diff --git a/Luminary099/P51-P53.agc b/Luminary099/P51-P53.agc index 3721df9..ce82f56 100644 --- a/Luminary099/P51-P53.agc +++ b/Luminary099/P51-P53.agc @@ -1203,21 +1203,21 @@ S52.3 STQ QMAJ # Page 955 -# NAME -- R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) +# NAME -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE) # -# FUNCTION -- POINT THE AOT APTICS AXIS BY MANEUVERING THE LEM TO A NAVIGATION -# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT +# FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION +# STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT # -# CALLING -- CALL R52 +# CALLING -CALL R52 # -# INPUT -- BESTI AND BESTJ (STAR CODES TIMES 6) +# INPUT -BESTI AND BESTJ (STAR CODES TIMES 6) # -# OUTPUT -- STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9 -# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) -# POINTVSM-1/2 UNIT NAV STAR VEC IN SM -# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE +# OUTPUT -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9 +# (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID) +# POINTVSM-1/2 UNIT NAV STAR VEC IN SM +# SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE # -# SUBROUT -- R60LEM +# SUBROUT -R60LEM COUNT* $$/R52 R52 STQ EXIT @@ -1232,9 +1232,9 @@ R52 STQ EXIT R52A CAF V01N70 TC BANKCALL CADR GOFLASH # DISPLAY STARCODE AND WAIT FOR RESPONSE - TC GOTOPOOH # V34 -- TERMINATE - TCF R52B # V33 -- PROCEED TO ORIENT LEM - TCF R52A # ENTER -- SELECT NEW STARCODE -- RECYCLE + TC GOTOPOOH # V34-TERMINATE + TCF R52B # V33-PROCEED TO ORIENT LEM + TCF R52A # ENTER-SELECT NEW STARCODE-RECYCLE R52B TC DOWNFLAG ADRES 3AXISFLG # BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT @@ -1259,7 +1259,7 @@ R52B TC DOWNFLAG CA AOTAZ -1 # PICK UP AZ CORRESPONDING TO DETENT TS L EBANK= XSM - CA EBANK5 # CHANGE TO EBANK5 BUT DON'T DISTURB L + CA EBANK5 # CHANGE TO EBANK5 BUT DONT DISTURB L TS EBANK CA BIT13 # SET ELV TO 45 DEG XCH L # SET C(A)=AZ, C(L)=45 DEG @@ -1268,12 +1268,12 @@ R52B TC DOWNFLAG GETAZEL CAF V06N87 # CODE 0 OR 7, GET AZ AND EL KEY IN TC BANKCALL CADR GOFLASH - TC GOTOPOOH # V34 -- TERMINATE - TCF +2 # PROCEED -- CALC OPTIC AXIS - TCF GETAZEL # ENTER -- RECYCLE + TC GOTOPOOH # V34-TERMINATE + TCF +2 # PROCEED-CALC OPTIC AXIS + TCF GETAZEL # ENTER-RECYCLE EXTEND - DCA AZ # PICK UP AZ AND EL IN SP 2'S COMP + DCA AZ # PICK UP AZ AND EL IN SP 2S COMP AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC DXCH 8D TC INTPRET @@ -1290,7 +1290,7 @@ AZEL INDEX FIXLOC # JAM AZ AND EL IN 8 AND 9 OF VAC TC BANKCALL CADR R60LEM # GO TORQUE LEM OPTIC AXIS TO STAR LOS - CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE + CAF HIGH9 # IF COAS CALIBRATION CODE 0. RECYCLE MASK STARCODE EXTEND BZF R52A @@ -1312,16 +1312,16 @@ V06N87 VN 687 COUNT* $$/R59 R59 CS FLAGWRD3 - MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR ACQUIRE + MASK REFSMBIT # IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR CCS A TCF R59OUT # NO REFSMMAT GO TO AOTMARK CAF V01N70* # SELECT STAR CODE FOR ACQUISITION TC BANKCALL CADR GOFLASH - TC GOTOPOOH # V34 -- TERMINATE - TCF R59A # V33 -- PROCEED - TCF R59 # V32 -- RECYCLE + TC GOTOPOOH # V34-TERMINATE + TCF R59A # V33-PROCEED + TCF R59 # V32-RECYCLE R59A CS HIGH9 # GRAB STARCODE FOR INDEX MASK AOTCODE @@ -1348,7 +1348,7 @@ R59A CS HIGH9 # GRAB STARCODE FOR INDEX STORE STAR # TEMP STORE STAR VEC(NB) EXIT - CAF BIT1 # INITIALIZE AZ POSITION COD TO 1 (-60) + CAF BIT1 # INITIALIZE AZ POSITION CODE TO 1 (-60) TS POSCODE EBANK= XYMARK @@ -1381,7 +1381,7 @@ INCAZ CA EBANK7 DSU BPL DEG30 # SEE IF STAR IN AOT FIELD-OF-VIEW - NXAX # NOT IN FIELD -- TRY NEXT POSITION + NXAX # NOT IN FIELD - TRY NEXT POSITION DLOAD DSU # SEE IF STAR AT FIELD CENTER 24D DEG.5 @@ -1395,20 +1395,20 @@ INCAZ CA EBANK7 SCAXIS # OA VXV UNIT XUNIT - PUSH VXV # OA X UNITX PD 0-5 + PUSH VXV # OA X UNITX PD 0-5 SCAXIS VCOMP - UNIT PDVL # UNIT(OA X (OA X UNITX)) PD 6-11 + UNIT PDVL # UNIT(OA X(OA X UNITX)) PD 6-11 SCAXIS VXV UNIT STAR - PUSH DOT # 1/2(OA X STAR) PD 12-17 - 0 # DOT WITH 1/2(OA X UNITX) FOR YROT + PUSH DOT # 1/2(OA X STAR) PD 12-17 + 0 # DOT WITH 1/2(OA X UNITX) FOR YROT SL1 ARCCOS STOVL 26D # STORE THET SCALED IN REVS # Page 959 DOT # UP 12-17, UP 6-11 FOR C2 - BPL DLOAD # IF THET NEG -- GET 360-THET + BPL DLOAD # IF THET NEG-GET 360-THET R59D ABOUTONE DSU @@ -1431,7 +1431,7 @@ R59D SLOAD SR1 TCF 79DISP # GO DISPLAY CURSOR-SPIRAL-POS CODE ZSPCR EXIT - CAF ZERO # STAR ALMOST OPTIC AXIS, ZERO CURSOR + CAF ZERO # STAR ALMOST OPTIC AXIS,ZERO CURSOR TS CURSOR # AND SPIRAL ANGLES TS SPIRAL TCF 79DISP @@ -1444,22 +1444,22 @@ NXAX EXIT BZMF R59ALM # THIS STAR NOT AT ANY POSITION TCF INCAZ -R59ALM TC ALARM # THIS STAR CAN'T BE LOCATED IN AOT FIELD +R59ALM TC ALARM # THIS STAR CANT BE LOCATED IN AOT FIELD OCT 404 CAF VB05N09 # DISPLAY ALARM TC BANKCALL CADR GOFLASH - TCF GOTOPOOH # VB34 -- TERMINATE - TCF R59OUT # VB33 -- PROCEED, GO WITHOUT ACQUIRE - TCF R59 # VB32 -- RECYCLE AND TRY ANOTHER STAR + TCF GOTOPOOH # VB34-TERMINATE + TCF R59OUT # VB33-PROCEED, GO WITHOUT ACQUIRE + TCF R59 # VB32-RECYCLE AND TRY ANOTHER STAR 79DISP CAF V06N79 # DISPLAY CURSOR, SPIRAL AND POS CODE TC BANKCALL CADR GOFLASH - TCF GOTOPOOH # V34 -- TERMINATE + TCF GOTOPOOH # V34-TERMINATE # Page 960 - TCF R59E # V33 -- PROCEED TO MARK ROUTINE - TCF R59 # V32 -- RECYCLE TO TOP OF R59 AGAIN + TCF R59E # V33-PROCEED TO MARK ROUTINE + TCF R59 # V32-RECYCLE TO TOP OF R59 AGAIN R59E CAF SEVEN # GET DETENT CODE CORRESPONDING TO POSCODE MASK POSCODE @@ -1480,31 +1480,31 @@ R59OUT TC BANKCALL # GO TO AOTMARK FOR SIGHTING V01N70* VN 170 V06N79 VN 679 DEG30 2DEC .083333333 # 30 DEGREES -DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS. +DEG.5 2DEC .00138888 # .5 DEGREES SCALED IN REVS DEG60 OCT 12525 # 60 DEG CDU SCALING CURSOR EQUALS GDT/2 SPIRAL EQUALS GDT/2 +2 POSCODE EQUALS GDT/2 +4 # Page 961 -# NAME -- PLANET -# FUNCTION -- TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL -# BODY. STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND -# MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED -# BY DSKY INPUT. -# CALL -- CALL -# PLANET -# INPUT -- TIME IN MPAC -# OUTPUT -- VECTOR IN MPAC -# SUBROUTINES -- LOCSAM -# DEBRIS -- VAC, STARAD - STARAD +17 +# NAME - PLANET +# FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL +# BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND +# MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED +# BY DSKY INPUT +# CALL - CALL +# PLANET +# INPUT - TIME IN MPAC +# OUTPUT - VECTOR IN MPAC +# SUBROUTINES - LOCSAM +# DEBRIS - VAC .STARAD - STARAD +17 SETLOC P50S BANK COUNT* $$/P51 PLANET STOVL TSIGHT - ZEROVEC + ZEROVEC # ZERO N88 DISPLAY VEC STORE STARAD STQ EXIT GCTR @@ -1561,41 +1561,35 @@ CALSAM DLOAD CALL GCTR DEC227 DEC 227 VNPLANV VN 0688 -PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DON'T LOAD PIPTIME1 +PIPSRINE = PIPASR +3 # EBANK NOT 4 SO DONT LOAD PIPTIME1 # Page 963 # GRAVITY VECTOR DETERMINATION ROUTINE # BY KEN VINCENT -# -# FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5. -# -# THIS PROGRAM FINDS THE DIRECTION OF THE MOON'S GRAVITY -# WHILE THE LM IS IN THE MOON'S SURFACE. IT WILL BE USED -# FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS +# FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5 +# THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY +# WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED +# FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS # DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO -# PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED -# AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO -# ORIENTATIONS WERE CHOSEN TO REDUCE BIAS ERRORS IN THE +# PARTICULAR ORIENTATIONS. THE TWO READINGS ARE AVERAGED +# AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO +# ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE # READINGS. # -# CALL -- -# TC BANKCALL -# CADR GVDETER -# -# INPUTS -- -# PIPAS, CDUS -# -# OUTPUTS -- -# STARSAV1 = UNIT GRAVITY -# GSAV = DITTO -# GRAVBIT = 1 -# -# SUBROUTINES -- -# PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG, -# *NBSM*, *SNMB*, CALCGA, GOFLASH -# -# DEBRIS -- -# VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU +# CALL- +# TC BANKCALL +# CADR GVDETER +# INPUTS- +# PIPAS,CDUS +# OUTPUTS- +# STARSAV1 = UNIT GRAVITY +# GSAV = DITTO +# GRAVBIT = 1 +# SUBROUTINES- +# PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG, +# *NBSM* ,*SNMB*, CALCGA,FOFLASH +# DEBRIS- +# VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU GVDETER CAF 42DEG TS THETAD @@ -1608,38 +1602,36 @@ GVDETER CAF 42DEG REFSMFLG LUNG -# FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC +# FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC # -# DEFINE G COOR SYS -# _ -# [ X ] [ UNIT G ] -# * [ _ ] [ _ ] -# M = [ Y ] = [ UNITEZSM * X ] -# [ _ ] [ _ _ ] -# [ Z ] [ UNIT( X * Y )] -# -# THEN ROTATED SM WRT PRESENT IS +# DEFINE G COOR SYS +# _ +# X UNIT G +# * _ _ +# M= Y = UNITEZSM * X ) +# _ _ _ +# Z UNIT( X * Y ) +# THEN ROTATED SM WRT PRESENT IS # # Page 964 -# [ 1 0 0 ] -# * *T [ ] * * * -# XSM = M [ 0 -1 0 ] M = 2 (X X ) - 1/2 I -# [ ] I J -# [ 0 0 -1 ] +# 1, 0 , 0 +# * *T * * * +# XSM = M 0, -1 , 0 M = 2 (X X ) - 1/2 I * +# I J +# 0, 0 ,-1 # -# ALSO NB WRT PRES SM IS +# ALSO NB WRT PRES SM IS # # * * * # XNB = NBSM I -# -# * * -# GIMBAL ANGLES = CALCGA( XSM, XNB ) +# * * +# GIMBAL ANGLES = CALCGA( XSM , XNB ) SETLOC P50S BANK COUNT* $$/P57 AXT,1 SSP # X1=18 - 18D # S1=6 + 18D # S1= 6 S1 # X2, -2 6D LXC,2 @@ -1650,7 +1642,7 @@ GRAVEL VLOAD* CALL STORE XNB +18D,1 VLOAD STAR - LXC,2 VXSC* # COMPLEMENT -- UNITX ARE BACKWARD -- + LXC,2 VXSC* # COMPLEMENT- UNITX ARE BACKWARD - X2 STAR +6,2 # OUTER PRODUCT VSL2 LXC,2 @@ -1684,8 +1676,8 @@ GRAVEL VLOAD* CALL TC BANKCALL CADR GOFLASH TC GOTOPOOH - TCF PROGRAV # VB33 -- PROCEED - TC UPFLAG # VB32 -- RECYCLE -- STORE GRAV AND DO IT AGAIN + TCF PROGRAV # VB33-PROCEED + TC UPFLAG # VB32-RECYCLE-STORE GRAV AND DO IT AGAIN ADRES FREEFLAG # AND SET FREEFLAG TO SHOW RECYCLE PROGRAV TC PHASCHNG @@ -1696,7 +1688,7 @@ PROGRAV TC PHASCHNG STARSAV1 STORE GSAV EXIT - CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY + CAF FREEFBIT # IF FREEFLAG SET, RE-COMPUTE GRAVITY. MASK FLAGWRD0 CCS A TCF GVDETER # SET @@ -2338,4 +2330,3 @@ LSORIENT STQ VLOAD XSMD STCALL YSMD QMAJ -