 02761 STARSAV1
042976,001720: 15,2661 02231 STORE GSAV
042977,001721: 15,2662 77776 EXIT
042978,001722: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042979,001723: 15,2664 70074 MASK FLAGWRD0
042980,001724: 15,2665 10000 CCS A
042981,001725: 15,2666 12563 TCF GVDETER # SET
042982,001726: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
042983,001727:
042984,001728: 15,2670 77220 LUNG STQ VLOAD
042985,001729: 15,2671 02745 QMIN
042986,001730: 15,2672 24007 ZEROVEC
042987,001731: 15,2673 02707 STORE GACC
042988,001732: 15,2674 77776 EXIT
042989,001733: 15,2675 05353 TC PHASCHNG
042990,001734: 15,2676 04024 OCT 04024
042991,001735:
042992,001736: 15,2677 04616 TC BANKCALL
042993,001737: 15,2700 17000 CADR IMUCOARS
042994,001738: 15,2701 04616 TC BANKCALL
042995,001739: 15,2702 17716 CADR IMUSTALL
042996,001740: 15,2703 05711 TC CURTAINS
042997,001741: 15,2704 04616 TC BANKCALL
042998,001742: 15,2705 17210 CADR IMUFINE
042999,001743: 15,2706 04616 TC BANKCALL
043000,001744: 15,2707 17716 CADR IMUSTALL
043001,001745: 15,2710 05711 TC CURTAINS
043002,001746: 15,2711 32770 CA T/2SEC
043003,001747: 15,2712 55736 TS GCTR
043004,001748: 15,2713 37716 CA PRIO31
043005,001749: 15,2714 55075 TS 1/PIPADT
043006,001750: 15,2715 04616 TC BANKCALL
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Page 966 |
043008,001752: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
043009,001753: 15,2717 05353 TC PHASCHNG
043010,001754: 15,2720 04024 OCT 04024
043011,001755:
043012,001756: 15,2721 04616 TC BANKCALL # DONT NEED TO INHINY THIS USED TO
043013,001757: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS DONT USE DATA
043014,001758: 15,2723 06037 TC INTPRET
043015,001759: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DONT CARE
043016,001760: 15,2725 35000 CAF 2SECS
043017,001761: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
043018,001762: 15,2727 02731 ADRES GRABGRAV
043019,001763:
043020,001764: 15,2730 05155 TC ENDOFJOB
043021,001765:
043022,001766: 15,2731 04674 GRABGRAV TC IBNKCALL
043023,001767: 15,2732 77544 CADR PIPSRINE
043024,001768: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
043025,001769: 15,2734 05105 TC FINDVAC
043026,001770: 15,2735 E5,1706 EBANK= STARAD
043027,001771: 15,2735 02740 32065 2CADR ADDGRAV
043028,001772:
043029,001773: 15,2737 05261 TC TASKOVER
043030,001774:
043031,001775: 15,2740 04616 ADDGRAV TC BANKCALL
043032,001776: 15,2741 15263 CADR 1/PIPA
043033,001777: 15,2742 25736 INCR GCTR
043034,001778: 15,2743 06037 TC INTPRET
043035,001779: 15,2744 53375 VLOAD VAD
043036,001780: 15,2745 00325 DELV
043037,001781: 15,2746 02707 GACC
043038,001782: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
043039,001783: 15,2750 50135 SLOAD BMN
043040,001784: 15,2751 02737 GCTR
043041,001785: 15,2752 32724 GREED
043042,001786: 15,2753 53575 VLOAD UNIT
043043,001787: 15,2754 02707 GACC
043044,001788: 15,2755 36731 STCALL STAR
043045,001789: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
043046,001790: 15,2757 77624 CALL # IN OUTPUT
043047,001791: 15,2760 47671 *SMNB*
043048,001792: 15,2761 02715 STORE GOUT
043049,001793: 15,2762 77776 EXIT
043050,001794: 15,2763 05353 TC PHASCHNG
043051,001795: 15,2764 04024 OCT 04024
043052,001796:
043053,001797: 15,2765 06037 QMINEXIT TC INTPRET
043054,001798: 15,2766 77650 GOTO
043055,001799: 15,2767 02745 QMIN
043056,001800: 15,2770 77753 T/2SEC DEC -20 B-14
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Page 967 |
043058,001802: 15,2771 01404 DISGRVER VN 0604
043059,001803: 15,2772 07357 42DEG OCT 07357
043060,001804: 15,2773 06211 35DEG OCT 06211
043061,001805:
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Page 968 |
043063,001807: # NAME GYROTRIM
043064,001808:
043065,001809: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
043066,001810: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
043067,001811: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
043068,001812:
043069,001813: # CALL CALL
043070,001814: # GYROTRIM
043071,001815:
043072,001816: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
043073,001817: # CDUX,CDUY,CDUZ
043074,001818:
043075,001819: # OUTPUT - GYRO TORQUE PULSES
043076,001820:
043077,001821: # SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
043078,001822: # IMPULSE, IMUSTALL
043079,001823: # - - - * * -
043080,001824: # DEBRIS - CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
043081,001825:
043082,001826: 15,2774 COUNT* $$/P57
043083,001827: 15,2774 71220 GYROTRIM STQ DLOAD
043084,001828: 15,2775 02745 QMIN
043085,001829: 15,2776 00322 THETAD
043086,001830: 15,2777 65325 PDDL PDDL
043087,001831: 15,3000 00324 THETAD +2
043088,001832: 15,3001 00323 THETAD +1
043089,001833: 15,3002 77666 VDEF
043090,001834: 15,3003 24767 STOVL CDUSPOT
043091,001835: 15,3004 24005 XUNIT
043092,001836: 15,3005 77624 CALL
043093,001837: 15,3006 47664 TRG*NBSM
043094,001838: 15,3007 26707 STOVL STARAD
043095,001839: 15,3010 24003 YUNIT
043096,001840: 15,3011 77624 CALL
043097,001841: 15,3012 47673 *NBSM*
043098,001842: 15,3013 36715 STCALL STARAD +6
043099,001843: 15,3014 47537 CDUTRIG
043100,001844: 15,3015 77624 CALL
043101,001845: 15,3016 20030 CALCSMSC
043102,001846: 15,3017 77775 VLOAD
043103,001847: 15,3020 02665 XNB
043104,001848: 15,3021 24007 STOVL 6D
043105,001849: 15,3022 02673 YNB
043106,001850: 15,3023 34015 STCALL 12D
043107,001851: 15,3024 47441 AXISGEN
043108,001852: 15,3025 77624 CALL
043109,001853: 15,3026 47247 CALCGTA
043110,001854: 15,3027 77776 JUSTTRIM EXIT
043111,001855: 15,3030 04616 TC BANKCALL
043112,001856: 15,3031 17210 CADR IMUFINE
043113,001857: 15,3032 04616 TC BANKCALL
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Page 969 |
043115,001859: 15,3033 17716 CADR IMUSTALL
043116,001860: 15,3034 05711 TC CURTAINS
043117,001861: 15,3035 33044 CA GYRCDR
043118,001862: 15,3036 04616 TC BANKCALL
043119,001863: 15,3037 17323 CADR IMUPULSE
043120,001864: 15,3040 04616 TC BANKCALL
043121,001865: 15,3041 17716 CADR IMUSTALL
043122,001866: 15,3042 05711 TC CURTAINS
043123,001867: 15,3043 12765 TCF QMINEXIT
043124,001868:
043125,001869: 15,3044 02737 GYRCDR ECADR OGC
043126,001870:
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Page 970 |
043128,001872: # PERFORM STAR AQUISITION AND STAR SIGHTINGS
043129,001873:
043130,001874: 15,3045 34755 2STARS CAF ZERO # INITALIZE STARIND
043131,001875: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
043132,001876: 15,3047 34753 1STAR CAF BIT1
043133,001877: 15,3050 55757 TS STARIND
043134,001878:
043135,001879: 15,3051 05353 TC PHASCHNG
043136,001880: 15,3052 04024 OCT 04024
043137,001881:
043138,001882: 15,3053 12245 TCF R59 # GO DO STAR AQUIRE AND AOTMARK
043139,001883:
043140,001884: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
043141,001885: 15,3055 00006 EXTEND
043142,001886: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
043143,001887:
043144,001888: 15,3057 05353 TC PHASCHNG
043145,001889: 15,3060 04024 OCT 04024
043146,001890:
043147,001891: 15,3061 06037 TC INTPRET
043148,001892: 15,3062 45145 DLOAD CALL
043149,001893: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
043150,001894: 15,3064 32472 PLANET
043151,001895: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
043152,001896: 15,3066 33101 SURFLINE
043153,001897:
043154,001898: 15,3067 06037 ASTAR TC INTPRET
043155,001899: 15,3070 77775 VLOAD
043156,001900: 15,3071 02715 STARAD +6
043157,001901: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
043158,001902: 15,3073 45145 DLOAD CALL
043159,001903: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
043160,001904: 15,3075 32472 PLANET
043161,001905: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
043162,001906: 15,3077 77776 EXIT
043163,001907: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
043164,001908:
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Page 971 |
043166,001910: # DO FINE OR COARSE ALIGNMENT OF IMU
043167,001911:
043168,001912: 15,3101 77131 SURFLINE SSP AXT,2
043169,001913: 15,3102 00052 S2
043170,001914: 15,3103 00006 6
043171,001915: 15,3104 00014 12D
043172,001916: 15,3105 64373 WRTDESIR VLOAD* MXV
043173,001917: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
043174,001918: 15,3107 03607 XSMD
043175,001919: 15,3110 77656 UNIT
043176,001920: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
043177,001921: 15,3112 77773 VLOAD*
043178,001922: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
043179,001923: 15,3114 10023 STORE 18D,2
043180,001924: 15,3115 43104 TIX,2 BON
043181,001925: 15,3116 33105 WRTDESIR
043182,001926: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
043183,001927: 15,3120 33126 INITBY
043184,001928: 15,3121 77624 DOALIGN CALL
043185,001929: 15,3122 31256 R54 # DO CHKSDATA
043186,001930: 15,3123 77614 BOFF
043187,001931: 15,3124 00354 FREEFLAG
043188,001932: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
043189,001933: 15,3126 77624 INITBY CALL
043190,001934: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
043191,001935: 15,3130 77624 CALL
043192,001936: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
043193,001937: 15,3132 77776 EXIT
043194,001938: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
043195,001939: 15,3134 70104 MASK FLAGWRD8
043196,001940: 15,3135 10000 CCS A
043197,001941: 15,3136 13145 TCF 5DEGTEST
043198,001942: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
043199,001943: 15,3140 04616 TC BANKCALL
043200,001944: 15,3141 20476 CADR GOFLASH
043201,001945: 15,3142 06001 TC GOTOPOOH # V34 - TERMINATE
043202,001946: 15,3143 13145 TCF 5DEGTEST # VB33 - PROCEED TO COARSE OR FINE
043203,001947: 15,3144 13207 TCF P57POST +1 # VB32 - RECYCLE, MAYBE RE-ALIGN
043204,001948:
043205,001949: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
043206,001950: 15,3146 40175 VLOAD BOV
043207,001951: 15,3147 02740 OGC
043208,001952: 15,3150 33151 SURFSUP
043209,001953: 15,3151 02750 SURFSUP STORE OGCT
043210,001954: 15,3152 40141 V/SC BOV
043211,001955: 15,3153 30610 5DEGREES
043212,001956: 15,3154 33254 COATRIM
043213,001957: 15,3155 52131 SSP GOTO
043214,001958: 15,3156 02746 QMIN
043215,001959: 15,3157 33161 SURFDISP
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Page 972 |
043217,001961: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
043218,001962:
043219,001963: 15,3161 77776 SURFDISP EXIT
043220,001964: 15,3162 05353 TC PHASCHNG
043221,001965: 15,3163 04024 OCT 04024
043222,001966:
043223,001967: 15,3164 06037 TC INTPRET
043224,001968: 15,3165 75160 AXC,1 AXC,2
043225,001969: 15,3166 03606 XSMD
043226,001970: 15,3167 01733 REFSMMAT
043227,001971: 15,3170 45014 SET CALL
043228,001972: 15,3171 01462 REFSMFLG
043229,001973: 15,3172 31377 MATMOVE
043230,001974: 15,3173 77776 EXIT
043231,001975: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
043232,001976: 15,3175 13177 TCF B2F8
043233,001977: 15,3176 13207 TCF P57POST +1
043234,001978:
043235,001979: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
043236,001980: 15,3200 70104 MASK FLAGWRD8
043237,001981: 15,3201 10000 CCS A
043238,001982: 15,3202 13561 TCF P57JUMP # ITS SET
043239,001983: 15,3203 06037 TC INTPRET
043240,001984: 15,3204 77624 CALL
043241,001985: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043242,001986: 15,3206 77776 P57POST EXIT
043243,001987: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
043244,001988: 15,3210 04616 TC BANKCALL
043245,001989: 15,3211 20623 CADR GOPERF1
043246,001990: 15,3212 16001 TCF GOTOPOOH # VB34 - TERMINATE
043247,001991: 15,3213 13561 TCF P57JUMP # VB33 - PROCEED TO RE-ALIGN
043248,001992: 15,3214 44752 CS BIT2 # TEST TO SE IF ALIGNED BY OPTION 2
043249,001993: 15,3215 61145 AD OPTION2
043250,001994: 15,3216 00006 EXTEND
043251,001995: 15,3217 13221 BZF +2 # YES - GO CALCULATE LANDING SITE
043252,001996: 15,3220 16001 TCF GOTOPOOH # NO - EXIT P57
043253,001997: 15,3221 05353 TC PHASCHNG # RESTART PLACE
043254,001998: 15,3222 04024 OCT 04024
043255,001999: 15,3223 06037 TC INTPRET
043256,002000: 15,3224 45175 VLOAD CALL # USE GNB
043257,002001: 15,3225 02231 GSAV
043258,002002: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
043259,002003: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
043260,002004: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
043261,002005: 15,3231 01463 LUNAFLAG
043262,002006: 15,3232 51515 PDVL ABVAL
043263,002007: 15,3233 02023 RLS
043264,002008: 15,3234 45561 VXSC STADR
043265,002009: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
043266,002010: 15,3236 47014 CLEAR RTB
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Page 973 |
043268,002012: 15,3237 00662 ERADFLAG
043269,002013: 15,3240 21573 LOADTIME
043270,002014: 15,3241 77624 CALL
043271,002015: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
043272,002016: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
043273,002017: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
043274,002018: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
043275,002019: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
043276,002020: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
043277,002021: 15,3250 51670 R-TO-RP
043278,002022: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
043279,002023: 15,3252 77776 EXIT
043280,002024: 15,3253 16001 TCF GOTOPOOH # EXIT P57
043281,002025:
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Page 974 |
043283,002027: # COARSE AND FINE ALIGN IMU
043284,002028:
043285,002029: 15,3254 75160 COATRIM AXC,1 AXC,2
043286,002030: 15,3255 02664 XDC
043287,002031: 15,3256 02642 XSM
043288,002032: 15,3257 77624 CALL
043289,002033: 15,3260 31377 MATMOVE
043290,002034: 15,3261 77624 CALL
043291,002035: 15,3262 47537 CDUTRIG
043292,002036: 15,3263 77624 CALL
043293,002037: 15,3264 20030 CALCSMSC
043294,002038: 15,3265 77624 CALL
043295,002039: 15,3266 47353 CALCGA
043296,002040: 15,3267 77414 BOFF EXIT
043297,002041: 15,3270 04355 INITALGN # IF INITIAL ALGNMENT DISPLAY FINAL
043298,002042: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
043299,002043: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
043300,002044: 15,3273 04616 TC BANKCALL
043301,002045: 15,3274 20476 CADR GOFLASH
043302,002046: 15,3275 06001 TC GOTOPOOH
043303,002047: 15,3276 13300 TCF +2
043304,002048: 15,3277 13272 TCF -5
043305,002049: 15,3300 05353 TC PHASCHNG
043306,002050: 15,3301 04024 OCT 04024
043307,002051:
043308,002052: 15,3302 06037 TC INTPRET
043309,002053: 15,3303 77624 CORSIT CALL
043310,002054: 15,3304 31565 COARSE
043311,002055: 15,3305 77624 CALL
043312,002056: 15,3306 31602 NCOARSE
043313,002057: 15,3307 77624 CALL
043314,002058: 15,3310 32774 GYROTRIM
043315,002059: 15,3311 77650 GOTO
043316,002060: 15,3312 33161 SURFDISP
043317,002061: 15,3313 01535 DISPGYRO VN 0693
043318,002062:
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Page 975 |
043320,002064: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
043321,002065:
043322,002066: 15,3314 04616 P57 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
043323,002067: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOPOOH
043324,002068:
043325,002069: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
043326,002070: 15,3317 55145 TS OPTION2
043327,002071: 15,3320 34753 P57OPT CAF BIT1
043328,002072: 15,3321 04616 TC BANKCALL
043329,002073: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
043330,002074: 15,3323 06001 TC GOTOPOOH # V34 TERMINATE
043331,002075: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
043332,002076: 15,3325 13320 TCF P57OPT # V32 RECYCLE
043333,002077:
043334,002078: 15,3326 05353 TC PHASCHNG
043335,002079: 15,3327 00014 OCT 00014
043336,002080: 15,3330 05155 TC ENDOFJOB
043337,002081:
043338,002082: 15,3331 31145 ALIGNOPT CA OPTION2
043339,002083: 15,3332 76245 MASK THREE
043340,002084: 15,3333 50000 INDEX A
043341,002085: 15,3334 13335 TCF +1
043342,002086: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
043343,002087: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
043344,002088: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
043345,002089: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
043346,002090: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
043347,002091: 15,3342 01733 REFSMMAT
043348,002092: 15,3343 03606 XSMD
043349,002093: 15,3344 77624 CALL
043350,002094: 15,3345 31377 MATMOVE
043351,002095: 15,3346 77650 GOTO
043352,002096: 15,3347 33410 PACKOPTN -1
043353,002097:
043354,002098: 15,3350 06037 TDISP TC INTPRET
043355,002099: 15,3351 77745 DLOAD
043356,002100: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
043357,002101: 15,3353 01046 P57A STORE DSPTEM1
043358,002102: 15,3354 77776 EXIT
043359,002103: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
043360,002104: 15,3356 04616 TC BANKCALL
043361,002105: 15,3357 20476 CADR GOFLASH
043362,002106: 15,3360 16001 TCF GOTOPOOH # V34 - TERMINATE
043363,002107: 15,3361 13363 TCF +2
043364,002108: 15,3362 13355 TCF P57AA # VB32 - RECYCLE
043365,002109:
043366,002110: 15,3363 06037 TC INTPRET
043367,002111: 15,3364 65234 RTB PDDL
043368,002112: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
043369,002113: 15,3366 01046 DSPTEM1
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Page 976 |
043371,002115: 15,3367 65254 BZE PDDL
043372,002116: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
043373,002117: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043374,002118: 15,3372 01046 DSPTEM1
043375,002119: 15,3373 33400 P57C
043376,002120: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
043377,002121: 15,3375 74335 STORE TIG # STORE IT IN TIG
043378,002122: 15,3376 36775 STCALL TALIGN
043379,002123: 15,3377 33402 P57D
043380,002124: 15,3400 45545 P57C DLOAD STADR
043381,002125: 15,3401 75002 STORE TALIGN
043382,002126: 15,3402 34041 P57D STCALL TDEC1
043383,002127: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
043384,002128: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
043385,002129: 15,3405 00001 RATT
043386,002130: 15,3406 37607 STCALL XSMD
043387,002131: 15,3407 11013 LSORIENT
043388,002132: 15,3410 77776 EXIT
043389,002133: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
043390,002134: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
043391,002135: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
043392,002136: 15,3414 34737 CAF REFSMBIT
043393,002137: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
043394,002138: 15,3416 10000 CCS A
043395,002139: 15,3417 34745 CAF BIT7 # SET
043396,002140: 15,3420 27146 ADS OPTION1 +2 # CLEAR - JUST ZERO
043397,002141: 15,3421 34753 CAF ATTFLBIT
043398,002142: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
043399,002143: 15,3423 10000 CCS A
043400,002144: 15,3424 34750 CAF BIT4 # SET
043401,002145: 15,3425 27146 ADS OPTION1 +2 # CLEAR - ZERO IN A
043402,002146: 15,3426 34750 CAF BIT4
043403,002147: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
043404,002148:
043405,002149: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
043406,002150: 15,3431 04616 TC BANKCALL
043407,002151: 15,3432 20476 CADR GOFLASH
043408,002152: 15,3433 16001 TCF GOTOPOOH # VB34 - TERMINATE
043409,002153: 15,3434 13436 TCF +2 # V33 - PROCEED
043410,002154: 15,3435 13430 TCF DSPOPTN # V32 - RECYCLE
043411,002155:
043412,002156: 15,3436 34737 CAF REFSMBIT
043413,002157: 15,3437 70077 MASK FLAGWRD3
043414,002158: 15,3440 10000 CCS A
043415,002159: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
043416,002160: 15,3442 34753 CAF ATTFLBIT # CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
043417,002161: 15,3443 70102 MASK FLAGWRD6
043418,002162: 15,3444 10000 CCS A
043419,002163: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043420,002164: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
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Page 977 |
043422,002166: 15,3447 71145 MASK OPTION2
043423,002167: 15,3450 10000 CCS A
043424,002168: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043425,002169: 15,3452 05567 TC ALARM # OPTION INCONSISTANT WITH FLAGS - ALARM 701
043426,002170: 15,3453 00701 OCT 701
043427,002171: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
043428,002172: 15,3455 04616 TC BANKCALL
043429,002173: 15,3456 20476 CADR GOFLASH
043430,002174: 15,3457 16001 TCF GOTOPOOH # VB34 - TERMINATE
043431,002175: 15,3460 13430 TCF DSPOPTN # V33 - PROCEED ********TEMPORARY
043432,002176: 15,3461 13430 TCF DSPOPTN # VB32 - RECYCLE TO OPTION DISPLAY V 05N06
043433,002177:
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Page 978 |
043435,002179: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043436,002180:
043437,002181: 15,3462 40220 MFREF STQ SETPD
043438,002182: 15,3463 02746 QMAJ
043439,002183: 15,3464 00001 0
043440,002184: 15,3465 77634 RTB
043441,002185: 15,3466 21573 LOADTIME
043442,002186: 15,3467 27562 STOVL TSIGHT
043443,002187: 15,3470 02723 VEC1
043444,002188: 15,3471 41525 PDDL PUSH
043445,002189: 15,3472 03562 TSIGHT
043446,002190: 15,3473 77624 CALL
043447,002191: 15,3474 55716 RP-TO-R
043448,002192: 15,3475 26723 STOVL VEC1
043449,002193: 15,3476 02731 VEC2
043450,002194: 15,3477 65201 SETPD PDDL
043451,002195: 15,3500 00001 0
043452,002196: 15,3501 03562 TSIGHT
043453,002197: 15,3502 45006 PUSH CALL
043454,002198: 15,3503 55716 RP-TO-R
043455,002199: 15,3504 36731 STCALL VEC2
043456,002200: 15,3505 02746 QMAJ
043457,002201:
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Page 979 |
043459,002203: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043460,002204: # STORE IN YNBSAV AND ZNBSAV
043461,002205:
043462,002206: 15,3506 45020 REFMF STQ CALL
043463,002207: 15,3507 02746 QMAJ
043464,002208: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
043465,002209: 15,3511 40234 RTB SETPD
043466,002210: 15,3512 21573 LOADTIME
043467,002211: 15,3513 00001 0
043468,002212: 15,3514 37562 STCALL TSIGHT
043469,002213: 15,3515 20030 CALCSMSC # GET YNB IN SM
043470,002214: 15,3516 61375 VLOAD VXM
043471,002215: 15,3517 02673 YNB
043472,002216: 15,3520 01734 REFSMMAT # YNB TO REF
043473,002217: 15,3521 65256 UNIT PDDL
043474,002218: 15,3522 03562 TSIGHT
043475,002219: 15,3523 45006 PUSH CALL
043476,002220: 15,3524 51670 R-TO-RP
043477,002221: 15,3525 26237 STOVL YNBSAV # YNB TO MF
043478,002222: 15,3526 02701 ZNB
043479,002223: 15,3527 53505 VXM UNIT
043480,002224: 15,3530 01734 REFSMMAT # ZNB TO REF
043481,002225: 15,3531 41525 PDDL PUSH
043482,002226: 15,3532 03562 TSIGHT
043483,002227: 15,3533 77624 CALL
043484,002228: 15,3534 51670 R-TO-RP # ZNB TO MF
043485,002229: 15,3535 02245 STORE ZNBSAV
043486,002230: 15,3536 77614 SETGO
043487,002231: 15,3537 03036 ATTFLAG
043488,002232: 15,3540 02746 QMAJ
043489,002233:
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Page 980 |
043491,002235: # BRANCH TO ALIGNMENT OPTION
043492,002236:
043493,002237: 15,3541 06037 GETLMATT TC INTPRET
043494,002238: 15,3542 77624 CALL
043495,002239: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
043496,002240: 15,3544 77776 EXIT
043497,002241:
043498,002242: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
043499,002243: 15,3546 00205 ADRES INITALGN
043500,002244: 15,3547 34753 CAF BIT1
043501,002245: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
043502,002246: 15,3551 10000 CCS A
043503,002247: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
043504,002248:
043505,002249: 15,3553 05353 ATTCHK TC PHASCHNG
043506,002250: 15,3554 04024 OCT 04024
043507,002251:
043508,002252: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
043509,002253: 15,3556 70102 MASK FLAGWRD6
043510,002254: 15,3557 10000 CCS A
043511,002255: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
043512,002256: 15,3561 05353 P57JUMP TC PHASCHNG
043513,002257: 15,3562 04024 OCT 04024
043514,002258:
043515,002259: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR - RESET INTALIGN FLAG
043516,002260: 15,3564 00205 ADRES INITALGN
043517,002261: 15,3565 36245 CAF THREE
043518,002262: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
043519,002263: 15,3567 50000 INDEX A
043520,002264: 15,3570 13571 TCF +1
043521,002265: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
043522,002266: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
043523,002267: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
043524,002268: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
043525,002269:
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Page 981 |
043527,002271: # OPTION 0, GET TWO ATTITUDE VECS
043528,002272:
043529,002273: 15,3575 06037 P57OPT0 TC INTPRET
043530,002274: 15,3576 77775 VLOAD
043531,002275: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
043532,002276: 15,3600 26723 STOVL VEC1
043533,002277: 15,3601 02245 ZNBSAV
043534,002278: 15,3602 36731 STCALL VEC2
043535,002279: 15,3603 47537 CDUTRIG
043536,002280: 15,3604 77624 CALL
043537,002281: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
043538,002282: 15,3606 77775 VLOAD
043539,002283: 15,3607 02673 YNB
043540,002284: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
043541,002285: 15,3611 02701 ZNB
043542,002286: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
043543,002287: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
043544,002288: 15,3614 77650 GOTO
043545,002289: 15,3615 33101 SURFLINE
043546,002290:
043547,002291: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043548,002292:
043549,002293: 15,3616 06037 P57OPT1 TC INTPRET
043550,002294: 15,3617 53575 VLOAD UNIT
043551,002295: 15,3620 02023 RLS # LANDING SITE VEC
043552,002296: 15,3621 26723 STOVL VEC1
043553,002297: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
043554,002298: 15,3623 36731 STCALL VEC2
043555,002299: 15,3624 47537 CDUTRIG
043556,002300: 15,3625 77624 CALL
043557,002301: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
043558,002302: 15,3627 45175 VLOAD CALL
043559,002303: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
043560,002304: 15,3631 47661 CDU*NBSM
043561,002305: 15,3632 77650 GOTO
043562,002306: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
043563,002307:
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Page 982 |
043565,002309: # OPTION 2, GET TWO STAR SIGHTINGS
043566,002310:
043567,002311: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
043568,002312:
043569,002313: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043570,002314:
043571,002315: 15,3635 06037 P57OPT3 TC INTPRET
043572,002316: 15,3636 53575 VLOAD UNIT
043573,002317: 15,3637 02023 RLS # LANDING SITE VEC
043574,002318: 15,3640 02723 STORE VEC1
043575,002319: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
043576,002320: 15,3642 02231 GSAV # GRAVITY VEC NB
043577,002321: 15,3643 77624 CALL
043578,002322: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
043579,002323: 15,3645 36761 STCALL STARSAV1
043580,002324: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
043581,002325: 15,3647 77776 EXIT
043582,002326: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
043583,002327:
043584,002328: 15,3651 01206 VB05N06 VN 506
043585,002329:
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Page 983 |
043587,002331: # CHECK IMODES30 TO VARIFY IMU IS ON
043588,002332:
043589,002333: 15,3652 41302 IMUCHK CS IMODES30
043590,002334: 15,3653 74743 MASK BIT9
043591,002335: 15,3654 10000 CCS A # IS IMU ON
043592,002336: 15,3655 13661 TCF +4 # YES
043593,002337:
043594,002338: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
043595,002339: 15,3657 00210 OCT 210
043596,002340: 15,3660 06001 TC GOTOPOOH
043597,002341:
043598,002342: 15,3661 05504 TC UPFLAG
043599,002343: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
043600,002344:
043601,002345: 15,3663 04631 TC SWRETURN
043602,002346:
043603,002347: 04,3013 BANK 04
043604,002348: 04,2000 SETLOC AOTMARK2
043605,002349: 04,2000 BANK
043606,002350: 04,3013 COUNT* $$/P57
043607,002351:
043608,002352: 04,3013 77220 LSORIENT STQ VLOAD
043609,002353: 04,3014 02746 QMAJ
043610,002354: 04,3015 01555 RRECTCSM
043611,002355: 04,3016 47235 VXV VXV
043612,002356: 04,3017 01563 VRECTCSM
043613,002357: 04,3020 03607 XSMD
043614,002358: 04,3021 77656 UNIT
043615,002359: 04,3022 03623 STORE ZSMD
043616,002360: 04,3023 53435 VXV UNIT
043617,002361: 04,3024 03607 XSMD
043618,002362: 04,3025 37615 STCALL YSMD
043619,002363: 04,3026 02746 QMAJ
043620,002364:
End of include-file P51-P53.agc. Parent file is MAIN.agc