Source Code
039013,000001: # Copyright: Public domain.
039014,000002: # Filename: P51-P53.agc
039015,000003: # Purpose: A section of Luminary 1C, revision 131.
039016,000004: # It is part of the source code for the Lunar Module's (LM)
039017,000005: # Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
039018,000006: # This file is intended to be a faithful transcription, except
039019,000007: # that the code format has been changed to conform to the
039020,000008: # requirements of the yaYUL assembler rather than the
039021,000009: # original YUL assembler.
039022,000010: # Reference: pp. 926-982 of 1729.pdf.
039023,000011: # Contact: Ron Burkey <info@sandroid.org>.
039024,000012: # Website: www.ibiblio.org/apollo
039025,000013: # Mod history: 05/29/03 RSB. Began transcribing.
039026,000014:
039027,000015: # Page 926
039028,000016: # PROGRAM NAME -- PROG52 DATE -- JAN 9, 1967
039029,000017: # MOD NO -- 0 LOG SECTION -- P51-P53
039030,000018: # MODIFICATION BY -- LONSKE ASSEMBLY -- SUNDANCE REV 46
039031,000019:
039032,000020: # FUNCTIONAL DESCRIPTION --
039033,000021:
039034,000022: # ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039035,000023: # AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE:
039036,000024:
039037,000025: # (A) PREFERRED ORIENTATION
039038,000026:
039039,000027: # AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANEUVER. THIS ORIENTATION MUST BE CALCULATED AND
039040,000028: # STORED BY A PREVIOUSLY SELECTED PROGRAM.
039041,000029:
039042,000030: # (B) NOMINAL ORIENTATION
039043,000031:
039044,000032: # X = UNIT ( R )
039045,000033: # -SM
039046,000034:
039047,000035: # Y = UNIT (V X R)
039048,000036: # SM
039049,000037:
039050,000038: # Z = UNIT (X X Y )
039051,000039: # SM SM SM
039052,000040:
039053,000041: # WHERE:
039054,000042:
039055,000043: # R = THE GEOMETRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039056,000044: # -
039057,000045:
039058,000046: # V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039059,000047: # -
039060,000048:
039061,000049: # (C) RERSMMAT ORIENTATION
039062,000050:
039063,000051: # (D) LANDING SITE -- THIS IS NOT AVAILABLE IN SUNDANCE
039064,000052:
039065,000053: # THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039066,000054: # WAS LAST ALIGNED ONLY DUE TO GYRO DRIVE (I.E., NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPT HAS OCCURRED
039067,000055: # SINCE THE LAST ALIGNMENT).
039068,000056:
039069,000057: # AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039070,000058: # NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039071,000059: # COARSE ALIGN THE IMU. THE STARS SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039072,000060: # IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANEUVER THE VEHICLE AND SELECT 2 STARS
039073,000061: # EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039074,000062: # THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039075,000063: # REQUESTED.
039076,000064:
039077,000065: # CALLING SEQUENCE --
039078,000066:
039079,000067: # Page 927
039080,000068: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039081,000069:
039082,000070: # SUBROUTINES CALLED --
039083,000071:
039084,000072: # 1. FLAGDOWN 7. S52.2 13. NEWMODEX
039085,000073: # 2. R02BOTH 8. CAL53A 14. PRIOLARM
039086,000074: # 3. GOPERF4 9. FLAGUP
039087,000075: # 4. MATMOVE 10. R56
039088,000076: # 5. GOFLASH 11. R51
039089,000077: # 6. S52.3 12. GOPERF3
039090,000078:
039091,000079: # NORMAL EXIT MODES --
039092,000080:
039093,000081: # EXITS TO ENDOFJOB
039094,000082:
039095,000083: # ALARM OR ABORT EXIT MODES --
039096,000084:
039097,000085: # NONE
039098,000086:
039099,000087: # OUTPUT --
039100,000088:
039101,000089: # THE FOLLOWING MAY BE FLASHED ON THE DSKY
039102,000090: # 1. IMU ORIENTATION CODE
039103,000091: # 2. ALARM CODE 215 -- PREFERRED IMU ORIENTATION NOT SPECIFIED
039104,000092: # 3. TIME OF NEXT IGNITION
039105,000093: # 4. GIMBAL ANGLES
039106,000094: # 5. ALARM CODE 405 -- TWO STARS NOT AVAILABLE
039107,000095: # 6. PLEASE PERFORM P00
039108,000096: # THE MODE DISPLAY MAY BE CHANGED TO 20
039109,000097:
039110,000098: # ERASABLE INITIALIZATION REQUIRED --
039111,000099:
039112,000100: # PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
039113,000101: # XSMD, YSMD, ZSMD.
039114,000102:
039115,000103: # RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039116,000104:
039117,000105: # DEBRIS --
039118,000106:
039119,000107: # WORKAREA
039120,000108:
039121,000109: 33,3760 BANK 33
039122,000110: 15,2000 SETLOC P50S
039123,000111: 15,2000 BANK
039124,000112:
039125,000113: 15,2050 E5,1755 EBANK= BESTI
039126,000114: 15,2050 COUNT* $$/P52
039127,000115: 15,2050 04616 PROG52 TC BANKCALL
039128,000116: 15,2051 11233 CADR R02BOTH # IMU STATUS CHECK
039129,000117: 15,2052 34750 CAF PFRATBIT
039130,000118: 15,2053 70076 MASK FLAGWRD2 # IS PFRATFLG SET?
039131,000119: 15,2054 10000 CCS A
039132,000120: # Page 928
039133,000121: 15,2055 02060 TC P52A # YES
039134,000122: 15,2056 36250 CAF THREE # DISPLAY REFSMMAT OPTION 3
039135,000123: 15,2057 02061 TC P52A +1
039136,000124: 15,2060 34753 P52A CAF BIT1
039137,000125: 15,2061 55144 TS OPTION2
039138,000126: 15,2062 34753 P52B CAF BIT1
039139,000127: 15,2063 04616 TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
039140,000128: 15,2064 20714 CADR GOPERF4R # FLASH V04N06
039141,000129: 15,2065 06001 TC GOTOP00H
039142,000130: 15,2066 12073 TCF +5 # V33 -- PROCEED
039143,000131: 15,2067 02062 TC P52B # NEW CODE -- NEW ORIENTATION CODE INPUT
039144,000132: 15,2070 05353 TC PHASCHNG # DISPLAY RETURN
039145,000133: 15,2071 00014 OCT 00014
039146,000134: 15,2072 05155 TC ENDOFJOB
039147,000135:
039148,000136: 15,2073 31144 CA OPTION2
039149,000137: 15,2074 76250 MASK THREE
039150,000138: 15,2075 50000 INDEX A
039151,000139: 15,2076 02077 TC +1
039152,000140: 15,2077 12105 TCF OPT4 # OPTION 4 LANDING SITE
039153,000141: 15,2100 12153 TCF P52H # OPTION 1 PREFERRED
039154,000142: 15,2101 12110 TCF P52T # OPTION 2 NOMINAL
039155,000143: 15,2102 06042 P52E TC INTPRET # OPTION 3 REFSMMAT
039156,000144: 15,2103 77650 GOTO
039157,000145: 15,2104 32164 P52F # GO DO R51
039158,000146:
039159,000147: 15,2105 00006 OPT4 EXTEND
039160,000148: 15,2106 31401 DCA TLAND # IF OPTION 4 DISPLAY TLAND
039161,000149: 15,2107 12112 TCF P52T +2
039162,000150:
039163,000151: 15,2110 00006 P52T EXTEND
039164,000152: 15,2111 34755 DCA NEG0
039165,000153: 15,2112 53045 DXCH DSPTEM1
039166,000154: 15,2113 32170 CAF V06N34*
039167,000155: 15,2114 04616 TC BANKCALL
039168,000156: 15,2115 20477 CADR GOFLASH
039169,000157: 15,2116 06001 TC GOTOP00H
039170,000158: 15,2117 02121 TC +2
039171,000159: 15,2120 02113 TC -5
039172,000160: 15,2121 53045 DXCH DSPTEM1
039173,000161: 15,2122 00006 EXTEND
039174,000162: 15,2123 62125 BZMF +2 # IF TIME ZERO OR NEG USE TIME2
039175,000163: 15,2124 12127 TCF +3
039176,000164: 15,2125 00006 EXTEND
039177,000165: 15,2126 30025 DCA TIME2
039178,000166: 15,2127 53775 DXCH TALIGN
039179,000167: 15,2130 31144 P52V CA OPTION2
039180,000168: 15,2131 74752 MASK BIT2
039181,000169: 15,2132 10000 CCS A
039182,000170: 15,2133 02137 TC P52W
039183,000171: # Page 929
039184,000172: 15,2134 06042 TC INTPRET # OPTION 4 -- GET LS ORIENTATION
039185,000173: 15,2135 77650 GOTO
039186,000174: 15,2136 32220 P52LS
039187,000175:
039188,000176: # Page 930
039189,000177: 15,2137 06042 P52W TC INTPRET
039190,000178: 15,2140 45145 DLOAD CALL # PICK UP ALIGN TIME
039191,000179: 15,2141 02775 TALIGN # COMPUTED NOMINAL IMU
039192,000180: 15,2142 31651 S52.3 # ORIENTATION
039193,000181: 15,2143 77624 P52D CALL # READ VEHICLE ATTITUDE AND
039194,000182: 15,2144 31620 S52.2 # COMPUTE GIMBAL ANGLES
039195,000183: 15,2145 77776 EXIT
039196,000184: 15,2146 35010 CAF V06N22
039197,000185: 15,2147 04616 TC BANKCALL # DISPLAY GIMBAL ANGLES
039198,000186: 15,2150 20477 CADR GOFLASH
039199,000187: 15,2151 06001 TC GOTOP00H
039200,000188: 15,2152 12171 TCF COARSTYP # V33 -- PROCEED, SEE IF GYRO TORQUE COARSE
039201,000189: 15,2153 06042 P52H TC INTPRET
039202,000190: 15,2154 77650 GOTO
039203,000191: 15,2155 32143 P52D
039204,000192: 15,2156 06042 REGCOARS TC INTPRET
039205,000193: 15,2157 77624 CALL # DO COARSE ALIGN
039206,000194: 15,2160 31321 CAL53A # ROUTINE
039207,000195: 15,2161 43014 COARSRET SET CLEAR
039208,000196: 15,2162 01462 REFSMFLG
039209,000197: 15,2163 01273 PFRATFLG
039210,000198: 15,2164 77624 P52F CALL
039211,000199: 15,2165 31007 R51
039212,000200: 15,2166 77776 P52OUT EXIT
039213,000201: 15,2167 06001 TC GOTOP00H
039214,000202: 15,2170 5006 VB05N09 = V05N09
039215,000203: 15,2170 01442 V06N34* VN 634
039216,000204:
039217,000205: # Page 931
039218,000206: # CHECK FOR GYRO TORQUE COARSE ALIGNMENT
039219,000207:
039220,000208: 15,2171 32217 COARSTYP CAF OCT13
039221,000209: 15,2172 04616 TC BANKCALL # DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039222,000210: 15,2173 20624 CADR GOPERF1
039223,000211: 15,2174 16001 TCF GOTOP00H # V34 -- TERMIN&OE
039224,000212: 15,2175 12156 TCF REGCOARS # V33 -- NORMAL COARSE
039225,000213: 15,2176 06042 TC INTPRET # V32 -- GYRO TORQUE COARSE
039226,000214: 15,2177 64375 VLOAD MXV
039227,000215: 15,2200 03607 XSMD # GET SM(DESIRED) WRT SM(PRESENT)
039228,000216: 15,2201 01734 REFSMMAT
039229,000217: 15,2202 77656 UNIT
039230,000218: 15,2203 26665 STOVL XDC
039231,000219: 15,2204 03615 YSMD
039232,000220: 15,2205 53521 MXV UNIT
039233,000221: 15,2206 01734 REFSMMAT
039234,000222: 15,2207 26673 STOVL YDC
039235,000223: 15,2210 03623 ZSMD
039236,000224: 15,2211 53521 MXV UNIT
039237,000225: 15,2212 01734 REFSMMAT
039238,000226: 15,2213 36701 STCALL ZDC
039239,000227: 15,2214 31156 GYCOARS
039240,000228: 15,2215 77650 GOTO
039241,000229: 15,2216 32166 P52OUT
039242,000230: 15,2217 00013 OCT13 OCT 13
039243,000231:
039244,000232: # Page 932
039245,000233: # COMPUTE LANDING ORIENTATION FOR OPTION 4
039246,000234:
039247,000235: 15,2220 43014 P52LS SET CLEAR # GET LANDING SITE ORIENTATION
039248,000236: 15,2221 01463 LUNAFLAG
039249,000237: 15,2222 00662 ERADFLAG # TO PICK UP RLS
039250,000238: 15,2223 77201 SETPD VLOAD
039251,000239: 15,2224 00001 0
039252,000240: 15,2225 02023 RLS # PICK UP LANDING SITE VEC IN MF
039253,000241: 15,2226 41525 PDDL PUSH # RLS PD 0-5
039254,000242: 15,2227 02775 TALIGN
039255,000243: 15,2230 36401 STCALL TLAND # JAM ALIGN TIME IN TLAND FOR OPTION 4
039256,000244: 15,2231 55716 RP-TO-R # TRANS RLS TO REF
039257,000245: 15,2232 77742 VSR2
039258,000246: 15,2233 16032 STODL ALPHAV # INPUT TO LAT-LONG
039259,000247: 15,2234 02775 TALIGN
039260,000248: 15,2235 77624 CALL
039261,000249: 15,2236 30440 N89DISP
039262,000250: 15,2237 53575 VLOAD UNIT # COMPUTE LANDING SITE ORIENT (XSMD)
039263,000251: 15,2240 02032 ALPHAV
039264,000252: 15,2241 37607 STCALL XSMD
039265,000253: 15,2242 10757 LSORIENT
039266,000254: 15,2243 77650 GOTO
039267,000255: 15,2244 32143 P52D # NOW GO COMPUTE GIMBAL ANGLES.
039268,000256:
039269,000257: # Page 933
039270,000258: # SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039271,000259:
039272,000260: 14,2000 SETLOC P50S1
039273,000261: 14,2000 BANK
039274,000262: 14,2440 E5,1642 EBANK= XSM
039275,000263:
039276,000264: 14,2440 77620 N89DISP STQ
039277,000265: 14,2441 02746 QMAJ
039278,000266: 14,2442 35242 STCALL GDT/2 +4 # TEMP STORE TIME
039279,000267: 14,2443 26347 LAT-LONG
039280,000268: 14,2444 70545 DLOAD SR1
039281,000269: 14,2445 01122 LONG
039282,000270: 14,2446 16711 STODL LANDLONG
039283,000271: 14,2447 01124 ALT
039284,000272: 14,2450 16713 STODL LANDALT
039285,000273: 14,2451 01120 LAT
039286,000274: 14,2452 02707 STORE LANDLAT
039287,000275: 14,2453 77776 EXIT
039288,000276:
039289,000277: 14,2454 32477 LSDISP CAF V06N89* # DISPLAY LAT,LONG/2,ALT
039290,000278: 14,2455 04616 TC BANKCALL
039291,000279: 14,2456 20477 CADR GOFLASH
039292,000280: 14,2457 16001 TCF GOTOP00H # V32 -- TERMINATE -- EXIT P57
039293,000281: 14,2460 12462 TCF +2 # V33 -- PROCEED -- ACCEPT LS DATA
039294,000282: 14,2461 12454 TCF LSDISP # V32 OR E -- LOOK AGAIN AND/OR LOAD NEW LS
039295,000283:
039296,000284: 14,2462 06042 TC INTPRET
039297,000285: 14,2463 72545 DLOAD SL1
039298,000286: 14,2464 02711 LANDLONG
039299,000287: 14,2465 15122 STODL LONG
039300,000288: 14,2466 02713 LANDALT
039301,000289: 14,2467 15124 STODL ALT
039302,000290: 14,2470 02707 LANDLAT
039303,000291: 14,2471 15120 STODL LAT
039304,000292: 14,2472 01242 GDT/2 +4 # PICK UP TIME
039305,000293: 14,2473 77624 CALL # GET RLS BACK FROM LAT,LONG,ALT
039306,000294: 14,2474 26420 LALOTORV # RLS B-29 IN MPAC AND ALPHAT
039307,000295: 14,2475 77650 GOTO
039308,000296: 14,2476 02746 QMAJ
039309,000297: 14,2477 01531 V06N89* VN 689
039310,000298:
039311,000299: # Page 934
039312,000300: # NAME -- S50 ALIAS LOCSAM
039313,000301: # BY
039314,000302: # VINCENT
039315,000303:
039316,000304: # FUNCTION -- COMPUTE INPUTS FOR PICAPAR AND PLANET
039317,000305:
039318,000306: # DEFINE
039319,000307:
039320,000308: # U = UNIT( SUN WRT EARTH )
039321,000309: # ES
039322,000310:
039323,000311: # U = UNIT( MOON WRT EARTH )
039324,000312: # EM
039325,000313:
039326,000314: # R = POSITION VECTOR OF LEM
039327,000315: # L
039328,000316:
039329,000317: # R = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039330,000318: # EM
039331,000319:
039332,000320: # P = RATIO R /(DISTANCE SUN TO EARTH) > .00257125
039333,000321: # EM
039334,000322:
039335,000323: # R = EQUATORIAL RADIUS (6378.166KM) OF EARTH
039336,000324: # E
039337,000325:
039338,000326: # LOCSAM COMPUTES IN EARTH INFLUENCE
039339,000327:
039340,000328: # VSUN = U
039341,000329: # ES
039342,000330:
039343,000331: # VEARTH = -UNIT( R )
039344,000332: # l
039345,000333:
039346,000334: # VMOON = UNIT(R .U - R )
039347,000335: # EM EM L
039348,000336:
039349,000337: # CSUN = COS 90
039350,000338:
039351,000339: # CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039352,000340: # E L
039353,000341:
039354,000342: # CMOON = COS 5
039355,000343:
039356,000344: # INPUT -- TIME IN MPAC
039357,000345:
039358,000346: # OUTPUT -- LISTED ABOVE
039359,000347:
039360,000348: # SUBROUTINES -- LSPOS, LEMPREC
039361,000349:
039362,000350: # DEBRIS -- VAC AREA, TSIGHT
039363,000351:
039364,000352: # Page 935
039365,000353: 14,2500 COUNT* $$/LOSAM
039366,000354:
039367,000355: 14,2500 14,2500 S50 = LOCSAM
039368,000356: 14,2500 77620 LOCSAM STQ
039369,000357: 14,2501 02745 QMIN
039370,000358: 14,2502 37562 STCALL TSIGHT
039371,000359: 14,2503 33647 LSPOS
039372,000360: 14,2504 77745 DLOAD
039373,000361: 14,2505 03562 TSIGHT
039374,000362: 14,2506 34041 STCALL TDEC1
039375,000363: 14,2507 27056 LEMPREC
039376,000364: 14,2510 61131 SSP TIX,2
039377,000365: 14,2511 00052 S2
039378,000366: 14,2512 00000 0
039379,000367: 14,2513 30535 MOONCNTR
039380,000368: 14,2514 74375 EARTCNTR VLOAD VXSC
039381,000369: 14,2515 02723 VMOON
039382,000370: 14,2516 30001 RSUBEM
039383,000371: 14,2517 52372 VSL1 VSU
039384,000372: 14,2520 00001 RATT
039385,000373: 14,2521 77656 UNIT
039386,000374: 14,2522 26723 STOVL VMOON
039387,000375: 14,2523 00001 RATT
039388,000376: 14,2524 57456 UNIT VCOMP
039389,000377: 14,2525 16707 STODL VEARTH
039390,000378: 14,2526 30005 RSUBE
039391,000379: 14,2527 77624 CALL
039392,000380: 14,2530 30567 OCCOS
039393,000381: 14,2531 14017 STODL CEARTH
039394,000382: 14,2532 30576 CSS5
039395,000383: 14,2533 34023 STCALL CMOON
039396,000384: 14,2534 30562 ENDSAM
039397,000385: 14,2535 74375 MOONCNTR VLOAD VXSC
039398,000386: 14,2536 02723 VMOON
039399,000387: 14,2537 30007 ROE
039400,000388: 14,2540 53445 BVSU UNIT
039401,000389: 14,2541 02715 VSUN
039402,000390: 14,2542 26715 STOVL VSUN
039403,000391: 14,2543 02723 VMOON
039404,000392: 14,2544 53361 VXSC VAD
039405,000393: 14,2545 30001 RSUBEM
039406,000394: 14,2546 00001 RATT
039407,000395: 14,2547 57456 UNIT VCOMP
039408,000396: 14,2550 26707 STOVL VEARTH
039409,000397: 14,2551 00001 RATT
039410,000398: 14,2552 57456 UNIT VCOMP
039411,000399: 14,2553 16723 STODL VMOON
039412,000400: 14,2554 30003 RSUBM
039413,000401: 14,2555 77624 CALL
039414,000402: 14,2556 30567 OCCOS
039415,000403: # Page 936
039416,000404: 14,2557 14023 STODL CMOON
039417,000405: 14,2560 30576 CSS5
039418,000406: 14,2561 00017 STORE CEARTH
039419,000407: 14,2562 77745 ENDSAM DLOAD
039420,000408: 14,2563 30600 CSSUN
039421,000409: 14,2564 00021 STORE CSUN
039422,000410: 14,2565 77650 GOTO
039423,000411: 14,2566 02745 QMIN
039424,000412: 14,2567 70471 OCCOS DDV SR1
039425,000413: 14,2570 00045 36D
039426,000414: 14,2571 43336 ASIN DAD
039427,000415: 14,2572 30602 5DEGREES
039428,000416: 14,2573 70546 COS SR1
039429,000417: 14,2574 77616 RVQ
039430,000418: 14,2575 CEARTH = 14D
039431,000419: 14,2575 CSUN = 16D
039432,000420: 14,2575 CMOON = 18D
039433,000421: 14,2575 07760 14473 CSS5 2DEC .2490475 # (COS 5)/4
039434,000422: 14,2577 04000 00000 CSSUN 2DEC .125 # (COS 60)/4
039435,000423: 14,2601 00343 21616 5DEGREES 2DEC .013888889 # SCALED IN REVS
039436,000424:
039437,000425: # Page 937
039438,000426: # PROGRAM NAME -- R56 DATE: DEC 20 66
039439,000427: # MOD 1 LOG SECTION: P51-P53
039440,000428: # ASSEMBLY: SUNDISK REV4D
039441,000429: # BY KEN VINCENT
039442,000430:
039443,000431: # FUNCTION
039444,000432: # THIS PROGRAM READS THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039445,000433: # WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
039446,000434: # WITH RESPECT TO REFERENCE INTERTIAL. EACH STAR IN THE CATALOG IS TESTED
039447,000435: # TO DETERMIN IF IT IS OCCULTED BY EITHER EARTH, SUN OR MOON. IF A
039448,000436: # START IS NOT OCCULTED THEN IT IS PARIED WITH ALL STARS OF LOWER INDEX.
039449,000437: # THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
039450,000438: # THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
039451,000439: # HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039452,000440: # AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
039453,000441: # ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
039454,000442: # 50 DEGREES OF SAX). THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039455,000443: # THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039456,000444:
039457,000445: # CALLING SEQUENCE
039458,000446: # L TC BANKCALL
039459,000447: # L+1 CADR P56
039460,000448: # L+2 ERROR RETURN -- NO STARS IN FIELD OF VIEW
039461,000449: # L+3 NORMAL RETURN
039462,000450:
039463,000451: # OUTPUT
039464,000452: # BESTI, BESTJ -- SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039465,000453: # VFLAG -- FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039466,000454:
039467,000455: # INITIALIZATION
039468,000456: # 1) A CALL TO LOCSAM MUST BE MADE
039469,000457:
039470,000458: # DEBRIS
039471,000459: # WORKAREA
039472,000460: # X,Y,ZNB
039473,000461: # SINCDU, COSCDU
039474,000462: # STARAD -- STAR +5
039475,000463:
039476,000464: 14,2603 14,2603 R56 = PICAPAR
039477,000465: 14,2603 COUNT* $$/R56
039478,000466: 14,2603 04645 PICAPAR TC MAKECADR
039479,000467: 14,2604 55745 TS QMIN
039480,000468: 14,2605 06042 TC INTPRET
039481,000469: 14,2606 77624 CALL
039482,000470: 14,2607 47541 CDUTRIG
039483,000471: 14,2610 77624 CALL
039484,000472: 14,2611 20030 CALCSMSC
039485,000473: 14,2612 77601 SETPD
039486,000474: 14,2613 00001 0
039487,000475: 14,2614 71214 SET DLOAD # VFLAG = 1
039488,000476: 14,2615 01465 VFLAG
039489,000477: # Page 938
039490,000478: 14,2616 24007 DPZERO
039491,000479: 14,2617 26756 STOVL BESTI
039492,000480: 14,2620 02665 XNB
039493,000481: 14,2621 63361 VXSC PDVL
039494,000482: 14,2622 24005 HALFDP
039495,000483: 14,2623 02701 ZNB
039496,000484: 14,2624 74370 AXT,1 VXSC
039497,000485: 14,2625 00344 228D # X1 = 37 X 6 + 6
039498,000486: 14,2626 24005 HALFDP
039499,000487: 14,2627 77655 VAD
039500,000488: 14,2630 53505 VXM UNIT
039501,000489: 14,2631 01734 REFSMMAT
039502,000490: 14,2632 02731 STORE SAX # SAX = SHAFT AXIS
039503,000491: 14,2633 66331 SSP SSP # S1 = S2 = 6
039504,000492: 14,2634 00051 S1
039505,000493: 14,2635 00006 6
039506,000494: 14,2636 00052 S2
039507,000495: 14,2637 00006 6
039508,000496: 14,2640 52100 PIC1 TIX,1 GOTO # MAJOR STAR
039509,000497: 14,2641 30643 PIC2
039510,000498: 14,2642 30760 PICEND
039511,000499: 14,2643 50373 PIC2 VLOAD* DOT
039512,000500: 14,2644 30347 CATLOG,1
039513,000501: 14,2645 02731 SAX
039514,000502: 14,2646 50025 DSU BMN
039515,000503: 14,2647 30757 CSS33
039516,000504: 14,2650 30640 PIC1
039517,000505: 14,2651 77754 LXA,2
039518,000506: 14,2652 00046 X1
039519,000507: 14,2653 52104 PIC3 TIX,2 GOTO
039520,000508: 14,2654 30656 PIC4
039521,000509: 14,2655 30640 PIC1
039522,000510: 14,2656 50373 PIC4 VLOAD* DOT
039523,000511: 14,2657 47430 CATLOG,2
039524,000512: 14,2660 02731 SAX
039525,000513: 14,2661 50025 DSU BMN
039526,000514: 14,2662 30757 CSS33
039527,000515: 14,2663 30653 PIC3
039528,000516: 14,2664 47773 VLOAD* DOT*
039529,000517: 14,2665 30347 CATLOG,1
039530,000518: 14,2666 47430 CATLOG,2
039531,000519: 14,2667 51025 DSU BPL
039532,000520: 14,2670 30755 CSS40
039533,000521: 14,2671 30653 PIC3
039534,000522: 14,2672 45173 VLOAD* CALL
039535,000523: 14,2673 30347 CATLOG,1
039536,000524: 14,2674 30732 OCCULT
039537,000525: 14,2675 77614 BON
039538,000526: 14,2676 01710 CULTFLAG
039539,000527: 14,2677 30640 PIC1
039540,000528: # Page 939
039541,000529: 14,2700 45173 VLOAD* CALL
039542,000530: 14,2701 47430 CATLOG,2
039543,000531: 14,2702 30732 OCCULT
039544,000532: 14,2703 77614 BON
039545,000533: 14,2704 01710 CULTFLAG
039546,000534: 14,2705 30653 PIC3
039547,000535: 14,2706 77614 STRATGY BONCLR
039548,000536: 14,2707 01605 VFLAG
039549,000537: 14,2710 30725 NEWPAR
039550,000538: 14,2711 65120 XCHX,1 XCHX,2
039551,000539: 14,2712 02755 BESTI
039552,000540: 14,2713 02756 BESTJ
039553,000541: 14,2714 47773 STRAT VLOAD* DOT*
039554,000542: 14,2715 30347 CATLOG,1
039555,000543: 14,2716 47430 CATLOG,2
039556,000544: 14,2717 43006 PUSH BOFINV
039557,000545: 14,2720 01545 VFLAG
039558,000546: 14,2721 30711 STRAT -3
039559,000547: 14,2722 45345 DLOAD DSU
039560,000548: 14,2723 77644 BPL
039561,000549: 14,2724 30653 PIC3
039562,000550: 14,2725 67130 NEWPAR SXA,1 SXA,2
039563,000551: 14,2726 02755 BESTI
039564,000552: 14,2727 02756 BESTJ
039565,000553: 14,2730 77650 GOTO
039566,000554: 14,2731 30653 PIC3
039567,000555: 14,2732 51321 OCCULT MXV BVSU
039568,000556: 14,2733 02707 CULTRIX
039569,000557: 14,2734 00017 CSS
039570,000558: 14,2735 77654 BZE
039571,000559: 14,2736 30751 CULTED
039572,000560: 14,2737 75240 BMN SIGN
039573,000561: 14,2740 30751 CULTED
039574,000562: 14,2741 00160 MPAC +3
039575,000563: 14,2742 75240 BMN SIGN
039576,000564: 14,2743 30751 CULTED
039577,000565: 14,2744 00162 MPAC +5
039578,000566: 14,2745 43040 BMN CLRGO
039579,000567: 14,2746 30751 CULTED
039580,000568: 14,2747 01630 CULTFLAG
039581,000569: 14,2750 00052 QPRET
039582,000570: 14,2751 77614 CULTED SETGO
039583,000571: 14,2752 01430 CULTFLAG
039584,000572: 14,2753 00052 QPRET
039585,000573: 14,2754 0000016 CSS = CEARTH
039586,000574: 14,2754 05110 35052 CSS40 2DEC .16070 # COS 50 / 4
039587,000575: 14,2756 05110 35052 CSS33 2DEC .16070 # COS 50 / 4
039588,000576: 14,2760 77414 PICEND BOFF EXIT
039589,000577:
039590,000578: # Page 940
039591,000579: 14,2761 01745 VFLAG
039592,000580: 14,2762 30764 PICGXT
039593,000581: 14,2763 03005 TC PICBXT
039594,000582: 14,2764 73150 PICGXT LXA,1 LXA,2
039595,000583: 14,2765 02755 BESTI
039596,000584: 14,2766 02756 BESTJ
039597,000585: 14,2767 47775 VLOAD DOT*
039598,000586: 14,2770 02731 SAX
039599,000587: 14,2771 30347 CATLOG,1
039600,000588: 14,2772 47715 PDVL DOT*
039601,000589: 14,2773 02731 SAX
039602,000590: 14,2774 47430 CATLOG,2
039603,000591: 14,2775 77625 DSU
039604,000592: 14,2776 66044 BPL SXA,1
039605,000593: 14,2777 31003 PICNSWP
039606,000594: 14,3000 02756 BESTJ
039607,000595: 14,3001 77734 SXA,2
039608,000596: 14,3002 02755 BESTI
039609,000597: 14,3003 77776 PICNSWP EXIT
039610,000598: 14,3004 25745 INCR QMIN
039611,000599: 14,3005 31745 PICBXT CA QMIN
039612,000600: 14,3006 04622 TC SWCALL
039613,000601: 14,3007 VPD = 0D
039614,000602: 14,3007 V0 = 6D
039615,000603: 14,3007 V1 = 12D
039616,000604: 14,3007 V2 = 18D
039617,000605: 14,3007 V3 = 24D
039618,000606: 14,3007 DP0 = 30D
039619,000607: 14,3007 DP1 = 32D
039620,000608:
039621,000609: # Page 941
039622,000610: # NAME -- R51 FINE ALIGN
039623,000611: # FUNCTION -- TO ALIGN THE STABLE MEMBER TO REFSSMAT
039624,000612: # CALLING SEQ -- CALL R51
039625,000613: # INPUT -- REFSMMAT
039626,000614: # OUTPUT -- GYRO TORQUE PULSES
039627,000615: # SUBROUTINES -- LOCSAM, PICAPAR, R52, R53, R54, R55
039628,000616:
039629,000617: 14,3007 COUNT* $$/R51
039630,000618: 14,3007 77620 R51 STQ
039631,000619: 14,3010 02746 QMAJ
039632,000620: 14,3011 77776 R51.1 EXIT
039633,000621: 14,3012 05353 TC PHASCHNG
039634,000622: 14,3013 04024 OCT 04024
039635,000623:
039636,000624: 14,3014 34761 R51C CAF OCT15
039637,000625: 14,3015 04616 TC BANKCALL
039638,000626: 14,3016 20624 CADR GOPERF1
039639,000627: 14,3017 06001 TC GOTOP00H
039640,000628: 14,3020 03022 TC +2 # V33E
039641,000629: 14,3021 03045 TC R51E # ENTER
039642,000630: 14,3022 06042 TC INTPRET
039643,000631: 14,3023 43234 RTB DAD
039644,000632: 14,3024 21574 LOADTIME
039645,000633: 14,3025 31155 TSIGHT1
039646,000634: 14,3026 77624 CALL
039647,000635: 14,3027 30500 LOCSAM
039648,000636: 14,3030 77776 EXIT
039649,000637: 14,3031 04616 TC BANKCALL
039650,000638: 14,3032 30603 CADR R56
039651,000639: 14,3033 03035 TC R51I
039652,000640: 14,3034 03045 R51F TC R51E
039653,000641: 14,3035 05567 R51I TC ALARM
039654,000642: 14,3036 00405 OCT 405
039655,000643: 14,3037 35006 CAF VB05N09
039656,000644: 14,3040 04616 TC BANKCALL
039657,000645: 14,3041 20477 CADR GOFLASH
039658,000646: 14,3042 06001 TC GOTOP00H
039659,000647: 14,3043 03045 TC R51E
039660,000648: 14,3044 03014 TC R51C
039661,000649: 14,3045 34755 R51E CAF ZERO
039662,000650: 14,3046 55757 TS STARIND
039663,000651: 14,3047 06042 R51.2 TC INTPRET
039664,000652: 14,3050 77776 R51.3 EXIT
039665,000653: 14,3051 05353 TC PHASCHNG
039666,000654: 14,3052 04024 OCT 04024
039667,000655:
039668,000656: 14,3053 06042 TC INTPRET
039669,000657: 14,3054 77624 CALL
039670,000658: 14,3055 31671 R52 # AOP WILL MAKE CALLS TO SIGHTING
039671,000659: 14,3056 77776 EXIT
039672,000660: 14,3057 04616 TC BANKCALL
039673,000661: # Page 942
039674,000662: 14,3060 16000 CADR AOTMARK
039675,000663: 14,3061 04616 TC BANKCALL
039676,000664: 14,3062 17703 CADR OPTSTALL
039677,000665: 14,3063 05701 TC CURTAINS
039678,000666: 14,3064 11757 CCS STARIND
039679,000667: 14,3065 13067 TCF +2
039680,000668: 14,3066 03137 TC R51.4
039681,000669: 14,3067 06042 TC INTPRET
039682,000670: 14,3070 77775 VLOAD
039683,000671: 14,3071 02715 STARAD +6
039684,000672: 14,3072 02767 STORE STARSAV2
039685,000673: 14,3073 77776 EXIT
039686,000674: 14,3074 05353 TC PHASCHNG
039687,000675: 14,3075 04024 OCT 04024
039688,000676:
039689,000677: 14,3076 06042 TC INTPRET
039690,000678: 14,3077 45145 DLOAD CALL
039691,000679: 14,3100 03562 TSIGHT
039692,000680: 14,3101 32472 PLANET
039693,000681: 14,3102 53521 MXV UNIT
039694,000682: 14,3103 01734 REFSMMAT
039695,000683: 14,3104 26715 STOVL STARAD +6
039696,000684: 14,3105 03554 PLANVEC
039697,000685: 14,3106 53521 MXV UNIT
039698,000686: 14,3107 01734 REFSMMAT
039699,000687: 14,3110 26707 STOVL STARAD
039700,000688: 14,3111 02761 STARSAV1
039701,000689: 14,3112 24007 STOVL 6D
039702,000690: 14,3113 02767 STARSAV2
039703,000691: 14,3114 34015 STCALL 12D
039704,000692: 14,3115 31250 R54 # STAR DATA TEST
039705,000693: 14,3116 45014 BOFF CALL
039706,000694: 14,3117 00354 FREEFLAG
039707,000695: 14,3120 31126 R51K
039708,000696: 14,3121 47443 AXISGEN
039709,000697: 14,3122 77624 CALL
039710,000698: 14,3123 31216 R55 # GYRO TORQUE
039711,000699: 14,3124 77614 CLEAR
039712,000700: 14,3125 01273 PFRATFLG
039713,000701: 14,3126 77776 R51K EXIT
039714,000702: 14,3127 35741 R51P63 CAF OCT14
039715,000703: 14,3130 04616 TC BANKCALL
039716,000704: 14,3131 20624 CADR GOPERF1
039717,000705: 14,3132 06001 TC GOTOP00H
039718,000706: 14,3133 03014 TC R51C
039719,000707: 14,3134 06042 TC INTPRET
039720,000708: 14,3135 77650 GOTO
039721,000709: 14,3136 02746 QMAJ
039722,000710: 14,3137 06042 R51.4 TC INTPRET
039723,000711: 14,3140 77775 VLOAD
039724,000712: # Page 943
039725,000713: 14,3141 02715 STARAD +6
039726,000714: 14,3142 02761 STORE STARSAV1
039727,000715: 14,3143 45145 DLOAD CALL
039728,000716: 14,3144 03562 TSIGHT
039729,000717: 14,3145 32472 PLANET
039730,000718: 14,3146 03554 STORE PLANVEC
039731,000719: 14,3147 77731 SSP
039732,000720: 14,3150 02760 STARIND
039733,000721: 14,3151 00001 1
039734,000722: 14,3152 77650 GOTO
039735,000723: 14,3153 31050 R51.3
039736,000724: 14,3154 00002 06240 TSIGHT1 2DEC 36000 B-28 # 6 MIN TO MARKING
039737,000725:
039738,000726: # Page 944
039739,000727: # GYRO TORQUE COARSE ALGNMENT
039740,000728:
039741,000729: 14,3156 45020 GYCOARS STQ CALL
039742,000730: 14,3157 02746 QMAJ
039743,000731: 14,3160 47251 CALCGTA
039744,000732: 14,3161 43014 CLEAR CLEAR
039745,000733: 14,3162 01260 DRIFTFLG
039746,000734: 14,3163 01662 REFSMFLG
039747,000735: 14,3164 77776 EXIT
039748,000736: 14,3165 33215 CAF V16N20 # MONITOR GIMBALS
039749,000737: 14,3166 04616 TC BANKCALL
039750,000738: 14,3167 20452 CADR GODSPR
039751,000739: 14,3170 33247 CA R55CDR
039752,000740: 14,3171 04616 TC BANKCALL
039753,000741: 14,3172 17314 CADR IMUPULSE
039754,000742: 14,3173 04616 TC BANKCALL
039755,000743: 14,3174 17707 CADR IMUSTALL
039756,000744: 14,3175 05701 TC CURTAINS
039757,000745: 14,3176 05353 TC PHASCHNG
039758,000746: 14,3177 04024 OCT 04024
039759,000747:
039760,000748: 14,3200 06042 TC INTPRET
039761,000749: 14,3201 75160 AXC,1 AXC,2
039762,000750: 14,3202 03606 XSMD
039763,000751: 14,3203 01733 REFSMMAT
039764,000752: 14,3204 77624 CALL # STORE DESIRED REFSMMAT
039765,000753: 14,3205 31371 MATMOVE
039766,000754: 14,3206 43014 CLEAR SET
039767,000755: 14,3207 01273 PFRATFLG
039768,000756: 14,3210 01462 REFSMFLG
039769,000757: 14,3211 77624 CALL
039770,000758: 14,3212 31603 NCOARSE # SET DRIFT AND INITIALIZE 1/PIPADT
039771,000759: 14,3213 77650 GOTO
039772,000760: 14,3214 31126 R51K
039773,000761: 14,3215 04024 V16N20 VN 1620
039774,000762:
039775,000763: # Page 945
039776,000764: # R55 GYROTORQUE
039777,000765: # FUNCTION -- COMPUTE AND SEND GYRO PULSES
039778,000766: # CALLING SEQ -- CALL R55
039779,000767: # INPUT -- X,Y,ZDC -- REFSMMAT WRT PRESENT STABLE MEMBER
039780,000768: # OUTPUT -- GYRO PULSES
039781,000769: # SUBROUTINES -- CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
039782,000770:
039783,000771: 14,3216 COUNT* $$/R55
039784,000772: 14,3216 77620 R55 STQ
039785,000773: 14,3217 02745 QMIN
039786,000774: 14,3220 77624 CALL
039787,000775: 14,3221 47251 CALCGTA
039788,000776: 14,3222 77776 PULSEM EXIT
039789,000777: 14,3223 33246 R55.1 CAF V06N93
039790,000778: 14,3224 04616 TC BANKCALL
039791,000779: 14,3225 20477 CADR GOFLASH
039792,000780: 14,3226 06001 TC GOTOP00H
039793,000781: 14,3227 03231 TC R55.2
039794,000782: 14,3230 03243 TC R55RET
039795,000783: 14,3231 05353 R55.2 TC PHASCHNG
039796,000784: 14,3232 00214 OCT 00214
039797,000785: 14,3233 33247 CA R55CDR
039798,000786: 14,3234 04616 TC BANKCALL
039799,000787: 14,3235 17314 CADR IMUPULSE
039800,000788: 14,3236 04616 TC BANKCALL
039801,000789: 14,3237 17707 CADR IMUSTALL
039802,000790: 14,3240 05701 TC CURTAINS
039803,000791: 14,3241 05353 TC PHASCHNG
039804,000792: 14,3242 04024 OCT 04024
039805,000793:
039806,000794: 14,3243 06042 R55RET TC INTPRET
039807,000795: 14,3244 77650 GOTO
039808,000796: 14,3245 02745 QMIN
039809,000797: 14,3246 01535 V06N93 VN 0693
039810,000798: 14,3247 02737 R55CDR ECADR OGC
039811,000799: 14,3250 14,3250 R54 = CHKSDATA
039812,000800:
039813,000801: # ROUTINE NAME -- CHKSDATA DATE -- JAN 9, 1967
039814,000802: # MOD NO -- 0 LOG SECTION -- P51-P53
039815,000803: # MODIFICATION BY -- LONSKE ASSEMBLY --
039816,000804:
039817,000805: # FUNCTIONAL DESCRIPTION -- CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
039818,000806: # BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINS STORED STAR VECTORS IN THE
039819,000807: # COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED --
039820,000808: # OS1 = OBSERVED STAR 1 VECTOR
039821,000809: # OS2 = OBSERVED STAR 2 VECTOR
039822,000810: # SS1 = STORED STAR 1 VECTOR
039823,000811: # SS2 = STORED STAR 2 VECTOR
039824,000812: # A1 = ARCCOS(OS1 - OS2)
039825,000813: # A2 = ARCCOS(SS1 - SS2)
039826,000814: # A = ABS(2(A1 - A2))
039827,000815: # Page 946
039828,000816: # THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTANCE.
039829,000817:
039830,000818: # EXIT MODE -- 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
039831,000819: # 2. FREEFLAT REST IMPLIES ASTRONAUT WANTS TO RECYCLE
039832,000820:
039833,000821: # OUTPUT -- 1. VERB 5,NOUN 3 -- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
039834,000822: # 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
039835,000823:
039836,000824: # ERASABLE INITIALIZATION REQUIRED --
039837,000825: # 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +5.
039838,000826: # 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
039839,000827:
039840,000828: # DEBRIS --
039841,000829:
039842,000830: 14,3250 COUNT* $$/R54
039843,000831: 14,3250 43020 CHKSDATA STQ SET
039844,000832: 14,3251 02745 QMIN
039845,000833: 14,3252 00074 FREEFLAG
039846,000834: 14,3253 77760 CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
039847,000835: 14,3254 02706 STARAD
039848,000836:
039849,000837: 14,3255 47773 CHKSB VLOAD* DOT* # CAL. ANGLE THETA
039850,000838: 14,3256 00001 0,1
039851,000839: 14,3257 00007 6,1
039852,000840: 14,3260 65552 SL1 ACOS
039853,000841: 14,3261 00025 STORE THETA
039854,000842: 14,3262 43014 BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
039855,000843: 14,3263 00354 FREEFLAG
039856,000844: 14,3264 31274 CHKSD
039857,000845: 14,3265 00174 FREEFLAG # CLEAR FREEFLAG
039858,000846: 14,3266 71360 AXC,1 DLOAD # SET X1 TO MARK ANGLES
039859,000847: 14,3267 00006 6D
039860,000848: 14,3270 00025 THETA
039861,000849: 14,3271 00023 STORE 18D
039862,000850: 14,3272 77650 GOTO
039863,000851: 14,3273 31255 CHKSB # RETURN TO CAL. 2ND ANGLE
039864,000852: 14,3274 45345 CHKSD DLOAD DSU
039865,000853: 14,3275 00025 THETA
039866,000854: 14,3276 00023 18D
039867,000855: 14,3277 77634 RTB # COMPUTE POS DIFF
039868,000856: 14,3300 21613 SGNAGREE
039869,000857: 14,3301 01045 STORE NORMTEM1
039870,000858: 14,3302 77414 SET EXIT
039871,000859: 14,3303 00074 FREEFLAG
039872,000860: 14,3304 33320 CAF VB6N5
039873,000861: 14,3305 04616 TC BANKCALL
039874,000862: 14,3306 20477 CADR GOFLASH
039875,000863: 14,3307 16001 TCF GOTOP00H
039876,000864: 14,3310 03315 TC CHKSDA # PROCEED
039877,000865: 14,3311 06042 TC INTPRET
039878,000866: 14,3312 52014 CLEAR GOTO
039879,000867: 14,3313 00274 FREEFLAG
039880,000868: 14,3314 02745 QMIN
039881,000869: 14,3315 06042 CHKSDA TC INTPRET
039882,000870: # Page 947
039883,000871: 14,3316 77650 GOTO
039884,000872: 14,3317 02745 QMIN
039885,000873: 14,3320 01405 VB6N5 VN 605
039886,000874:
039887,000875: # NAME -- CAL53A
039888,000876: # FUNCTION -- COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
039889,000877: # CALLING SEQUENCE -- CALL CAL53A
039890,000878: # INPUT -- X,Y,ZSMD, CDUX,Y,Z
039891,000879: # DESIRED GIMBAL ANGLES -- THETAD,+1,+2
039892,000880: # OUTPUT -- THE IMU COORDINATES AT STORED IN REFSMMAT
039893,000881: # SUBROUTINES -- S52.2, IMUCOARSE, IMUFINE
039894,000882:
039895,000883: 14,3321 COUNT* $$/R50
039896,000884: 14,3321 77624 CAL53A CALL
039897,000885: 14,3322 31620 S52.2 # MAKE ONE FINAL COMP OF GIMBAL ANGLES
039898,000886: 14,3323 66234 RTB SSP
039899,000887: 14,3324 31405 RDCDUS # READ CDUS
039900,000888: 14,3325 00051 S1
039901,000889: 14,3326 00001 1
039902,000890: 14,3327 40370 AXT,1 SETPD
039903,000891: 14,3330 00003 3
039904,000892: 14,3331 00005 4
039905,000893: 14,3332 70543 CALOOP DLOAD* SR1
039906,000894: 14,3333 00325 THETAD +3D,1
039907,000895: 14,3334 70523 PDDL* SR1
039908,000896: 14,3335 00005 4,1
039909,000897: 14,3336 51425 DSU ABS
039910,000898: 14,3337 45206 PUSH DSU
039911,000899: 14,3340 31404 DEGREE1
039912,000900: 14,3341 71240 BMN DLOAD
039913,000901: 14,3342 31360 CALOOP1
039914,000902: 14,3343 51025 DSU BPL
039915,000903: 14,3344 31405 DEG359
039916,000904: 14,3345 31360 CALOOP1
039917,000905: 14,3346 77776 EXIT
039918,000906: 14,3347 05353 TC PHASCHNG
039919,000907: 14,3350 04024 OCT 04024
039920,000908:
039921,000909: 14,3351 06042 TC INTPRET
039922,000910: 14,3352 77624 COARFINE CALL
039923,000911: 14,3353 31557 COARSE
039924,000912: 14,3354 77624 CALL
039925,000913: 14,3355 31603 NCOARSE
039926,000914: 14,3356 77650 GOTO
039927,000915: 14,3357 31362 FINEONLY
039928,000916: 14,3360 77700 CALOOP1 TIX,1
039929,000917: 14,3361 31332 CALOOP
039930,000918: 14,3362 75160 FINEONLY AXC,1 AXC,2
039931,000919: 14,3363 02642 XSM
039932,000920: 14,3364 01733 REFSMMAT
039933,000921: 14,3365 77624 CALL
039934,000922: 14,3366 31371 MATMOVE
039935,000923: # Page 948
039936,000924: 14,3367 77650 GOTO
039937,000925: 14,3370 32161 COARSRET
039938,000926: 14,3371 77773 MATMOVE VLOAD* # TRANSFER MATRIX
039939,000927: 14,3372 00001 0,1
039940,000928: 14,3373 10001 STORE 0,2
039941,000929: 14,3374 77773 VLOAD*
039942,000930: 14,3375 00007 6D,1
039943,000931: 14,3376 10007 STORE 6D,2
039944,000932: 14,3377 77773 VLOAD*
039945,000933: 14,3400 00015 12D,1
039946,000934: 14,3401 10015 STORE 12D,2
039947,000935: 14,3402 77616 RVQ
039948,000936: 14,3403 00056 DEGREE1 DEC 46 B-14 # 1 DEG SCALED CDU/2
039949,000937: 14,3404 37722 DEG359 DEC 16338 B-14 # 359 DEG SCALED CDU/2
039950,000938: 14,3405 00004 RDCDUS INHINT # READ CDUS
039951,000939: 14,3406 30032 CA CDUX
039952,000940: 14,3407 50120 INDEX FIXLOC
039953,000941: 14,3410 54001 TS 1
039954,000942: 14,3411 30033 CA CDUY
039955,000943: 14,3412 50120 INDEX FIXLOC
039956,000944: 14,3413 54002 TS 2
039957,000945: 14,3414 30034 CA CDUZ
039958,000946: 14,3415 50120 INDEX FIXLOC
039959,000947: 14,3416 54003 TS 3
039960,000948: 14,3417 00003 RELINT
039961,000949: 14,3420 06064 TC DANZIG
039962,000950: 14,3421 COUNT* $$/INFLT
039963,000951:
039964,000952: # Page 949
039965,000953: # NAME -- P51 -- IMU ORIENTATION DETERMINATION
039966,000954: # MOD. NO. 1 23 JAN 67 LOG SECTION -- P51-P53
039967,000955: # MOD BY STURLAUGSON ASSEMBLY SUNDANCE REV56
039968,000956:
039969,000957: # FUNCTIONAL DESCRIPTION
039970,000958: # DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
039971,000959: # (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
039972,000960: # STAR LOS VECTOR IN STARAD +6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
039973,000961: # CHKSDATA (R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
039974,000962:
039975,000963: # CALLING SEQUENCE
039976,000964: # THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039977,000965:
039978,000966: # SUBROUTINES CALLED
039979,000967: # GOPERF3
039980,000968: # GOPERF1
039981,000969: # GODSPR
039982,000970: # IMUCOARS
039983,000971: # IMUFIN20
039984,000972: # AOTMARK (R53)
039985,000973: # CHKSDATA (R54)
039986,000974: # MKRELEAS
039987,000975: # AXISGEN
039988,000976: # MATMOVE
039989,000977:
039990,000978: # ALARMS
039991,000979: # NONE.
039992,000980:
039993,000981: # ERASABLE INITIALIZATION
039994,000982: # IMU ZERO FLAG SHOULD BE SET.
039995,000983:
039996,000984: # OUTPUT
039997,000985: # REFSMMAT
039998,000986: # REFSMFLG
039999,000987:
040000,000988: # DEBRIS
040001,000989: # WORK AREA
040002,000990: # STARAD
040003,000991: # STARINC
040004,000992: # BESTI
040005,000993: # BESTJ
040006,000994:
040007,000995: 14,3421 COUNT* $$/P51
040008,000996: # Page 950
040009,000997: 14,3421 04616 P51 TC BANKCALL # IS ISS ON - IF NOT, IMUCHK WILL SEND
040010,000998: 14,3422 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H.
040011,000999:
040012,001000: 14,3423 34761 CAF OCT15
040013,001001: 14,3424 04616 TC BANKCALL
040014,001002: 14,3425 20624 CADR GOPERF1
040015,001003: 14,3426 06001 TC GOTOP00H # TERM.
040016,001004: 14,3427 13453 TCF P51B # V33
040017,001005: 14,3430 05353 TC PHASCHNG
040018,001006: 14,3431 04024 OCT 04024
040019,001007:
040020,001008: 14,3432 34755 CAF ZERO
040021,001009: 14,3433 54321 TS THETAD # ZERO THE GIMBALS
040022,001010: 14,3434 54322 TS THETAD +1
040023,001011: 14,3435 54323 TS THETAD +2
040024,001012: 14,3436 35010 CAF V06N22
040025,001013: 14,3437 04616 TC BANKCALL
040026,001014: 14,3440 20447 CADR GODSPRET
040027,001015: 14,3441 33556 CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
040028,001016: 14,3442 04616 TC BANKCALL
040029,001017: 14,3443 20447 CADR GODSPRET
040030,001018: 14,3444 06042 TC INTPRET
040031,001019: 14,3445 77624 CALL
040032,001020: 14,3446 31557 COARSE
040033,001021: 14,3447 77776 EXIT
040034,001022: 14,3450 05353 TC PHASCHNG
040035,001023: 14,3451 04024 OCT 04024
040036,001024: 14,3452 13423 TCF P51 +2
040037,001025:
040038,001026: 14,3453 05353 P51B TC PHASCHNG
040039,001027: 14,3454 00014 OCT 00014
040040,001028: 14,3455 06042 TC INTPRET
040041,001029: 14,3456 77624 CALL
040042,001030: 14,3457 31603 NCOARSE
040043,001031: 14,3460 40331 SSP SETPD
040044,001032: 14,3461 02760 STARIND # INDEX -- STAR 1 OR 2
040045,001033: 14,3462 00000 0
040046,001034: 14,3463 00001 0
040047,001035: 14,3464 77776 P51C EXIT
040048,001036: 14,3465 05353 TC PHASCHNG
040049,001037: 14,3466 04024 OCT 04024
040050,001038:
040051,001039: 14,3467 04616 TC BANKCALL
040052,001040: 14,3470 16000 CADR AOTMARK # R53
040053,001041: 14,3471 04616 TC BANKCALL
040054,001042: 14,3472 17703 CADR AOTSTALL
040055,001043: 14,3473 05701 TC CURTAINS
040056,001044: 14,3474 11757 CCS STARIND
040057,001045: 14,3475 13503 TCF P51D +1
040058,001046: 14,3476 06042 TC INTPRET
040059,001047: # Page 951
040060,001048: 14,3477 77775 VLOAD
040061,001049: 14,3500 02715 STARAD +6
040062,001050: 14,3501 02761 STORE STARSAV1
040063,001051: 14,3502 77776 P51D EXIT
040064,001052: 14,3503 05353 TC PHASCHNG
040065,001053: 14,3504 04024 OCT 04024
040066,001054:
040067,001055: 14,3505 11757 CCS STARIND
040068,001056: 14,3506 13522 TCF P51E
040069,001057: 14,3507 05353 TC PHASCHNG
040070,001058: 14,3510 04024 OCT 04024
040071,001059:
040072,001060: 14,3511 06042 TC INTPRET
040073,001061: 14,3512 45145 DLOAD CALL
040074,001062: 14,3513 03562 TSIGHT
040075,001063: 14,3514 32472 PLANET
040076,001064: 14,3515 03554 STORE PLANVEC
040077,001065: 14,3516 77776 EXIT
040078,001066: 14,3517 34753 CAF BIT1
040079,001067: 14,3520 55757 TS STARIND
040080,001068: 14,3521 13465 TCF P51C +1 # DO SECOND STAR
040081,001069: 14,3522 05353 P51E TC PHASCHNG
040082,001070: 14,3523 04024 OCT 04024
040083,001071:
040084,001072: 14,3524 06042 TC INTPRET
040085,001073: 14,3525 45145 DLOAD CALL
040086,001074: 14,3526 03562 TSIGHT
040087,001075: 14,3527 32472 PLANET
040088,001076: 14,3530 24015 STOVL 12D
040089,001077: 14,3531 03554 PLANVEC
040090,001078: 14,3532 24007 STOVL 6D
040091,001079: 14,3533 02761 STARSAV1
040092,001080: 14,3534 26707 STOVL STARAD
040093,001081: 14,3535 02767 STARSAV2
040094,001082: 14,3536 36715 STCALL STARAD +6
040095,001083: 14,3537 31250 CHKSDATA # CHECK STAR ANGLES IN STARAD AND
040096,001084: 14,3540 77414 BON EXIT
040097,001085: 14,3541 00314 FREEFLAG
040098,001086: 14,3542 31544 P51G
040099,001087: 14,3543 03423 TC P51 +2
040100,001088: 14,3544 77624 P51G CALL
040101,001089: 14,3545 47443 AXISGEN # COME BACK WITH REFSMMAT IN XDC
040102,001090: 14,3546 75160 AXC,1 AXC,2
040103,001091: 14,3547 02664 XDC
040104,001092: 14,3550 01733 REFSMMAT
040105,001093: 14,3551 77624 CALL
040106,001094: 14,3552 31371 MATMOVE
040107,001095: 14,3553 77414 SET EXIT
040108,001096: 14,3554 01462 REFSMFLG
040109,001097: 14,3555 06001 TC GOTOP00H # FINIS
040110,001098: # Page 952
040111,001099: 14,3556 12200 V41K VN 4100
040112,001100: 14,3557 77776 COARSE EXIT
040113,001101: 14,3560 31301 +1 CA MODECADR # SEE IF IMU DEVICE IS IN USE.
040114,001102: 14,3561 00006 EXTEND
040115,001103: 14,3562 13567 BZF DOCORS # NOT IN USE, DO COARSE ALIGN
040116,001104: 14,3563 34777 CAF 1SEC # IN USE, DELAY ONE SEC
040117,001105: 14,3564 04616 TC BANKCALL
040118,001106: 14,3565 01736 CADR DELAYJOB
040119,001107: 14,3566 13560 TCF COARSE +1
040120,001108: 14,3567 04616 DOCORS TC BANKCALL
040121,001109: 14,3570 16771 CADR IMUCOARS
040122,001110: 14,3571 04616 TC BANKCALL
040123,001111: 14,3572 17707 CADR IMUSTALL
040124,001112: 14,3573 05701 TC CURTAINS
040125,001113: 14,3574 04616 TC BANKCALL
040126,001114: 14,3575 17201 CADR IMUFINE
040127,001115: 14,3576 04616 TC BANKCALL
040128,001116: 14,3577 17707 CADR IMUSTALL
040129,001117: 14,3600 05701 TC CURTAINS
040130,001118: 14,3601 06042 TC INTPRET
040131,001119: 14,3602 77616 RVQ
040132,001120: 14,3603 77776 NCOARSE EXIT
040133,001121: 14,3604 30025 CA TIME1
040134,001122: 14,3605 55074 TS 1/PIPADT
040135,001123: 14,3606 44755 CS ZERO
040136,001124: 14,3607 54037 TS PIPAX
040137,001125: 14,3610 54040 TS PIPAY
040138,001126: 14,3611 54041 TS PIPAZ
040139,001127: 14,3612 06042 TC INTPRET
040140,001128: 14,3613 77775 VLOAD
040141,001129: 14,3614 24007 ZEROVEC
040142,001130: 14,3615 01472 STORE GCOMP
040143,001131: 14,3616 43414 SET RVQ
040144,001132: 14,3617 01060 DRIFTFLG
040145,001133:
040146,001134: # Page 953
040147,001135: # NAME -- S52.2
040148,001136: # FUNCTION -- COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040149,001137: # CALL -- CALL S52.2
040150,001138: # INPUT -- X,Y,ZSMD
040151,001139: # OUTPUT -- OGC,IGC,MGC,THETAD,+1,+2
040152,001140: # SUBROUTINES -- CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040153,001141:
040154,001142: 14,3620 COUNT* $$/S52.1
040155,001143: 14,3620 45020 S52.2 STQ CALL
040156,001144: 14,3621 02746 QMAJ
040157,001145: 14,3622 47541 CDUTRIG
040158,001146: 14,3623 77624 CALL
040159,001147: 14,3624 20030 CALCSMSC
040160,001148: 14,3625 66370 AXT,1 SSP
040161,001149: 14,3626 00022 18D
040162,001150: 14,3627 00051 S1
040163,001151: 14,3630 00006 6D
040164,001152: 14,3631 61373 S52.2A VLOAD* VXM
040165,001153: 14,3632 02707 XNB +18D,1
040166,001154: 14,3633 01734 REFSMMAT
040167,001155: 14,3634 77656 UNIT
040168,001156: 14,3635 06707 STORE XNB +18D,1
040169,001157: 14,3636 77700 TIX,1
040170,001158: 14,3637 31631 S52.2A
040171,001159: 14,3640 75160 S52.2.1 AXC,1 AXC,2
040172,001160: 14,3641 03606 XSMD
040173,001161: 14,3642 02642 XSM
040174,001162: 14,3643 77624 CALL
040175,001163: 14,3644 31371 MATMOVE
040176,001164: 14,3645 77624 CALL
040177,001165: 14,3646 47355 CALCGA
040178,001166: 14,3647 77650 GOTO
040179,001167: 14,3650 02746 QMAJ
040180,001168:
040181,001169: # Page 954
040182,001170: # NAME -- S52.3
040183,001171: # FUNCTION -- XSMD= UNIT 4
040184,001172: # YSMD= UNIT(V X R)
040185,001173: # ZSMD= UNIT(XSMD X YSMD)
040186,001174: # CALL -- DLOAD CALL
040187,001175: # TALIGN
040188,001176: # S52.3
040189,001177: # INPUT -- TIME OF ALIGNMENT IN MPAC
040190,001178: # OUTPUT -- X,Y,ZSMD
040191,001179: # SUBROUTINES -- CSMCONIC
040192,001180:
040193,001181: 14,3651 COUNT* $$/S52.3
040194,001182: 14,3651 77620 S52.3 STQ
040195,001183: 14,3652 02746 QMAJ
040196,001184: 14,3653 34041 STCALL TDEC1
040197,001185: 14,3654 27077 LEMCONIC
040198,001186: 14,3655 53575 VLOAD UNIT
040199,001187: 14,3656 00001 RATT
040200,001188: 14,3657 27607 STOVL XSMD
040201,001189: 14,3660 00007 VATT
040202,001190: 14,3661 53435 VXV UNIT
040203,001191: 14,3662 00001 RATT
040204,001192: 14,3663 27615 STOVL YSMD
040205,001193: 14,3664 03607 XSMD
040206,001194: 14,3665 53435 VXV UNIT
040207,001195: 14,3666 03615 YSMD
040208,001196: 14,3667 37623 STCALL ZSMD
040209,001197: 14,3670 02746 QMAJ
040210,001198:
040211,001199: # Page 955
040212,001200: # NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040213,001201:
040214,001202: # FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040215,001203: # STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040216,001204:
040217,001205: # CALLING -- CALL R52
040218,001206:
040219,001207: # INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6)
040220,001208:
040221,001209: # OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040222,001210: # (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040223,001211: # POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040224,001212: # SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040225,001213:
040226,001214: # SUBROUT -- R60LEM
040227,001215:
040228,001216: 14,3671 COUNT* $$/R52
040229,001217: 14,3671 77420 R52 STQ EXIT
040230,001218: 14,3672 03665 SAVQR52
040231,001219: 14,3673 51757 INDEX STARIND
040232,001220: 14,3674 31755 CA BESTI # PICK UP STARCODE DETERMINED BY R56
040233,001221: 14,3675 00006 EXTEND
040234,001222: 14,3676 73772 MP 1/6TH
040235,001223: 14,3677 64744 AD BIT8 # SET DETENT POSITION 2
040236,001224: 14,3700 54734 TS STARCODE # SCALE AND STORE IN STARCODE
040237,001225:
040238,001226: 14,3701 33773 R52A CAF V01N70
040239,001227: 14,3702 04616 TC BANKCALL
040240,001228: 14,3703 20477 CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE
040241,001229: 14,3704 06001 TC GOTOP00H # V34 -- TERMINATE
040242,001230: 14,3705 13707 TCF R52B # V33 -- PROCEED TO ORIENT LEM
040243,001231: 14,3706 13701 TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE
040244,001232:
040245,001233: 14,3707 05516 R52B TC DOWNFLAG
040246,001234: 14,3710 00124 ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040247,001235: 14,3711 30734 CA STARCODE # GRAB DETENT CODE
040248,001236: 14,3712 77747 MASK HIGH9
040249,001237: 14,3713 00006 EXTEND
040250,001238: 14,3714 74743 MP BIT9
040251,001239: 14,3715 54001 TS L # TEMP STORE DETENT
040252,001240:
040253,001241: 14,3716 00006 EXTEND
040254,001242: 14,3717 63735 BZMF GETAZEL # CODE 0, COAS CALIBRATION
040255,001243:
040256,001244: 14,3720 65650 AD NEG7
040257,001245: 14,3721 00006 EXTEND
040258,001246: 14,3722 13735 BZF GETAZEL # CODE 7, COAS SIGHTING
040259,001247:
040260,001248: 14,3723 E7,1551 EBANK= XYMARK
040261,001249: 14,3723 35016 CA EBANK7
040262,001250: 14,3724 54003 TS EBANK
040263,001251: # Page 956
040264,001252: 14,3725 50001 INDEX L
040265,001253: 14,3726 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT
040266,001254: 14,3727 54001 TS L
040267,001255: 14,3730 E5,1642 EBANK= XSM
040268,001256: 14,3730 35014 CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L
040269,001257: 14,3731 54003 TS EBANK
040270,001258: 14,3732 34737 CA BIT13 # SET ELV TO 45 DEG
040271,001259: 14,3733 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040272,001260: 14,3734 13745 TCF AZEL # GO COMP OPTIC AXIS
040273,001261:
040274,001262: 14,3735 33774 GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN
040275,001263: 14,3736 04616 TC BANKCALL
040276,001264: 14,3737 20477 CADR GOFLASH
040277,001265: 14,3740 06001 TC GOTOP00H # V34 -- TERMINATE
040278,001266: 14,3741 13743 TCF +2 # PROCEED -- CALC OPTIC AXIS
040279,001267: 14,3742 13735 TCF GETAZEL # ENTER -- RECYCLE
040280,001268:
040281,001269: 14,3743 00006 EXTEND
040282,001270: 14,3744 31345 DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP
040283,001271: 14,3745 50120 AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC
040284,001272: 14,3746 52011 DXCH 8D
040285,001273: 14,3747 06042 TC INTPRET
040286,001274: 14,3750 77624 CALL # GO COMPUTE OPTIC AXIS AND STORE IN
040287,001275: 14,3751 10522 OANB # SCAXIS IN NB COORDS
040288,001276: 14,3752 45034 RTB CALL
040289,001277: 14,3753 21574 LOADTIME
040290,001278: 14,3754 32472 PLANET
040291,001279: 14,3755 53521 MXV UNIT
040292,001280: 14,3756 01734 REFSMMAT
040293,001281: 14,3757 03773 STORE POINTVSM # STORE FOR VECPOINT
040294,001282:
040295,001283: 14,3760 77776 EXIT
040296,001284: 14,3761 04616 TC BANKCALL
040297,001285: 14,3762 54123 CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS
040298,001286:
040299,001287: 14,3763 37747 CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE
040300,001288: 14,3764 70734 MASK STARCODE
040301,001289: 14,3765 00006 EXTEND
040302,001290: 14,3766 13701 BZF R52A
040303,001291:
040304,001292: 14,3767 06042 TC INTPRET # RETURN FROM KALCMANU
040305,001293: 14,3770 77650 GOTO
040306,001294: 14,3771 03665 SAVQR52 # RETURN TO CALLER
040307,001295:
040308,001296: 14,3772 05253 1/6TH DEC .1666667
040309,001297: 14,3773 00306 V01N70 VN 0170
040310,001298: 14,3774 01527 V06N87 VN 687
040311,001299:
040312,001300: # Page 957
040313,001301: # LUNAR SURFACE STAR ACQUISITION
040314,001302:
040315,001303: 15,2245 BANK 15
040316,001304: 15,2000 SETLOC P50S
040317,001305: 15,2000 BANK
040318,001306: 15,2245 COUNT* $$/R59
040319,001307:
040320,001308: 15,2245 40077 R59 CS FLAGWRD3
040321,001309: 15,2246 74737 MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE
040322,001310: 15,2247 10000 CCS A
040323,001311: 15,2250 12455 TCF R59OUT # NO REFSMMAT GO TO AOTMARK
040324,001312:
040325,001313: 15,2251 32463 CAF V01N70* # SELECT STAR CODE FOR ACQUISITION
040326,001314: 15,2252 04616 TC BANKCALL
040327,001315: 15,2253 20477 CADR GOFLASH
040328,001316: 15,2254 06001 TC GOTOP00H # V34 -- TERMINATE
040329,001317: 15,2255 12257 TCF R59A # V33 -- PROCEED
040330,001318: 15,2256 12245 TCF R59 # V32 -- RECYCLE
040331,001319:
040332,001320: 15,2257 47747 R59A CS HIGH9 # GRAB STARCODE FOR INDEX
040333,001321: 15,2260 70734 MASK AOTCODE
040334,001322: 15,2261 00006 EXTEND
040335,001323: 15,2262 76245 MP REVCNT # JUST 6
040336,001324: 15,2263 56001 XCH L
040337,001325: 15,2264 51757 INDEX STARIND
040338,001326: 15,2265 55755 TS BESTI
040339,001327: 15,2266 50120 INDEX FIXLOC
040340,001328: 15,2267 54046 TS X1 # CODE X 6 FOR CATLOG STAR INDEX
040341,001329: 15,2270 00006 EXTEND
040342,001330: 15,2271 12455 BZF R59OUT # BYPASS ACQUISITION IF NOT CATLOG STAR
040343,001331: 15,2272 40000 COM
040344,001332: 15,2273 62557 AD DEC227
040345,001333: 15,2274 00006 EXTEND
040346,001334: 15,2275 62455 BZMF R59OUT
040347,001335:
040348,001336: 15,2276 06042 TC INTPRET
040349,001337: 15,2277 64373 VLOAD* MXV
040350,001338: 15,2300 30347 CATLOG,1 # GRAB STAR VECTOR
040351,001339: 15,2301 01734 REFSMMAT # TRANSFORM TO SM
040352,001340: 15,2302 45056 UNIT CALL
040353,001341: 15,2303 47650 CDU*SMNB
040354,001342: 15,2304 02731 STORE STAR # TEMP STORE STAR VEC(NB)
040355,001343: 15,2305 77776 EXIT
040356,001344:
040357,001345: 15,2306 34753 CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60)
040358,001346: 15,2307 55241 TS POSCODE
040359,001347:
040360,001348: 15,2310 E7,1551 EBANK= XYMARK
040361,001349: 15,2310 35016 INCAZ CA EBANK7
040362,001350: 15,2311 54003 TS EBANK
040363,001351:
040364,001352: # Page 958
040365,001353: 15,2312 51241 INDEX POSCODE
040366,001354: 15,2313 31403 CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO POSCODE
040367,001355: 15,2314 54001 TS L
040368,001356:
040369,001357: 15,2315 E5,1642 EBANK= XSM
040370,001358: 15,2315 35014 CA EBANK5
040371,001359: 15,2316 54003 TS EBANK
040372,001360:
040373,001361: 15,2317 34737 CA BIT13 # SET ELV TO 45 DEG
040374,001362: 15,2320 56001 XCH L # SET C(A)=AZ, C(L)=45 DEG
040375,001363: 15,2321 55745 TS QMIN # STORE QMIN=AZ FOR LATER
040376,001364: 15,2322 50120 INDEX FIXLOC
040377,001365: 15,2323 52011 DXCH 8D # JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040378,001366:
040379,001367: 15,2324 06042 TC INTPRET
040380,001368: 15,2325 77624 CALL
040381,001369: 15,2326 10522 OANB # GO CALC OPTIC AXIS WRT NB
040382,001370: 15,2327 50375 VLOAD DOT
040383,001371: 15,2330 02731 STAR # DOT STAR WITH OA
040384,001372: 15,2331 03765 SCAXIS
040385,001373: 15,2332 65552 SL1 ARCCOS
040386,001374: 15,2333 00031 STORE 24D # TEMP STORE ARCCOS(STAR.OPTAXIS)
040387,001375:
040388,001376: 15,2334 51025 DSU BPL
040389,001377: 15,2335 32466 DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW
040390,001378: 15,2336 32420 NXAX # NOT IN FIELD -- TRY NEXT POSITION
040391,001379: 15,2337 45345 DLOAD DSU # SEE IF STAR AT FIELD CENTER
040392,001380: 15,2340 00031 24D
040393,001381: 15,2341 32470 DEG.5
040394,001382: 15,2342 71240 BMN DLOAD # CALC SPIRAL AND CURSOR
040395,001383: 15,2343 32413 ZSPCR # GO ZERO CURSOR AND SPIRAL
040396,001384: 15,2344 00031 24D # GET SPIRAL
040397,001385: 15,2345 42405 DMP SL4
040398,001386: 15,2346 11220 3/4 # 12 SCALED AT 16
040399,001387: 15,2347 24031 STOVL 24D # 12(ARCCOS(AO.STAR)) SCALED IN REVS
040400,001388:
040401,001389: 15,2350 03765 SCAXIS # OA
040402,001390: 15,2351 53435 VXV UNIT
040403,001391: 15,2352 24005 XUNIT
040404,001392: 15,2353 47206 PUSH VXV # OA X UNITX PD 0-5
040405,001393: 15,2354 03765 SCAXIS
040406,001394: 15,2355 77676 VCOMP
040407,001395: 15,2356 63256 UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11
040408,001396: 15,2357 03765 SCAXIS
040409,001397: 15,2360 53435 VXV UNIT
040410,001398: 15,2361 02731 STAR
040411,001399: 15,2362 50206 PUSH DOT # 1/2(OA X STAR) PD 12-17
040412,001400: 15,2363 00001 0 # DOT WITH 1/2(OA X UNITX) FOR YROT
040413,001401: 15,2364 65552 SL1 ARCCOS
040414,001402: 15,2365 24033 STOVL 26D # STORE THET SCALED IN REVS
040415,001403: # Page 959
040416,001404: 15,2366 77641 DOT # UP 12-17, UP 6-11 FOR C2
040417,001405: 15,2367 71244 BPL DLOAD # IF THET NEG -- GET 360-THET
040418,001406: 15,2370 32375 R59D
040419,001407: 15,2371 32047 ABOUTONE
040420,001408: 15,2372 77625 DSU
040421,001409: 15,2373 00033 26D
040422,001410: 15,2374 00033 STORE 26D # 360-THET SCALED IN REVS
040423,001411:
040424,001412: 15,2375 70535 R59D SLOAD SR1
040425,001413: 15,2376 02746 QMIN # RESCALE AZ(N) TO REVS
040426,001414: 15,2377 41415 DAD PUSH # PUSH YROT + AZ(N) REVS
040427,001415: 15,2400 00033 26D
040428,001416: 15,2401 77634 RTB
040429,001417: 15,2402 21615 1STO2S
040430,001418: 15,2403 15236 STODL CURSOR # YROT IN 1/2 REVS
040431,001419: 15,2404 00031 24D # LOAD SROT IN REVS
040432,001420: 15,2405 77615 DAD # 12(SEP) + YROT
040433,001421: 15,2406 77634 RTB
040434,001422: 15,2407 21615 1STO2S
040435,001423: 15,2410 01240 STORE SPIRAL # SROT IN 1/2 REVS
040436,001424: 15,2411 77776 EXIT
040437,001425: 15,2412 12437 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE
040438,001426:
040439,001427: 15,2413 77776 ZSPCR EXIT
040440,001428: 15,2414 34755 CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR
040441,001429: 15,2415 55235 TS CURSOR # AND SPIRAL ANGLES
040442,001430: 15,2416 55237 TS SPIRAL
040443,001431: 15,2417 12437 TCF 79DISP
040444,001432:
040445,001433: 15,2420 77776 NXAX EXIT
040446,001434: 15,2421 25241 INCR POSCODE
040447,001435: 15,2422 41241 CS POSCODE
040448,001436: 15,2423 64757 AD SEVEN
040449,001437: 15,2424 00006 EXTEND
040450,001438: 15,2425 62427 BZMF R59ALM # THIS STAR NOT AT ANY POSITION
040451,001439: 15,2426 12310 TCF INCAZ
040452,001440:
040453,001441: 15,2427 05567 R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD
040454,001442: 15,2430 00404 OCT 404
040455,001443: 15,2431 35006 CAF VB05N09 # DISPLAY ALARM
040456,001444: 15,2432 04616 TC BANKCALL
040457,001445: 15,2433 20477 CADR GOFLASH
040458,001446: 15,2434 16001 TCF GOTOP00H # VB34 -- TERMINATE
040459,001447: 15,2435 12455 TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE
040460,001448: 15,2436 12245 TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR
040461,001449:
040462,001450: 15,2437 32464 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE
040463,001451: 15,2440 04616 TC BANKCALL
040464,001452: 15,2441 20477 CADR GOFLASH
040465,001453: 15,2442 16001 TCF GOTOP00H # V34 -- TERMINATE
040466,001454: # Page 960
040467,001455: 15,2443 12445 TCF R59E # V33 -- PROCEED TO MARK ROUTINE
040468,001456: 15,2444 12245 TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN
040469,001457:
040470,001458: 15,2445 34757 R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE
040471,001459: 15,2446 71241 MASK POSCODE
040472,001460: 15,2447 00006 EXTEND
040473,001461: 15,2450 74745 MP BIT7 # DETEND CODE NOW IN L
040474,001462: 15,2451 47747 CS HIGH9
040475,001463: 15,2452 70734 MASK AOTCODE # ISOLATE STAR NO BIT 1-6
040476,001464: 15,2453 60001 AD L
040477,001465: 15,2454 54734 TS AOTCODE # STORE DETENT 7-9
040478,001466:
040479,001467: 15,2455 04616 R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING
040480,001468: 15,2456 16000 CADR AOTMARK
040481,001469: 15,2457 04616 TC BANKCALL
040482,001470: 15,2460 17703 CADR AOTSTALL # SLEEP TILL SIGHTING DONE
040483,001471: 15,2461 05701 TC CURTAINS # BADEND RETURN FROM AOTMARK
040484,001472: 15,2462 13037 TCF R59RET # RETURN TO 1 STAR OR 2STAR
040485,001473:
040486,001474: 15,2463 00306 V01N70* VN 170
040487,001475: 15,2464 01517 V06N79 VN 679
040488,001476: 15,2465 02525 12525 DEG30 2DEC .083333333 # 30 DEGREES
040489,001477: 15,2467 00026 30131 DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS.
040490,001478: 15,2471 12525 DEG60 OCT 12525 # 60 DEG CDU SCALING
040491,001479: 15,2472 1235 CURSOR EQUALS GDT/2
040492,001480: 15,2472 1237 SPIRAL EQUALS GDT/2 +2
040493,001481: 15,2472 1241 POSCODE EQUALS GDT/2 +4
040494,001482:
040495,001483: # Page 961
040496,001484: # NAME -- PLANET
040497,001485: # FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
040498,001486: # BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
040499,001487: # MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
040500,001488: # BY DSKY INPUT.
040501,001489: # CALL -- CALL
040502,001490: # PLANET
040503,001491: # INPUT -- TIME IN MPAC
040504,001492: # OUTPUT -- VECTOR IN MPAC
040505,001493: # SUBROUTINES -- LOCSAM
040506,001494: # DEBRIS -- VAC, STARAD - STARAD +17
040507,001495:
040508,001496: 15,2000 SETLOC P50S
040509,001497: 15,2000 BANK
040510,001498: 15,2472 COUNT* $$/P51
040511,001499:
040512,001500: 15,2472 03562 PLANET STORE TSIGHT
040513,001501: 15,2473 77420 STQ EXIT
040514,001502: 15,2474 02736 GCTR
040515,001503: 15,2475 47747 CS HIGH9
040516,001504: 15,2476 70734 MASK AOTCODE
040517,001505: 15,2477 00006 EXTEND
040518,001506: 15,2500 76245 MP REVCNT
040519,001507: 15,2501 56001 XCH L
040520,001508: 15,2502 51757 INDEX STARIND
040521,001509: 15,2503 55755 TS BESTI
040522,001510: 15,2504 10000 CCS A
040523,001511: 15,2505 12521 TCF NOTPLAN
040524,001512: 15,2506 32560 CAF VNPLANV
040525,001513: 15,2507 04616 TC BANKCALL
040526,001514: 15,2510 20477 CADR GOFLASH
040527,001515: 15,2511 02506 TC -3
040528,001516: 15,2512 02514 TC +2
040529,001517: 15,2513 02506 TC -5
040530,001518: 15,2514 06042 TC INTPRET
040531,001519: 15,2515 53575 VLOAD UNIT
040532,001520: 15,2516 02707 STARAD
040533,001521: 15,2517 77650 GOTO
040534,001522: 15,2520 02736 GCTR
040535,001523: 15,2521 40000 NOTPLAN CS A
040536,001524: 15,2522 62557 AD DEC227
040537,001525: 15,2523 00006 EXTEND
040538,001526: 15,2524 62535 BZMF CALSAM1
040539,001527: 15,2525 51757 INDEX STARIND
040540,001528: 15,2526 31755 CA BESTI
040541,001529: 15,2527 50120 INDEX FIXLOC
040542,001530: 15,2530 54046 TS X1
040543,001531: 15,2531 06042 TC INTPRET
040544,001532: 15,2532 52173 VLOAD* GOTO
040545,001533: 15,2533 30347 CATLOG,1
040546,001534: # Page 962
040547,001535: 15,2534 02736 GCTR
040548,001536: 15,2535 06042 CALSAM1 TC INTPRET
040549,001537: 15,2536 45145 CALSAM DLOAD CALL
040550,001538: 15,2537 03562 TSIGHT
040551,001539: 15,2540 30500 LOCSAM
040552,001540: 15,2541 77340 LXC,1 VLOAD
040553,001541: 15,2542 02757 STARIND
040554,001542: 15,2543 02707 VEARTH
040555,001543: 15,2544 24001 STOVL 0D
040556,001544: 15,2545 02715 VSUN
040557,001545: 15,2546 26707 STOVL VEARTH
040558,001546: 15,2547 00001 0D
040559,001547: 15,2550 02715 STORE VSUN
040560,001548: 15,2551 70143 DLOAD* LXC,1
040561,001549: 15,2552 02756 BESTI,1
040562,001550: 15,2553 00154 MPAC
040563,001551: 15,2554 52173 VLOAD* GOTO
040564,001552: 15,2555 02343 STARAD -228D,1
040565,001553: 15,2556 02736 GCTR
040566,001554: 15,2557 00343 DEC227 DEC 227 B-14
040567,001555: 15,2560 01530 VNPLANV VN 0688
040568,001556: 15,2561 37,3541 PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1
040569,001557:
040570,001558: # Page 963
040571,001559: # GRAVITY VECTOR DETERMINATION ROUTINE
040572,001560: # BY KEN VINCENT
040573,001561:
040574,001562: # FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5.
040575,001563:
040576,001564: # THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY
040577,001565: # WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED
040578,001566: # FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
040579,001567: # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
040580,001568: # PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED
040581,001569: # AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
040582,001570: # ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
040583,001571: # READINGS.
040584,001572:
040585,001573: # CALL --
040586,001574: # TC BANKCALL
040587,001575: # CADR GVDETER
040588,001576:
040589,001577: # INPUTS --
040590,001578: # PIPAS, CDUS
040591,001579:
040592,001580: # OUTPUTS --
040593,001581: # STARSAV1 = UNIT GRAVITY
040594,001582: # GSAV = DITTO
040595,001583: # GRAVBIT = 1
040596,001584:
040597,001585: # SUBROUTINES --
040598,001586: # PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
040599,001587: # *NBSM*, *SNMB*, CALCGA, GOFLASH
040600,001588:
040601,001589: # DEBRIS --
040602,001590: # VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
040603,001591:
040604,001592: 15,2561 32762 GVDETER CAF 42DEG
040605,001593: 15,2562 54321 TS THETAD
040606,001594: 15,2563 40000 COM
040607,001595: 15,2564 54322 TS THETAD +1
040608,001596: 15,2565 32763 CAF 35DEG
040609,001597: 15,2566 54323 TS THETAD +2
040610,001598: 15,2567 06042 TC INTPRET
040611,001599: 15,2570 45014 CLEAR CALL
040612,001600: 15,2571 01662 REFSMFLG
040613,001601: 15,2572 32666 LUNG
040614,001602:
040615,001603: # FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
040616,001604:
040617,001605: # DEFINE G COOR SYS
040618,001606: # _
040619,001607: # [ X ] [ UNIT G ]
040620,001608: # * [ _ ] [ _ ]
040621,001609: # M = [ Y ] = [ UNITEZSM * X ]
040622,001610: # [ _ ] [ _ _ ]
040623,001611: # [ Z ] [ UNIT( X * Y )]
040624,001612:
040625,001613: # THEN ROTATED SM WRT PRESENT IS
040626,001614:
040627,001615: # Page 964
040628,001616: # [ 1 0 0 ]
040629,001617: # * *T [ ] * * *
040630,001618: # XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I
040631,001619: # [ ] I J
040632,001620: # [ 0 0 -1 ]
040633,001621:
040634,001622: # ALSO NB WRT PRES SM IS
040635,001623:
040636,001624: # * * *
040637,001625: # XNB = NBSM I
040638,001626:
040639,001627: # * *
040640,001628: # GIMBAL ANGLES = CALCGA( XSM, XNB )
040641,001629:
040642,001630: 15,2000 SETLOC P50S
040643,001631: 15,2000 BANK
040644,001632: 15,2573 COUNT* $$/P57
040645,001633: 15,2573 66370 AXT,1 SSP # X1=18
040646,001634: 15,2574 00022 18D # S1=6
040647,001635: 15,2575 00051 S1 # X2, -2
040648,001636: 15,2576 00006 6D
040649,001637: 15,2577 77744 LXC,2
040650,001638: 15,2600 00050 S1
040651,001639: 15,2601 45173 GRAVEL VLOAD* CALL
040652,001640: 15,2602 54000 XUNIT -6,2
040653,001641: 15,2603 47675 *NBSM* # SIN AND COS COMPUTED IN LUNG
040654,001642: 15,2604 06707 STORE XNB +18D,1
040655,001643: 15,2605 77775 VLOAD
040656,001644: 15,2606 02731 STAR
040657,001645: 15,2607 73744 LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD --
040658,001646: 15,2610 00047 X2
040659,001647: 15,2611 75040 STAR +6,2 # OUTER PRODUCT
040660,001648: 15,2612 71152 VSL2 LXC,2
040661,001649: 15,2613 00047 X2
040662,001650: 15,2614 63047 VSU* INCR,2
040663,001651: 15,2615 54000 XUNIT -6,2
040664,001652: 15,2616 00002 2D
040665,001653: 15,2617 06665 STORE XSM +18D,1
040666,001654: 15,2620 45100 TIX,1 CALL
040667,001655: 15,2621 32601 GRAVEL
040668,001656: 15,2622 47355 CALCGA
040669,001657: 15,2623 74575 VLOAD VSR1
040670,001658: 15,2624 02715 GOUT
040671,001659: 15,2625 36723 STCALL STARAD +12D
040672,001660: 15,2626 32666 LUNG
040673,001661: 15,2627 74575 VLOAD VSR1
040674,001662: 15,2630 02715 GOUT
040675,001663: 15,2631 53455 VAD UNIT
040676,001664: 15,2632 02723 STARAD +12D
040677,001665: 15,2633 02761 STORE STARSAV1
040678,001666: 15,2634 77641 DOT
040679,001667: 15,2635 02231 GSAV
040680,001668: 15,2636 65552 SL1 ACOS
040681,001669: # Page 965
040682,001670: 15,2637 01045 STORE DSPTEM1
040683,001671: 15,2640 77776 EXIT
040684,001672: 15,2641 05516 TC DOWNFLAG # CLAR FREEFLAG IN CASE OF RECYCLE
040685,001673: 15,2642 00014 ADRES FREEFLAG
040686,001674:
040687,001675: 15,2643 32761 CA DISGRVER
040688,001676: 15,2644 04616 TC BANKCALL
040689,001677: 15,2645 20477 CADR GOFLASH
040690,001678: 15,2646 06001 TC GOTOP00H
040691,001679: 15,2647 12652 TCF PROGRAV # VB33 -- PROCEED
040692,001680: 15,2650 05504 TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN
040693,001681: 15,2651 00014 ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE
040694,001682:
040695,001683: 15,2652 05353 PROGRAV TC PHASCHNG
040696,001684: 15,2653 04024 OCT 04024
040697,001685:
040698,001686: 15,2654 06042 TC INTPRET
040699,001687: 15,2655 77775 VLOAD
040700,001688: 15,2656 02761 STARSAV1
040701,001689: 15,2657 02231 STORE GSAV
040702,001690: 15,2660 77776 EXIT
040703,001691: 15,2661 34751 CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY
040704,001692: 15,2662 70074 MASK FLAGWRD0
040705,001693: 15,2663 10000 CCS A
040706,001694: 15,2664 12561 TCF GVDETER # SET
040707,001695: 15,2665 13536 TCF ATTCHK # EXIT FROM GVDETER
040708,001696:
040709,001697: 15,2666 77220 LUNG STQ VLOAD
040710,001698: 15,2667 02745 QMIN
040711,001699: 15,2670 24007 ZEROVEC
040712,001700: 15,2671 02707 STORE GACC
040713,001701: 15,2672 77776 EXIT
040714,001702: 15,2673 05353 TC PHASCHNG
040715,001703: 15,2674 04024 OCT 04024
040716,001704:
040717,001705: 15,2675 06042 TC INTPRET
040718,001706: 15,2676 77624 CALL
040719,001707: 15,2677 31557 COARSE
040720,001708: 15,2700 77776 EXIT
040721,001709: 15,2701 32760 CA T/2SEC
040722,001710: 15,2702 55736 TS GCTR
040723,001711: 15,2703 37721 CA PRIO31
040724,001712: 15,2704 55074 TS 1/PIPADT
040725,001713: 15,2705 04616 TC BANKCALL
040726,001714: 15,2706 15707 CADR GCOMPZER # INITIALIZE COMPENSATION
040727,001715: 15,2707 05353 TC PHASCHNG
040728,001716: 15,2710 04024 OCT 04024
040729,001717:
040730,001718: 15,2711 04616 TC BANKCALL # DON'T NEED TO INHINT. THIS USED TO
040731,001719: 15,2712 77541 CADR PIPSRINE # INITIALIZE PIPAS. DON'T USE DATA
040732,001720: # Page 966
040733,001721: 15,2713 06042 TC INTPRET
040734,001722: 15,2714 77776 GREED EXIT # = MASK 7776 IN BASIC SO DON'T CARE
040735,001723: 15,2715 35000 CAF 2SECS
040736,001724: 15,2716 05173 TC TWIDDLE # SET UP 2 SEC TASK TO READ PIPAS
040737,001725: 15,2717 02721 ADRES GRABGRAV
040738,001726:
040739,001727: 15,2720 05155 TC ENDOFJOB
040740,001728:
040741,001729: 15,2721 04674 GRABGRAV TC IBNKCALL
040742,001730: 15,2722 77541 CADR PIPSRINE
040743,001731: 15,2723 35023 CAF PRIO13 # RE-ESTABLISH MAINLINE JOB
040744,001732: 15,2724 05105 TC FINDVAC
040745,001733: 15,2725 E5,1706 EBANK= STARAD
040746,001734: 15,2725 02730 32065 2CADR ADDGRAV
040747,001735:
040748,001736: 15,2727 05261 TC TASKOVER
040749,001737:
040750,001738: 15,2730 04616 ADDGRAV TC BANKCALL
040751,001739: 15,2731 15271 CADR 1/PIPA
040752,001740: 15,2732 25736 INCR GCTR
040753,001741: 15,2733 06042 TC INTPRET
040754,001742: 15,2734 53375 VLOAD VAD
040755,001743: 15,2735 00325 DELV
040756,001744: 15,2736 02707 GACC
040757,001745: 15,2737 02707 STORE GACC # ACCUMULATE G VECTOR
040758,001746: 15,2740 50135 SLOAD BMN
040759,001747: 15,2741 02737 GCTR
040760,001748: 15,2742 32714 GREED
040761,001749: 15,2743 53575 VLOAD UNIT
040762,001750: 15,2744 02707 GACC
040763,001751: 15,2745 36731 STCALL STAR
040764,001752: 15,2746 47541 CDUTRIG # TRANSFORM IN NB COOR AND STORE
040765,001753: 15,2747 77624 CALL # IN OUTPUT
040766,001754: 15,2750 47673 *SMNB*
040767,001755: 15,2751 02715 STORE GOUT
040768,001756: 15,2752 77776 EXIT
040769,001757: 15,2753 05353 TC PHASCHNG
040770,001758: 15,2754 04024 OCT 04024
040771,001759:
040772,001760: 15,2755 06042 QMINEXIT TC INTPRET
040773,001761: 15,2756 77650 GOTO
040774,001762: 15,2757 02745 QMIN
040775,001763: 15,2760 77753 T/2SEC DEC -20 B-14
040776,001764: 15,2761 01404 DISGRVER VN 0604
040777,001765: 15,2762 07357 42DEG OCT 07357
040778,001766: 15,2763 06211 35DEG OCT 06211
040779,001767:
040780,001768: # Page 967
040781,001769: # NAME -- GYROTRIM
040782,001770:
040783,001771: # THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
040784,001772: # TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
040785,001773: # VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
040786,001774:
040787,001775: # CALL CALL
040788,001776: # GYROTRIM
040789,001777:
040790,001778: # INPUT THETAD,+1,+2 = DESIRED CDU ANGLES
040791,001779: # CDUX,CDUY,CDUZ
040792,001780:
040793,001781: # OUTPUT GYRO TORQUE PULSES
040794,001782:
040795,001783: # SUBROUTINES TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
040796,001784: # IMPULSE, IMUSTALL
040797,001785: # _______ ______ ______ * * ___
040798,001786: # DEBRIS CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
040799,001787:
040800,001788: 15,2764 COUNT* $$/P57
040801,001789: 15,2764 71220 GYROTRIM STQ DLOAD
040802,001790: 15,2765 02745 QMIN
040803,001791: 15,2766 00322 THETAD
040804,001792: 15,2767 65325 PDDL PDDL
040805,001793: 15,2770 00324 THETAD +2
040806,001794: 15,2771 00323 THETAD +1
040807,001795: 15,2772 77666 VDEF
040808,001796: 15,2773 24766 STOVL CDUSPOT
040809,001797: 15,2774 24005 XUNIT
040810,001798: 15,2775 77624 CALL
040811,001799: 15,2776 47666 TRG*NBSM
040812,001800: 15,2777 26707 STOVL STARAD
040813,001801: 15,3000 24003 YUNIT
040814,001802: 15,3001 77624 CALL
040815,001803: 15,3002 47675 *NBSM*
040816,001804: 15,3003 36715 STCALL STARAD +6
040817,001805: 15,3004 47541 CDUTRIG
040818,001806: 15,3005 77624 CALL
040819,001807: 15,3006 20030 CALCSMSC
040820,001808: 15,3007 77775 VLOAD
040821,001809: 15,3010 02665 XNB
040822,001810: 15,3011 24007 STOVL 6D
040823,001811: 15,3012 02673 YNB
040824,001812: 15,3013 34015 STCALL 12D
040825,001813: 15,3014 47443 AXISGEN
040826,001814: 15,3015 77624 CALL
040827,001815: 15,3016 47251 CALCGTA
040828,001816: 15,3017 77776 JUSTTRIM EXIT
040829,001817: 15,3020 33027 CA GYRCDR
040830,001818: 15,3021 04616 TC BANKCALL
040831,001819: 15,3022 17314 CADR IMUPULSE
040832,001820: # Page 968
040833,001821: 15,3023 04616 TC BANKCALL
040834,001822: 15,3024 17707 CADR IMUSTALL
040835,001823: 15,3025 05701 TC CURTAINS
040836,001824: 15,3026 12755 TCF QMINEXIT
040837,001825:
040838,001826: 15,3027 02737 GYRCDR ECADR OGC
040839,001827:
040840,001828: # Page 969
040841,001829: # PERFORM STAR ACQUISITION AND STAR SIGHTINGS
040842,001830:
040843,001831: 15,3030 34755 2STARS CAF ZERO # INITIALIZE STARIND
040844,001832: 15,3031 13033 TCF +2 # ZERO FOR 1ST STAR, ONE FOR 2ND STAR
040845,001833: 15,3032 34753 1STAR CAF BIT1
040846,001834: 15,3033 55757 TS STARIND
040847,001835:
040848,001836: 15,3034 05353 TC PHASCHNG
040849,001837: 15,3035 04024 OCT 04024
040850,001838:
040851,001839: 15,3036 12245 TCF R59 # GO DO STAR ACQUIRE AND AOTMARK
040852,001840:
040853,001841: 15,3037 31757 R59RET CA STARIND # BACK FROM SURFACE MARKING
040854,001842: 15,3040 00006 EXTEND
040855,001843: 15,3041 13052 BZF ASTAR # 1ST STAR MARKED
040856,001844:
040857,001845: 15,3042 05353 TC PHASCHNG
040858,001846: 15,3043 04024 OCT 04024
040859,001847:
040860,001848: 15,3044 06042 TC INTPRET
040861,001849: 15,3045 45145 DLOAD CALL
040862,001850: 15,3046 03562 TSIGHT # TIME OF 2ND MARK
040863,001851: 15,3047 32472 PLANET
040864,001852: 15,3050 37254 STCALL VEC2 # STORE 2ND CATALOG VEC (REF)
040865,001853: 15,3051 33064 SURFLINE
040866,001854:
040867,001855: 15,3052 06042 ASTAR TC INTPRET
040868,001856: 15,3053 77775 VLOAD
040869,001857: 15,3054 02715 STARAD +6
040870,001858: 15,3055 02761 STORE STARSAV1 # 1ST OBSERVED STAR (SM)
040871,001859: 15,3056 45145 DLOAD CALL
040872,001860: 15,3057 03562 TSIGHT # TIME OF 1ST MARK
040873,001861: 15,3060 32472 PLANET
040874,001862: 15,3061 03246 STORE VEC1 # STORE 1ST CATALOG VEC (REF)
040875,001863: 15,3062 77776 EXIT
040876,001864: 15,3063 13032 TCF 1STAR # GO GET 2ND STAR SIGHTING
040877,001865:
040878,001866: # Page 970
040879,001867: # DO FINE OR COARSE ALIGNMENT OF IMU
040880,001868:
040881,001869: 15,3064 77131 SURFLINE SSP AXT,2
040882,001870: 15,3065 00052 S2
040883,001871: 15,3066 00006 6
040884,001872: 15,3067 00014 12D
040885,001873: 15,3070 64373 WRTDESIR VLOAD* MXV
040886,001874: 15,3071 74515 VEC1 +12D,2 # PICK UP VEC IN REF, TRANS TO DESIRED SH
040887,001875: 15,3072 03607 XSMD
040888,001876: 15,3073 77656 UNIT
040889,001877: 15,3074 12723 STORE STARAD +12D,2 # VEC IN SM
040890,001878: 15,3075 77773 VLOAD*
040891,001879: 15,3076 75002 STARSAV1 +12D,2 # PICK UP VEC IN PRESENT SM
040892,001880: 15,3077 10023 STORE 18D,2
040893,001881: 15,3100 43104 TIX,2 BON
040894,001882: 15,3101 33070 WRTDESIR
040895,001883: 15,3102 04315 INITALGN # IF INITIAL PASS (OPTION 0) BYPASS R54
040896,001884: 15,3103 33111 INITBY
040897,001885: 15,3104 77624 DOALIGN CALL
040898,001886: 15,3105 31250 R54 # DO CHKSDATA
040899,001887: 15,3106 77614 BOFF
040900,001888: 15,3107 00354 FREEFLAG
040901,001889: 15,3110 33171 P57POST # ASTRO DOES NOT LIKE DATA TEST RESULTS
040902,001890: 15,3111 77624 INITBY CALL
040903,001891: 15,3112 47443 AXISGEN # GET DEISRED ORIENT WRT PRES. XDC,YDC,ZDC
040904,001892: 15,3113 77624 CALL
040905,001893: 15,3114 47251 CALCGTA # GET GYRO TORQ ANGLES, OGC,IGC,MGC
040906,001894: 15,3115 77776 EXIT
040907,001895: 15,3116 34752 CAF INITABIT # IF INITIAL PASS BYPASS NOUN 93 DISPLAY
040908,001896: 15,3117 70104 MASK FLAGWRD8
040909,001897: 15,3120 10000 CCS A
040910,001898: 15,3121 13130 TCF 5DEGTEST
040911,001899: 15,3122 33276 CAF DISPGYRO # DISPLAY GYRO TORQ ANGLES V 06N93
040912,001900: 15,3123 04616 TC BANKCALL
040913,001901: 15,3124 20477 CADR GOFLASH
040914,001902: 15,3125 06001 TC GOTOP00H # V34 -- TERMINATE
040915,001903: 15,3126 13130 TCF 5DEGTEST # VB33 -- PROCEED TO COARSE OR FINE
040916,001904: 15,3127 13172 TCF P57POST +1 # VB32 -- RECYCLE, MAYBE RE-ALIGN
040917,001905:
040918,001906: 15,3130 06042 5DEGTEST TC INTPRET # IF ANGLES GREATER THAN 5 DEGS, DO COARSE
040919,001907: 15,3131 40175 VLOAD BOV
040920,001908: 15,3132 02740 OGC
040921,001909: 15,3133 33134 SURFSUP
040922,001910: 15,3134 02750 SURFSUP STORE OGCT
040923,001911: 15,3135 40141 V/SC BOV
040924,001912: 15,3136 30602 5DEGREES
040925,001913: 15,3137 33237 COATRIM
040926,001914: 15,3140 52131 SSP GOTO
040927,001915: 15,3141 02746 QMIN
040928,001916: 15,3142 33144 SURFDISP
040929,001917: # Page 971
040930,001918: 15,3143 33017 JUSTTRIM # ANGLES LESS THAN 5 DEG, DO GYRO TORQ
040931,001919:
040932,001920: 15,3144 77776 SURFDISP EXIT
040933,001921: 15,3145 05353 TC PHASCHNG
040934,001922: 15,3146 04024 OCT 04024
040935,001923:
040936,001924: 15,3147 06042 TC INTPRET
040937,001925: 15,3150 75160 AXC,1 AXC,2
040938,001926: 15,3151 03606 XSMD
040939,001927: 15,3152 01733 REFSMMAT
040940,001928: 15,3153 45014 SET CALL
040941,001929: 15,3154 01462 REFSMFLG
040942,001930: 15,3155 31371 MATMOVE
040943,001931: 15,3156 77776 EXIT
040944,001932: 15,3157 11144 CCS OPTION2 # IF OPTION ZERO DO FINISH
040945,001933: 15,3160 13162 TCF B2F8
040946,001934: 15,3161 13172 TCF P57POST +1
040947,001935:
040948,001936: 15,3162 34752 B2F8 CAF INITABIT # IF INITIAL FLAG SET, RE-CYCLE.
040949,001937: 15,3163 70104 MASK FLAGWRD8
040950,001938: 15,3164 10000 CCS A
040951,001939: 15,3165 13544 TCF P57JUMP # IT'S SET
040952,001940: 15,3166 06042 TC INTPRET
040953,001941: 15,3167 77624 CALL
040954,001942: 15,3170 33471 REFMF # GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
040955,001943: 15,3171 77776 P57POST EXIT
040956,001944: 15,3172 35741 CAF OCT14 # DISPLAY V50N25 CHK CODE 14
040957,001945: 15,3173 04616 TC BANKCALL
040958,001946: 15,3174 20624 CADR GOPERF1
040959,001947: 15,3175 16001 TCF GOTOP00H # VB34 -- TERMINATE
040960,001948: 15,3176 13544 TCF P57JUMP # VB33 -- PROCEED TO RE-ALIGN
040961,001949: 15,3177 44752 CS BIT2 # TEST TO SEE IF ALIGNED BY OPTION 2
040962,001950: 15,3200 61144 AD OPTION2
040963,001951: 15,3201 00006 EXTEND
040964,001952: 15,3202 13204 BZF +2 # YES -- GO CALCULATE LANDING SITE
040965,001953: 15,3203 16001 TCF GOTOP00H # NO -- EXIT P57
040966,001954: 15,3204 05353 TC PHASCHNG # RESTART PLACE
040967,001955: 15,3205 04024 OCT 04024
040968,001956: 15,3206 06042 TC INTPRET
040969,001957: 15,3207 45175 VLOAD CALL # USE GNB
040970,001958: 15,3210 02231 GSAV
040971,001959: 15,3211 47663 CDU*NBSM # GO TO SM COORDS
040972,001960: 15,3212 43105 VXM SET # ON MOON SO SET LUNAFLAG
040973,001961: 15,3213 01734 REFSMMAT # G(REF) = (REFSMMAT)T (NBSM)GNB
040974,001962: 15,3214 01463 LUNAFLAG
040975,001963: 15,3215 51515 PDVL ABVAL
040976,001964: 15,3216 02023 RLS
040977,001965: 15,3217 45561 VXSC STADR
040978,001966: 15,3220 75745 STORE ALPHAV # ALPHAV = RLSMAG * G(REF)
040979,001967: 15,3221 47014 CLEAR RTB
040980,001968: # Page 972
040981,001969: 15,3222 00662 ERADFLAG
040982,001970: 15,3223 21574 LOADTIME
040983,001971: 15,3224 77624 CALL
040984,001972: 15,3225 30440 N89DISP # SUBROUTINE TO CALC LS AND GIVE RLS BACK
040985,001973: 15,3226 01220 STORE RN # RN=RLS B-29 = LM POSITION
040986,001974: 15,3227 65352 VSL2 PDDL # R-TO-RP GETS RLS B-27 AT 0-50 IN PDLIST
040987,001975: 15,3230 01242 GDT/2 +4 # TIME TEMP STORED IN N89DISP
040988,001976: 15,3231 77606 PUSH # TIME AT 6-7 IN PDLIST
040989,001977: 15,3232 35234 STCALL PIPTIME # PIPTIME = LM STATE TIME
040990,001978: 15,3233 51700 R-TO-RP
040991,001979: 15,3234 02023 STORE RLS # RLS IN MOON-FIXED COORDS
040992,001980: 15,3235 77776 EXIT
040993,001981: 15,3236 16001 TCF GOTOP00H # EXIT P57
040994,001982:
040995,001983: # Page 973
040996,001984: # COARSE AND FINE ALIGN IMU
040997,001985:
040998,001986: 15,3237 75160 COATRIM AXC,1 AXC,2
040999,001987: 15,3240 02664 XDC
041000,001988: 15,3241 02642 XSM
041001,001989: 15,3242 77624 CALL
041002,001990: 15,3243 31371 MATMOVE
041003,001991: 15,3244 77624 CALL
041004,001992: 15,3245 47541 CDUTRIG
041005,001993: 15,3246 77624 CALL
041006,001994: 15,3247 20030 CALCSMSC
041007,001995: 15,3250 77624 CALL
041008,001996: 15,3251 47355 CALCGA
041009,001997: 15,3252 77414 BOFF EXIT
041010,001998: 15,3253 04355 INITALGN # IF INITIAL ALIGNMENT DISPLAY FINAL
041011,001999: 15,3254 33266 CORSIT # GIMBAL ANGLES IF COARSE ANGLES GREATER
041012,002000: 15,3255 35010 CAF V06N22 # THAN 5 DEGREES
041013,002001: 15,3256 04616 TC BANKCALL
041014,002002: 15,3257 20477 CADR GOFLASH
041015,002003: 15,3260 06001 TC GOTOP00H
041016,002004: 15,3261 13263 TCF +2
041017,002005: 15,3262 13255 TCF -5
041018,002006: 15,3263 05353 TC PHASCHNG
041019,002007: 15,3264 04024 OCT 04024
041020,002008:
041021,002009: 15,3265 06042 TC INTPRET
041022,002010: 15,3266 77624 CORSIT CALL
041023,002011: 15,3267 31557 COARSE
041024,002012: 15,3270 77624 CALL
041025,002013: 15,3271 31603 NCOARSE
041026,002014: 15,3272 77624 CALL
041027,002015: 15,3273 32764 GYROTRIM
041028,002016: 15,3274 77650 GOTO
041029,002017: 15,3275 33144 SURFDISP
041030,002018: 15,3276 01535 DISPGYRO VN 0693
041031,002019:
041032,002020: # Page 974
041033,002021: # LUNAR SURFACE IMU ALIGNMENT PROGRAM
041034,002022:
041035,002023: 15,3277 04616 P57 TC BANKCALL # IS ISS ON -- IF NOT, IMUCHK WILL SEND
041036,002024: 15,3300 33635 CADR IMUCHK # ALARM CODE 210 AND EXIT VIA GOTOP00H
041037,002025:
041038,002026: 15,3301 36250 CAF THREE # JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041039,002027: 15,3302 55144 TS OPTION2
041040,002028: 15,3303 34753 P57OPT CAF BIT1
041041,002029: 15,3304 04616 TC BANKCALL
041042,002030: 15,3305 20714 CADR GOPERF4R # FLASH V04N06 FOR ALIGNMENT CODE
041043,002031: 15,3306 06001 TC GOTOP00H # V34 TERMINATE
041044,002032: 15,3307 13314 TCF ALIGNOPT # V33 PROCEED
041045,002033: 15,3310 13303 TCF P57OPT # V32 RECYCLE
041046,002034:
041047,002035: 15,3311 05353 TC PHASCHNG
041048,002036: 15,3312 00014 OCT 00014
041049,002037: 15,3313 05155 TC ENDOFJOB
041050,002038:
041051,002039: 15,3314 31144 ALIGNOPT CA OPTION2
041052,002040: 15,3315 76250 MASK THREE
041053,002041: 15,3316 50000 INDEX A
041054,002042: 15,3317 13320 TCF +1
041055,002043: 15,3320 13333 TCF TDISP # OPTION 4 LS ORIENTATION
041056,002044: 15,3321 13374 TCF PACKOPTN # OPTION 1 PREFERRED
041057,002045: 15,3322 13303 TCF P57OPT # OPTION 2 INVALID IN P57, RECYCLE
041058,002046: 15,3323 06042 TC INTPRET # OPTION 3 REFSMMAT
041059,002047: 15,3324 75160 AXC,1 AXC,2
041060,002048: 15,3325 01733 REFSMMAT
041061,002049: 15,3326 03606 XSMD
041062,002050: 15,3327 77624 CALL
041063,002051: 15,3330 31371 MATMOVE
041064,002052: 15,3331 77650 GOTO
041065,002053: 15,3332 33373 PACKOPTN -1
041066,002054:
041067,002055: 15,3333 06042 TDISP TC INTPRET
041068,002056: 15,3334 77745 DLOAD
041069,002057: 15,3335 03442 TIG # LOAD ASCENT TIME FOR DISPLAY
041070,002058: 15,3336 01045 P57A STORE DSPTEM1
041071,002059: 15,3337 77776 EXIT
041072,002060: 15,3340 32170 P57AA CAF V06N34* # DISPLAY TALIGN, TALIGN : DSPTEM1
041073,002061: 15,3341 04616 TC BANKCALL
041074,002062: 15,3342 20477 CADR GOFLASH
041075,002063: 15,3343 16001 TCF GOTOP00H # V34 -- TERMINATE
041076,002064: 15,3344 13346 TCF +2
041077,002065: 15,3345 13340 TCF P57AA # VB32 -- RECYCLE
041078,002066:
041079,002067: 15,3346 06042 TC INTPRET
041080,002068: 15,3347 65234 RTB PDDL
041081,002069: 15,3350 21574 LOADTIME # PUSH CURRENT TIME AND PICK UP KEY IN
041082,002070: 15,3351 01045 DSPTEM1
041083,002071: # Page 975
041084,002072: 15,3352 65254 BZE PDDL
041085,002073: 15,3353 33363 P57C # IF KEY IN TIME ZERO -- TALIGN=CURRENT TIME
041086,002074: 15,3354 51025 DSU BPL # NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041087,002075: 15,3355 01045 DSPTEM1
041088,002076: 15,3356 33363 P57C
041089,002077: 15,3357 45545 DLOAD STADR # IF KEYIN TIME GREATER THAN CURRENT TIME
041090,002078: 15,3360 74335 STORE TIG # STORE IT IN TIG
041091,002079: 15,3361 36775 STCALL TALIGN
041092,002080: 15,3362 33365 P57D
041093,002081: 15,3363 45545 P57C DLOAD STADR
041094,002082: 15,3364 75002 STORE TALIGN
041095,002083: 15,3365 34041 P57D STCALL TDEC1
041096,002084: 15,3366 27056 LEMPREC # COMPUTE DESIRED IMU ORIENTATION STORE
041097,002085: 15,3367 53575 VLOAD UNIT # IN X,Y,ZSMD
041098,002086: 15,3370 00001 RATT
041099,002087: 15,3371 37607 STCALL XSMD
041100,002088: 15,3372 10757 LSORIENT
041101,002089: 15,3373 77776 EXIT
041102,002090: 15,3374 34755 PACKOPTN CAF ZERO # PACK FLAG BITS FOR OPTION DISPLAY
041103,002091: 15,3375 55144 TS OPTION1 +1 # JAM ZERO IN ALIGNMENT OPTION
041104,002092: 15,3376 55145 TS OPTION1 +2 # INITIALIZE FLAG BIT CONFIGURATION
041105,002093: 15,3377 34737 CAF REFSMBIT
041106,002094: 15,3400 70077 MASK FLAGWRD3 # REFSMFLG
041107,002095: 15,3401 10000 CCS A
041108,002096: 15,3402 34745 CAF BIT7 # SET
041109,002097: 15,3403 27145 ADS OPTION1 +2 # CLEAR -- JUST ZERO
041110,002098: 15,3404 34753 CAF ATTFLBIT
041111,002099: 15,3405 70102 MASK FLAGWRD6 # ATTFLG
041112,002100: 15,3406 10000 CCS A
041113,002101: 15,3407 34750 CAF BIT4 # SET
041114,002102: 15,3410 27145 ADS OPTION1 +2 # CLEAR -- ZERO IN A
041115,002103: 15,3411 34750 CAF BIT4
041116,002104: 15,3412 55143 TS OPTION1 # JAM 00010 IN OPTION1 FOR CHECK LIST
041117,002105:
041118,002106: 15,3413 33634 DSPOPTN CAF VB05N06 # DISPLAY OPTION CODE AND FLAG BITS
041119,002107: 15,3414 04616 TC BANKCALL
041120,002108: 15,3415 20477 CADR GOFLASH
041121,002109: 15,3416 16001 TCF GOTOP00H # VB34 -- TERMINATE
041122,002110: 15,3417 13421 TCF +2 # V33 -- PROCEED
041123,002111: 15,3420 13413 TCF DSPOPTN # V32 -- RECYCLE
041124,002112:
041125,002113: 15,3421 34737 CAF REFSMBIT
041126,002114: 15,3422 70077 MASK FLAGWRD3
041127,002115: 15,3423 10000 CCS A
041128,002116: 15,3424 13524 TCF GETLMATT # SET, GO COMPUTE LM ATTITUDE
041129,002117: 15,3425 34753 CAF ATTFLBIT # CLEAR -- CHECK ATTFLAG FOR STORED ATTITUDE.
041130,002118: 15,3426 70102 MASK FLAGWRD6
041131,002119: 15,3427 10000 CCS A
041132,002120: 15,3430 13530 TCF BYLMATT # ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041133,002121: 15,3431 34752 CAF BIT2 # SEE IF OPTION 2 OR 3
041134,002122: # Page 976
041135,002123: 15,3432 71144 MASK OPTION2
041136,002124: 15,3433 10000 CCS A
041137,002125: 15,3434 13530 TCF BYLMATT # OPTION 2 OR 3 BUT DON'T HAVE ATTITUDE
041138,002126: 15,3435 05567 TC ALARM # OPTION INCONSISTENT WITH FLAGS -- ALARM 701
041139,002127: 15,3436 00701 OCT 701
041140,002128: 15,3437 35006 CAF VB05N09 # DISPLAY ALARM FOR ACTION
041141,002129: 15,3440 04616 TC BANKCALL
041142,002130: 15,3441 20477 CADR GOFLASH
041143,002131: 15,3442 16001 TCF GOTOP00H # VB34 -- TERMINATE
041144,002132: 15,3443 13413 TCF DSPOPTN # V33 -- PROCEED *********TEMPORARY
041145,002133: 15,3444 13413 TCF DSPOPTN # VB32 -- RECYCLE TO OPTION DISPLAY V 05N06
041146,002134:
041147,002135: # Page 977
041148,002136: # TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041149,002137:
041150,002138: 15,3445 40220 MFREF STQ SETPD
041151,002139: 15,3446 02746 QMAJ
041152,002140: 15,3447 00001 0
041153,002141: 15,3450 77634 RTB
041154,002142: 15,3451 21574 LOADTIME
041155,002143: 15,3452 27562 STOVL TSIGHT
041156,002144: 15,3453 03246 VEC1
041157,002145: 15,3454 41525 PDDL PUSH
041158,002146: 15,3455 03562 TSIGHT
041159,002147: 15,3456 77624 CALL
041160,002148: 15,3457 55716 RP-TO-R
041161,002149: 15,3460 27246 STOVL VEC1
041162,002150: 15,3461 03254 VEC2
041163,002151: 15,3462 65201 SETPD PDDL
041164,002152: 15,3463 00001 0
041165,002153: 15,3464 03562 TSIGHT
041166,002154: 15,3465 45006 PUSH CALL
041167,002155: 15,3466 55716 RP-TO-R
041168,002156: 15,3467 37254 STCALL VEC2
041169,002157: 15,3470 02746 QMAJ
041170,002158:
041171,002159: # Page 978
041172,002160: # COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041173,002161: # STORE IN YNBSAV AND ZNBSAV.
041174,002162:
041175,002163: 15,3471 45020 REFMF STQ CALL
041176,002164: 15,3472 02746 QMAJ
041177,002165: 15,3473 47541 CDUTRIG # GET SIN AND COS OF CDUS
041178,002166: 15,3474 40234 RTB SETPD
041179,002167: 15,3475 21574 LOADTIME
041180,002168: 15,3476 00001 0
041181,002169: 15,3477 37562 STCALL TSIGHT
041182,002170: 15,3500 20030 CALCSMSC # GET YNB IN SM
041183,002171: 15,3501 61375 VLOAD VXM
041184,002172: 15,3502 02673 YNB
041185,002173: 15,3503 01734 REFSMMAT # YNB TO REF
041186,002174: 15,3504 65256 UNIT PDDL
041187,002175: 15,3505 03562 TSIGHT
041188,002176: 15,3506 45006 PUSH CALL
041189,002177: 15,3507 51700 R-TO-RP
041190,002178: 15,3510 26237 STOVL YNBSAV # YNB TO MF
041191,002179: 15,3511 02701 ZNB
041192,002180: 15,3512 53505 VXM UNIT
041193,002181: 15,3513 01734 REFSMMAT # ZNB TO REF
041194,002182: 15,3514 41525 PDDL PUSH
041195,002183: 15,3515 03562 TSIGHT
041196,002184: 15,3516 77624 CALL
041197,002185: 15,3517 51700 R-TO-RP # ZNB TO MF
041198,002186: 15,3520 02245 STORE ZNBSAV
041199,002187: 15,3521 77614 SETGO
041200,002188: 15,3522 03036 ATTFLAG
041201,002189: 15,3523 02746 QMAJ
041202,002190:
041203,002191: # Page 979
041204,002192: # BRANCH TO ALIGNMENT OPTION
041205,002193:
041206,002194: 15,3524 06042 GETLMATT TC INTPRET
041207,002195: 15,3525 77624 CALL
041208,002196: 15,3526 33471 REFMF # GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041209,002197: 15,3527 77776 EXIT
041210,002198:
041211,002199: 15,3530 05504 BYLMATT TC UPFLAG # SET INITIAL ALIGN FLAG
041212,002200: 15,3531 00205 ADRES INITALGN
041213,002201: 15,3532 34753 CAF BIT1
041214,002202: 15,3533 71144 MASK OPTION2 # SEE IF OPTION 1 OR 3
041215,002203: 15,3534 10000 CCS A
041216,002204: 15,3535 12561 TCF GVDETER # OPTION 1 OR 2, GET GRAVITY
041217,002205:
041218,002206: 15,3536 05353 ATTCHK TC PHASCHNG
041219,002207: 15,3537 04024 OCT 04024
041220,002208:
041221,002209: 15,3540 34753 CAF ATTFLBIT # NOT 1 OR 3, CHECK ATTFLAG
041222,002210: 15,3541 70102 MASK FLAGWRD6
041223,002211: 15,3542 10000 CCS A
041224,002212: 15,3543 13560 TCF P57OPT0 # GET ALIGNMENT VECS FOR OPTION 0
041225,002213: 15,3544 05353 P57JUMP TC PHASCHNG
041226,002214: 15,3545 04024 OCT 04024
041227,002215:
041228,002216: 15,3546 05516 TC DOWNFLAG # ATTFLG CLEAR -- RESET INTALIGN FLAG
041229,002217: 15,3547 00205 ADRES INITALGN
041230,002218: 15,3550 36250 CAF THREE
041231,002219: 15,3551 71144 MASK OPTION2 # BRANCH ON OPTION CODE
041232,002220: 15,3552 50000 INDEX A
041233,002221: 15,3553 13554 TCF +1
041234,002222: 15,3554 13560 TCF P57OPT0 # OPTION IS 0
041235,002223: 15,3555 13601 TCF P57OPT1 # OPTION IS 1
041236,002224: 15,3556 13617 TCF P57OPT2 # OPTION IS 2
041237,002225: 15,3557 13620 TCF P57OPT3 # OPTION IS 3
041238,002226:
041239,002227: # Page 980
041240,002228: # OPTION 0, GET TWO ATTITUDE VECS
041241,002229:
041242,002230: 15,3560 06042 P57OPT0 TC INTPRET
041243,002231: 15,3561 77775 VLOAD
041244,002232: 15,3562 02237 YNBSAV # Y AND Z ATTITUDE WILL BE PUT IN REF
041245,002233: 15,3563 27246 STOVL VEC1
041246,002234: 15,3564 02245 ZNBSAV
041247,002235: 15,3565 37254 STCALL VEC2
041248,002236: 15,3566 47541 CDUTRIG
041249,002237: 15,3567 77624 CALL
041250,002238: 15,3570 20030 CALCSMSC # COMPUTE SC AXIS WRT PRESENT SM
041251,002239: 15,3571 77775 VLOAD
041252,002240: 15,3572 02673 YNB
041253,002241: 15,3573 26761 SAMETYP STOVL STARSAV1 # Y SC AXIS WRT PRESENT SM
041254,002242: 15,3574 02701 ZNB
041255,002243: 15,3575 36767 STCALL STARSAV2 # Z SC AXIS WRT PRESENT SM
041256,002244: 15,3576 33445 MFREF # TRANSFORM VEC1,2 FROM MF TO REF
041257,002245: 15,3577 77650 GOTO
041258,002246: 15,3600 33064 SURFLINE
041259,002247:
041260,002248: # OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041261,002249:
041262,002250: 15,3601 06042 P57OPT1 TC INTPRET
041263,002251: 15,3602 53575 VLOAD UNIT
041264,002252: 15,3603 02023 RLS # LANDING SITE VEC
041265,002253: 15,3604 27246 STOVL VEC1
041266,002254: 15,3605 02245 ZNBSAV # Z ATTITUDE VEC
041267,002255: 15,3606 37254 STCALL VEC2
041268,002256: 15,3607 47541 CDUTRIG
041269,002257: 15,3610 77624 CALL
041270,002258: 15,3611 20030 CALCSMSC # GET ZNB AXIS WRT PRES SM FOR STARSAV2
041271,002259: 15,3612 45175 VLOAD CALL
041272,002260: 15,3613 02231 GSAV # TRANS GSAV FROM NB TO SM FOR STARSAV1
041273,002261: 15,3614 47663 CDU*NBSM
041274,002262: 15,3615 77650 GOTO
041275,002263: 15,3616 33573 SAMETYP # NOW DO SAME AS OPTION 0
041276,002264:
041277,002265: # Page 981
041278,002266: # OPTION 2, GET TWO STAR SIGHTINGS
041279,002267:
041280,002268: 15,3617 13030 P57OPT2 TCF 2STARS # DO SIGHTING ON 2 STARS
041281,002269:
041282,002270: # OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041283,002271:
041284,002272: 15,3620 06042 P57OPT3 TC INTPRET
041285,002273: 15,3621 53575 VLOAD UNIT
041286,002274: 15,3622 02023 RLS # LANDING SITE VEC
041287,002275: 15,3623 03246 STORE VEC1
041288,002276: 15,3624 27254 STOVL VEC2 # DUMMY VEC2 FOR 2ND CATALOG STAR
041289,002277: 15,3625 02231 GSAV # GRAVITY VEC NB
041290,002278: 15,3626 77624 CALL
041291,002279: 15,3627 47663 CDU*NBSM # TRANS GSAV FROM NB TO SM FOR STARSAV1
041292,002280: 15,3630 36761 STCALL STARSAV1
041293,002281: 15,3631 33445 MFREF # STARSAV2 IS STORED AS 2ND OBSERVED STAR
041294,002282: 15,3632 77776 EXIT
041295,002283: 15,3633 13032 TCF 1STAR # 1STAR GET VEC2, STARSAV2 GOES TO SURFLINE.
041296,002284:
041297,002285: 15,3634 01206 VB05N06 VN 506
041298,002286:
041299,002287: # Page 982
041300,002288: # CHECK IMODES30 TO VERIFY IMU IS ON
041301,002289:
041302,002290: 15,3635 41277 IMUCHK CS IMODES30
041303,002291: 15,3636 74743 MASK BIT9
041304,002292: 15,3637 10000 CCS A # IS IMU ON
041305,002293: 15,3640 13644 TCF +4 # YES
041306,002294:
041307,002295: 15,3641 05567 TC ALARM # NO, SEND ALARM AND EXIT
041308,002296: 15,3642 00210 OCT 210
041309,002297: 15,3643 06001 TC GOTOP00H
041310,002298:
041311,002299: 15,3644 05504 TC UPFLAG
041312,002300: 15,3645 00007 ADRES IMUSE # SET IMUSE FLAG
041313,002301:
041314,002302: 15,3646 04631 TC SWRETURN
041315,002303:
041316,002304: 04,2757 BANK 04
041317,002305: 04,2000 SETLOC AOTMARK2
041318,002306: 04,2000 BANK
041319,002307: 04,2757 COUNT* $$/P57
041320,002308:
041321,002309: 04,2757 77220 LSORIENT STQ VLOAD
041322,002310: 04,2760 02746 QMAJ
041323,002311: 04,2761 01555 RRECTCSM
041324,002312: 04,2762 47235 VXV VXV
041325,002313: 04,2763 01563 VRECTCSM
041326,002314: 04,2764 03607 XSMD
041327,002315: 04,2765 77656 UNIT
041328,002316: 04,2766 03623 STORE ZSMD
041329,002317: 04,2767 53435 VXV UNIT
041330,002318: 04,2770 03607 XSMD
041331,002319: 04,2771 37615 STCALL YSMD
041332,002320: 04,2772 02746 QMAJ
041333,002321:
End of include-file P51-P53.agc. Parent file is MAIN.agc