P51-P53.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: P51-P53.agc
## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
## build 072. This is for the Command Module's (CM)
## Apollo Guidance Computer (AGC), for
## Apollo 15-17.
## Assembler: yaYUL
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
## Mod history: 2009-08-16 JL Adapted from corresponding Comanche 055 file.
## 2009-09-04 JL Fixed typo, fixed error in conversion of some interpreter code.
## 2010-01-31 JL Fixed build errors.
## 2010-02-01 JL Fixed build errors.
## 2010-02-02 JL Fixed build errors.
## 2010-02-11 JL Fixed error on page 746.
## 2010-02-14 JL Fixed error on page 753.
## 2017-02-08 RSB Proofed comment text with octopus/ProoferComments.
## 2017-03-14 RSB Comment-text fixes noted in proofing Luminary 116.
## 2017-03-17 RSB Comment-text fixes identified by 4-way diff'ing
## of Colossus 237 & 249, Comanche 55, and Artemis 72.
## Page 742
# PROGRAM NAME - PROG52 DATE - AUGUST 1,1969
# MODIFICATION BY ALBERT,BARNERT,HASLAM LOG SECTION - P51-P5
#
# FUNCTION -
#
# ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
# AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
#
# (A) PREFERRED ORIENTATION
#
# AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
# STORED BY A PREVIOUSLY SELECTED PROGRAM.
#
# (B) NOMINAL (LOCAL VERTICAL) ORIENTATION
#
# X = UNIT ( Y X Z )
# -SM -SM -SM
#
# Y = UNIT (V X R)
# -SM - -
#
# Z = UNIT ( -R )
# -SM -
#
# WHERE_
#
# R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
# -
#
# V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
# -
#
# (C) REFSMMAT ORIENTATION
#
# THIS ORIENTATION IS SELECTED AUTOMATICALLY UNLESS THE ASTRONAUT KEYS IN A DIFFERENT OPTION CODE
#
# THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
# WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
# SINCE THE LAST ALIGNMENT).
#
# AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
# NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
# COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
# IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
# EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
# THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
# REQUESTED.
#
# CALLING SEQUENCE -
#
# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
## Page 743
#
# SUBROUTINES CALLED -
#
# 1. FLAGDOWN 6. S52.2 11. GOPERF3
# 2. R02BOTH 7. CAL53A 12. NEWMODEX
# 3. GOPERF4 8. FLAGUP 13. PRIOLARM
# 4. MATMOVE 9. R56
# 5. GOFLASH 10. R51
#
# NORMAL EXIT MODES -
#
# EXITS TO ENDOFJOB
#
# ALARM OR ABORT EXIT MODES -
#
# NONE
#
# OUTPUT -
#
# THE FOLLOWING MAY BE FLASHED ON THE DSKY
# 1. IMU ORIENTATION CODE
# 2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
# 3. TIME OF NEXT IGNITION
# 4. GIMBAL ANGLES
# 5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
# 6. PLEASE PERFORM P00
# THE MODE DISPLAY MAY BE CHANGED TO 20
#
# ERASABLE INITIALIZATION REQUIRED -
#
# PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED. IF IT HAS BEEN COMPUTED IT IS STORED IN
# XSMD, YSMD, ZSMD.
# RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
#
# DEBRIS -
#
# WORK AREA
P54 = PROG52
SETLOC P50S
BANK
SBANK= LOWSUPER
EBANK= SAC
COUNT* $$/P52
PROG52 TC DOWNFLAG
ADRES UPDATFLG # BIT 7 FLAG 1
TC DOWNFLAG
ADRES TRACKFLG # BIT 5 FLAG 1
TC BANKCALL
CADR R02BOTH # IMU STATUS CHECK
TC INTPRET
## Page 744
BON EXIT # MINKEY SEQUENCE?
AUTOSEQ
P52AUTO # YES
CA FLAGWRD8
MASK UTBIT
EXTEND
BZF +6
CCS OPTNTYPE
TCF +2
TCF +3
TC UPFLAG
ADRES TRACKFLG
CAF PFRATBIT
MASK FLAGWRD2 # PREFERRED ORIENTATION
CCS A
TC P52A
CAF THREE # ION
TC P52A +1
P52A CAF BIT1 # YES - SET OPTION 2 = 1
+1 TS OPTION2
P52B CAF BIT1
TC BANKCALL # FLASH OPTION CODE AND ORIENTATION CODE
CADR GOPERF4
TC GOTOPOOH
TC +2
TC P52B # NEW CODE - NEW ORIENTATION CODE INPUT
CS OPTION2
MASK THREE
EXTEND
BZF P52C # REFERENCE
MASK BIT1
EXTEND
BZF P52J # PREFERRED
EXTEND # NOMINAL (LOCAL VERTICAL), LANDING SIGHT
DCA NEG0
DXCH DSPTEM1
CAF V06N34 # PREFERRED
TC VNFLASH
CA DSPTEM1
EXTEND
BZF +2
TCF +4
EXTEND
DCA TIME2
DXCH DSPTEM1
CA OPTION2
## Page 745
MASK BIT2
CCS A
TCF S52.3 # NOM - S52.3 - NOW IN-LINE
TC INTPRET # LS - P52LS - NOW IN-LINE
# NAME - P52LS
#
# FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
# LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
# THE KEYBOARD. TO COMPUTE THE LANDING SITE
# ORIENTATION FOR P52 OR P54
#
# LET:
# RLS = LANDING SITE VECTOR IN REF COORDINATES
# R = CSM POSITION VECTOR IN REF COORDINATES
# V = CSM VELOCITY VECTOR IN REF COORDINATES
# THEN THE LANDING SITE ORIENTATION IS:
# XSMD = UNIT(RLS)
# YSMD = UNIT(ZSMD*XSMD)
# ZSMD = UNIT((R*V)*RLS)
#
# INPUTS- DSPTEM1 = TIME OF ALIGNMENT
# RLS = LANDING SITE VECTOR IN MOON FIXED COORINATES
#
# OUTPUTS- XSMD, YSMD, ZSMD
#
# SUBROUTINES- RP-TO-R, LAT-LONG, LLASRD, LLASRDA, CSMPREC
#
# DEBRIS- VAC, SEE SUBROUTINES
SET SET
LUNAFLAG
ERADFLAG
VLOAD
RLS
STODL 0D
DSPTEM1
STORE TSIGHT
STCALL 6D
RP-TO-R
VSR2
STODL ALPHAV
TSIGHT
CALL
LAT-LONG
CALL
LLASRD
EXIT
LSDISP CAF V06N89*
TC VNFLASH
TC INTPRET
CALL
LLASRDA
DLOAD CALL
TSIGHT
## Page 746
LALOTORV
VLOAD UNIT
ALPHAV
STODL XSMD
TSIGHT
STCALL TDEC1
CSMPREC
VLOAD VXV
RATT
VATT
VXV UNIT
XSMD
STORE ZSMD
VXV UNIT
XSMD
STCALL YSMD
P52D
V06N89* = V06N89
# NAME - S52.3
# FUNCTION - TO COMPUTE AMD DISPLAY THE
# GIMBAL ANGLES, ALLOW ASTRONAUT TO CHOOSE
# BETWEEN FAST AND ACCURATE IMU REALIGNMENT.
# NOMINAL (LOCAL VERTICAL) ORIENTATION IS:
# XSMD= UNIT(YSMD X ZSMD)
# YSMD= UNIT(V X R)
# ZSMD= UNIT(-R)
#
# INPUT - TIME OF ALIGNMENT IN MPAC
#
# OUTPUT - X,Y,ZSMD
#
# SUBROUTINES - CSMCONIC
S52.3 TC INTPRET
DLOAD
DSPTEM1
STCALL TDEC1
CSMPREC
SETPD VLOAD
0
RATT
VCOMP UNIT
STOVL ZSMD
VATT
VXV UNIT
RATT
STORE YSMD
VXV UNIT
ZSMD
STORE XSMD
EXIT
P52J TC INTPRET
P52D CALL # READ VEHICLE ATTITUDE AND
S52.2 # COMPUTE GIMBAL ANGLES
## Page 747
EXIT
CAF V06N22
TC BANKCALL # DISPLAY GIMBAL ANGLES
CADR GOFLASH
TC GOTOPOOH
TC COARSTYP
TC P52J # RECYCLE - VEHICLE HAS BEEN MANEUVERED
COARSTYP CS FLGWRD10
MASK AUTSQBIT
EXTEND
BZF PERF20 # IF MINKEY
CAF OCT13 # PLEASE PERFORM NORMAL/GYRO TORQUE
TC BANKCALL
CADR GOPERF1
TCF GOTOPOOH # V34
TCF P52K # NORMAL COARSE
GYCRS TC INTPRET
VLOAD MXV
XSMD
REFSMMAT
UNIT
STOVL XDC
YSMD
MXV UNIT
REFSMMAT
STOVL YDC
ZSMD
MXV UNIT
REFSMMAT
STCALL ZDC
CALCGTA
CLEAR CLEAR
DRIFTFLG
REFSMFLG
EXIT
CAF V16N20
TC BANKCALL
CADR GODSPR
CAF R55CDR
TC BANKCALL
CADR IMUPULSE
TC BANKCALL
CADR IMUSTALL
TC 217ALARM # BAD END
TC PHASCHNG
OCT 04024
TC INTPRET
AXC,1 AXC,2
XSMD
REFSMMAT
## Page 748
CALL
MATMOVE
CLEAR SET
PFRATFLG
REFSMFLG
RTB VLOAD
SET1/PDT
ZEROVEC
STORE GCOMP
SET BOF
DRIFTFLG
AUTOSEQ
R51K # CONTINUE FINE ALIGN IF NOT MINKEY
CLEAR
PCFLAG
P50SEXIT EXIT
TCF MNKGOPOO
V16N20 VN 1620
ALRM15 EQUALS OCT15
P52AUTO VLOAD VSR1 # XDES = UNIT(XREF COS45 + YERF SIN45) (1)
REFSMMAT # - (2)
PDVL VSR1
REFSMMAT +6 # (1) FOR 1ST, +45-DEGREE MANEUVER
BON VCOMP # (2) 2ND -
PCFLAG # IN EITHER CASE, COS45 = SIN45, AND
P52AUTOX # 'UNIT' OBVIATES NEED FOR THEN.
P52AUTOX VAD UNIT
STADR
STOVL XSMD
REFSMMAT +12D
STORE ZSMD # ZDES = ZREF
VXV UNIT
XSMD
STORE YSMD # YDES = UNIT(ZDES * ZDES)
SET GOTO
PFRATFLG
P52D
PERF20 CAF BIT5 # =OCT 20, PLEASE PERF MINKEY PC TORQUE
TC BANKCALL
CADR GOPERF1
TC GOTOPOOH # V 34
TC GYCRS # PRO - DO IT
TC INTPRET # ENTR
BON EXIT
PCFLAG
P50SEXIT # OK TO FLUSH IT 1ST TIME ONLY
TC ALARM # BUT MAKE HIM DO 2ND
OCT 00402
## Page 749
TC PERF20
# NAME - CAL53A
# FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY,
# INPUT - PRESENT GIMBAL ANGLES - CDUX, CDUY, CDUZ
# DESIRED GIMBAL ANGLES - THETAD,+1,+2
# OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
# SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
COUNT* $$/R50
P52K TC INTPRET
CAL53A CALL
S52.2 # MAKE FINAL COMP OF GIMBAL ANGLES
RTB SSP
RDCDUS # READ CDUS
S1
1
AXT,1 SETPD
3
4
CALOOP DLOAD* SR1
THETAD +3D,1
PDDL* SR1
4,1
DSU ABS
PUSH DSU
DEGREE1
BMN DLOAD
CALOOP1
DSU BPL
DEG359
CALOOP1
COARFINE EXIT
TC PHASCHNG
OCT 04024
TC COARSUB # PERFORM ALIGNMENT
TC INTPRET
RTB VLOAD
SET1/PDT
ZEROVEC
STORE GCOMP
SET GOTO
DRIFTFLG
FINEONLY
CALOOP1 TIX,1
CALOOP
FINEONLY AXC,1 AXC,2
XSM
REFSMMAT
CALL
MATMOVE
CAL53RET SET EXIT
## Page 750
REFSMFLG
COUNT* $$/P52
P52C TC PHASCHNG
OCT 04024
CAF ALRM15
TC BANKCALL
CADR GOPERF1
TC GOTOPOOH
TC +2 # V33
TC R51 # FINE ALIGN
TC INTPRET
RTB DAD
LOADTIME
TSIGHT1
CALL
LOCSAM
COUNT* $$/PICAP
# NAME - PICAPAR NOW IN-LINE
#
# FUNCTION -
# THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
# WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
# WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
# TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON. IF A
# STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
# THE PAIRED STAR IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
# THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION. A PAIR OF STARS
# HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 76 DEGREES
# AND MORE THAN 30 DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
# ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW. (WITHIN
# 38 DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
# THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
#
# OUTPUT
# BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
# VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
#
# INITIALIZATION
# 1) A CALL TO LOCSAM MUST BE MADE
# 2) VEARTH = -UNIT(R) WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
# SIGHTINGS.
#
# DEBRIS
# WORK AREA
# X,Y,ZNB
# SINCDU, COSCDU
# STARAD - STAR +5
CALL
CDUTRIG
SETPD CALL
## Page 751
0
CALCSMSC
SET DLOAD # VFLAG = 1
VFLAG
DPZERO
STOVL BESTI
XNB
VXSC PDVL
SIN33
ZNB
AXT,1 VXSC
228D # X1 = 37 X 6 + 6
COS33
VAD
VXM UNIT
REFSMMAT
STORE SAX # SAX = SHAFT AXIS
SSP SSP # S1 = S2 = 6
S1
6
S2
6
PIC1 TIX,1 GOTO # MAJOR STAR
PIC2
PICEND
PIC2 VLOAD* CALL
CATLOG,1
OCCULT
BON LXA,2
CULTFLAG
PIC1
X1
PIC3 TIX,2 GOTO
PIC4
PIC1
PIC4 VLOAD* CALL
CATLOG,2
OCCULT
BON VLOAD*
CULTFLAG
PIC3
CATLOG,1
DOT* DSU
CATLOG,2
CSS66 # SEPARATION LESS THAN 76 DEG.
BMN DAD
PIC3
CSS6640 # SEPARATION MORE THAN 30 DEG.
BPL
PIC3
## Page 752
VLOAD* DOT
CATLOG,1
SAX
DSU BMN # MAJOR STAR IN CONE
CSS33
PIC1
VLOAD* DOT
CATLOG,2
SAX
DSU BMN
CSS33
PIC3
STRATGY BONCLR
VFLAG
NEWPAR
-3 XCHX,1 XCHX,2
BESTI
BESTJ
STRAT VLOAD* DOT*
CATLOG,1
CATLOG,2
PUSH BOFINV
VFLAG
STRAT -3
DLOAD DSU
BPL
PIC3
NEWPAR SXA,1 SXA,2
BESTI
BESTJ
GOTO
PIC3
OCCULT MXV BVSU
CULTRIX
CSS
BZE
CULTED
BMN SIGN
CULTED
MPAC +3
BMN SIGN
CULTED
MPAC +5
BMN CLRGO
CULTED
CULTFLAG
QPRET
CULTED SETGO
CULTFLAG
QPRET
## Page 753
CSS = CEARTH
SIN33 2DEC .5376381241
COS33 2DEC .8431756920
CSS66 2DEC .060480472 # (COS76)/4
CSS6640 2DEC -.15602587 # (COS76 - COS30)/4
CSS33 2DEC .197002688 # COS(1/2(76))/4
#V1 = 12D
PICEND BOF EXIT
VFLAG
P52F
P52I TC ALARM
OCT 405
CAF V05N09
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC R51 # PROCEED - DO R51 FINE ALIGN
TC P52C # RECYCLE - VEHICLE HAS BEEN MANUEVERED
P52F EXIT
## Page 754
# NAME - R51 FINE ALIGN
# FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
# INPUT - BESTI, BESTJ (PAIR OF STAR NO )
# OUTPUT - GYRO TORQUE PULSES
# SUBROUTINES - R52, R54, R55 (SXTNB, NBSM, AXISGEN
COUNT* $$/R51
R51 CAF BIT1
R51.3 TS STARIND
TC DOWNFLAG
ADRES TARG2FLG
TC PHASCHNG
OCT 05024 # RESTART GR 4 FOR R52-R53
OCT 13000
INDEX STARIND
CA BESTI
EXTEND
MP 1/6TH
TS STARCODE
TC INTPRET
CALL
R51DSPA
SSP LXA,1
S1
0
STARIND
TIX,1
R51ST
STCALL STARSAV2 # 2ND STAR
R51ST +1
R51ST STORE STARSAV1 # 1ST STAR
+1 SLOAD SL # IS THIS P54
MODREG
12D
BHIZ CALL
R51A # NO
R56
R51B CALL
SXTSM
STORE STARSAV2
DLOAD CALL
TSIGHT
PLANET
MXV UNIT
REFSMMAT
EXIT
CCS STARIND
TC R51.4
TC INTPRET
STOVL STARAD
## Page 755
STARSAV2
STOVL 6D
STARSAV1
STOVL 12D
PLANVEC
STCALL STARAD +6
R54 # STAR DATA TEST
BOFF CALL
FREEFLAG
R51K
AXISGEN
# NAME - R55 - GYRO TORQUE
# FUNCTION - COMPUTE AND SEND GYRO PULSES
# INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
# OUTPUT - GYRO PULSES
# SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
COUNT* $$/R55
R55 CALL # COMPUTE AND SEND GYRO PULSES
CALCGTA
PULSEM EXIT
R55.1 CAF V06N93
TC BANKCALL
CADR GOFLASH
TC GOTOPOOH
TC R55.2
TC R55RET
R55.2 TC PHASCHNG
OCT 00314
4P31SPT1 = 4.31SPOT
CA R55CDR
TC BANKCALL
CADR IMUPULSE
TC BANKCALL
CADR IMUSTALL
TC 217ALARM # BAD END
TC PHASCHNG
OCT 05024
OCT 13000
R55RET TC DOWNFLAG
ADRES PFRATFLG
COUNT* $$/R51
R51KA CAF OCT14
TC BANKCALL
CADR GOPERF1
TC GOTOPOOH
TC P52C # V33
TC GOTOPOOH
R51.4 TC INTPRET
STOVL PLANVEC
## Page 756
STARSAV2
STORE STARSAV1
EXIT
CAF ZERO
TCF R51.3 # CLEAR STARIND
R51A CALL
R52
GOTO
R51B
R51K EXIT
TC R51KA
R51DSPA STQ EXIT
SRTEMP
R51DSP CAF V01N70
TC VNFLASHR
TC +4
CAF SIX
TC BLANKET
TCF ENDOFJOB
TC CHKSCODE
TC FALTON
TC R51DSP
TC INTPRET
RTB CALL
LOADTIME
PLANET
GOTO
SRTEMP
R55CDR ECADR OGC
V01N70 VN 0170
1/6TH DEC .1666667
# NAME - R52 - AUTOMATIC OPTICS POSITIONING ROUTINE
#
# FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
# (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
#
# CALLING SEQUENCE- CALL R52
#
# INPUT- 1. TARG1FLG AND TARG2FLG - PRESET BY CALLER
# 2. RNDVZFLG AND TRACKFLG - PRESET BY CALLER
# 3. STAR CODE - PRESET BY CALLER. ALSO INPUT THROUGH DSKY
# 4. LAT, LONG AND ALT OF LANDMARK - INPUT THROUGH DSKY
# 5. NO. OF MARKS (MARKINDX) - PRESET BY CALLER
#
# OUTPUT- DRIVE SHAFT AND TRUNNION CDUS
#
# SUBROUTINES- 1. FIXDELAY 7. CLEANDSP
# 2. GOPERF1 8. GODSPR
# 3. GOFLASH 9. REFLASHR
# 4. R53 10. R52.2
## Page 757
# 5. ALARM 11. R52.3
# 6. SR52.1
COUNT* $$/R52
R52 CLEAR
ADVTRK
R52VRB STQ EXIT
SAVQR52
CAF EBANK5 # CALLER NOT ALWAYS IN E5.
XCH EBANK
TS R52BNKSV
EXTEND
DCA CDUT
DXCH DESOPTT
EXTEND
DCA TIME2
DXCH AOPOLD
TC INTPRET
SSP CLEAR
OPTIND
0
R53FLAG
BON CLEAR
TARG1FLG
R52H
TERMIFLG
EXIT
R52C CA SWSAMPLE # IS OPTICS MODE IN AGC
EXTEND
BZMF R52M # MANUAL
R52D TC INTPRET # THIS IS SR52.1 - NOW IN-LINE
# NAME - SR52.1
#
# FUNCTION
# TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
# LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK, THE PRESENT TIME PLUS
# 2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD, +1). IF THE LEM IS
# THE TARGET THEN CONIC UPDATES OF THE CSM AND LEM ARE MADE TO
# THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
# POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR USED IN THE
# COMMON PART OF THIS PROGRAM.
#
# IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
# VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
# FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
# THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
# VECTOR FOR THE COMMON PART OF THIS ROUTINE.
#
# IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
# AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
#
# THE COMMON PART OF THIS PROGRAM TRANSFORMS THE REFERENCE SIGHTING
## Page 758
# VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
# THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
# MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
#
# OUTPUT
# SAC - SINGLE PREC, 2S COMP, SCALED AT HALF REVS - SHAFT ANGLE DESIRED
# PAC - SINGLE PREC, 2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
#
# INITIALIZATION
# IF TARG1FLG =1 THEN TARGET IS LEM - NO OTHER INPUT REQUIRED
# IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
# 0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
# ARE 6 TIMES STAR NUMBER.
# IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
# LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
# RADIUS
#
# DEBRIS
# WORK AREA
# STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
+1 RTB DAD
LOADTIME
2.4SECDP
BOFF DSU
P24FLAG
+2
.5SECDP
STORE AOPTIME
BON BON
TARG1FLG
LEM52
TARG2FLG
LMK52
SSP LXA,1
S1
0
STARIND
TIX,1
ST52ST
VLOAD GOTO
STARSAV2
COM52
LEM52 DLOAD
AOPTIME
STCALL TDEC1
LEMCONIC
VLOAD GOTO
RATT
LMKLMCOM
## Page 759
LMK52 BON DLOAD
ADVTRK
ADVTRACK
AOPTIME
CALL
LALOTORV
VLOAD
ALPHAV
LMKLMCOM STODL STAR
AOPTIME
STCALL TDEC1
CSMCONIC
VLOAD VSU
STAR
RATT
UNIT GOTO
COM52
ST52ST VLOAD
STARSAV1
COM52 MXV UNIT
REFSMMAT
STORE STAR
SETPD CALL
0
CDUTRIG # COMPUTES SINES AND COSINES FOR CALCSXA
CALL # NOW EXPECT TO SEE THE CDU ANGLES
CALCSXA
BON DLOAD
CULTFLAG
R52L # GR 90 DEGREES
PAC
DSU BPL
38TRDEG
R52J # GR 50 DEGREES
DLOAD DSU
PAC
20DEGSMN
BMN EXIT
R52J
CA PAC
TS PACTEMP
R52JA TC INTPRET
BON BOFF
TARG1FLG
R52E
P24FLAG
R53CHK
BOFCLR DLOAD
NEWLMFLG
RATESUB
## Page 760
AOPTIME
STORE AOPOLD
R53CHK BON EXIT
R53FLAG
R52E
CAF V06N92 # NO
TC BANKCALL
CADR GODSPR
TC INTPRET
R52E EXIT
CA PACTEMP
TS DESOPTT
CA SAC
TS DESOPTS
R52F TC CHECKMM
MM 24
TCF R52FA # NO
CAF FIVE # YES DELAY .05 SEC
TCF R52FA +1
R52FA CAF .5SEC # WAIT .5 SEC
+1 TC BANKCALL
CADR DELAYJOB
CAF TARG1BIT
MASK FLAGWRD1
CCS A
TC R52HA
CAF TERMIBIT
MASK FLAGWRD7
EXTEND
BZF R52C
R52Q CA R52BNKSV
TS EBANK
TC INTPRET
GOTO
SAVQR52
R52H EXIT # LEM
R52HA TC BANKCALL
CADR R61CSM
CAF TRACKBIT
MASK FLAGWRD1
EXTEND
BZF R52Q
TC INTPRET
BOF GOTO
UPDATFLG
R52SYNC
## Page 761
R52D +1
R52SYNC EXIT
CAF 1.8SEC
TCF R52FA +1
R52J EXIT
CA 38TRDEG
TS PACTEMP
TC R52JA
R52M CAF R53FLBIT # IS R53FLAG SET
MASK FLAGWRD0
CCS A
TC R52G # YES
INHINT # NO
CAF PRIO24
TC FINDVAC
EBANK= MRKBUF1
2CADR R53JOB
RELINT
TC R52G
R53JOB TC INTPRET
CALL
R53
ENDPLAC EXIT # INTERPRETER RETURN TO ENDOFJOB (R22 USES)
TC ENDOFJOB
V06N92 VN 00692
38TRDEG 2DEC .66666667 # CORRESPONDS TO 50 DEGS IN TRUNNION
2.4SECDP 2DEC 240
.5SECDP 2DEC 50
20DEGSMN DEC -07199
DEC -0
R52L BON EXIT
TARG1FLG
R52J
CAF OCT404
TC BANKCALL
CADR PRIOLARM
TCF TERM52 # TERMINATE
TCF R52F # PROCEED
TCF R52F # NO PROVISION FOR NEW DATA
TCF ENDOFJOB
OCT404 OCT 404
1.8SEC DEC 180
TERM52 TC BANKCALL
## Page 762
CADR KLEENEX
TC POSTJUMP
CADR TERMSXT
R52G TC CHECKMM
MM 24
TCF R52FA # NO
CCS PASSCNT # IS THIS THE NTH(N = NO. PASS)TIME THRU
TCF NOT4TH # NO
CS FLAGWRD2 # HAS A NEW MARK BEEN TAKEN
MASK P24MKBIT
CCS A
TCF R52D # NO
TC INTPRET # YES OBTAIN ADDRESS OF LAST MARK
SLOAD BHIZ
P22DEX
LSTMRK
AXC,1 XSU,1
ECADR SVMRKDAT -7
P22DEX
R52K SXA,1 DLOAD*
MARKDATA
0,1
BPL RTB
+2
R52D
STORE S22TOFF
STCALL TDEC1 # INT TO TIME OF MARK
CSMCONIC
VLOAD
RATT1
STORE CSMPOS # EARTH B29 MOON B27
LXA,1 CALL
MARKDATA
GETUM
STOVL UM # UNIT TIME OF SIGHT VECTOR
CSMPOS
UNIT
STCALL ALPHAV # ALPHAV +4 = SINL FOR SETRE
SETRE
DLOAD DAD # CORRECT R0 FOR ALT OF LMK
ERADM
ALT
STORE ERADM
CALL # COMPUTE LANDMARK VECTOR
S22F2410
BOFF VSR2
CMOONFLG
+1
## Page 763
STODL ALPHAV
S22TOFF
CALL # COMPUTE LAT, LONG, ALT
LAT-LONG
CALL
LLASRD
SET EXIT
NEWLMFLG
TC DOWNFLAG
ADRES P24MKFLG
CS ONE
AD NO.PASS
NOT4TH TS PASSCNT
TCF R52D
LSTMRK AXC,1 GOTO
ECADR SVMRKDAT +28D
R52K
SETLOC RATEBNK
BANK
COUNT* $$/R52
RATESUB DLOAD DSU
AOPTIME
AOPOLD
RTB
SGNAGREE
SL4
STODL RATETEMP # TIME DIF SCALLED B24
AOPTIME
STORE AOPOLD # UPDATE OLD TIME REG
DLOAD EXIT # LOAD SHAFT AND TRUNNION SCALE FACTORS
TRUNSF
CA RATETEMP +1
XCH RATETEMP # TIME DIF SP SCALED B10
ZL
CA MPAC +1 # SHAFTSF B25
EXTEND
DV RATETEMP # B15
XCH L
CA SAC # SHAFT
EXTEND
MSU DESOPTS # B-1
EXTEND
MP L # B14
TS SRTEMP
ZL
CA MPAC # TRUNSF B27
EXTEND
DV RATETEMP # B17
XCH L
## Page 764
CA PACTEMP # TRUNNION
EXTEND
MSU DESOPTT # B-3
EXTEND
MP L # B14
TS TRTEMP
CAF ONE # INITIALIZE FOR SHAFT RATE
MAGCK TS RATETEMP +1 # CHECK IF SHAFT,TRUN RATES GR THAN MAX
INDEX RATETEMP +1
CA TRTEMP
EXTEND
BZMF NEGRATE
AD -MAXSRT
EXTEND
BZMF CMDCMP
CS -MAXSRT
INDEX RATETEMP +1
TS TRTEMP # SET RATE TO +MAX RATE
TCF CMDCMP
NEGRATE COM
AD -MAXSRT
EXTEND
BZMF CMDCMP
CA -MAXSRT
INDEX RATETEMP +1
TS TRTEMP # SET RATE TO -MAX RATE
CMDCMP CCS RATETEMP +1
TCF MAGCK # GO DO TRUN RATE
TC INTPRET
DLOAD
TRTEMP
STCALL TRATE
R53CHK
-MAXSRT DEC -384 # MAX PULSES
## Page 765
# NAME - LOCSAM ALIAS S50
#
# FUNCTION - TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
# IMU ALIGNMENT PROGRAMS
#
# DEFINE:
# RATT = POSITION VECTOR OF CM WRT PRIMARY BODY
# VATT = VELOCITY VECTOR OF CM WRT PRIMARY BODY
# RE = RADIUS OF EARTH
# RM = RADIUS OF MOON
# ECLIPOL = POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
# WRT TO SUN OVER THE VELOCITY OF LIGHT
# REM = POSITION OF MOON WRT EARTH
# RES = POSITION OF SUN WRT EARTH
# C = VELOCITY OF LIGHT
#
#
# EARTH IS PRIMARY MOON IS PRIMARY
# - -
# VEARTH=-1(RATT) VEARTH=-1(REM+RATT)
# - -
# VMOON = 1(REM-RATT) VMOON =-1(RATT)
# - -
# VSUN = 1(RES) VSUN = 1(RES-REM)
# -1
# CEARTH=COS(SIN (RE/RATT)+5) CEARTH=COS 5
# -1
# CMOON =COS 5 CMOON =COS(SIN CRM/RATT)+5)
#
# CSUN =COS 15 CSUN =COS 15
#
# VEL/C = VSUN X ECLIPOL + VATT/C
#
#
# CALL - DLOAD CALL
# DESIRED TIME
# LOCSAM
#
# INPUTS - MPAC = TIME
#
# OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
#
# SUBROUTINES- LSPOS,CSMCONIC
#
# DEBRIS - VAC AREA, SEE SUBROUTINES
## Page 766
SETLOC SR52/1
BANK
COUNT* $$/S50
LOCSAM = S50
S50 STQ
QMAJ
STCALL TSIGHT
LSPOS
STOVL VMOON
2D
STODL VSUN
TSIGHT
STCALL TDEC1
CSMCONIC
SSP TIX,2
S2
0
MOONCNTR
EARTCNTR VLOAD VSU
VMOON
RATT
UNIT
STOVL VMOON
RATT
UNIT VCOMP
STODL VEARTH
RSUBE
CALL
OCCOS
STODL CEARTH
CSS5
STOVL CMOON
VSUN
UNIT
STCALL VSUN
ENDSAM
MOONCNTR VLOAD VSR8
VMOON
VSR1 BVSU
VSUN
UNIT
STOVL VSUN
VMOON
VAD UNIT
RATT
VCOMP
STOVL VEARTH
## Page 767
RATT
UNIT VCOMP
STODL VMOON
RSUBM
CALL
OCCOS
STODL CMOON
CSS5
STOVL CEARTH
VSUN
ENDSAM VXV
ECLIPOL
STOVL VEL/C
VATT
VXSC VAD
1/C
VEL/C
STODL VEL/C
CSSUN
STCALL CSUN
QMAJ
OCCOS DDV SR1
36D
ASIN DAD
5DEGREES
COS SR1
RVQ
SETLOC P50S2
BANK
COUNT* $$/S50
RSUBM 2DEC 1738090 B-29 # MOON RADIUS IN METERS
RSUBE 2DEC 6378166 B-29
5DEGREES 2DEC .013888889 # SCALED IN REVS
1/C 2DEC .000042696 B-1 # 1/(9835712 FT/CS) SCALED CSEC/M B+7
ECLIPOL 2DEC 0 # POLE OF ECLIPTIC FOR B0=.409157363336 RAD
2DEC -.0000395319722 # AND CONST.AB = 20.496 ARC-SEC
2DEC +.0000911652662 # ECLIPOL = CONST.AB.(0, -SIN B0, COS B0)
TSIGHT1 2DEC 24000
CEARTH = 14D
CSUN = 16D
CMOON = 18D
CSS5 2DEC .2490475 # (COS 5)/4
## Page 768
CSSUN 2DEC .24148 # COS 15 /4
R54 = CHKSDATA
# NAME - CHKSDATA
#
# FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
# BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
# COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
#
# OS1 = OBSERVED STAR 1 VECTOR
# OS2 = OBSERVED STAR 2 VECTOR
# SS1 = STORED STAR 1 VECTOR
# SS2 = STORED STAR 2 VECTOR
# A1 = ARCCOS(OS1 - OS2)
# A2 = ARCCOS(SS1 - SS2)
# A = ABS(2(A1 - A2))
#
# THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
# EXIT MODE 1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
# 2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE ERANCE)
# OUTPUT - 1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
# 2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
#
# ERASABLE INITIALIZATION REQUIRED -
# 1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
# 2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
#
# DEBRIS -
EBANK= WHOCARES
COUNT* $$/R54
CHKSDATA STQ SET
QMIN
FREEFLAG
CHKSAB AXC,1 # SET X1 TO STORE EPHEMERIS DATA
STARAD
CHKSB VLOAD* DOT* # CAL. ANGLE THETA
0,1
6,1
SL1 ACOS
STORE THETA
BOFF INVERT # BRANCH TO CHKSD IF THIS IS 2ND PASS
FREEFLAG
CHKSD
FREEFLAG # CLEAR FREEFLAG
AXC,1 DLOAD # SET X1 TO MARK ANGLES
6D
THETA
STCALL 18D
CHKSB
## Page 769
CHKSD DLOAD DSU
THETA
18D # COMPUTE POS DIFF
ABS RTB
SGNAGREE
STORE NORMTEM1
SET EXIT
FREEFLAG
CAF ZERO
TC BANKCALL
CADR CLEANDSP
CAF VB6N5
TC BANKCALL
CADR GOFLASH
TCF GOTOPOOH
TC CHKSDA # PROCEED
TC DOWNFLAG
ADRES FREEFLAG
CHKSDA TC INTPRET
GOTO
QMIN
VB6N5 VN 605
COUNT* $$/R50
MATMOVE VLOAD* # TRANSFER MATRIX
0,1
STORE 0,2
VLOAD*
6D,1
STORE 6D,2
VLOAD*
12D,1
STORE 12D,2
RVQ
DEGREE1 DEC 46
DEG359 DEC 16338
RDCDUS INHINT # READ CDUS
EXTEND
DCA CDUX
INDEX FIXLOC
DXCH 1
CA CDUZ
INDEX FIXLOC
TS 3
RELINT
TC DANZIG
# NAME - CALCSMSC
#
# FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED FOR COARSE ALIGNMENT.
## Page 770
#
# CALLING SEQUENCE - CALL CALCSMSC
#
# INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS - XSMD, YSMD, ZSMD
#
# OUTPUT - GIMBAL ANGLES LEFT IN THETAD, +1, +2 +
#
# SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
SETLOC P50S2
BANK
COUNT* $$/R51
CALCSMSC DLOAD DMP
SINCDUY
COSCDUZ
DCOMP
PDDL SR1
SINCDUZ
PDDL DMP
COSCDUY
COSCDUZ
VDEF VSL1
STODL XNB
SINCDUX
DMP SL1
SINCDUZ
STORE 26D
DMP PDDL
SINCDUY
COSCDUX
DMP DSU
COSCDUY
PDDL DMP
SINCDUX
COSCDUZ
DCOMP PDDL
COSCDUX
DMP PDDL
SINCDUY
COSCDUY
DMP DAD
26D
VDEF VSL1
STORE ZNB
VXV VSL1
XNB
STORE YNB
RVQ
## Page 771
# PROGRAM NAME - P51 - IMU ORIENTATION DETERMINATION DATE - AUGUST 1,1969
# MODIFICATION BY ALBERT,BARNERT,HASLAM LOG SECTION - P51-P5
#
# FUNCTION -
#
# DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
# ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
# THEN PROCESSED AS FOLLOWS.
#
# 1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
# TRUNNION ANGLES, RESPECTIVELY. THEN,
# -
# V = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA)) (A COLUMN VECTOR)
# NB
# THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
#
# 2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
#
# - T T T -
# V = Q *Q *Q *V , WHERE
# 1 2 3 NB
#
# ( COS(IG) 0 -SIN(IG) )
# ( ) THE GIMBAL ANGLES ARE COMPUTED FROM
# Q = ( 0 1 0 ), IG= INNER GIMBAL ANGLE THE CDU COUNTERS AT NBSM (USING AXIS-
# 1 ( ) ROT AND CDULOGIC)
# ( SIN(IG) 0 COS(IG) )
#
#
# ( COS(MG) SIN(MG) 0 )
# ( )
# Q = (-SIN(MG) COS(MG) 0 ), MG= MIDDLE GIMBAL ANGLE
# 2 ( )
# ( 0 0 1 )
#
#
# ( 1 0 0 )
# ( )
# Q = ( 0 COS(OG) SIN(OG) ), OG= OUTER GIMBAL ANGLE
# 3 ( )
# ( 0 -SIN(OG) COS(OG) )
#
# 3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
#
# 4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
#
# 5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
# - -
# LET S AND S BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS, A AND B (BASIC AND STABLE MEMBER).
## Page 772
# 1 2
#
# DEFINE, - -
# U = S
# A A1
#
# - - -
# V = UNIT(S X S )
# A A1 A2
#
# - - -
# W = U X V
# A A A
#
# AND
# - -
# U = S
# B B1
#
# - - -
# V = UNIT(S X S )
# B B1 B2
#
# - - -
# W = U X V
# B B B
#
# THEN - - - -
# X = U *U + V *V + W *W
# B1 A B1 A B1 A
#
# - - - - (REFSMMAT)
# Y = U *U + V *V + W *W
# B2 A B2 A B2 A
#
# - - - -
# Z = U *U + V *V + W *W
# B3 A B3 A B3 A
#
# THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
# -
# S IN 6-11 OF THE VAC AREA
# A1
#
# -
# S IN 12-17 OF THE VAC AREA
# A2
#
# -
# S IN STARAD
## Page 773
# B1
#
# -
# S IN STARAD +6
# B2
#
# CALLING SEQUENCE
#
# THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
#
# SUBROUTINES CALLED.
#
# GOPERF3
# GOPERF1R
# GODSPR
# IMUCOARS
# IMUFIN20
# R53
# SXTNB
# NBSM
# MKRELEAS
# CHKSDATA
# MATMOVE
#
# ALARMS
#
# NONE.
#
# ERASABLE INITIALIZATION
#
# IMU ZERO FLAG SHOULD BE SET.
#
# OUTPUT
#
# REFSMMAT
# REFSMFLG
#
# DEBRIS
#
# WORK AREA
# STARAD
# STARIND
# BESTI
# BESTJ
SETLOC P50S1
BANK
COUNT* $$/P5153
P53 EQUALS P51
P51 CS IMODES30
MASK IMUOPBIT
## Page 774
CCS A
TC P51A
TC ALARM
OCT 210
TC GOTOPOOH
P51A TC BANKCALL
CADR R02ZERO
P51AA CAF PRFMSTAQ
TC BANKCALL
CADR GOPERF1
TC GOTOPOOH # TERM.
TC P51B # V 33
TC PHASCHNG
OCT 05024
OCT 13000
CAF P51ZERO
TS THETAD # ZERO THE GIMBALS
TS THETAD +1
TS THETAD +2
CAF V06N22
TC BANKCALL
CADR GODSPRET
CAF V41K # NOW DISPLAY COARSE ALIGN VERB 41
TC BANKCALL
CADR GODSPRET
TC COARSUB # PERFORM ALIGNMENT
TC PHASCHNG
OCT 05024
OCT 13000
TCF P51AA # COARSE ALIGN DONE - RECYCLE FOR FINE
## Page 775
# DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
P51B TC INTPRET
SSP SETPD
STARIND # INDEX - STAR 1 OR 2
0
0
RTB VLOAD
SET1/PDT
ZEROVEC
STORE GCOMP
SET CLEAR
DRIFTFLG # ENABLE T4 COMPENSATION
TARG2FLG # SHOW MARK IS STAR - NOT LANDMARK
EXIT
P51C TC PHASCHNG
OCT 05024
OCT 13000
TC CHECKMM
MM 53 # BACKUP PROGRAM
TCF P51C.1 # NOT P53
TC INTPRET
CALL
R56
GOTO
P51C.2
P51C.1 TC INTPRET
CALL
R53 # SIGHTING ROUTINE
P51C.2 CALL # COMPUTE LOS IN SM FROM MARK DATA
SXTSM
PUSH
SLOAD BZE
STARIND
P51D
VLOAD STADR
STCALL STARSAV2 # DOWNLINK
P51E
P51D VLOAD STADR
STODL STARSAV1
TSIGHT
CALL
PLANET
STORE PLANVEC
P51E EXIT
TC PHASCHNG
OCT 05024
OCT 13000
CCS STARIND
TCF P51F # STAR 2
## Page 776
TC PHASCHNG
OCT 05024
OCT 13000
CAF BIT1
TS STARIND
TCF P51C # GO DO SECOND STAR
P51F TC PHASCHNG
OCT 05024
OCT 13000
TC INTPRET
DLOAD CALL
TSIGHT
PLANET
STOVL 12D
PLANVEC
STOVL 6D
STARSAV1
STOVL STARAD
STARSAV2
STCALL STARAD +6
CHKSDATA # CHECK STAR ANGLES IN STARAD AND
BON EXIT
FREEFLAG
P51G
TC P51AA
SETLOC P50S4
BANK
COUNT* $$/P5153
P51G CALL
AXISGEN # COME BACK WITH REFSMMAT IN XDC
AXC,1 AXC,2
XDC
REFSMMAT
CLEAR CALL
REFSMFLG
MATMOVE
SET EXIT
REFSMFLG
TC GOTOPOOH
SETLOC P50S1
BANK
COUNT* $$/P5153
PRFMSTAQ = OCT15
P51ZERO = ZERO
P51FIVE = FIVE
V41K VN 4100
SET1/PDT CA TIME1
TS 1/PIPADT
## Page 777
TCF DANZIG
## Page 778
# SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
SETLOC P50S3
BANK
COUNT* $$/R51
SXTSM DLOAD
MRKBUF1
STORE TSIGHT
AXC,1
MRKBUF1 # ADDRESS OF MARK DATA FOR P50'S
SXTSM1 STQ # CALLED HERE FROM GETUM (P20 AND P22)
QMAJ
LXC,2 SLOAD*
STARIND
MKDNCDR,2
LXC,2 VLOAD*
MPAC
0,1
STORE 0,2
DLOAD*
5,1
STORE 5,2
SXTSM2 VLOAD*
2,1
STCALL CDUSPOT
SXTNB
CALL
TRG*NBSM # TRANSFER LOS TO SM
STCALL 32D
QMAJ
MKDNCDR ECADR MARKDOWN
ECADR MARK2DWN
## Page 779
# NAME - R53 - SIGHTING MARK ROUTINE
## Page 780
#
# FUNCTION -
# TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
# CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
# OCDUS) AND THE TIME OF THE MARK.
#
# CALLING SEQUENCE
# R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
# THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
#
# SUBROUTINES CALLED
# SXTMARK
# OPTSTALL
# GOFLASH
#
# ERASABLE INITIALIZATION
# TARGET FLAG - STAR OR LANDMARK
# MARKINDX - NUMBER OF MARKS WANTED
# STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
#
# OUTPUT
# MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
# BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
#
# DEBRIS
# MARKINDX CONTAINS NUMBER OF MARKS DESIRED
SETLOC RT53
BANK
COUNT* $$/R53
R53 STQ SET # SET SIGHTING MARK FLAG
R53EXIT
R53FLAG
EXIT
R53A TC BANKCALL
CADR SXTMARK
TC CHECKMM
MM 24
TCF +2
TCF R53A1
TC CHECKMM
MM 22 # P22?
CAF FOUR # NO, IS MARKINDX = 1
AD MIN5 # YES, IS MARKINDX = 5 (CHECKMM LEAVES 0)
AD MARKINDX
EXTEND
BZF R53A # NO MARKS TAKEN. DO AGAIN.
R53A1 TC BANKCALL
CADR MKRELEAS
R53C1 CAF ZERO
TC BANKCALL
CADR CLEANDSP
## Page 781
R53B CS BIT6 # CUT BETWEEN P20S AND P50S
AD MODREG # P22,P23 CALL
EXTEND
BZMF R53D # YES
R53C CAF V01N71
TC VNFLASH
R53Z TC CHKSCODE
# ROUTINE TO ALLOW ONLY +0 <= STARCODE <= +50, OTHERWISE 'OPERATOR ERROR'
TC FALTON
TC R53C
TC STORIJ # SET BESTI(BESTJ) = 1ST(2ND) STARCODE
R53D TC INTPRET
R53OUT SETGO
TERMIFLG # SET TERMINATE FOR R52
R53EXIT
SIGHTSIX = SIX
V01N71 VN 0171
# ****** KEEP IN SAME BANK AS R51 AND R53 *********
CHKSCODE CCS STARCODE
TCF SCPOS # > 0, CHECK IF <= 50
TCF Q+2 # = +0, OK
TC Q # NEGATIVE STARCODE OF ANY
TC Q # MAGNITUDE IS IMPROPER
SCPOS AD NEG47
EXTEND
BZMF Q+2 # <= 50, OK
TC Q # > 50, IMPROPER
NEG47 OCT 77730
MIN5 DEC -5
## Page 782
# NAME - S52.2
# FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
# CALL - CALL S52.2
# INPUT - X,Y,ZSMD
# OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
# SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
SETLOC S52/2
BANK
COUNT* $$/S52.2
S52.2 STQ CALL
QMAJ
CDUTRIG
CALL
CALCSMSC
AXT,1 SSP
18D
S1
6D
S52.2A VLOAD* VXM
XNB +18D,1
REFSMMAT
UNIT
STORE XNB +18D,1
TIX,1
S52.2A
S52.2.1 AXC,1 AXC,2
XSMD
XSM
CALL
MATMOVE
CALL
CALCGA
GOTO
QMAJ
## Page 783
# THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
# A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
# OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
SETLOC 26P50S
BANK
COUNT* $$/R52
ADVTRACK SETPD
0
VLOAD PUSH # INITIALIZE FOR RP-TO-R
UNITZ # UZ VEC IN PD 0-5
RTB PUSH # TIME IN PD 6-7
LOADTIME
STCALL AOPTIME # TIME ALSO IN AOPTIME FOR CSMCONIC
RP-TO-R # GET MOON ROTATION VEC IN REF
STODL STAR
AOPTIME # PICK UP TIME
STCALL TDEC1 # UPDATE STATE TO TIME
CSMCONIC
VLOAD VXV
VATT
RATT
STOVL 24D # SAVE -UNIT(V X R) FOR 2ND ROTATION
RATT
UNIT VCOMP
SETPD PUSH # PUSH LOS=-UNIT(RVEC) PD 0-5
0
SLOAD SL
LANDMARK
11D
SR1 DMP
MPERIOD
STCALL AOPTIME # ROTATE ANG ABOUT UR
ROTA
VLOAD UNIT
24D # PICK UP 2ND ROTATION AXIS
STODL STAR
DP1/6
DSU
AOPTIME # 2ND RAT ANGLE = 60 - A
STCALL AOPTIME
ROTA # GO ROTATE 2ND TIME
STCALL STAR # STORE FINAL LOS IN STAR
COM52 # RETURN TO SR52.1
ROTA DLOAD SIN
AOPTIME
PDVL VXV # PUSH 1/2SIN(A) PD 6-7
STAR # UR VEC
0 # LOS
## Page 784
VXSC VSL2 # 1/2SIN(A)(UR X LOS) PD 6-11
PDVL DOT
STAR
0
VXSC VSL2
STAR
PDDL COS # 1/2(UR . LOS)UR 12-17
AOPTIME
PDVL BVSU # PUSH 1/2COS(A) 18-19
12D
0
VXSC VSL1 # UP 18-19
VAD VAD # UP 12-17 UP 6-11
UNIT SETPD
0
PUSH RVQ
DP1/6 2DEC .16666666
MPERIOD 2DEC .047619 # APPROX LUNAR ROT ANG IN 2HRS X 16
## Page 785
# NAME - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
#
# FUNCTIONAL DESCRIPTION
# TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54). THE ASTRONAUT KNOWS THE
# COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE. WHEN THE ASTRONAUT KEYS IN
# ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
# IN N92.
#
# CALLING SEQUENCE
# CALL
# R56
#
# SUBROUTINES CALLED
# A PORTION OF SXTMARK (VAC.AREA SEARCH)
# GOFLASH
# GOPERF1
#
# ERASABLE INITIALIZATION
# STARIND - INDEX TO STAR NUMBER
#
# OUTPUT
# MARKSTAT - INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
# BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
# ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
# VAC +2 CDUY
# VAC +3 CDUS
# VAC +4 CDUZ
# VAC +5 CDUT
# VAC +6 CDUX
SETLOC P50S3
BANK
COUNT* $$/R56
R56 STQ EXIT
R53EXIT
CAF V06N94B
TC VNFLASH
R56A TC BANKCALL
CADR TESTMARK
CAF ZERO
TC BANKCALL
CADR CLEANDSP
R56A1 CAF VB53 # DISPLAY V53 REQUESTING ALTERNATE MARK
TC BANKCALL
CADR GOMARK2
TCF GOTOPOOH # V34-TERMINATE
TCF R56A1 # V33-DONT PROCEED-JUST ENTER TO MARK
TC INTPRET
DLOAD
## Page 786
MRKBUF1 +3
STODL SAC
MRKBUF1 +5
STORE PAC
EXIT
INHINT
TC E7SETTER
EBANK= MRKBUF1
EXTEND
DCA TIME2
DXCH MRKBUF1
CA CDUY # ENTER-THIS IS A BACKUP SYSTEM MARK
TS MRKBUF1 +2
CA CDUZ
TS MRKBUF1 +4
CA CDUX
TS MRKBUF1 +6
RELINT
CAF EBANK5 # MAY NOT NEED TO DO THIS
TS EBANK
EBANK= QMIN
TC CLEARMRK # ENABLE EXTENDED VERBS
CAF OCT16
TC BANKCALL
CADR GOPERF1
TC GOTOPOOH # TERM.
TCF R56B # PROCEED-MARK COMPLETED
TCF R56A # RECYCLE - DO ANOTHER MARK - LIKE REJECT
R56B TC BANKCALL
CADR R53C1
VB53 VN 05300 # ALTERNATE MARK VERB
V06N94B VN 00694
SETLOC P50S1
BANK
COUNT* $$/PLNET
PLANET STORE TSIGHT
STQ CALL
QMIN
LOCSAM
VLOAD
VEARTH
STOVL 0D
VSUN
STOVL VEARTH
0D
STORE VSUN
## Page 787
NOSAM EXIT
TC STORIJ # SET BESTI(BESTJ) = 1ST(2ND) STARCODE
CCS A
TCF NOTPLAN
CAF VNPLANV
TC VNFLASH
TC INTPRET
VLOAD VXSC
STARSAV3
1/SQR3
UNIT GOTO
CORPLAN
NOTPLAN CS A
AD DEC227
EXTEND
BZMF CALSAM1
INDEX STARIND
CA BESTI
INDEX FIXLOC
TS X1
TC INTPRET
VLOAD* GOTO
CATLOG,1
CORPLAN
CALSAM1 TC INTPRET
LXC,1 DLOAD*
STARIND
BESTI,1
LXC,1 VLOAD*
MPAC
STARAD -228D,1
CORPLAN VAD UNIT
VEL/C
GOTO
QMIN
DEC227 DEC 227
VNPLANV = V06N88
1/SQR3 2DEC .57735021
STORIJ CS HIGH9 # CALLED AT R53Z, NOSAM(PLANET)
MASK STARCODE
EXTEND
MP SIGHTSIX
XCH L
INDEX STARIND
TS BESTI
TC Q # RETURN TO CALLER
COUNT* $$/R50
COARSUB CA Q
TS QMIN
## Page 788
STALLOOP CA MODECADR # IS IMU IN USE?
EXTEND
BZF CORSCALL # NO, GO AHEAD WITH COARSE ALIGN
CAF 1SEC # YES, SO WAIT A SEC
TC BANKCALL
CADR DELAYJOB
TC STALLOOP # AND TRY AGAIN
CORSCALL TC BANKCALL
CADR IMUCOARS # PERFORM COARSE ALIGN
TC BANKCALL
CADR IMUSTALL
TC 217ALARM # BAD END
TC BANKCALL
CADR IMUFIN20 # PERFORM FINE ALIGN
TC BANKCALL
CADR IMUSTALL
TC 217ALARM # BAD END
TC QMIN
217ALARM INHINT # JUST LIKE 'CURTAINS', NOW DEPARTED
CA Q
TC ALARM2
OCT 00217
TC ALMCADR # RETURN TO USER
