Source Code
040210,000001: # Copyright: Public domain.
040211,000002: # Filename: P51-P53.agc
040212,000003: # Purpose: Part of the source code for Luminary 1A build 099.
040213,000004: # It is part of the source code for the Lunar Module's (LM)
040214,000005: # Apollo Guidance Computer (AGC), for Apollo 11.
040215,000006: # Assembler: yaYUL
040216,000007: # Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
040217,000008: # Website: www.ibiblio.org/apollo.
040218,000009: # Pages: 926-983
040219,000010: # Mod history: 2009-05-31 HG Transcribed from page images.
040220,000011: # 2009-06-07 RSB Corrected a typo.
040221,000012:
040222,000013: # This source code has been transcribed or otherwise adapted from
040223,000014: # digitized images of a hardcopy from the MIT Museum. The digitization
040224,000015: # was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040225,000016: # the Museum. Many thanks to both. The images (with suitable reduction
040226,000017: # in storage size and consequent reduction in image quality as well) are
040227,000018: # available online at www.ibiblio.org/apollo. If for some reason you
040228,000019: # find that the images are illegible, contact me at info@sandroid.org
040229,000020: # about getting access to the (much) higher-quality images which Paul
040230,000021: # actually created.
040231,000022:
040232,000023: # Notations on the hardcopy document read, in part:
040233,000024:
040234,000025: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040235,000026: # 16:27 JULY 14, 1969
040236,000027:
040237,000028: # Page 926
040238,000029: # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967
040239,000030: # MOD NO -- 0 LOG SECTION -- P51-P53
040240,000031: # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46
040241,000032:
040242,000033: # FUNCTIONAL DESCRIPTION --
040243,000034:
040244,000035: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
040245,000036: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE:
040246,000037:
040247,000038: # (A) PREFERRED ORIENTATION
040248,000039:
040249,000040: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND
040250,000041: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
040251,000042:
040252,000043: # (B) NOMINAL ORIENTATION
040253,000044:
040254,000045: # X = UNIT ( R )
040255,000046: # -SM
040256,000047:
040257,000048: # Y = UNIT (V X R)
040258,000049: # SM
040259,000050:
040260,000051: # Z = UNIT (X X Y )
040261,000052: # SM SM SM
040262,000053:
040263,000054: # WHERE:
040264,000055:
040265,000056: # R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040266,000057: # -
040267,000058:
040268,000059: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040269,000060: # -
040270,000061:
040271,000062: # (C) RERSMMAT ORIENTATION
040272,000063:
040273,000064: # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE
040274,000065:
040275,000066: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040276,000067: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURRED
040277,000068: # SINCE THE LAST ALIGNMENT).
040278,000069:
040279,000070: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040280,000071: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040281,000072: # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
040282,000073: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS
040283,000074: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
040284,000075: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
040285,000076: # REQUESTED.
040286,000077:
040287,000078: # CALLING SEQUENCE --
040288,000079:
040289,000080: # Page 927
040290,000081: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040291,000082:
040292,000083: # SUBROUTINES CALLED --
040293,000084:
040294,000085: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
040295,000086: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
040296,000087: # 3. GOPERF4 9. FLAGUP
040297,000088: # 4. MATMOVE 10. R56
040298,000089: # 5. GOFLASH 11. R51
040299,000090: # 6. S52.3 12. GOPERF3
040300,000091:
040301,000092: # NORMAL EXIT MODES --
040302,000093:
040303,000094: # EXITS TO ENDOFJOB
040304,000095:
040305,000096: # ALARM OR ABORT EXIT MODES --
040306,000097:
040307,000098: # NONE
040308,000099:
040309,000100: # OUTPUT --
040310,000101:
040311,000102: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
040312,000103: # 1. IMU ORIENTATION CODE
040313,000104: # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED
040314,000105: # 3. TIME OF NEXT IGNITION
040315,000106: # 4. GIMBAL ANGLES
040316,000107: # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE
040317,000108: # 6. PLEASE PERFORM P00
040318,000109: # THE MODE DISPLAY MAY BE CHANGED TO 20
040319,000110:
040320,000111: # ERASABLE INITIALIZATION REQUIRED --
040321,000112:
040322,000113: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
040323,000114: # XSMD, YSMD, ZSMD.
040324,000115:
040325,000116: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040326,000117:
040327,000118: # DEBRIS --
040328,000119:
040329,000120: # WORK AREA
040330,000121:
040331,000122: 33,3777 BANK 33
040332,000123: 15,2000 SETLOC P50S
040333,000124: 15,2000 BANK
040334,000125:
040335,000126: 15,2050 E5,1755 EBANK= BESTI
040336,000127: 15,2050 COUNT* $$/P52
040337,000128: 15,2050 04616 PROG52 TC BANKCALL
040338,000129: 15,2051 11254 CADR R02BOTH # IMU STATUS CHECK
040339,000130: 15,2052 34750 CAF PFRATBIT
040340,000131: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
040341,000132: 15,2054 10000 CCS A
040342,000133: # Page 928
040343,000134: 15,2055 02060 TC P52A # YES
040344,000135: 15,2056 34752 CAF BIT2 # NO
040345,000136: 15,2057 02061 TC P52A +1
040346,000137: 15,2060 34753 P52A CAF BIT1
040347,000138: 15,2061 55145 TS OPTION2
040348,000139: 15,2062 34753 P52B CAF BIT1
040349,000140: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
040350,000141: 15,2064 20713 CADR GOPERF4R # FLASH V04N06
040351,000142: 15,2065 06001 TC GOTOP00H
040352,000143: 15,2066 12073 TCF +5 # V33 -- PROCEED
040353,000144: 15,2067 02062 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT
040354,000145: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
040355,000146: 15,2071 00014 OCT 00014
040356,000147: 15,2072 05155 TC ENDOFJOB
040357,000148:
040358,000149: 15,2073 31145 CA OPTION2
040359,000150: 15,2074 76245 MASK THREE
040360,000151: 15,2075 50000 INDEX A
040361,000152: 15,2076 02077 TC +1
040362,000153: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
040363,000154: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
040364,000155: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
040365,000156: 15,2102 06037 P52E TC INTPRET # OPTION 3 REFSMMAT
040366,000157: 15,2103 77650 GOTO
040367,000158: 15,2104 32164 P52F # GO DO R51
040368,000159:
040369,000160: 15,2105 00006 OPT4 EXTEND
040370,000161: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
040371,000162: 15,2107 12112 TCF P52T +2
040372,000163:
040373,000164: 15,2110 00006 P52T EXTEND
040374,000165: 15,2111 34755 DCA NEG0
040375,000166: 15,2112 53046 DXCH DSPTEM1
040376,000167: 15,2113 32170 CAF V06N34*
040377,000168: 15,2114 04616 TC BANKCALL
040378,000169: 15,2115 20476 CADR GOFLASH
040379,000170: 15,2116 06001 TC GOTOP00H
040380,000171: 15,2117 02121 TC +2
040381,000172: 15,2120 02113 TC -5
040382,000173: 15,2121 53046 DXCH DSPTEM1
040383,000174: 15,2122 00006 EXTEND
040384,000175: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
040385,000176: 15,2124 12127 TCF +3
040386,000177: 15,2125 00006 EXTEND
040387,000178: 15,2126 30025 DCA TIME2
040388,000179: 15,2127 53775 DXCH TALIGN
040389,000180: 15,2130 31145 P52V CA OPTION2
040390,000181: 15,2131 74752 MASK BIT2
040391,000182: 15,2132 10000 CCS A
040392,000183: 15,2133 02137 TC P52W
040393,000184: # Page 929
040394,000185: 15,2134 06037 TC INTPRET # OPTION 4 -- GET LS ORIENTATION
040395,000186: 15,2135 77650 GOTO
040396,000187: 15,2136 32220 P52LS
040397,000188:
040398,000189: # Page 930
040399,000190: 15,2137 06037 P52W TC INTPRET
040400,000191: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
040401,000192: 15,2141 02775 TALIGN # COMPUTED NOMINAL IMU
040402,000193: 15,2142 31650 S52.3 # ORIENTATION
040403,000194: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
040404,000195: 15,2144 31617 S52.2 # COMPUTE GIMBAL ANGLES
040405,000196: 15,2145 77776 EXIT
040406,000197: 15,2146 35010 CAF V06N22
040407,000198: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
040408,000199: 15,2150 20476 CADR GOFLASH
040409,000200: 15,2151 06001 TC GOTOP00H
040410,000201: 15,2152 12171 TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE
040411,000202: 15,2153 06037 P52H TC INTPRET
040412,000203: 15,2154 77650 GOTO
040413,000204: 15,2155 32143 P52D
040414,000205: 15,2156 06037 REGCOARS TC INTPRET
040415,000206: 15,2157 77624 CALL # DO COARSE ALIGN
040416,000207: 15,2160 31327 CAL53A # ROUTINE
040417,000208: 15,2161 43014 COARSRET SET CLEAR
040418,000209: 15,2162 01462 REFSMFLG
040419,000210: 15,2163 01273 PFRATFLG
040420,000211: 15,2164 77624 P52F CALL
040421,000212: 15,2165 31015 R51
040422,000213: 15,2166 77776 P52OUT EXIT
040423,000214: 15,2167 06001 TC GOTOP00H
040424,000215: 15,2170 5006 VB05N09 = V05N09
040425,000216: 15,2170 01442 V06N34* VN 634
040426,000217:
040427,000218: # Page 931
040428,000219: # CHECK FOR GYRO TORQUE COARSE ALIGNMENT
040429,000220:
040430,000221: 15,2171 32217 COARSTYP CAF OCT13
040431,000222: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040432,000223: 15,2173 20623 CADR GOPERF1
040433,000224: 15,2174 16001 TCF GOTOP00H # V34 -- TERMIN&OE
040434,000225: 15,2175 12156 TCF REGCOARS # V33 -- NORMAL COARSE
040435,000226: 15,2176 06037 TC INTPRET # V32 -- GYRO TORQUE COARSE
040436,000227: 15,2177 64375 VLOAD MXV
040437,000228: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
040438,000229: 15,2201 01734 REFSMMAT
040439,000230: 15,2202 77656 UNIT
040440,000231: 15,2203 26665 STOVL XDC
040441,000232: 15,2204 03615 YSMD
040442,000233: 15,2205 53521 MXV UNIT
040443,000234: 15,2206 01734 REFSMMAT
040444,000235: 15,2207 26673 STOVL YDC
040445,000236: 15,2210 03623 ZSMD
040446,000237: 15,2211 53521 MXV UNIT
040447,000238: 15,2212 01734 REFSMMAT
040448,000239: 15,2213 36701 STCALL ZDC
040449,000240: 15,2214 31164 GYCOARS
040450,000241: 15,2215 77650 GOTO
040451,000242: 15,2216 32166 P52OUT
040452,000243: 15,2217 00013 OCT13 OCT 13
040453,000244:
040454,000245: # Page 932
040455,000246: # COMPUTE LANDING ORIENTATION FOR OPTION 4
040456,000247:
040457,000248: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
040458,000249: 15,2221 01463 LUNAFLAG
040459,000250: 15,2222 00662 ERADFLAG # TO PICK UP RLS
040460,000251: 15,2223 77201 SETPD VLOAD
040461,000252: 15,2224 00001 0
040462,000253: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
040463,000254: 15,2226 41525 PDDL PUSH # RLS PD 0-5
040464,000255: 15,2227 02775 TALIGN
040465,000256: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
040466,000257: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
040467,000258: 15,2232 77742 VSR2
040468,000259: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
040469,000260: 15,2234 02775 TALIGN
040470,000261: 15,2235 77624 CALL
040471,000262: 15,2236 30446 N89DISP
040472,000263: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
040473,000264: 15,2240 02032 ALPHAV
040474,000265: 15,2241 37607 STCALL XSMD
040475,000266: 15,2242 11013 LSORIENT
040476,000267: 15,2243 77650 GOTO
040477,000268: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES.
040478,000269:
040479,000270: # Page 933
040480,000271: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040481,000272:
040482,000273: 14,2000 SETLOC P50S1
040483,000274: 14,2000 BANK
040484,000275: 14,2446 E5,1642 EBANK= XSM
040485,000276:
040486,000277: 14,2446 77620 N89DISP STQ
040487,000278: 14,2447 02746 QMAJ
040488,000279: 14,2450 35243 STCALL GDT/2 +4 # TEMP STORE TIME
040489,000280: 14,2451 26351 LAT-LONG
040490,000281: 14,2452 70545 DLOAD SR1
040491,000282: 14,2453 01123 LONG
040492,000283: 14,2454 16711 STODL LANDLONG
040493,000284: 14,2455 01125 ALT
040494,000285: 14,2456 16713 STODL LANDALT
040495,000286: 14,2457 01121 LAT
040496,000287: 14,2460 16707 STODL LANDLAT
040497,000288: 14,2461 77776 EXIT
040498,000289:
040499,000290: 14,2462 32505 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
040500,000291: 14,2463 04616 TC BANKCALL
040501,000292: 14,2464 20476 CADR GOFLASH
040502,000293: 14,2465 16001 TCF GOTOP00H # V34 -- TERMINATE -- EXIT P57
040503,000294: 14,2466 12470 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA
040504,000295: 14,2467 12462 TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS
040505,000296:
040506,000297: 14,2470 06037 TC INTPRET
040507,000298: 14,2471 72545 DLOAD SL1
040508,000299: 14,2472 02711 LANDLONG
040509,000300: 14,2473 15123 STODL LONG
040510,000301: 14,2474 02713 LANDALT
040511,000302: 14,2475 15125 STODL ALT
040512,000303: 14,2476 02707 LANDLAT
040513,000304: 14,2477 15121 STODL LAT
040514,000305: 14,2500 01243 GDT/2 +4 # PICK UP TIME
040515,000306: 14,2501 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
040516,000307: 14,2502 26422 LALOTORV # RLS B-29 IN MPAC AND ALPHAV
040517,000308: 14,2503 77650 GOTO
040518,000309: 14,2504 02746 QMAJ
040519,000310: 14,2505 01531 V06N89* VN 689
040520,000311:
040521,000312: # Page 934
040522,000313: # NAME -- S50 ALIAS LOCSAM
040523,000314: # BY
040524,000315: # VINCENT
040525,000316:
040526,000317: # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET
040527,000318:
040528,000319: # DEFINE
040529,000320:
040530,000321: # U = UNIT( SUN WRT EARTH )
040531,000322: # ES
040532,000323:
040533,000324: # U = UNIT( MOON WRT EARTH )
040534,000325: # EM
040535,000326:
040536,000327: # R = POSITION VECTOR OF LEM
040537,000328: # L
040538,000329:
040539,000330: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040540,000331: # EM
040541,000332:
040542,000333: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
040543,000334: # EM
040544,000335:
040545,000336: # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH
040546,000337: # E
040547,000338:
040548,000339: # LOCSAM COMPUTES IN EARTH INFLUENCE
040549,000340:
040550,000341: # VSUN = U
040551,000342: # ES
040552,000343:
040553,000344: # VEARTH = -UNIT( R )
040554,000345: # L
040555,000346:
040556,000347: # VMOON = UNIT(R .U - R )
040557,000348: # EM EM L
040558,000349:
040559,000350: # CSUN = COS 90
040560,000351:
040561,000352: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040562,000353: # E L
040563,000354:
040564,000355: # CMOON = COS 5
040565,000356:
040566,000357: # INPUT -- TIME IN MPAC
040567,000358:
040568,000359: # OUTPUT -- LISTED ABOVE
040569,000360:
040570,000361: # SUBROUTINES -- LSPOS, LEMPREC
040571,000362:
040572,000363: # DEBRIS -- VAC AREA, TSIGHT
040573,000364:
040574,000365: # Page 935
040575,000366: 14,2506 COUNT* $$/LOSAM
040576,000367:
040577,000368: 14,2506 14,2506 S50 = LOCSAM
040578,000369: 14,2506 77620 LOCSAM STQ
040579,000370: 14,2507 02745 QMIN
040580,000371: 14,2510 37562 STCALL TSIGHT
040581,000372: 14,2511 33664 LSPOS
040582,000373: 14,2512 77745 DLOAD
040583,000374: 14,2513 03562 TSIGHT
040584,000375: 14,2514 34041 STCALL TDEC1
040585,000376: 14,2515 27057 LEMPREC
040586,000377: 14,2516 61131 SSP TIX,2
040587,000378: 14,2517 00052 S2
040588,000379: 14,2520 00000 0
040589,000380: 14,2521 30543 MOONCNTR
040590,000381: 14,2522 74375 EARTCNTR VLOAD VXSC
040591,000382: 14,2523 02723 VMOON
040592,000383: 14,2524 30001 RSUBEM
040593,000384: 14,2525 52372 VSL1 VSU
040594,000385: 14,2526 00001 RATT
040595,000386: 14,2527 77656 UNIT
040596,000387: 14,2530 26723 STOVL VMOON
040597,000388: 14,2531 00001 RATT
040598,000389: 14,2532 57456 UNIT VCOMP
040599,000390: 14,2533 16707 STODL VEARTH
040600,000391: 14,2534 30005 RSUBE
040601,000392: 14,2535 77624 CALL
040602,000393: 14,2536 30575 OCCOS
040603,000394: 14,2537 14017 STODL CEARTH
040604,000395: 14,2540 30604 CSS5
040605,000396: 14,2541 34023 STCALL CMOON
040606,000397: 14,2542 30570 ENDSAM
040607,000398: 14,2543 74375 MOONCNTR VLOAD VXSC
040608,000399: 14,2544 02723 VMOON
040609,000400: 14,2545 30007 ROE
040610,000401: 14,2546 53445 BVSU UNIT
040611,000402: 14,2547 02715 VSUN
040612,000403: 14,2550 26715 STOVL VSUN
040613,000404: 14,2551 02723 VMOON
040614,000405: 14,2552 53361 VXSC VAD
040615,000406: 14,2553 30001 RSUBEM
040616,000407: 14,2554 00001 RATT
040617,000408: 14,2555 57456 UNIT VCOMP
040618,000409: 14,2556 26707 STOVL VEARTH
040619,000410: 14,2557 00001 RATT
040620,000411: 14,2560 57456 UNIT VCOMP
040621,000412: 14,2561 16723 STODL VMOON
040622,000413: 14,2562 30003 RSUBM
040623,000414: 14,2563 77624 CALL
040624,000415: 14,2564 30575 OCCOS
040625,000416: # Page 936
040626,000417: 14,2565 14023 STODL CMOON
040627,000418: 14,2566 30604 CSS5
040628,000419: 14,2567 00017 STORE CEARTH
040629,000420: 14,2570 77745 ENDSAM DLOAD
040630,000421: 14,2571 30606 CSSUN
040631,000422: 14,2572 00021 STORE CSUN
040632,000423: 14,2573 77650 GOTO
040633,000424: 14,2574 02745 QMIN
040634,000425: 14,2575 70471 OCCOS DDV SR1
040635,000426: 14,2576 00045 36D
040636,000427: 14,2577 43336 ASIN DAD
040637,000428: 14,2600 30610 5DEGREES
040638,000429: 14,2601 70546 COS SR1
040639,000430: 14,2602 77616 RVQ
040640,000431: 14,2603 CEARTH = 14D
040641,000432: 14,2603 CSUN = 16D
040642,000433: 14,2603 CMOON = 18D
040643,000434: 14,2603 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
040644,000435: 14,2605 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
040645,000436: 14,2607 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
040646,000437:
040647,000438: # Page 937
040648,000439: # PROGRAM NAME -- R56 DATE: DEC 20 66
040649,000440: # MOD 1 LOG SECTION: P51-P53
040650,000441: # ASSEMBLY: SUNDISK REV4D
040651,000442: # BY KEN VINCENT
040652,000443:
040653,000444: # FUNCTION
040654,000445: # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040655,000446: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040656,000447: # WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED
040657,000448: # TO DETERMIN IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A
040658,000449: # STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STARS OF LOWER INDEX.
040659,000450: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040660,000451: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
040661,000452: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040662,000453: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040663,000454: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
040664,000455: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040665,000456: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040666,000457:
040667,000458: # CALLING SEQUENCE
040668,000459: # L TC BANKCALL
040669,000460: # L+1 CADR R56
040670,000461: # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW
040671,000462: # L+3 NORMAL RETURN
040672,000463:
040673,000464: # OUTPUT
040674,000465: # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040675,000466: # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040676,000467:
040677,000468: # INITIALIZATION
040678,000469: # 1) A CALL TO LOCSAM MUST BE MADE
040679,000470:
040680,000471: # DEBRIS
040681,000472: # WORKAREA
040682,000473: # X,Y,ZNB
040683,000474: # SINCDU, COSCDU
040684,000475: # STARAD -- STAR +5
040685,000476:
040686,000477: 14,2611 14,2611 R56 = PICAPAR
040687,000478: 14,2611 COUNT* $$/R56
040688,000479: 14,2611 04645 PICAPAR TC MAKECADR
040689,000480: 14,2612 55745 TS QMIN
040690,000481: 14,2613 06037 TC INTPRET
040691,000482: 14,2614 77624 CALL
040692,000483: 14,2615 47537 CDUTRIG
040693,000484: 14,2616 77624 CALL
040694,000485: 14,2617 20030 CALCSMSC
040695,000486: 14,2620 77601 SETPD
040696,000487: 14,2621 00001 0
040697,000488: 14,2622 71214 SET DLOAD # VFLAG = 1
040698,000489: 14,2623 01465 VFLAG
040699,000490: # Page 938
040700,000491: 14,2624 24007 DPZERO
040701,000492: 14,2625 26756 STOVL BESTI
040702,000493: 14,2626 02665 XNB
040703,000494: 14,2627 63361 VXSC PDVL
040704,000495: 14,2630 24005 HALFDP
040705,000496: 14,2631 02701 ZNB
040706,000497: 14,2632 74370 AXT,1 VXSC
040707,000498: 14,2633 00344 228D # X1 = 37 X 6 + 6
040708,000499: 14,2634 24005 HALFDP
040709,000500: 14,2635 77655 VAD
040710,000501: 14,2636 53505 VXM UNIT
040711,000502: 14,2637 01734 REFSMMAT
040712,000503: 14,2640 02731 STORE SAX # SAX = SHAFT AXIS
040713,000504: 14,2641 66331 SSP SSP # S1 = S2 = 6
040714,000505: 14,2642 00051 S1
040715,000506: 14,2643 00006 6
040716,000507: 14,2644 00052 S2
040717,000508: 14,2645 00006 6
040718,000509: 14,2646 52100 PIC1 TIX,1 GOTO # MAJOR STAR
040719,000510: 14,2647 30651 PIC2
040720,000511: 14,2650 30766 PICEND
040721,000512: 14,2651 50373 PIC2 VLOAD* DOT
040722,000513: 14,2652 30347 CATLOG,1
040723,000514: 14,2653 02731 SAX
040724,000515: 14,2654 50025 DSU BMN
040725,000516: 14,2655 30765 CSS33
040726,000517: 14,2656 30646 PIC1
040727,000518: 14,2657 77754 LXA,2
040728,000519: 14,2660 00046 X1
040729,000520: 14,2661 52104 PIC3 TIX,2 GOTO
040730,000521: 14,2662 30664 PIC4
040731,000522: 14,2663 30646 PIC1
040732,000523: 14,2664 50373 PIC4 VLOAD* DOT
040733,000524: 14,2665 47430 CATLOG,2
040734,000525: 14,2666 02731 SAX
040735,000526: 14,2667 50025 DSU BMN
040736,000527: 14,2670 30765 CSS33
040737,000528: 14,2671 30661 PIC3
040738,000529: 14,2672 47773 VLOAD* DOT*
040739,000530: 14,2673 30347 CATLOG,1
040740,000531: 14,2674 47430 CATLOG,2
040741,000532: 14,2675 51025 DSU BPL
040742,000533: 14,2676 30763 CSS40
040743,000534: 14,2677 30661 PIC3
040744,000535: 14,2700 45173 VLOAD* CALL
040745,000536: 14,2701 30347 CATLOG,1
040746,000537: 14,2702 30740 OCCULT
040747,000538: 14,2703 77614 BON
040748,000539: 14,2704 01710 CULTFLAG
040749,000540: 14,2705 30646 PIC1
040750,000541: # Page 939
040751,000542: 14,2706 45173 VLOAD* CALL
040752,000543: 14,2707 47430 CATLOG,2
040753,000544: 14,2710 30740 OCCULT
040754,000545: 14,2711 77614 BON
040755,000546: 14,2712 01710 CULTFLAG
040756,000547: 14,2713 30661 PIC3
040757,000548: 14,2714 77614 STRATGY BONCLR
040758,000549: 14,2715 01605 VFLAG
040759,000550: 14,2716 30733 NEWPAR
040760,000551: 14,2717 65120 XCHX,1 XCHX,2
040761,000552: 14,2720 02755 BESTI
040762,000553: 14,2721 02756 BESTJ
040763,000554: 14,2722 47773 STRAT VLOAD* DOT*
040764,000555: 14,2723 30347 CATLOG,1
040765,000556: 14,2724 47430 CATLOG,2
040766,000557: 14,2725 43006 PUSH BOFINV
040767,000558: 14,2726 01545 VFLAG
040768,000559: 14,2727 30717 STRAT -3
040769,000560: 14,2730 45345 DLOAD DSU
040770,000561: 14,2731 77644 BPL
040771,000562: 14,2732 30661 PIC3
040772,000563: 14,2733 67130 NEWPAR SXA,1 SXA,2
040773,000564: 14,2734 02755 BESTI
040774,000565: 14,2735 02756 BESTJ
040775,000566: 14,2736 77650 GOTO
040776,000567: 14,2737 30661 PIC3
040777,000568: 14,2740 51321 OCCULT MXV BVSU
040778,000569: 14,2741 02707 CULTRIX
040779,000570: 14,2742 00017 CSS
040780,000571: 14,2743 77654 BZE
040781,000572: 14,2744 30757 CULTED
040782,000573: 14,2745 75240 BMN SIGN
040783,000574: 14,2746 30757 CULTED
040784,000575: 14,2747 00160 MPAC +3
040785,000576: 14,2750 75240 BMN SIGN
040786,000577: 14,2751 30757 CULTED
040787,000578: 14,2752 00162 MPAC +5
040788,000579: 14,2753 43040 BMN CLRGO
040789,000580: 14,2754 30757 CULTED
040790,000581: 14,2755 01630 CULTFLAG
040791,000582: 14,2756 00052 QPRET
040792,000583: 14,2757 77614 CULTED SETGO
040793,000584: 14,2760 01430 CULTFLAG
040794,000585: 14,2761 00052 QPRET
040795,000586: 14,2762 0000016 CSS = CEARTH
040796,000587: 14,2762 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
040797,000588: 14,2764 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
040798,000589: 14,2766 77414 PICEND BOFF EXIT
040799,000590:
040800,000591: # Page 940
040801,000592: 14,2767 01745 VFLAG
040802,000593: 14,2770 30772 PICGXT
040803,000594: 14,2771 03013 TC PICBXT
040804,000595: 14,2772 73150 PICGXT LXA,1 LXA,2
040805,000596: 14,2773 02755 BESTI
040806,000597: 14,2774 02756 BESTJ
040807,000598: 14,2775 47775 VLOAD DOT*
040808,000599: 14,2776 02731 SAX
040809,000600: 14,2777 30347 CATLOG,1
040810,000601: 14,3000 47715 PDVL DOT*
040811,000602: 14,3001 02731 SAX
040812,000603: 14,3002 47430 CATLOG,2
040813,000604: 14,3003 77625 DSU
040814,000605: 14,3004 66044 BPL SXA,1
040815,000606: 14,3005 31011 PICNSWP
040816,000607: 14,3006 02756 BESTJ
040817,000608: 14,3007 77734 SXA,2
040818,000609: 14,3010 02755 BESTI
040819,000610: 14,3011 77776 PICNSWP EXIT
040820,000611: 14,3012 25745 INCR QMIN
040821,000612: 14,3013 31745 PICBXT CA QMIN
040822,000613: 14,3014 04622 TC SWCALL
040823,000614: 14,3015 VPD = 0D
040824,000615: 14,3015 V0 = 6D
040825,000616: 14,3015 V1 = 12D
040826,000617: 14,3015 V2 = 18D
040827,000618: 14,3015 V3 = 24D
040828,000619: 14,3015 DP0 = 30D
040829,000620: 14,3015 DP1 = 32D
040830,000621:
040831,000622: # Page 941
040832,000623: # NAME -- R51 FINE ALIGN
040833,000624: # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT
040834,000625: # CALLING SEQ -- CALL R51
040835,000626: # INPUT -- REFSMMAT
040836,000627: # OUTPUT -- GYRO TORQUE PULSES
040837,000628: # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55
040838,000629:
040839,000630: 14,3015 COUNT* $$/R51
040840,000631: 14,3015 77620 R51 STQ
040841,000632: 14,3016 02746 QMAJ
040842,000633: 14,3017 77776 R51.1 EXIT
040843,000634: 14,3020 05353 TC PHASCHNG
040844,000635: 14,3021 04024 OCT 04024
040845,000636:
040846,000637: 14,3022 34761 R51C CAF OCT15
040847,000638: 14,3023 04616 TC BANKCALL
040848,000639: 14,3024 20623 CADR GOPERF1
040849,000640: 14,3025 06001 TC GOTOP00H
040850,000641: 14,3026 03030 TC +2 # V33E
040851,000642: 14,3027 03053 TC R51E # ENTER
040852,000643: 14,3030 06037 TC INTPRET
040853,000644: 14,3031 43234 RTB DAD
040854,000645: 14,3032 21573 LOADTIME
040855,000646: 14,3033 31163 TSIGHT1
040856,000647: 14,3034 77624 CALL
040857,000648: 14,3035 30506 LOCSAM
040858,000649: 14,3036 77776 EXIT
040859,000650: 14,3037 04616 TC BANKCALL
040860,000651: 14,3040 30611 CADR R56
040861,000652: 14,3041 03043 TC R51I
040862,000653: 14,3042 03053 R51F TC R51E
040863,000654: 14,3043 05567 R51I TC ALARM
040864,000655: 14,3044 00405 OCT 405
040865,000656: 14,3045 35006 CAF VB05N09
040866,000657: 14,3046 04616 TC BANKCALL
040867,000658: 14,3047 20476 CADR GOFLASH
040868,000659: 14,3050 06001 TC GOTOP00H
040869,000660: 14,3051 03053 TC R51E
040870,000661: 14,3052 03022 TC R51C
040871,000662: 14,3053 34755 R51E CAF ZERO
040872,000663: 14,3054 55757 TS STARIND
040873,000664: 14,3055 06037 R51.2 TC INTPRET
040874,000665: 14,3056 77776 R51.3 EXIT
040875,000666: 14,3057 05353 TC PHASCHNG
040876,000667: 14,3060 04024 OCT 04024
040877,000668:
040878,000669: 14,3061 06037 TC INTPRET
040879,000670: 14,3062 77624 CALL
040880,000671: 14,3063 31670 R52 # AOP WILL MAKE CALLS TO SIGHTING
040881,000672: 14,3064 77776 EXIT
040882,000673: 14,3065 04616 TC BANKCALL
040883,000674: # Page 942
040884,000675: 14,3066 16000 CADR AOTMARK
040885,000676: 14,3067 04616 TC BANKCALL
040886,000677: 14,3070 17712 CADR OPTSTALL
040887,000678: 14,3071 05711 TC CURTAINS
040888,000679: 14,3072 11757 CCS STARIND
040889,000680: 14,3073 13075 TCF +2
040890,000681: 14,3074 03145 TC R51.4
040891,000682: 14,3075 06037 TC INTPRET
040892,000683: 14,3076 77775 VLOAD
040893,000684: 14,3077 02715 STARAD +6
040894,000685: 14,3100 02767 STORE STARSAV2
040895,000686: 14,3101 77776 EXIT
040896,000687: 14,3102 05353 TC PHASCHNG
040897,000688: 14,3103 04024 OCT 04024
040898,000689:
040899,000690: 14,3104 06037 TC INTPRET
040900,000691: 14,3105 45145 DLOAD CALL
040901,000692: 14,3106 03562 TSIGHT
040902,000693: 14,3107 32472 PLANET
040903,000694: 14,3110 53521 MXV UNIT
040904,000695: 14,3111 01734 REFSMMAT
040905,000696: 14,3112 26715 STOVL STARAD +6
040906,000697: 14,3113 03554 PLANVEC
040907,000698: 14,3114 53521 MXV UNIT
040908,000699: 14,3115 01734 REFSMMAT
040909,000700: 14,3116 26707 STOVL STARAD
040910,000701: 14,3117 02761 STARSAV1
040911,000702: 14,3120 24007 STOVL 6D
040912,000703: 14,3121 02767 STARSAV2
040913,000704: 14,3122 34015 STCALL 12D
040914,000705: 14,3123 31256 R54 # STAR DATA TEST
040915,000706: 14,3124 45014 BOFF CALL
040916,000707: 14,3125 00354 FREEFLAG
040917,000708: 14,3126 31134 R51K
040918,000709: 14,3127 47441 AXISGEN
040919,000710: 14,3130 77624 CALL
040920,000711: 14,3131 31224 R55 # GYRO TORQUE
040921,000712: 14,3132 77614 CLEAR
040922,000713: 14,3133 01273 PFRATFLG
040923,000714: 14,3134 77776 R51K EXIT
040924,000715: 14,3135 35751 R51P63 CAF OCT14
040925,000716: 14,3136 04616 TC BANKCALL
040926,000717: 14,3137 20623 CADR GOPERF1
040927,000718: 14,3140 06001 TC GOTOP00H
040928,000719: 14,3141 03022 TC R51C
040929,000720: 14,3142 06037 TC INTPRET
040930,000721: 14,3143 77650 GOTO
040931,000722: 14,3144 02746 QMAJ
040932,000723: 14,3145 06037 R51.4 TC INTPRET
040933,000724: 14,3146 77775 VLOAD
040934,000725: # Page 943
040935,000726: 14,3147 02715 STARAD +6
040936,000727: 14,3150 02761 STORE STARSAV1
040937,000728: 14,3151 45145 DLOAD CALL
040938,000729: 14,3152 03562 TSIGHT
040939,000730: 14,3153 32472 PLANET
040940,000731: 14,3154 03554 STORE PLANVEC
040941,000732: 14,3155 77731 SSP
040942,000733: 14,3156 02760 STARIND
040943,000734: 14,3157 00001 1
040944,000735: 14,3160 77650 GOTO
040945,000736: 14,3161 31056 R51.3
040946,000737: 14,3162 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
040947,000738:
040948,000739: # Page 944
040949,000740: # GYRO TORQUE COARSE ALGNMENT
040950,000741:
040951,000742: 14,3164 45020 GYCOARS STQ CALL
040952,000743: 14,3165 02746 QMAJ
040953,000744: 14,3166 47247 CALCGTA
040954,000745: 14,3167 43014 CLEAR CLEAR
040955,000746: 14,3170 01260 DRIFTFLG
040956,000747: 14,3171 01662 REFSMFLG
040957,000748: 14,3172 77776 EXIT
040958,000749: 14,3173 33223 CAF V16N20 # MONITOR GIMBALS
040959,000750: 14,3174 04616 TC BANKCALL
040960,000751: 14,3175 20451 CADR GODSPR
040961,000752: 14,3176 33255 CA R55CDR
040962,000753: 14,3177 04616 TC BANKCALL
040963,000754: 14,3200 17323 CADR IMUPULSE
040964,000755: 14,3201 04616 TC BANKCALL
040965,000756: 14,3202 17716 CADR IMUSTALL
040966,000757: 14,3203 05711 TC CURTAINS
040967,000758: 14,3204 05353 TC PHASCHNG
040968,000759: 14,3205 04024 OCT 04024
040969,000760:
040970,000761: 14,3206 06037 TC INTPRET
040971,000762: 14,3207 75160 AXC,1 AXC,2
040972,000763: 14,3210 03606 XSMD
040973,000764: 14,3211 01733 REFSMMAT
040974,000765: 14,3212 77624 CALL # STORE DESIRED REFSMMAT
040975,000766: 14,3213 31377 MATMOVE
040976,000767: 14,3214 43014 CLEAR SET
040977,000768: 14,3215 01273 PFRATFLG
040978,000769: 14,3216 01462 REFSMFLG
040979,000770: 14,3217 77624 CALL
040980,000771: 14,3220 31602 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
040981,000772: 14,3221 77650 GOTO
040982,000773: 14,3222 31134 R51K
040983,000774: 14,3223 04024 V16N20 VN 1620
040984,000775:
040985,000776: # Page 945
040986,000777: # R55 GYRO TORQUE
040987,000778: # FUNCTION -- COMPUTE AND SEND GYRO PULSES
040988,000779: # CALLING SEQ -- CALL R55
040989,000780: # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER
040990,000781: # OUTPUT -- GYRO PULSES
040991,000782: # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040992,000783:
040993,000784: 14,3224 COUNT* $$/R55
040994,000785: 14,3224 77620 R55 STQ
040995,000786: 14,3225 02745 QMIN
040996,000787: 14,3226 77624 CALL
040997,000788: 14,3227 47247 CALCGTA
040998,000789: 14,3230 77776 PULSEM EXIT
040999,000790: 14,3231 33254 R55.1 CAF V06N93
041000,000791: 14,3232 04616 TC BANKCALL
041001,000792: 14,3233 20476 CADR GOFLASH
041002,000793: 14,3234 06001 TC GOTOP00H
041003,000794: 14,3235 03237 TC R55.2
041004,000795: 14,3236 03251 TC R55RET
041005,000796: 14,3237 05353 R55.2 TC PHASCHNG
041006,000797: 14,3240 00214 OCT 00214
041007,000798: 14,3241 33255 CA R55CDR
041008,000799: 14,3242 04616 TC BANKCALL
041009,000800: 14,3243 17323 CADR IMUPULSE
041010,000801: 14,3244 04616 TC BANKCALL
041011,000802: 14,3245 17716 CADR IMUSTALL
041012,000803: 14,3246 05711 TC CURTAINS
041013,000804: 14,3247 05353 TC PHASCHNG
041014,000805: 14,3250 04024 OCT 04024
041015,000806:
041016,000807: 14,3251 06037 R55RET TC INTPRET
041017,000808: 14,3252 77650 GOTO
041018,000809: 14,3253 02745 QMIN
041019,000810: 14,3254 01535 V06N93 VN 0693
041020,000811: 14,3255 02737 R55CDR ECADR OGC
041021,000812: 14,3256 14,3256 R54 = CHKSDATA
041022,000813:
041023,000814: # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967
041024,000815: # MOD NO -- 0 LOG SECTION -- P51-P53
041025,000816: # MODIFICATION BY -- LONSKE ASSEMBLY --
041026,000817:
041027,000818: # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041028,000819: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041029,000820: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED --
041030,000821: # OS1 = OBSERVED STAR 1 VECTOR
041031,000822: # OS2 = OBSERVED STAR 2 VECTOR
041032,000823: # SS1 = STORED STAR 1 VECTOR
041033,000824: # SS2 = STORED STAR 2 VECTOR
041034,000825: # A1 = ARCCOS(OS1 - OS2)
041035,000826: # A2 = ARCCOS(SS1 - SS2)
041036,000827: # A = ABS(2(A1 - A2))
041037,000828: # Page 946
041038,000829: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE.
041039,000830:
041040,000831: # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041041,000832: # 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE
041042,000833:
041043,000834: # OUTPUT -- 1. VERB 6,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041044,000835: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041045,000836:
041046,000837: # ERASABLE INITIALIZATION REQUIRED --
041047,000838: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041048,000839: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041049,000840:
041050,000841: # DEBRIS --
041051,000842:
041052,000843: 14,3256 COUNT* $$/R54
041053,000844: 14,3256 43020 CHKSDATA STQ SET
041054,000845: 14,3257 02745 QMIN
041055,000846: 14,3260 00074 FREEFLAG
041056,000847: 14,3261 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
041057,000848: 14,3262 02706 STARAD
041058,000849:
041059,000850: 14,3263 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
041060,000851: 14,3264 00001 0,1
041061,000852: 14,3265 00007 6,1
041062,000853: 14,3266 65552 SL1 ACOS
041063,000854: 14,3267 00025 STORE THETA
041064,000855: 14,3270 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
041065,000856: 14,3271 00354 FREEFLAG
041066,000857: 14,3272 31302 CHKSD
041067,000858: 14,3273 00174 FREEFLAG # CLEAR FREEFLAG
041068,000859: 14,3274 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
041069,000860: 14,3275 00006 6D
041070,000861: 14,3276 00025 THETA
041071,000862: 14,3277 00023 STORE 18D
041072,000863: 14,3300 77650 GOTO
041073,000864: 14,3301 31263 CHKSB # RETURN TO CAL. 2ND ANGLE
041074,000865: 14,3302 45345 CHKSD DLOAD DSU
041075,000866: 14,3303 00025 THETA
041076,000867: 14,3304 00023 18D
041077,000868: 14,3305 47046 ABS RTB # COMPUTE POS DIFF
041078,000869: 14,3306 21612 SGNAGREE
041079,000870: 14,3307 01046 STORE NORMTEM1
041080,000871: 14,3310 77414 SET EXIT
041081,000872: 14,3311 00074 FREEFLAG
041082,000873: 14,3312 33326 CAF VB6N5
041083,000874: 14,3313 04616 TC BANKCALL
041084,000875: 14,3314 20476 CADR GOFLASH
041085,000876: 14,3315 16001 TCF GOTOP00H
041086,000877: 14,3316 03323 TC CHKSDA # PROCEED
041087,000878: 14,3317 06037 TC INTPRET
041088,000879: 14,3320 52014 CLEAR GOTO
041089,000880: 14,3321 00274 FREEFLAG
041090,000881: 14,3322 02745 QMIN
041091,000882: 14,3323 06037 CHKSDA TC INTPRET
041092,000883: # Page 947
041093,000884: 14,3324 77650 GOTO
041094,000885: 14,3325 02745 QMIN
041095,000886: 14,3326 01405 VB6N5 VN 605
041096,000887:
041097,000888: # NAME -- CAL53A
041098,000889: # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041099,000890: # CALLING SEQUENCE -- CALL CAL53A
041100,000891: # INPUT -- X,Y,ZSMD, CDUX,Y,Z
041101,000892: # DESIRED GIMBAL ANGLES -- THETAD,+1,+2
041102,000893: # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT
041103,000894: # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE
041104,000895:
041105,000896: 14,3327 COUNT* $$/R50
041106,000897: 14,3327 77624 CAL53A CALL
041107,000898: 14,3330 31617 S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES
041108,000899: 14,3331 66234 RTB SSP
041109,000900: 14,3332 31413 RDCDUS # READ CDUS
041110,000901: 14,3333 00051 S1
041111,000902: 14,3334 00001 1
041112,000903: 14,3335 40370 AXT,1 SETPD
041113,000904: 14,3336 00003 3
041114,000905: 14,3337 00005 4
041115,000906: 14,3340 70543 CALOOP DLOAD* SR1
041116,000907: 14,3341 00325 THETAD +3D,1
041117,000908: 14,3342 70523 PDDL* SR1
041118,000909: 14,3343 00005 4,1
041119,000910: 14,3344 51425 DSU ABS
041120,000911: 14,3345 45206 PUSH DSU
041121,000912: 14,3346 31412 DEGREE1
041122,000913: 14,3347 71240 BMN DLOAD
041123,000914: 14,3350 31366 CALOOP1
041124,000915: 14,3351 51025 DSU BPL
041125,000916: 14,3352 31413 DEG359
041126,000917: 14,3353 31366 CALOOP1
041127,000918: 14,3354 77776 EXIT
041128,000919: 14,3355 05353 TC PHASCHNG
041129,000920: 14,3356 04024 OCT 04024
041130,000921:
041131,000922: 14,3357 06037 TC INTPRET
041132,000923: 14,3360 77624 COARFINE CALL
041133,000924: 14,3361 31565 COARSE
041134,000925: 14,3362 77624 CALL
041135,000926: 14,3363 31602 NCOARSE
041136,000927: 14,3364 77650 GOTO
041137,000928: 14,3365 31370 FINEONLY
041138,000929: 14,3366 77700 CALOOP1 TIX,1
041139,000930: 14,3367 31340 CALOOP
041140,000931: 14,3370 75160 FINEONLY AXC,1 AXC,2
041141,000932: 14,3371 02642 XSM
041142,000933: 14,3372 01733 REFSMMAT
041143,000934: 14,3373 77624 CALL
041144,000935: 14,3374 31377 MATMOVE
041145,000936: # Page 948
041146,000937: 14,3375 77650 GOTO
041147,000938: 14,3376 32161 COARSRET
041148,000939: 14,3377 77773 MATMOVE VLOAD* # TRANSFER MATRIX
041149,000940: 14,3400 00001 0,1
041150,000941: 14,3401 10001 STORE 0,2
041151,000942: 14,3402 77773 VLOAD*
041152,000943: 14,3403 00007 6D,1
041153,000944: 14,3404 10007 STORE 6D,2
041154,000945: 14,3405 77773 VLOAD*
041155,000946: 14,3406 00015 12D,1
041156,000947: 14,3407 10015 STORE 12D,2
041157,000948: 14,3410 77616 RVQ
041158,000949: 14,3411 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
041159,000950: 14,3412 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
041160,000951: 14,3413 00004 RDCDUS INHINT # READ CDUS
041161,000952: 14,3414 30032 CA CDUX
041162,000953: 14,3415 50120 INDEX FIXLOC
041163,000954: 14,3416 54001 TS 1
041164,000955: 14,3417 30033 CA CDUY
041165,000956: 14,3420 50120 INDEX FIXLOC
041166,000957: 14,3421 54002 TS 2
041167,000958: 14,3422 30034 CA CDUZ
041168,000959: 14,3423 50120 INDEX FIXLOC
041169,000960: 14,3424 54003 TS 3
041170,000961: 14,3425 00003 RELINT
041171,000962: 14,3426 06061 TC DANZIG
041172,000963: 14,3427 COUNT* $$/INFLT
041173,000964:
041174,000965: # Page 949
041175,000966: # NAME -- P51 -- IMU ORIENTATION DETERMINATION
041176,000967: # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53
041177,000968: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
041178,000969:
041179,000970: # FUNCTIONAL DESCRIPTION
041180,000971: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041181,000972: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041182,000973: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041183,000974: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041184,000975:
041185,000976: # CALLING SEQUENCE
041186,000977: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041187,000978:
041188,000979: # SUBROUTINES CALLED
041189,000980: # GOPERF3
041190,000981: # GOPERF1
041191,000982: # GODSPR
041192,000983: # IMUCOARS
041193,000984: # IMUFIN20
041194,000985: # AOTMARK (R53)
041195,000986: # CHKSDATA (R54)
041196,000987: # MKRELEAS
041197,000988: # AXISGEN
041198,000989: # MATMOVE
041199,000990:
041200,000991: # ALARMS
041201,000992: # NONE.
041202,000993:
041203,000994: # ERASABLE INITIALIZATION
041204,000995: # IMU ZERO FLAG SHOULD BE SET.
041205,000996:
041206,000997: # OUTPUT
041207,000998: # REFSMMAT
041208,000999: # REFSMFLG
041209,001000:
041210,001001: # DEBRIS
041211,001002: # WORK AREA
041212,001003: # STARAD
041213,001004: # STARIND
041214,001005: # BESTI
041215,001006: # BESTJ
041216,001007:
041217,001008: 14,3427 COUNT* $$/P51
041218,001009: # Page 950
041219,001010: 14,3427 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
041220,001011: 14,3430 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H.
041221,001012:
041222,001013: 14,3431 34761 CAF OCT15
041223,001014: 14,3432 04616 TC BANKCALL
041224,001015: 14,3433 20623 CADR GOPERF1
041225,001016: 14,3434 06001 TC GOTOP00H # TERM.
041226,001017: 14,3435 13461 TCF P51B # V33
041227,001018: 14,3436 05353 TC PHASCHNG
041228,001019: 14,3437 04024 OCT 04024
041229,001020:
041230,001021: 14,3440 34755 CAF ZERO
041231,001022: 14,3441 54321 TS THETAD # ZERO THE GIMBALS
041232,001023: 14,3442 54322 TS THETAD +1
041233,001024: 14,3443 54323 TS THETAD +2
041234,001025: 14,3444 35010 CAF V06N22
041235,001026: 14,3445 04616 TC BANKCALL
041236,001027: 14,3446 20446 CADR GODSPRET
041237,001028: 14,3447 33564 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
041238,001029: 14,3450 04616 TC BANKCALL
041239,001030: 14,3451 20446 CADR GODSPRET
041240,001031: 14,3452 06037 TC INTPRET
041241,001032: 14,3453 77624 CALL
041242,001033: 14,3454 31565 COARSE
041243,001034: 14,3455 77776 EXIT
041244,001035: 14,3456 05353 TC PHASCHNG
041245,001036: 14,3457 04024 OCT 04024
041246,001037: 14,3460 13431 TCF P51 +2
041247,001038:
041248,001039: 14,3461 05353 P51B TC PHASCHNG
041249,001040: 14,3462 00014 OCT 00014
041250,001041: 14,3463 06037 TC INTPRET
041251,001042: 14,3464 77624 CALL
041252,001043: 14,3465 31602 NCOARSE
041253,001044: 14,3466 40331 SSP SETPD
041254,001045: 14,3467 02760 STARIND # INDEX -- STAR 1 OR 2
041255,001046: 14,3470 00000 0
041256,001047: 14,3471 00001 0
041257,001048: 14,3472 77776 P51C EXIT
041258,001049: 14,3473 05353 TC PHASCHNG
041259,001050: 14,3474 04024 OCT 04024
041260,001051:
041261,001052: 14,3475 04616 TC BANKCALL
041262,001053: 14,3476 16000 CADR AOTMARK # R53
041263,001054: 14,3477 04616 TC BANKCALL
041264,001055: 14,3500 17712 CADR AOTSTALL
041265,001056: 14,3501 05711 TC CURTAINS
041266,001057: 14,3502 11757 CCS STARIND
041267,001058: 14,3503 13511 TCF P51D +1
041268,001059: 14,3504 06037 TC INTPRET
041269,001060: # Page 951
041270,001061: 14,3505 77775 VLOAD
041271,001062: 14,3506 02715 STARAD +6
041272,001063: 14,3507 02761 STORE STARSAV1
041273,001064: 14,3510 77776 P51D EXIT
041274,001065: 14,3511 05353 TC PHASCHNG
041275,001066: 14,3512 04024 OCT 04024
041276,001067:
041277,001068: 14,3513 11757 CCS STARIND
041278,001069: 14,3514 13530 TCF P51E
041279,001070: 14,3515 05353 TC PHASCHNG
041280,001071: 14,3516 04024 OCT 04024
041281,001072:
041282,001073: 14,3517 06037 TC INTPRET
041283,001074: 14,3520 45145 DLOAD CALL
041284,001075: 14,3521 03562 TSIGHT
041285,001076: 14,3522 32472 PLANET
041286,001077: 14,3523 03554 STORE PLANVEC
041287,001078: 14,3524 77776 EXIT
041288,001079: 14,3525 34753 CAF BIT1
041289,001080: 14,3526 55757 TS STARIND
041290,001081: 14,3527 13473 TCF P51C +1 # DO SECOND STAR
041291,001082: 14,3530 05353 P51E TC PHASCHNG
041292,001083: 14,3531 04024 OCT 04024
041293,001084:
041294,001085: 14,3532 06037 TC INTPRET
041295,001086: 14,3533 45145 DLOAD CALL
041296,001087: 14,3534 03562 TSIGHT
041297,001088: 14,3535 32472 PLANET
041298,001089: 14,3536 24015 STOVL 12D
041299,001090: 14,3537 03554 PLANVEC
041300,001091: 14,3540 24007 STOVL 6D
041301,001092: 14,3541 02761 STARSAV1
041302,001093: 14,3542 26707 STOVL STARAD
041303,001094: 14,3543 02767 STARSAV2
041304,001095: 14,3544 36715 STCALL STARAD +6
041305,001096: 14,3545 31256 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
041306,001097: 14,3546 77414 BON EXIT
041307,001098: 14,3547 00314 FREEFLAG
041308,001099: 14,3550 31552 P51G
041309,001100: 14,3551 03431 TC P51 +2
041310,001101: 14,3552 77624 P51G CALL
041311,001102: 14,3553 47441 AXISGEN # COME BACK WITH REFSMMAT IN XDC
041312,001103: 14,3554 75160 AXC,1 AXC,2
041313,001104: 14,3555 02664 XDC
041314,001105: 14,3556 01733 REFSMMAT
041315,001106: 14,3557 77624 CALL
041316,001107: 14,3560 31377 MATMOVE
041317,001108: 14,3561 77414 SET EXIT
041318,001109: 14,3562 01462 REFSMFLG
041319,001110: 14,3563 06001 TC GOTOP00H # FINIS
041320,001111: # Page 952
041321,001112: 14,3564 12200 V41K VN 4100
041322,001113: 14,3565 77776 COARSE EXIT
041323,001114: 14,3566 04616 TC BANKCALL
041324,001115: 14,3567 17000 CADR IMUCOARS
041325,001116: 14,3570 04616 TC BANKCALL
041326,001117: 14,3571 17716 CADR IMUSTALL
041327,001118: 14,3572 05711 TC CURTAINS
041328,001119: 14,3573 04616 TC BANKCALL
041329,001120: 14,3574 17210 CADR IMUFINE
041330,001121: 14,3575 04616 TC BANKCALL
041331,001122: 14,3576 17716 CADR IMUSTALL
041332,001123: 14,3577 05711 TC CURTAINS
041333,001124: 14,3600 06037 TC INTPRET
041334,001125: 14,3601 77616 RVQ
041335,001126: 14,3602 77776 NCOARSE EXIT
041336,001127: 14,3603 30025 CA TIME1
041337,001128: 14,3604 55075 TS 1/PIPADT
041338,001129: 14,3605 44755 CS ZERO
041339,001130: 14,3606 54037 TS PIPAX
041340,001131: 14,3607 54040 TS PIPAY
041341,001132: 14,3610 54041 TS PIPAZ
041342,001133: 14,3611 06037 TC INTPRET
041343,001134: 14,3612 77775 VLOAD
041344,001135: 14,3613 24007 ZEROVEC
041345,001136: 14,3614 01472 STORE GCOMP
041346,001137: 14,3615 43414 SET RVQ
041347,001138: 14,3616 01060 DRIFTFLG
041348,001139:
041349,001140: # Page 953
041350,001141: # NAME -- S52.2
041351,001142: # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041352,001143: # CALL -- CALL S52.2
041353,001144: # INPUT -- X,Y,ZSMD
041354,001145: # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2
041355,001146: # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041356,001147:
041357,001148: 14,3617 COUNT* $$/S52.1
041358,001149: 14,3617 45020 S52.2 STQ CALL
041359,001150: 14,3620 02746 QMAJ
041360,001151: 14,3621 47537 CDUTRIG
041361,001152: 14,3622 77624 CALL
041362,001153: 14,3623 20030 CALCSMSC
041363,001154: 14,3624 66370 AXT,1 SSP
041364,001155: 14,3625 00022 18D
041365,001156: 14,3626 00051 S1
041366,001157: 14,3627 00006 6D
041367,001158: 14,3630 61373 S52.2A VLOAD* VXM
041368,001159: 14,3631 02707 XNB +18D,1
041369,001160: 14,3632 01734 REFSMMAT
041370,001161: 14,3633 77656 UNIT
041371,001162: 14,3634 06707 STORE XNB +18D,1
041372,001163: 14,3635 77700 TIX,1
041373,001164: 14,3636 31630 S52.2A
041374,001165: 14,3637 75160 S52.2.1 AXC,1 AXC,2
041375,001166: 14,3640 03606 XSMD
041376,001167: 14,3641 02642 XSM
041377,001168: 14,3642 77624 CALL
041378,001169: 14,3643 31377 MATMOVE
041379,001170: 14,3644 77624 CALL
041380,001171: 14,3645 47353 CALCGA
041381,001172: 14,3646 77650 GOTO
041382,001173: 14,3647 02746 QMAJ
041383,001174:
041384,001175: # Page 954
041385,001176: # NAME -- S52.3
041386,001177: # FUNCTION -- XSMD= UNIT R
041387,001178: # YSMD= UNIT(V X R)
041388,001179: # ZSMD= UNIT(XSMD X YSMD)
041389,001180: # CALL -- DLOAD CALL
041390,001181: # TALIGN
041391,001182: # S52.3
041392,001183: # INPUT -- TIME OF ALIGNMENT IN MPAC
041393,001184: # OUTPUT -- X,Y,ZSMD
041394,001185: # SUBROUTINES -- CSMCONIC
041395,001186:
041396,001187: 14,3650 COUNT* $$/S52.3
041397,001188: 14,3650 77620 S52.3 STQ
041398,001189: 14,3651 02746 QMAJ
041399,001190: 14,3652 34041 STCALL TDEC1
041400,001191: 14,3653 27100 LEMCONIC
041401,001192: 14,3654 53575 VLOAD UNIT
041402,001193: 14,3655 00001 RATT
041403,001194: 14,3656 27607 STOVL XSMD
041404,001195: 14,3657 00007 VATT
041405,001196: 14,3660 53435 VXV UNIT
041406,001197: 14,3661 00001 RATT
041407,001198: 14,3662 27615 STOVL YSMD
041408,001199: 14,3663 03607 XSMD
041409,001200: 14,3664 53435 VXV UNIT
041410,001201: 14,3665 03615 YSMD
041411,001202: 14,3666 37623 STCALL ZSMD
041412,001203: 14,3667 02746 QMAJ
041413,001204:
041414,001205: # Page 955
041415,001206: # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041416,001207:
041417,001208: # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041418,001209: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041419,001210:
041420,001211: # CALLING -- CALL R52
041421,001212:
041422,001213: # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6)
041423,001214:
041424,001215: # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041425,001216: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041426,001217: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041427,001218: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041428,001219:
041429,001220: # SUBROUT -- R60LEM
041430,001221:
041431,001222: 14,3670 COUNT* $$/R52
041432,001223: 14,3670 77420 R52 STQ EXIT
041433,001224: 14,3671 03665 SAVQR52
041434,001225: 14,3672 51757 INDEX STARIND
041435,001226: 14,3673 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
041436,001227: 14,3674 00006 EXTEND
041437,001228: 14,3675 73771 MP 1/6TH
041438,001229: 14,3676 64744 AD BIT8 # SET DETENT POSITION 2
041439,001230: 14,3677 54735 TS STARCODE # SCALE AND STORE IN STARCODE
041440,001231:
041441,001232: 14,3700 33772 R52A CAF V01N70
041442,001233: 14,3701 04616 TC BANKCALL
041443,001234: 14,3702 20476 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
041444,001235: 14,3703 06001 TC GOTOP00H # V34 -- TERMINATE
041445,001236: 14,3704 13706 TCF R52B # V33 -- PROCEED TO ORIENT LEM
041446,001237: 14,3705 13700 TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE
041447,001238:
041448,001239: 14,3706 05516 R52B TC DOWNFLAG
041449,001240: 14,3707 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041450,001241: 14,3710 30735 CA STARCODE # GRAB DETENT CODE
041451,001242: 14,3711 77744 MASK HIGH9
041452,001243: 14,3712 00006 EXTEND
041453,001244: 14,3713 74743 MP BIT9
041454,001245: 14,3714 54001 TS L # TEMP STORE DETENT
041455,001246:
041456,001247: 14,3715 00006 EXTEND
041457,001248: 14,3716 63734 BZMF GETAZEL # CODE 0, COAS CALIBRATION
041458,001249:
041459,001250: 14,3717 65660 AD NEG7
041460,001251: 14,3720 00006 EXTEND
041461,001252: 14,3721 13734 BZF GETAZEL # CODE 7, COAS SIGHTING
041462,001253:
041463,001254: 14,3722 E7,1551 EBANK= XYMARK
041464,001255: 14,3722 35016 CA EBANK7
041465,001256: 14,3723 54003 TS EBANK
041466,001257: # Page 956
041467,001258: 14,3724 50001 INDEX L
041468,001259: 14,3725 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
041469,001260: 14,3726 54001 TS L
041470,001261: 14,3727 E5,1642 EBANK= XSM
041471,001262: 14,3727 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L
041472,001263: 14,3730 54003 TS EBANK
041473,001264: 14,3731 34737 CA BIT13 # SET ELV TO 45 DEG
041474,001265: 14,3732 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041475,001266: 14,3733 13744 TCF AZEL # GO COMP OPTIC AXIS
041476,001267:
041477,001268: 14,3734 33773 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
041478,001269: 14,3735 04616 TC BANKCALL
041479,001270: 14,3736 20476 CADR GOFLASH
041480,001271: 14,3737 06001 TC GOTOP00H # V34 -- TERMINATE
041481,001272: 14,3740 13742 TCF +2 # PROCEED -- CALC OPTIC AXIS
041482,001273: 14,3741 13734 TCF GETAZEL # ENTER -- RECYCLE
041483,001274:
041484,001275: 14,3742 00006 EXTEND
041485,001276: 14,3743 31350 DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP
041486,001277: 14,3744 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
041487,001278: 14,3745 52011 DXCH 8D
041488,001279: 14,3746 06037 TC INTPRET
041489,001280: 14,3747 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
041490,001281: 14,3750 10536 OANB # SCAXIS IN NB COORDS
041491,001282: 14,3751 45034 RTB CALL
041492,001283: 14,3752 21573 LOADTIME
041493,001284: 14,3753 32472 PLANET
041494,001285: 14,3754 53521 MXV UNIT
041495,001286: 14,3755 01734 REFSMMAT
041496,001287: 14,3756 03773 STORE POINTVSM # STORE FOR VECPOINT
041497,001288:
041498,001289: 14,3757 77776 EXIT
041499,001290: 14,3760 04616 TC BANKCALL
041500,001291: 14,3761 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
041501,001292:
041502,001293: 14,3762 37744 CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE
041503,001294: 14,3763 70735 MASK STARCODE
041504,001295: 14,3764 00006 EXTEND
041505,001296: 14,3765 13700 BZF R52A
041506,001297:
041507,001298: 14,3766 06037 TC INTPRET # RETURN FROM KALCMANU
041508,001299: 14,3767 77650 GOTO
041509,001300: 14,3770 03665 SAVQR52 # RETURN TO CALLER
041510,001301:
041511,001302: 14,3771 05253 1/6TH DEC .1666667
041512,001303: 14,3772 00306 V01N70 VN 0170
041513,001304: 14,3773 01527 V06N87 VN 687
041514,001305:
041515,001306: # Page 957
041516,001307: # LUNAR SURFACE STAR ACQUISITION
041517,001308:
041518,001309: 15,2245 BANK 15
041519,001310: 15,2000 SETLOC P50S
041520,001311: 15,2000 BANK
041521,001312: 15,2245 COUNT* $$/R59
041522,001313:
041523,001314: 15,2245 40077 R59 CS FLAGWRD3
041524,001315: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE
041525,001316: 15,2247 10000 CCS A
041526,001317: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
041527,001318:
041528,001319: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
041529,001320: 15,2252 04616 TC BANKCALL
041530,001321: 15,2253 20476 CADR GOFLASH
041531,001322: 15,2254 06001 TC GOTOP00H # V34 -- TERMINATE
041532,001323: 15,2255 12257 TCF R59A # V33 -- PROCEED
041533,001324: 15,2256 12245 TCF R59 # V32 -- RECYCLE
041534,001325:
041535,001326: 15,2257 47744 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
041536,001327: 15,2260 70735 MASK AOTCODE
041537,001328: 15,2261 00006 EXTEND
041538,001329: 15,2262 76242 MP REVCNT # JUST 6
041539,001330: 15,2263 56001 XCH L
041540,001331: 15,2264 51757 INDEX STARIND
041541,001332: 15,2265 55755 TS BESTI
041542,001333: 15,2266 50120 INDEX FIXLOC
041543,001334: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
041544,001335: 15,2270 00006 EXTEND
041545,001336: 15,2271 12455 BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR
041546,001337: 15,2272 40000 COM
041547,001338: 15,2273 62561 AD DEC227
041548,001339: 15,2274 00006 EXTEND
041549,001340: 15,2275 62455 BZMF R59OUT
041550,001341:
041551,001342: 15,2276 06037 TC INTPRET
041552,001343: 15,2277 64373 VLOAD* MXV
041553,001344: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
041554,001345: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
041555,001346: 15,2302 45056 UNIT CALL
041556,001347: 15,2303 47646 CDU*SMNB
041557,001348: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
041558,001349: 15,2305 77776 EXIT
041559,001350:
041560,001351: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60)
041561,001352: 15,2307 55242 TS POSCODE
041562,001353:
041563,001354: 15,2310 E7,1551 EBANK= XYMARK
041564,001355: 15,2310 35016 INCAZ CA EBANK7
041565,001356: 15,2311 54003 TS EBANK
041566,001357:
041567,001358: # Page 958
041568,001359: 15,2312 51242 INDEX POSCODE
041569,001360: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
041570,001361: 15,2314 54001 TS L
041571,001362:
041572,001363: 15,2315 E5,1642 EBANK= XSM
041573,001364: 15,2315 35014 CA EBANK5
041574,001365: 15,2316 54003 TS EBANK
041575,001366:
041576,001367: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
041577,001368: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
041578,001369: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
041579,001370: 15,2322 50120 INDEX FIXLOC
041580,001371: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041581,001372:
041582,001373: 15,2324 06037 TC INTPRET
041583,001374: 15,2325 77624 CALL
041584,001375: 15,2326 10536 OANB # GO CALC OPTIC AXIS WRT NB
041585,001376: 15,2327 50375 VLOAD DOT
041586,001377: 15,2330 02731 STAR # DOT STAR WITH OA
041587,001378: 15,2331 03765 SCAXIS
041588,001379: 15,2332 65552 SL1 ARCCOS
041589,001380: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
041590,001381:
041591,001382: 15,2334 51025 DSU BPL
041592,001383: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
041593,001384: 15,2336 32420 NXAX # NOT IN FIELD -- TRY NEXT POSITION
041594,001385: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
041595,001386: 15,2340 00031 24D
041596,001387: 15,2341 32470 DEG.5
041597,001388: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
041598,001389: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
041599,001390: 15,2344 00031 24D # GET SPIRAL
041600,001391: 15,2345 42405 DMP SL4
041601,001392: 15,2346 25764 3/4 # 12 SCALED AT 16
041602,001393: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
041603,001394:
041604,001395: 15,2350 03765 SCAXIS # OA
041605,001396: 15,2351 53435 VXV UNIT
041606,001397: 15,2352 24005 XUNIT
041607,001398: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
041608,001399: 15,2354 03765 SCAXIS
041609,001400: 15,2355 77676 VCOMP
041610,001401: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
041611,001402: 15,2357 03765 SCAXIS
041612,001403: 15,2360 53435 VXV UNIT
041613,001404: 15,2361 02731 STAR
041614,001405: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
041615,001406: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
041616,001407: 15,2364 65552 SL1 ARCCOS
041617,001408: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
041618,001409: # Page 959
041619,001410: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
041620,001411: 15,2367 71244 BPL DLOAD # IF THET NEG -- GET 360-THET
041621,001412: 15,2370 32375 R59D
041622,001413: 15,2371 32047 ABOUTONE
041623,001414: 15,2372 77625 DSU
041624,001415: 15,2373 00033 26D
041625,001416: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
041626,001417:
041627,001418: 15,2375 70535 R59D SLOAD SR1
041628,001419: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
041629,001420: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
041630,001421: 15,2400 00033 26D
041631,001422: 15,2401 77634 RTB
041632,001423: 15,2402 21614 1STO2S
041633,001424: 15,2403 15237 STODL CURSOR # YROT IN 1/2 REVS
041634,001425: 15,2404 00031 24D # LOAD SROT IN REVS
041635,001426: 15,2405 77615 DAD # 12(SEP) + YROT
041636,001427: 15,2406 77634 RTB
041637,001428: 15,2407 21614 1STO2S
041638,001429: 15,2410 01241 STORE SPIRAL # SROT IN 1/2 REVS
041639,001430: 15,2411 77776 EXIT
041640,001431: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
041641,001432:
041642,001433: 15,2413 77776 ZSPCR EXIT
041643,001434: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
041644,001435: 15,2415 55236 TS CURSOR # AND SPIRAL ANGLES
041645,001436: 15,2416 55240 TS SPIRAL
041646,001437: 15,2417 12437 TCF 79DISP
041647,001438:
041648,001439: 15,2420 77776 NXAX EXIT
041649,001440: 15,2421 25242 INCR POSCODE
041650,001441: 15,2422 41242 CS POSCODE
041651,001442: 15,2423 64757 AD SEVEN
041652,001443: 15,2424 00006 EXTEND
041653,001444: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
041654,001445: 15,2426 12310 TCF INCAZ
041655,001446:
041656,001447: 15,2427 05567 R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD
041657,001448: 15,2430 00404 OCT 404
041658,001449: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
041659,001450: 15,2432 04616 TC BANKCALL
041660,001451: 15,2433 20476 CADR GOFLASH
041661,001452: 15,2434 16001 TCF GOTOP00H # VB34 -- TERMINATE
041662,001453: 15,2435 12455 TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE
041663,001454: 15,2436 12245 TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR
041664,001455:
041665,001456: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
041666,001457: 15,2440 04616 TC BANKCALL
041667,001458: 15,2441 20476 CADR GOFLASH
041668,001459: 15,2442 16001 TCF GOTOP00H # V34 -- TERMINATE
041669,001460: # Page 960
041670,001461: 15,2443 12445 TCF R59E # V33 -- PROCEED TO MARK ROUTINE
041671,001462: 15,2444 12245 TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN
041672,001463:
041673,001464: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
041674,001465: 15,2446 71242 MASK POSCODE
041675,001466: 15,2447 00006 EXTEND
041676,001467: 15,2450 74745 MP BIT7 # DETEND CODE NOW IN L
041677,001468: 15,2451 47744 CS HIGH9
041678,001469: 15,2452 70735 MASK AOTCODE # ISOLATE STAR NO BIT 1-6
041679,001470: 15,2453 60001 AD L
041680,001471: 15,2454 54735 TS AOTCODE # STORE DETENT 7-9
041681,001472:
041682,001473: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
041683,001474: 15,2456 16000 CADR AOTMARK
041684,001475: 15,2457 04616 TC BANKCALL
041685,001476: 15,2460 17712 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
041686,001477: 15,2461 05711 TC CURTAINS # BADEND RETURN FROM AOTMARK
041687,001478: 15,2462 13054 TCF R59RET # RETURN TO 1 STAR OR 2STAR
041688,001479:
041689,001480: 15,2463 00306 V01N70* VN 170
041690,001481: 15,2464 01517 V06N79 VN 679
041691,001482: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGREES
041692,001483: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS.
041693,001484: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
041694,001485: 15,2472 1236 CURSOR EQUALS GDT/2
041695,001486: 15,2472 1240 SPIRAL EQUALS GDT/2 +2
041696,001487: 15,2472 1242 POSCODE EQUALS GDT/2 +4
041697,001488:
041698,001489: # Page 961
041699,001490: # NAME -- PLANET
041700,001491: # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041701,001492: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041702,001493: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041703,001494: # BY DSKY INPUT.
041704,001495: # CALL -- CALL
041705,001496: # PLANET
041706,001497: # INPUT -- TIME IN MPAC
041707,001498: # OUTPUT -- VECTOR IN MPAC
041708,001499: # SUBROUTINES -- LOCSAM
041709,001500: # DEBRIS -- VAC, STARAD - STARAD +17
041710,001501:
041711,001502: 15,2000 SETLOC P50S
041712,001503: 15,2000 BANK
041713,001504: 15,2472 COUNT* $$/P51
041714,001505:
041715,001506: 15,2472 27562 PLANET STOVL TSIGHT
041716,001507: 15,2473 24007 ZEROVEC
041717,001508: 15,2474 02707 STORE STARAD
041718,001509: 15,2475 77420 STQ EXIT
041719,001510: 15,2476 02736 GCTR
041720,001511: 15,2477 47744 CS HIGH9
041721,001512: 15,2500 70735 MASK AOTCODE
041722,001513: 15,2501 00006 EXTEND
041723,001514: 15,2502 76242 MP REVCNT
041724,001515: 15,2503 56001 XCH L
041725,001516: 15,2504 51757 INDEX STARIND
041726,001517: 15,2505 55755 TS BESTI
041727,001518: 15,2506 10000 CCS A
041728,001519: 15,2507 12523 TCF NOTPLAN
041729,001520: 15,2510 32562 CAF VNPLANV
041730,001521: 15,2511 04616 TC BANKCALL
041731,001522: 15,2512 20476 CADR GOFLASH
041732,001523: 15,2513 02510 TC -3
041733,001524: 15,2514 02516 TC +2
041734,001525: 15,2515 02510 TC -5
041735,001526: 15,2516 06037 TC INTPRET
041736,001527: 15,2517 53575 VLOAD UNIT
041737,001528: 15,2520 02707 STARAD
041738,001529: 15,2521 77650 GOTO
041739,001530: 15,2522 02736 GCTR
041740,001531: 15,2523 40000 NOTPLAN CS A
041741,001532: 15,2524 62561 AD DEC227
041742,001533: 15,2525 00006 EXTEND
041743,001534: 15,2526 62537 BZMF CALSAM1
041744,001535: 15,2527 51757 INDEX STARIND
041745,001536: 15,2530 31755 CA BESTI
041746,001537: 15,2531 50120 INDEX FIXLOC
041747,001538: 15,2532 54046 TS X1
041748,001539: 15,2533 06037 TC INTPRET
041749,001540: # Page 962
041750,001541: 15,2534 52173 VLOAD* GOTO
041751,001542: 15,2535 30347 CATLOG,1
041752,001543: 15,2536 02736 GCTR
041753,001544: 15,2537 06037 CALSAM1 TC INTPRET
041754,001545: 15,2540 45145 CALSAM DLOAD CALL
041755,001546: 15,2541 03562 TSIGHT
041756,001547: 15,2542 30506 LOCSAM
041757,001548: 15,2543 77340 LXC,1 VLOAD
041758,001549: 15,2544 02757 STARIND
041759,001550: 15,2545 02707 VEARTH
041760,001551: 15,2546 24001 STOVL 0D
041761,001552: 15,2547 02715 VSUN
041762,001553: 15,2550 26707 STOVL VEARTH
041763,001554: 15,2551 00001 0D
041764,001555: 15,2552 02715 STORE VSUN
041765,001556: 15,2553 70143 DLOAD* LXC,1
041766,001557: 15,2554 02756 BESTI,1
041767,001558: 15,2555 00154 MPAC
041768,001559: 15,2556 52173 VLOAD* GOTO
041769,001560: 15,2557 02343 STARAD -228D,1
041770,001561: 15,2560 02736 GCTR
041771,001562: 15,2561 00343 DEC227 DEC 227 B-14
041772,001563: 15,2562 01530 VNPLANV VN 0688
041773,001564: 15,2563 37,3544 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1
041774,001565:
041775,001566: # Page 963
041776,001567: # GRAVITY VECTOR DETERMINATION ROUTINE
041777,001568: # BY KEN VINCENT
041778,001569:
041779,001570: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5.
041780,001571:
041781,001572: # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY
041782,001573: # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED
041783,001574: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041784,001575: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041785,001576: # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED
041786,001577: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041787,001578: # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041788,001579: # READINGS.
041789,001580:
041790,001581: # CALL --
041791,001582: # TC BANKCALL
041792,001583: # CADR GVDETER
041793,001584:
041794,001585: # INPUTS --
041795,001586: # PIPAS, CDUS
041796,001587:
041797,001588: # OUTPUTS --
041798,001589: # STARSAV1 = UNIT GRAVITY
041799,001590: # GSAV = DITTO
041800,001591: # GRAVBIT = 1
041801,001592:
041802,001593: # SUBROUTINES --
041803,001594: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041804,001595: # *NBSM*, *SNMB*, CALCGA, GOFLASH
041805,001596:
041806,001597: # DEBRIS --
041807,001598: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041808,001599:
041809,001600: 15,2563 32772 GVDETER CAF 42DEG
041810,001601: 15,2564 54321 TS THETAD
041811,001602: 15,2565 40000 COM
041812,001603: 15,2566 54322 TS THETAD +1
041813,001604: 15,2567 32773 CAF 35DEG
041814,001605: 15,2570 54323 TS THETAD +2
041815,001606: 15,2571 06037 TC INTPRET
041816,001607: 15,2572 45014 CLEAR CALL
041817,001608: 15,2573 01662 REFSMFLG
041818,001609: 15,2574 32670 LUNG
041819,001610:
041820,001611: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041821,001612:
041822,001613: # DEFINE G COOR SYS
041823,001614: # _
041824,001615: # [ X ] [ UNIT G ]
041825,001616: # * [ _ ] [ _ ]
041826,001617: # M = [ Y ] = [ UNITEZSM * X ]
041827,001618: # [ _ ] [ _ _ ]
041828,001619: # [ Z ] [ UNIT( X * Y )]
041829,001620:
041830,001621: # THEN ROTATED SM WRT PRESENT IS
041831,001622:
041832,001623: # Page 964
041833,001624: # [ 1 0 0 ]
041834,001625: # * *T [ ] * * *
041835,001626: # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I
041836,001627: # [ ] I J
041837,001628: # [ 0 0 -1 ]
041838,001629:
041839,001630: # ALSO NB WRT PRES SM IS
041840,001631:
041841,001632: # * * *
041842,001633: # XNB = NBSM I
041843,001634:
041844,001635: # * *
041845,001636: # GIMBAL ANGLES = CALCGA( XSM, XNB )
041846,001637:
041847,001638: 15,2000 SETLOC P50S
041848,001639: 15,2000 BANK
041849,001640: 15,2575 COUNT* $$/P57
041850,001641: 15,2575 66370 AXT,1 SSP # X1=18
041851,001642: 15,2576 00022 18D # S1=6
041852,001643: 15,2577 00051 S1 # X2, -2
041853,001644: 15,2600 00006 6D
041854,001645: 15,2601 77744 LXC,2
041855,001646: 15,2602 00050 S1
041856,001647: 15,2603 45173 GRAVEL VLOAD* CALL
041857,001648: 15,2604 54000 XUNIT -6,2
041858,001649: 15,2605 47673 *NBSM* # SIN AND COS COMPUTED IN LUNG
041859,001650: 15,2606 06707 STORE XNB +18D,1
041860,001651: 15,2607 77775 VLOAD
041861,001652: 15,2610 02731 STAR
041862,001653: 15,2611 73744 LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD --
041863,001654: 15,2612 00047 X2
041864,001655: 15,2613 75040 STAR +6,2 # OUTER PRODUCT
041865,001656: 15,2614 71152 VSL2 LXC,2
041866,001657: 15,2615 00047 X2
041867,001658: 15,2616 63047 VSU* INCR,2
041868,001659: 15,2617 54000 XUNIT -6,2
041869,001660: 15,2620 00002 2D
041870,001661: 15,2621 06665 STORE XSM +18D,1
041871,001662: 15,2622 45100 TIX,1 CALL
041872,001663: 15,2623 32603 GRAVEL
041873,001664: 15,2624 47353 CALCGA
041874,001665: 15,2625 74575 VLOAD VSR1
041875,001666: 15,2626 02715 GOUT
041876,001667: 15,2627 36723 STCALL STARAD +12D
041877,001668: 15,2630 32670 LUNG
041878,001669: 15,2631 74575 VLOAD VSR1
041879,001670: 15,2632 02715 GOUT
041880,001671: 15,2633 53455 VAD UNIT
041881,001672: 15,2634 02723 STARAD +12D
041882,001673: 15,2635 02761 STORE STARSAV1
041883,001674: 15,2636 77641 DOT
041884,001675: 15,2637 02231 GSAV
041885,001676: 15,2640 65552 SL1 ACOS
041886,001677: # Page 965
041887,001678: 15,2641 01046 STORE DSPTEM1
041888,001679: 15,2642 77776 EXIT
041889,001680: 15,2643 05516 TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE
041890,001681: 15,2644 00014 ADRES FREEFLAG
041891,001682:
041892,001683: 15,2645 32771 CA DISGRVER
041893,001684: 15,2646 04616 TC BANKCALL
041894,001685: 15,2647 20476 CADR GOFLASH
041895,001686: 15,2650 06001 TC GOTOP00H
041896,001687: 15,2651 12654 TCF PROGRAV # VB33 -- PROCEED
041897,001688: 15,2652 05504 TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN
041898,001689: 15,2653 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
041899,001690:
041900,001691: 15,2654 05353 PROGRAV TC PHASCHNG
041901,001692: 15,2655 04024 OCT 04024
041902,001693:
041903,001694: 15,2656 06037 TC INTPRET
041904,001695: 15,2657 77775 VLOAD
041905,001696: 15,2660 02761 STARSAV1
041906,001697: 15,2661 02231 STORE GSAV
041907,001698: 15,2662 77776 EXIT
041908,001699: 15,2663 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY
041909,001700: 15,2664 70074 MASK FLAGWRD0
041910,001701: 15,2665 10000 CCS A
041911,001702: 15,2666 12563 TCF GVDETER # SET
041912,001703: 15,2667 13553 TCF ATTCHK # EXIT FROM GVDETER
041913,001704:
041914,001705: 15,2670 77220 LUNG STQ VLOAD
041915,001706: 15,2671 02745 QMIN
041916,001707: 15,2672 24007 ZEROVEC
041917,001708: 15,2673 02707 STORE GACC
041918,001709: 15,2674 77776 EXIT
041919,001710: 15,2675 05353 TC PHASCHNG
041920,001711: 15,2676 04024 OCT 04024
041921,001712:
041922,001713: 15,2677 04616 TC BANKCALL
041923,001714: 15,2700 17000 CADR IMUCOARS
041924,001715: 15,2701 04616 TC BANKCALL
041925,001716: 15,2702 17716 CADR IMUSTALL
041926,001717: 15,2703 05711 TC CURTAINS
041927,001718: 15,2704 04616 TC BANKCALL
041928,001719: 15,2705 17210 CADR IMUFINE
041929,001720: 15,2706 04616 TC BANKCALL
041930,001721: 15,2707 17716 CADR IMUSTALL
041931,001722: 15,2710 05711 TC CURTAINS
041932,001723: 15,2711 32770 CA T/2SEC
041933,001724: 15,2712 55736 TS GCTR
041934,001725: 15,2713 37716 CA PRIO31
041935,001726: 15,2714 55075 TS 1/PIPADT
041936,001727: 15,2715 04616 TC BANKCALL
041937,001728: # Page 966
041938,001729: 15,2716 15701 CADR GCOMPZER # INITIALIZE COMPENSATION
041939,001730: 15,2717 05353 TC PHASCHNG
041940,001731: 15,2720 04024 OCT 04024
041941,001732:
041942,001733: 15,2721 04616 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO
041943,001734: 15,2722 77544 CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA
041944,001735: 15,2723 06037 TC INTPRET
041945,001736: 15,2724 77776 GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE
041946,001737: 15,2725 35000 CAF 2SECS
041947,001738: 15,2726 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
041948,001739: 15,2727 02731 ADRES GRABGRAV
041949,001740:
041950,001741: 15,2730 05155 TC ENDOFJOB
041951,001742:
041952,001743: 15,2731 04674 GRABGRAV TC IBNKCALL
041953,001744: 15,2732 77544 CADR PIPSRINE
041954,001745: 15,2733 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
041955,001746: 15,2734 05105 TC FINDVAC
041956,001747: 15,2735 E5,1706 EBANK= STARAD
041957,001748: 15,2735 02740 32065 2CADR ADDGRAV
041958,001749:
041959,001750: 15,2737 05261 TC TASKOVER
041960,001751:
041961,001752: 15,2740 04616 ADDGRAV TC BANKCALL
041962,001753: 15,2741 15263 CADR 1/PIPA
041963,001754: 15,2742 25736 INCR GCTR
041964,001755: 15,2743 06037 TC INTPRET
041965,001756: 15,2744 53375 VLOAD VAD
041966,001757: 15,2745 00325 DELV
041967,001758: 15,2746 02707 GACC
041968,001759: 15,2747 02707 STORE GACC # ACCUMULATE G VECTOR
041969,001760: 15,2750 50135 SLOAD BMN
041970,001761: 15,2751 02737 GCTR
041971,001762: 15,2752 32724 GREED
041972,001763: 15,2753 53575 VLOAD UNIT
041973,001764: 15,2754 02707 GACC
041974,001765: 15,2755 36731 STCALL STAR
041975,001766: 15,2756 47537 CDUTRIG # TRANSFORM IN NB COOR AND STORE
041976,001767: 15,2757 77624 CALL # IN OUTPUT
041977,001768: 15,2760 47671 *SMNB*
041978,001769: 15,2761 02715 STORE GOUT
041979,001770: 15,2762 77776 EXIT
041980,001771: 15,2763 05353 TC PHASCHNG
041981,001772: 15,2764 04024 OCT 04024
041982,001773:
041983,001774: 15,2765 06037 QMINEXIT TC INTPRET
041984,001775: 15,2766 77650 GOTO
041985,001776: 15,2767 02745 QMIN
041986,001777: 15,2770 77753 T/2SEC DEC -20 B-14
041987,001778: # Page 967
041988,001779: 15,2771 01404 DISGRVER VN 0604
041989,001780: 15,2772 07357 42DEG OCT 07357
041990,001781: 15,2773 06211 35DEG OCT 06211
041991,001782:
041992,001783: # Page 968
041993,001784: # NAME -- GYROTRIM
041994,001785:
041995,001786: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041996,001787: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041997,001788: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041998,001789:
041999,001790: # CALL CALL
042000,001791: # GYROTRIM
042001,001792:
042002,001793: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
042003,001794: # CDUX,CDUY,CDUZ
042004,001795:
042005,001796: # OUTPUT GYRO TORQUE PULSES
042006,001797:
042007,001798: # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042008,001799: # IMPULSE, IMUSTALL
042009,001800: # _______ ______ ______ * * ___
042010,001801: # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042011,001802:
042012,001803: 15,2774 COUNT* $$/P57
042013,001804: 15,2774 71220 GYROTRIM STQ DLOAD
042014,001805: 15,2775 02745 QMIN
042015,001806: 15,2776 00322 THETAD
042016,001807: 15,2777 65325 PDDL PDDL
042017,001808: 15,3000 00324 THETAD +2
042018,001809: 15,3001 00323 THETAD +1
042019,001810: 15,3002 77666 VDEF
042020,001811: 15,3003 24767 STOVL CDUSPOT
042021,001812: 15,3004 24005 XUNIT
042022,001813: 15,3005 77624 CALL
042023,001814: 15,3006 47664 TRG*NBSM
042024,001815: 15,3007 26707 STOVL STARAD
042025,001816: 15,3010 24003 YUNIT
042026,001817: 15,3011 77624 CALL
042027,001818: 15,3012 47673 *NBSM*
042028,001819: 15,3013 36715 STCALL STARAD +6
042029,001820: 15,3014 47537 CDUTRIG
042030,001821: 15,3015 77624 CALL
042031,001822: 15,3016 20030 CALCSMSC
042032,001823: 15,3017 77775 VLOAD
042033,001824: 15,3020 02665 XNB
042034,001825: 15,3021 24007 STOVL 6D
042035,001826: 15,3022 02673 YNB
042036,001827: 15,3023 34015 STCALL 12D
042037,001828: 15,3024 47441 AXISGEN
042038,001829: 15,3025 77624 CALL
042039,001830: 15,3026 47247 CALCGTA
042040,001831: 15,3027 77776 JUSTTRIM EXIT
042041,001832: 15,3030 04616 TC BANKCALL
042042,001833: 15,3031 17210 CADR IMUFINE
042043,001834: 15,3032 04616 TC BANKCALL
042044,001835: # Page 969
042045,001836: 15,3033 17716 CADR IMUSTALL
042046,001837: 15,3034 05711 TC CURTAINS
042047,001838: 15,3035 33044 CA GYRCDR
042048,001839: 15,3036 04616 TC BANKCALL
042049,001840: 15,3037 17323 CADR IMUPULSE
042050,001841: 15,3040 04616 TC BANKCALL
042051,001842: 15,3041 17716 CADR IMUSTALL
042052,001843: 15,3042 05711 TC CURTAINS
042053,001844: 15,3043 12765 TCF QMINEXIT
042054,001845:
042055,001846: 15,3044 02737 GYRCDR ECADR OGC
042056,001847:
042057,001848: # Page 970
042058,001849: # PERFORM STAR ACQUISITION AND STAR SIGHTINGS
042059,001850:
042060,001851: 15,3045 34755 2STARS CAF ZERO # INITIALIZE STARIND
042061,001852: 15,3046 13050 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042062,001853: 15,3047 34753 1STAR CAF BIT1
042063,001854: 15,3050 55757 TS STARIND
042064,001855:
042065,001856: 15,3051 05353 TC PHASCHNG
042066,001857: 15,3052 04024 OCT 04024
042067,001858:
042068,001859: 15,3053 12245 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK
042069,001860:
042070,001861: 15,3054 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
042071,001862: 15,3055 00006 EXTEND
042072,001863: 15,3056 13067 BZF ASTAR # 1ST STAR MARKED
042073,001864:
042074,001865: 15,3057 05353 TC PHASCHNG
042075,001866: 15,3060 04024 OCT 04024
042076,001867:
042077,001868: 15,3061 06037 TC INTPRET
042078,001869: 15,3062 45145 DLOAD CALL
042079,001870: 15,3063 03562 TSIGHT # TIME OF 2ND MARK
042080,001871: 15,3064 32472 PLANET
042081,001872: 15,3065 36731 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
042082,001873: 15,3066 33101 SURFLINE
042083,001874:
042084,001875: 15,3067 06037 ASTAR TC INTPRET
042085,001876: 15,3070 77775 VLOAD
042086,001877: 15,3071 02715 STARAD +6
042087,001878: 15,3072 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
042088,001879: 15,3073 45145 DLOAD CALL
042089,001880: 15,3074 03562 TSIGHT # TIME OF 1ST MARK
042090,001881: 15,3075 32472 PLANET
042091,001882: 15,3076 02723 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
042092,001883: 15,3077 77776 EXIT
042093,001884: 15,3100 13047 TCF 1STAR # GO GET 2ND STAR SIGHTING
042094,001885:
042095,001886: # Page 971
042096,001887: # DO FINE OR COARSE ALIGNMENT OF IMU
042097,001888:
042098,001889: 15,3101 77131 SURFLINE SSP AXT,2
042099,001890: 15,3102 00052 S2
042100,001891: 15,3103 00006 6
042101,001892: 15,3104 00014 12D
042102,001893: 15,3105 64373 WRTDESIR VLOAD* MXV
042103,001894: 15,3106 75040 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
042104,001895: 15,3107 03607 XSMD
042105,001896: 15,3110 77656 UNIT
042106,001897: 15,3111 12723 STORE STARAD +12D,2 # VEC IN SM
042107,001898: 15,3112 77773 VLOAD*
042108,001899: 15,3113 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
042109,001900: 15,3114 10023 STORE 18D,2
042110,001901: 15,3115 43104 TIX,2 BON
042111,001902: 15,3116 33105 WRTDESIR
042112,001903: 15,3117 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
042113,001904: 15,3120 33126 INITBY
042114,001905: 15,3121 77624 DOALIGN CALL
042115,001906: 15,3122 31256 R54 # DO CHKSDATA
042116,001907: 15,3123 77614 BOFF
042117,001908: 15,3124 00354 FREEFLAG
042118,001909: 15,3125 33206 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
042119,001910: 15,3126 77624 INITBY CALL
042120,001911: 15,3127 47441 AXISGEN # GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042121,001912: 15,3130 77624 CALL
042122,001913: 15,3131 47247 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
042123,001914: 15,3132 77776 EXIT
042124,001915: 15,3133 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042125,001916: 15,3134 70104 MASK FLAGWRD8
042126,001917: 15,3135 10000 CCS A
042127,001918: 15,3136 13145 TCF 5DEGTEST
042128,001919: 15,3137 33313 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
042129,001920: 15,3140 04616 TC BANKCALL
042130,001921: 15,3141 20476 CADR GOFLASH
042131,001922: 15,3142 06001 TC GOTOP00H # V34 -- TERMINATE
042132,001923: 15,3143 13145 TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE
042133,001924: 15,3144 13207 TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN
042134,001925:
042135,001926: 15,3145 06037 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042136,001927: 15,3146 40175 VLOAD BOV
042137,001928: 15,3147 02740 OGC
042138,001929: 15,3150 33151 SURFSUP
042139,001930: 15,3151 02750 SURFSUP STORE OGCT
042140,001931: 15,3152 40141 V/SC BOV
042141,001932: 15,3153 30610 5DEGREES
042142,001933: 15,3154 33254 COATRIM
042143,001934: 15,3155 52131 SSP GOTO
042144,001935: 15,3156 02746 QMIN
042145,001936: 15,3157 33161 SURFDISP
042146,001937: # Page 972
042147,001938: 15,3160 33027 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042148,001939:
042149,001940: 15,3161 77776 SURFDISP EXIT
042150,001941: 15,3162 05353 TC PHASCHNG
042151,001942: 15,3163 04024 OCT 04024
042152,001943:
042153,001944: 15,3164 06037 TC INTPRET
042154,001945: 15,3165 75160 AXC,1 AXC,2
042155,001946: 15,3166 03606 XSMD
042156,001947: 15,3167 01733 REFSMMAT
042157,001948: 15,3170 45014 SET CALL
042158,001949: 15,3171 01462 REFSMFLG
042159,001950: 15,3172 31377 MATMOVE
042160,001951: 15,3173 77776 EXIT
042161,001952: 15,3174 11145 CCS OPTION2 # IF OPTION ZERO DO FINISH
042162,001953: 15,3175 13177 TCF B2F8
042163,001954: 15,3176 13207 TCF P57POST +1
042164,001955:
042165,001956: 15,3177 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
042166,001957: 15,3200 70104 MASK FLAGWRD8
042167,001958: 15,3201 10000 CCS A
042168,001959: 15,3202 13561 TCF P57JUMP # IT'S SET
042169,001960: 15,3203 06037 TC INTPRET
042170,001961: 15,3204 77624 CALL
042171,001962: 15,3205 33506 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042172,001963: 15,3206 77776 P57POST EXIT
042173,001964: 15,3207 35751 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
042174,001965: 15,3210 04616 TC BANKCALL
042175,001966: 15,3211 20623 CADR GOPERF1
042176,001967: 15,3212 16001 TCF GOTOP00H # VB34 -- TERMINATE
042177,001968: 15,3213 13561 TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN
042178,001969: 15,3214 44752 CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2
042179,001970: 15,3215 61145 AD OPTION2
042180,001971: 15,3216 00006 EXTEND
042181,001972: 15,3217 13221 BZF +2 # YES -- GO CALCULATE LANDING SITE
042182,001973: 15,3220 16001 TCF GOTOP00H # NO -- EXIT P57
042183,001974: 15,3221 05353 TC PHASCHNG # RESTART PLACE
042184,001975: 15,3222 04024 OCT 04024
042185,001976: 15,3223 06037 TC INTPRET
042186,001977: 15,3224 45175 VLOAD CALL # USE GNB
042187,001978: 15,3225 02231 GSAV
042188,001979: 15,3226 47661 CDU*NBSM # GO TO SM COORDS
042189,001980: 15,3227 43105 VXM SET # ON MOON SO SET LUNAFLAG
042190,001981: 15,3230 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
042191,001982: 15,3231 01463 LUNAFLAG
042192,001983: 15,3232 51515 PDVL ABVAL
042193,001984: 15,3233 02023 RLS
042194,001985: 15,3234 45561 VXSC STADR
042195,001986: 15,3235 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
042196,001987: 15,3236 47014 CLEAR RTB
042197,001988: # Page 973
042198,001989: 15,3237 00662 ERADFLAG
042199,001990: 15,3240 21573 LOADTIME
042200,001991: 15,3241 77624 CALL
042201,001992: 15,3242 30446 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
042202,001993: 15,3243 01221 STORE RN # RN=RLS B-29 = LM POSITION
042203,001994: 15,3244 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST
042204,001995: 15,3245 01243 GDT/2 +4 # TIME TEMP STORED IN N89DISP
042205,001996: 15,3246 77606 PUSH # TIME AT 6-7 IN PDLIST
042206,001997: 15,3247 35235 STCALL PIPTIME # PIPTIME = LM STATE TIME
042207,001998: 15,3250 51670 R-TO-RP
042208,001999: 15,3251 02023 STORE RLS # RLS IN MOON-FIXED COORDS
042209,002000: 15,3252 77776 EXIT
042210,002001: 15,3253 16001 TCF GOTOP00H # EXIT P57
042211,002002:
042212,002003: # Page 974
042213,002004: # COARSE AND FINE ALIGN IMU
042214,002005:
042215,002006: 15,3254 75160 COATRIM AXC,1 AXC,2
042216,002007: 15,3255 02664 XDC
042217,002008: 15,3256 02642 XSM
042218,002009: 15,3257 77624 CALL
042219,002010: 15,3260 31377 MATMOVE
042220,002011: 15,3261 77624 CALL
042221,002012: 15,3262 47537 CDUTRIG
042222,002013: 15,3263 77624 CALL
042223,002014: 15,3264 20030 CALCSMSC
042224,002015: 15,3265 77624 CALL
042225,002016: 15,3266 47353 CALCGA
042226,002017: 15,3267 77414 BOFF EXIT
042227,002018: 15,3270 04355 INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL
042228,002019: 15,3271 33303 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
042229,002020: 15,3272 35010 CAF V06N22 # THAN 5 DEGREES
042230,002021: 15,3273 04616 TC BANKCALL
042231,002022: 15,3274 20476 CADR GOFLASH
042232,002023: 15,3275 06001 TC GOTOP00H
042233,002024: 15,3276 13300 TCF +2
042234,002025: 15,3277 13272 TCF -5
042235,002026: 15,3300 05353 TC PHASCHNG
042236,002027: 15,3301 04024 OCT 04024
042237,002028:
042238,002029: 15,3302 06037 TC INTPRET
042239,002030: 15,3303 77624 CORSIT CALL
042240,002031: 15,3304 31565 COARSE
042241,002032: 15,3305 77624 CALL
042242,002033: 15,3306 31602 NCOARSE
042243,002034: 15,3307 77624 CALL
042244,002035: 15,3310 32774 GYROTRIM
042245,002036: 15,3311 77650 GOTO
042246,002037: 15,3312 33161 SURFDISP
042247,002038: 15,3313 01535 DISPGYRO VN 0693
042248,002039:
042249,002040: # Page 975
042250,002041: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
042251,002042:
042252,002043: 15,3314 04616 P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND
042253,002044: 15,3315 33652 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H
042254,002045:
042255,002046: 15,3316 36245 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042256,002047: 15,3317 55145 TS OPTION2
042257,002048: 15,3320 34753 P57OPT CAF BIT1
042258,002049: 15,3321 04616 TC BANKCALL
042259,002050: 15,3322 20713 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
042260,002051: 15,3323 06001 TC GOTOP00H # V34 TERMINATE
042261,002052: 15,3324 13331 TCF ALIGNOPT # V33 PROCEED
042262,002053: 15,3325 13320 TCF P57OPT # V32 RECYCLE
042263,002054:
042264,002055: 15,3326 05353 TC PHASCHNG
042265,002056: 15,3327 00014 OCT 00014
042266,002057: 15,3330 05155 TC ENDOFJOB
042267,002058:
042268,002059: 15,3331 31145 ALIGNOPT CA OPTION2
042269,002060: 15,3332 76245 MASK THREE
042270,002061: 15,3333 50000 INDEX A
042271,002062: 15,3334 13335 TCF +1
042272,002063: 15,3335 13350 TCF TDISP # OPTION 4 LS ORIENTATION
042273,002064: 15,3336 13411 TCF PACKOPTN # OPTION 1 PREFERRED
042274,002065: 15,3337 13320 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
042275,002066: 15,3340 06037 TC INTPRET # OPTION 3 REFSMMAT
042276,002067: 15,3341 75160 AXC,1 AXC,2 # JAM REFSMMAT IN XSMD LOC
042277,002068: 15,3342 01733 REFSMMAT
042278,002069: 15,3343 03606 XSMD
042279,002070: 15,3344 77624 CALL
042280,002071: 15,3345 31377 MATMOVE
042281,002072: 15,3346 77650 GOTO
042282,002073: 15,3347 33410 PACKOPTN -1
042283,002074:
042284,002075: 15,3350 06037 TDISP TC INTPRET
042285,002076: 15,3351 77745 DLOAD
042286,002077: 15,3352 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
042287,002078: 15,3353 01046 P57A STORE DSPTEM1
042288,002079: 15,3354 77776 EXIT
042289,002080: 15,3355 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
042290,002081: 15,3356 04616 TC BANKCALL
042291,002082: 15,3357 20476 CADR GOFLASH
042292,002083: 15,3360 16001 TCF GOTOP00H # V34 -- TERMINATE
042293,002084: 15,3361 13363 TCF +2
042294,002085: 15,3362 13355 TCF P57AA # VB32 -- RECYCLE
042295,002086:
042296,002087: 15,3363 06037 TC INTPRET
042297,002088: 15,3364 65234 RTB PDDL
042298,002089: 15,3365 21573 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
042299,002090: 15,3366 01046 DSPTEM1
042300,002091: # Page 976
042301,002092: 15,3367 65254 BZE PDDL
042302,002093: 15,3370 33400 P57C # IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042303,002094: 15,3371 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042304,002095: 15,3372 01046 DSPTEM1
042305,002096: 15,3373 33400 P57C
042306,002097: 15,3374 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
042307,002098: 15,3375 74335 STORE TIG # STORE IT IN TIG
042308,002099: 15,3376 36775 STCALL TALIGN
042309,002100: 15,3377 33402 P57D
042310,002101: 15,3400 45545 P57C DLOAD STADR
042311,002102: 15,3401 75002 STORE TALIGN
042312,002103: 15,3402 34041 P57D STCALL TDEC1
042313,002104: 15,3403 27057 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
042314,002105: 15,3404 53575 VLOAD UNIT # IN X,Y,ZSMD
042315,002106: 15,3405 00001 RATT
042316,002107: 15,3406 37607 STCALL XSMD
042317,002108: 15,3407 11013 LSORIENT
042318,002109: 15,3410 77776 EXIT
042319,002110: 15,3411 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
042320,002111: 15,3412 55145 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
042321,002112: 15,3413 55146 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
042322,002113: 15,3414 34737 CAF REFSMBIT
042323,002114: 15,3415 70077 MASK FLAGWRD3 # REFSMFLG
042324,002115: 15,3416 10000 CCS A
042325,002116: 15,3417 34745 CAF BIT7 # SET
042326,002117: 15,3420 27146 ADS OPTION1 +2 # CLEAR -- JUST ZERO
042327,002118: 15,3421 34753 CAF ATTFLBIT
042328,002119: 15,3422 70102 MASK FLAGWRD6 # ATTFLG
042329,002120: 15,3423 10000 CCS A
042330,002121: 15,3424 34750 CAF BIT4 # SET
042331,002122: 15,3425 27146 ADS OPTION1 +2 # CLEAR -- ZERO IN A
042332,002123: 15,3426 34750 CAF BIT4
042333,002124: 15,3427 55144 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
042334,002125:
042335,002126: 15,3430 33651 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
042336,002127: 15,3431 04616 TC BANKCALL
042337,002128: 15,3432 20476 CADR GOFLASH
042338,002129: 15,3433 16001 TCF GOTOP00H # VB34 -- TERMINATE
042339,002130: 15,3434 13436 TCF +2 # V33 -- PROCEED
042340,002131: 15,3435 13430 TCF DSPOPTN # V32 -- RECYCLE
042341,002132:
042342,002133: 15,3436 34737 CAF REFSMBIT
042343,002134: 15,3437 70077 MASK FLAGWRD3
042344,002135: 15,3440 10000 CCS A
042345,002136: 15,3441 13541 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
042346,002137: 15,3442 34753 CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE.
042347,002138: 15,3443 70102 MASK FLAGWRD6
042348,002139: 15,3444 10000 CCS A
042349,002140: 15,3445 13545 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042350,002141: 15,3446 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
042351,002142: # Page 977
042352,002143: 15,3447 71145 MASK OPTION2
042353,002144: 15,3450 10000 CCS A
042354,002145: 15,3451 13545 TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE
042355,002146: 15,3452 05567 TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701
042356,002147: 15,3453 00701 OCT 701
042357,002148: 15,3454 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
042358,002149: 15,3455 04616 TC BANKCALL
042359,002150: 15,3456 20476 CADR GOFLASH
042360,002151: 15,3457 16001 TCF GOTOP00H # VB34 -- TERMINATE
042361,002152: 15,3460 13430 TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY
042362,002153: 15,3461 13430 TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06
042363,002154:
042364,002155: # Page 978
042365,002156: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042366,002157:
042367,002158: 15,3462 40220 MFREF STQ SETPD
042368,002159: 15,3463 02746 QMAJ
042369,002160: 15,3464 00001 0
042370,002161: 15,3465 77634 RTB
042371,002162: 15,3466 21573 LOADTIME
042372,002163: 15,3467 27562 STOVL TSIGHT
042373,002164: 15,3470 02723 VEC1
042374,002165: 15,3471 41525 PDDL PUSH
042375,002166: 15,3472 03562 TSIGHT
042376,002167: 15,3473 77624 CALL
042377,002168: 15,3474 55716 RP-TO-R
042378,002169: 15,3475 26723 STOVL VEC1
042379,002170: 15,3476 02731 VEC2
042380,002171: 15,3477 65201 SETPD PDDL
042381,002172: 15,3500 00001 0
042382,002173: 15,3501 03562 TSIGHT
042383,002174: 15,3502 45006 PUSH CALL
042384,002175: 15,3503 55716 RP-TO-R
042385,002176: 15,3504 36731 STCALL VEC2
042386,002177: 15,3505 02746 QMAJ
042387,002178:
042388,002179: # Page 979
042389,002180: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042390,002181: # STORE IN YNBSAV AND ZNBSAV.
042391,002182:
042392,002183: 15,3506 45020 REFMF STQ CALL
042393,002184: 15,3507 02746 QMAJ
042394,002185: 15,3510 47537 CDUTRIG # GET SIN AND COS OF CDUS
042395,002186: 15,3511 40234 RTB SETPD
042396,002187: 15,3512 21573 LOADTIME
042397,002188: 15,3513 00001 0
042398,002189: 15,3514 37562 STCALL TSIGHT
042399,002190: 15,3515 20030 CALCSMSC # GET YNB IN SM
042400,002191: 15,3516 61375 VLOAD VXM
042401,002192: 15,3517 02673 YNB
042402,002193: 15,3520 01734 REFSMMAT # YNB TO REF
042403,002194: 15,3521 65256 UNIT PDDL
042404,002195: 15,3522 03562 TSIGHT
042405,002196: 15,3523 45006 PUSH CALL
042406,002197: 15,3524 51670 R-TO-RP
042407,002198: 15,3525 26237 STOVL YNBSAV # YNB TO MF
042408,002199: 15,3526 02701 ZNB
042409,002200: 15,3527 53505 VXM UNIT
042410,002201: 15,3530 01734 REFSMMAT # ZNB TO REF
042411,002202: 15,3531 41525 PDDL PUSH
042412,002203: 15,3532 03562 TSIGHT
042413,002204: 15,3533 77624 CALL
042414,002205: 15,3534 51670 R-TO-RP # ZNB TO MF
042415,002206: 15,3535 02245 STORE ZNBSAV
042416,002207: 15,3536 77614 SETGO
042417,002208: 15,3537 03036 ATTFLAG
042418,002209: 15,3540 02746 QMAJ
042419,002210:
042420,002211: # Page 980
042421,002212: # BRANCH TO ALIGNMENT OPTION
042422,002213:
042423,002214: 15,3541 06037 GETLMATT TC INTPRET
042424,002215: 15,3542 77624 CALL
042425,002216: 15,3543 33506 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042426,002217: 15,3544 77776 EXIT
042427,002218:
042428,002219: 15,3545 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
042429,002220: 15,3546 00205 ADRES INITALGN
042430,002221: 15,3547 34753 CAF BIT1
042431,002222: 15,3550 71145 MASK OPTION2 # SEE IF OPTION 1 OR 3
042432,002223: 15,3551 10000 CCS A
042433,002224: 15,3552 12563 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
042434,002225:
042435,002226: 15,3553 05353 ATTCHK TC PHASCHNG
042436,002227: 15,3554 04024 OCT 04024
042437,002228:
042438,002229: 15,3555 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
042439,002230: 15,3556 70102 MASK FLAGWRD6
042440,002231: 15,3557 10000 CCS A
042441,002232: 15,3560 13575 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
042442,002233: 15,3561 05353 P57JUMP TC PHASCHNG
042443,002234: 15,3562 04024 OCT 04024
042444,002235:
042445,002236: 15,3563 05516 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG
042446,002237: 15,3564 00205 ADRES INITALGN
042447,002238: 15,3565 36245 CAF THREE
042448,002239: 15,3566 71145 MASK OPTION2 # BRANCH ON OPTION CODE
042449,002240: 15,3567 50000 INDEX A
042450,002241: 15,3570 13571 TCF +1
042451,002242: 15,3571 13575 TCF P57OPT0 # OPTION IS 0
042452,002243: 15,3572 13616 TCF P57OPT1 # OPTION IS 1
042453,002244: 15,3573 13634 TCF P57OPT2 # OPTION IS 2
042454,002245: 15,3574 13635 TCF P57OPT3 # OPTION IS 3
042455,002246:
042456,002247: # Page 981
042457,002248: # OPTION 0, GET TWO ATTITUDE VECS
042458,002249:
042459,002250: 15,3575 06037 P57OPT0 TC INTPRET
042460,002251: 15,3576 77775 VLOAD
042461,002252: 15,3577 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
042462,002253: 15,3600 26723 STOVL VEC1
042463,002254: 15,3601 02245 ZNBSAV
042464,002255: 15,3602 36731 STCALL VEC2
042465,002256: 15,3603 47537 CDUTRIG
042466,002257: 15,3604 77624 CALL
042467,002258: 15,3605 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
042468,002259: 15,3606 77775 VLOAD
042469,002260: 15,3607 02673 YNB
042470,002261: 15,3610 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
042471,002262: 15,3611 02701 ZNB
042472,002263: 15,3612 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
042473,002264: 15,3613 33462 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
042474,002265: 15,3614 77650 GOTO
042475,002266: 15,3615 33101 SURFLINE
042476,002267:
042477,002268: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042478,002269:
042479,002270: 15,3616 06037 P57OPT1 TC INTPRET
042480,002271: 15,3617 53575 VLOAD UNIT
042481,002272: 15,3620 02023 RLS # LANDING SITE VEC
042482,002273: 15,3621 26723 STOVL VEC1
042483,002274: 15,3622 02245 ZNBSAV # Z ATTITUDE VEC
042484,002275: 15,3623 36731 STCALL VEC2
042485,002276: 15,3624 47537 CDUTRIG
042486,002277: 15,3625 77624 CALL
042487,002278: 15,3626 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
042488,002279: 15,3627 45175 VLOAD CALL
042489,002280: 15,3630 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
042490,002281: 15,3631 47661 CDU*NBSM
042491,002282: 15,3632 77650 GOTO
042492,002283: 15,3633 33610 SAMETYP # NOW DO SAME AS OPTION 0
042493,002284:
042494,002285: # Page 982
042495,002286: # OPTION 2, GET TWO STAR SIGHTINGS
042496,002287:
042497,002288: 15,3634 13045 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
042498,002289:
042499,002290: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042500,002291:
042501,002292: 15,3635 06037 P57OPT3 TC INTPRET
042502,002293: 15,3636 53575 VLOAD UNIT
042503,002294: 15,3637 02023 RLS # LANDING SITE VEC
042504,002295: 15,3640 02723 STORE VEC1
042505,002296: 15,3641 26731 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
042506,002297: 15,3642 02231 GSAV # GRAVITY VEC NB
042507,002298: 15,3643 77624 CALL
042508,002299: 15,3644 47661 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
042509,002300: 15,3645 36761 STCALL STARSAV1
042510,002301: 15,3646 33462 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
042511,002302: 15,3647 77776 EXIT
042512,002303: 15,3650 13047 TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE.
042513,002304:
042514,002305: 15,3651 01206 VB05N06 VN 506
042515,002306:
042516,002307: # Page 983
042517,002308: # CHECK IMODES30 TO VERIFY IMU IS ON
042518,002309:
042519,002310: 15,3652 41302 IMUCHK CS IMODES30
042520,002311: 15,3653 74743 MASK BIT9
042521,002312: 15,3654 10000 CCS A # IS IMU ON
042522,002313: 15,3655 13661 TCF +4 # YES
042523,002314:
042524,002315: 15,3656 05567 TC ALARM # NO, SEND ALARM AND EXIT
042525,002316: 15,3657 00210 OCT 210
042526,002317: 15,3660 06001 TC GOTOP00H
042527,002318:
042528,002319: 15,3661 05504 TC UPFLAG
042529,002320: 15,3662 00007 ADRES IMUSE # SET IMUSE FLAG
042530,002321:
042531,002322: 15,3663 04631 TC SWRETURN
042532,002323:
042533,002324: 04,3013 BANK 04
042534,002325: 04,2000 SETLOC AOTMARK2
042535,002326: 04,2000 BANK
042536,002327: 04,3013 COUNT* $$/P57
042537,002328:
042538,002329: 04,3013 77220 LSORIENT STQ VLOAD
042539,002330: 04,3014 02746 QMAJ
042540,002331: 04,3015 01555 RRECTCSM
042541,002332: 04,3016 47235 VXV VXV
042542,002333: 04,3017 01563 VRECTCSM
042543,002334: 04,3020 03607 XSMD
042544,002335: 04,3021 77656 UNIT
042545,002336: 04,3022 03623 STORE ZSMD
042546,002337: 04,3023 53435 VXV UNIT
042547,002338: 04,3024 03607 XSMD
042548,002339: 04,3025 37615 STCALL YSMD
042549,002340: 04,3026 02746 QMAJ
042550,002341:
End of include-file P51-P53.agc. Parent file is MAIN.agc