# Procedure to Load CRISP TPU data structures for CONTOUR SPT # Paul Carr # 14 Dec 2001 # This procedure loads Gene Heyler's parameters and the latest # JPL ephemeris processed by N. Pinkine. ARGS(BC) PAUSE WRITE "routing CRISP real time packets to PQ 2" CMD CD_RT_TLM_PKT_SEL PQ2 EN ALL SYS 0x600 PAUSE # continue to load DS 3 # ID=3, OffsetMatrix cmd CRS_TPU_UP_STRCT_3 \ 0.0 0.0 (-1.0) \ 0.0 1.0 0.0 \ 1.0 0.0 0.0 WAIT 10 PAUSE # verify command received, then continue CMD CRS_TPU_MEM_STR_READ 3 WAIT 5 PAUSE # verify command received, then continue # ID=4, Tracker control params cmd CRS_TPU_UP_STRCT_4 \ 0.50 \ # MirrAng_Thrsh 2.00 \ # Mirror feed forward 2.00 \ # Filter lag 1.00 \ # roll control gain 1.0 0.50 \ # ab-tracker gain 0.5 512.00 \ # x_goal (pix) 512.00 \ # y_goal (pix) 0.6887 \ # system focal length (m) 3 # G&C msg usage rate (sec) WAIT 10 PAUSE # verify command received, then continue CMD CRS_TPU_MEM_STR_READ 4 WAIT 5 PAUSE # verify command received, then continue # ID=5, Tracker static target WRITE "ID=5, Tracker static target " cmd CRS_TPU_UP_STRCT_5 \ 0.999950 0.000000 (-0.009989) WAIT 10 PAUSE # verify command received, then continue CMD CRS_TPU_MEM_STR_READ 5 WAIT 5 PAUSE # verify command received, then continue # ID=6, EKF control params WRITE "ID=6, EKF control params" cmd CRS_TPU_UP_STRCT_6 \ 2.0e-04 \ # measurement sigma 8.66e+03 8.10e+01 8.10e+01 1.00e-10 1.00e-10 1.00e-10 \ # state covariance diag 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 0.00e+00 # system noise diag WAIT 10 PAUSE # verify command received, then continue CMD CRS_TPU_MEM_STR_READ 6 WAIT 5 PAUSE # verify command received, then continue # ID=7, ephemeris load part 1 WRITE "ID=7, ephemeris load part 1" # ID=7 (in four parts) CMD CRS_TPU_UP_STRCT_7_1 \ 1 \ # Cheby span1: # spans 1 \ # coord 121867264.1840 \ # start time 122040064.1840 # stop time WRITE "ID=7, ephemeris load part 2" CMD CRS_TPU_UP_STRCT_7_2 \ 86400.0000 86400.0000 \ ( 0.194260495836E+06) \ ( 0.145113114415E+07) \ ( 0.311503417264E+02) \ ( 0.382369137689E+02) \ ( 0.938067389357E-01) \ ( -0.140216131655E-03) \ ( -0.562500895405E-05) \ ( -0.586463267639E-07) \ ( 0.268776942939E-07) \ ( 0.156406941250E-07) \ ( -0.547609597505E-08) \ ( 0.464587936815E-08) \ ( -0.192061703095E-07) WRITE "ID=7, ephemeris load part 3" CMD CRS_TPU_UP_STRCT_7_3 \ 86400.0000 86400.0000 \ ( 0.215861088073E+06) \ ( 0.161109512989E+07) \ ( 0.179710753414E+02) \ ( 0.209775715421E+02) \ ( 0.299692577842E+00) \ ( 0.221014795334E-02) \ ( 0.170864113556E-04) \ ( 0.155711160267E-06) \ ( 0.319054228870E-07) \ ( 0.172744118445E-07) \ ( -0.606741366970E-08) \ ( 0.525762733008E-08) \ ( -0.213791733813E-07) WRITE "ID=7, ephemeris load part 4" CMD CRS_TPU_UP_STRCT_7_4 \ 86400.0000 86400.0000 \ ( 0.149550716086E+06) \ ( 0.111661841991E+07) \ ( 0.164953826064E+02) \ ( 0.195293923083E+02) \ ( 0.212845139343E+00) \ ( 0.147931759813E-02) \ ( 0.109807537802E-04) \ ( 0.975121548136E-07) \ ( 0.219261075361E-07) \ ( 0.119608290538E-07) \ ( -0.424186215786E-08) \ ( 0.360930467307E-08) \ ( -0.148181838287E-07) WAIT 10 PAUSE # verify command received, then continue CMD CRS_TPU_MEM_STR_READ 7 WAIT 10 PAUSE # verify command received, then continue WRITE "ID=8, ephemeris load part 1" # ID=8 CMD CRS_TPU_UP_STRCT_8_1 \ 1 \ # Cheby span2: # spans 0 \ # coord 0 \ # start time 0 # stop time WRITE "ID=8, ephemeris load part 2" CMD CRS_TPU_UP_STRCT_8_2 \ 0 \ # x coeff(1) 0 \ # x coeff(2) 0 \ # x coeff(3) 0 \ # x coeff(4) 0 \ # x coeff(5) 0 \ # x coeff(6) 0 \ # x coeff(7) 0 \ # x coeff(8) 0 \ # x coeff(9) 0 \ # x coeff(10) 0 \ # x coeff(11) 0 \ # x coeff(12) 0 \ # x coeff(13) 0 \ # x coeff(14) 0 # x coeff(15) WRITE "ID=8, ephemeris load part 3" CMD CRS_TPU_UP_STRCT_8_3 \ 0 \ # y coeff(1) 0 \ # y coeff(2) 0 \ # y coeff(3) 0 \ # y coeff(4) 0 \ # y coeff(5) 0 \ # y coeff(6) 0 \ # y coeff(7) 0 \ # y coeff(8) 0 \ # y coeff(9) 0 \ # y coeff(10) 0 \ # y coeff(11) 0 \ # y coeff(12) 0 \ # y coeff(13) 0 \ # y coeff(14) 0 # y coeff(15) WRITE "ID=8, ephemeris load part 4" CMD CRS_TPU_UP_STRCT_8_4 \ 0 \ # z coeff(1) 0 \ # z coeff(2) 0 \ # z coeff(3) 0 \ # z coeff(4) 0 \ # z coeff(5) 0 \ # z coeff(6) 0 \ # z coeff(7) 0 \ # z coeff(8) 0 \ # z coeff(9) 0 \ # z coeff(10) 0 \ # z coeff(11) 0 \ # z coeff(12) 0 \ # z coeff(13) 0 \ # z coeff(14) 0 # z coeff(15) WAIT 10 PAUSE # verify commands received, then continue CMD CRS_TPU_MEM_STR_READ 8 WAIT 10 PAUSE # verify command received, then continue WRITE "ID=9, ephemeris load part 1" # ID=9 CMD CRS_TPU_UP_STRCT_9_1 \ 1 \ # Cheby span3: # spans 0 \ # coord 0 \ # start time 0 # stop time CMD CRS_TPU_UP_STRCT_9_2 \ 0 \ # x coeff(1) 0 \ # x coeff(2) 0 \ # x coeff(3) 0 \ # x coeff(4) 0 \ # x coeff(5) 0 \ # x coeff(6) 0 \ # x coeff(7) 0 \ # x coeff(8) 0 \ # x coeff(9) 0 \ # x coeff(10) 0 \ # x coeff(11) 0 \ # x coeff(12) 0 \ # x coeff(13) 0 \ # x coeff(14) 0 # x coeff(15) CMD CRS_TPU_UP_STRCT_9_3 \ 0 \ # y coeff(1) 0 \ # y coeff(2) 0 \ # y coeff(3) 0 \ # y coeff(4) 0 \ # y coeff(5) 0 \ # y coeff(6) 0 \ # y coeff(7) 0 \ # y coeff(8) 0 \ # y coeff(9) 0 \ # y coeff(10) 0 \ # y coeff(11) 0 \ # y coeff(12) 0 \ # y coeff(13) 0 \ # y coeff(14) 0 # y coeff(15) CMD CRS_TPU_UP_STRCT_9_4 \ 0 \ # z coeff(1) 0 \ # z coeff(2) 0 \ # z coeff(3) 0 \ # z coeff(4) 0 \ # z coeff(5) 0 \ # z coeff(6) 0 \ # z coeff(7) 0 \ # z coeff(8) 0 \ # z coeff(9) 0 \ # z coeff(10) 0 \ # z coeff(11) 0 \ # z coeff(12) 0 \ # z coeff(13) 0 \ # z coeff(14) 0 # z coeff(15) WAIT 10 PAUSE # verify commands received, then continue CMD CRS_TPU_MEM_STR_READ 9 WAIT 10 PAUSE # verify command received, then continue # ID=10, mirror coefficients WRITE "ID=10, mirror coefficients" CMD CRS_TPU_UP_STRCT_10_1 \ 0.0000000 \ # MCoeff_aa x(1) modeled 0.0000000 \ # MCoeff_aa x(2) 0.9999851 \ # MCoeff_aa x(3) (-0.0000000) \ # MCoeff_aa x(4) 0.0000000 \ # MCoeff_aa x(5) 0.0000000 \ # MCoeff_aa x(6) (-0.0000000) \ # MCoeff_aa x(7) 0.0000000 \ # MCoeff_aa x(8) (-0.0000000) \ # MCoeff_aa x(9) 0.0000000 # MCoeff_aa x(10) CMD CRS_TPU_UP_STRCT_10_2 \ (-1.5707318) \ # MCoeff_aa y(1) modeled (-1.9999178) \ # MCoeff_aa y(2) (-0.0000000) \ # MCoeff_aa y(3) 0.9999589 \ # MCoeff_aa y(4) (-0.0000000) \ # MCoeff_aa y(5) (-0.0000000) \ # MCoeff_aa y(6) 0.0000000 \ # MCoeff_aa y(7) (-0.0000000) \ # MCoeff_aa y(8) 0.0000000 \ # MCoeff_aa y(9) (-0.0000000) # MCoeff_aa y(10) CMD CRS_TPU_UP_STRCT_10_3 \ 0.0000000 \ # MCoeff_ab x(1) modeled 0.0000000 \ # MCoeff_ab x(2) 0.9999851 \ # MCoeff_ab x(3) (-0.0000000) \ # MCoeff_ab x(4) 0.0000000 \ # MCoeff_ab x(5) (-0.0000000) \ # MCoeff_ab x(6) (-0.0000000) \ # MCoeff_ab x(7) (-0.0000000) \ # MCoeff_ab x(8) 0.0000000 \ # MCoeff_ab x(9) 0.0000000 # MCoeff_ab x(10) */ CMD CRS_TPU_UP_STRCT_10_4 \ (-7.8536590) \ # MCoeff_ab y(1) modeled */ (-1.9999178) \ # MCoeff_ab y(2) */ (-0.0000000) \ # MCoeff_ab y(3) */ 0.9999589 \ # MCoeff_ab y(4) */ (-0.0000000) \ # MCoeff_ab y(5) */ (-0.0000000) \ # MCoeff_ab y(6) */ 0.0000000 \ # MCoeff_ab y(7) */ (-0.0000000) \ # MCoeff_ab y(8) */ 0.0000000 \ # MCoeff_ab y(9) */ (-0.0000000) # MCoeff_ab y(10) */ CMD CRS_TPU_UP_STRCT_10_5 \ 0.0000000 \ # MCoeff_fa x(1) modeled */ 0.0000000 \ # MCoeff_fa x(2) */ 0.9999851 \ # MCoeff_fa x(3) */ (-0.0000000) \ # MCoeff_fa x(4) */ 0.0000000 \ # MCoeff_fa x(5) */ 0.0000000 \ # MCoeff_fa x(6) */ (-0.0000000) \ # MCoeff_fa x(7) */ 0.0000000 \ # MCoeff_fa x(8) */ (-0.0000000) \ # MCoeff_fa x(9) */ 0.0000000 # MCoeff_fa x(10) */ CMD CRS_TPU_UP_STRCT_10_6 \ 7.0750066 \ # MCoeff_fa y(1) lab fitted */ (-4.0324435) \ # MCoeff_fa y(2) */ 0.0 \ # MCoeff_fa y(3) */ 2.0045665 \ # MCoeff_fa y(4) */ 0.43701519 \ # MCoeff_fa y(5) */ 0.0 \ # MCoeff_fa y(6) */ (-0.43202675) \ # MCoeff_fa y(7) */ 0.0 \ # MCoeff_fa y(8) */ 0.0 \ # MCoeff_fa y(9) */ 0.10523149 # MCoeff_fa y(10) */ CMD CRS_TPU_UP_STRCT_10_7 \ 0.0000000 \ # MCoeff_fb x(1) modeled*/ 0.0000000 \ # MCoeff_fb x(2) */ 0.9999851 \ # MCoeff_fb x(3) */ (-0.0000000) \ # MCoeff_fb x(4) */ 0.0000000 \ # MCoeff_fb x(5) */ 0.0000000 \ # MCoeff_fb x(6) */ (-0.0000000) \ # MCoeff_fb x(7) */ 0.0000000 \ # MCoeff_fb x(8) */ (-0.0000000) \ # MCoeff_fb x(9) */ 0.0000000 # MCoeff_fb x(10) */ CMD CRS_TPU_UP_STRCT_10_8 \ (-1.2071) \ # MCoeff_fb y(1) lab fitted */ (-1.1024) \ # MCoeff_fb y(2) */ 0.0 \ # MCoeff_fb y(3) */ 0.5560 \ # MCoeff_fb y(4) */ 0.5532 \ # MCoeff_fb y(5) */ 0.0 \ # MCoeff_fb y(6) */ (-0.5467) \ # MCoeff_fb y(7) */ 0.0 \ # MCoeff_fb y(8) */ 0.0 \ # MCoeff_fb y(9) */ 0.1342 # MCoeff_fb y(10) */ WAIT 10 PAUSE # verify commands received, then continue CMD CRS_TPU_MEM_STR_READ 10 WAIT 10 PAUSE # verify command received, then continue # ID=11, gate control params */ CMD CRS_TPU_UP_STRCT_11 \ 0.10 \ # gate size */ 0.50 \ # alpha */ 3 # count */ WAIT 10 PAUSE # verify commands received, then continue CMD CRS_TPU_MEM_STR_READ 11 WAIT 10 PAUSE # verify command received, then continue # ID=12, gyro alignment */ CMD CRS_TPU_UP_STRCT_12 \ (-0.5) \ 0.5 \ (-0.5) \ 0.5 # assumed IRU-to-body alignment, from Gabe */ WAIT 10 PAUSE # verify commands received, then continue CMD CRS_TPU_MEM_STR_READ 12 WAIT 10 PAUSE # verify command received, then continue