Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

030308,000002:                                                                                                  ## Copyright:   Public domain.
030309,000003:                                                                                                  ## Filename:    P51-P53.agc
030310,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
030311,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
030312,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
030313,000007:                                                                                                  ## Assembler:   yaYUL
030314,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
030315,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
030316,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030317,000011:                                                                                                  ## Mod history: 2011-02-23 JL   Adapted from corresponding Colossus 249 file.
030318,000012:                                                                                                  ##              2011-04-17 JL   Removed temporary line.
030319,000013:                                                                                                  ##              2016-12-31 RSB  Proofed comment text using octopus/ProoferComments,
030320,000014:                                                                                                  ##                              and corrected errors found.
030321,000015:                                                                                                  ##              2017-01-18 RSB  Fixed comment-text errors noted while diff'ing
030322,000016:                                                                                                  ##                              vs Colossus 249.
030323,000017: 

Page 690

030325,000019:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- NOV 30, 1966
030326,000020:                                                                                                  #  MOD NO- 2                                                                              LOG SECTION- P51-P53
030327,000021:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDISK REV 30
030328,000022: 
030329,000023:                                                                                                  #  FUNCTIONAL DESCRIPTION-
030330,000024: 
030331,000025:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030332,000026:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030333,000027: 
030334,000028:                                                                                                  #       (A) PREFERRED ORIENTATION
030335,000029: 
030336,000030:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
030337,000031:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
030338,000032: 
030339,000033:                                                                                                  #       (B) NOMINAL ORIENTATION
030340,000034: 
030341,000035:                                                                                                  #            X  = UNIT(Y  X Z  )
030342,000036:                                                                                                  #            -SM       -SM  -SM
030343,000037: 
030344,000038:                                                                                                  #            Y  = UNIT(V X R)
030345,000039:                                                                                                  #            -SM       -   -
030346,000040: 
030347,000041:                                                                                                  #            Z   = UNIT(-R)
030348,000042:                                                                                                  #            -SM         -
030349,000043: 
030350,000044:                                                                                                  #           WHERE_
030351,000045:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030352,000046:                                                                                                  #            -
030353,000047: 
030354,000048:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030355,000049:                                                                                                  #            -
030356,000050: 
030357,000051:                                                                                                  #       (C) REFSMMAT ORIENTATION
030358,000052: 
030359,000053:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030360,000054:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
030361,000055:                                                                                                  #       SINCE THE LAST ALIGNMENT).
030362,000056: 
030363,000057:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030364,000058:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030365,000059:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030366,000060:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
030367,000061:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030368,000062:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030369,000063:                                                                                                  #  REQUESTED.
030370,000064: 
030371,000065:                                                                                                  #  CALLING SEQUENCE-
030372,000066: 
030373,000067:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030374,000068: 

Page 691

030376,000070:                                                                                                  #  SUBROUTINES CALLED-
030377,000071: 
030378,000072:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
030379,000073:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
030380,000074:                                                                                                  #      3. GOPERF4       9. FLAGUP
030381,000075:                                                                                                  #      4. MATMOVE      10. R56
030382,000076:                                                                                                  #      5. GOFLASH      11. R51
030383,000077:                                                                                                  #      6. S52.3        12. GOPERF3
030384,000078: 
030385,000079:                                                                                                  #  NORMAL EXIT MODES-
030386,000080: 
030387,000081:                                                                                                  #        EXITS TO ENDOFJOB
030388,000082: 
030389,000083:                                                                                                  #  ALARM OR ABORT EXIT MODES-
030390,000084: 
030391,000085:                                                                                                  #        NONE
030392,000086: 
030393,000087:                                                                                                  #  OUTPUT-
030394,000088: 
030395,000089:                                                                                                  #      THE FOLLOWING MAY BE FLASHED ON THE DSKY
030396,000090:                                                                                                  #         1. IMU ORIENTATION CODE
030397,000091:                                                                                                  #         2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030398,000092:                                                                                                  #         3. TIME OF NEXT IGNITION
030399,000093:                                                                                                  #         4. GIMBAL ANGLES
030400,000094:                                                                                                  #         5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030401,000095:                                                                                                  #         6. PLEASE PERFORM P00
030402,000096:                                                                                                  #      THE MODE DISPLAY MAY BE CHANGED TO 20
030403,000097: 
030404,000098:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
030405,000099: 
030406,000100:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030407,000101:                                                                                                  #      XSMD,YSMD,ZSMD.
030408,000102:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030409,000103: 
030410,000104:                                                                                                  #  DEBRIS-
030411,000105: 
030412,000106:                                                                                                  #      WORK AREA
030413,000107: 21,2026  15,2000               P54                =        PROG52                                
030414,000108: 33,3773                                           BANK     33                                    
030415,000109: 15,2000                                           SETLOC   P50S                                  
030416,000110: 15,2000                                           BANK                                           
030417,000111: 
030418,000112: 15,2000  30,2000                                  SBANK=   LOWSUPER                              
030419,000113: 15,2000  E5,1773                                  EBANK=   SAC                                   
030420,000114: 15,2000                                           COUNT    15/P52                                
030421,000115: 
030422,000116: 15,2000           05301        PROG52             TC       PHASCHNG                              
030423,000117: 15,2001           00254                           OCT      00254                                 
030424,000118: 15,2002           05447                           TC       DOWNFLAG                              
030425,000119: 15,2003           00027                           ADRES    UPDATFLG                              #  BIT 7  FLAG 1

Page 692

030427,000121: 15,2004           05447                           TC       DOWNFLAG                              
030428,000122: 15,2005           00031                           ADRES    TRACKFLG                              #  BIT 5  FLAG 1
030429,000123: 15,2006           04555                           TC       BANKCALL                              
030430,000124: 15,2007           17573                           CADR     R02BOTH                               #  IMU STATUS CHECK
030431,000125: 15,2010           34707                           CAF      BIT4                                  
030432,000126: 15,2011           70076                           MASK     STATE      +2                         #  IS PFRATFLG SET(PREFERRED ORIENTATION)
030433,000127: 15,2012           10000                           CCS      A                                     
030434,000128: 15,2013           02016                           TC       P52A                                  #  YES
030435,000129: 15,2014           34711                           CAF      BIT2                                  #  NO
030436,000130: 15,2015           02017                           TC       P52A       +1                         
030437,000131: 15,2016           34712        P52A               CAF      BIT1                                  
030438,000132: 15,2017           55132                           TS       OPTION2                               
030439,000133: 15,2020           34712        P52B               CAF      BIT1                                  
030440,000134: 15,2021           04555                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
030441,000135: 15,2022           21041                           CADR     GOPERF4R                              
030442,000136: 15,2023           04106                           TC       GOTOPOOH                              
030443,000137: 15,2024           02031                           TC       +5                                    
030444,000138: 15,2025           02020                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
030445,000139: 15,2026           05301                           TC       PHASCHNG                              
030446,000140: 15,2027           00014                           OCT      00014                                 
030447,000141: 15,2030           05112                           TC       ENDOFJOB                              
030448,000142: 15,2031           31132                           CA       OPTION2                               
030449,000143: 15,2032           76214                           MASK     THREE                                 
030450,000144: 15,2033           50000                           INDEX    A                                     
030451,000145: 15,2034           02035                           TC       +1                                    
030452,000146: 15,2035           02041                           TC       P52T                                  #  L.S.
030453,000147: 15,2036           02110                           TC       P52J                                  #  PREF
030454,000148: 15,2037           02041                           TC       P52T                                  #  NOM
030455,000149: 15,2040           12120                           TCF      P52C                                  #  REF
030456,000150: 15,2041           00006        P52T               EXTEND                                         
030457,000151: 15,2042           34714                           DCA      NEG0                                  
030458,000152: 15,2043           53046                           DXCH     DSPTEM1                               
030459,000153: 15,2044           32155                           CAF      V06N34                                
030460,000154: 15,2045           04555                           TC       BANKCALL                              
030461,000155: 15,2046           20624                           CADR     GOFLASH                               
030462,000156: 15,2047           04106                           TC       GOTOPOOH                              
030463,000157: 15,2050           02052                           TC       +2                                    
030464,000158: 15,2051           02044                           TC       -5                                    
030465,000159: 15,2052           00006                           EXTEND                                         
030466,000160: 15,2053           31046                           DCA      DSPTEM1                               
030467,000161: 15,2054           00006                           EXTEND                                         
030468,000162: 15,2055           12057                           BZF      +2                                    
030469,000163: 15,2056           12062                           TCF      +4                                    
030470,000164: 
030471,000165: 15,2057           00006                           EXTEND                                         
030472,000166: 15,2060           30025                           DCA      TIME2                                 
030473,000167: 15,2061           53046                           DXCH     DSPTEM1                               
030474,000168: 15,2062           31132                           CA       OPTION2                               
030475,000169: 15,2063           74711                           MASK     BIT2                                  
030476,000170: 15,2064           10000                           CCS      A                                     

Page 693

030478,000172: 15,2065           12073                           TCF      +6                                    #  NOM
030479,000173: 15,2066           06006                           TC       INTPRET                               #  LS
030480,000174: 15,2067           77624                           CALL                                           
030481,000175: 15,2070           34506                                    P52LS                                 
030482,000176: 15,2071           77650                           GOTO                                           
030483,000177: 15,2072           32100                                    P52D                                  
030484,000178: 15,2073           06006                           TC       INTPRET                               
030485,000179: 15,2074           77745                           DLOAD                                          
030486,000180: 15,2075           01046                                    DSPTEM1                               
030487,000181: 15,2076           77624                           CALL                                           #  COMPUTE NOMINAL IMU
030488,000182: 15,2077           34636                                    S52.3                                 #   ORIENTATION
030489,000183: 15,2100           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
030490,000184: 15,2101           22256                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
030491,000185: 15,2102           77776                           EXIT                                           
030492,000186: 15,2103           32156                           CAF      VB06N22                               
030493,000187: 15,2104           04555                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
030494,000188: 15,2105           20624                           CADR     GOFLASH                               
030495,000189: 15,2106           04106                           TC       GOTOPOOH                              
030496,000190: 15,2107           02113                           TC       +4                                    #  PROCEED
030497,000191: 15,2110           06006        P52J               TC       INTPRET                               #  RECYCLE- VEHICLE HAS BEEN MENUEVERED
030498,000192: 15,2111           77650                           GOTO                                           
030499,000193: 15,2112           32100                                    P52D                                  
030500,000194: 15,2113           06006                           TC       INTPRET                               
030501,000195: 15,2114           77624                           CALL                                           #  DO COARSE ALIGN
030502,000196: 15,2115           30763                                    CAL53A                                #   ROUTINE
030503,000197: 15,2116           77414                           SET      EXIT                                  
030504,000198: 15,2117           01462                                    REFSMFLG                              
030505,000199: 15,2120           34720        P52C               CAF      ALRM15                                
030506,000200: 15,2121           04555                           TC       BANKCALL                              
030507,000201: 15,2122           20751                           CADR     GOPERF1                               
030508,000202: 15,2123           04106                           TC       GOTOPOOH                              
030509,000203: 15,2124           02126                           TC       +2                                    #  V33
030510,000204: 15,2125           02140                           TC       P52F                                  #  E
030511,000205: 15,2126           06006                           TC       INTPRET                               
030512,000206: 15,2127           43234                           RTB      DAD                                   
030513,000207: 15,2130           45505                                    LOADTIME                              
030514,000208: 15,2131           32176                                    TSIGHT1                               
030515,000209: 15,2132           77624                           CALL                                           
030516,000210: 15,2133           30216                                    LOCSAM                                
030517,000211: 15,2134           77776                           EXIT                                           
030518,000212: 15,2135           04555        P52E               TC       BANKCALL                              #  DO STAR SELECTION
030519,000213: 15,2136           30324                           CADR     PICAPAR                               
030520,000214: 15,2137           02145                           TC       P52I                                  #  2 STARS NOT AVAILABLE
030521,000215: 15,2140           06006        P52F               TC       INTPRET                               #  2 STARS AVAILABLE
030522,000216: 15,2141           77624                           CALL                                           
030523,000217: 15,2142           30523                                    R51                                   
030524,000218: 15,2143           77776        ENDP50S            EXIT                                           
030525,000219: 15,2144           04106                           TC       GOTOPOOH                              
030526,000220: 15,2145           05537        P52I               TC       ALARM                                 
030527,000221: 15,2146           00405                           OCT      405                                   

Page 694

030529,000223: 15,2147           34743                           CAF      V05N09                                
030530,000224: 15,2150           04555                           TC       BANKCALL                              
030531,000225: 15,2151           20624                           CADR     GOFLASH                               
030532,000226: 15,2152           04106                           TC       GOTOPOOH                              
030533,000227: 15,2153           02140                           TC       P52F                                  #  PROCEED - DO FINE ALIGN-R51
030534,000228: 15,2154           02120                           TC       P52C                                  #  RECYCLE- VEHICLE HAS BEEN MANUEVERED                  
030535,000229: 15,2155           01442        V06N34             VN       00634                                 
030536,000230: 15,2156           01426        VB06N22            VN       00622                                 
030537,000231: 15,2157     4720               ALRM15             EQUALS   OCT15                                 
030538,000232: 16,2000                                           SETLOC   P50S2                                 
030539,000233: 16,2000                                           BANK                                           
030540,000234: 16,2505           01531        V06N89*            VN       0689                                  
030541,000235:                                                                                                  #  NAME-P52LS
030542,000236:                                                                                                  #  FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030543,000237:                                                                                                  #  LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030544,000238:                                                                                                  #  THE KEYBOARD. TO COMPUTE THE LANDING SITE
030545,000239:                                                                                                  #  ORIENTATION FOR P52 OR P54
030546,000240: 
030547,000241:                                                                                                  #  LET:
030548,000242:                                                                                                  #     RLS  = LANDING SITE VECTOR IN REF COORDINATES
030549,000243:                                                                                                  #     R    = CSM POSITION VECTOR IN REF COORDINATES
030550,000244:                                                                                                  #     V    = CSM VELOCITY VECTOR IN REF COORDINATES
030551,000245:                                                                                                  #  THEN THE LANDING SITE ORIENTATION IS:
030552,000246:                                                                                                  #     XSMD = UNIT(RLS)
030553,000247:                                                                                                  #     YSMD = UNIT(ZSMD*XSMD)
030554,000248:                                                                                                  #     ZSMD = UNIT((R*V)*RLS)
030555,000249:                                                                                                  #  CALL -   CALL
030556,000250:                                                                                                  #                  P52LS
030557,000251:                                                                                                  #  INPUTS-  DSPTEM1=TIME OF ALIGNMENT
030558,000252:                                                                                                  #           RLS=LANDING SITE VECTOR IN MOON FIXED COORINATES
030559,000253:                                                                                                  #  OUTPUTS- XSMD,YSMD,ZSMD
030560,000254:                                                                                                  #  SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030561,000255:                                                                                                  #  DEBRIS- VAC, SEE SUBROUTINES
030562,000256: 
030563,000257: 16,2506           43020        P52LS              STQ      SET                                   
030564,000258: 16,2507           00300                                    QMAJ                                  
030565,000259: 16,2510           01463                                    LUNAFLAG                              
030566,000260: 16,2511           77745                           DLOAD                                          
030567,000261: 16,2512           01046                                    DSPTEM1                               
030568,000262: 16,2513           02607                           STORE    TSIGHT                                
030569,000263: 16,2514           43175                           VLOAD    SET                                   
030570,000264: 16,2515           02026                                    RLS                                   
030571,000265: 16,2516           00462                                    ERADFLAG                              
030572,000266: 16,2517           14001                           STODL    0D                                    
030573,000267: 16,2520           02607                                    TSIGHT                                
030574,000268: 16,2521           34007                           STCALL   6D                                    
030575,000269: 16,2522           55341                                    RP-TO-R                               
030576,000270: 16,2523           77742                           VSR2                                           
030577,000271: 16,2524           16152                           STODL    ALPHAV                                
030578,000272: 16,2525           02607                                    TSIGHT                                

Page 695

030580,000274: 16,2526           77624                           CALL                                           
030581,000275: 16,2527           26322                                    LAT-LONG                              
030582,000276: 16,2530           77624                           CALL                                           
030583,000277: 16,2531           61336                                    LLASRD                                
030584,000278: 16,2532           77776                           EXIT                                           
030585,000279: 16,2533           32505        LSDISP             CAF      V06N89*                               
030586,000280: 16,2534           04555                           TC       BANKCALL                              
030587,000281: 16,2535           20624                           CADR     GOFLASH                               
030588,000282: 16,2536           04106                           TC       GOTOPOOH                              
030589,000283: 16,2537           02541                           TC       +2                                    
030590,000284: 16,2540           02533                           TC       LSDISP                                
030591,000285: 16,2541           06006                           TC       INTPRET                               
030592,000286: 16,2542           77624                           CALL                                           
030593,000287: 16,2543           61345                                    LLASRDA                               
030594,000288: 16,2544           45145                           DLOAD    CALL                                  
030595,000289: 16,2545           02607                                    TSIGHT                                
030596,000290: 16,2546           26373                                    LALOTORV                              
030597,000291: 16,2547           53575                           VLOAD    UNIT                                  
030598,000292: 16,2550           02152                                    ALPHAV                                
030599,000293: 16,2551           14307                           STODL    XSMD                                  
030600,000294: 16,2552           02607                                    TSIGHT                                
030601,000295: 16,2553           34041                           STCALL   TDEC1                                 
030602,000296: 16,2554           27022                                    CSMPREC                               
030603,000297: 16,2555           47375                           VLOAD    VXV                                   
030604,000298: 16,2556           00001                                    RATT                                  
030605,000299: 16,2557           00007                                    VATT                                  
030606,000300: 16,2560           53435                           VXV      UNIT                                  
030607,000301: 16,2561           00307                                    XSMD                                  
030608,000302: 16,2562           00323                           STORE    ZSMD                                  
030609,000303: 16,2563           53435                           VXV      UNIT                                  
030610,000304: 16,2564           00307                                    XSMD                                  
030611,000305: 16,2565           34315                           STCALL   YSMD                                  
030612,000306: 16,2566           00300                                    QMAJ                                  
030613,000307: 14,2000                                           SETLOC   P50S1                                 
030614,000308: 14,2000                                           BANK                                           
030615,000309:                                                                                                  #  NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030616,000310: 
030617,000311:                                                                                                  #  FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030618,000312:                                                                                                  #            (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030619,000313: 
030620,000314:                                                                                                  #  CALLING SEQUENCE- CALL R52
030621,000315: 
030622,000316:                                                                                                  #  INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030623,000317:                                                                                                  #         2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030624,000318:                                                                                                  #         3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030625,000319:                                                                                                  #         4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
030626,000320:                                                                                                  #         5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030627,000321: 
030628,000322:                                                                                                  #  OUTPUT-  DRIVE SHAFT AND TRUNNION CDUS
030629,000323: 

Page 696

030631,000325:                                                                                                  #  SUBROUTINES- 1. FIXDELAY        7. CLEANDSP
030632,000326:                                                                                                  #               2. GOPERF1         8. GODSPR
030633,000327:                                                                                                  #               3. GOFLASH         9. REFLASHR
030634,000328:                                                                                                  #               4. R53            10. R52.2
030635,000329:                                                                                                  #               5. ALARM          11. R52.3
030636,000330:                                                                                                  #               6. SR52.1
030637,000331: 
030638,000332: 14,2002                                           COUNT    15/R52                                
030639,000333: 
030640,000334: 14,2002           43020        R52                STQ      CLEAR                                 
030641,000335: 14,2003           02576                                    SAVQR52                               
030642,000336: 14,2004           04265                                    ADVTRK                                
030643,000337: 14,2005           77776        R52VRB             EXIT                                           
030644,000338: 14,2006           00006                           EXTEND                                         
030645,000339: 14,2007           30036                           DCA      CDUT                                  
030646,000340: 14,2010           53161                           DXCH     DESOPTT                               
030647,000341: 14,2011           06006                           TC       INTPRET                               
030648,000342: 14,2012           43131                           SSP      CLEAR                                 
030649,000343: 14,2013           01304                                    OPTIND                                
030650,000344: 14,2014           00000                                    0                                     
030651,000345: 14,2015           00271                                    R53FLAG                               
030652,000346: 14,2016           77776                           EXIT                                           
030653,000347: 14,2017           06006        R52A               TC       INTPRET                               
030654,000348: 14,2020           43014                           SET      BON                                   
030655,000349: 14,2021           00073                                    TRUNFLAG                              
030656,000350: 14,2022           00705                                    TARG1FLG                              
030657,000351: 14,2023           30103                                    R52H                                  
030658,000352: 14,2024           77414                           CLEAR    EXIT                                  
030659,000353: 14,2025           03660                                    TERMIFLG                              
030660,000354: 14,2026           31314        R52C               CA       SWSAMPLE                              #  IS OPTICS MODE IN AGC
030661,000355: 14,2027           00006                           EXTEND                                         
030662,000356: 14,2030           62131                           BZMF     R52M                                  #  MANUAL
030663,000357: 14,2031           04555        R52D               TC       BANKCALL                              #  AGC
030664,000358: 14,2032           26176                           CADR     SR52.1                                
030665,000359: 14,2033           12161                           TCF      R52L                                  #  GR 90 DEGREES
030666,000360: 14,2034           12124                           TCF      R52J                                  #  GR 50 DEGREES
030667,000361: 14,2035           05435                           TC       UPFLAG                                #  LS 50 DEGREES
030668,000362: 14,2036           00013                           ADRES    TRUNFLAG                              #  SET TRUNFLAG  BIT 4  FLAG 0
030669,000363: 14,2037           34701        R52JA              CAF      BIT10                                 #  IS THIS A LEM
030670,000364: 14,2040           70075                           MASK     STATE      +1                         
030671,000365: 14,2041           10000                           CCS      A                                     
030672,000366: 14,2042           02052                           TC       R52E                                  #  YES
030673,000367: 14,2043           34705                           CAF      BIT6                                  #  NO, IS R53FLAG SET
030674,000368: 14,2044           70074                           MASK     STATE                                 
030675,000369: 14,2045           10000                           CCS      A                                     
030676,000370: 14,2046           12052                           TCF      R52E                                  #  YES
030677,000371: 14,2047           32151                           CAF      V06N92                                #  NO
030678,000372: 14,2050           04555                           TC       BANKCALL                              
030679,000373: 14,2051           20602                           CADR     GODSPR                                
030680,000374: 14,2052           31314        R52E               CA       SWSAMPLE                              #  IS OSS IN CMC MODE

Page 697

030682,000376: 14,2053           00006                           EXTEND                                         
030683,000377: 14,2054           62065                           BZMF     R52F                                  #  NO
030684,000378: 14,2055           40074                           CS       STATE                                 #  YES- IS TRUNFLAG SET
030685,000379: 14,2056           74707                           MASK     BIT4                                  
030686,000380: 14,2057           10000                           CCS      A                                     
030687,000381: 14,2060           02063                           TC       +3                                    #  NO
030688,000382: 14,2061           31775                           CA       PAC                                   #  YES
030689,000383: 14,2062           55160                           TS       DESOPTT                               
030690,000384: 14,2063           31773                           CA       SAC                                   
030691,000385: 14,2064           55161                           TS       DESOPTS                               
030692,000386: 14,2065           34731        R52F               CAF      .5SEC                                 #  WAIT 1/2 SEC
030693,000387: 14,2066           04555                           TC       BANKCALL                              
030694,000388: 14,2067           01730                           CADR     DELAYJOB                              
030695,000389: 14,2070           34701                           CAF      BIT10                                 
030696,000390: 14,2071           70075                           MASK     STATE      +1                         
030697,000391: 14,2072           10000                           CCS      A                                     
030698,000392: 14,2073           12104                           TCF      R52HA                                 #  YES, LEM
030699,000393: 14,2074           34674                           CAF      BIT15                                 #  NO
030700,000394: 14,2075           70103                           MASK     STATE      +7                         #  IS TERMIFLG SET
030701,000395: 14,2076           00006                           EXTEND                                         
030702,000396: 14,2077           12026                           BZF      R52C                                  #  NO
030703,000397: 14,2100           06006        R52Q               TC       INTPRET                               #  YES
030704,000398: 14,2101           77650                           GOTO                                           
030705,000399: 14,2102           02576                                    SAVQR52                               
030706,000400: 14,2103           77776        R52H               EXIT                                           #  LEM
030707,000401: 14,2104           04555        R52HA              TC       BANKCALL                              
030708,000402: 14,2105           76536                           CADR     R61CSM                                
030709,000403: 14,2106           30075                           CA       STATE      +1                         
030710,000404: 14,2107           74706                           MASK     BIT5                                  
030711,000405: 14,2110           00006                           EXTEND                                         #  TRACKFLG
030712,000406: 14,2111           12100                           BZF      R52Q                                  
030713,000407: 
030714,000408: 14,2112           40075                           CS       STATE      +1                         
030715,000409: 14,2113           74704                           MASK     BIT7                                  #  UPDATFLG
030716,000410: 14,2114           10000                           CCS      A                                     
030717,000411: 14,2115           12122                           TCF      R52SYNC                               
030718,000412: 
030719,000413: 14,2116           30101        R52I               CA       STATE      +5                         
030720,000414: 14,2117           74701                           MASK     BIT10                                 
030721,000415: 14,2120           10000                           CCS      A                                     
030722,000416: 14,2121           02031                           TC       R52D                                  #  PRFTRKAT = 1
030723,000417: 14,2122           32175        R52SYNC            CAF      1.8SEC                                #  MAKE UP FOR LOST TIME
030724,000418: 14,2123           12066                           TCF      R52F       +1                         
030725,000419: 
030726,000420: 14,2124           05447        R52J               TC       DOWNFLAG                              #  CLEAR TRUNFLAG
030727,000421: 14,2125           00013                           ADRES    TRUNFLAG                              #  BIT 4  FLAG 0
030728,000422: 14,2126           05537                           TC       ALARM                                 #  SET 407 ALARM
030729,000423: 14,2127           00407                           OCT      407                                   
030730,000424: 14,2130           02037                           TC       R52JA                                 
030731,000425: 14,2131           34705        R52M               CAF      BIT6                                  #  IS R53FLAG SET

Page 698

030733,000427: 14,2132           70074                           MASK     STATE                                 
030734,000428: 14,2133           10000                           CCS      A                                     
030735,000429: 14,2134           02065                           TC       R52F                                  #  YES
030736,000430: 14,2135           00004                           INHINT                                         #  NO
030737,000431: 14,2136           37661                           CAF      PRIO24                                
030738,000432: 14,2137           05042                           TC       FINDVAC                               
030739,000433: 14,2140  E5,1773                                  EBANK=   SAC                                   
030740,000434: 14,2140           02144 30065                     2CADR    R53JOB                                
030741,000435: 14,2142           00003                           RELINT                                         
030742,000436: 14,2143           12065                           TCF      R52F                                  
030743,000437: 14,2144           06006        R53JOB             TC       INTPRET                               
030744,000438: 14,2145           77624                           CALL                                           
030745,000439: 14,2146           31327                                    R53                                   
030746,000440: 14,2147           77776        ENDPLAC            EXIT                                           #  INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030747,000441: 14,2150           05112                           TC       ENDOFJOB                              
030748,000442: 14,2151           01534        V06N92             VN       00692                                 
030749,000443: 14,2152           01531        V06N89A            VN       0689                                  
030750,000444: 14,2153           10464 12470  SHAXIS             2DEC     .5376381241 B-1                        
030751,000445: 
030752,000446: 14,2155           00000 00000                     2DEC     0          B-28                       
030753,000447: 14,2157           15373 11554                     2DEC     .8431766920 B-1                        
030754,000448: 14,2161           34701        R52L               CAF      BIT10                                 #  IS THIS A LEM
030755,000449: 14,2162           70075                           MASK     STATE      +1                         
030756,000450: 14,2163           10000                           CCS      A                                     
030757,000451: 14,2164           02124                           TC       R52J                                  #  YES
030758,000452: 14,2165           32174                           CAF      OCT404                                
030759,000453: 14,2166           04555                           TC       BANKCALL                              
030760,000454: 14,2167           21671                           CADR     PRIOLARM                              
030761,000455: 14,2170           12176                           TCF      TERM52                                #  TERMINATE
030762,000456: 14,2171           12065                           TCF      R52F                                  #  PROCEED
030763,000457: 14,2172           12065                           TCF      R52F                                  #  NO PROVISION FOR NEW DATA
030764,000458: 14,2173           15112                           TCF      ENDOFJOB                              
030765,000459: 
030766,000460: 14,2174           00404        OCT404             OCT      404                                   
030767,000461: 
030768,000462: 14,2175           00264        1.8SEC             DEC      180        B-14                       
030769,000463: 
030770,000464: 14,2176           05425        TERM52             TC       CLEARMRK                              
030771,000465: 
030772,000466: 14,2177           04555                           TC       BANKCALL                              #  KILL MARK SYSTEM
030773,000467: 14,2200           16063                           CADR     MKRELEAS                              
030774,000468: 
030775,000469: 14,2201           34714                           CAF      ZERO                                  
030776,000470: 14,2202           55323                           TS       OPTCADR                               
030777,000471: 
030778,000472: 14,2203           04555                           TC       BANKCALL                              #  CLEAR OUT EXTENDED VERBS

Page 699

030780,000474: 14,2204           20464                           CADR     KLEENEX                               
030781,000475: 
030782,000476: 14,2205           04106                           TC       GOTOPOOH                              #  NOW GO TO POO
030783,000477: 
030784,000478: 14,2206           43020        ADVORB             STQ      SET                                   #  SETS UP ADVANCED ORBIT TRACKING
030785,000479: 14,2207           02576                                    SAVQR52                               
030786,000480: 14,2210           04065                                    ADVTRK                                
030787,000481: 14,2211           43014                           SET      SET                                   
030788,000482: 14,2212           01463                                    LUNAFLAG                              
030789,000483: 14,2213           00462                                    ERADFLAG                              
030790,000484: 14,2214           77650                           GOTO                                           
030791,000485: 14,2215           30005                                    R52VRB                                
030792,000486: 

Page 700

030794,000488:                                                                                                  #  NAME -S50 ALIAS  LOCSAM
030795,000489:                                                                                                  #  NAME- LOCSAM
030796,000490:                                                                                                  #  FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030797,000491:                                                                                                  #            IMU ALIGNMENT PROGRAMS
030798,000492:                                                                                                  #  DEFINE:
030799,000493:                                                                                                  #       RATT=POSITION VECTOR OF CM  WRT PRIMARY BODY
030800,000494:                                                                                                  #       VATT=VELOCITY VECTOR OF CM  WRT PRIMARY BODY
030801,000495:                                                                                                  #       RE  =RADIUS OF EARTH
030802,000496:                                                                                                  #       RM  =RADIUS OF MOON
030803,000497:                                                                                                  #       ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030804,000498:                                                                                                  #                WRT TO SUN  OVER  THE VELOCITY OF LIGHT
030805,000499:                                                                                                  #       REM =POSITION OF MOON  WRT  EARTH
030806,000500:                                                                                                  #       RES =POSITION OF SUN  WRT EARTH
030807,000501:                                                                                                  #       C = VELOCITY OF LIGHT
030808,000502: 
030809,000503: 
030810,000504:                                                                                                  #           EARTH IS PRIMARY               MOON IS PRIMARY
030811,000505:                                                                                                  #                   -                              -
030812,000506:                                                                                                  #           VEARTH=-1(RATT)                VEARTH=-1(REM+RATT)
030813,000507: 
030814,000508:                                                                                                  #                   -                              -
030815,000509:                                                                                                  #           VMOON = 1(REM-RATT)            VMOON =-1(RATT)
030816,000510: 
030817,000511:                                                                                                  #                   -                              -
030818,000512:                                                                                                  #           VSUN  = 1(RES)                 VSUN  = 1(RES-REM)
030819,000513: 
030820,000514:                                                                                                  #                         -1
030821,000515:                                                                                                  #           CEARTH=COS(SIN (RE/RATT)+5)    CEARTH=COS 5
030822,000516: 
030823,000517:                                                                                                  #                                                       -1
030824,000518:                                                                                                  #           CMOON= COS 5                   CMOON=COS(SIN CRM/RATT)+5)
030825,000519: 
030826,000520: 
030827,000521:                                                                                                  #           CSUN = COS 15                  CSUN = COS 15
030828,000522: 
030829,000523: 
030830,000524:                                                                                                  #                        VEL/C = VSUN X ECLIPOL + VATT/C
030831,000525: 
030832,000526: 
030833,000527: 
030834,000528:                                                                                                  #  CALL -   DLOAD  CALL
030835,000529:                                                                                                  #                  DESIRED TIME
030836,000530:                                                                                                  #                  LOCSAM
030837,000531:                                                                                                  #  INPUTS - MPAC = TIME
030838,000532: 
030839,000533:                                                                                                  #  OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030840,000534: 
030841,000535:                                                                                                  #  SUBROUTINES- LSPOS,CSMCONIC
030842,000536: 
030843,000537:                                                                                                  #  DEBRIS - VAC AREA,SEE SUBROUTINES
030844,000538: 

Page 701

030846,000540: 14,2000                                           SETLOC   P50S1                                 
030847,000541: 14,2000                                           BANK                                           
030848,000542: 
030849,000543: 14,2216                                           COUNT*   $$/S50                                
030850,000544: 
030851,000545: 14,2216  14,2216               LOCSAM             =        S50                                   
030852,000546: 14,2216           77620        S50                STQ                                            
030853,000547: 14,2217           00300                                    QMAJ                                  
030854,000548: 14,2220           36607                           STCALL   TSIGHT                                
030855,000549: 14,2221           54110                                    LSPOS                                 
030856,000550: 14,2222           26752                           STOVL    VMOON                                 
030857,000551: 14,2223           00003                                    2D                                    
030858,000552: 14,2224           16744                           STODL    VSUN                                  
030859,000553: 14,2225           02607                                    TSIGHT                                
030860,000554: 14,2226           34041                           STCALL   TDEC1                                 
030861,000555: 14,2227           27045                                    CSMCONIC                              
030862,000556: 14,2230           61131                           SSP      TIX,2                                 
030863,000557: 14,2231           00052                                    S2                                    
030864,000558: 14,2232           00000                                    0                                     
030865,000559: 14,2233           30256                                    MOONCNTR                              
030866,000560: 14,2234           52375        EARTCNTR           VLOAD    VSU                                   
030867,000561: 14,2235           02752                                    VMOON                                 
030868,000562: 14,2236           00001                                    RATT                                  
030869,000563: 14,2237           77656                           UNIT                                           
030870,000564: 14,2240           26752                           STOVL    VMOON                                 
030871,000565: 14,2241           00001                                    RATT                                  
030872,000566: 14,2242           57456                           UNIT     VCOMP                                 
030873,000567: 14,2243           16736                           STODL    VEARTH                                
030874,000568: 14,2244           32162                                    RSUBE                                 
030875,000569: 14,2245           77624                           CALL                                           
030876,000570: 14,2246           30316                                    OCCOS                                 
030877,000571: 14,2247           14017                           STODL    CEARTH                                
030878,000572: 14,2250           32200                                    CSS5                                  
030879,000573: 14,2251           24023                           STOVL    CMOON                                 
030880,000574: 14,2252           02744                                    VSUN                                  
030881,000575: 14,2253           77656                           UNIT                                           
030882,000576: 14,2254           36744                           STCALL   VSUN                                  
030883,000577: 14,2255           30303                                    ENDSAM                                
030884,000578: 14,2256           40575        MOONCNTR           VLOAD    VSR8                                  
030885,000579: 14,2257           02752                                    VMOON                                 
030886,000580: 14,2260           51362                           VSR1     BVSU                                  
030887,000581: 14,2261           02744                                    VSUN                                  
030888,000582: 14,2262           77656                           UNIT                                           
030889,000583: 14,2263           26744                           STOVL    VSUN                                  
030890,000584: 14,2264           02752                                    VMOON                                 
030891,000585: 14,2265           53455                           VAD      UNIT                                  
030892,000586: 14,2266           00001                                    RATT                                  
030893,000587: 14,2267           77676                           VCOMP                                          
030894,000588: 14,2270           26736                           STOVL    VEARTH                                

Page 702

030896,000590: 14,2271           00001                                    RATT                                  
030897,000591: 14,2272           57456                           UNIT     VCOMP                                 
030898,000592: 14,2273           16752                           STODL    VMOON                                 
030899,000593: 14,2274           32160                                    RSUBM                                 
030900,000594: 14,2275           77624                           CALL                                           
030901,000595: 14,2276           30316                                    OCCOS                                 
030902,000596: 14,2277           14023                           STODL    CMOON                                 
030903,000597: 14,2300           32200                                    CSS5                                  
030904,000598: 14,2301           24017                           STOVL    CEARTH                                
030905,000599: 14,2302           02744                                    VSUN                                  
030906,000600: 14,2303           77635        ENDSAM             VXV                                            
030907,000601: 14,2304           32170                                    ECLIPOL                               
030908,000602: 14,2305           27474                           STOVL    VEL/C                                 
030909,000603: 14,2306           00007                                    VATT                                  
030910,000604: 14,2307           53361                           VXSC     VAD                                   
030911,000605: 14,2310           32166                                    1/C                                   
030912,000606: 14,2311           03474                                    VEL/C                                 
030913,000607: 14,2312           17474                           STODL    VEL/C                                 
030914,000608: 14,2313           32202                                    CSSUN                                 
030915,000609: 14,2314           34021                           STCALL   CSUN                                  
030916,000610: 14,2315           00300                                    QMAJ                                  
030917,000611: 14,2316           70471        OCCOS              DDV      SR1                                   
030918,000612: 14,2317           00045                                    36D                                   
030919,000613: 14,2320           43336                           ASIN     DAD                                   
030920,000614: 14,2321           32164                                    5DEGREES                              
030921,000615: 14,2322           70546                           COS      SR1                                   
030922,000616: 14,2323           77616                           RVQ                                            
030923,000617: 15,2000                                           SETLOC   P50S                                  
030924,000618: 15,2000                                           BANK                                           
030925,000619: 15,2157           00065 01265  RSUBM              2DEC     1738090    B-29                       #  MOON RADIUS IN METERS
030926,000620: 15,2161           00302 24533  RSUBE              2DEC     6378166    B-29                       
030927,000621: 15,2163           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
030928,000622: 15,2165           00000 13143  1/C                2DEC     .000042699 B-1                        #  *
030929,000623: 15,2167           00000 00000  ECLIPOL            2DEC     0          B-28                       #  *
030930,000624: 15,2171           77777 53231                     2DEC     -.00007896 B-1                        #  *
030931,000625: 15,2173           00001 17570                     2DEC     .00018209  B-1                        #  *           * FOR USE BY CSM ONLY
030932,000626: 15,2175           00001 16700  TSIGHT1            2DEC     24000      B-28                       
030933,000627: 15,2177                        CEARTH             =        14D                                   
030934,000628: 15,2177                        CSUN               =        16D                                   
030935,000629: 15,2177                        CMOON              =        18D                                   
030936,000630: 15,2177           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4

Page 703

030938,000632: 15,2201           07564 15042  CSSUN              2DEC     .24148                                #  COS 15  /4
030939,000633: 

Page 704

030941,000635:                                                                                                  #  PROGRAM NAME - PICAPAR           DATE DEC 20 66
030942,000636:                                                                                                  #  MOD 1                            LOG SECTION P51-P53
030943,000637:                                                                                                  #                                   ASSEMBLY  SUNDISK  REV40
030944,000638:                                                                                                  #  BY KEN VINCENT
030945,000639: 
030946,000640:                                                                                                  #  FUNCTION
030947,000641:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030948,000642:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030949,000643:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030950,000644:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030951,000645:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030952,000646:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030953,000647:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030954,000648:                                                                                                  #  HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030955,000649:                                                                                                  #  AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030956,000650:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030957,000651:                                                                                                  #  33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030958,000652:                                                                                                  #  THOSE WITH GOOD SEPARATION,AND     IN FIELD OF VIEW.
030959,000653: 
030960,000654:                                                                                                  #  CALLING SEQUENCE
030961,000655:                                                                                                  #  L        TC     BANKCALL
030962,000656:                                                                                                  #  L+1      CADR   PICAPAR
030963,000657:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
030964,000658:                                                                                                  #  L+3      NORMAL RETURN
030965,000659: 
030966,000660:                                                                                                  #  OUTPUT
030967,000661:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030968,000662:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
030969,000663: 
030970,000664:                                                                                                  #  INITIALIZATION
030971,000665:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
030972,000666:                                                                                                  #  2)VEARTH = -UNIT(R)  WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030973,000667:                                                                                                  #       SIGHTINGS.
030974,000668: 
030975,000669:                                                                                                  #  DEBRIS
030976,000670:                                                                                                  #  WORK AREA
030977,000671:                                                                                                  #  X,Y,ZNB
030978,000672:                                                                                                  #  SINCDU,COSCDU
030979,000673:                                                                                                  #  STARAD - STAR +5
030980,000674: 15,2203                                           COUNT    14/PICAP                              
030981,000675: 
030982,000676: 14,2000                                           SETLOC   P50S1                                 
030983,000677: 14,2000                                           BANK                                           
030984,000678: 14,2324           04604        PICAPAR            TC       MAKECADR                              
030985,000679: 14,2325           55777                           TS       QMIN                                  
030986,000680: 14,2326           06006                           TC       INTPRET                               
030987,000681: 14,2327           77624                           CALL                                           
030988,000682: 14,2330           47432                                    CDUTRIG                               
030989,000683: 14,2331           77624                           CALL                                           
030990,000684: 14,2332           34567                                    CALCSMSC                              

Page 705

030992,000686: 14,2333           77601                           SETPD                                          
030993,000687: 14,2334           00001                                    0                                     
030994,000688: 14,2335           71214                           SET      DLOAD                                 #  VFLAG = 1
030995,000689: 14,2336           01465                                    VFLAG                                 
030996,000690: 14,2337           11453                                    DPZERO                                
030997,000691: 14,2340           24303                           STOVL    BESTI                                 
030998,000692: 14,2341           02714                                    XNB                                   
030999,000693: 14,2342           63361                           VXSC     PDVL                                  
031000,000694: 14,2343           30502                                    SIN33                                 
031001,000695: 14,2344           02730                                    ZNB                                   
031002,000696: 14,2345           74370                           AXT,1    VXSC                                  
031003,000697: 14,2346           00344                                    228D                                  #  X1 = 37 X 6 + 6
031004,000698: 14,2347           30504                                    COS33                                 
031005,000699: 14,2350           77655                           VAD                                            
031006,000700: 14,2351           53505                           VXM      UNIT                                  
031007,000701: 14,2352           01736                                    REFSMMAT                              
031008,000702: 14,2353           02760                           STORE    SAX                                   #  SAX = SHAFT AXIS
031009,000703: 14,2354           66331                           SSP      SSP                                   #  S1=S2=6
031010,000704: 14,2355           00051                                    S1                                    
031011,000705: 14,2356           00006                                    6                                     
031012,000706: 14,2357           00052                                    S2                                    
031013,000707: 14,2360           00006                                    6                                     
031014,000708: 14,2361           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
031015,000709: 14,2362           30364                                    PIC2                                  
031016,000710: 14,2363           30513                                    PICEND                                
031017,000711: 14,2364           45173        PIC2               VLOAD*   CALL                                  
031018,000712: 14,2365           31751                                    CATLOG,1                              
031019,000713: 14,2366           30457                                    OCCULT                                
031020,000714: 14,2367           73014                           BON      LXA,2                                 
031021,000715: 14,2370           01710                                    CULTFLAG                              
031022,000716: 14,2371           30361                                    PIC1                                  
031023,000717: 14,2372           00046                                    X1                                    
031024,000718: 14,2373           52104        PIC3               TIX,2    GOTO                                  
031025,000719: 14,2374           30376                                    PIC4                                  
031026,000720: 14,2375           30361                                    PIC1                                  
031027,000721: 14,2376           45173        PIC4               VLOAD*   CALL                                  
031028,000722: 14,2377           46026                                    CATLOG,2                              
031029,000723: 14,2400           30457                                    OCCULT                                
031030,000724: 14,2401           76614                           BON      VLOAD*                                
031031,000725: 14,2402           01710                                    CULTFLAG                              
031032,000726: 14,2403           30373                                    PIC3                                  
031033,000727: 14,2404           31751                                    CATLOG,1                              
031034,000728: 14,2405           45237                           DOT*     DSU                                   
031035,000729: 14,2406           46026                                    CATLOG,2                              
031036,000730: 14,2407           30506                                    CSS66                                 #  SEPERATION LESS THAN 66 DEG.
031037,000731: 14,2410           43240                           BMN      DAD                                   
031038,000732: 14,2411           30373                                    PIC3                                  
031039,000733: 14,2412           30510                                    CSS6640                               #  SEPERATION MORE THAN 40 DEG.
031040,000734: 14,2413           77644                           BPL                                            
031041,000735: 14,2414           30373                                    PIC3                                  

Page 706

031043,000737: 14,2415           50373                           VLOAD*   DOT                                   
031044,000738: 14,2416           31751                                    CATLOG,1                              
031045,000739: 14,2417           02760                                    SAX                                   
031046,000740: 14,2420           50025                           DSU      BMN                                   #  MAJOR STAR IN CONE
031047,000741: 14,2421           30512                                    CSS33                                 
031048,000742: 14,2422           30361                                    PIC1                                  
031049,000743: 14,2423           50373                           VLOAD*   DOT                                   
031050,000744: 14,2424           46026                                    CATLOG,2                              
031051,000745: 14,2425           02760                                    SAX                                   
031052,000746: 14,2426           51025                           DSU      BPL                                   
031053,000747: 14,2427           30512                                    CSS33                                 
031054,000748: 14,2430           30433                                    STRATGY                               
031055,000749: 14,2431           77650                           GOTO                                           
031056,000750: 14,2432           30373                                    PIC3                                  
031057,000751: 14,2433           77614        STRATGY            BONCLR                                         
031058,000752: 14,2434           01605                                    VFLAG                                 
031059,000753: 14,2435           30452                                    NEWPAR                                
031060,000754: 14,2436           65120                           XCHX,1   XCHX,2                                
031061,000755: 14,2437           00302                                    BESTI                                 
031062,000756: 14,2440           00303                                    BESTJ                                 
031063,000757: 14,2441           47773        STRAT              VLOAD*   DOT*                                  
031064,000758: 14,2442           31751                                    CATLOG,1                              
031065,000759: 14,2443           46026                                    CATLOG,2                              
031066,000760: 14,2444           43006                           PUSH     BOFINV                                
031067,000761: 14,2445           01545                                    VFLAG                                 
031068,000762: 14,2446           30436                                    STRAT      -3                         
031069,000763: 14,2447           45345                           DLOAD    DSU                                   
031070,000764: 14,2450           77644                           BPL                                            
031071,000765: 14,2451           30373                                    PIC3                                  
031072,000766: 14,2452           67130        NEWPAR             SXA,1    SXA,2                                 
031073,000767: 14,2453           00302                                    BESTI                                 
031074,000768: 14,2454           00303                                    BESTJ                                 
031075,000769: 14,2455           77650                           GOTO                                           
031076,000770: 14,2456           30373                                    PIC3                                  
031077,000771: 14,2457           51321        OCCULT             MXV      BVSU                                  
031078,000772: 14,2460           02736                                    CULTRIX                               
031079,000773: 14,2461           00017                                    CSS                                   
031080,000774: 14,2462           77654                           BZE                                            
031081,000775: 14,2463           30476                                    CULTED                                
031082,000776: 14,2464           75240                           BMN      SIGN                                  
031083,000777: 14,2465           30476                                    CULTED                                
031084,000778: 14,2466           00160                                    MPAC       +3                         
031085,000779: 14,2467           75240                           BMN      SIGN                                  
031086,000780: 14,2470           30476                                    CULTED                                
031087,000781: 14,2471           00162                                    MPAC       +5                         
031088,000782: 14,2472           43040                           BMN      CLRGO                                 
031089,000783: 14,2473           30476                                    CULTED                                
031090,000784: 14,2474           01630                                    CULTFLAG                              
031091,000785: 14,2475           00052                                    QPRET                                 
031092,000786: 14,2476           77614        CULTED             SETGO                                          

Page 707

031094,000788: 14,2477           01430                                    CULTFLAG                              
031095,000789: 14,2500           00052                                    QPRET                                 
031096,000790: 14,2501  0000016               CSS                =        CEARTH                                
031097,000791: 14,2501           21150 25157  SIN33              2DEC     .5376381241                            
031098,000792: 14,2503           32766 22713  COS33              2DEC     .8431756920                            
031099,000793: 14,2505           01736 35137  CSS66              2DEC     .060480472                            #  (COS76)/4
031100,000794: 14,2507           73003 65403  CSS6640            2DEC     -.15602587                            #  (COS76 - COS30)/4
031101,000795: 14,2511           06233 26112  CSS33              2DEC     .197002688                            #  COS(1/2(76))/4
031102,000796: 14,2513           77414        PICEND             BOFF     EXIT                                  
031103,000797: 14,2514           01745                                    VFLAG                                 
031104,000798: 14,2515           30517                                    PICGXT                                
031105,000799: 14,2516           02521                           TC       PICBXT                                
031106,000800: 14,2517           77776        PICGXT             EXIT                                           
031107,000801: 14,2520           25777                           INCR     QMIN                                  
031108,000802: 14,2521           31777        PICBXT             CA       QMIN                                  
031109,000803: 14,2522           04561                           TC       SWCALL                                
031110,000804:                                                                                                  # V1             =       12D
031111,000805: 

Page 708

031113,000807:                                                                                                  #  NAME-R51  FINE ALIGN
031114,000808:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
031115,000809:                                                                                                  #  CALLING SEQ- CALL  R51
031116,000810:                                                                                                  #  INPUT- BESTI,BESTJ(PAIR OF STAR NO )
031117,000811:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
031118,000812:                                                                                                  #  SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN
031119,000813: 14,2523                                           COUNT    14/R51                                
031120,000814: 
031121,000815: 14,2523           77776        R51                EXIT                                           
031122,000816: 14,2524           34712                           CAF      BIT1                                  
031123,000817: 14,2525           54304                           TS       STARIND                               
031124,000818: 14,2526           54301                           TS       MARKINDX                              
031125,000819: 14,2527           06006        R51.2              TC       INTPRET                               
031126,000820: 14,2530           43014        R51.3              CLEAR    CLEAR                                 
031127,000821: 14,2531           00666                                    TARG2FLG                              
031128,000822: 14,2532           00665                                    TARG1FLG                              
031129,000823: 14,2533           77776                           EXIT                                           
031130,000824: 14,2534           05301                           TC       PHASCHNG                              
031131,000825: 14,2535           05024                           OCT      05024                                 #  RESTART  GR 4  FOR R52 - R53
031132,000826: 14,2536           13000                           OCT      13000                                 
031133,000827: 14,2537           50304                           INDEX    STARIND                               
031134,000828: 14,2540           30302                           CA       BESTI                                 
031135,000829: 14,2541           00006                           EXTEND                                         
031136,000830: 14,2542           72706                           MP       1/6TH                                 
031137,000831: 14,2543           54735                           TS       STARCODE                              
031138,000832: 14,2544           32705                           CAF      V01N70                                
031139,000833: 14,2545           04555                           TC       BANKCALL                              
031140,000834: 14,2546           20763                           CADR     GOFLASHR                              
031141,000835: 14,2547           04106                           TC       GOTOPOOH                              
031142,000836: 14,2550           02555                           TC       +5                                    
031143,000837: 14,2551           02544                           TC       -5                                    
031144,000838: 14,2552           36211                           CAF      SIX                                   
031145,000839: 14,2553           05415                           TC       BLANKET                               
031146,000840: 14,2554           15112                           TCF      ENDOFJOB                              
031147,000841: 14,2555           06006                           TC       INTPRET                               
031148,000842: 14,2556           45034                           RTB      CALL                                  
031149,000843: 14,2557           45505                                    LOADTIME                              
031150,000844: 14,2560           32363                                    PLANET                                
031151,000845: 14,2561           72131                           SSP      LXA,1                                 
031152,000846: 14,2562           00051                                    S1                                    
031153,000847: 14,2563           00000                                    0                                     
031154,000848: 14,2564           00304                                    STARIND                               
031155,000849: 14,2565           77700                           TIX,1                                          
031156,000850: 14,2566           30571                                    R51ST                                 
031157,000851: 14,2567           36617                           STCALL   STARSAV2                              #  2ND STAR
031158,000852: 14,2570           30572                                    R51ST      +1                         
031159,000853: 14,2571           02611        R51ST              STORE    STARSAV1                              #  1ST STAR
031160,000854: 14,2572           77776                           EXIT                                           
031161,000855: 14,2573           41011                           CS       MODREG                                #  IS THIS P54
031162,000856: 14,2574           62704                           AD       OCT66                                 

Page 709

031164,000858: 14,2575           00006                           EXTEND                                         
031165,000859: 14,2576           12677                           BZF      R51B                                  #  YES
031166,000860: 14,2577           06006                           TC       INTPRET                               
031167,000861: 14,2600           77624                           CALL                                           
031168,000862: 14,2601           30002                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
031169,000863: 14,2602           77624        R51A               CALL                                           #  COMPUTE LOS IN SM FROM MARK DATA
031170,000864: 14,2603           31273                                    SXTSM                                 
031171,000865: 14,2604           02617                           STORE    STARSAV2                              
031172,000866: 14,2605           77776                           EXIT                                           
031173,000867: 14,2606           04555                           TC       BANKCALL                              
031174,000868: 14,2607           16063                           CADR     MKRELEAS                              
031175,000869: 14,2610           06006                           TC       INTPRET                               
031176,000870: 14,2611           45145                           DLOAD    CALL                                  
031177,000871: 14,2612           02607                                    TSIGHT                                
031178,000872: 14,2613           32363                                    PLANET                                
031179,000873: 14,2614           77776                           EXIT                                           
031180,000874: 14,2615           10304                           CCS      STARIND                               
031181,000875: 14,2616           02664                           TC       R51.4                                 
031182,000876: 14,2617           06006                           TC       INTPRET                               
031183,000877: 14,2620           53521                           MXV      UNIT                                  
031184,000878: 14,2621           01736                                    REFSMMAT                              
031185,000879: 14,2622           02736                           STORE    STARAD                                
031186,000880: 14,2623           77776                           EXIT                                           
031187,000881: 14,2624           05301                           TC       PHASCHNG                              
031188,000882: 14,2625           05024                           OCT      05024                                 #  RESTART THIS GROUP 4  JOB
031189,000883: 14,2626           13000                           OCT      13000                                 #   WITH PRIORITY  13
031190,000884: 14,2627           06006                           TC       INTPRET                               
031191,000885: 14,2630           77775                           VLOAD                                          
031192,000886: 14,2631           02617                                    STARSAV2                              
031193,000887: 14,2632           24007                           STOVL    6D                                    
031194,000888: 14,2633           02611                                    STARSAV1                              
031195,000889: 14,2634           24015                           STOVL    12D                                   
031196,000890: 14,2635           02601                                    PLANVEC                               
031197,000891: 14,2636           36744                           STCALL   STARAD     +6                         
031198,000892: 14,2637           30707                                    R54                                   #  STAR DATA TEST
031199,000893: 14,2640           45014                           BOFF     CALL                                  
031200,000894: 14,2641           00354                                    FREEFLAG                              
031201,000895: 14,2642           30650                                    R51K                                  
031202,000896: 14,2643           47334                                    AXISGEN                               
031203,000897: 14,2644           77624                           CALL                                           
031204,000898: 14,2645           32203                                    R55                                   #  GYRO TORQUE
031205,000899: 14,2646           77614                           CLEAR                                          
031206,000900: 14,2647           01273                                    PFRATFLG                              
031207,000901: 14,2650           77776        R51K               EXIT                                           
031208,000902: 14,2651           35660                           CAF      OCT14                                 
031209,000903: 14,2652           04555                           TC       BANKCALL                              
031210,000904: 14,2653           20751                           CADR     GOPERF1                               
031211,000905: 14,2654           04106                           TC       GOTOPOOH                              
031212,000906: 14,2655           02657                           TC       +2                                    #  V33
031213,000907: 14,2656           02661                           TC       +3                                    

Page 710

031215,000909: 14,2657           04555                           TC       BANKCALL                              
031216,000910: 14,2660           32120                           CADR     P52C                                  
031217,000911: 14,2661           06006                           TC       INTPRET                               
031218,000912: 14,2662           77650                           GOTO                                           
031219,000913: 14,2663           32143                                    ENDP50S                               
031220,000914: 14,2664           06006        R51.4              TC       INTPRET                               
031221,000915: 14,2665           53521                           MXV      UNIT                                  
031222,000916: 14,2666           01736                                    REFSMMAT                              
031223,000917: 14,2667           26601                           STOVL    PLANVEC                               
031224,000918: 14,2670           02617                                    STARSAV2                              
031225,000919: 14,2671           02611                           STORE    STARSAV1                              
031226,000920: 14,2672           77731                           SSP                                            
031227,000921: 14,2673           00305                                    STARIND                               
031228,000922: 14,2674           00000                                    0                                     
031229,000923: 14,2675           77650                           GOTO                                           
031230,000924: 14,2676           30530                                    R51.3                                 
031231,000925: 14,2677           06006        R51B               TC       INTPRET                               
031232,000926: 14,2700           77624                           CALL                                           
031233,000927: 14,2701           32252                                    R56                                   
031234,000928: 14,2702           77650                           GOTO                                           
031235,000929: 14,2703           30602                                    R51A                                  
031236,000930: 14,2704           00066        OCT66              OCT      00066                                 
031237,000931: 14,2705           00306        V01N70             VN       0170                                  
031238,000932: 14,2706           05253        1/6TH              DEC      .1666667                              
031239,000933: 

Page 711

031241,000935:                                                                                                  #  NAME-R55  GYRO TORQUE
031242,000936:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
031243,000937:                                                                                                  #  CALLING SEQ- CALL R55
031244,000938:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031245,000939:                                                                                                  #  OUTPUT- GYRO PULSES
031246,000940:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031247,000941: 15,2000                                           SETLOC   P50S                                  
031248,000942: 15,2000                                           BANK                                           
031249,000943: 15,2203                                           COUNT*   $$/R55                                
031250,000944: 15,2203           77620        R55                STQ                                            
031251,000945: 15,2204           02777                                    QMIN                                  
031252,000946: 15,2205           77624                           CALL                                           
031253,000947: 15,2206           47140                                    CALCGTA                               
031254,000948: 15,2207           77776        PULSEM             EXIT                                           
031255,000949: 15,2210           32234        R55.1              CAF      V06N93                                
031256,000950: 15,2211           04555                           TC       BANKCALL                              
031257,000951: 15,2212           20624                           CADR     GOFLASH                               
031258,000952: 15,2213           04106                           TC       GOTOPOOH                              
031259,000953: 15,2214           02216                           TC       R55.2                                 
031260,000954: 15,2215           02231                           TC       R55RET                                
031261,000955: 15,2216           05301        R55.2              TC       PHASCHNG                              
031262,000956: 15,2217           00314                           OCT      00314                                 
031263,000957: 15,2220           32235                           CA       R55CDR                                
031264,000958: 15,2221           04555                           TC       BANKCALL                              
031265,000959: 15,2222           17125                           CADR     IMUPULSE                              
031266,000960: 15,2223           04555                           TC       BANKCALL                              
031267,000961: 15,2224           17516                           CADR     IMUSTALL                              
031268,000962: 15,2225           05646                           TC       CURTAINS                              
031269,000963: 15,2226           05301                           TC       PHASCHNG                              
031270,000964: 15,2227           05024                           OCT      05024                                 
031271,000965: 15,2230           13000                           OCT      13000                                 
031272,000966: 15,2231           06006        R55RET             TC       INTPRET                               
031273,000967: 15,2232           77650                           GOTO                                           
031274,000968: 15,2233           02777                                    QMIN                                  
031275,000969: 15,2234           01535        V06N93             VN       0693                                  
031276,000970: 15,2235           02757        R55CDR             ECADR    OGC                                   
031277,000971: 15,2236  14,2707               R54                =        CHKSDATA                              
031278,000972:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
031279,000973:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
031280,000974:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
031281,000975: 
031282,000976:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031283,000977:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031284,000978:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031285,000979: 
031286,000980:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
031287,000981:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
031288,000982:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
031289,000983:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
031290,000984:                                                                                                  #                   A1 = ARCCOS(OS1 - OS2)

Page 712

031292,000986:                                                                                                  #                   A2 = ARCCOS(SS1 - SS2)
031293,000987:                                                                                                  #                    A = ABS(2(A1 - A2))
031294,000988: 
031295,000989:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
031296,000990:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
031297,000991:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
031298,000992:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031299,000993:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031300,000994: 
031301,000995:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
031302,000996:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031303,000997:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031304,000998:                                                                                                  #  DEBRIS -
031305,000999: 14,2000                                           SETLOC   P50S1                                 
031306,001000: 14,2000                                           BANK                                           
031307,001001: 14,2707                                           COUNT*   $$/R50                                
031308,001002: 14,2707           43020        CHKSDATA           STQ      SET                                   
031309,001003: 14,2710           02777                                    QMIN                                  
031310,001004: 14,2711           00074                                    FREEFLAG                              
031311,001005: 14,2712           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE  EPHEMERIS DATA
031312,001006: 14,2713           02735                                    STARAD                                
031313,001007: 
031314,001008: 14,2714           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
031315,001009: 14,2715           00001                                    0,1                                   
031316,001010: 14,2716           00007                                    6,1                                   
031317,001011: 14,2717           65552                           SL1      ACOS                                  
031318,001012: 14,2720           00025                           STORE    THETA                                 
031319,001013: 14,2721           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
031320,001014: 14,2722           00354                                    FREEFLAG                              
031321,001015: 14,2723           30733                                    CHKSD                                 
031322,001016: 14,2724           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
031323,001017: 14,2725           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
031324,001018: 14,2726           00006                                    6D                                    
031325,001019: 14,2727           00025                                    THETA                                 
031326,001020: 14,2730           00023                           STORE    18D                                   
031327,001021: 14,2731           77650                           GOTO                                           
031328,001022: 14,2732           30714                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
031329,001023: 14,2733           45345        CHKSD              DLOAD    DSU                                   
031330,001024: 14,2734           00025                                    THETA                                 
031331,001025: 14,2735           00023                                    18D                                   #  COMPUTE POS DIFF
031332,001026: 14,2736           47046                           ABS      RTB                                   
031333,001027: 14,2737           45541                                    SGNAGREE                              
031334,001028: 14,2740           01046                           STORE    NORMTEM1                              
031335,001029: 14,2741           77414                           SET      EXIT                                  
031336,001030: 14,2742           00074                                    FREEFLAG                              
031337,001031: 14,2743           34714                           CAF      ZERO                                  
031338,001032: 14,2744           04555                           TC       BANKCALL                              
031339,001033: 14,2745           20607                           CADR     CLEANDSP                              
031340,001034: 
031341,001035: 14,2746           32762                           CAF      VB6N5                                 

Page 713

031343,001037: 14,2747           04555                           TC       BANKCALL                              
031344,001038: 14,2750           20624                           CADR     GOFLASH                               
031345,001039: 14,2751           14106                           TCF      GOTOPOOH                              
031346,001040: 14,2752           02757                           TC       CHKSDA                                #  PROCEED
031347,001041: 14,2753           06006                           TC       INTPRET                               
031348,001042: 14,2754           52014                           CLEAR    GOTO                                  
031349,001043: 14,2755           00274                                    FREEFLAG                              
031350,001044: 14,2756           02777                                    QMIN                                  
031351,001045: 14,2757           06006        CHKSDA             TC       INTPRET                               
031352,001046: 14,2760           77650                           GOTO                                           
031353,001047: 14,2761           02777                                    QMIN                                  
031354,001048: 14,2762           01405        VB6N5              VN       605                                   
031355,001049:                                                                                                  #  NAME - CAL53A
031356,001050:                                                                                                  #  NAME - CAL53A
031357,001051:                                                                                                  #  FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY. 
031358,001052:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
031359,001053:                                                                                                  #  INPUT -  PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031360,001054:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
031361,001055:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031362,001056:                                                                                                  #  SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031363,001057: 14,2763                                           COUNT    14/R50                                
031364,001058: 
031365,001059: 14,2763           45020        CAL53A             STQ      CALL                                  
031366,001060: 14,2764           00035                                    29D                                   
031367,001061: 14,2765           22256                                    S52.2                                 #  MAKE FINAL COMP OF GIMBAL ANGLES
031368,001062: 14,2766           66234                           RTB      SSP                                   
031369,001063: 14,2767           32236                                    RDCDUS                                #  READ CDUS
031370,001064: 14,2770           00051                                    S1                                    
031371,001065: 14,2771           00001                                    1                                     
031372,001066: 14,2772           40370                           AXT,1    SETPD                                 
031373,001067: 14,2773           00003                                    3                                     
031374,001068: 14,2774           00005                                    4                                     
031375,001069: 14,2775           70543        CALOOP             DLOAD*   SR1                                   
031376,001070: 14,2776           01161                                    THETAD     +3D,1                      
031377,001071: 14,2777           70523                           PDDL*    SR1                                   
031378,001072: 14,3000           00005                                    4,1                                   
031379,001073: 14,3001           51425                           DSU      ABS                                   
031380,001074: 14,3002           45206                           PUSH     DSU                                   
031381,001075: 14,3003           31060                                    DEGREE1                               
031382,001076: 14,3004           71240                           BMN      DLOAD                                 
031383,001077: 14,3005           31034                                    CALOOP1                               
031384,001078: 14,3006           51025                           DSU      BPL                                   
031385,001079: 14,3007           31061                                    DEG359                                
031386,001080: 14,3010           31034                                    CALOOP1                               
031387,001081: 14,3011           77776        COARFINE           EXIT                                           
031388,001082: 14,3012           04555                           TC       BANKCALL                              
031389,001083: 14,3013           16602                           CADR     IMUCOARS                              #  PERFORM COARSE ALIGNMENT
031390,001084: 14,3014           04555                           TC       BANKCALL                              
031391,001085: 14,3015           17516                           CADR     IMUSTALL                              #  REQUEST MODE SWITCH
031392,001086: 14,3016           05646                           TC       CURTAINS                              

Page 714

031394,001088: 14,3017           04555                           TC       BANKCALL                              
031395,001089: 14,3020           17012                           CADR     IMUFIN20                              
031396,001090: 14,3021           04555                           TC       BANKCALL                              
031397,001091: 14,3022           17516                           CADR     IMUSTALL                              
031398,001092: 14,3023           05646                           TC       CURTAINS                              #  TEST FOR MALFUNCTION
031399,001093: 14,3024           06006                           TC       INTPRET                               
031400,001094: 14,3025           77234                           RTB      VLOAD                                 
031401,001095: 14,3026           31270                                    SET1/PDT                              
031402,001096: 14,3027           11453                                    ZEROVEC                               
031403,001097: 14,3030           01472                           STORE    GCOMP                                 
031404,001098: 14,3031           52014                           SET      GOTO                                  
031405,001099: 14,3032           01060                                    DRIFTFLG                              
031406,001100: 14,3033           31036                                    FINEONLY                              
031407,001101: 14,3034           77700        CALOOP1            TIX,1                                          
031408,001102: 14,3035           30775                                    CALOOP                                
031409,001103: 14,3036           75160        FINEONLY           AXC,1    AXC,2                                 
031410,001104: 14,3037           02671                                    XSM                                   
031411,001105: 14,3040           01735                                    REFSMMAT                              
031412,001106: 14,3041           77624                           CALL                                           
031413,001107: 14,3042           31045                                    MATMOVE                               
031414,001108: 14,3043           77650                           GOTO                                           
031415,001109: 14,3044           00035                                    29D                                   
031416,001110: 14,3045           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
031417,001111: 14,3046           00001                                    0,1                                   
031418,001112: 14,3047           10001                           STORE    0,2                                   
031419,001113: 14,3050           77773                           VLOAD*                                         
031420,001114: 14,3051           00007                                    6D,1                                  
031421,001115: 14,3052           10007                           STORE    6D,2                                  
031422,001116: 14,3053           77773                           VLOAD*                                         
031423,001117: 14,3054           00015                                    12D,1                                 
031424,001118: 14,3055           10015                           STORE    12D,2                                 
031425,001119: 14,3056           77616                           RVQ                                            
031426,001120: 14,3057           00056        DEGREE1            DEC      46         B-14                       
031427,001121: 14,3060           37722        DEG359             DEC      16338      B-14                       
031428,001122: 15,2000                                           SETLOC   P50S                                  
031429,001123: 15,2000                                           BANK                                           
031430,001124: 15,2236           00004        RDCDUS             INHINT                                         #  READ CDUS
031431,001125: 15,2237           30032                           CA       CDUX                                  
031432,001126: 15,2240           50120                           INDEX    FIXLOC                                
031433,001127: 15,2241           54001                           TS       1                                     
031434,001128: 15,2242           30033                           CA       CDUY                                  
031435,001129: 15,2243           50120                           INDEX    FIXLOC                                
031436,001130: 15,2244           54002                           TS       2                                     
031437,001131: 15,2245           30034                           CA       CDUZ                                  
031438,001132: 15,2246           50120                           INDEX    FIXLOC                                
031439,001133: 15,2247           54003                           TS       3                                     
031440,001134: 15,2250           00003                           RELINT                                         
031441,001135: 15,2251           06030                           TC       DANZIG                                #                                +
031442,001136:                                                                                                  #  NAME - GIMB
031443,001137:                                                                                                  #  FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED            FOR COARSE ALIGNMENT.

Page 715

031445,001139:                                                                                                  #  CALLING SEQUENCE - CALL GIMB
031446,001140:                                                                                                  #  INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031447,001141:                                                                                                  #  OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2                           +
031448,001142:                                                                                                  #  SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031449,001143: 16,2000                                           SETLOC   P50S2                                 
031450,001144: 16,2000                                           BANK                                           
031451,001145: 16,2567                                           COUNT    14/INFLT                              
031452,001146: 
031453,001147: 16,2567           41345        CALCSMSC           DLOAD    DMP                                   
031454,001148: 16,2570           00737                                    SINCDUY                               
031455,001149: 16,2571           00747                                    COSCDUZ                               
031456,001150: 16,2572           77676                           DCOMP                                          
031457,001151: 16,2573           70525                           PDDL     SR1                                   
031458,001152: 16,2574           00741                                    SINCDUZ                               
031459,001153: 16,2575           41325                           PDDL     DMP                                   
031460,001154: 16,2576           00745                                    COSCDUY                               
031461,001155: 16,2577           00747                                    COSCDUZ                               
031462,001156: 16,2600           76466                           VDEF     VSL1                                  
031463,001157: 16,2601           02714                           STORE    XNB                                   
031464,001158: 16,2602           41345                           DLOAD    DMP                                   
031465,001159: 16,2603           00743                                    SINCDUX                               
031466,001160: 16,2604           00741                                    SINCDUZ                               
031467,001161: 16,2605           77752                           SL1                                            
031468,001162: 16,2606           00033                           STORE    26D                                   
031469,001163: 16,2607           77605                           DMP                                            
031470,001164: 16,2610           00737                                    SINCDUY                               
031471,001165: 16,2611           41325                           PDDL     DMP                                   
031472,001166: 16,2612           00751                                    COSCDUX                               
031473,001167: 16,2613           00745                                    COSCDUY                               
031474,001168: 16,2614           77625                           DSU                                            
031475,001169: 16,2615           41325                           PDDL     DMP                                   
031476,001170: 16,2616           00743                                    SINCDUX                               
031477,001171: 16,2617           00747                                    COSCDUZ                               
031478,001172: 16,2620           77676                           DCOMP                                          
031479,001173: 16,2621           41325                           PDDL     DMP                                   
031480,001174: 16,2622           00751                                    COSCDUX                               
031481,001175: 16,2623           00737                                    SINCDUY                               
031482,001176: 16,2624           41325                           PDDL     DMP                                   
031483,001177: 16,2625           00745                                    COSCDUY                               
031484,001178: 16,2626           00033                                    26D                                   
031485,001179: 16,2627           55415                           DAD      VDEF                                  
031486,001180: 16,2630           77772                           VSL1                                           
031487,001181: 16,2631           02730                           STORE    ZNB                                   
031488,001182: 16,2632           76435                           VXV      VSL1                                  
031489,001183: 16,2633           02714                                    XNB                                   
031490,001184: 16,2634           02722                           STORE    YNB                                   
031491,001185: 16,2635           77616                           RVQ                                            
031492,001186:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
031493,001187:                                                                                                  #  MOD.NO.2  21 DEC 66                                                                      LOG SECTION - P51-P53
031494,001188:                                                                                                  #  MOD BY STURLAUGSON                                                                       ASSEMBLY SUNDISK REV15

Page 716

031496,001190:                                                                                                  #  FUNCTIONAL DESCRIPTION
031497,001191: 
031498,001192:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031499,001193:                                                                                                  #  ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031500,001194:                                                                                                  #  THEN PROCESSED AS FOLLOWS.
031501,001195: 
031502,001196:                                                                                                  #    1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031503,001197:                                                                                                  #  TRUNNION ANGLES, RESPECTIVELY. THEN,
031504,001198: 
031505,001199:                                                                                                  #              -
031506,001200:                                                                                                  #              V  = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA))   (A COLUMN VECTOR)
031507,001201:                                                                                                  #               NB
031508,001202:                                                                                                  #  THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031509,001203: 
031510,001204:                                                                                                  #    2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031511,001205: 
031512,001206:                                                                                                  #              -      T  T  T -
031513,001207:                                                                                                  #              V  =  Q *Q *Q *V  , WHERE
031514,001208:                                                                                                  #                     1  2  3  NB
031515,001209: 
031516,001210:                                                                                                  #                   ( COS(IG)     0    -SIN(IG) )
031517,001211:                                                                                                  #                   (                           )                            THE GIMBAL ANGLES ARE COMPUTED FROM
031518,001212:                                                                                                  #              Q  = (   0         1        0    ), IG=INNER GIMBAL ANGLE     THE CDU COUNTERS AT NBSM (USING AXIS-
031519,001213:                                                                                                  #               1   (                           )                            ROT AND CDULOGIC)
031520,001214:                                                                                                  #                   ( SIN(IG)     0     COS(IG) )
031521,001215: 
031522,001216: 
031523,001217:                                                                                                  #                   ( COS(MG)  SIN(MG)     0    )
031524,001218:                                                                                                  #                   (                           )
031525,001219:                                                                                                  #              Q  = (-SIN(MG)  COS(MG)     0    ), MG=MIDDLE GIMBAL ANGLE
031526,001220:                                                                                                  #               2   (                           )
031527,001221:                                                                                                  #                   (   0         0        1    )
031528,001222: 
031529,001223: 
031530,001224:                                                                                                  #                   (   1         0        0    )
031531,001225:                                                                                                  #                   (                           )
031532,001226:                                                                                                  #              Q  = (    0     COS(OG)  SIN(OG) ), OG=OUTER GIMBAL ANGLE
031533,001227:                                                                                                  #               3   (                           )
031534,001228:                                                                                                  #                   (    0    -SIN(OG)  COS(OG) )
031535,001229: 
031536,001230:                                                                                                  #    3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031537,001231: 
031538,001232:                                                                                                  #    4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031539,001233: 
031540,001234:                                                                                                  #    5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031541,001235:                                                                                                  #            -      -
031542,001236:                                                                                                  #        LET S  AND S  BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031543,001237:                                                                                                  #             1      2
031544,001238: 
031545,001239:                                                                                                  #   DEFINE,    -    -

Page 717

031547,001241:                                                                                                  #              U  = S
031548,001242:                                                                                                  #               A    A1
031549,001243: 
031550,001244:                                                                                                  #              -         -    -
031551,001245:                                                                                                  #              V  = UNIT(S  X S  )
031552,001246:                                                                                                  #               A         A1   A2
031553,001247: 
031554,001248:                                                                                                  #              -    -   -
031555,001249:                                                                                                  #              W = U X V
031556,001250:                                                                                                  #               A    A   A
031557,001251:                                                                                                  #       AND
031558,001252:                                                                                                  #              -    -
031559,001253:                                                                                                  #              U  = S
031560,001254:                                                                                                  #               B    B1
031561,001255: 
031562,001256:                                                                                                  #              -         -    -
031563,001257:                                                                                                  #              V  = UNIT(S  X S  )
031564,001258:                                                                                                  #               B         B1   B2
031565,001259: 
031566,001260:                                                                                                  #              -    -   -
031567,001261:                                                                                                  #              W  = U X V
031568,001262:                                                                                                  #               B    B   B
031569,001263: 
031570,001264:                                                                                                  #       THEN   -        -       -       -
031571,001265:                                                                                                  #              X  = U  *U + V  *V + W  *W
031572,001266:                                                                                                  #                    B1  A   B1  A   B1  A
031573,001267: 
031574,001268:                                                                                                  #              -        -       -       -            (REFSMMAT)
031575,001269:                                                                                                  #              Y  = U  *U + V  *V + W  *W
031576,001270:                                                                                                  #                    B2  A   B2  A   B2  A
031577,001271: 
031578,001272:                                                                                                  #              -        -       -       -
031579,001273:                                                                                                  #              Z  = U  *U + V  *V + W  *W
031580,001274:                                                                                                  #                    B3  A   B3  A   B3  A
031581,001275: 
031582,001276:                                                                                                  #        THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031583,001277: 
031584,001278:                                                                                                  #              -
031585,001279:                                                                                                  #              S   IN 6-11 OF THE VAC AREA
031586,001280:                                                                                                  #               A1
031587,001281: 
031588,001282:                                                                                                  #              -
031589,001283:                                                                                                  #              S   IN 12-17 OF THE VAC AREA
031590,001284:                                                                                                  #               A2
031591,001285: 
031592,001286:                                                                                                  #              -
031593,001287:                                                                                                  #              S   IN STARAD
031594,001288:                                                                                                  #               B1
031595,001289: 
031596,001290:                                                                                                  #              -

Page 718

031598,001292:                                                                                                  #              S   IN STARAD +6
031599,001293:                                                                                                  #               B2
031600,001294: 
031601,001295:                                                                                                  #  CALLING SEQUENCE
031602,001296: 
031603,001297:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031604,001298: 
031605,001299:                                                                                                  #  SUBROUTINES CALLED.
031606,001300: 
031607,001301:                                                                                                  #       GOPERF3
031608,001302:                                                                                                  #       GOPERF1R
031609,001303:                                                                                                  #       GODSPR
031610,001304:                                                                                                  #       IMUCOARS
031611,001305:                                                                                                  #       IMUFIN20
031612,001306:                                                                                                  #       R53
031613,001307:                                                                                                  #       SXTNB
031614,001308:                                                                                                  #       NBSM
031615,001309:                                                                                                  #       MKRELEAS
031616,001310:                                                                                                  #       CHKSDATA
031617,001311:                                                                                                  #       MATMOVE
031618,001312: 
031619,001313:                                                                                                  #  ALARMS
031620,001314: 
031621,001315:                                                                                                  #       NONE.
031622,001316:                                                                                                  #  ERASABLE INITIALIZATION
031623,001317: 
031624,001318:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
031625,001319: 
031626,001320:                                                                                                  #  OUTPUT
031627,001321: 
031628,001322:                                                                                                  #       REFSMMAT
031629,001323:                                                                                                  #       REFSMFLG
031630,001324: 
031631,001325:                                                                                                  #  DEBRIS
031632,001326: 
031633,001327:                                                                                                  #       WORK AREA
031634,001328:                                                                                                  #       STARAD
031635,001329:                                                                                                  #       STARIND
031636,001330:                                                                                                  #       BESTI
031637,001331:                                                                                                  #       BESTJ
031638,001332: 
031639,001333: 14,2000                                           SETLOC   P50S1                                 
031640,001334: 14,2000                                           BANK                                           
031641,001335: 14,3061                                           COUNT    14/P5153                              
031642,001336: 
031643,001337: 14,3061  14,3061               P53                EQUALS   P51                                   
031644,001338: 14,3061           41320        P51                CS       IMODES30                              
031645,001339: 14,3062           74702                           MASK     BIT9                                  
031646,001340: 14,3063           10000                           CCS      A                                     
031647,001341: 14,3064           03070                           TC       P51A                                  

Page 719

031649,001343: 14,3065           05537                           TC       ALARM                                 
031650,001344: 14,3066           00210                           OCT      210                                   
031651,001345: 14,3067           04106                           TC       GOTOPOOH                              
031652,001346: 14,3070           04555        P51A               TC       BANKCALL                              
031653,001347: 14,3071           17607                           CADR     R02ZERO                               
031654,001348: 
031655,001349: 14,3072           34720        P51AA              CAF      PRFMSTAQ                              
031656,001350: 14,3073           04555                           TC       BANKCALL                              
031657,001351: 14,3074           20751                           CADR     GOPERF1                               
031658,001352: 14,3075           04106                           TC       GOTOPOOH                              #  TERM.
031659,001353: 14,3076           03141                           TC       P51B                                  #  V 33
031660,001354: 14,3077           05301                           TC       PHASCHNG                              
031661,001355: 14,3100           05024                           OCT      05024                                 
031662,001356: 14,3101           13000                           OCT      13000                                 
031663,001357: 14,3102           34714                           CAF      P51ZERO                               
031664,001358: 14,3103           55155                           TS       THETAD                                #  ZERO THE GIMBALS
031665,001359: 14,3104           55156                           TS       THETAD     +1                         
031666,001360: 14,3105           55157                           TS       THETAD     +2                         
031667,001361: 14,3106           33266                           CAF      V6N22                                 
031668,001362: 14,3107           04555                           TC       BANKCALL                              
031669,001363: 14,3110           20577                           CADR     GODSPRET                              
031670,001364: 14,3111           33267                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
031671,001365: 14,3112           04555                           TC       BANKCALL                              
031672,001366: 14,3113           20577                           CADR     GODSPRET                              
031673,001367: 14,3114           04555                           TC       BANKCALL                              
031674,001368: 14,3115           16602                           CADR     IMUCOARS                              
031675,001369: 14,3116           04555                           TC       BANKCALL                              
031676,001370: 14,3117           17516                           CADR     IMUSTALL                              
031677,001371: 14,3120           05646                           TC       CURTAINS                              #  CAGING OR BAD END
031678,001372: 14,3121           04555                           TC       BANKCALL                              #  SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031679,001373: 14,3122           17012                           CADR     IMUFIN20                              #  AND 20 SECS. DIRECT RETURN AND NO STALL,
031680,001374: 14,3123           04555                           TC       BANKCALL                              #  IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031681,001375: 14,3124           17516                           CADR     IMUSTALL                              #  IF PUT TO SLEEP, IMUFINED WILL WAKE US
031682,001376: 14,3125           05646                           TC       CURTAINS                              #  UP.
031683,001377: 14,3126           06006                           TC       INTPRET                               
031684,001378: 14,3127           77234                           RTB      VLOAD                                 
031685,001379: 14,3130           31270                                    SET1/PDT                              
031686,001380: 14,3131           11453                                    ZEROVEC                               
031687,001381: 14,3132           01472                           STORE    GCOMP                                 
031688,001382: 14,3133           77414                           SET      EXIT                                  
031689,001383: 14,3134           01060                                    DRIFTFLG                              
031690,001384: 14,3135           05301                           TC       PHASCHNG                              
031691,001385: 14,3136           05024                           OCT      05024                                 
031692,001386: 14,3137           13000                           OCT      13000                                 
031693,001387: 14,3140           13072                           TCF      P51AA                                 #  COARSE ALIGN DONE - RECYCLE FOR FINE

Page 720

031695,001389:                                                                                                  #     DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031696,001390: 
031697,001391: 14,3141           05301        P51B               TC       PHASCHNG                              
031698,001392: 14,3142           00014                           OCT      00014                                 
031699,001393: 14,3143           06006                           TC       INTPRET                               
031700,001394: 14,3144           40331                           SSP      SETPD                                 
031701,001395: 14,3145           00305                                    STARIND                               #  INDEX-STAR 1 OR 2
031702,001396: 14,3146           00000                                    0                                     
031703,001397: 14,3147           00001                                    0                                     
031704,001398: 14,3150           77414                           CLEAR    EXIT                                  
031705,001399: 14,3151           00666                                    TARG2FLG                              #  SHOW STAR MARK-NOT LAND MARK
031706,001400: 14,3152           34712                           CAF      BIT1                                  
031707,001401: 14,3153           54301                           TS       MARKINDX                              #  INITIALIZE FOR ONE MARK
031708,001402: 
031709,001403: 14,3154           05301        P51C               TC       PHASCHNG                              
031710,001404: 14,3155           05024                           OCT      05024                                 
031711,001405: 14,3156           13000                           OCT      13000                                 
031712,001406: 14,3157           05253                           TC       CHECKMM                               
031713,001407: 14,3160           00065                           MM       53         B-14                       #  BACKUP PROGRAM
031714,001408: 14,3161           13167                           TCF      P51C.1                                #  NOT P53
031715,001409: 14,3162           06006                           TC       INTPRET                               
031716,001410: 14,3163           77624                           CALL                                           
031717,001411: 14,3164           32252                                    R56                                   
031718,001412: 14,3165           77650                           GOTO                                           
031719,001413: 14,3166           31172                                    P51C.2                                
031720,001414: 14,3167           06006        P51C.1             TC       INTPRET                               
031721,001415: 14,3170           77624                           CALL                                           
031722,001416: 14,3171           31327                                    R53                                   #  SIGHTING ROUTINE
031723,001417: 14,3172           77624        P51C.2             CALL                                           #  COMPUTE LOS IN SM FROM MARK DATA
031724,001418: 14,3173           31273                                    SXTSM                                 
031725,001419: 14,3174           77606                           PUSH                                           
031726,001420: 14,3175           53135                           SLOAD    BZE                                   
031727,001421: 14,3176           00305                                    STARIND                               
031728,001422: 14,3177           31204                                    P51D                                  
031729,001423: 14,3200           45575                           VLOAD    STADR                                 
031730,001424: 14,3201           75160                           STORE    STARSAV2                              #  DOWNLINK
031731,001425: 14,3202           77650                           GOTO                                           
031732,001426: 14,3203           31212                                    P51E                                  
031733,001427: 14,3204           45575        P51D               VLOAD    STADR                                 
031734,001428: 14,3205           61166                           STODL    STARSAV1                              
031735,001429: 14,3206           02607                                    TSIGHT                                
031736,001430: 14,3207           77624                           CALL                                           
031737,001431: 14,3210           32363                                    PLANET                                
031738,001432: 14,3211           02601                           STORE    PLANVEC                               
031739,001433: 14,3212           77776        P51E               EXIT                                           
031740,001434: 14,3213           05301                           TC       PHASCHNG                              
031741,001435: 14,3214           05024                           OCT      05024                                 
031742,001436: 14,3215           13000                           OCT      13000                                 
031743,001437: 14,3216           04555                           TC       BANKCALL                              
031744,001438: 14,3217           16063                           CADR     MKRELEAS                              #  ZERO MARKSTAT

Page 721

031746,001440: 14,3220           10304                           CCS      STARIND                               
031747,001441: 14,3221           13230                           TCF      P51F                                  #  STAR 2
031748,001442: 14,3222           05301                           TC       PHASCHNG                              
031749,001443: 14,3223           05024                           OCT      05024                                 
031750,001444: 14,3224           13000                           OCT      13000                                 
031751,001445: 14,3225           34712                           CAF      BIT1                                  
031752,001446: 14,3226           54304                           TS       STARIND                               
031753,001447: 14,3227           13154                           TCF      P51C                                  #  GO DO SECOND STAR
031754,001448: 14,3230           05301        P51F               TC       PHASCHNG                              
031755,001449: 14,3231           05024                           OCT      05024                                 
031756,001450: 14,3232           13000                           OCT      13000                                 
031757,001451: 14,3233           06006                           TC       INTPRET                               
031758,001452: 14,3234           45145                           DLOAD    CALL                                  
031759,001453: 14,3235           02607                                    TSIGHT                                
031760,001454: 14,3236           32363                                    PLANET                                
031761,001455: 14,3237           24015                           STOVL    12D                                   
031762,001456: 14,3240           02601                                    PLANVEC                               
031763,001457: 14,3241           24007                           STOVL    6D                                    
031764,001458: 14,3242           02611                                    STARSAV1                              
031765,001459: 14,3243           26736                           STOVL    STARAD                                
031766,001460: 14,3244           02617                                    STARSAV2                              
031767,001461: 14,3245           36744                           STCALL   STARAD     +6                         
031768,001462: 14,3246           30707                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
031769,001463: 14,3247           77414                           BON      EXIT                                  
031770,001464: 14,3250           00314                                    FREEFLAG                              
031771,001465: 14,3251           31253                                    P51G                                  
031772,001466: 14,3252           03072                           TC       P51AA                                 
031773,001467: 14,3253           77624        P51G               CALL                                           
031774,001468: 14,3254           47334                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
031775,001469: 14,3255           75160                           AXC,1    AXC,2                                 
031776,001470: 14,3256           02713                                    XDC                                   
031777,001471: 14,3257           01735                                    REFSMMAT                              
031778,001472: 14,3260           45014                           CLEAR    CALL                                  
031779,001473: 14,3261           01662                                    REFSMFLG                              
031780,001474: 14,3262           31045                                    MATMOVE                               
031781,001475: 14,3263           52014                           SET      GOTO                                  
031782,001476: 14,3264           01462                                    REFSMFLG                              
031783,001477: 14,3265           32143                                    ENDP50S                               
031784,001478: 14,3266     4720               PRFMSTAQ           =        OCT15                                 
031785,001479: 14,3266     4714               P51ZERO            =        ZERO                                  
031786,001480: 14,3266     4715               P51FIVE            =        FIVE                                  
031787,001481: 14,3266           01426        V6N22              VN       0622                                  
031788,001482: 14,3267           12200        V41K               VN       4100                                  
031789,001483: 14,3270           30025        SET1/PDT           CA       TIME1                                 
031790,001484: 14,3271           55074                           TS       1/PIPADT                              
031791,001485: 14,3272           16030                           TCF      DANZIG                                
031792,001486: 

Page 722

031794,001488:                                                                                                  #     SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031795,001489: 
031796,001490: 14,3273           77620        SXTSM              STQ                                            
031797,001491: 14,3274           00300                                    QMAJ                                  
031798,001492: 14,3275           70740                           LXC,1    DLOAD*                                
031799,001493: 14,3276           01330                                    MARKSTAT                              
031800,001494: 14,3277           00001                                    0D,1                                  
031801,001495: 14,3300           02607                           STORE    TSIGHT                                
031802,001496: 14,3301           66764                           AXC,2    SLOAD*                                
031803,001497: 14,3302           00304                                    STARIND                               
031804,001498: 14,3303           46451                                    MKDNCDR,2                             
031805,001499: 14,3304           76764                           AXC,2    VLOAD*                                
031806,001500: 14,3305           00154                                    MPAC                                  
031807,001501: 14,3306           00001                                    0,1                                   
031808,001502: 14,3307           10001                           STORE    0,2                                   
031809,001503: 14,3310           77743                           DLOAD*                                         
031810,001504: 14,3311           00006                                    5,1                                   
031811,001505: 14,3312           10006                           STORE    5,2                                   
031812,001506: 14,3313           77624                           CALL                                           
031813,001507: 14,3314           46000                                    SXTNB                                 #  COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031814,001508: 14,3315           62150                           LXA,1    INCR,1                                
031815,001509: 14,3316           01330                                    MARKSTAT                              
031816,001510: 14,3317           00002                                    2                                     #  INCREMENT TO BASE ADR OF ICDU
031817,001511: 14,3320           45130                           SXA,1    CALL                                  
031818,001512: 14,3321           00050                                    S1                                    
031819,001513: 14,3322           47541                                    NBSM                                  #  TRANSFORM LOS TO SM
031820,001514: 14,3323           77650                           GOTO                                           
031821,001515: 14,3324           00300                                    QMAJ                                  
031822,001516: 14,3325           03674        MKDNCDR            ECADR    MARKDOWN                              
031823,001517: 14,3326           03502                           ECADR    MARK2DWN                              
031824,001518: 

Page 723

031826,001520:                                                                                                  #  PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031827,001521:                                                                                                  #  MOD.NO.2  21 DEC 66
031828,001522:                                                                                                  #  MOD BY STURLAUGSON
031829,001523: 
031830,001524:                                                                                                  #  FUNCTIONAL DESCRIPTION
031831,001525:                                                                                                  #          TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031832,001526:                                                                                                  #  CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031833,001527:                                                                                                  #  OCDUS) AND THE TIME OF THE MARK.
031834,001528: 
031835,001529:                                                                                                  #  CALLING SEQUENCE
031836,001530:                                                                                                  #    R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031837,001531:                                                                                                  #    THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031838,001532: 
031839,001533:                                                                                                  #  SUBROUTINES CALLED
031840,001534:                                                                                                  #    SXTMARK
031841,001535:                                                                                                  #    OPTSTALL
031842,001536:                                                                                                  #    GOFLASH
031843,001537: 
031844,001538:                                                                                                  #  ERASABLE INITIALIZATION
031845,001539:                                                                                                  #    TARGET FLAG - STAR OR LANDMARK
031846,001540:                                                                                                  #    MARKINDX - NUMBER OF MARKS WANTED
031847,001541:                                                                                                  #    STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031848,001542:                                                                                                  #  OUTPUT
031849,001543:                                                                                                  #    MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
031850,001544:                                                                                                  #    BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031851,001545:                                                                                                  #  DEBRIS
031852,001546:                                                                                                  #    MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031853,001547: 14,2000                                           SETLOC   RT53                                  
031854,001548: 14,2000                                           BANK                                           
031855,001549: 
031856,001550: 14,3327                                           COUNT    14/R53                                
031857,001551: 
031858,001552: 14,3327           43020        R53                STQ      SET                                   #  SET SIGHTING MARK FLAG
031859,001553: 14,3330           03501                                    R53EXIT                               
031860,001554: 14,3331           00071                                    R53FLAG                               
031861,001555: 14,3332           77776                           EXIT                                           
031862,001556: 14,3333           30301        R53A               CA       MARKINDX                              #  NUMBER OF MARKS
031863,001557: 14,3334           74716                           MASK     LOW3                                  
031864,001558: 14,3335           04555                           TC       BANKCALL                              
031865,001559: 14,3336           16002                           CADR     SXTMARK                               
031866,001560: 14,3337           04555                           TC       BANKCALL                              
031867,001561: 14,3340           17512                           CADR     OPTSTALL                              
031868,001562: 14,3341           05646                           TC       CURTAINS                              
031869,001563: 14,3342           51330                           INDEX    MARKSTAT                              
031870,001564: 14,3343           10052                           CCS      QPRET                                 #  NUMBER OF MARKS ACTUALLY DONE
031871,001565: 14,3344           13355                           TCF      R53B                                  
031872,001566: 14,3345           13347                           TCF      +2                                    #  ZERO
031873,001567: 14,3346           13347                           TCF      +1                                    #  CCS HOLE
031874,001568: 14,3347           34714                           CAF      ZERO                                  #  HOUSEKEEP VAC AREA SAVE
031875,001569: 14,3350           57330                           XCH      MARKSTAT                              #   AND MARKSTAT

Page 724

031877,001571: 14,3351           10000                           CCS      A                                     
031878,001572: 14,3352           50000                           INDEX    A                                     
031879,001573: 14,3353           54000                           TS       0                                     
031880,001574: 14,3354           13333                           TCF      R53A                                  
031881,001575: 14,3355           05253        R53B               TC       CHECKMM                               
031882,001576: 14,3356           00026                           MM       22         B-14                       
031883,001577: 14,3357           13361                           TCF      +2                                    
031884,001578: 14,3360           13405                           TCF      R53D                                  
031885,001579: 14,3361           05253                           TC       CHECKMM                               
031886,001580: 14,3362           00027                           MM       23         B-14                       
031887,001581: 14,3363           13365                           TCF      R53C                                  
031888,001582: 14,3364           13405                           TCF      R53D                                  
031889,001583: 14,3365           33411        R53C               CAF      V01N71                                
031890,001584: 14,3366           04555                           TC       BANKCALL                              
031891,001585: 14,3367           20763                           CADR     GOFLASHR                              
031892,001586: 14,3370           04106                           TC       GOTOPOOH                              #  TERM.
031893,001587: 14,3371           13376                           TCF      R53Z                                  
031894,001588: 14,3372           03365                           TC       R53C                                  #  RECYCLE
031895,001589: 14,3373           36211                           CAF      SIX                                   
031896,001590: 14,3374           05415                           TC       BLANKET                               
031897,001591: 14,3375           05112                           TC       ENDOFJOB                              
031898,001592: 14,3376           47713        R53Z               CS       HIGH9                                 
031899,001593: 14,3377           70735                           MASK     STARCODE                              
031900,001594: 14,3400           00006                           EXTEND                                         
031901,001595: 14,3401           76211                           MP       SIGHTSIX                              
031902,001596: 14,3402           56001                           XCH      L                                     
031903,001597: 14,3403           50304                           INDEX    STARIND                               
031904,001598: 14,3404           54302                           TS       BESTI                                 
031905,001599: 14,3405           06006        R53D               TC       INTPRET                               
031906,001600: 14,3406           77614        R53OUT             SETGO                                          
031907,001601: 14,3407           03420                                    TERMIFLG                              #  SET TERMINATE FOR R52
031908,001602: 14,3410           03501                                    R53EXIT                               
031909,001603: 14,3411     6211               SIGHTSIX           =        SIX                                   
031910,001604: 14,3411           00307        V01N71             VN       0171                                  
031911,001605: 

Page 725

031913,001607:                                                                                                  #  NAME-S52.2
031914,001608:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031915,001609:                                                                                                  #  CALL-  CALL  S52.2
031916,001610:                                                                                                  #  INPUT- X,Y,ZSMD
031917,001611:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031918,001612:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031919,001613: 11,2000                                           SETLOC   S52/2                                 
031920,001614: 11,2000                                           BANK                                           
031921,001615: 
031922,001616: 11,2256                                           COUNT    13/S52.2                              
031923,001617: 11,2256           77620        S52.2              STQ                                            
031924,001618: 11,2257           00300                                    QMAJ                                  
031925,001619: 11,2260           77624                           CALL                                           
031926,001620: 11,2261           47432                                    CDUTRIG                               
031927,001621: 11,2262           77624                           CALL                                           
031928,001622: 11,2263           34567                                    CALCSMSC                              
031929,001623: 11,2264           66370                           AXT,1    SSP                                   
031930,001624: 11,2265           00022                                    18D                                   
031931,001625: 11,2266           00051                                    S1                                    
031932,001626: 11,2267           00006                                    6D                                    
031933,001627: 11,2270           61373        S52.2A             VLOAD*   VXM                                   
031934,001628: 11,2271           02736                                    XNB        +18D,1                     
031935,001629: 11,2272           01736                                    REFSMMAT                              
031936,001630: 11,2273           77656                           UNIT                                           
031937,001631: 11,2274           06736                           STORE    XNB        +18D,1                     
031938,001632: 11,2275           77700                           TIX,1                                          
031939,001633: 11,2276           22270                                    S52.2A                                
031940,001634: 11,2277           75160        S52.2.1            AXC,1    AXC,2                                 
031941,001635: 11,2300           00306                                    XSMD                                  
031942,001636: 11,2301           02671                                    XSM                                   
031943,001637: 11,2302           77624                           CALL                                           
031944,001638: 11,2303           31045                                    MATMOVE                               
031945,001639: 11,2304           77624                           CALL                                           
031946,001640: 11,2305           47244                                    CALCGA                                
031947,001641: 11,2306           77650                           GOTO                                           
031948,001642: 11,2307           00300                                    QMAJ                                  
031949,001643: 

Page 726

031951,001645:                                                                                                  #  PROGRAM NAME - SR52.1           DATE DEC 20  66
031952,001646:                                                                                                  #  MOD 1                           LOG SEC  P51-P53
031953,001647:                                                                                                  #  BY  KEN VINCENT                 ASSEMBLY  SUNDISK REV 40
031954,001648: 
031955,001649:                                                                                                  #  FUNCTION
031956,001650:                                                                                                  #   TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031957,001651:                                                                                                  #   LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031958,001652:                                                                                                  #   2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS 
031959,001653:                                                                                                  #   THE TARGET  THEN CONIC UPDATES     OF THE CSM AND LEM ARE MADE TO
031960,001654:                                                                                                  #   THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031961,001655:                                                                                                  #   POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR  USED IN THE
031962,001656:                                                                                                  #   COMMON PART OF THIS PROGRAM.
031963,001657:                                                                                                  #   IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031964,001658:                                                                                                  #   VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031965,001659:                                                                                                  #   FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031966,001660:                                                                                                  #   THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031967,001661:                                                                                                  #   VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031968,001662:                                                                                                  #   IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031969,001663:                                                                                                  #   AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031970,001664:                                                                                                  #   THE COMMON PART OF THIS PROGRAM  TRANSFORMS THE REFERENCE SIGHTING
031971,001665:                                                                                                  #   VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031972,001666:                                                                                                  #   THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031973,001667:                                                                                                  #   MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN  90DEG OR 38DEG.
031974,001668:                                                                                                  #   MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031975,001669: 
031976,001670:                                                                                                  #  CALLING SEQUENCE
031977,001671:                                                                                                  #  L+4      RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031978,001672:                                                                                                  #  L        TC     BANKCALL
031979,001673:                                                                                                  #  L+1      CADR   SR52.1
031980,001674:                                                                                                  #  L+2      ERROR RETURN   TRUNNION GREATER THAN 90 DEG
031981,001675:                                                                                                  #  L&3      ERROR RETURN   TRUNNION GREATER THAN 50 DEG
031982,001676:                                                                                                  #  L+4      NORMAL RETURN
031983,001677: 
031984,001678:                                                                                                  #  OUTPUT
031985,001679:                                                                                                  #  SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031986,001680:                                                                                                  #  PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031987,001681: 
031988,001682:                                                                                                  #  INITIALIZATION
031989,001683:                                                                                                  #  IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031990,001684:                                                                                                  #  IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031991,001685:                                                                                                  #  0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031992,001686:                                                                                                  #  ARE 6 TIMES STAR NUMBER.
031993,001687:                                                                                                  #  IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031994,001688:                                                                                                  #  LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031995,001689:                                                                                                  #  RADIUS
031996,001690: 
031997,001691:                                                                                                  #  DEBRIS
031998,001692:                                                                                                  #   WORK AREA
031999,001693:                                                                                                  #   STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
032000,001694: 11,2310                                           COUNT*   $$/SR521                              

Page 727

032002,001696: 13,2000                                           SETLOC   SR52/1                                
032003,001697: 13,2000                                           BANK                                           
032004,001698: 
032005,001699: 13,2176           04604        SR52.1             TC       MAKECADR                              
032006,001700: 13,2177           55777                           TS       QMIN                                  
032007,001701: 13,2200           06006                           TC       INTPRET                               
032008,001702: 13,2201           43234                           RTB      DAD                                   
032009,001703: 13,2202           45505                                    LOADTIME                              
032010,001704: 13,2203           26317                                    1.3SECDP                              
032011,001705: 13,2204           02356                           STORE    AOPTIME                               
032012,001706: 13,2205           43014                           BON      BON                                   
032013,001707: 13,2206           00705                                    TARG1FLG                              
032014,001708: 13,2207           26214                                    LEM52                                 
032015,001709: 13,2210           00706                                    TARG2FLG                              
032016,001710: 13,2211           26224                                    LMK52                                 
032017,001711: 13,2212           77650                           GOTO                                           
032018,001712: 13,2213           26245                                    STAR52                                
032019,001713: 13,2214           77745        LEM52              DLOAD                                          
032020,001714: 13,2215           02356                                    AOPTIME                               
032021,001715: 13,2216           34041                           STCALL   TDEC1                                 
032022,001716: 13,2217           27057                                    LEMCONIC                              
032023,001717: 13,2220           77775                           VLOAD                                          
032024,001718: 13,2221           00001                                    RATT                                  
032025,001719: 13,2222           77650                           GOTO                                           
032026,001720: 13,2223           26234                                    LMKLMCOM                              
032027,001721: 13,2224           71214        LMK52              BON      DLOAD                                 
032028,001722: 13,2225           04305                                    ADVTRK                                
032029,001723: 13,2226           54000                                    ADVTRACK                              
032030,001724: 13,2227           02356                                    AOPTIME                               
032031,001725: 13,2230           77624                           CALL                                           
032032,001726: 13,2231           26373                                    LALOTORV                              
032033,001727: 13,2232           77775                           VLOAD                                          
032034,001728: 13,2233           02152                                    ALPHAV                                
032035,001729: 13,2234           16766        LMKLMCOM           STODL    STAR                                  
032036,001730: 13,2235           02356                                    AOPTIME                               
032037,001731: 13,2236           34041                           STCALL   TDEC1                                 
032038,001732: 13,2237           27045                                    CSMCONIC                              
032039,001733: 13,2240           52375                           VLOAD    VSU                                   
032040,001734: 13,2241           02766                                    STAR                                  
032041,001735: 13,2242           00001                                    RATT                                  
032042,001736: 13,2243           52056                           UNIT     GOTO                                  
032043,001737: 13,2244           26260                                    COM52                                 
032044,001738: 13,2245           72131        STAR52             SSP      LXA,1                                 
032045,001739: 13,2246           00051                                    S1                                    
032046,001740: 13,2247           00000                                    0                                     
032047,001741: 13,2250           00304                                    STARIND                               
032048,001742: 13,2251           77700                           TIX,1                                          
032049,001743: 13,2252           26256                                    ST52ST                                
032050,001744: 13,2253           52175                           VLOAD    GOTO                                  
032051,001745: 13,2254           02617                                    STARSAV2                              

Page 728

032053,001747: 13,2255           26260                                    COM52                                 
032054,001748: 13,2256           77775        ST52ST             VLOAD                                          
032055,001749: 13,2257           02611                                    STARSAV1                              
032056,001750: 13,2260           53521        COM52              MXV      UNIT                                  
032057,001751: 13,2261           01736                                    REFSMMAT                              
032058,001752: 13,2262           02766                           STORE    STAR                                  
032059,001753: 13,2263           45001                           SETPD    CALL                                  
032060,001754: 13,2264           00001                                    0                                     
032061,001755: 13,2265           47432                                    CDUTRIG                               #  COMPUTES SINES AND COSINES FOR CALCSXA
032062,001756: 13,2266           77624                           CALL                                           #    NOW EXPECT TO SEE THE CDU ANGLES.
032063,001757: 13,2267           46034                                    CALCSXA                               
032064,001758: 13,2270           77414                           BOFF     EXIT                                  
032065,001759: 13,2271           01750                                    CULTFLAG                              
032066,001760: 13,2272           26274                                    TRUN38                                
032067,001761: 13,2273           02312                           TC       SR52E1                                
032068,001762: 13,2274           45345        TRUN38             DLOAD    DSU                                   
032069,001763: 13,2275           02776                                    PAC                                   
032070,001764: 13,2276           26315                                    38TRDEG                               
032071,001765: 13,2277           71244                           BPL      DLOAD                                 
032072,001766: 13,2300           26305                                    SR52E22                               
032073,001767: 13,2301           02776                                    PAC                                   
032074,001768: 13,2302           51025                           DSU      BPL                                   
032075,001769: 13,2303           26321                                    20DEGSMN                              
032076,001770: 13,2304           26307                                    SR52E3                                
032077,001771: 13,2305           77776        SR52E22            EXIT                                           
032078,001772: 13,2306           02311                           TC       SR52E2                                
032079,001773: 13,2307           77776        SR52E3             EXIT                                           
032080,001774: 13,2310           25777                           INCR     QMIN                                  
032081,001775: 13,2311           25777        SR52E2             INCR     QMIN                                  
032082,001776: 13,2312           31777        SR52E1             CA       QMIN                                  
032083,001777: 13,2313           04561                           TC       SWCALL                                
032084,001778: 13,2314           25252 25254  38TRDEG            2DEC     .66666667                             #  CORESPONDS TO 50 DEGS IN TRUNION
032085,001779: 13,2316           00000 00202  1.3SECDP           2DEC     130        B-28                       
032086,001780: 13,2320           61740        20DEGSMN           DEC      -07199     B-14                       
032087,001781: 13,2321           77777                           DEC      -0         B-14                       
032088,001782: 

Page 729

032090,001784:                                                                                                  #     THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
032091,001785:                                                                                                  #  A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
032092,001786:                                                                                                  #  OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
032093,001787: 
032094,001788: 26,2000                                           SETLOC   26P50S                                
032095,001789: 26,2000                                           BANK                                           
032096,001790: 26,2000           77601        ADVTRACK           SETPD                                          
032097,001791: 26,2001           00001                                    0                                     
032098,001792: 26,2002           41575                           VLOAD    PUSH                                  #  INITIALIZE FOR RP-TO-R
032099,001793: 26,2003           15324                                    UNITZ                                 #  UZ VEC IN PD 0-5
032100,001794: 26,2004           41434                           RTB      PUSH                                  #  TIME IN PD 6-7
032101,001795: 26,2005           45505                                    LOADTIME                              
032102,001796: 26,2006           36356                           STCALL   AOPTIME                               #  TIME ALSO IN AOPTIME FOR CSMCONIC
032103,001797: 26,2007           55341                                    RP-TO-R                               #  GET MOON ROTATION VEC IN REF
032104,001798: 26,2010           16766                           STODL    STAR                                  
032105,001799: 26,2011           02356                                    AOPTIME                               #  PICK UP TIME
032106,001800: 26,2012           34041                           STCALL   TDEC1                                 #  UPDATE STATE TO TIME
032107,001801: 26,2013           27045                                    CSMCONIC                              
032108,001802: 26,2014           47375                           VLOAD    VXV                                   
032109,001803: 26,2015           00007                                    VATT                                  
032110,001804: 26,2016           00001                                    RATT                                  
032111,001805: 26,2017           77656                           UNIT                                           
032112,001806: 26,2020           24031                           STOVL    24D                                   #  SAVE -UNIT(V X R) FOR 2ND ROTATION
032113,001807: 26,2021           00001                                    RATT                                  
032114,001808: 26,2022           57456                           UNIT     VCOMP                                 
032115,001809: 26,2023           41401                           SETPD    PUSH                                  #  PUSH LOS=-UNIT(RVEC)  PD 0-5
032116,001810: 26,2024           00001                                    0                                     
032117,001811: 26,2025           77776                           EXIT                                           
032118,001812: 26,2026           31751                           CA       LANDMARK                              
032119,001813: 26,2027           74716                           MASK     SEVEN                                 #  GET NUMBER OF ADVANCE PERIODS
032120,001814: 26,2030           00006                           EXTEND                                         
032121,001815: 26,2031           74700                           MP       BIT11                                 #  GET N/16
032122,001816: 26,2032           56001                           XCH      L                                     
032123,001817: 26,2033           50120                           INDEX    FIXLOC                                
032124,001818: 26,2034           54036                           TS       30D                                   #  TEMP STORE N/16
032125,001819: 26,2035           06006                           TC       INTPRET                               
032126,001820: 26,2036           41335                           SLOAD    DMP                                   
032127,001821: 26,2037           00037                                    30D                                   
032128,001822: 26,2040           14107                                    MPERIOD                               
032129,001823: 26,2041           36356                           STCALL   AOPTIME                               #  ROTATE ANG ABOUT UR
032130,001824: 26,2042           54057                                    ROTA                                  
032131,001825: 26,2043           77775                           VLOAD                                          
032132,001826: 26,2044           00031                                    24D                                   #  PICK UP 2ND ROTATION AXIS
032133,001827: 26,2045           16766                           STODL    STAR                                  
032134,001828: 26,2046           14105                                    DP1/6                                 
032135,001829: 26,2047           77625                           DSU                                            
032136,001830: 26,2050           02356                                    AOPTIME                               #  2ND RAT ANGLE = 60 - A
032137,001831: 26,2051           36356                           STCALL   AOPTIME                               
032138,001832: 26,2052           54057                                    ROTA                                  #  GO ROTATE 2ND TIME
032139,001833: 26,2053           77775                           VLOAD                                          

Page 730

032141,001835: 26,2054           00001                                    0                                     
032142,001836: 26,2055           36766                           STCALL   STAR                                  #  STORE FINAL LOS IN STAR
032143,001837: 26,2056           26260                                    COM52                                 #  RETURN TO SR52.1
032144,001838: 
032145,001839: 26,2057           73545        ROTA               DLOAD    SIN                                   
032146,001840: 26,2060           02356                                    AOPTIME                               
032147,001841: 26,2061           47315                           PDVL     VXV                                   #  PUSH 1/2SIN(A)  PD  6-7
032148,001842: 26,2062           02766                                    STAR                                  #    UR VEC
032149,001843: 26,2063           00001                                    0                                     #    LOS
032150,001844: 26,2064           72561                           VXSC     VSL2                                  #  1/2SIN(A)(URXLOS)  PD 6-11
032151,001845: 26,2065           50315                           PDVL     DOT                                   
032152,001846: 26,2066           02766                                    STAR                                  
032153,001847: 26,2067           00001                                    0                                     
032154,001848: 26,2070           72561                           VXSC     VSL2                                  
032155,001849: 26,2071           02766                                    STAR                                  
032156,001850: 26,2072           71525                           PDDL     COS                                   #  1/2(UR . LOS)UR  12-17
032157,001851: 26,2073           02356                                    AOPTIME                               
032158,001852: 26,2074           51315                           PDVL     BVSU                                  #  PUSH 1/2COS(A)  18-19
032159,001853: 26,2075           00015                                    12D                                   
032160,001854: 26,2076           00001                                    0                                     
032161,001855: 26,2077           76561                           VXSC     VSL1                                  #  UP 18-19
032162,001856: 26,2100           53255                           VAD      VAD                                   #  UP 12-17  UP 6-11
032163,001857: 26,2101           40256                           UNIT     SETPD                                 
032164,001858: 26,2102           00001                                    0                                     
032165,001859: 26,2103           43406                           PUSH     RVQ                                   
032166,001860: 
032167,001861: 26,2104           05252 25251  DP1/6              2DEC     .16666666                             
032168,001862: 26,2106           11446 02760  MPERIOD            2DEC     .2992                                 #  APPROX LUNAR ROT ANG IN 2HRS X 16
032169,001863: 

Page 731

032171,001865:                                                                                                  #  NAME-S52.3
032172,001866:                                                                                                  #  FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032173,001867:                                                                                                  #            YSMD= UNIT(V X R)
032174,001868:                                                                                                  #            ZSMD= UNIT(-R)
032175,001869:                                                                                                  #  CALL     DLOAD  CALL
032176,001870:                                                                                                  #                  TALIGN
032177,001871:                                                                                                  #                  S52.3
032178,001872:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
032179,001873:                                                                                                  #  OUTPUT-  X,Y,ZSMD
032180,001874:                                                                                                  #  SUBROUTINES- CSMCONIC
032181,001875: 16,2000                                           SETLOC   P50S2                                 
032182,001876: 16,2000                                           BANK                                           
032183,001877: 
032184,001878: 16,2636                                           COUNT    15/S52.3                              
032185,001879: 16,2636           77620        S52.3              STQ                                            
032186,001880: 16,2637           00300                                    QMAJ                                  
032187,001881: 16,2640           34041                           STCALL   TDEC1                                 
032188,001882: 16,2641           27045                                    CSMCONIC                              
032189,001883: 16,2642           77601                           SETPD                                          
032190,001884: 16,2643           00001                                    0                                     
032191,001885: 16,2644           57575                           VLOAD    VCOMP                                 
032192,001886: 16,2645           00001                                    RATT                                  
032193,001887: 16,2646           77656                           UNIT                                           
032194,001888: 16,2647           24323                           STOVL    ZSMD                                  
032195,001889: 16,2650           00007                                    VATT                                  
032196,001890: 16,2651           53435                           VXV      UNIT                                  
032197,001891: 16,2652           00001                                    RATT                                  
032198,001892: 16,2653           00315                           STORE    YSMD                                  
032199,001893: 16,2654           53435                           VXV      UNIT                                  
032200,001894: 16,2655           00323                                    ZSMD                                  
032201,001895: 16,2656           34307                           STCALL   XSMD                                  
032202,001896: 16,2657           00300                                    QMAJ                                  
032203,001897: 

Page 732

032205,001899:                                                                                                  #  PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032206,001900: 
032207,001901:                                                                                                  #  FUNCTIONAL DESCRIPTION
032208,001902:                                                                                                  #         TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54).  THE ASTRONAUT KNOWS THE
032209,001903:                                                                                                  #  COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE.  WHEN THE ASTRONAUT KEYS IN
032210,001904:                                                                                                  #  ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032211,001905:                                                                                                  #  IN N92.
032212,001906: 
032213,001907:                                                                                                  #  CALLING SEQUENCE
032214,001908:                                                                                                  #         CALL
032215,001909:                                                                                                  #               R56
032216,001910: 
032217,001911:                                                                                                  #  SUBROUTINES CALLED
032218,001912:                                                                                                  #         A PORTION OF SXTMARK (VAC.AREA SEARCH)
032219,001913:                                                                                                  #         GOFLASH
032220,001914:                                                                                                  #         GOPERF1
032221,001915: 
032222,001916:                                                                                                  #  ERASABLE INITIALIZATION
032223,001917:                                                                                                  #         STARIND-INDEX TO STAR NUMBER
032224,001918: 
032225,001919:                                                                                                  #  OUTPUT
032226,001920:                                                                                                  #         MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032227,001921:                                                                                                  #         BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032228,001922:                                                                                                  #         ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032229,001923:                                                                                                  #            VAC +2  CDUY
032230,001924:                                                                                                  #            VAC +3  CDUS
032231,001925:                                                                                                  #            VAC +4  CDUZ
032232,001926:                                                                                                  #            VAC +5  CDUT
032233,001927:                                                                                                  #            VAC +6  CDUX
032234,001928: 
032235,001929: 16,2660                                           COUNT*   $$/R56                                
032236,001930: 15,2000                                           SETLOC   P50S                                  
032237,001931: 15,2000                                           BANK                                           
032238,001932: 15,2252           77776        R56                EXIT                                           
032239,001933: 15,2253           32362                           CAF      V06N94B                               
032240,001934: 15,2254           04555                           TC       BANKCALL                              
032241,001935: 15,2255           20624                           CADR     GOFLASH                               
032242,001936: 15,2256           04106                           TC       GOTOPOOH                              #  TERM.
032243,001937: 15,2257           02261                           TC       R56A                                  #  PROCEED - ANGLES OK
032244,001938: 15,2260           02253                           TC       -5                                    #  ENTER - NEW ANGLES
032245,001939: 15,2261           04555        R56A               TC       BANKCALL                              
032246,001940: 15,2262           16004                           CADR     SXTMARK    +2                         #  INHIBIR EXT VB ACT AND FIND VAC AREA
032247,001941: 
032248,001942: 15,2263           34714                           CAF      ZERO                                  
032249,001943: 15,2264           04555                           TC       BANKCALL                              
032250,001944: 15,2265           20607                           CADR     CLEANDSP                              
032251,001945: 
032252,001946: 15,2266           32360                           CAF      VB53                                  #  DISPLAY V53 REQUESTING ALTERNATE MARK
032253,001947: 15,2267           04555                           TC       BANKCALL                              
032254,001948: 15,2270           20470                           CADR     GOMARK2                               

Page 733

032256,001950: 15,2271           14106                           TCF      GOTOPOOH                              #  V34-TERMINATE
032257,001951: 15,2272           12263                           TCF      R56A       +2                         #  V33-DONT PROCEED-JUST ENTER TO MARK
032258,001952: 15,2273           06006                           TC       INTPRET                               
032259,001953: 15,2274           77745                           DLOAD                                          
032260,001954: 15,2275           03731                                    MRKBUF1    +3                         
032261,001955: 15,2276           16774                           STODL    SAC                                   
032262,001956: 15,2277           03733                                    MRKBUF1    +5                         
032263,001957: 15,2300           02776                           STORE    PAC                                   
032264,001958: 15,2301           77776                           EXIT                                           
032265,001959: 15,2302           00004                           INHINT                                         
032266,001960: 15,2303           00006                           EXTEND                                         
032267,001961: 15,2304           30025                           DCA      TIME2                                 
032268,001962: 15,2305           51330                           INDEX    MARKSTAT                              
032269,001963: 15,2306           52001                           DXCH     0                                     
032270,001964: 15,2307           30033                           CA       CDUY                                  #  ENTER-THIS IS A BACKUP SYSTEM MARK
032271,001965: 15,2310           51330                           INDEX    MARKSTAT                              
032272,001966: 15,2311           54002                           TS       2                                     
032273,001967: 15,2312           31773                           CA       SAC                                   
032274,001968: 15,2313           51330                           INDEX    MARKSTAT                              
032275,001969: 15,2314           54003                           TS       3                                     
032276,001970: 15,2315           30034                           CA       CDUZ                                  
032277,001971: 15,2316           51330                           INDEX    MARKSTAT                              
032278,001972: 15,2317           54004                           TS       4                                     
032279,001973: 15,2320           31775                           CA       PAC                                   
032280,001974: 15,2321           51330                           INDEX    MARKSTAT                              
032281,001975: 15,2322           54005                           TS       5                                     
032282,001976: 15,2323           30032                           CA       CDUX                                  
032283,001977: 15,2324           51330                           INDEX    MARKSTAT                              
032284,001978: 15,2325           54006                           TS       6                                     
032285,001979: 15,2326           00003                           RELINT                                         
032286,001980: 15,2327           05425                           TC       CLEARMRK                              #  ENABLE EXTENDED VERBS
032287,001981: 15,2330           34333                           CAF      OCT16                                 
032288,001982: 15,2331           04555                           TC       BANKCALL                              
032289,001983: 15,2332           20751                           CADR     GOPERF1                               
032290,001984: 15,2333           04106                           TC       GOTOPOOH                              #  TERM.
032291,001985: 15,2334           12336                           TCF      R56B                                  #  PROCEED-MARK COMPLETED
032292,001986: 15,2335           12263                           TCF      R56A       +2                         #   RECYCLE - DO ANOTHER MARK - LIKE REJECT
032293,001987: 15,2336           34714        R56B               CAF      ZERO                                  
032294,001988: 15,2337           04555                           TC       BANKCALL                              
032295,001989: 15,2340           20607                           CADR     CLEANDSP                              
032296,001990: 
032297,001991: 15,2341           32361                           CAF      V01N71B                               
032298,001992: 15,2342           04555                           TC       BANKCALL                              
032299,001993: 15,2343           20624                           CADR     GOFLASH                               
032300,001994: 15,2344           04106                           TC       GOTOPOOH                              
032301,001995: 15,2345           02347                           TC       +2                                    
032302,001996: 15,2346           12336                           TCF      R56B                                  #  RECYCLE
032303,001997: 15,2347           47713                           CS       HIGH9                                 
032304,001998: 15,2350           70735                           MASK     STARCODE                              
032305,001999: 15,2351           00006                           EXTEND                                         

Page 734

032307,002001: 15,2352           76211                           MP       SIX                                   
032308,002002: 15,2353           56001                           XCH      L                                     
032309,002003: 15,2354           50304                           INDEX    STARIND                               
032310,002004: 15,2355           54302                           TS       BESTI                                 
032311,002005: 15,2356           06006                           TC       INTPRET                               
032312,002006: 15,2357           77616                           RVQ                                            
032313,002007: 15,2360           15200        VB53               VN       05300                                 #  ALTERNATE MARK VERB
032314,002008: 15,2361           00307        V01N71B            VN       00171                                 
032315,002009: 15,2362           01536        V06N94B            VN       00694                                 
032316,002010: 15,2363           02607        PLANET             STORE    TSIGHT                                
032317,002011: 15,2364           45020                           STQ      CALL                                  
032318,002012: 15,2365           02777                                    QMIN                                  
032319,002013: 15,2366           30216                                    LOCSAM                                
032320,002014: 15,2367           77775                           VLOAD                                          
032321,002015: 15,2370           02736                                    VEARTH                                
032322,002016: 15,2371           24001                           STOVL    0D                                    
032323,002017: 15,2372           02744                                    VSUN                                  
032324,002018: 15,2373           26736                           STOVL    VEARTH                                
032325,002019: 15,2374           00001                                    0D                                    
032326,002020: 15,2375           02744                           STORE    VSUN                                  
032327,002021: 15,2376           77776        NOSAM              EXIT                                           
032328,002022: 15,2377           47713                           CS       HIGH9                                 
032329,002023: 15,2400           70735                           MASK     STARCODE                              
032330,002024: 15,2401           00006                           EXTEND                                         
032331,002025: 15,2402           76211                           MP       SIGHTSIX                              
032332,002026: 15,2403           56001                           XCH      L                                     
032333,002027: 15,2404           50304                           INDEX    STARIND                               
032334,002028: 15,2405           54302                           TS       BESTI                                 
032335,002029: 15,2406           10000                           CCS      A                                     
032336,002030: 15,2407           12423                           TCF      NOTPLAN                               
032337,002031: 15,2410           32453                           CAF      VNPLANV                               
032338,002032: 15,2411           04555                           TC       BANKCALL                              
032339,002033: 15,2412           20624                           CADR     GOFLASH                               
032340,002034: 15,2413           04106                           TC       GOTOPOOH                              
032341,002035: 15,2414           02416                           TC       +2                                    
032342,002036: 15,2415           02410                           TC       -5                                    
032343,002037: 15,2416           06006                           TC       INTPRET                               
032344,002038: 15,2417           53575                           VLOAD    UNIT                                  
032345,002039: 15,2420           02766                                    STAR                                  
032346,002040: 15,2421           77650                           GOTO                                           
032347,002041: 15,2422           32446                                    CORPLAN                               
032348,002042: 15,2423           40000        NOTPLAN            CS       A                                     
032349,002043: 15,2424           62452                           AD       DEC227                                
032350,002044: 15,2425           00006                           EXTEND                                         
032351,002045: 15,2426           62437                           BZMF     CALSAM1                               
032352,002046: 15,2427           50304                           INDEX    STARIND                               
032353,002047: 15,2430           30302                           CA       BESTI                                 
032354,002048: 15,2431           50120                           INDEX    FIXLOC                                
032355,002049: 15,2432           54046                           TS       X1                                    
032356,002050: 15,2433           06006                           TC       INTPRET                               

Page 735

032358,002052: 15,2434           52173                           VLOAD*   GOTO                                  
032359,002053: 15,2435           31751                                    CATLOG,1                              
032360,002054: 15,2436           32446                                    CORPLAN                               
032361,002055: 15,2437           06006        CALSAM1            TC       INTPRET                               
032362,002056: 15,2440           70740                           LXC,1    DLOAD*                                
032363,002057: 15,2441           00304                                    STARIND                               
032364,002058: 15,2442           00303                                    BESTI,1                               
032365,002059: 15,2443           76740                           LXC,1    VLOAD*                                
032366,002060: 15,2444           00154                                    MPAC                                  
032367,002061: 15,2445           02372                                    STARAD     -228D,1                    
032368,002062: 15,2446           53455        CORPLAN            VAD      UNIT                                  
032369,002063: 15,2447           03474                                    VEL/C                                 
032370,002064: 15,2450           77650                           GOTO                                           
032371,002065: 15,2451           02777                                    QMIN                                  
032372,002066: 15,2452           00343        DEC227             DEC      227        B-14                       
032373,002067: 15,2453           01530        VNPLANV            VN       0688                                  

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