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Proof P51-P53 pages 956-965, continuation of issue #617 #833

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Proof P51-P53 pages 956-965, continuation of issue #617 #833

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199 changes: 95 additions & 104 deletions Luminary099/P51-P53.agc
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -1608,38 +1602,36 @@ GVDETER CAF 42DEG
REFSMFLG
LUNG

# 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 )]
# FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
#
# 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
Expand All @@ -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
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -2338,4 +2330,3 @@ LSORIENT STQ VLOAD
XSMD
STCALL YSMD
QMAJ