Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

040995,000002:                                                                                                  ## Copyright:   Public domain.
040996,000003:                                                                                                  ## Filename:    P51-P53.agc
040997,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
040998,000005:                                                                                                  ##              It is part of the source code for the original release
040999,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
041000,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
041001,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
041002,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
041003,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
041004,000011:                                                                                                  ##              that the code format has been changed to conform to the
041005,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
041006,000013:                                                                                                  ##              original YUL assembler.
041007,000014:                                                                                                  ## Reference:   pp. 925-978
041008,000015:                                                                                                  ## Assembler:   yaYUL
041009,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041010,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
041011,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
041012,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
041013,000020:                                                                                                  ##              2017-01-22 HG   Transcribed
041014,000021:                                                                                                  ##              2017-01-22 HG   Fix operand V06N22  -> V6N22
041015,000022:                                                                                                  ##                                          V06N22  -> V06N22* 
041016,000023:                                                                                                  ##                                          DSPTEM1 -> DSPTEM2  
041017,000024:                                                                                                  ##                              Fix interpretive operator SET EXIT -> SET
041018,000025:                                                                                                  ##                                                        STOVL -> STORE
041019,000026:                                                                                                  ##                              Fix operator XCH -> TS
041020,000027:                                                                                                  ##                                           +2  -> +5
041021,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
041022,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
041023,000030: 

Page 925

041025,000032:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- JAN 9, 1967
041026,000033:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
041027,000034:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDANCE REV 46
041028,000035: 
041029,000036:                                                                                                  #  FUNCTIONAL DESCRIPTION-
041030,000037: 
041031,000038:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041032,000039:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041033,000040: 
041034,000041:                                                                                                  #       (A) PREFERRED ORIENTATION
041035,000042: 
041036,000043:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041037,000044:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
041038,000045: 
041039,000046:                                                                                                  #       (B) NOMINAL ORIENTATION
041040,000047: 
041041,000048:                                                                                                  #           X   =  UNIT ( R )
041042,000049:                                                                                                  #           -SM
041043,000050: 
041044,000051:                                                                                                  #           Y  =  UNIT (V X R)
041045,000052:                                                                                                  #            SM
041046,000053: 
041047,000054:                                                                                                  #           Z   =  UNIT (X   X  Y  )
041048,000055:                                                                                                  #            SM           SM     SM
041049,000056: 
041050,000057:                                                                                                  #           WHERE_
041051,000058:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041052,000059:                                                                                                  #            -
041053,000060: 
041054,000061:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041055,000062:                                                                                                  #            -
041056,000063: 
041057,000064:                                                                                                  #       (C) REFSMMAT ORIENTATION
041058,000065: 
041059,000066:                                                                                                  #           (D)  LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041060,000067: 
041061,000068:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041062,000069:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041063,000070:                                                                                                  #       SINCE THE LAST ALIGNMENT).
041064,000071: 
041065,000072:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041066,000073:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041067,000074:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041068,000075:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041069,000076:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041070,000077:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041071,000078:                                                                                                  #  REQUESTED.
041072,000079: 
041073,000080:                                                                                                  #  CALLING SEQUENCE-
041074,000081: 

Page 926

041076,000083:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041077,000084: 
041078,000085:                                                                                                  #  SUBROUTINES CALLED-
041079,000086: 
041080,000087:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
041081,000088:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
041082,000089:                                                                                                  #      3. GOPERF4       9. FLAGUP
041083,000090:                                                                                                  #      4. MATMOVE      10. R56
041084,000091:                                                                                                  #      5. GOFLASH      11. R51
041085,000092:                                                                                                  #      6. S52.3        12. GOPERF3
041086,000093: 
041087,000094:                                                                                                  #  NORMAL EXIT MODES-
041088,000095: 
041089,000096:                                                                                                  #      EXITS TO ENDOFJOB
041090,000097: 
041091,000098:                                                                                                  #  ALARM OR ABORT EXIT MODES-
041092,000099: 
041093,000100:                                                                                                  #      NONE
041094,000101: 
041095,000102:                                                                                                  #  OUTPUT-
041096,000103: 
041097,000104:                                                                                                  #      THE FOLLOWING MAY BE FLASHED ON THE DSKY
041098,000105:                                                                                                  #         1. IMU ORIENTATION CODE
041099,000106:                                                                                                  #         2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041100,000107:                                                                                                  #         3. TIME OF NEXT IGNITION
041101,000108:                                                                                                  #         4. GIMBAL ANGLES
041102,000109:                                                                                                  #         5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041103,000110:                                                                                                  #         6. PLEASE PERFORM P00
041104,000111:                                                                                                  #      THE MODE DISPLAY MAY BE CHANGED TO 20
041105,000112: 
041106,000113:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
041107,000114: 
041108,000115:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041109,000116:                                                                                                  #      XSMD,YSMD,ZSMD.
041110,000117:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041111,000118: 
041112,000119:                                                                                                  #  DEBRIS-
041113,000120: 
041114,000121:                                                                                                  #      WORK AREA
041115,000122: 33,3755                                           BANK     33                                    
041116,000123: 15,2000                                           SETLOC   P50S                                  
041117,000124: 15,2000                                           BANK                                           
041118,000125: 
041119,000126: 15,2050  E5,1755                                  EBANK=   BESTI                                 
041120,000127: 15,2050                                           COUNT*   $$/P52                                
041121,000128: 15,2050           04616        PROG52             TC       BANKCALL                              
041122,000129: 15,2051           11175                           CADR     R02BOTH                               #  IMU STATUS CHECK
041123,000130: 15,2052           34750                           CAF      PFRATBIT                              
041124,000131: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
041125,000132: 15,2054           10000                           CCS      A                                     
041126,000133: 

Page 927

041128,000135: 15,2055           02060                           TC       P52A                                  #  YES
041129,000136: 15,2056           34752                           CAF      BIT2                                  #  NO
041130,000137: 15,2057           02061                           TC       P52A       +1                         
041131,000138: 15,2060           34753        P52A               CAF      BIT1                                  
041132,000139: 15,2061           55145                           TS       OPTION2                               
041133,000140: 15,2062           34753        P52B               CAF      BIT1                                  
041134,000141: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
041135,000142: 15,2064           20566                           CADR     GOPERF4R                              #  FLASH V04N06
041136,000143: 15,2065           06001                           TC       GOTOPOOH                              
041137,000144: 15,2066           12073                           TCF      +5                                    #  V33-PROCEED
041138,000145: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
041139,000146: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
041140,000147: 15,2071           00014                           OCT      00014                                 
041141,000148: 15,2072           05155                           TC       ENDOFJOB                              
041142,000149: 
041143,000150: 15,2073           31145                           CA       OPTION2                               
041144,000151: 15,2074           76244                           MASK     THREE                                 
041145,000152: 15,2075           50000                           INDEX    A                                     
041146,000153: 15,2076           02077                           TC       +1                                    
041147,000154: 15,2077           02105                           TC       P52T                                  
041148,000155: 15,2100           02166                           TC       P52H                                  
041149,000156: 15,2101           02105                           TC       P52T                                  
041150,000157: 15,2102           06036        P52E               TC       INTPRET                               
041151,000158: 15,2103           77650                           GOTO                                           
041152,000159: 15,2104           32162                                    P52F                                  
041153,000160: 15,2105           00006        P52T               EXTEND                                         
041154,000161: 15,2106           34755                           DCA      NEG0                                  
041155,000162: 15,2107           53046                           DXCH     DSPTEM1                               
041156,000163: 15,2110           32172                           CAF      V06N34*                               
041157,000164: 15,2111           04616                           TC       BANKCALL                              
041158,000165: 15,2112           20351                           CADR     GOFLASH                               
041159,000166: 15,2113           06001                           TC       GOTOPOOH                              
041160,000167: 15,2114           02116                           TC       +2                                    
041161,000168: 15,2115           02110                           TC       -5                                    
041162,000169: 15,2116           53046                           DXCH     DSPTEM1                               
041163,000170: 15,2117           00006                           EXTEND                                         
041164,000171: 15,2120           62122                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
041165,000172: 15,2121           12124                           TCF      +3                                    
041166,000173: 15,2122           00006                           EXTEND                                         
041167,000174: 15,2123           30025                           DCA      TIME2                                 
041168,000175: 15,2124           53775                           DXCH     TALIGN                                
041169,000176: 15,2125           31145        P52V               CA       OPTION2                               
041170,000177: 15,2126           74752                           MASK     BIT2                                  
041171,000178: 15,2127           10000                           CCS      A                                     
041172,000179: 15,2130           02134                           TC       P52W                                  
041173,000180: 15,2131           06036                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
041174,000181: 15,2132           77650                           GOTO                                           
041175,000182: 15,2133           32223                                    P52LS                                 
041176,000183: 

Page 928

041178,000185:                                                                                                  #  START ALIGNMENT
041179,000186: 
041180,000187: 15,2134           06036        P52W               TC       INTPRET                               
041181,000188: 15,2135           77745                           DLOAD                                          
041182,000189: 15,2136           02775                                    TALIGN                                #  PICK UP ALIGN TIME
041183,000190: 15,2137           77624                           CALL                                           #  COMPUTE NOMINAL IMU
041184,000191: 15,2140           31566                                    S52.3                                 #   ORIENTATION
041185,000192: 15,2141           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
041186,000193: 15,2142           31534                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
041187,000194: 15,2143           77776                           EXIT                                           
041188,000195: 15,2144           32171                           CAF      V06N22*                               
041189,000196: 15,2145           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
041190,000197: 15,2146           20351                           CADR     GOFLASH                               
041191,000198: 15,2147           06001                           TC       GOTOPOOH                              
041192,000199: 15,2150           12174                           TCF      COARSTYP                              #  V33-PROCEED, SEE IF GYRO TORQUE COARSE
041193,000200: 15,2151           06036                           TC       INTPRET                               #  RECYCLE - VEHICLE HAS BEEN MANUEVERED
041194,000201: 15,2152           77650                           GOTO                                           
041195,000202: 15,2153           32141                                    P52D                                  
041196,000203: 15,2154           06036        REGCOARS           TC       INTPRET                               
041197,000204: 15,2155           77624                           CALL                                           #  DO COARSE ALIGN
041198,000205: 15,2156           31172                                    CAL53A                                #   ROUTINE
041199,000206: 15,2157           43014                           SET      CLEAR                                 
041200,000207: 15,2160           01462                                    REFSMFLG                              
041201,000208: 15,2161           01273                                    PFRATFLG                              
041202,000209: 15,2162           77624        P52F               CALL                                           
041203,000210: 15,2163           30656                                    R51                                   
041204,000211: 15,2164           77776        P52OUT             EXIT                                           
041205,000212: 15,2165           06001                           TC       GOTOPOOH                              
041206,000213: 15,2166           06036        P52H               TC       INTPRET                               #  PREFERRED OPTION, GO COMPUTE GIMBALS
041207,000214: 15,2167           77650                           GOTO                                           
041208,000215: 15,2170           32141                                    P52D                                  
041209,000216: 
041210,000217: 15,2171     5006               VB05N09            =        V05N09                                
041211,000218: 15,2171           01426        V06N22*            VN       00622                                 
041212,000219: 15,2172           01442        V06N34*            VN       634                                   
041213,000220: 
041214,000221: 15,2173           01531        V06N89*            VN       0689                                  
041215,000222: 

Page 929

041217,000224:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041218,000225: 15,2174           32222        COARSTYP           CAF      OCT13                                 
041219,000226: 15,2175           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041220,000227: 15,2176           20476                           CADR     GOPERF1                               
041221,000228: 15,2177           16001                           TCF      GOTOPOOH                              #  V34-TERMIN&OE
041222,000229: 15,2200           12154                           TCF      REGCOARS                              #  V33-NORMAL COARSE
041223,000230: 15,2201           06036                           TC       INTPRET                               #  V32-GYRO TORQUE COARSE
041224,000231: 15,2202           64375                           VLOAD    MXV                                   
041225,000232: 15,2203           03605                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
041226,000233: 15,2204           01734                                    REFSMMAT                              
041227,000234: 15,2205           77656                           UNIT                                           
041228,000235: 15,2206           26665                           STOVL    XDC                                   
041229,000236: 15,2207           03613                                    YSMD                                  
041230,000237: 15,2210           53521                           MXV      UNIT                                  
041231,000238: 15,2211           01734                                    REFSMMAT                              
041232,000239: 15,2212           26673                           STOVL    YDC                                   
041233,000240: 15,2213           03621                                    ZSMD                                  
041234,000241: 15,2214           53521                           MXV      UNIT                                  
041235,000242: 15,2215           01734                                    REFSMMAT                              
041236,000243: 15,2216           36701                           STCALL   ZDC                                   
041237,000244: 15,2217           31025                                    GYCOARS                               
041238,000245: 15,2220           77650                           GOTO                                           
041239,000246: 15,2221           32164                                    P52OUT                                
041240,000247: 15,2222           00013        OCT13              OCT      13                                    
041241,000248: 

Page 930

041243,000250:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
041244,000251: 15,2223           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
041245,000252: 15,2224           01463                                    LUNAFLAG                              
041246,000253: 15,2225           00662                                    ERADFLAG                              #  TO PICK UP RLS
041247,000254: 15,2226           77201                           SETPD    VLOAD                                 
041248,000255: 15,2227           00001                                    0                                     
041249,000256: 15,2230           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
041250,000257: 15,2231           41525                           PDDL     PUSH                                  #  RLS PD 0-5
041251,000258: 15,2232           02775                                    TALIGN                                
041252,000259: 15,2233           77624                           CALL                                           
041253,000260: 15,2234           51504                                    RP-TO-R                               #  TRANS RLS TO REF
041254,000261: 15,2235           77742                           VSR2                                           
041255,000262: 15,2236           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
041256,000263: 15,2237           02775                                    TALIGN                                
041257,000264: 15,2240           77624                           CALL                                           
041258,000265: 15,2241           26351                                    LAT-LONG                              #  GET LAT, LONG, AND ALT
041259,000266: 15,2242           70545                           DLOAD    SR1                                   #  RESCALE LONG TO DEGREES/2
041260,000267: 15,2243           01123                                    LONG                                  
041261,000268: 15,2244           16711                           STODL    LANDLONG                              
041262,000269: 15,2245           01125                                    ALT                                   
041263,000270: 15,2246           16713                           STODL    LANDALT                               #  ALT ALREADY AT 2(29) METERS
041264,000271: 15,2247           01121                                    LAT                                   
041265,000272: 15,2250           02707                           STORE    LANDLAT                               
041266,000273: 15,2251           77776                           EXIT                                           
041267,000274: 
041268,000275: 15,2252           32173        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2, ALT
041269,000276: 15,2253           04616                           TC       BANKCALL                              
041270,000277: 15,2254           20351                           CADR     GOFLASH                               
041271,000278: 15,2255           16001                           TCF      GOTOPOOH                              #  VB34 TERMINATE
041272,000279: 15,2256           12260                           TCF      +2                                    #  VB33 PROCEED
041273,000280: 15,2257           12252                           TCF      LSDISP                                #  VB32 RECYCLE
041274,000281: 
041275,000282: 15,2260           06036                           TC       INTPRET                               
041276,000283: 15,2261           72545                           DLOAD    SL1                                   
041277,000284: 15,2262           02711                                    LANDLONG                              
041278,000285: 15,2263           15123                           STODL    LONG                                  
041279,000286: 15,2264           02713                                    LANDALT                               
041280,000287: 15,2265           15125                           STODL    ALT                                   
041281,000288: 15,2266           02707                                    LANDLAT                               
041282,000289: 15,2267           15121                           STODL    LAT                                   
041283,000290: 15,2270           02775                                    TALIGN                                
041284,000291: 15,2271           77624                           CALL                                           
041285,000292: 15,2272           26422                                    LALOTORV                              
041286,000293: 15,2273           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
041287,000294: 15,2274           02032                                    ALPHAV                                
041288,000295: 15,2275           37605                           STCALL   XSMD                                  
041289,000296: 15,2276           33647                                    LSORIENT                              
041290,000297: 15,2277           77650                           GOTO                                           
041291,000298: 15,2300           32141                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
041292,000299: 

Page 931

041294,000301:                                                                                                  #  NAME -S50 ALIAS  LOCSAM
041295,000302:                                                                                                  #  BY
041296,000303:                                                                                                  #  VINCENT
041297,000304:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR  AND PLANET
041298,000305: 
041299,000306:                                                                                                  #           DEFINE
041300,000307: 
041301,000308: 
041302,000309:                                                                                                  #           U    = UNIT( SUN WRT EARTH)
041303,000310:                                                                                                  #            ES
041304,000311: 
041305,000312:                                                                                                  #           U    =UNIT( MOON WRT EARTH)
041306,000313:                                                                                                  #            EM
041307,000314: 
041308,000315:                                                                                                  #           R    =POSITION VECTOR OF LEM
041309,000316:                                                                                                  #            L
041310,000317: 
041311,000318:                                                                                                  #           R    =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041312,000319:                                                                                                  #            EM
041313,000320: 
041314,000321:                                                                                                  #           P    =RATIO   R   /(DISTANCE SUN TO EARTH)    >.00257125
041315,000322:                                                                                                  #                           EM
041316,000323: 
041317,000324:                                                                                                  #           R    =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041318,000325:                                                                                                  #            E
041319,000326: 
041320,000327:                                                                                                  #           LOCSAM  COMPUTES IN EARTH INFLUENCE
041321,000328: 
041322,000329: 
041323,000330:                                                                                                  #       VSUN   =   U
041324,000331:                                                                                                  #                   ES
041325,000332: 
041326,000333:                                                                                                  #      VEARTH  =   -UNIT( R  )
041327,000334:                                                                                                  #                          L
041328,000335: 
041329,000336:                                                                                                  #      VMOON   =    UNIT(R  .U   - R  )
041330,000337:                                                                                                  #                         EM  EM    L
041331,000338: 
041332,000339:                                                                                                  #      CSUN    =   COS 90
041333,000340: 
041334,000341:                                                                                                  #      CEARTH  =    COS(5 + ARCSIN(R /MAG(R )))
041335,000342:                                                                                                  #                                   E      L
041336,000343: 
041337,000344:                                                                                                  #      CMOON   =    COS 5
041338,000345: 
041339,000346: 
041340,000347:                                                                                                  #  INPUT -  TIME IN MPAC
041341,000348:                                                                                                  #  OUTPUT - LISTED ABOVE
041342,000349:                                                                                                  #  SUBROUTINES -LSPOS,LEMPREC
041343,000350:                                                                                                  #  DEBRIS - VAC AREA ,TSIGHT
041344,000351: 

Page 932

041346,000353: 14,2000                                           SETLOC   P50S1                                 
041347,000354: 14,2000                                           BANK                                           
041348,000355: 14,2347  E5,1642                                  EBANK=   XSM                                   
041349,000356: 
041350,000357: 14,2347                                           COUNT*   $$/LOSAM                              
041351,000358: 
041352,000359: 14,2347  14,2347               S50                =        LOCSAM                                
041353,000360: 14,2347           77620        LOCSAM             STQ                                            
041354,000361: 14,2350           02745                                    QMIN                                  
041355,000362: 14,2351           37560                           STCALL   TSIGHT                                
041356,000363: 14,2352           33663                                    LSPOS                                 
041357,000364: 14,2353           77745                           DLOAD                                          
041358,000365: 14,2354           03560                                    TSIGHT                                
041359,000366: 14,2355           34041                           STCALL   TDEC1                                 
041360,000367: 14,2356           27057                                    LEMPREC                               
041361,000368: 14,2357           61131                           SSP      TIX,2                                 
041362,000369: 14,2360           00052                                    S2                                    
041363,000370: 14,2361           00000                                    0                                     
041364,000371: 14,2362           30404                                    MOONCNTR                              
041365,000372: 14,2363           74375        EARTCNTR           VLOAD    VXSC                                  
041366,000373: 14,2364           02723                                    VMOON                                 
041367,000374: 14,2365           30001                                    RSUBEM                                
041368,000375: 14,2366           52372                           VSL1     VSU                                   
041369,000376: 14,2367           00001                                    RATT                                  
041370,000377: 14,2370           77656                           UNIT                                           
041371,000378: 14,2371           26723                           STOVL    VMOON                                 
041372,000379: 14,2372           00001                                    RATT                                  
041373,000380: 14,2373           57456                           UNIT     VCOMP                                 
041374,000381: 14,2374           16707                           STODL    VEARTH                                
041375,000382: 14,2375           30005                                    RSUBE                                 
041376,000383: 14,2376           77624                           CALL                                           
041377,000384: 14,2377           30436                                    OCCOS                                 
041378,000385: 14,2400           14017                           STODL    CEARTH                                
041379,000386: 14,2401           30445                                    CSS5                                  
041380,000387: 14,2402           34023                           STCALL   CMOON                                 
041381,000388: 14,2403           30431                                    ENDSAM                                
041382,000389: 14,2404           74375        MOONCNTR           VLOAD    VXSC                                  
041383,000390: 14,2405           02723                                    VMOON                                 
041384,000391: 14,2406           30007                                    ROE                                   
041385,000392: 14,2407           53445                           BVSU     UNIT                                  
041386,000393: 14,2410           02715                                    VSUN                                  
041387,000394: 14,2411           26715                           STOVL    VSUN                                  
041388,000395: 14,2412           02723                                    VMOON                                 
041389,000396: 14,2413           53361                           VXSC     VAD                                   
041390,000397: 14,2414           30001                                    RSUBEM                                
041391,000398: 14,2415           00001                                    RATT                                  
041392,000399: 14,2416           57456                           UNIT     VCOMP                                 
041393,000400: 14,2417           26707                           STOVL    VEARTH                                
041394,000401: 14,2420           00001                                    RATT                                  
041395,000402: 14,2421           57456                           UNIT     VCOMP                                 
041396,000403: 

Page 933

041398,000405: 14,2422           16723                           STODL    VMOON                                 
041399,000406: 14,2423           30003                                    RSUBM                                 
041400,000407: 14,2424           77624                           CALL                                           
041401,000408: 14,2425           30436                                    OCCOS                                 
041402,000409: 14,2426           14023                           STODL    CMOON                                 
041403,000410: 14,2427           30445                                    CSS5                                  
041404,000411: 14,2430           00017                           STORE    CEARTH                                
041405,000412: 14,2431           77745        ENDSAM             DLOAD                                          
041406,000413: 14,2432           30447                                    CSSUN                                 
041407,000414: 14,2433           00021                           STORE    CSUN                                  
041408,000415: 14,2434           77650                           GOTO                                           
041409,000416: 14,2435           02745                                    QMIN                                  
041410,000417: 14,2436           70471        OCCOS              DDV      SR1                                   
041411,000418: 14,2437           00045                                    36D                                   
041412,000419: 14,2440           43336                           ASIN     DAD                                   
041413,000420: 14,2441           30451                                    5DEGREES                              
041414,000421: 14,2442           70546                           COS      SR1                                   
041415,000422: 14,2443           77616                           RVQ                                            
041416,000423: 14,2444                        CEARTH             =        14D                                   
041417,000424: 14,2444                        CSUN               =        16D                                   
041418,000425: 14,2444                        CMOON              =        18D                                   
041419,000426: 14,2444           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
041420,000427: 14,2446           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
041421,000428: 14,2450           00343 21616  5DEGREES           2DEC     .013888889                            #     SCALED IN REVS
041422,000429: 

Page 934

041424,000431:                                                                                                  #  PROGRAM NAME - R56              DATE  DEC 20 66
041425,000432:                                                                                                  #  MOD 1                           LOG SECTION P51-P53
041426,000433:                                                                                                  #                                  ASSEMBLY  SUNDISK  REV40
041427,000434:                                                                                                  #  BY KEN VINCENT
041428,000435: 
041429,000436:                                                                                                  #  FUNCTION
041430,000437:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041431,000438:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041432,000439:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041433,000440:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041434,000441:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041435,000442:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041436,000443:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041437,000444:                                                                                                  #  HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041438,000445:                                                                                                  #  AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041439,000446:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041440,000447:                                                                                                  #  50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041441,000448:                                                                                                  #  THOSE WITH GOOD SEPARATION,AND     IN FIELD OF VIEW.
041442,000449: 
041443,000450:                                                                                                  #  CALLING SEQUENCE
041444,000451:                                                                                                  #  L        TC     BANKCALL
041445,000452:                                                                                                  #  L+1      CADR   R56
041446,000453:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
041447,000454:                                                                                                  #  L+3      NORMAL RETURN
041448,000455: 
041449,000456:                                                                                                  #  OUTPUT
041450,000457:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041451,000458:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
041452,000459: 
041453,000460:                                                                                                  #  INITIALIZATION
041454,000461:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
041455,000462: 
041456,000463:                                                                                                  #  DEBRIS
041457,000464:                                                                                                  #  WORK AREA
041458,000465:                                                                                                  #  X,Y,ZNB
041459,000466:                                                                                                  #  SINCDU,COSCDU
041460,000467:                                                                                                  #  STARAD - STAR +5
041461,000468: 14,2452  14,2452               R56                =        PICAPAR                               
041462,000469: 14,2452                                           COUNT*   $$/R56                                
041463,000470: 14,2452           04645        PICAPAR            TC       MAKECADR                              
041464,000471: 14,2453           55745                           TS       QMIN                                  
041465,000472: 14,2454           06036                           TC       INTPRET                               
041466,000473: 14,2455           77624                           CALL                                           
041467,000474: 14,2456           47443                                    CDUTRIG                               
041468,000475: 14,2457           77624                           CALL                                           
041469,000476: 14,2460           31267                                    CALCSMSC                              
041470,000477: 14,2461           77601                           SETPD                                          
041471,000478: 14,2462           00001                                    0                                     
041472,000479: 14,2463           71214                           SET      DLOAD                                 #  VFLAG = 1
041473,000480: 14,2464           01465                                    VFLAG                                 
041474,000481: 

Page 935

041476,000483: 14,2465           22275                                    DPZERO                                
041477,000484: 14,2466           26756                           STOVL    BESTI                                 
041478,000485: 14,2467           02665                                    XNB                                   
041479,000486: 14,2470           63361                           VXSC     PDVL                                  
041480,000487: 14,2471           22273                                    HALFDP                                
041481,000488: 14,2472           02701                                    ZNB                                   
041482,000489: 14,2473           74370                           AXT,1    VXSC                                  
041483,000490: 14,2474           00344                                    228D                                  #  X1 = 37 X 6 + 6
041484,000491: 14,2475           22273                                    HALFDP                                
041485,000492: 14,2476           77655                           VAD                                            
041486,000493: 14,2477           53505                           VXM      UNIT                                  
041487,000494: 14,2500           01734                                    REFSMMAT                              
041488,000495: 14,2501           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
041489,000496: 14,2502           66331                           SSP      SSP                                   #  S1=S2=6
041490,000497: 14,2503           00051                                    S1                                    
041491,000498: 14,2504           00006                                    6                                     
041492,000499: 14,2505           00052                                    S2                                    
041493,000500: 14,2506           00006                                    6                                     
041494,000501: 14,2507           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
041495,000502: 14,2510           30512                                    PIC2                                  
041496,000503: 14,2511           30627                                    PICEND                                
041497,000504: 14,2512           50373        PIC2               VLOAD*   DOT                                   
041498,000505: 14,2513           30347                                    CATLOG,1                              
041499,000506: 14,2514           02731                                    SAX                                   
041500,000507: 14,2515           50025                           DSU      BMN                                   
041501,000508: 14,2516           30626                                    CSS33                                 
041502,000509: 14,2517           30507                                    PIC1                                  
041503,000510: 14,2520           77754                           LXA,2                                          
041504,000511: 14,2521           00046                                    X1                                    
041505,000512: 14,2522           52104        PIC3               TIX,2    GOTO                                  
041506,000513: 14,2523           30525                                    PIC4                                  
041507,000514: 14,2524           30507                                    PIC1                                  
041508,000515: 14,2525           50373        PIC4               VLOAD*   DOT                                   
041509,000516: 14,2526           47430                                    CATLOG,2                              
041510,000517: 14,2527           02731                                    SAX                                   
041511,000518: 14,2530           50025                           DSU      BMN                                   
041512,000519: 14,2531           30626                                    CSS33                                 
041513,000520: 14,2532           30522                                    PIC3                                  
041514,000521: 14,2533           47773                           VLOAD*   DOT*                                  
041515,000522: 14,2534           30347                                    CATLOG,1                              
041516,000523: 14,2535           47430                                    CATLOG,2                              
041517,000524: 14,2536           51025                           DSU      BPL                                   
041518,000525: 14,2537           30624                                    CSS40                                 
041519,000526: 14,2540           30522                                    PIC3                                  
041520,000527: 14,2541           45173                           VLOAD*   CALL                                  
041521,000528: 14,2542           30347                                    CATLOG,1                              
041522,000529: 14,2543           30601                                    OCCULT                                
041523,000530: 14,2544           77614                           BON                                            
041524,000531: 14,2545           01710                                    CULTFLAG                              
041525,000532: 14,2546           30507                                    PIC1                                  
041526,000533: 

Page 936

041528,000535: 14,2547           45173                           VLOAD*   CALL                                  
041529,000536: 14,2550           47430                                    CATLOG,2                              
041530,000537: 14,2551           30601                                    OCCULT                                
041531,000538: 14,2552           77614                           BON                                            
041532,000539: 14,2553           01710                                    CULTFLAG                              
041533,000540: 14,2554           30522                                    PIC3                                  
041534,000541: 14,2555           77614        STRATGY            BONCLR                                         
041535,000542: 14,2556           01605                                    VFLAG                                 
041536,000543: 14,2557           30574                                    NEWPAR                                
041537,000544: 14,2560           65120                           XCHX,1   XCHX,2                                
041538,000545: 14,2561           02755                                    BESTI                                 
041539,000546: 14,2562           02756                                    BESTJ                                 
041540,000547: 14,2563           47773        STRAT              VLOAD*   DOT*                                  
041541,000548: 14,2564           30347                                    CATLOG,1                              
041542,000549: 14,2565           47430                                    CATLOG,2                              
041543,000550: 14,2566           43006                           PUSH     BOFINV                                
041544,000551: 14,2567           01545                                    VFLAG                                 
041545,000552: 14,2570           30560                                    STRAT      -3                         
041546,000553: 14,2571           45345                           DLOAD    DSU                                   
041547,000554: 14,2572           77644                           BPL                                            
041548,000555: 14,2573           30522                                    PIC3                                  
041549,000556: 14,2574           67130        NEWPAR             SXA,1    SXA,2                                 
041550,000557: 14,2575           02755                                    BESTI                                 
041551,000558: 14,2576           02756                                    BESTJ                                 
041552,000559: 14,2577           77650                           GOTO                                           
041553,000560: 14,2600           30522                                    PIC3                                  
041554,000561: 14,2601           51321        OCCULT             MXV      BVSU                                  
041555,000562: 14,2602           02707                                    CULTRIX                               
041556,000563: 14,2603           00017                                    CSS                                   
041557,000564: 14,2604           77654                           BZE                                            
041558,000565: 14,2605           30620                                    CULTED                                
041559,000566: 14,2606           75240                           BMN      SIGN                                  
041560,000567: 14,2607           30620                                    CULTED                                
041561,000568: 14,2610           00160                                    MPAC       +3                         
041562,000569: 14,2611           75240                           BMN      SIGN                                  
041563,000570: 14,2612           30620                                    CULTED                                
041564,000571: 14,2613           00162                                    MPAC       +5                         
041565,000572: 14,2614           43040                           BMN      CLRGO                                 
041566,000573: 14,2615           30620                                    CULTED                                
041567,000574: 14,2616           01630                                    CULTFLAG                              
041568,000575: 14,2617           00052                                    QPRET                                 
041569,000576: 14,2620           77614        CULTED             SETGO                                          
041570,000577: 14,2621           01430                                    CULTFLAG                              
041571,000578: 14,2622           00052                                    QPRET                                 
041572,000579: 14,2623  0000016               CSS                =        CEARTH                                
041573,000580: 14,2623           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
041574,000581: 14,2625           05110 35052  CSS33              2DEC     .16070                                #   COS 50 / 4
041575,000582: 14,2627           77414        PICEND             BOFF     EXIT                                  
041576,000583: 

Page 937

041578,000585: 14,2630           01745                                    VFLAG                                 
041579,000586: 14,2631           30633                                    PICGXT                                
041580,000587: 14,2632           02654                           TC       PICBXT                                
041581,000588: 14,2633           73150        PICGXT             LXA,1    LXA,2                                 
041582,000589: 14,2634           02755                                    BESTI                                 
041583,000590: 14,2635           02756                                    BESTJ                                 
041584,000591: 14,2636           47775                           VLOAD    DOT*                                  
041585,000592: 14,2637           02731                                    SAX                                   
041586,000593: 14,2640           30347                                    CATLOG,1                              
041587,000594: 14,2641           47715                           PDVL     DOT*                                  
041588,000595: 14,2642           02731                                    SAX                                   
041589,000596: 14,2643           47430                                    CATLOG,2                              
041590,000597: 14,2644           77625                           DSU                                            
041591,000598: 14,2645           66044                           BPL      SXA,1                                 
041592,000599: 14,2646           30652                                    PICNSWP                               
041593,000600: 14,2647           02756                                    BESTJ                                 
041594,000601: 14,2650           77734                           SXA,2                                          
041595,000602: 14,2651           02755                                    BESTI                                 
041596,000603: 14,2652           77776        PICNSWP            EXIT                                           
041597,000604: 14,2653           25745                           INCR     QMIN                                  
041598,000605: 14,2654           31745        PICBXT             CA       QMIN                                  
041599,000606: 14,2655           04622                           TC       SWCALL                                
041600,000607: 14,2656                        VPD                =        0D                                    
041601,000608: 14,2656                        V0                 =        6D                                    
041602,000609: 14,2656                        V1                 =        12D                                   
041603,000610: 14,2656                        V2                 =        18D                                   
041604,000611: 14,2656                        V3                 =        24D                                   
041605,000612: 14,2656                        DP0                =        30D                                   
041606,000613: 14,2656                        DP1                =        32D                                   
041607,000614: 

Page 938

041609,000616:                                                                                                  #  NAME-R51  FINE ALIGN
041610,000617:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041611,000618:                                                                                                  #  CALLING SEQ- CALL  R51
041612,000619:                                                                                                  #  INPUT -  REFSMMAT
041613,000620:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
041614,000621:                                                                                                  #  SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041615,000622: 14,2656                                           COUNT*   $$/R51                                
041616,000623: 14,2656           77620        R51                STQ                                            
041617,000624: 14,2657           02746                                    QMAJ                                  
041618,000625: 14,2660           77776        R51.1              EXIT                                           
041619,000626: 14,2661           34761        R51C               CAF      OCT15                                 
041620,000627: 14,2662           04616                           TC       BANKCALL                              
041621,000628: 14,2663           20476                           CADR     GOPERF1                               
041622,000629: 14,2664           06001                           TC       GOTOPOOH                              
041623,000630: 14,2665           02667                           TC       +2                                    #  V33E
041624,000631: 14,2666           02712                           TC       R51E                                  #  ENTER
041625,000632: 14,2667           06036                           TC       INTPRET                               
041626,000633: 14,2670           43234                           RTB      DAD                                   
041627,000634: 14,2671           21462                                    LOADTIME                              
041628,000635: 14,2672           31024                                    TSIGHT1                               
041629,000636: 14,2673           77624                           CALL                                           
041630,000637: 14,2674           30347                                    LOCSAM                                
041631,000638: 14,2675           77776                           EXIT                                           
041632,000639: 14,2676           04616                           TC       BANKCALL                              
041633,000640: 14,2677           30452                           CADR     R56                                   
041634,000641: 14,2700           02702                           TC       R51I                                  
041635,000642: 14,2701           02712        R51F               TC       R51E                                  
041636,000643: 14,2702           05567        R51I               TC       ALARM                                 
041637,000644: 14,2703           00405                           OCT      405                                   
041638,000645: 14,2704           35006                           CAF      VB05N09                               
041639,000646: 14,2705           04616                           TC       BANKCALL                              
041640,000647: 14,2706           20351                           CADR     GOFLASH                               
041641,000648: 14,2707           06001                           TC       GOTOPOOH                              
041642,000649: 14,2710           02712                           TC       R51E                                  
041643,000650: 14,2711           02661                           TC       R51C                                  
041644,000651: 14,2712           34755        R51E               CAF      ZERO                                  
041645,000652: 14,2713           55757                           TS       STARIND                               
041646,000653: 14,2714           06036        R51.2              TC       INTPRET                               
041647,000654: 14,2715           77776        R51.3              EXIT                                           
041648,000655: 14,2716           05353                           TC       PHASCHNG                              
041649,000656: 14,2717           05024                           OCT      05024                                 
041650,000657: 14,2720           13000                           OCT      13000                                 
041651,000658: 14,2721           06036                           TC       INTPRET                               
041652,000659: 14,2722           77624                           CALL                                           
041653,000660: 14,2723           31610                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
041654,000661: 14,2724           77776                           EXIT                                           
041655,000662: 14,2725           04616                           TC       BANKCALL                              
041656,000663: 14,2726           16000                           CADR     AOTMARK                               
041657,000664: 14,2727           04616                           TC       BANKCALL                              
041658,000665: 14,2730           17665                           CADR     OPTSTALL                              
041659,000666: 

Page 939

041661,000668: 14,2731           05703                           TC       CURTAINS                              
041662,000669: 14,2732           11757                           CCS      STARIND                               
041663,000670: 14,2733           12735                           TCF      +2                                    
041664,000671: 14,2734           03006                           TC       R51.4                                 
041665,000672: 14,2735           06036                           TC       INTPRET                               
041666,000673: 14,2736           77775                           VLOAD                                          
041667,000674: 14,2737           02715                                    STARAD     +6                         
041668,000675: 14,2740           02767                           STORE    STARSAV2                              
041669,000676: 14,2741           77776                           EXIT                                           
041670,000677: 14,2742           05353                           TC       PHASCHNG                              
041671,000678: 14,2743           05024                           OCT      05024                                 
041672,000679: 14,2744           13000                           OCT      13000                                 
041673,000680: 14,2745           06036                           TC       INTPRET                               
041674,000681: 14,2746           45145                           DLOAD    CALL                                  
041675,000682: 14,2747           03560                                    TSIGHT                                
041676,000683: 14,2750           32540                                    PLANET                                
041677,000684: 14,2751           53521                           MXV      UNIT                                  
041678,000685: 14,2752           01734                                    REFSMMAT                              
041679,000686: 14,2753           26715                           STOVL    STARAD     +6                         
041680,000687: 14,2754           03552                                    PLANVEC                               
041681,000688: 14,2755           53521                           MXV      UNIT                                  
041682,000689: 14,2756           01734                                    REFSMMAT                              
041683,000690: 14,2757           26707                           STOVL    STARAD                                
041684,000691: 14,2760           02761                                    STARSAV1                              
041685,000692: 14,2761           24007                           STOVL    6D                                    
041686,000693: 14,2762           02767                                    STARSAV2                              
041687,000694: 14,2763           34015                           STCALL   12D                                   
041688,000695: 14,2764           31121                                    R54                                   #  STAR DATA TEST
041689,000696: 14,2765           45014                           BOFF     CALL                                  
041690,000697: 14,2766           00354                                    FREEFLAG                              
041691,000698: 14,2767           30775                                    R51K                                  
041692,000699: 14,2770           47345                                    AXISGEN                               
041693,000700: 14,2771           77624                           CALL                                           
041694,000701: 14,2772           31066                                    R55                                   #  GYRO TORQUE
041695,000702: 14,2773           77614                           CLEAR                                          
041696,000703: 14,2774           01273                                    PFRATFLG                              
041697,000704: 14,2775           77776        R51K               EXIT                                           
041698,000705: 14,2776           35742        R51P63             CAF      OCT14                                 
041699,000706: 14,2777           04616                           TC       BANKCALL                              
041700,000707: 14,3000           20476                           CADR     GOPERF1                               
041701,000708: 14,3001           06001                           TC       GOTOPOOH                              
041702,000709: 14,3002           02661                           TC       R51C                                  
041703,000710: 14,3003           06036                           TC       INTPRET                               
041704,000711: 14,3004           77650                           GOTO                                           
041705,000712: 14,3005           02746                                    QMAJ                                  
041706,000713: 14,3006           06036        R51.4              TC       INTPRET                               
041707,000714: 14,3007           77775                           VLOAD                                          
041708,000715: 14,3010           02715                                    STARAD     +6                         
041709,000716: 14,3011           02761                           STORE    STARSAV1                              
041710,000717: 14,3012           45145                           DLOAD    CALL                                  
041711,000718: 

Page 940

041713,000720: 14,3013           03560                                    TSIGHT                                
041714,000721: 14,3014           32540                                    PLANET                                
041715,000722: 14,3015           03552                           STORE    PLANVEC                               
041716,000723: 14,3016           77731                           SSP                                            
041717,000724: 14,3017           02760                                    STARIND                               
041718,000725: 14,3020           00001                                    1                                     
041719,000726: 14,3021           77650                           GOTO                                           
041720,000727: 14,3022           30715                                    R51.3                                 
041721,000728: 14,3023           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
041722,000729: 

Page 941

041724,000731:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
041725,000732: 14,3025           45020        GYCOARS            STQ      CALL                                  
041726,000733: 14,3026           02746                                    QMAJ                                  
041727,000734: 14,3027           47151                                    CALCGTA                               
041728,000735: 14,3030           43014                           CLEAR    CLEAR                                 
041729,000736: 14,3031           01260                                    DRIFTFLG                              
041730,000737: 14,3032           01662                                    REFSMFLG                              
041731,000738: 14,3033           77776                           EXIT                                           
041732,000739: 14,3034           33065                           CAF      V16N20                                #  MONITOR GIMBALS
041733,000740: 14,3035           04616                           TC       BANKCALL                              
041734,000741: 14,3036           20327                           CADR     GODSPR                                
041735,000742: 14,3037           33120                           CA       R55CDR                                
041736,000743: 14,3040           04616                           TC       BANKCALL                              
041737,000744: 14,3041           17276                           CADR     IMUPULSE                              
041738,000745: 14,3042           04616                           TC       BANKCALL                              
041739,000746: 14,3043           17671                           CADR     IMUSTALL                              
041740,000747: 14,3044           05703                           TC       CURTAINS                              
041741,000748: 14,3045           05353                           TC       PHASCHNG                              
041742,000749: 14,3046           05024                           OCT      05024                                 
041743,000750: 14,3047           13000                           OCT      13000                                 
041744,000751: 14,3050           06036                           TC       INTPRET                               
041745,000752: 14,3051           75160                           AXC,1    AXC,2                                 
041746,000753: 14,3052           03604                                    XSMD                                  
041747,000754: 14,3053           01733                                    REFSMMAT                              
041748,000755: 14,3054           77624                           CALL                                           #  STORE DESIRED REFSMMAT
041749,000756: 14,3055           31237                                    MATMOVE                               
041750,000757: 14,3056           43014                           CLEAR    SET                                   
041751,000758: 14,3057           01273                                    PFRATFLG                              
041752,000759: 14,3060           01462                                    REFSMFLG                              
041753,000760: 14,3061           77624                           CALL                                           
041754,000761: 14,3062           31523                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
041755,000762: 14,3063           77650                           GOTO                                           
041756,000763: 14,3064           30775                                    R51K                                  
041757,000764: 14,3065           04024        V16N20             VN       1620                                  
041758,000765: 

Page 942

041760,000767:                                                                                                  #  R55  GYRO TORQUE
041761,000768:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
041762,000769:                                                                                                  #  CALLING SEQ- CALL R55
041763,000770:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041764,000771:                                                                                                  #  OUTPUT- GYRO PULSES
041765,000772:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041766,000773: 14,3066                                           COUNT*   $$/R55                                
041767,000774: 14,3066           77620        R55                STQ                                            
041768,000775: 14,3067           02745                                    QMIN                                  
041769,000776: 14,3070           77624                           CALL                                           
041770,000777: 14,3071           47151                                    CALCGTA                               
041771,000778: 14,3072           77776        PULSEM             EXIT                                           
041772,000779: 14,3073           33117        R55.1              CAF      V06N93                                
041773,000780: 14,3074           04616                           TC       BANKCALL                              
041774,000781: 14,3075           20351                           CADR     GOFLASH                               
041775,000782: 14,3076           06001                           TC       GOTOPOOH                              
041776,000783: 14,3077           03101                           TC       R55.2                                 
041777,000784: 14,3100           03114                           TC       R55RET                                
041778,000785: 14,3101           05353        R55.2              TC       PHASCHNG                              
041779,000786: 14,3102           00214                           OCT      00214                                 
041780,000787: 14,3103           33120                           CA       R55CDR                                
041781,000788: 14,3104           04616                           TC       BANKCALL                              
041782,000789: 14,3105           17276                           CADR     IMUPULSE                              
041783,000790: 14,3106           04616                           TC       BANKCALL                              
041784,000791: 14,3107           17671                           CADR     IMUSTALL                              
041785,000792: 14,3110           05703                           TC       CURTAINS                              
041786,000793: 14,3111           05353                           TC       PHASCHNG                              
041787,000794: 14,3112           05024                           OCT      05024                                 
041788,000795: 14,3113           13000                           OCT      13000                                 
041789,000796: 14,3114           06036        R55RET             TC       INTPRET                               
041790,000797: 14,3115           77650                           GOTO                                           
041791,000798: 14,3116           02745                                    QMIN                                  
041792,000799: 14,3117           01535        V06N93             VN       0693                                  
041793,000800: 14,3120           02737        R55CDR             ECADR    OGC                                   
041794,000801: 14,3121  14,3121               R54                =        CHKSDATA                              
041795,000802:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
041796,000803:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
041797,000804:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
041798,000805: 
041799,000806:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041800,000807:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041801,000808:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041802,000809: 
041803,000810:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
041804,000811:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
041805,000812:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
041806,000813:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
041807,000814:                                                                                                  #                  A1  = ARCCOS(OS1 - OS2)
041808,000815:                                                                                                  #                  A2  = ARCCOS(SS1 - SS2)
041809,000816:                                                                                                  #                  A   = ABS(2(A1 - A2))
041810,000817: 

Page 943

041812,000819:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041813,000820:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
041814,000821:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
041815,000822:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041816,000823:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041817,000824: 
041818,000825:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
041819,000826:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041820,000827:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041821,000828:                                                                                                  #  DEBRIS -
041822,000829: 14,3121                                           COUNT*   $$/R54                                
041823,000830: 14,3121           43020        CHKSDATA           STQ      SET                                   
041824,000831: 14,3122           02745                                    QMIN                                  
041825,000832: 14,3123           00074                                    FREEFLAG                              
041826,000833: 14,3124           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
041827,000834: 14,3125           02706                                    STARAD                                
041828,000835: 
041829,000836: 14,3126           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
041830,000837: 14,3127           00001                                    0,1                                   
041831,000838: 14,3130           00007                                    6,1                                   
041832,000839: 14,3131           65552                           SL1      ACOS                                  
041833,000840: 14,3132           00025                           STORE    THETA                                 
041834,000841: 14,3133           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
041835,000842: 14,3134           00354                                    FREEFLAG                              
041836,000843: 14,3135           31145                                    CHKSD                                 
041837,000844: 14,3136           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
041838,000845: 14,3137           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
041839,000846: 14,3140           00006                                    6D                                    
041840,000847: 14,3141           00025                                    THETA                                 
041841,000848: 14,3142           00023                           STORE    18D                                   
041842,000849: 14,3143           77650                           GOTO                                           
041843,000850: 14,3144           31126                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
041844,000851: 14,3145           45345        CHKSD              DLOAD    DSU                                   
041845,000852: 14,3146           00025                                    THETA                                 
041846,000853: 14,3147           00023                                    18D                                   
041847,000854: 14,3150           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
041848,000855: 14,3151           21516                                    SGNAGREE                              
041849,000856: 14,3152           01046                           STORE    NORMTEM1                              
041850,000857: 14,3153           77414                           SET      EXIT                                  
041851,000858: 14,3154           00074                                    FREEFLAG                              
041852,000859: 14,3155           33171                           CAF      VB6N5                                 
041853,000860: 14,3156           04616                           TC       BANKCALL                              
041854,000861: 14,3157           20351                           CADR     GOFLASH                               
041855,000862: 14,3160           16001                           TCF      GOTOPOOH                              
041856,000863: 14,3161           03166                           TC       CHKSDA                                #  PROCEED
041857,000864: 14,3162           06036                           TC       INTPRET                               
041858,000865: 14,3163           52014                           CLEAR    GOTO                                  
041859,000866: 14,3164           00274                                    FREEFLAG                              
041860,000867: 14,3165           02745                                    QMIN                                  
041861,000868: 14,3166           06036        CHKSDA             TC       INTPRET                               
041862,000869: 

Page 944

041864,000871: 14,3167           77650                           GOTO                                           
041865,000872: 14,3170           02745                                    QMIN                                  
041866,000873: 14,3171           01405        VB6N5              VN       605                                   
041867,000874:                                                                                                  #  NAME - CAL53A
041868,000875:                                                                                                  #  FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041869,000876:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
041870,000877:                                                                                                  #  INPUT - X,Y,ZSMD ,CDUX,Y,Z
041871,000878:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
041872,000879:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041873,000880:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041874,000881: 14,3172                                           COUNT*   $$/R50                                
041875,000882: 14,3172           45020        CAL53A             STQ      CALL                                  
041876,000883: 14,3173           00035                                    29D                                   
041877,000884: 14,3174           31534                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBLE ANGLES
041878,000885: 14,3175           66234                           RTB      SSP                                   
041879,000886: 14,3176           31253                                    RDCDUS                                #  READ CDUS
041880,000887: 14,3177           00051                                    S1                                    
041881,000888: 14,3200           00001                                    1                                     
041882,000889: 14,3201           40370                           AXT,1    SETPD                                 
041883,000890: 14,3202           00003                                    3                                     
041884,000891: 14,3203           00005                                    4                                     
041885,000892: 14,3204           70543        CALOOP             DLOAD*   SR1                                   
041886,000893: 14,3205           00325                                    THETAD     +3D,1                      
041887,000894: 14,3206           70523                           PDDL*    SR1                                   
041888,000895: 14,3207           00005                                    4,1                                   
041889,000896: 14,3210           51425                           DSU      ABS                                   
041890,000897: 14,3211           45206                           PUSH     DSU                                   
041891,000898: 14,3212           31252                                    DEGREE1                               
041892,000899: 14,3213           71240                           BMN      DLOAD                                 
041893,000900: 14,3214           31226                                    CALOOP1                               
041894,000901: 14,3215           51025                           DSU      BPL                                   
041895,000902: 14,3216           31253                                    DEG359                                
041896,000903: 14,3217           31226                                    CALOOP1                               
041897,000904: 14,3220           77624        COARFINE           CALL                                           
041898,000905: 14,3221           31506                                    COARSE                                
041899,000906: 14,3222           77624                           CALL                                           
041900,000907: 14,3223           31523                                    NCOARSE                               
041901,000908: 14,3224           77650                           GOTO                                           
041902,000909: 14,3225           31230                                    FINEONLY                              
041903,000910: 14,3226           77700        CALOOP1            TIX,1                                          
041904,000911: 14,3227           31204                                    CALOOP                                
041905,000912: 14,3230           75160        FINEONLY           AXC,1    AXC,2                                 
041906,000913: 14,3231           02642                                    XSM                                   
041907,000914: 14,3232           01733                                    REFSMMAT                              
041908,000915: 14,3233           77624                           CALL                                           
041909,000916: 14,3234           31237                                    MATMOVE                               
041910,000917: 14,3235           77650                           GOTO                                           
041911,000918: 14,3236           00035                                    29D                                   
041912,000919: 14,3237           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
041913,000920: 14,3240           00001                                    0,1                                   
041914,000921: 

Page 945

041916,000923: 14,3241           10001                           STORE    0,2                                   
041917,000924: 14,3242           77773                           VLOAD*                                         
041918,000925: 14,3243           00007                                    6D,1                                  
041919,000926: 14,3244           10007                           STORE    6D,2                                  
041920,000927: 14,3245           77773                           VLOAD*                                         
041921,000928: 14,3246           00015                                    12D,1                                 
041922,000929: 14,3247           10015                           STORE    12D,2                                 
041923,000930: 14,3250           77616                           RVQ                                            
041924,000931: 14,3251           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
041925,000932: 14,3252           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
041926,000933: 14,3253           00004        RDCDUS             INHINT                                         #  READ CDUS
041927,000934: 14,3254           30032                           CA       CDUX                                  
041928,000935: 14,3255           50120                           INDEX    FIXLOC                                
041929,000936: 14,3256           54001                           TS       1                                     
041930,000937: 14,3257           30033                           CA       CDUY                                  
041931,000938: 14,3260           50120                           INDEX    FIXLOC                                
041932,000939: 14,3261           54002                           TS       2                                     
041933,000940: 14,3262           30034                           CA       CDUZ                                  
041934,000941: 14,3263           50120                           INDEX    FIXLOC                                
041935,000942: 14,3264           54003                           TS       3                                     
041936,000943: 14,3265           00003                           RELINT                                         
041937,000944: 14,3266           06060                           TC       DANZIG                                #                                        +
041938,000945: 14,3267                                           COUNT*   $$/INFLT                              
041939,000946: 14,3267           77760        CALCSMSC           AXC,1                                          
041940,000947: 14,3270           02664                                    XNB                                   
041941,000948: 
041942,000949: 14,3271           41345        XNBNDX             DLOAD    DMP                                   
041943,000950: 14,3272           00737                                    SINCDUY                               
041944,000951: 14,3273           00747                                    COSCDUZ                               
041945,000952: 14,3274           77676                           DCOMP                                          
041946,000953: 14,3275           70525                           PDDL     SR1                                   
041947,000954: 14,3276           00741                                    SINCDUZ                               
041948,000955: 14,3277           41325                           PDDL     DMP                                   
041949,000956: 14,3300           00745                                    COSCDUY                               
041950,000957: 14,3301           00747                                    COSCDUZ                               
041951,000958: 14,3302           76466                           VDEF     VSL1                                  
041952,000959: 14,3303           04001                           STORE    0,1                                   
041953,000960: 14,3304           41345                           DLOAD    DMP                                   
041954,000961: 14,3305           00743                                    SINCDUX                               
041955,000962: 14,3306           00741                                    SINCDUZ                               
041956,000963: 14,3307           77752                           SL1                                            
041957,000964: 14,3310           00033                           STORE    26D                                   
041958,000965: 14,3311           77605                           DMP                                            
041959,000966: 14,3312           00737                                    SINCDUY                               
041960,000967: 14,3313           41325                           PDDL     DMP                                   
041961,000968: 14,3314           00751                                    COSCDUX                               
041962,000969: 14,3315           00745                                    COSCDUY                               
041963,000970: 14,3316           77625                           DSU                                            
041964,000971: 14,3317           41325                           PDDL     DMP                                   
041965,000972: 14,3320           00743                                    SINCDUX                               
041966,000973: 

Page 946

041968,000975: 14,3321           00747                                    COSCDUZ                               
041969,000976: 14,3322           77676                           DCOMP                                          
041970,000977: 14,3323           41325                           PDDL     DMP                                   
041971,000978: 14,3324           00751                                    COSCDUX                               
041972,000979: 14,3325           00737                                    SINCDUY                               
041973,000980: 14,3326           41325                           PDDL     DMP                                   
041974,000981: 14,3327           00745                                    COSCDUY                               
041975,000982: 14,3330           00033                                    26D                                   
041976,000983: 14,3331           55415                           DAD      VDEF                                  
041977,000984: 14,3332           77772                           VSL1                                           
041978,000985: 14,3333           04015                           STORE    14,1                                  
041979,000986: 14,3334           76433                           VXV*     VSL1                                  
041980,000987: 14,3335           00001                                    0,1                                   
041981,000988: 14,3336           04007                           STORE    6,1                                   
041982,000989: 14,3337           77616                           RVQ                                            
041983,000990: 

Page 947

041985,000992:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
041986,000993:                                                                                                  #           MOD.NO.1  23 JAN 67                                                             LOG SECTION - P51-P53
041987,000994:                                                                                                  #  MOD BY STURLAUGSON                                                                      ASSEMBLY SUNDANCE REV56
041988,000995: 
041989,000996:                                                                                                  #  FUNCTIONAL DESCRIPTION
041990,000997: 
041991,000998:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
041992,000999:                                                                                                  #  (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
041993,001000:                                                                                                  #  STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041994,001001:                                                                                                  #  CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
041995,001002: 
041996,001003:                                                                                                  #  CALLING SEQUENCE
041997,001004: 
041998,001005:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041999,001006: 
042000,001007:                                                                                                  #  SUBROUTINES CALLED.
042001,001008: 
042002,001009:                                                                                                  #       GOPERF3
042003,001010:                                                                                                  #       GOPERF1
042004,001011:                                                                                                  #       GODSPR
042005,001012:                                                                                                  #       IMUCOARS
042006,001013:                                                                                                  #       IMUFIN20
042007,001014:                                                                                                  #       AOTMARK(R53)
042008,001015:                                                                                                  #       CHKSDATA(R54)
042009,001016:                                                                                                  #       MKRELEAS
042010,001017:                                                                                                  #       AXISGEN
042011,001018:                                                                                                  #       MATMOVE
042012,001019: 
042013,001020:                                                                                                  #  ALARMS
042014,001021: 
042015,001022:                                                                                                  #       NONE.
042016,001023: 
042017,001024:                                                                                                  #  ERASABLE INITIALIZATION
042018,001025: 
042019,001026:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
042020,001027: 
042021,001028:                                                                                                  #  OUTPUT
042022,001029: 
042023,001030:                                                                                                  #       REFSMMAT
042024,001031:                                                                                                  #       REFSMFLG
042025,001032: 
042026,001033:                                                                                                  #  DEBRIS
042027,001034: 
042028,001035:                                                                                                  #       WORK AREA
042029,001036:                                                                                                  #       STARAD
042030,001037:                                                                                                  #       STARIND
042031,001038:                                                                                                  #       BESTI
042032,001039:                                                                                                  #       BESTJ
042033,001040: 
042034,001041: 14,3340                                           COUNT*   $$/P51                                

Page 948

042036,001043: 14,3340           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
042037,001044: 14,3341           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042038,001045: 
042039,001046: 14,3342           34761                           CAF      PRFMSTAQ                              
042040,001047: 14,3343           04616                           TC       BANKCALL                              
042041,001048: 14,3344           20476                           CADR     GOPERF1                               
042042,001049: 14,3345           06001                           TC       GOTOPOOH                              #  TERM.
042043,001050: 14,3346           13374                           TCF      P51B                                  #  V33
042044,001051: 14,3347           05353                           TC       PHASCHNG                              
042045,001052: 14,3350           05024                           OCT      05024                                 
042046,001053: 14,3351           13000                           OCT      13000                                 
042047,001054: 14,3352           34755                           CAF      P51ZERO                               
042048,001055: 14,3353           54321                           TS       THETAD                                #  ZERO THE GIMBALS
042049,001056: 14,3354           54322                           TS       THETAD     +1                         
042050,001057: 14,3355           54323                           TS       THETAD     +2                         
042051,001058: 14,3356           33504                           CAF      V6N22                                 
042052,001059: 14,3357           04616                           TC       BANKCALL                              
042053,001060: 14,3360           20324                           CADR     GODSPRET                              
042054,001061: 14,3361           33505                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
042055,001062: 14,3362           04616                           TC       BANKCALL                              
042056,001063: 14,3363           20324                           CADR     GODSPRET                              
042057,001064: 14,3364           06036                           TC       INTPRET                               
042058,001065: 14,3365           77624                           CALL                                           
042059,001066: 14,3366           31506                                    COARSE                                
042060,001067: 14,3367           77776                           EXIT                                           
042061,001068: 14,3370           05353                           TC       PHASCHNG                              
042062,001069: 14,3371           05024                           OCT      05024                                 
042063,001070: 14,3372           13000                           OCT      13000                                 
042064,001071: 14,3373           13342                           TCF      P51        +2                         
042065,001072: 
042066,001073: 14,3374           05353        P51B               TC       PHASCHNG                              
042067,001074: 14,3375           00014                           OCT      00014                                 
042068,001075: 14,3376           06036                           TC       INTPRET                               
042069,001076: 14,3377           77624                           CALL                                           
042070,001077: 14,3400           31523                                    NCOARSE                               
042071,001078: 14,3401           40331                           SSP      SETPD                                 
042072,001079: 14,3402           02760                                    STARIND                               #  INDEX-STAR 1 OR 2
042073,001080: 14,3403           00000                                    0                                     
042074,001081: 14,3404           00001                                    0                                     
042075,001082: 14,3405           77776        P51C               EXIT                                           
042076,001083: 14,3406           05353                           TC       PHASCHNG                              
042077,001084: 14,3407           05024                           OCT      05024                                 
042078,001085: 14,3410           13000                           OCT      13000                                 
042079,001086: 14,3411           04616                           TC       BANKCALL                              
042080,001087: 14,3412           16000                           CADR     AOTMARK                               #  R53
042081,001088: 14,3413           04616                           TC       BANKCALL                              
042082,001089: 14,3414           17665                           CADR     AOTSTALL                              
042083,001090: 14,3415           05703                           TC       CURTAINS                              
042084,001091: 14,3416           11757                           CCS      STARIND                               
042085,001092: 14,3417           13425                           TCF      P51D       +1                         
042086,001093: 

Page 949

042088,001095: 14,3420           06036                           TC       INTPRET                               
042089,001096: 14,3421           77775                           VLOAD                                          
042090,001097: 14,3422           02715                                    STARAD     +6                         
042091,001098: 14,3423           02761                           STORE    STARSAV1                              
042092,001099: 14,3424           77776        P51D               EXIT                                           
042093,001100: 14,3425           05353                           TC       PHASCHNG                              
042094,001101: 14,3426           05024                           OCT      05024                                 
042095,001102: 14,3427           13000                           OCT      13000                                 
042096,001103: 14,3430           11757                           CCS      STARIND                               
042097,001104: 14,3431           13446                           TCF      P51E                                  
042098,001105: 14,3432           05353                           TC       PHASCHNG                              
042099,001106: 14,3433           05024                           OCT      05024                                 
042100,001107: 14,3434           13000                           OCT      13000                                 
042101,001108: 14,3435           06036                           TC       INTPRET                               
042102,001109: 14,3436           45145                           DLOAD    CALL                                  
042103,001110: 14,3437           03560                                    TSIGHT                                
042104,001111: 14,3440           32540                                    PLANET                                
042105,001112: 14,3441           03552                           STORE    PLANVEC                               
042106,001113: 14,3442           77776                           EXIT                                           
042107,001114: 14,3443           34753                           CAF      BIT1                                  
042108,001115: 14,3444           55757                           TS       STARIND                               
042109,001116: 14,3445           13406                           TCF      P51C       +1                         #  DO SECOND STAR
042110,001117: 14,3446           05353        P51E               TC       PHASCHNG                              
042111,001118: 14,3447           05024                           OCT      05024                                 
042112,001119: 14,3450           13000                           OCT      13000                                 
042113,001120: 14,3451           06036                           TC       INTPRET                               
042114,001121: 14,3452           45145                           DLOAD    CALL                                  
042115,001122: 14,3453           03560                                    TSIGHT                                
042116,001123: 14,3454           32540                                    PLANET                                
042117,001124: 14,3455           24015                           STOVL    12D                                   
042118,001125: 14,3456           03552                                    PLANVEC                               
042119,001126: 14,3457           24007                           STOVL    6D                                    
042120,001127: 14,3460           02761                                    STARSAV1                              
042121,001128: 14,3461           26707                           STOVL    STARAD                                
042122,001129: 14,3462           02767                                    STARSAV2                              
042123,001130: 14,3463           36715                           STCALL   STARAD     +6                         
042124,001131: 14,3464           31121                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
042125,001132: 14,3465           77414                           BON      EXIT                                  
042126,001133: 14,3466           00314                                    FREEFLAG                              
042127,001134: 14,3467           31471                                    P51G                                  
042128,001135: 14,3470           03342                           TC       P51        +2                         
042129,001136: 14,3471           77624        P51G               CALL                                           
042130,001137: 14,3472           47345                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
042131,001138: 14,3473           75160                           AXC,1    AXC,2                                 
042132,001139: 14,3474           02664                                    XDC                                   
042133,001140: 14,3475           01733                                    REFSMMAT                              
042134,001141: 14,3476           77624                           CALL                                           
042135,001142: 14,3477           31237                                    MATMOVE                               
042136,001143: 14,3500           77614                           SET                                            
042137,001144: 14,3501           01462                                    REFSMFLG                              
042138,001145: 

Page 950

042140,001147: 14,3502           77776                           EXIT                                           
042141,001148: 14,3503           06001                           TC       GOTOPOOH                              #  FINIS
042142,001149: 14,3504     4761               PRFMSTAQ           =        OCT15                                 
042143,001150: 14,3504     4755               P51ZERO            =        ZERO                                  
042144,001151: 14,3504     4756               P51FIVE            =        FIVE                                  
042145,001152: 14,3504           01426        V6N22              VN       0622                                  
042146,001153: 14,3505           12200        V41K               VN       4100                                  
042147,001154: 14,3506           77776        COARSE             EXIT                                           
042148,001155: 14,3507           04616                           TC       BANKCALL                              
042149,001156: 14,3510           16753                           CADR     IMUCOARS                              
042150,001157: 14,3511           04616                           TC       BANKCALL                              
042151,001158: 14,3512           17671                           CADR     IMUSTALL                              
042152,001159: 14,3513           05703                           TC       CURTAINS                              
042153,001160: 14,3514           04616                           TC       BANKCALL                              
042154,001161: 14,3515           17163                           CADR     IMUFINE                               
042155,001162: 14,3516           04616                           TC       BANKCALL                              
042156,001163: 14,3517           17671                           CADR     IMUSTALL                              
042157,001164: 14,3520           05703                           TC       CURTAINS                              
042158,001165: 14,3521           06036                           TC       INTPRET                               
042159,001166: 14,3522           77616                           RVQ                                            
042160,001167: 14,3523           77776        NCOARSE            EXIT                                           
042161,001168: 14,3524           30025                           CA       TIME1                                 
042162,001169: 14,3525           55075                           TS       1/PIPADT                              
042163,001170: 14,3526           06036                           TC       INTPRET                               
042164,001171: 14,3527           77775                           VLOAD                                          
042165,001172: 14,3530           22275                                    ZEROVEC                               
042166,001173: 14,3531           01472                           STORE    GCOMP                                 
042167,001174: 14,3532           43414                           SET      RVQ                                   
042168,001175: 14,3533           01060                                    DRIFTFLG                              
042169,001176: 

Page 951

042171,001178:                                                                                                  #  NAME-S52.2
042172,001179:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042173,001180:                                                                                                  #  CALL-  CALL  S52.2
042174,001181:                                                                                                  #  INPUT- X,Y,ZSMD
042175,001182:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042176,001183:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042177,001184: 14,3534                                           COUNT*   $$/S52.1                              
042178,001185: 14,3534           77620        S52.2              STQ                                            
042179,001186: 14,3535           02746                                    QMAJ                                  
042180,001187: 14,3536           77624                           CALL                                           
042181,001188: 14,3537           47443                                    CDUTRIG                               
042182,001189: 14,3540           77624                           CALL                                           
042183,001190: 14,3541           31267                                    CALCSMSC                              
042184,001191: 14,3542           66370                           AXT,1    SSP                                   
042185,001192: 14,3543           00022                                    18D                                   
042186,001193: 14,3544           00051                                    S1                                    
042187,001194: 14,3545           00006                                    6D                                    
042188,001195: 14,3546           61373        S52.2A             VLOAD*   VXM                                   
042189,001196: 14,3547           02707                                    XNB        +18D,1                     
042190,001197: 14,3550           01734                                    REFSMMAT                              
042191,001198: 14,3551           77656                           UNIT                                           
042192,001199: 14,3552           06707                           STORE    XNB        +18D,1                     
042193,001200: 14,3553           77700                           TIX,1                                          
042194,001201: 14,3554           31546                                    S52.2A                                
042195,001202: 14,3555           75160        S52.2.1            AXC,1    AXC,2                                 
042196,001203: 14,3556           03604                                    XSMD                                  
042197,001204: 14,3557           02642                                    XSM                                   
042198,001205: 14,3560           77624                           CALL                                           
042199,001206: 14,3561           31237                                    MATMOVE                               
042200,001207: 14,3562           77624                           CALL                                           
042201,001208: 14,3563           47255                                    CALCGA                                
042202,001209: 14,3564           77650                           GOTO                                           
042203,001210: 14,3565           02746                                    QMAJ                                  
042204,001211: 

Page 952

042206,001213:                                                                                                  #  NAME-S52.3
042207,001214:                                                                                                  #  FUNCTION  XSMD= UNIT R
042208,001215:                                                                                                  #            YSMD= UNIT(V X R)
042209,001216:                                                                                                  #            ZSMD= UNIT(XSMD X YSMD)
042210,001217:                                                                                                  #  CALL     DLOAD  CALL
042211,001218:                                                                                                  #                  TALIGN
042212,001219:                                                                                                  #                  S52.3
042213,001220:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
042214,001221:                                                                                                  #  OUTPUT-  X,Y,ZSMD
042215,001222:                                                                                                  #  SUBROUTINES- CSMCONIC
042216,001223: 14,3566                                           COUNT*   $$/S52.3                              
042217,001224: 14,3566           77620        S52.3              STQ                                            
042218,001225: 14,3567           02746                                    QMAJ                                  
042219,001226: 14,3570           34041                           STCALL   TDEC1                                 
042220,001227: 14,3571           27100                                    LEMCONIC                              
042221,001228: 14,3572           77601                           SETPD                                          
042222,001229: 14,3573           00001                                    0                                     
042223,001230: 14,3574           53575                           VLOAD    UNIT                                  
042224,001231: 14,3575           00001                                    RATT                                  
042225,001232: 14,3576           27605                           STOVL    XSMD                                  
042226,001233: 14,3577           00007                                    VATT                                  
042227,001234: 14,3600           53435                           VXV      UNIT                                  
042228,001235: 14,3601           00001                                    RATT                                  
042229,001236: 14,3602           27613                           STOVL    YSMD                                  
042230,001237: 14,3603           03605                                    XSMD                                  
042231,001238: 14,3604           53435                           VXV      UNIT                                  
042232,001239: 14,3605           03613                                    YSMD                                  
042233,001240: 14,3606           37621                           STCALL   ZSMD                                  
042234,001241: 14,3607           02746                                    QMAJ                                  
042235,001242: 

Page 953

042237,001244:                                                                                                  #  NAME    -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042238,001245: 
042239,001246:                                                                                                  #  FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042240,001247:                                                                                                  #           STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042241,001248: 
042242,001249:                                                                                                  #  CALLING -CALL R52
042243,001250: 
042244,001251:                                                                                                  #  INPUT   -BESTI AND BESTJ (STAR CODES TIMES 6)
042245,001252:                                                                                                  #  OUTPUT  -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042246,001253:                                                                                                  #           (NO CHECK IS MADE TO INSURE THE DETENT  CODE TO BE VALID)
042247,001254:                                                                                                  #           POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042248,001255:                                                                                                  #           SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042249,001256: 
042250,001257:                                                                                                  #  SUBROUT -R60LEM
042251,001258: 
042252,001259: 14,3610                                           COUNT*   $$/R52                                
042253,001260: 14,3610           77420        R52                STQ      EXIT                                  
042254,001261: 14,3611           03663                                    SAVQR52                               
042255,001262: 14,3612           51757                           INDEX    STARIND                               
042256,001263: 14,3613           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
042257,001264: 14,3614           00006                           EXTEND                                         
042258,001265: 14,3615           73706                           MP       1/6TH                                 
042259,001266: 14,3616           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
042260,001267: 14,3617           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
042261,001268: 
042262,001269: 14,3620           33707        R52A               CAF      V01N70                                
042263,001270: 14,3621           04616                           TC       BANKCALL                              
042264,001271: 14,3622           20351                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
042265,001272: 14,3623           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042266,001273: 14,3624           13626                           TCF      R52B                                  #  V33-PROCEED TO ORIENT LEM
042267,001274: 14,3625           13620                           TCF      R52A                                  #  ENTER-SELECT NEW STARCODE-RECYCLE
042268,001275: 
042269,001276: 14,3626           05516        R52B               TC       DOWNFLAG                              
042270,001277: 14,3627           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042271,001278: 14,3630           30735                           CA       STARCODE                              #  GRAB DETENT CODE
042272,001279: 14,3631           77743                           MASK     HIGH9                                 
042273,001280: 14,3632           00006                           EXTEND                                         
042274,001281: 14,3633           63620                           BZMF     R52A                                  #  DONT ALLOW ZERO CODE-RECYCLE
042275,001282: 14,3634           74743                           MASK     BIT9                                  #  SEE IF CODE 4 OR 5
042276,001283: 14,3635           10000                           CCS      A                                     
042277,001284: 14,3636           13655                           TCF      GETAZEL                               #  CODE 4 OR 5-GET CALIBRATION AZ EL
042278,001285: 14,3637  E7,1547                                  EBANK=   XYMARK                                
042279,001286: 14,3637           35016                           CA       EBANK7                                
042280,001287: 14,3640           54003                           TS       EBANK                                 
042281,001288: 14,3641           37743                           CAF      HIGH9                                 #  FORWARD DETENT, INDEX DETENT AND GRAB
042282,001289: 14,3642           70735                           MASK     STARCODE                              #  AZIMUTH  ANGLE AND ELV = 45 DEG
042283,001290: 14,3643           00006                           EXTEND                                         
042284,001291: 14,3644           74743                           MP       BIT9                                  #  SHIFT DETENT TO BITS1-2 FOR INDEX
042285,001292: 14,3645           50000                           INDEX    A                                     
042286,001293: 14,3646           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
042287,001294: 

Page 954

042289,001296: 14,3647           54001                           TS       L                                     
042290,001297: 14,3650  E5,1642                                  EBANK=   XSM                                   
042291,001298: 14,3650           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
042292,001299: 14,3651           54003                           TS       EBANK                                 
042293,001300: 14,3652           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
042294,001301: 14,3653           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
042295,001302: 14,3654           13665                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
042296,001303: 
042297,001304: 14,3655           33710        GETAZEL            CAF      V06N87                                #  CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042298,001305: 14,3656           04616                           TC       BANKCALL                              
042299,001306: 14,3657           20351                           CADR     GOFLASH                               
042300,001307: 14,3660           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042301,001308: 14,3661           13663                           TCF      +2                                    #  PROCEED-CALC OPTIC AXIS
042302,001309: 14,3662           13655                           TCF      GETAZEL                               #  ENTER-RECYCLE
042303,001310: 
042304,001311: 14,3663           00006                           EXTEND                                         
042305,001312: 14,3664           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
042306,001313: 14,3665           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
042307,001314: 14,3666           52011                           DXCH     8D                                    
042308,001315: 14,3667           06036                           TC       INTPRET                               
042309,001316: 14,3670           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
042310,001317: 14,3671           13370                                    OANB                                  #  SCAXIS IN NB COORDS
042311,001318: 14,3672           45034                           RTB      CALL                                  
042312,001319: 14,3673           21462                                    LOADTIME                              
042313,001320: 14,3674           32540                                    PLANET                                
042314,001321: 14,3675           53521                           MXV      UNIT                                  
042315,001322: 14,3676           01734                                    REFSMMAT                              
042316,001323: 14,3677           03767                           STORE    POINTVSM                              #  STORE FOR VECPOINT
042317,001324: 
042318,001325: 14,3700           77776                           EXIT                                           
042319,001326: 14,3701           04616                           TC       BANKCALL                              
042320,001327: 14,3702           54101                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
042321,001328: 
042322,001329: 14,3703           06036                           TC       INTPRET                               #  RETURN FROM KALCMANU
042323,001330: 14,3704           77650                           GOTO                                           
042324,001331: 14,3705           03663                                    SAVQR52                               #  RETURN TO CALLER
042325,001332: 
042326,001333: 14,3706           05253        1/6TH              DEC      .1666667                              
042327,001334: 14,3707           00306        V01N70             VN       0170                                  
042328,001335: 14,3710           01527        V06N87             VN       687                                   
042329,001336: 

Page 955

042331,001338:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
042332,001339: 
042333,001340: 15,2301                                           BANK     15                                    
042334,001341: 15,2000                                           SETLOC   P50S                                  
042335,001342: 15,2000                                           BANK                                           
042336,001343: 15,2301                                           COUNT*   $$/R59                                
042337,001344: 
042338,001345: 15,2301           40077        R59                CS       FLAGWRD3                              
042339,001346: 15,2302           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042340,001347: 15,2303           10000                           CCS      A                                     
042341,001348: 15,2304           12523                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
042342,001349: 
042343,001350: 15,2305           32531                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
042344,001351: 15,2306           04616                           TC       BANKCALL                              
042345,001352: 15,2307           20351                           CADR     GOFLASH                               
042346,001353: 15,2310           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042347,001354: 15,2311           12313                           TCF      R59A                                  #  V33-PROCEED
042348,001355: 15,2312           12301                           TCF      R59                                   #  V32-RECYCLE
042349,001356: 
042350,001357: 15,2313           47743        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
042351,001358: 15,2314           70735                           MASK     AOTCODE                               
042352,001359: 15,2315           00006                           EXTEND                                         
042353,001360: 15,2316           76241                           MP       REVCNT                                #  JUST 6
042354,001361: 15,2317           56001                           XCH      L                                     
042355,001362: 15,2320           51757                           INDEX    STARIND                               
042356,001363: 15,2321           55755                           TS       BESTI                                 
042357,001364: 15,2322           50120                           INDEX    FIXLOC                                
042358,001365: 15,2323           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
042359,001366: 15,2324           00006                           EXTEND                                         
042360,001367: 15,2325           12523                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
042361,001368: 15,2326           40000                           COM                                            
042362,001369: 15,2327           62625                           AD       DEC227                                
042363,001370: 15,2330           00006                           EXTEND                                         
042364,001371: 15,2331           62523                           BZMF     R59OUT                                
042365,001372: 
042366,001373: 15,2332           06036                           TC       INTPRET                               
042367,001374: 15,2333           77624                           CALL                                           
042368,001375: 15,2334           47443                                    CDUTRIG                               #  GET CDU JAZZ FOR SMNB
042369,001376: 15,2335           64373                           VLOAD*   MXV                                   
042370,001377: 15,2336           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
042371,001378: 15,2337           01734                                    REFSMMAT                              #  TRANSFORM TO SM
042372,001379: 15,2340           45056                           UNIT     CALL                                  
042373,001380: 15,2341           47575                                    *SMNB*                                #  TRANSFORM TO NB
042374,001381: 15,2342           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
042375,001382: 15,2343           77776                           EXIT                                           
042376,001383: 
042377,001384: 15,2344           34753                           CAF      BIT1                                  #  INITIALIZE POS TO ONE
042378,001385: 15,2345           55052                           TS       POSCODE                               
042379,001386: 15,2346           42537                           CS       DEG60                                 #  AS(N) TO -60 DEG
042380,001387: 15,2347           55745                           TS       QMIN                                  
042381,001388: 

Page 956

042383,001390: 
042384,001391: 
042385,001392: 15,2350           54000        STORPOS            TS       A                                     #  DETECT OVF AZ = -120
042386,001393: 15,2351           12354                           TCF      +3                                    #  NO OVF
042387,001394: 15,2352           34735                           CAF      BIT15                                 #  OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042388,001395: 15,2353           27745                           ADS      QMIN                                  
042389,001396: 15,2354           34737                           CAF      BIT13                                 #  ELV=45 DEG
042390,001397: 15,2355           54001                           TS       L                                     
042391,001398: 15,2356           31745                           CA       QMIN                                  
042392,001399: 15,2357           50120                           INDEX    FIXLOC                                
042393,001400: 15,2360           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042394,001401: 
042395,001402: 15,2361           06036                           TC       INTPRET                               
042396,001403: 15,2362           77624                           CALL                                           
042397,001404: 15,2363           13370                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
042398,001405: 15,2364           50375                           VLOAD    DOT                                   
042399,001406: 15,2365           02731                                    STAR                                  #  DOT STAR WITH OA
042400,001407: 15,2366           03761                                    SCAXIS                                
042401,001408: 15,2367           65552                           SL1      ARCCOS                                
042402,001409: 15,2370           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
042403,001410: 
042404,001411: 15,2371           51025                           DSU      BPL                                   
042405,001412: 15,2372           32534                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
042406,001413: 15,2373           32455                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
042407,001414: 15,2374           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
042408,001415: 15,2375           00031                                    24D                                   
042409,001416: 15,2376           32536                                    DEG.5                                 
042410,001417: 15,2377           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
042411,001418: 15,2400           32450                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
042412,001419: 15,2401           00031                                    24D                                   #  GET SPIRAL
042413,001420: 15,2402           42405                           DMP      SL4                                   
042414,001421: 15,2403           23710                                    3/4                                   #  12 SCALED AT 16
042415,001422: 15,2404           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
042416,001423: 
042417,001424: 15,2405           03761                                    SCAXIS                                #  OA
042418,001425: 15,2406           53435                           VXV      UNIT                                  
042419,001426: 15,2407           22273                                    XUNIT                                 
042420,001427: 15,2410           47206                           PUSH     VXV                                   #   OA X UNITX   PD 0-5
042421,001428: 15,2411           03761                                    SCAXIS                                
042422,001429: 15,2412           77676                           VCOMP                                          
042423,001430: 15,2413           63256                           UNIT     PDVL                                  #  UNIT(OA X(OA X UNITX))  PD 6-11
042424,001431: 15,2414           03761                                    SCAXIS                                
042425,001432: 15,2415           53435                           VXV      UNIT                                  
042426,001433: 15,2416           02731                                    STAR                                  
042427,001434: 15,2417           50206                           PUSH     DOT                                   #  1/2(OA X STAR)   PD 12-17
042428,001435: 15,2420           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX)  FOR YROT
042429,001436: 15,2421           65552                           SL1      ARCCOS                                
042430,001437: 15,2422           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS
042431,001438: 
042432,001439: 15,2423           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
042433,001440: 15,2424           71244                           BPL      DLOAD                                 #  IF THET NEG-GET 360-THET
042434,001441: 15,2425           32432                                    R59D                                  
042435,001442: 

Page 957

042437,001444: 15,2426           32047                                    ABOUTONE                              
042438,001445: 15,2427           77625                           DSU                                            
042439,001446: 15,2430           00033                                    26D                                   
042440,001447: 15,2431           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
042441,001448: 
042442,001449: 15,2432           70535        R59D               SLOAD    SR1                                   
042443,001450: 15,2433           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
042444,001451: 15,2434           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
042445,001452: 15,2435           00033                                    26D                                   
042446,001453: 15,2436           77634                           RTB                                            
042447,001454: 15,2437           21520                                    1STO2S                                
042448,001455: 15,2440           15046                           STODL    CURSOR                                #  YROT IN 1/2 REVS
042449,001456: 15,2441           00031                                    24D                                   #  LOAD SROT IN REVS
042450,001457: 15,2442           77615                           DAD                                            #  12(SEP) + YROT
042451,001458: 15,2443           77634                           RTB                                            
042452,001459: 15,2444           21520                                    1STO2S                                
042453,001460: 15,2445           01047                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
042454,001461: 15,2446           77776                           EXIT                                           
042455,001462: 15,2447           12476                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
042456,001463: 
042457,001464: 15,2450           77776        ZSPCR              EXIT                                           
042458,001465: 15,2451           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS,ZERO CURSOR
042459,001466: 15,2452           55045                           TS       CURSOR                                #  AND SPIRAL ANGLES
042460,001467: 15,2453           55046                           TS       SPIRAL                                
042461,001468: 15,2454           12476                           TCF      79DISP                                
042462,001469: 
042463,001470: 15,2455           77776        NXAX               EXIT                                           
042464,001471: 15,2456           25052                           INCR     POSCODE                               
042465,001472: 15,2457           41052                           CS       POSCODE                               
042466,001473: 15,2460           64757                           AD       SEVEN                                 
042467,001474: 15,2461           00006                           EXTEND                                         
042468,001475: 15,2462           62466                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
042469,001476: 15,2463           32537                           CAF      DEG60                                 #  ADVANCE AZ(N) BY 60 DEG
042470,001477: 15,2464           27745                           ADS      QMIN                                  #  IF OVF, QMIN CONTAINS OVF CORRECTED
042471,001478: 15,2465           12350                           TCF      STORPOS                               
042472,001479: 15,2466           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
042473,001480: 15,2467           00404                           OCT      404                                   
042474,001481: 15,2470           35006                           CAF      VB05N09                               #  DISPLAY ALARM
042475,001482: 15,2471           04616                           TC       BANKCALL                              
042476,001483: 15,2472           20351                           CADR     GOFLASH                               
042477,001484: 15,2473           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
042478,001485: 15,2474           12523                           TCF      R59OUT                                #  VB33-PROCEED, GO WITHOUT AQUIRE
042479,001486: 15,2475           12301                           TCF      R59                                   #  VB32-RECYCLE AND TRY ANOTHER STAR
042480,001487: 
042481,001488: 15,2476           32532        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
042482,001489: 15,2477           04616                           TC       BANKCALL                              
042483,001490: 15,2500           20351                           CADR     GOFLASH                               
042484,001491: 15,2501           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
042485,001492: 15,2502           12504                           TCF      R59E                                  #  V33-PROCEED TO MARK ROUTINE
042486,001493: 15,2503           12301                           TCF      R59                                   #  V32-RECYCLE TO TOP OF R59 AGAIN
042487,001494: 

Page 958

042489,001496: 15,2504           34751        R59E               CAF      BIT3                                  #  GET DETENT CORRESPONDING TO POSITION COD
042490,001497: 15,2505           71052                           MASK     POSCODE                               #  KEYED IN POS CODE
042491,001498: 15,2506           00006                           EXTEND                                         
042492,001499: 15,2507           12511                           BZF      +2                                    #  FORWARD DETENT
042493,001500: 15,2510           12513                           TCF      +3                                    #  ITS REAR DETENT, 4 ALREADY IN (A)
042494,001501: 15,2511           34757                           CAF      SEVEN                                 #  GET FORWARD DETENT
042495,001502: 15,2512           71052                           MASK     POSCODE                               
042496,001503: 15,2513           00006                           EXTEND                                         
042497,001504: 15,2514           74745                           MP       BIT7                                  
042498,001505: 15,2515           56001                           XCH      L                                     
042499,001506: 15,2516           55745                           TS       QMIN                                  
042500,001507: 15,2517           47743                           CS       HIGH9                                 
042501,001508: 15,2520           70735                           MASK     AOTCODE                               
042502,001509: 15,2521           61745                           AD       QMIN                                  
042503,001510: 15,2522           54735                           TS       AOTCODE                               #  STORE DETENT IN 7-9
042504,001511: 
042505,001512: 15,2523           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
042506,001513: 15,2524           16000                           CADR     AOTMARK                               
042507,001514: 15,2525           04616                           TC       BANKCALL                              
042508,001515: 15,2526           17665                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
042509,001516: 15,2527           05703                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
042510,001517: 15,2530           13123                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
042511,001518: 
042512,001519: 15,2531           00306        V01N70*            VN       170                                   
042513,001520: 15,2532           01517        V06N79             VN       679                                   
042514,001521: 15,2533           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
042515,001522: 15,2535           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
042516,001523: 15,2537           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
042517,001524: 15,2540     1045               CURSOR             EQUALS   DSPTEM1                               
042518,001525: 15,2540     1046               SPIRAL             EQUALS   DSPTEM1    +1                         
042519,001526: 15,2540     1052               POSCODE            EQUALS   DSPTEM2    +2                         
042520,001527: 

Page 959

042522,001529:                                                                                                  #  NAME -    PLANET
042523,001530:                                                                                                  #  FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042524,001531:                                                                                                  #            BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042525,001532:                                                                                                  #            MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042526,001533:                                                                                                  #            BY DSDY INPUT
042527,001534:                                                                                                  #  CALL  -  CALL
042528,001535:                                                                                                  #                  PLANET
042529,001536:                                                                                                  #  INPUT -  TIME IN MPAC
042530,001537:                                                                                                  #  OUTPUT - VECTOR  IN MPAC
042531,001538:                                                                                                  #  SUBROUTINES - LOCSAM
042532,001539:                                                                                                  #  DEBRIS - VAC ,STARAD - STARAD +17
042533,001540: 
042534,001541: 15,2000                                           SETLOC   P50S                                  
042535,001542: 15,2000                                           BANK                                           
042536,001543: 15,2540                                           COUNT*   $$/P51                                
042537,001544: 
042538,001545: 15,2540           03560        PLANET             STORE    TSIGHT                                
042539,001546: 15,2541           77420                           STQ      EXIT                                  
042540,001547: 15,2542           02736                                    GCTR                                  
042541,001548: 15,2543           47743                           CS       HIGH9                                 
042542,001549: 15,2544           70735                           MASK     AOTCODE                               
042543,001550: 15,2545           00006                           EXTEND                                         
042544,001551: 15,2546           76241                           MP       REVCNT                                
042545,001552: 15,2547           56001                           XCH      L                                     
042546,001553: 15,2550           51757                           INDEX    STARIND                               
042547,001554: 15,2551           55755                           TS       BESTI                                 
042548,001555: 15,2552           10000                           CCS      A                                     
042549,001556: 15,2553           12567                           TCF      NOTPLAN                               
042550,001557: 15,2554           32626                           CAF      VNPLANV                               
042551,001558: 15,2555           04616                           TC       BANKCALL                              
042552,001559: 15,2556           20351                           CADR     GOFLASH                               
042553,001560: 15,2557           02554                           TC       -3                                    
042554,001561: 15,2560           02562                           TC       +2                                    
042555,001562: 15,2561           02554                           TC       -5                                    
042556,001563: 15,2562           06036                           TC       INTPRET                               
042557,001564: 15,2563           53575                           VLOAD    UNIT                                  
042558,001565: 15,2564           02707                                    STARAD                                
042559,001566: 15,2565           77650                           GOTO                                           
042560,001567: 15,2566           02736                                    GCTR                                  
042561,001568: 15,2567           40000        NOTPLAN            CS       A                                     
042562,001569: 15,2570           62625                           AD       DEC227                                
042563,001570: 15,2571           00006                           EXTEND                                         
042564,001571: 15,2572           62603                           BZMF     CALSAM1                               
042565,001572: 15,2573           51757                           INDEX    STARIND                               
042566,001573: 15,2574           31755                           CA       BESTI                                 
042567,001574: 15,2575           50120                           INDEX    FIXLOC                                
042568,001575: 15,2576           54046                           TS       X1                                    
042569,001576: 15,2577           06036                           TC       INTPRET                               
042570,001577: 15,2600           52173                           VLOAD*   GOTO                                  
042571,001578: 15,2601           30347                                    CATLOG,1                              
042572,001579: 

Page 960

042574,001581: 15,2602           02736                                    GCTR                                  
042575,001582: 15,2603           06036        CALSAM1            TC       INTPRET                               
042576,001583: 15,2604           45145        CALSAM             DLOAD    CALL                                  
042577,001584: 15,2605           03560                                    TSIGHT                                
042578,001585: 15,2606           30347                                    LOCSAM                                
042579,001586: 15,2607           77340                           LXC,1    VLOAD                                 
042580,001587: 15,2610           02757                                    STARIND                               
042581,001588: 15,2611           02707                                    VEARTH                                
042582,001589: 15,2612           24001                           STOVL    0D                                    
042583,001590: 15,2613           02715                                    VSUN                                  
042584,001591: 15,2614           26707                           STOVL    VEARTH                                
042585,001592: 15,2615           00001                                    0D                                    
042586,001593: 15,2616           02715                           STORE    VSUN                                  
042587,001594: 15,2617           70143                           DLOAD*   LXC,1                                 
042588,001595: 15,2620           02756                                    BESTI,1                               
042589,001596: 15,2621           00154                                    MPAC                                  
042590,001597: 15,2622           52173                           VLOAD*   GOTO                                  
042591,001598: 15,2623           02343                                    STARAD     -228D,1                    
042592,001599: 15,2624           02736                                    GCTR                                  
042593,001600: 15,2625           00343        DEC227             DEC      227        B-14                       
042594,001601: 15,2626           01530        VNPLANV            VN       0688                                  
042595,001602: 15,2627  37,3533               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
042596,001603: 

Page 961

042598,001605:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
042599,001606:                                                                                                  #  BY KEN VINCENT
042600,001607:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042601,001608:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042602,001609:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042603,001610:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042604,001611:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042605,001612:                                                                                                  #  PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042606,001613:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042607,001614:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042608,001615:                                                                                                  #  READINGS.
042609,001616: 
042610,001617:                                                                                                  #  CALL-
042611,001618:                                                                                                  #           TC     BANKCALL
042612,001619:                                                                                                  #           CADR   GVDETER
042613,001620:                                                                                                  #  INPUTS-
042614,001621:                                                                                                  #           PIPAS,CDUS
042615,001622:                                                                                                  #  OUTPUTS-
042616,001623:                                                                                                  #           STARSAV1 = UNIT GRAVITY
042617,001624:                                                                                                  #           GSAV     =   DITTO
042618,001625:                                                                                                  #           GRAVBIT  = 1
042619,001626:                                                                                                  #  SUBROUTINES-
042620,001627:                                                                                                  #           PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042621,001628:                                                                                                  #           *NBSM* ,*SNMB*, CALCGA,FOFLASH
042622,001629:                                                                                                  #  DEBRIS-
042623,001630:                                                                                                  #           VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042624,001631: 15,2627           44737        GVDETER            CS       BIT13                                 #  JAM 45 DEG IN DESIRED GIMBAL ANGLES
042625,001632: 15,2630           54322                           TS       THETAD     +1                         
042626,001633: 15,2631           40000                           COM                                            
042627,001634: 15,2632           54323                           TS       THETAD     +2                         
042628,001635: 15,2633           54321                           TS       THETAD                                
042629,001636: 15,2634           06036                           TC       INTPRET                               
042630,001637: 15,2635           45014                           CLEAR    CALL                                  
042631,001638: 15,2636           01662                                    REFSMFLG                              
042632,001639: 15,2637           32734                                    LUNG                                  
042633,001640:                                                                                                  #  FIND  GIMBAL ANGLES WHICH ROTATE SM 180DEG  ABOUT  G VEC
042634,001641: 
042635,001642:                                                                                                  #   DEFINE G COOR SYS
042636,001643:                                                                                                  #                       -
042637,001644:                                                                                                  #                       X    UNIT G
042638,001645:                                                                                                  #                   *   -               -
042639,001646:                                                                                                  #                   M=  Y =  UNITEZSM * X )
042640,001647:                                                                                                  #                       -         -     -
042641,001648:                                                                                                  #                       Z    UNIT(X   * Y )
042642,001649:                                                                                                  #   THEN   ROTATED  SM WRT  PRESENT IS
042643,001650: 
042644,001651: 
042645,001652:                                                                                                  #                      1,  0 , 0
042646,001653:                                                                                                  #            *      *T            *          *         *
042647,001654:                                                                                                  #           XSM =   M  0, -1 , 0  M  = 2  (X X ) - 1/2 I  *
042648,001655: 

Page 962

042650,001657:                                                                                                  #                                           I J
042651,001658:                                                                                                  #                      0,  0 ,-1
042652,001659: 
042653,001660:                                                                                                  #   ALSO   NB WRT PRES SM  IS
042654,001661: 
042655,001662:                                                                                                  #                 *      *   *
042656,001663:                                                                                                  #                XNB = NBSM  I
042657,001664:                                                                                                  #                             *     *
042658,001665:                                                                                                  #   GIMBAL ANGLES  = CALCGA( XSM , XNB )
042659,001666: 
042660,001667: 15,2000                                           SETLOC   P50S                                  
042661,001668: 15,2000                                           BANK                                           
042662,001669: 15,2640                                           COUNT*   $$/P57                                
042663,001670: 15,2640           66370                           AXT,1    SSP                                   #  X1=18
042664,001671: 15,2641           00022                                    18D                                   #  S1= 6
042665,001672: 15,2642           00051                                    S1                                    #  X2, -2
042666,001673: 15,2643           00006                                    6D                                    
042667,001674: 15,2644           77744                           LXC,2                                          
042668,001675: 15,2645           00050                                    S1                                    
042669,001676: 15,2646           45173        GRAVEL             VLOAD*   CALL                                  
042670,001677: 15,2647           55512                                    XUNIT      -6,2                       
042671,001678: 15,2650           47577                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
042672,001679: 15,2651           06707                           STORE    XNB        +18D,1                     
042673,001680: 15,2652           77775                           VLOAD                                          
042674,001681: 15,2653           02731                                    STAR                                  
042675,001682: 15,2654           73744                           LXC,2    VXSC*                                 #  COMPLEMENT- UNITX  ARE BACKWARD -
042676,001683: 15,2655           00047                                    X2                                    
042677,001684: 15,2656           75040                                    STAR       +6,2                       #  OUTER PRODUCT
042678,001685: 15,2657           71152                           VSL2     LXC,2                                 
042679,001686: 15,2660           00047                                    X2                                    
042680,001687: 15,2661           63047                           VSU*     INCR,2                                
042681,001688: 15,2662           55512                                    XUNIT      -6,2                       
042682,001689: 15,2663           00002                                    2D                                    
042683,001690: 15,2664           06665                           STORE    XSM        +18D,1                     
042684,001691: 15,2665           45100                           TIX,1    CALL                                  
042685,001692: 15,2666           32646                                    GRAVEL                                
042686,001693: 15,2667           47255                                    CALCGA                                
042687,001694: 15,2670           74575                           VLOAD    VSR1                                  
042688,001695: 15,2671           02715                                    GOUT                                  
042689,001696: 15,2672           36723                           STCALL   STARAD     +12D                       
042690,001697: 15,2673           32734                                    LUNG                                  
042691,001698: 15,2674           74575                           VLOAD    VSR1                                  
042692,001699: 15,2675           02715                                    GOUT                                  
042693,001700: 15,2676           53455                           VAD      UNIT                                  
042694,001701: 15,2677           02723                                    STARAD     +12D                       
042695,001702: 15,2700           02761                           STORE    STARSAV1                              
042696,001703: 15,2701           77641                           DOT                                            
042697,001704: 15,2702           02235                                    GSAV                                  
042698,001705: 15,2703           65552                           SL1      ACOS                                  
042699,001706: 15,2704           01046                           STORE    DSPTEM1                               
042700,001707: 

Page 963

042702,001709: 15,2705           77776                           EXIT                                           
042703,001710: 15,2706           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
042704,001711: 15,2707           00014                           ADRES    FREEFLAG                              
042705,001712: 
042706,001713: 15,2710           33040                           CA       DISGRVER                              
042707,001714: 15,2711           04616                           TC       BANKCALL                              
042708,001715: 15,2712           20351                           CADR     GOFLASH                               
042709,001716: 15,2713           06001                           TC       GOTOPOOH                              
042710,001717: 15,2714           12717                           TCF      PROGRAV                               #  VB33-PROCEED
042711,001718: 15,2715           05504                           TC       UPFLAG                                #  VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042712,001719: 15,2716           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
042713,001720: 
042714,001721: 15,2717           05353        PROGRAV            TC       PHASCHNG                              
042715,001722: 15,2720           05024                           OCT      05024                                 
042716,001723: 15,2721           13000                           OCT      13000                                 
042717,001724: 15,2722           06036                           TC       INTPRET                               
042718,001725: 15,2723           77775                           VLOAD                                          
042719,001726: 15,2724           02761                                    STARSAV1                              
042720,001727: 15,2725           02235                           STORE    GSAV                                  
042721,001728: 15,2726           77776                           EXIT                                           
042722,001729: 15,2727           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042723,001730: 15,2730           70074                           MASK     FLAGWRD0                              
042724,001731: 15,2731           10000                           CCS      A                                     
042725,001732: 15,2732           12627                           TCF      GVDETER                               #  SET
042726,001733: 15,2733           13535                           TCF      ATTCHK                                #  EXIT FROM GVDETER
042727,001734: 
042728,001735: 15,2734           77220        LUNG               STQ      VLOAD                                 
042729,001736: 15,2735           02745                                    QMIN                                  
042730,001737: 15,2736           22275                                    ZEROVEC                               
042731,001738: 15,2737           02707                           STORE    GACC                                  
042732,001739: 15,2740           77776                           EXIT                                           
042733,001740: 15,2741           05353                           TC       PHASCHNG                              
042734,001741: 15,2742           05024                           OCT      05024                                 
042735,001742: 15,2743           13000                           OCT      13000                                 
042736,001743: 15,2744           04616                           TC       BANKCALL                              
042737,001744: 15,2745           16753                           CADR     IMUCOARS                              
042738,001745: 15,2746           04616                           TC       BANKCALL                              
042739,001746: 15,2747           17671                           CADR     IMUSTALL                              
042740,001747: 15,2750           05703                           TC       CURTAINS                              
042741,001748: 15,2751           04616                           TC       BANKCALL                              
042742,001749: 15,2752           17163                           CADR     IMUFINE                               
042743,001750: 15,2753           04616                           TC       BANKCALL                              
042744,001751: 15,2754           17671                           CADR     IMUSTALL                              
042745,001752: 15,2755           05703                           TC       CURTAINS                              
042746,001753: 15,2756           33037                           CA       T/2SEC                                
042747,001754: 15,2757           55736                           TS       GCTR                                  
042748,001755: 15,2760           37715                           CA       PRIO31                                
042749,001756: 15,2761           55075                           TS       1/PIPADT                              
042750,001757: 15,2762           04616                           TC       BANKCALL                              
042751,001758: 15,2763           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
042752,001759: 

Page 964

042754,001761: 15,2764           05353                           TC       PHASCHNG                              
042755,001762: 15,2765           05024                           OCT      05024                                 
042756,001763: 15,2766           13000                           OCT      13000                                 
042757,001764: 15,2767           04616                           TC       BANKCALL                              #   DONT NEED TO INHINY  THIS USED TO
042758,001765: 15,2770           77533                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
042759,001766: 15,2771           06036                           TC       INTPRET                               
042760,001767: 15,2772           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
042761,001768: 15,2773           35000                           CAF      2SECS                                 
042762,001769: 15,2774           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
042763,001770: 15,2775           02777                           ADRES    GRABGRAV                              
042764,001771: 
042765,001772: 15,2776           05155                           TC       ENDOFJOB                              
042766,001773: 
042767,001774: 15,2777           04674        GRABGRAV           TC       IBNKCALL                              
042768,001775: 15,3000           77533                           CADR     PIPSRINE                              
042769,001776: 15,3001           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
042770,001777: 15,3002           05105                           TC       FINDVAC                               
042771,001778: 15,3003  E5,1706                                  EBANK=   STARAD                                
042772,001779: 15,3003           03006 32065                     2CADR    ADDGRAV                               
042773,001780: 
042774,001781: 15,3005           05261                           TC       TASKOVER                              
042775,001782: 
042776,001783: 15,3006           04616        ADDGRAV            TC       BANKCALL                              
042777,001784: 15,3007           15263                           CADR     1/PIPA                                
042778,001785: 15,3010           25736                           INCR     GCTR                                  
042779,001786: 15,3011           06036                           TC       INTPRET                               
042780,001787: 15,3012           53375                           VLOAD    VAD                                   
042781,001788: 15,3013           00325                                    DELV                                  
042782,001789: 15,3014           02707                                    GACC                                  
042783,001790: 15,3015           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
042784,001791: 15,3016           50135                           SLOAD    BMN                                   
042785,001792: 15,3017           02737                                    GCTR                                  
042786,001793: 15,3020           32772                                    GREED                                 
042787,001794: 15,3021           53575                           VLOAD    UNIT                                  
042788,001795: 15,3022           02707                                    GACC                                  
042789,001796: 15,3023           36731                           STCALL   STAR                                  
042790,001797: 15,3024           47443                                    CDUTRIG                               #  TRANSFORM IN NB COOR  AND  STORE
042791,001798: 15,3025           77624                           CALL                                           #   IN OUTPUT
042792,001799: 15,3026           47575                                    *SMNB*                                
042793,001800: 15,3027           02715                           STORE    GOUT                                  
042794,001801: 15,3030           77776                           EXIT                                           
042795,001802: 15,3031           05353                           TC       PHASCHNG                              
042796,001803: 15,3032           05024                           OCT      05024                                 
042797,001804: 15,3033           13000                           OCT      13000                                 
042798,001805: 15,3034           06036                           TC       INTPRET                               
042799,001806: 15,3035           77650                           GOTO                                           
042800,001807: 15,3036           02745                                    QMIN                                  
042801,001808: 15,3037           77751        T/2SEC             DEC      -22        B-14                       
042802,001809: 15,3040           01404        DISGRVER           VN       0604                                  
042803,001810: 

Page 965

042805,001812:                                                                                                  #  NAME  GYROTRIM
042806,001813: 
042807,001814:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042808,001815:                                                                                                  #    TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042809,001816:                                                                                                  #    VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042810,001817: 
042811,001818:                                                                                                  #  CALL     CALL
042812,001819:                                                                                                  #                  GYROTRIM
042813,001820: 
042814,001821:                                                                                                  #  INPUT    THETAD,+1,+2 = DESIRED CDU ANGLES
042815,001822:                                                                                                  #           CDUX,CDUY,CDUZ
042816,001823: 
042817,001824:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
042818,001825: 
042819,001826:                                                                                                  #  SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042820,001827:                                                                                                  #               IMPULSE,IMUSTALL
042821,001828:                                                                                                  #             -         -        -        *           *     -
042822,001829:                                                                                                  #  DEBRIS -  CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042823,001830: 15,3041                                           COUNT*   $$/P57                                
042824,001831: 15,3041           71220        GYROTRIM           STQ      DLOAD                                 
042825,001832: 15,3042           02745                                    QMIN                                  
042826,001833: 15,3043           00322                                    THETAD                                
042827,001834: 15,3044           65325                           PDDL     PDDL                                  
042828,001835: 15,3045           00324                                    THETAD     +2                         
042829,001836: 15,3046           00323                                    THETAD     +1                         
042830,001837: 15,3047           77666                           VDEF                                           
042831,001838: 15,3050           24767                           STOVL    CDUSPOT                               
042832,001839: 15,3051           22273                                    XUNIT                                 
042833,001840: 15,3052           77624                           CALL                                           
042834,001841: 15,3053           47570                                    TRG*NBSM                              
042835,001842: 15,3054           26707                           STOVL    STARAD                                
042836,001843: 15,3055           22271                                    YUNIT                                 
042837,001844: 15,3056           77624                           CALL                                           
042838,001845: 15,3057           47577                                    *NBSM*                                
042839,001846: 15,3060           36715                           STCALL   STARAD     +6                         
042840,001847: 15,3061           47443                                    CDUTRIG                               
042841,001848: 15,3062           77624                           CALL                                           
042842,001849: 15,3063           31267                                    CALCSMSC                              
042843,001850: 15,3064           77775                           VLOAD                                          
042844,001851: 15,3065           02665                                    XNB                                   
042845,001852: 15,3066           24007                           STOVL    6D                                    
042846,001853: 15,3067           02673                                    YNB                                   
042847,001854: 15,3070           34015                           STCALL   12D                                   
042848,001855: 15,3071           47345                                    AXISGEN                               
042849,001856: 15,3072           77624                           CALL                                           
042850,001857: 15,3073           47151                                    CALCGTA                               
042851,001858: 15,3074           77776        JUSTTRIM           EXIT                                           
042852,001859: 15,3075           04616                           TC       BANKCALL                              
042853,001860: 15,3076           17163                           CADR     IMUFINE                               
042854,001861: 15,3077           04616                           TC       BANKCALL                              
042855,001862: 

Page 966

042857,001864: 15,3100           17671                           CADR     IMUSTALL                              
042858,001865: 15,3101           05703                           TC       CURTAINS                              
042859,001866: 15,3102           33113                           CA       GYRCDR                                
042860,001867: 15,3103           04616                           TC       BANKCALL                              
042861,001868: 15,3104           17276                           CADR     IMUPULSE                              
042862,001869: 15,3105           04616                           TC       BANKCALL                              
042863,001870: 15,3106           17671                           CADR     IMUSTALL                              
042864,001871: 15,3107           05703                           TC       CURTAINS                              
042865,001872: 15,3110           06036                           TC       INTPRET                               
042866,001873: 15,3111           77650                           GOTO                                           
042867,001874: 15,3112           02745                                    QMIN                                  
042868,001875: 15,3113           02737        GYRCDR             ECADR    OGC                                   
042869,001876: 

Page 967

042871,001878:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
042872,001879: 
042873,001880: 15,3114           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
042874,001881: 15,3115           13117                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042875,001882: 15,3116           34753        1STAR              CAF      BIT1                                  
042876,001883: 15,3117           55757                           TS       STARIND                               
042877,001884: 
042878,001885: 15,3120           05353                           TC       PHASCHNG                              
042879,001886: 15,3121           04024                           OCT      04024                                 
042880,001887: 
042881,001888: 15,3122           12301                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
042882,001889: 
042883,001890: 15,3123           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
042884,001891: 15,3124           00006                           EXTEND                                         
042885,001892: 15,3125           13144                           BZF      ASTAR                                 #  1ST STAR MARKED
042886,001893: 
042887,001894: 15,3126           06036                           TC       INTPRET                               #  2ND STAR MARKED
042888,001895: 15,3127           77775                           VLOAD                                          
042889,001896: 15,3130           02715                                    STARAD     +6                         
042890,001897: 15,3131           02767                           STORE    STARSAV2                              #  2ND STAR IN SM
042891,001898: 
042892,001899: 15,3132           77776                           EXIT                                           
042893,001900: 15,3133           05353                           TC       PHASCHNG                              
042894,001901: 15,3134           05024                           OCT      05024                                 
042895,001902: 15,3135           13000                           OCT      13000                                 
042896,001903: 
042897,001904: 15,3136           06036                           TC       INTPRET                               
042898,001905: 15,3137           45145                           DLOAD    CALL                                  
042899,001906: 15,3140           03560                                    TSIGHT                                #  TIME OF 2ND MARK
042900,001907: 15,3141           32540                                    PLANET                                
042901,001908: 15,3142           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
042902,001909: 15,3143           33156                                    SURFLINE                              
042903,001910: 
042904,001911: 15,3144           06036        ASTAR              TC       INTPRET                               
042905,001912: 15,3145           77775                           VLOAD                                          
042906,001913: 15,3146           02715                                    STARAD     +6                         
042907,001914: 15,3147           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
042908,001915: 15,3150           45145                           DLOAD    CALL                                  
042909,001916: 15,3151           03560                                    TSIGHT                                #  TIME OF 1ST MARK
042910,001917: 15,3152           32540                                    PLANET                                
042911,001918: 15,3153           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
042912,001919: 15,3154           77776                           EXIT                                           
042913,001920: 15,3155           13116                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
042914,001921: 

Page 968

042916,001923:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
042917,001924: 
042918,001925: 15,3156           77131        SURFLINE           SSP      AXT,2                                 
042919,001926: 15,3157           00052                                    S2                                    
042920,001927: 15,3160           00006                                    6                                     
042921,001928: 15,3161           00014                                    12D                                   
042922,001929: 15,3162           64373        WRTDESIR           VLOAD*   MXV                                   
042923,001930: 15,3163           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
042924,001931: 15,3164           03605                                    XSMD                                  
042925,001932: 15,3165           77656                           UNIT                                           
042926,001933: 15,3166           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
042927,001934: 15,3167           77773                           VLOAD*                                         
042928,001935: 15,3170           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
042929,001936: 15,3171           10023                           STORE    18D,2                                 
042930,001937: 15,3172           43104                           TIX,2    BON                                   
042931,001938: 15,3173           33162                                    WRTDESIR                              
042932,001939: 15,3174           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
042933,001940: 15,3175           33203                                    INITBY                                
042934,001941: 15,3176           77624        DOALIGN            CALL                                           
042935,001942: 15,3177           31121                                    R54                                   #  DO CHKSDATA
042936,001943: 15,3200           77614                           BOFF                                           
042937,001944: 15,3201           00354                                    FREEFLAG                              
042938,001945: 15,3202           33264                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
042939,001946: 15,3203           77624        INITBY             CALL                                           
042940,001947: 15,3204           47345                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042941,001948: 15,3205           77624                           CALL                                           
042942,001949: 15,3206           47151                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
042943,001950: 15,3207           77776                           EXIT                                           
042944,001951: 15,3210           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042945,001952: 15,3211           70104                           MASK     FLAGWRD8                              
042946,001953: 15,3212           10000                           CCS      A                                     
042947,001954: 15,3213           13222                           TCF      5DEGTEST                              
042948,001955: 15,3214           33316                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
042949,001956: 15,3215           04616                           TC       BANKCALL                              
042950,001957: 15,3216           20351                           CADR     GOFLASH                               
042951,001958: 15,3217           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042952,001959: 15,3220           13222                           TCF      5DEGTEST                              #  VB33-PROCEED TO COARSE OR FINE
042953,001960: 15,3221           13265                           TCF      P57POST    +1                         #  VB32-RECYCLE, MAYBE RE-ALIGN
042954,001961: 
042955,001962: 15,3222           06036        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042956,001963: 15,3223           40175                           VLOAD    BOV                                   
042957,001964: 15,3224           02740                                    OGC                                   
042958,001965: 15,3225           33226                                    SURFSUP                               
042959,001966: 15,3226           02750        SURFSUP            STORE    OGCT                                  
042960,001967: 15,3227           40141                           V/SC     BOV                                   
042961,001968: 15,3230           30451                                    5DEGREES                              
042962,001969: 15,3231           33273                                    COATRIM                               
042963,001970: 15,3232           52131                           SSP      GOTO                                  
042964,001971: 15,3233           02746                                    QMIN                                  
042965,001972: 15,3234           33236                                    SURFDISP                              
042966,001973: 

Page 969

042968,001975: 15,3235           33074                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042969,001976: 
042970,001977: 15,3236           77776        SURFDISP           EXIT                                           
042971,001978: 15,3237           05353                           TC       PHASCHNG                              
042972,001979: 15,3240           05024                           OCT      05024                                 #  STORE REFSMMAT ,SET REFSMFLG   AND
042973,001980: 15,3241           13000                           OCT      13000                                 #  DISPLAY ORIGINAL  TORQ ANGLES
042974,001981: 15,3242           06036                           TC       INTPRET                               
042975,001982: 15,3243           75160                           AXC,1    AXC,2                                 
042976,001983: 15,3244           03604                                    XSMD                                  
042977,001984: 15,3245           01733                                    REFSMMAT                              
042978,001985: 15,3246           45014                           SET      CALL                                  
042979,001986: 15,3247           01462                                    REFSMFLG                              
042980,001987: 15,3250           31237                                    MATMOVE                               
042981,001988: 15,3251           77776                           EXIT                                           
042982,001989: 15,3252           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
042983,001990: 15,3253           13255                           TCF      B2F8                                  
042984,001991: 15,3254           13265                           TCF      P57POST    +1                         
042985,001992: 
042986,001993: 15,3255           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
042987,001994: 15,3256           70104                           MASK     FLAGWRD8                              
042988,001995: 15,3257           10000                           CCS      A                                     
042989,001996: 15,3260           13543                           TCF      P57JUMP                               #  ITS SET
042990,001997: 15,3261           06036                           TC       INTPRET                               
042991,001998: 15,3262           77624                           CALL                                           
042992,001999: 15,3263           33470                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042993,002000: 15,3264           77776        P57POST            EXIT                                           
042994,002001: 15,3265           35742                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
042995,002002: 15,3266           04616                           TC       BANKCALL                              
042996,002003: 15,3267           20476                           CADR     GOPERF1                               
042997,002004: 15,3270           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
042998,002005: 15,3271           13543                           TCF      P57JUMP                               #  VB33-PROCEED TO RE-ALIGN
042999,002006: 15,3272           16001                           TCF      GOTOPOOH                              #  VB32-R59 DONE-GO TO PROG 00
043000,002007: 

Page 970

043002,002009:                                                                                                  #  COARSE AND FINE ALIGN IMU
043003,002010: 15,3273           75160        COATRIM            AXC,1    AXC,2                                 
043004,002011: 15,3274           02664                                    XDC                                   
043005,002012: 15,3275           02642                                    XSM                                   
043006,002013: 15,3276           77624                           CALL                                           
043007,002014: 15,3277           31237                                    MATMOVE                               
043008,002015: 15,3300           77624                           CALL                                           
043009,002016: 15,3301           47443                                    CDUTRIG                               
043010,002017: 15,3302           77624                           CALL                                           
043011,002018: 15,3303           31267                                    CALCSMSC                              
043012,002019: 15,3304           77624                           CALL                                           
043013,002020: 15,3305           47255                                    CALCGA                                
043014,002021: 15,3306           77624                           CALL                                           
043015,002022: 15,3307           31506                                    COARSE                                
043016,002023: 15,3310           77624                           CALL                                           
043017,002024: 15,3311           31523                                    NCOARSE                               
043018,002025: 15,3312           77624                           CALL                                           
043019,002026: 15,3313           33041                                    GYROTRIM                              
043020,002027: 15,3314           77650                           GOTO                                           
043021,002028: 15,3315           33236                                    SURFDISP                              
043022,002029: 15,3316           01535        DISPGYRO           VN       0693                                  
043023,002030: 

Page 971

043025,002032:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
043026,002033: 
043027,002034: 15,3317           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
043028,002035: 15,3320           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
043029,002036: 
043030,002037: 15,3321           06036                           TC       INTPRET                               
043031,002038: 15,3322           77745                           DLOAD                                          
043032,002039: 15,3323           03440                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
043033,002040: 15,3324           01046        P57A               STORE    DSPTEM1                               
043034,002041: 15,3325           77776                           EXIT                                           
043035,002042: 15,3326           32172        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
043036,002043: 15,3327           04616                           TC       BANKCALL                              
043037,002044: 15,3330           20510                           CADR     GOFLASHR                              
043038,002045: 15,3331           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
043039,002046: 15,3332           13337                           TCF      +5                                    
043040,002047: 15,3333           13326                           TCF      P57AA                                 #  VB32-RECYCLE
043041,002048: 
043042,002049: 15,3334           05353                           TC       PHASCHNG                              
043043,002050: 15,3335           00014                           OCT      00014                                 
043044,002051: 15,3336           05155                           TC       ENDOFJOB                              
043045,002052: 
043046,002053: 15,3337           06036                           TC       INTPRET                               
043047,002054: 15,3340           50145                           DLOAD    BMN                                   
043048,002055: 15,3341           01046                                    DSPTEM1                               
043049,002056: 15,3342           33367                                    PACKOPTN   -1                         #  NEG TIME-PREF ORIENT IN XSMD MATRIX
043050,002057: 15,3343           65234                           RTB      PDDL                                  
043051,002058: 15,3344           21462                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
043052,002059: 15,3345           01046                                    DSPTEM1                               
043053,002060: 15,3346           65254                           BZE      PDDL                                  
043054,002061: 15,3347           33357                                    P57C                                  #  IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043055,002062: 15,3350           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043056,002063: 15,3351           01046                                    DSPTEM1                               
043057,002064: 15,3352           33357                                    P57C                                  
043058,002065: 15,3353           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
043059,002066: 15,3354           74337                           STORE    TIG                                   #  STORE IT IN TIG
043060,002067: 15,3355           36775                           STCALL   TALIGN                                
043061,002068: 15,3356           33361                                    P57D                                  
043062,002069: 15,3357           45545        P57C               DLOAD    STADR                                 
043063,002070: 15,3360           75002                           STORE    TALIGN                                
043064,002071: 15,3361           34041        P57D               STCALL   TDEC1                                 
043065,002072: 15,3362           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
043066,002073: 15,3363           53575                           VLOAD    UNIT                                  #  IN  X,Y,ZSMD
043067,002074: 15,3364           00001                                    RATT                                  
043068,002075: 15,3365           37605                           STCALL   XSMD                                  
043069,002076: 15,3366           33647                                    LSORIENT                              
043070,002077: 15,3367           77776                           EXIT                                           
043071,002078: 15,3370           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
043072,002079: 15,3371           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
043073,002080: 15,3372           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
043074,002081: 15,3373           34737                           CAF      REFSMBIT                              
043075,002082: 

Page 972

043077,002084: 15,3374           70077                           MASK     FLAGWRD3                              #  REFSMFLG
043078,002085: 15,3375           10000                           CCS      A                                     
043079,002086: 15,3376           34745                           CAF      BIT7                                  #  SET
043080,002087: 15,3377           27146                           ADS      OPTION1    +2                         #  CLEAR-JUST ZERO
043081,002088: 15,3400           34753                           CAF      ATTFLBIT                              
043082,002089: 15,3401           70102                           MASK     FLAGWRD6                              #  ATTFLG
043083,002090: 15,3402           10000                           CCS      A                                     
043084,002091: 15,3403           34750                           CAF      BIT4                                  #  SET
043085,002092: 15,3404           27146                           ADS      OPTION1    +2                         #  CLEAR-ZERO IN A
043086,002093: 15,3405           34750                           CAF      BIT4                                  
043087,002094: 15,3406           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
043088,002095: 
043089,002096: 15,3407           33634        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
043090,002097: 15,3410           04616                           TC       BANKCALL                              
043091,002098: 15,3411           20351                           CADR     GOFLASH                               
043092,002099: 15,3412           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043093,002100: 15,3413           13415                           TCF      +2                                    #  V33-PROCEED
043094,002101: 15,3414           13407                           TCF      DSPOPTN                               #  V32-RECYCLE
043095,002102: 
043096,002103: 15,3415           05353                           TC       PHASCHNG                              
043097,002104: 15,3416           05024                           OCT      05024                                 
043098,002105: 15,3417           13000                           OCT      13000                                 
043099,002106: 15,3420           34737                           CAF      REFSMBIT                              
043100,002107: 15,3421           70077                           MASK     FLAGWRD3                              
043101,002108: 15,3422           10000                           CCS      A                                     
043102,002109: 15,3423           13523                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
043103,002110: 15,3424           34753                           CAF      ATTFLBIT                              #  CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043104,002111: 15,3425           70102                           MASK     FLAGWRD6                              
043105,002112: 15,3426           10000                           CCS      A                                     
043106,002113: 15,3427           13527                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043107,002114: 15,3430           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3
043108,002115: 15,3431           71145                           MASK     OPTION2                               
043109,002116: 15,3432           10000                           CCS      A                                     
043110,002117: 15,3433           13527                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043111,002118: 15,3434           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS-ALARM 701
043112,002119: 15,3435           00701                           OCT      701                                   
043113,002120: 15,3436           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
043114,002121: 15,3437           04616                           TC       BANKCALL                              
043115,002122: 15,3440           20351                           CADR     GOFLASH                               
043116,002123: 15,3441           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043117,002124: 15,3442           13407                           TCF      DSPOPTN                               #  V33-PROCEED   ********TEMPORARY
043118,002125: 15,3443           13407                           TCF      DSPOPTN                               #  VB32-RECYCLE TO OPTION DISPLAY V 05N06
043119,002126: 

Page 973

043121,002128:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043122,002129: 
043123,002130: 15,3444           40220        MFREF              STQ      SETPD                                 
043124,002131: 15,3445           02746                                    QMAJ                                  
043125,002132: 15,3446           00001                                    0                                     
043126,002133: 15,3447           77634                           RTB                                            
043127,002134: 15,3450           21462                                    LOADTIME                              
043128,002135: 15,3451           27560                           STOVL    TSIGHT                                
043129,002136: 15,3452           02723                                    VEC1                                  
043130,002137: 15,3453           41525                           PDDL     PUSH                                  
043131,002138: 15,3454           03560                                    TSIGHT                                
043132,002139: 15,3455           77624                           CALL                                           
043133,002140: 15,3456           51504                                    RP-TO-R                               
043134,002141: 15,3457           26723                           STOVL    VEC1                                  
043135,002142: 15,3460           02731                                    VEC2                                  
043136,002143: 15,3461           65201                           SETPD    PDDL                                  
043137,002144: 15,3462           00001                                    0                                     
043138,002145: 15,3463           03560                                    TSIGHT                                
043139,002146: 15,3464           45006                           PUSH     CALL                                  
043140,002147: 15,3465           51504                                    RP-TO-R                               
043141,002148: 15,3466           36731                           STCALL   VEC2                                  
043142,002149: 15,3467           02746                                    QMAJ                                  
043143,002150: 

Page 974

043145,002152:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043146,002153:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
043147,002154: 
043148,002155: 15,3470           45020        REFMF              STQ      CALL                                  
043149,002156: 15,3471           02746                                    QMAJ                                  
043150,002157: 15,3472           47443                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
043151,002158: 15,3473           40234                           RTB      SETPD                                 
043152,002159: 15,3474           21462                                    LOADTIME                              
043153,002160: 15,3475           00001                                    0                                     
043154,002161: 15,3476           37560                           STCALL   TSIGHT                                
043155,002162: 15,3477           31267                                    CALCSMSC                              #  GET YNB IN SM
043156,002163: 15,3500           61375                           VLOAD    VXM                                   
043157,002164: 15,3501           02673                                    YNB                                   
043158,002165: 15,3502           01734                                    REFSMMAT                              #   YNB TO REF
043159,002166: 15,3503           65256                           UNIT     PDDL                                  
043160,002167: 15,3504           03560                                    TSIGHT                                
043161,002168: 15,3505           45006                           PUSH     CALL                                  
043162,002169: 15,3506           51531                                    R-TO-RP                               
043163,002170: 15,3507           26243                           STOVL    YNBSAV                                #  YNB TO MF
043164,002171: 15,3510           02701                                    ZNB                                   
043165,002172: 15,3511           53505                           VXM      UNIT                                  
043166,002173: 15,3512           01734                                    REFSMMAT                              #  ZNB TO REF
043167,002174: 15,3513           41525                           PDDL     PUSH                                  
043168,002175: 15,3514           03560                                    TSIGHT                                
043169,002176: 15,3515           77624                           CALL                                           
043170,002177: 15,3516           51531                                    R-TO-RP                               #  ZNB TO MF
043171,002178: 15,3517           02251                           STORE    ZNBSAV                                
043172,002179: 15,3520           77614                           SETGO                                          
043173,002180: 15,3521           03036                                    ATTFLAG                               
043174,002181: 15,3522           02746                                    QMAJ                                  
043175,002182: 

Page 975

043177,002184:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
043178,002185: 
043179,002186: 15,3523           06036        GETLMATT           TC       INTPRET                               
043180,002187: 15,3524           77624                           CALL                                           
043181,002188: 15,3525           33470                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043182,002189: 15,3526           77776                           EXIT                                           
043183,002190: 
043184,002191: 15,3527           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
043185,002192: 15,3530           00205                           ADRES    INITALGN                              
043186,002193: 15,3531           34753                           CAF      BIT1                                  
043187,002194: 15,3532           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
043188,002195: 15,3533           10000                           CCS      A                                     
043189,002196: 15,3534           12627                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
043190,002197: 
043191,002198: 15,3535           05353        ATTCHK             TC       PHASCHNG                              
043192,002199: 15,3536           04024                           OCT      04024                                 
043193,002200: 
043194,002201: 15,3537           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
043195,002202: 15,3540           70102                           MASK     FLAGWRD6                              
043196,002203: 15,3541           10000                           CCS      A                                     
043197,002204: 15,3542           13557                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
043198,002205: 15,3543           05353        P57JUMP            TC       PHASCHNG                              
043199,002206: 15,3544           04024                           OCT      04024                                 
043200,002207: 
043201,002208: 15,3545           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR-RESET INTALIGN FLAG
043202,002209: 15,3546           00205                           ADRES    INITALGN                              
043203,002210: 15,3547           36244                           CAF      THREE                                 
043204,002211: 15,3550           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
043205,002212: 15,3551           50000                           INDEX    A                                     
043206,002213: 15,3552           13553                           TCF      +1                                    
043207,002214: 15,3553           13557                           TCF      P57OPT0                               #  OPTION IS 0
043208,002215: 15,3554           13600                           TCF      P57OPT1                               #  OPTION IS 1
043209,002216: 15,3555           13616                           TCF      P57OPT2                               #  OPTION IS 2
043210,002217: 15,3556           13617                           TCF      P57OPT3                               #  OPTION IS 3
043211,002218: 

Page 976

043213,002220:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
043214,002221: 
043215,002222: 15,3557           06036        P57OPT0            TC       INTPRET                               
043216,002223: 15,3560           77775                           VLOAD                                          
043217,002224: 15,3561           02243                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
043218,002225: 15,3562           26723                           STOVL    VEC1                                  
043219,002226: 15,3563           02251                                    ZNBSAV                                
043220,002227: 15,3564           36731                           STCALL   VEC2                                  
043221,002228: 15,3565           47443                                    CDUTRIG                               
043222,002229: 15,3566           77624                           CALL                                           
043223,002230: 15,3567           31267                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
043224,002231: 15,3570           77775                           VLOAD                                          
043225,002232: 15,3571           02673                                    YNB                                   
043226,002233: 15,3572           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
043227,002234: 15,3573           02701                                    ZNB                                   
043228,002235: 15,3574           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
043229,002236: 15,3575           33444                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
043230,002237: 15,3576           77650                           GOTO                                           
043231,002238: 15,3577           33156                                    SURFLINE                              
043232,002239: 
043233,002240:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043234,002241: 
043235,002242: 15,3600           06036        P57OPT1            TC       INTPRET                               
043236,002243: 15,3601           53575                           VLOAD    UNIT                                  
043237,002244: 15,3602           02023                                    RLS                                   #  LANDING SITE VEC
043238,002245: 15,3603           26723                           STOVL    VEC1                                  
043239,002246: 15,3604           02251                                    ZNBSAV                                #  Z ATTITUDE VEC
043240,002247: 15,3605           36731                           STCALL   VEC2                                  
043241,002248: 15,3606           47443                                    CDUTRIG                               
043242,002249: 15,3607           77624                           CALL                                           
043243,002250: 15,3610           31267                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
043244,002251: 15,3611           45175                           VLOAD    CALL                                  
043245,002252: 15,3612           02235                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043246,002253: 15,3613           47565                                    CDU*NBSM                              
043247,002254: 15,3614           77650                           GOTO                                           
043248,002255: 15,3615           33572                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
043249,002256: 

Page 977

043251,002258:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
043252,002259: 
043253,002260: 15,3616           13114        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
043254,002261: 
043255,002262:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043256,002263: 
043257,002264: 15,3617           06036        P57OPT3            TC       INTPRET                               
043258,002265: 15,3620           53575                           VLOAD    UNIT                                  
043259,002266: 15,3621           02023                                    RLS                                   #  LANDING SITE VEC
043260,002267: 15,3622           02723                           STORE    VEC1                                  
043261,002268: 15,3623           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
043262,002269: 15,3624           02235                                    GSAV                                  #  GRAVITY VEC NB
043263,002270: 15,3625           77624                           CALL                                           
043264,002271: 15,3626           47565                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043265,002272: 15,3627           36761                           STCALL   STARSAV1                              
043266,002273: 15,3630           33444                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
043267,002274: 15,3631           77776                           EXIT                                           
043268,002275: 15,3632           13116                           TCF      1STAR                                 #  1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043269,002276: 
043270,002277: 15,3633           00701        BADOPT             OCT      00701                                 #  **** TEMP ****
043271,002278: 15,3634           01206        VB05N06            VN       506                                   
043272,002279: 

Page 978

043274,002281:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
043275,002282: 
043276,002283: 15,3635           41302        IMUCHK             CS       IMODES30                              
043277,002284: 15,3636           74743                           MASK     BIT9                                  
043278,002285: 15,3637           10000                           CCS      A                                     #  IS IMU ON
043279,002286: 15,3640           13644                           TCF      +4                                    #  YES
043280,002287: 
043281,002288: 15,3641           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
043282,002289: 15,3642           00210                           OCT      210                                   
043283,002290: 15,3643           06001                           TC       GOTOPOOH                              
043284,002291: 
043285,002292: 15,3644           05504                           TC       UPFLAG                                
043286,002293: 15,3645           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
043287,002294: 
043288,002295: 15,3646           04631                           TC       SWRETURN                              
043289,002296: 
043290,002297: 15,3647           77220        LSORIENT           STQ      VLOAD                                 
043291,002298: 15,3650           02746                                    QMAJ                                  
043292,002299: 15,3651           01555                                    RRECTCSM                              
043293,002300: 15,3652           47235                           VXV      VXV                                   
043294,002301: 15,3653           01563                                    VRECTCSM                              
043295,002302: 15,3654           03605                                    XSMD                                  
043296,002303: 15,3655           77656                           UNIT                                           
043297,002304: 15,3656           03621                           STORE    ZSMD                                  
043298,002305: 15,3657           53435                           VXV      UNIT                                  
043299,002306: 15,3660           03605                                    XSMD                                  
043300,002307: 15,3661           37613                           STCALL   YSMD                                  
043301,002308: 15,3662           02746                                    QMAJ                                  

End of include-file P51-P53.agc.  Parent file is MAIN.agc