Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

039755,000002:                                                                                                  ## Copyright:   Public domain.
039756,000003:                                                                                                  ## Filename:    P51-P53.agc
039757,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
039758,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039759,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
039760,000007:                                                                                                  ## Assembler:   yaYUL
039761,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
039762,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
039763,000010:                                                                                                  ## Pages:       926-983
039764,000011:                                                                                                  ## Mod history: 2009-05-31 HG   Transcribed from page images.
039765,000012:                                                                                                  ##              2009-06-07 RSB  Corrected a typo.
039766,000013:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
039767,000014:                                                                                                  ##              2016-12-17 RSB  Proofed text comments with octopus/ProoferComments
039768,000015:                                                                                                  ##                              and corrected the errors found.
039769,000016:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
039770,000017:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
039771,000018:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
039772,000019:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039773,000020: 

Page 926

039775,000022:                                                                                                  #  PROGRAM NAME - PROG52                 DATE - JAN 9, 1967
039776,000023:                                                                                                  #  MOD NO - 0                                    LOG SECTION - P51-P53
039777,000024:                                                                                                  #  MODIFICATION BY - LONSKE                      ASSEMBLY - SUNDANCE REV 46
039778,000025: 
039779,000026:                                                                                                  #  FUNCTIONAL DESCRIPTION -
039780,000027: 
039781,000028:                                                                                                  #        ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT.  THE PRESENT IMU ORIENTATION IS KNOWN
039782,000029:                                                                                                  #        AND IS STORED IN REFSMMAT.  THE THREE POSSIBLE ORIENTATIONS MAY BE_
039783,000030: 
039784,000031:                                                                                                  #        (A)     PREFERRED ORIENTATION
039785,000032: 
039786,000033:                                                                                                  #                AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER.  THIS ORIENTATION MUST BE CALCULATED AND
039787,000034:                                                                                                  #                STORED BY A PREVIOUSLY SELECTED PROGRAM.
039788,000035: 
039789,000036:                                                                                                  #        (B)     NOMINAL ORIENTATION
039790,000037: 
039791,000038:                                                                                                  #                X   = UNIT ( R )
039792,000039:                                                                                                  #                -SM
039793,000040: 
039794,000041:                                                                                                  #                Y   = UNIT (V X R)
039795,000042:                                                                                                  #                 SM
039796,000043: 
039797,000044:                                                                                                  #                Z   = UNIT (X   X Y  )
039798,000045:                                                                                                  #                 SM          SM    SM
039799,000046: 
039800,000047:                                                                                                  #                WHERE_
039801,000048: 
039802,000049:                                                                                                  #                R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039803,000050:                                                                                                  #                -
039804,000051: 
039805,000052:                                                                                                  #                V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039806,000053:                                                                                                  #                -
039807,000054: 
039808,000055:                                                                                                  #        (C)     REFSMMAT ORIENTATION
039809,000056: 
039810,000057:                                                                                                  #        (D)     LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039811,000058: 
039812,000059:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION.  THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039813,000060:                                                                                                  #        WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039814,000061:                                                                                                  #        SINCE THE LAST ALIGNMENT).
039815,000062: 
039816,000063:                                                                                                  #        AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039817,000064:                                                                                                  #        NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE.  CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039818,000065:                                                                                                  #        COARSE ALIGN THE IMU.  THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED.  IF 2 STARS ARE NOT AVAILABLE AN ALARM
039819,000066:                                                                                                  #        IS FLASHED TO NOTIFY THE ASTRONAUT.  AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039820,000067:                                                                                                  #        EITHER MANUALLY OR AUTOMATICALLY.  AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51.  IF
039821,000068:                                                                                                  #        THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED.  OTHERWISE P00 IS
039822,000069:                                                                                                  #        REQUESTED.
039823,000070: 
039824,000071:                                                                                                  #  CALLING SEQUENCE -
039825,000072: 

Page 927

039827,000074:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039828,000075: 
039829,000076:                                                                                                  #  SUBROUTINES CALLED -
039830,000077: 
039831,000078:                                                                                                  #        1. FLAGDOWN              7. S52.2               13. NEWMODEX
039832,000079:                                                                                                  #        2. R02BOTH               8. CAL53A              14. PRIOLARM
039833,000080:                                                                                                  #        3. GOPERF4               9. FLAGUP
039834,000081:                                                                                                  #        4. MATMOVE              10. R56
039835,000082:                                                                                                  #        5. GOFLASH              11. R51
039836,000083:                                                                                                  #        6. S52.3                12. GOPERF3
039837,000084: 
039838,000085:                                                                                                  #  NORMAL EXIT MODES -
039839,000086: 
039840,000087:                                                                                                  #        EXITS TO ENDOFJOB
039841,000088: 
039842,000089:                                                                                                  #  ALARM OR ABORT EXIT MODES -
039843,000090: 
039844,000091:                                                                                                  #        NONE
039845,000092: 
039846,000093:                                                                                                  #  OUTPUT -
039847,000094: 
039848,000095:                                                                                                  #        THE FOLLOWING MAY BE FLASHED ON THE DSKY
039849,000096:                                                                                                  #                1. IMU ORIENTATION CODE
039850,000097:                                                                                                  #                2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039851,000098:                                                                                                  #                3. TIME OF NEXT IGNITION
039852,000099:                                                                                                  #                4. GIMBAL ANGLES
039853,000100:                                                                                                  #                5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039854,000101:                                                                                                  #                6. PLEASE PERFORM P00
039855,000102:                                                                                                  #        THE MODE DISPLAY MAY BE CHANGED TO 20
039856,000103: 
039857,000104:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
039858,000105: 
039859,000106:                                                                                                  #        PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.  IF IT HAS BEEN COMPUTED IT IS STORED IN
039860,000107:                                                                                                  #        XSMD, YSMD, ZSMD.
039861,000108: 
039862,000109:                                                                                                  #        RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039863,000110: 
039864,000111:                                                                                                  #  DEBRIS -
039865,000112: 
039866,000113:                                                                                                  #        WORK AREA
039867,000114: 
039868,000115: 33,3777                                           BANK     33                                    
039869,000116: 15,2000                                           SETLOC   P50S                                  
039870,000117: 15,2000                                           BANK                                           
039871,000118: 
039872,000119: 15,2050  E5,1755                                  EBANK=   BESTI                                 
039873,000120: 15,2050                                           COUNT*   $$/P52                                
039874,000121: 15,2050           04616        PROG52             TC       BANKCALL                              
039875,000122: 15,2051           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
039876,000123: 15,2052           34750                           CAF      PFRATBIT                              
039877,000124: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
039878,000125: 15,2054           10000                           CCS      A                                     

Page 928

039880,000127: 15,2055           02060                           TC       P52A                                  #  YES
039881,000128: 15,2056           34752                           CAF      BIT2                                  #  NO
039882,000129: 15,2057           02061                           TC       P52A       +1                         
039883,000130: 15,2060           34753        P52A               CAF      BIT1                                  
039884,000131: 15,2061           55145                           TS       OPTION2                               
039885,000132: 15,2062           34753        P52B               CAF      BIT1                                  
039886,000133: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
039887,000134: 15,2064           20713                           CADR     GOPERF4R                              #  FLASH V04N06
039888,000135: 15,2065           06001                           TC       GOTOPOOH                              
039889,000136: 15,2066           12073                           TCF      +5                                    #  V33 - PROCEED
039890,000137: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
039891,000138: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
039892,000139: 15,2071           00014                           OCT      00014                                 
039893,000140: 15,2072           05155                           TC       ENDOFJOB                              
039894,000141: 
039895,000142: 15,2073           31145                           CA       OPTION2                               
039896,000143: 15,2074           76245                           MASK     THREE                                 
039897,000144: 15,2075           50000                           INDEX    A                                     
039898,000145: 15,2076           02077                           TC       +1                                    
039899,000146: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
039900,000147: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
039901,000148: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
039902,000149: 15,2102           06037        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
039903,000150: 15,2103           77650                           GOTO                                           
039904,000151: 15,2104           32164                                    P52F                                  #  GO DO R51
039905,000152: 
039906,000153: 15,2105           00006        OPT4               EXTEND                                         
039907,000154: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
039908,000155: 15,2107           12112                           TCF      P52T       +2                         
039909,000156: 
039910,000157: 15,2110           00006        P52T               EXTEND                                         
039911,000158: 15,2111           34755                           DCA      NEG0                                  
039912,000159: 15,2112           53046                           DXCH     DSPTEM1                               
039913,000160: 15,2113           32170                           CAF      V06N34*                               
039914,000161: 15,2114           04616                           TC       BANKCALL                              
039915,000162: 15,2115           20476                           CADR     GOFLASH                               
039916,000163: 15,2116           06001                           TC       GOTOPOOH                              
039917,000164: 15,2117           02121                           TC       +2                                    
039918,000165: 15,2120           02113                           TC       -5                                    
039919,000166: 15,2121           53046                           DXCH     DSPTEM1                               
039920,000167: 15,2122           00006                           EXTEND                                         
039921,000168: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
039922,000169: 15,2124           12127                           TCF      +3                                    
039923,000170: 15,2125           00006                           EXTEND                                         
039924,000171: 15,2126           30025                           DCA      TIME2                                 
039925,000172: 15,2127           53775                           DXCH     TALIGN                                
039926,000173: 15,2130           31145        P52V               CA       OPTION2                               
039927,000174: 15,2131           74752                           MASK     BIT2                                  
039928,000175: 15,2132           10000                           CCS      A                                     
039929,000176: 15,2133           02137                           TC       P52W                                  

Page 929

039931,000178: 15,2134           06037                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
039932,000179: 15,2135           77650                           GOTO                                           
039933,000180: 15,2136           32220                                    P52LS                                 
039934,000181: 

Page 930

039936,000183:                                                                                                  #  START ALIGNMENT
039937,000184: 
039938,000185: 15,2137           06037        P52W               TC       INTPRET                               
039939,000186: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
039940,000187: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
039941,000188: 15,2142           31650                                    S52.3                                 #        ORIENTATION
039942,000189: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
039943,000190: 15,2144           31617                                    S52.2                                 #        COMPUTE GIMBAL ANGLES
039944,000191: 15,2145           77776                           EXIT                                           
039945,000192: 15,2146           35010                           CAF      V06N22                                
039946,000193: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
039947,000194: 15,2150           20476                           CADR     GOFLASH                               
039948,000195: 15,2151           06001                           TC       GOTOPOOH                              
039949,000196: 15,2152           12171                           TCF      COARSTYP                              #  V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039950,000197: 15,2153           06037        P52H               TC       INTPRET                               
039951,000198: 15,2154           77650                           GOTO                                           
039952,000199: 15,2155           32143                                    P52D                                  
039953,000200: 15,2156           06037        REGCOARS           TC       INTPRET                               
039954,000201: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
039955,000202: 15,2160           31327                                    CAL53A                                #        ROUTINE
039956,000203: 15,2161           43014        COARSRET           SET      CLEAR                                 
039957,000204: 15,2162           01462                                    REFSMFLG                              
039958,000205: 15,2163           01273                                    PFRATFLG                              
039959,000206: 15,2164           77624        P52F               CALL                                           
039960,000207: 15,2165           31015                                    R51                                   
039961,000208: 15,2166           77776        P52OUT             EXIT                                           
039962,000209: 15,2167           06001                           TC       GOTOPOOH                              
039963,000210: 15,2170     5006               VB05N09            =        V05N09                                
039964,000211: 15,2170           01442        V06N34*            VN       634                                   
039965,000212: 

Page 931

039967,000214:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039968,000215: 
039969,000216: 15,2171           32217        COARSTYP           CAF      OCT13                                 
039970,000217: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039971,000218: 15,2173           20623                           CADR     GOPERF1                               
039972,000219: 15,2174           16001                           TCF      GOTOPOOH                              #  V34 - TERMIN&OE
039973,000220: 15,2175           12156                           TCF      REGCOARS                              #  V33 - NORMAL COARSE
039974,000221: 15,2176           06037                           TC       INTPRET                               #  V32 - GYRO TORQUE COARSE
039975,000222: 15,2177           64375                           VLOAD    MXV                                   
039976,000223: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
039977,000224: 15,2201           01734                                    REFSMMAT                              
039978,000225: 15,2202           77656                           UNIT                                           
039979,000226: 15,2203           26665                           STOVL    XDC                                   
039980,000227: 15,2204           03615                                    YSMD                                  
039981,000228: 15,2205           53521                           MXV      UNIT                                  
039982,000229: 15,2206           01734                                    REFSMMAT                              
039983,000230: 15,2207           26673                           STOVL    YDC                                   
039984,000231: 15,2210           03623                                    ZSMD                                  
039985,000232: 15,2211           53521                           MXV      UNIT                                  
039986,000233: 15,2212           01734                                    REFSMMAT                              
039987,000234: 15,2213           36701                           STCALL   ZDC                                   
039988,000235: 15,2214           31164                                    GYCOARS                               
039989,000236: 15,2215           77650                           GOTO                                           
039990,000237: 15,2216           32166                                    P52OUT                                
039991,000238: 15,2217           00013        OCT13              OCT      13                                    
039992,000239: 

Page 932

039994,000241:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
039995,000242: 
039996,000243: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
039997,000244: 15,2221           01463                                    LUNAFLAG                              
039998,000245: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
039999,000246: 15,2223           77201                           SETPD    VLOAD                                 
040000,000247: 15,2224           00001                                    0                                     
040001,000248: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
040002,000249: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
040003,000250: 15,2227           02775                                    TALIGN                                
040004,000251: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
040005,000252: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
040006,000253: 15,2232           77742                           VSR2                                           
040007,000254: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
040008,000255: 15,2234           02775                                    TALIGN                                
040009,000256: 15,2235           77624                           CALL                                           
040010,000257: 15,2236           30446                                    N89DISP                               
040011,000258: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
040012,000259: 15,2240           02032                                    ALPHAV                                
040013,000260: 15,2241           37607                           STCALL   XSMD                                  
040014,000261: 15,2242           11013                                    LSORIENT                              
040015,000262: 15,2243           77650                           GOTO                                           
040016,000263: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
040017,000264: 

Page 933

040019,000266:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040020,000267: 
040021,000268: 14,2000                                           SETLOC   P50S1                                 
040022,000269: 14,2000                                           BANK                                           
040023,000270: 14,2446  E5,1642                                  EBANK=   XSM                                   
040024,000271: 
040025,000272: 14,2446           77620        N89DISP            STQ                                            
040026,000273: 14,2447           02746                                    QMAJ                                  
040027,000274: 14,2450           35243                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
040028,000275: 14,2451           26351                                    LAT-LONG                              
040029,000276: 14,2452           70545                           DLOAD    SR1                                   
040030,000277: 14,2453           01123                                    LONG                                  
040031,000278: 14,2454           16711                           STODL    LANDLONG                              
040032,000279: 14,2455           01125                                    ALT                                   
040033,000280: 14,2456           16713                           STODL    LANDALT                               
040034,000281: 14,2457           01121                                    LAT                                   
040035,000282: 14,2460           16707                           STODL    LANDLAT                               
040036,000283: 14,2461           77776                           EXIT                                           
040037,000284: 
040038,000285: 14,2462           32505        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
040039,000286: 14,2463           04616                           TC       BANKCALL                              
040040,000287: 14,2464           20476                           CADR     GOFLASH                               
040041,000288: 14,2465           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE - EXIT P57
040042,000289: 14,2466           12470                           TCF      +2                                    #  V33 - PROCEED - ACCEPT LS DATA
040043,000290: 14,2467           12462                           TCF      LSDISP                                #  V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040044,000291: 
040045,000292: 14,2470           06037                           TC       INTPRET                               
040046,000293: 14,2471           72545                           DLOAD    SL1                                   
040047,000294: 14,2472           02711                                    LANDLONG                              
040048,000295: 14,2473           15123                           STODL    LONG                                  
040049,000296: 14,2474           02713                                    LANDALT                               
040050,000297: 14,2475           15125                           STODL    ALT                                   
040051,000298: 14,2476           02707                                    LANDLAT                               
040052,000299: 14,2477           15121                           STODL    LAT                                   
040053,000300: 14,2500           01243                                    GDT/2      +4                         #  PICK UP TIME
040054,000301: 14,2501           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
040055,000302: 14,2502           26422                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
040056,000303: 14,2503           77650                           GOTO                                           
040057,000304: 14,2504           02746                                    QMAJ                                  
040058,000305: 14,2505           01531        V06N89*            VN       689                                   
040059,000306: 

Page 934

040061,000308:                                                                                                  #  NAME - S50 ALIAS LOCSAM
040062,000309:                                                                                                  #  BY
040063,000310:                                                                                                  #  VINCENT
040064,000311: 
040065,000312:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040066,000313: 
040067,000314:                                                                                                  #        DEFINE
040068,000315: 
040069,000316:                                                                                                  #        U   = UNIT( SUN WRT EARTH )
040070,000317:                                                                                                  #         ES
040071,000318: 
040072,000319:                                                                                                  #        U   = UNIT( MOON WRT EARTH )
040073,000320:                                                                                                  #         EM
040074,000321: 
040075,000322:                                                                                                  #        R   = POSITION VECTOR OF LEM
040076,000323:                                                                                                  #         L
040077,000324: 
040078,000325:                                                                                                  #        R   = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040079,000326:                                                                                                  #         EM
040080,000327: 
040081,000328:                                                                                                  #        P   = RATIO R  /(DISTANCE SUN TO EARTH) > .00257125
040082,000329:                                                                                                  #                     EM
040083,000330: 
040084,000331:                                                                                                  #        R   = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040085,000332:                                                                                                  #         E
040086,000333: 
040087,000334:                                                                                                  #        LOCSAM COMPUTES IN EARTH INFLUENCE
040088,000335: 
040089,000336:                                                                                                  #        VSUN = U
040090,000337:                                                                                                  #                ES
040091,000338: 
040092,000339:                                                                                                  #        VEARTH = -UNIT( R  )
040093,000340:                                                                                                  #                         L
040094,000341: 
040095,000342:                                                                                                  #        VMOON = UNIT(R  .U   - R  )
040096,000343:                                                                                                  #                      EM  EM    L
040097,000344: 
040098,000345:                                                                                                  #        CSUN = COS 90
040099,000346: 
040100,000347:                                                                                                  #        CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040101,000348:                                                                                                  #                                 E      L
040102,000349: 
040103,000350:                                                                                                  #        CMOON   = COS 5
040104,000351: 
040105,000352:                                                                                                  #  INPUT - TIME IN MPAC
040106,000353: 
040107,000354:                                                                                                  #  OUTPUT - LISTED ABOVE
040108,000355: 
040109,000356:                                                                                                  #  SUBROUTINES - LSPOS, LEMPREC
040110,000357: 
040111,000358:                                                                                                  #  DEBRIS - VAC AREA, TSIGHT
040112,000359: 

Page 935

040114,000361: 14,2506                                           COUNT*   $$/LOSAM                              
040115,000362: 
040116,000363: 14,2506  14,2506               S50                =        LOCSAM                                
040117,000364: 14,2506           77620        LOCSAM             STQ                                            
040118,000365: 14,2507           02745                                    QMIN                                  
040119,000366: 14,2510           37562                           STCALL   TSIGHT                                
040120,000367: 14,2511           33664                                    LSPOS                                 
040121,000368: 14,2512           77745                           DLOAD                                          
040122,000369: 14,2513           03562                                    TSIGHT                                
040123,000370: 14,2514           34041                           STCALL   TDEC1                                 
040124,000371: 14,2515           27057                                    LEMPREC                               
040125,000372: 14,2516           61131                           SSP      TIX,2                                 
040126,000373: 14,2517           00052                                    S2                                    
040127,000374: 14,2520           00000                                    0                                     
040128,000375: 14,2521           30543                                    MOONCNTR                              
040129,000376: 14,2522           74375        EARTCNTR           VLOAD    VXSC                                  
040130,000377: 14,2523           02723                                    VMOON                                 
040131,000378: 14,2524           30001                                    RSUBEM                                
040132,000379: 14,2525           52372                           VSL1     VSU                                   
040133,000380: 14,2526           00001                                    RATT                                  
040134,000381: 14,2527           77656                           UNIT                                           
040135,000382: 14,2530           26723                           STOVL    VMOON                                 
040136,000383: 14,2531           00001                                    RATT                                  
040137,000384: 14,2532           57456                           UNIT     VCOMP                                 
040138,000385: 14,2533           16707                           STODL    VEARTH                                
040139,000386: 14,2534           30005                                    RSUBE                                 
040140,000387: 14,2535           77624                           CALL                                           
040141,000388: 14,2536           30575                                    OCCOS                                 
040142,000389: 14,2537           14017                           STODL    CEARTH                                
040143,000390: 14,2540           30604                                    CSS5                                  
040144,000391: 14,2541           34023                           STCALL   CMOON                                 
040145,000392: 14,2542           30570                                    ENDSAM                                
040146,000393: 14,2543           74375        MOONCNTR           VLOAD    VXSC                                  
040147,000394: 14,2544           02723                                    VMOON                                 
040148,000395: 14,2545           30007                                    ROE                                   
040149,000396: 14,2546           53445                           BVSU     UNIT                                  
040150,000397: 14,2547           02715                                    VSUN                                  
040151,000398: 14,2550           26715                           STOVL    VSUN                                  
040152,000399: 14,2551           02723                                    VMOON                                 
040153,000400: 14,2552           53361                           VXSC     VAD                                   
040154,000401: 14,2553           30001                                    RSUBEM                                
040155,000402: 14,2554           00001                                    RATT                                  
040156,000403: 14,2555           57456                           UNIT     VCOMP                                 
040157,000404: 14,2556           26707                           STOVL    VEARTH                                
040158,000405: 14,2557           00001                                    RATT                                  
040159,000406: 14,2560           57456                           UNIT     VCOMP                                 
040160,000407: 14,2561           16723                           STODL    VMOON                                 
040161,000408: 14,2562           30003                                    RSUBM                                 
040162,000409: 14,2563           77624                           CALL                                           
040163,000410: 14,2564           30575                                    OCCOS                                 

Page 936

040165,000412: 14,2565           14023                           STODL    CMOON                                 
040166,000413: 14,2566           30604                                    CSS5                                  
040167,000414: 14,2567           00017                           STORE    CEARTH                                
040168,000415: 14,2570           77745        ENDSAM             DLOAD                                          
040169,000416: 14,2571           30606                                    CSSUN                                 
040170,000417: 14,2572           00021                           STORE    CSUN                                  
040171,000418: 14,2573           77650                           GOTO                                           
040172,000419: 14,2574           02745                                    QMIN                                  
040173,000420: 14,2575           70471        OCCOS              DDV      SR1                                   
040174,000421: 14,2576           00045                                    36D                                   
040175,000422: 14,2577           43336                           ASIN     DAD                                   
040176,000423: 14,2600           30610                                    5DEGREES                              
040177,000424: 14,2601           70546                           COS      SR1                                   
040178,000425: 14,2602           77616                           RVQ                                            
040179,000426: 14,2603                        CEARTH             =        14D                                   
040180,000427: 14,2603                        CSUN               =        16D                                   
040181,000428: 14,2603                        CMOON              =        18D                                   
040182,000429: 14,2603           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
040183,000430: 14,2605           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
040184,000431: 14,2607           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
040185,000432: 

Page 937

040187,000434:                                                                                                  #  PROGRAM NAME - R56            DATE  DEC 20 66
040188,000435:                                                                                                  #  MOD 1                         LOG SECTION P51-P53
040189,000436:                                                                                                  #                                ASSEMBLY   SUNDISK REV40
040190,000437:                                                                                                  #  BY KEN VINCENT
040191,000438: 
040192,000439:                                                                                                  #  FUNCTION
040193,000440:                                                                                                  #        THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040194,000441:                                                                                                  #        WITH RESPECT TO INERTIAL SPACE.  IT THEN COMPUTES THE SHAFT AXIS (SAX)
040195,000442:                                                                                                  #        WITH RESPECT TO REFERENCE INERTIAL.  EACH STAR IN THE CATALOG IS TESTED
040196,000443:                                                                                                  #        TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON.  IF A
040197,000444:                                                                                                  #        STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040198,000445:                                                                                                  #        THE PAIRED STAR IS TESTED FOR OCCULTATION.  PAIRS OF STARS THAT PASS
040199,000446:                                                                                                  #        THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.  A PAIR OF STARS
040200,000447:                                                                                                  #        HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040201,000448:                                                                                                  #        AND MORE THAN 50 DEGREES.  THOSE PAIRS WITH GOOD SEPARATION
040202,000449:                                                                                                  #        ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.  (WITHIN
040203,000450:                                                                                                  #        50 DEGREES OF SAX).  THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040204,000451:                                                                                                  #        THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040205,000452: 
040206,000453:                                                                                                  #  CALLING SEQUENCE
040207,000454:                                                                                                  #        L       TC      BANKCALL
040208,000455:                                                                                                  #        L+1     CADR    R56
040209,000456:                                                                                                  #        L+2     ERROR RETURN - NO STARS IN FIELD OF VIEW
040210,000457:                                                                                                  #        L+3     NORMAL RETURN
040211,000458: 
040212,000459:                                                                                                  #  OUTPUT
040213,000460:                                                                                                  #        BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040214,000461:                                                                                                  #        VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040215,000462: 
040216,000463:                                                                                                  #  INITIALIZATION
040217,000464:                                                                                                  #        1)      A CALL TO LOCSAM MUST BE MADE
040218,000465: 
040219,000466:                                                                                                  #  DEBRIS
040220,000467:                                                                                                  #        WORKAREA
040221,000468:                                                                                                  #        X,Y,ZNB
040222,000469:                                                                                                  #        SINCDU, COSCDU
040223,000470:                                                                                                  #        STARAD - STAR +5
040224,000471: 
040225,000472: 14,2611  14,2611               R56                =        PICAPAR                               
040226,000473: 14,2611                                           COUNT*   $$/R56                                
040227,000474: 14,2611           04645        PICAPAR            TC       MAKECADR                              
040228,000475: 14,2612           55745                           TS       QMIN                                  
040229,000476: 14,2613           06037                           TC       INTPRET                               
040230,000477: 14,2614           77624                           CALL                                           
040231,000478: 14,2615           47537                                    CDUTRIG                               
040232,000479: 14,2616           77624                           CALL                                           
040233,000480: 14,2617           20030                                    CALCSMSC                              
040234,000481: 14,2620           77601                           SETPD                                          
040235,000482: 14,2621           00001                                    0                                     
040236,000483: 14,2622           71214                           SET      DLOAD                                 #  VFLAG = 1
040237,000484: 14,2623           01465                                    VFLAG                                 

Page 938

040239,000486: 14,2624           24007                                    DPZERO                                
040240,000487: 14,2625           26756                           STOVL    BESTI                                 
040241,000488: 14,2626           02665                                    XNB                                   
040242,000489: 14,2627           63361                           VXSC     PDVL                                  
040243,000490: 14,2630           24005                                    HALFDP                                
040244,000491: 14,2631           02701                                    ZNB                                   
040245,000492: 14,2632           74370                           AXT,1    VXSC                                  
040246,000493: 14,2633           00344                                    228D                                  #  X1 = 37 X 6 + 6
040247,000494: 14,2634           24005                                    HALFDP                                
040248,000495: 14,2635           77655                           VAD                                            
040249,000496: 14,2636           53505                           VXM      UNIT                                  
040250,000497: 14,2637           01734                                    REFSMMAT                              
040251,000498: 14,2640           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
040252,000499: 14,2641           66331                           SSP      SSP                                   #  S1 = S2 = 6
040253,000500: 14,2642           00051                                    S1                                    
040254,000501: 14,2643           00006                                    6                                     
040255,000502: 14,2644           00052                                    S2                                    
040256,000503: 14,2645           00006                                    6                                     
040257,000504: 14,2646           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
040258,000505: 14,2647           30651                                    PIC2                                  
040259,000506: 14,2650           30766                                    PICEND                                
040260,000507: 14,2651           50373        PIC2               VLOAD*   DOT                                   
040261,000508: 14,2652           30347                                    CATLOG,1                              
040262,000509: 14,2653           02731                                    SAX                                   
040263,000510: 14,2654           50025                           DSU      BMN                                   
040264,000511: 14,2655           30765                                    CSS33                                 
040265,000512: 14,2656           30646                                    PIC1                                  
040266,000513: 14,2657           77754                           LXA,2                                          
040267,000514: 14,2660           00046                                    X1                                    
040268,000515: 14,2661           52104        PIC3               TIX,2    GOTO                                  
040269,000516: 14,2662           30664                                    PIC4                                  
040270,000517: 14,2663           30646                                    PIC1                                  
040271,000518: 14,2664           50373        PIC4               VLOAD*   DOT                                   
040272,000519: 14,2665           47430                                    CATLOG,2                              
040273,000520: 14,2666           02731                                    SAX                                   
040274,000521: 14,2667           50025                           DSU      BMN                                   
040275,000522: 14,2670           30765                                    CSS33                                 
040276,000523: 14,2671           30661                                    PIC3                                  
040277,000524: 14,2672           47773                           VLOAD*   DOT*                                  
040278,000525: 14,2673           30347                                    CATLOG,1                              
040279,000526: 14,2674           47430                                    CATLOG,2                              
040280,000527: 14,2675           51025                           DSU      BPL                                   
040281,000528: 14,2676           30763                                    CSS40                                 
040282,000529: 14,2677           30661                                    PIC3                                  
040283,000530: 14,2700           45173                           VLOAD*   CALL                                  
040284,000531: 14,2701           30347                                    CATLOG,1                              
040285,000532: 14,2702           30740                                    OCCULT                                
040286,000533: 14,2703           77614                           BON                                            
040287,000534: 14,2704           01710                                    CULTFLAG                              
040288,000535: 14,2705           30646                                    PIC1                                  

Page 939

040290,000537: 14,2706           45173                           VLOAD*   CALL                                  
040291,000538: 14,2707           47430                                    CATLOG,2                              
040292,000539: 14,2710           30740                                    OCCULT                                
040293,000540: 14,2711           77614                           BON                                            
040294,000541: 14,2712           01710                                    CULTFLAG                              
040295,000542: 14,2713           30661                                    PIC3                                  
040296,000543: 14,2714           77614        STRATGY            BONCLR                                         
040297,000544: 14,2715           01605                                    VFLAG                                 
040298,000545: 14,2716           30733                                    NEWPAR                                
040299,000546: 14,2717           65120                           XCHX,1   XCHX,2                                
040300,000547: 14,2720           02755                                    BESTI                                 
040301,000548: 14,2721           02756                                    BESTJ                                 
040302,000549: 14,2722           47773        STRAT              VLOAD*   DOT*                                  
040303,000550: 14,2723           30347                                    CATLOG,1                              
040304,000551: 14,2724           47430                                    CATLOG,2                              
040305,000552: 14,2725           43006                           PUSH     BOFINV                                
040306,000553: 14,2726           01545                                    VFLAG                                 
040307,000554: 14,2727           30717                                    STRAT      -3                         
040308,000555: 14,2730           45345                           DLOAD    DSU                                   
040309,000556: 14,2731           77644                           BPL                                            
040310,000557: 14,2732           30661                                    PIC3                                  
040311,000558: 14,2733           67130        NEWPAR             SXA,1    SXA,2                                 
040312,000559: 14,2734           02755                                    BESTI                                 
040313,000560: 14,2735           02756                                    BESTJ                                 
040314,000561: 14,2736           77650                           GOTO                                           
040315,000562: 14,2737           30661                                    PIC3                                  
040316,000563: 14,2740           51321        OCCULT             MXV      BVSU                                  
040317,000564: 14,2741           02707                                    CULTRIX                               
040318,000565: 14,2742           00017                                    CSS                                   
040319,000566: 14,2743           77654                           BZE                                            
040320,000567: 14,2744           30757                                    CULTED                                
040321,000568: 14,2745           75240                           BMN      SIGN                                  
040322,000569: 14,2746           30757                                    CULTED                                
040323,000570: 14,2747           00160                                    MPAC       +3                         
040324,000571: 14,2750           75240                           BMN      SIGN                                  
040325,000572: 14,2751           30757                                    CULTED                                
040326,000573: 14,2752           00162                                    MPAC       +5                         
040327,000574: 14,2753           43040                           BMN      CLRGO                                 
040328,000575: 14,2754           30757                                    CULTED                                
040329,000576: 14,2755           01630                                    CULTFLAG                              
040330,000577: 14,2756           00052                                    QPRET                                 
040331,000578: 14,2757           77614        CULTED             SETGO                                          
040332,000579: 14,2760           01430                                    CULTFLAG                              
040333,000580: 14,2761           00052                                    QPRET                                 
040334,000581: 14,2762  0000016               CSS                =        CEARTH                                
040335,000582: 14,2762           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
040336,000583: 14,2764           05110 35052  CSS33              2DEC     .16070                                #  COS 50 / 4
040337,000584: 14,2766           77414        PICEND             BOFF     EXIT                                  
040338,000585: 

Page 940

040340,000587: 14,2767           01745                                    VFLAG                                 
040341,000588: 14,2770           30772                                    PICGXT                                
040342,000589: 14,2771           03013                           TC       PICBXT                                
040343,000590: 14,2772           73150        PICGXT             LXA,1    LXA,2                                 
040344,000591: 14,2773           02755                                    BESTI                                 
040345,000592: 14,2774           02756                                    BESTJ                                 
040346,000593: 14,2775           47775                           VLOAD    DOT*                                  
040347,000594: 14,2776           02731                                    SAX                                   
040348,000595: 14,2777           30347                                    CATLOG,1                              
040349,000596: 14,3000           47715                           PDVL     DOT*                                  
040350,000597: 14,3001           02731                                    SAX                                   
040351,000598: 14,3002           47430                                    CATLOG,2                              
040352,000599: 14,3003           77625                           DSU                                            
040353,000600: 14,3004           66044                           BPL      SXA,1                                 
040354,000601: 14,3005           31011                                    PICNSWP                               
040355,000602: 14,3006           02756                                    BESTJ                                 
040356,000603: 14,3007           77734                           SXA,2                                          
040357,000604: 14,3010           02755                                    BESTI                                 
040358,000605: 14,3011           77776        PICNSWP            EXIT                                           
040359,000606: 14,3012           25745                           INCR     QMIN                                  
040360,000607: 14,3013           31745        PICBXT             CA       QMIN                                  
040361,000608: 14,3014           04622                           TC       SWCALL                                
040362,000609: 14,3015                        VPD                =        0D                                    
040363,000610: 14,3015                        V0                 =        6D                                    
040364,000611: 14,3015                        V1                 =        12D                                   
040365,000612: 14,3015                        V2                 =        18D                                   
040366,000613: 14,3015                        V3                 =        24D                                   
040367,000614: 14,3015                        DP0                =        30D                                   
040368,000615: 14,3015                        DP1                =        32D                                   
040369,000616: 

Page 941

040371,000618:                                                                                                  #  NAME - R51    FINE ALIGN
040372,000619:                                                                                                  #  FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040373,000620:                                                                                                  #  CALLING SEQ - CALL R51
040374,000621:                                                                                                  #  INPUT - REFSMMAT
040375,000622:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
040376,000623:                                                                                                  #  SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040377,000624: 
040378,000625: 14,3015                                           COUNT*   $$/R51                                
040379,000626: 14,3015           77620        R51                STQ                                            
040380,000627: 14,3016           02746                                    QMAJ                                  
040381,000628: 14,3017           77776        R51.1              EXIT                                           
040382,000629: 14,3020           05353                           TC       PHASCHNG                              
040383,000630: 14,3021           04024                           OCT      04024                                 
040384,000631: 
040385,000632: 14,3022           34761        R51C               CAF      OCT15                                 
040386,000633: 14,3023           04616                           TC       BANKCALL                              
040387,000634: 14,3024           20623                           CADR     GOPERF1                               
040388,000635: 14,3025           06001                           TC       GOTOPOOH                              
040389,000636: 14,3026           03030                           TC       +2                                    #  V33E
040390,000637: 14,3027           03053                           TC       R51E                                  #  ENTER
040391,000638: 14,3030           06037                           TC       INTPRET                               
040392,000639: 14,3031           43234                           RTB      DAD                                   
040393,000640: 14,3032           21573                                    LOADTIME                              
040394,000641: 14,3033           31163                                    TSIGHT1                               
040395,000642: 14,3034           77624                           CALL                                           
040396,000643: 14,3035           30506                                    LOCSAM                                
040397,000644: 14,3036           77776                           EXIT                                           
040398,000645: 14,3037           04616                           TC       BANKCALL                              
040399,000646: 14,3040           30611                           CADR     R56                                   
040400,000647: 14,3041           03043                           TC       R51I                                  
040401,000648: 14,3042           03053        R51F               TC       R51E                                  
040402,000649: 14,3043           05567        R51I               TC       ALARM                                 
040403,000650: 14,3044           00405                           OCT      405                                   
040404,000651: 14,3045           35006                           CAF      VB05N09                               
040405,000652: 14,3046           04616                           TC       BANKCALL                              
040406,000653: 14,3047           20476                           CADR     GOFLASH                               
040407,000654: 14,3050           06001                           TC       GOTOPOOH                              
040408,000655: 14,3051           03053                           TC       R51E                                  
040409,000656: 14,3052           03022                           TC       R51C                                  
040410,000657: 14,3053           34755        R51E               CAF      ZERO                                  
040411,000658: 14,3054           55757                           TS       STARIND                               
040412,000659: 14,3055           06037        R51.2              TC       INTPRET                               
040413,000660: 14,3056           77776        R51.3              EXIT                                           
040414,000661: 14,3057           05353                           TC       PHASCHNG                              
040415,000662: 14,3060           04024                           OCT      04024                                 
040416,000663: 
040417,000664: 14,3061           06037                           TC       INTPRET                               
040418,000665: 14,3062           77624                           CALL                                           
040419,000666: 14,3063           31670                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
040420,000667: 14,3064           77776                           EXIT                                           
040421,000668: 14,3065           04616                           TC       BANKCALL                              

Page 942

040423,000670: 14,3066           16000                           CADR     AOTMARK                               
040424,000671: 14,3067           04616                           TC       BANKCALL                              
040425,000672: 14,3070           17712                           CADR     OPTSTALL                              
040426,000673: 14,3071           05711                           TC       CURTAINS                              
040427,000674: 14,3072           11757                           CCS      STARIND                               
040428,000675: 14,3073           13075                           TCF      +2                                    
040429,000676: 14,3074           03145                           TC       R51.4                                 
040430,000677: 14,3075           06037                           TC       INTPRET                               
040431,000678: 14,3076           77775                           VLOAD                                          
040432,000679: 14,3077           02715                                    STARAD     +6                         
040433,000680: 14,3100           02767                           STORE    STARSAV2                              
040434,000681: 14,3101           77776                           EXIT                                           
040435,000682: 14,3102           05353                           TC       PHASCHNG                              
040436,000683: 14,3103           04024                           OCT      04024                                 
040437,000684: 
040438,000685: 14,3104           06037                           TC       INTPRET                               
040439,000686: 14,3105           45145                           DLOAD    CALL                                  
040440,000687: 14,3106           03562                                    TSIGHT                                
040441,000688: 14,3107           32472                                    PLANET                                
040442,000689: 14,3110           53521                           MXV      UNIT                                  
040443,000690: 14,3111           01734                                    REFSMMAT                              
040444,000691: 14,3112           26715                           STOVL    STARAD     +6                         
040445,000692: 14,3113           03554                                    PLANVEC                               
040446,000693: 14,3114           53521                           MXV      UNIT                                  
040447,000694: 14,3115           01734                                    REFSMMAT                              
040448,000695: 14,3116           26707                           STOVL    STARAD                                
040449,000696: 14,3117           02761                                    STARSAV1                              
040450,000697: 14,3120           24007                           STOVL    6D                                    
040451,000698: 14,3121           02767                                    STARSAV2                              
040452,000699: 14,3122           34015                           STCALL   12D                                   
040453,000700: 14,3123           31256                                    R54                                   #  STAR DATA TEST
040454,000701: 14,3124           45014                           BOFF     CALL                                  
040455,000702: 14,3125           00354                                    FREEFLAG                              
040456,000703: 14,3126           31134                                    R51K                                  
040457,000704: 14,3127           47441                                    AXISGEN                               
040458,000705: 14,3130           77624                           CALL                                           
040459,000706: 14,3131           31224                                    R55                                   #  GYRO TORQUE
040460,000707: 14,3132           77614                           CLEAR                                          
040461,000708: 14,3133           01273                                    PFRATFLG                              
040462,000709: 14,3134           77776        R51K               EXIT                                           
040463,000710: 14,3135           35751        R51P63             CAF      OCT14                                 
040464,000711: 14,3136           04616                           TC       BANKCALL                              
040465,000712: 14,3137           20623                           CADR     GOPERF1                               
040466,000713: 14,3140           06001                           TC       GOTOPOOH                              
040467,000714: 14,3141           03022                           TC       R51C                                  
040468,000715: 14,3142           06037                           TC       INTPRET                               
040469,000716: 14,3143           77650                           GOTO                                           
040470,000717: 14,3144           02746                                    QMAJ                                  
040471,000718: 14,3145           06037        R51.4              TC       INTPRET                               
040472,000719: 14,3146           77775                           VLOAD                                          

Page 943

040474,000721: 14,3147           02715                                    STARAD     +6                         
040475,000722: 14,3150           02761                           STORE    STARSAV1                              
040476,000723: 14,3151           45145                           DLOAD    CALL                                  
040477,000724: 14,3152           03562                                    TSIGHT                                
040478,000725: 14,3153           32472                                    PLANET                                
040479,000726: 14,3154           03554                           STORE    PLANVEC                               
040480,000727: 14,3155           77731                           SSP                                            
040481,000728: 14,3156           02760                                    STARIND                               
040482,000729: 14,3157           00001                                    1                                     
040483,000730: 14,3160           77650                           GOTO                                           
040484,000731: 14,3161           31056                                    R51.3                                 
040485,000732: 14,3162           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
040486,000733: 

Page 944

040488,000735:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
040489,000736: 
040490,000737: 14,3164           45020        GYCOARS            STQ      CALL                                  
040491,000738: 14,3165           02746                                    QMAJ                                  
040492,000739: 14,3166           47247                                    CALCGTA                               
040493,000740: 14,3167           43014                           CLEAR    CLEAR                                 
040494,000741: 14,3170           01260                                    DRIFTFLG                              
040495,000742: 14,3171           01662                                    REFSMFLG                              
040496,000743: 14,3172           77776                           EXIT                                           
040497,000744: 14,3173           33223                           CAF      V16N20                                #  MONITOR GIMBALS
040498,000745: 14,3174           04616                           TC       BANKCALL                              
040499,000746: 14,3175           20451                           CADR     GODSPR                                
040500,000747: 14,3176           33255                           CA       R55CDR                                
040501,000748: 14,3177           04616                           TC       BANKCALL                              
040502,000749: 14,3200           17323                           CADR     IMUPULSE                              
040503,000750: 14,3201           04616                           TC       BANKCALL                              
040504,000751: 14,3202           17716                           CADR     IMUSTALL                              
040505,000752: 14,3203           05711                           TC       CURTAINS                              
040506,000753: 14,3204           05353                           TC       PHASCHNG                              
040507,000754: 14,3205           04024                           OCT      04024                                 
040508,000755: 
040509,000756: 14,3206           06037                           TC       INTPRET                               
040510,000757: 14,3207           75160                           AXC,1    AXC,2                                 
040511,000758: 14,3210           03606                                    XSMD                                  
040512,000759: 14,3211           01733                                    REFSMMAT                              
040513,000760: 14,3212           77624                           CALL                                           #  STORE DESIRED REFSMMAT
040514,000761: 14,3213           31377                                    MATMOVE                               
040515,000762: 14,3214           43014                           CLEAR    SET                                   
040516,000763: 14,3215           01273                                    PFRATFLG                              
040517,000764: 14,3216           01462                                    REFSMFLG                              
040518,000765: 14,3217           77624                           CALL                                           
040519,000766: 14,3220           31602                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
040520,000767: 14,3221           77650                           GOTO                                           
040521,000768: 14,3222           31134                                    R51K                                  
040522,000769: 14,3223           04024        V16N20             VN       1620                                  
040523,000770: 

Page 945

040525,000772:                                                                                                  #  R55   GYRO TORQUE
040526,000773:                                                                                                  #  FUNCTION - COMPUTE AND SEND GYRO PULSES
040527,000774:                                                                                                  #  CALLING SEQ - CALL R55
040528,000775:                                                                                                  #  INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040529,000776:                                                                                                  #  OUTPUT - GYRO PULSES
040530,000777:                                                                                                  #  SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040531,000778: 
040532,000779: 14,3224                                           COUNT*   $$/R55                                
040533,000780: 14,3224           77620        R55                STQ                                            
040534,000781: 14,3225           02745                                    QMIN                                  
040535,000782: 14,3226           77624                           CALL                                           
040536,000783: 14,3227           47247                                    CALCGTA                               
040537,000784: 14,3230           77776        PULSEM             EXIT                                           
040538,000785: 14,3231           33254        R55.1              CAF      V06N93                                
040539,000786: 14,3232           04616                           TC       BANKCALL                              
040540,000787: 14,3233           20476                           CADR     GOFLASH                               
040541,000788: 14,3234           06001                           TC       GOTOPOOH                              
040542,000789: 14,3235           03237                           TC       R55.2                                 
040543,000790: 14,3236           03251                           TC       R55RET                                
040544,000791: 14,3237           05353        R55.2              TC       PHASCHNG                              
040545,000792: 14,3240           00214                           OCT      00214                                 
040546,000793: 14,3241           33255                           CA       R55CDR                                
040547,000794: 14,3242           04616                           TC       BANKCALL                              
040548,000795: 14,3243           17323                           CADR     IMUPULSE                              
040549,000796: 14,3244           04616                           TC       BANKCALL                              
040550,000797: 14,3245           17716                           CADR     IMUSTALL                              
040551,000798: 14,3246           05711                           TC       CURTAINS                              
040552,000799: 14,3247           05353                           TC       PHASCHNG                              
040553,000800: 14,3250           04024                           OCT      04024                                 
040554,000801: 
040555,000802: 14,3251           06037        R55RET             TC       INTPRET                               
040556,000803: 14,3252           77650                           GOTO                                           
040557,000804: 14,3253           02745                                    QMIN                                  
040558,000805: 14,3254           01535        V06N93             VN       0693                                  
040559,000806: 14,3255           02737        R55CDR             ECADR    OGC                                   
040560,000807: 14,3256  14,3256               R54                =        CHKSDATA                              
040561,000808: 
040562,000809:                                                                                                  #  ROUTINE NAME - CHKSDATA               DATE - JAN 9, 1967
040563,000810:                                                                                                  #  MOD NO - 0                            LOG SECTION - P51-P53
040564,000811:                                                                                                  #  MODIFICATION BY - LONSKE              ASSEMBLY -
040565,000812: 
040566,000813:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS.  WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040567,000814:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040568,000815:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE.  THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040569,000816:                                                                                                  #        OS1     =       OBSERVED STAR 1 VECTOR
040570,000817:                                                                                                  #        OS2     =       OBSERVED STAR 2 VECTOR
040571,000818:                                                                                                  #        SS1     =       STORED STAR 1 VECTOR
040572,000819:                                                                                                  #        SS2     =       STORED STAR 2 VECTOR
040573,000820:                                                                                                  #         A1     =       ARCCOS(OS1 - OS2)
040574,000821:                                                                                                  #         A2     =       ARCCOS(SS1 - SS2)
040575,000822:                                                                                                  #          A     =       ABS(2(A1 - A2))

Page 946

040577,000824:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040578,000825: 
040579,000826:                                                                                                  #  EXIT MODE     1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040580,000827:                                                                                                  #                2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE            ERANCE)
040581,000828: 
040582,000829:                                                                                                  #  OUTPUT -      1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040583,000830:                                                                                                  #                2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040584,000831: 
040585,000832:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040586,000833:                                                                                                  #                1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040587,000834:                                                                                                  #                2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040588,000835: 
040589,000836:                                                                                                  #  DEBRIS -
040590,000837: 
040591,000838: 14,3256                                           COUNT*   $$/R54                                
040592,000839: 14,3256           43020        CHKSDATA           STQ      SET                                   
040593,000840: 14,3257           02745                                    QMIN                                  
040594,000841: 14,3260           00074                                    FREEFLAG                              
040595,000842: 14,3261           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
040596,000843: 14,3262           02706                                    STARAD                                
040597,000844: 
040598,000845: 14,3263           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
040599,000846: 14,3264           00001                                    0,1                                   
040600,000847: 14,3265           00007                                    6,1                                   
040601,000848: 14,3266           65552                           SL1      ACOS                                  
040602,000849: 14,3267           00025                           STORE    THETA                                 
040603,000850: 14,3270           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
040604,000851: 14,3271           00354                                    FREEFLAG                              
040605,000852: 14,3272           31302                                    CHKSD                                 
040606,000853: 14,3273           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
040607,000854: 14,3274           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
040608,000855: 14,3275           00006                                    6D                                    
040609,000856: 14,3276           00025                                    THETA                                 
040610,000857: 14,3277           00023                           STORE    18D                                   
040611,000858: 14,3300           77650                           GOTO                                           
040612,000859: 14,3301           31263                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
040613,000860: 14,3302           45345        CHKSD              DLOAD    DSU                                   
040614,000861: 14,3303           00025                                    THETA                                 
040615,000862: 14,3304           00023                                    18D                                   
040616,000863: 14,3305           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
040617,000864: 14,3306           21612                                    SGNAGREE                              
040618,000865: 14,3307           01046                           STORE    NORMTEM1                              
040619,000866: 14,3310           77414                           SET      EXIT                                  
040620,000867: 14,3311           00074                                    FREEFLAG                              
040621,000868: 14,3312           33326                           CAF      VB6N5                                 
040622,000869: 14,3313           04616                           TC       BANKCALL                              
040623,000870: 14,3314           20476                           CADR     GOFLASH                               
040624,000871: 14,3315           16001                           TCF      GOTOPOOH                              
040625,000872: 14,3316           03323                           TC       CHKSDA                                #  PROCEED
040626,000873: 14,3317           06037                           TC       INTPRET                               
040627,000874: 14,3320           52014                           CLEAR    GOTO                                  
040628,000875: 14,3321           00274                                    FREEFLAG                              
040629,000876: 14,3322           02745                                    QMIN                                  
040630,000877: 14,3323           06037        CHKSDA             TC       INTPRET                               

Page 947

040632,000879: 14,3324           77650                           GOTO                                           
040633,000880: 14,3325           02745                                    QMIN                                  
040634,000881: 14,3326           01405        VB6N5              VN       605                                   
040635,000882: 
040636,000883:                                                                                                  #  NAME - CAL53A
040637,000884:                                                                                                  #  FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040638,000885:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
040639,000886:                                                                                                  #  INPUT - X,Y,ZSMD, CDUX,Y,Z
040640,000887:                                                                                                  #           DESIRED GIMBAL ANGLES - THETAD,+1,+2
040641,000888:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040642,000889:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040643,000890: 
040644,000891: 14,3327                                           COUNT*   $$/R50                                
040645,000892: 14,3327           77624        CAL53A             CALL                                           
040646,000893: 14,3330           31617                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
040647,000894: 14,3331           66234                           RTB      SSP                                   
040648,000895: 14,3332           31413                                    RDCDUS                                #  READ CDUS
040649,000896: 14,3333           00051                                    S1                                    
040650,000897: 14,3334           00001                                    1                                     
040651,000898: 14,3335           40370                           AXT,1    SETPD                                 
040652,000899: 14,3336           00003                                    3                                     
040653,000900: 14,3337           00005                                    4                                     
040654,000901: 14,3340           70543        CALOOP             DLOAD*   SR1                                   
040655,000902: 14,3341           00325                                    THETAD     +3D,1                      
040656,000903: 14,3342           70523                           PDDL*    SR1                                   
040657,000904: 14,3343           00005                                    4,1                                   
040658,000905: 14,3344           51425                           DSU      ABS                                   
040659,000906: 14,3345           45206                           PUSH     DSU                                   
040660,000907: 14,3346           31412                                    DEGREE1                               
040661,000908: 14,3347           71240                           BMN      DLOAD                                 
040662,000909: 14,3350           31366                                    CALOOP1                               
040663,000910: 14,3351           51025                           DSU      BPL                                   
040664,000911: 14,3352           31413                                    DEG359                                
040665,000912: 14,3353           31366                                    CALOOP1                               
040666,000913: 14,3354           77776                           EXIT                                           
040667,000914: 14,3355           05353                           TC       PHASCHNG                              
040668,000915: 14,3356           04024                           OCT      04024                                 
040669,000916: 
040670,000917: 14,3357           06037                           TC       INTPRET                               
040671,000918: 14,3360           77624        COARFINE           CALL                                           
040672,000919: 14,3361           31565                                    COARSE                                
040673,000920: 14,3362           77624                           CALL                                           
040674,000921: 14,3363           31602                                    NCOARSE                               
040675,000922: 14,3364           77650                           GOTO                                           
040676,000923: 14,3365           31370                                    FINEONLY                              
040677,000924: 14,3366           77700        CALOOP1            TIX,1                                          
040678,000925: 14,3367           31340                                    CALOOP                                
040679,000926: 14,3370           75160        FINEONLY           AXC,1    AXC,2                                 
040680,000927: 14,3371           02642                                    XSM                                   
040681,000928: 14,3372           01733                                    REFSMMAT                              
040682,000929: 14,3373           77624                           CALL                                           
040683,000930: 14,3374           31377                                    MATMOVE                               

Page 948

040685,000932: 14,3375           77650                           GOTO                                           
040686,000933: 14,3376           32161                                    COARSRET                              
040687,000934: 14,3377           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
040688,000935: 14,3400           00001                                    0,1                                   
040689,000936: 14,3401           10001                           STORE    0,2                                   
040690,000937: 14,3402           77773                           VLOAD*                                         
040691,000938: 14,3403           00007                                    6D,1                                  
040692,000939: 14,3404           10007                           STORE    6D,2                                  
040693,000940: 14,3405           77773                           VLOAD*                                         
040694,000941: 14,3406           00015                                    12D,1                                 
040695,000942: 14,3407           10015                           STORE    12D,2                                 
040696,000943: 14,3410           77616                           RVQ                                            
040697,000944: 14,3411           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
040698,000945: 14,3412           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
040699,000946: 14,3413           00004        RDCDUS             INHINT                                         #  READ CDUS
040700,000947: 14,3414           30032                           CA       CDUX                                  
040701,000948: 14,3415           50120                           INDEX    FIXLOC                                
040702,000949: 14,3416           54001                           TS       1                                     
040703,000950: 14,3417           30033                           CA       CDUY                                  
040704,000951: 14,3420           50120                           INDEX    FIXLOC                                
040705,000952: 14,3421           54002                           TS       2                                     
040706,000953: 14,3422           30034                           CA       CDUZ                                  
040707,000954: 14,3423           50120                           INDEX    FIXLOC                                
040708,000955: 14,3424           54003                           TS       3                                     
040709,000956: 14,3425           00003                           RELINT                                         
040710,000957: 14,3426           06061                           TC       DANZIG                                #                                        +
040711,000958: 14,3427                                           COUNT*   $$/INFLT                              
040712,000959: 

Page 949

040714,000961:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
040715,000962:                                                                                                  #  MOD. NO. 1    23 JAN 67                               LOG SECTION - P51-P53
040716,000963:                                                                                                  #  MOD BY STURLAUGSON                                    ASSEMBLY SUNDANCE REV56
040717,000964: 
040718,000965:                                                                                                  #  FUNCTIONAL DESCRIPTION
040719,000966:                                                                                                  #        DETERMINES THE INERTIAL ORIENTATION OF THE IMU.  THE PROGRAM IS SELECTED BY DSKY ENTRY.  THE SIGHTING
040720,000967:                                                                                                  #        (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA.  AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040721,000968:                                                                                                  #        STAR LOS VECTOR IN STARAD +6.  TWO STARS ARE THUS SIGHTED.  THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040722,000969:                                                                                                  #        CHKSDATA (R54).  REFSMMAT IS THEN COMPUTED AT AXISGEN.
040723,000970: 
040724,000971:                                                                                                  #  CALLING SEQUENCE
040725,000972:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040726,000973: 
040727,000974:                                                                                                  #  SUBROUTINES CALLED.
040728,000975:                                                                                                  #        GOPERF3
040729,000976:                                                                                                  #        GOPERF1
040730,000977:                                                                                                  #        GODSPR
040731,000978:                                                                                                  #        IMUCOARS
040732,000979:                                                                                                  #        IMUFIN20
040733,000980:                                                                                                  #        AOTMARK (R53)
040734,000981:                                                                                                  #        CHKSDATA (R54)
040735,000982:                                                                                                  #        MKRELEAS
040736,000983:                                                                                                  #        AXISGEN
040737,000984:                                                                                                  #        MATMOVE
040738,000985: 
040739,000986:                                                                                                  #  ALARMS
040740,000987:                                                                                                  #        NONE.
040741,000988: 
040742,000989:                                                                                                  #  ERASABLE INITIALIZATION
040743,000990:                                                                                                  #        IMU ZERO FLAG SHOULD BE SET.
040744,000991: 
040745,000992:                                                                                                  #  OUTPUT
040746,000993:                                                                                                  #        REFSMMAT
040747,000994:                                                                                                  #        REFSMFLG
040748,000995: 
040749,000996:                                                                                                  #  DEBRIS
040750,000997:                                                                                                  #        WORK AREA
040751,000998:                                                                                                  #        STARAD
040752,000999:                                                                                                  #        STARIND
040753,001000:                                                                                                  #        BESTI
040754,001001:                                                                                                  #        BESTJ
040755,001002: 
040756,001003: 14,3427                                           COUNT*   $$/P51                                

Page 950

040758,001005: 14,3427           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
040759,001006: 14,3430           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040760,001007: 
040761,001008: 14,3431           34761                           CAF      OCT15                                 
040762,001009: 14,3432           04616                           TC       BANKCALL                              
040763,001010: 14,3433           20623                           CADR     GOPERF1                               
040764,001011: 14,3434           06001                           TC       GOTOPOOH                              #  TERM.
040765,001012: 14,3435           13461                           TCF      P51B                                  #  V33
040766,001013: 14,3436           05353                           TC       PHASCHNG                              
040767,001014: 14,3437           04024                           OCT      04024                                 
040768,001015: 
040769,001016: 14,3440           34755                           CAF      ZERO                                  
040770,001017: 14,3441           54321                           TS       THETAD                                #  ZERO THE GIMBALS
040771,001018: 14,3442           54322                           TS       THETAD     +1                         
040772,001019: 14,3443           54323                           TS       THETAD     +2                         
040773,001020: 14,3444           35010                           CAF      V06N22                                
040774,001021: 14,3445           04616                           TC       BANKCALL                              
040775,001022: 14,3446           20446                           CADR     GODSPRET                              
040776,001023: 14,3447           33564                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
040777,001024: 14,3450           04616                           TC       BANKCALL                              
040778,001025: 14,3451           20446                           CADR     GODSPRET                              
040779,001026: 14,3452           06037                           TC       INTPRET                               
040780,001027: 14,3453           77624                           CALL                                           
040781,001028: 14,3454           31565                                    COARSE                                
040782,001029: 14,3455           77776                           EXIT                                           
040783,001030: 14,3456           05353                           TC       PHASCHNG                              
040784,001031: 14,3457           04024                           OCT      04024                                 
040785,001032: 14,3460           13431                           TCF      P51        +2                         
040786,001033: 
040787,001034: 14,3461           05353        P51B               TC       PHASCHNG                              
040788,001035: 14,3462           00014                           OCT      00014                                 
040789,001036: 14,3463           06037                           TC       INTPRET                               
040790,001037: 14,3464           77624                           CALL                                           
040791,001038: 14,3465           31602                                    NCOARSE                               
040792,001039: 14,3466           40331                           SSP      SETPD                                 
040793,001040: 14,3467           02760                                    STARIND                               #  INDEX - STAR 1 OR 2
040794,001041: 14,3470           00000                                    0                                     
040795,001042: 14,3471           00001                                    0                                     
040796,001043: 14,3472           77776        P51C               EXIT                                           
040797,001044: 14,3473           05353                           TC       PHASCHNG                              
040798,001045: 14,3474           04024                           OCT      04024                                 
040799,001046: 
040800,001047: 14,3475           04616                           TC       BANKCALL                              
040801,001048: 14,3476           16000                           CADR     AOTMARK                               #  R53
040802,001049: 14,3477           04616                           TC       BANKCALL                              
040803,001050: 14,3500           17712                           CADR     AOTSTALL                              
040804,001051: 14,3501           05711                           TC       CURTAINS                              
040805,001052: 14,3502           11757                           CCS      STARIND                               
040806,001053: 14,3503           13511                           TCF      P51D       +1                         
040807,001054: 14,3504           06037                           TC       INTPRET                               

Page 951

040809,001056: 14,3505           77775                           VLOAD                                          
040810,001057: 14,3506           02715                                    STARAD     +6                         
040811,001058: 14,3507           02761                           STORE    STARSAV1                              
040812,001059: 14,3510           77776        P51D               EXIT                                           
040813,001060: 14,3511           05353                           TC       PHASCHNG                              
040814,001061: 14,3512           04024                           OCT      04024                                 
040815,001062: 
040816,001063: 14,3513           11757                           CCS      STARIND                               
040817,001064: 14,3514           13530                           TCF      P51E                                  
040818,001065: 14,3515           05353                           TC       PHASCHNG                              
040819,001066: 14,3516           04024                           OCT      04024                                 
040820,001067: 
040821,001068: 14,3517           06037                           TC       INTPRET                               
040822,001069: 14,3520           45145                           DLOAD    CALL                                  
040823,001070: 14,3521           03562                                    TSIGHT                                
040824,001071: 14,3522           32472                                    PLANET                                
040825,001072: 14,3523           03554                           STORE    PLANVEC                               
040826,001073: 14,3524           77776                           EXIT                                           
040827,001074: 14,3525           34753                           CAF      BIT1                                  
040828,001075: 14,3526           55757                           TS       STARIND                               
040829,001076: 14,3527           13473                           TCF      P51C       +1                         #  DO SECOND STAR
040830,001077: 14,3530           05353        P51E               TC       PHASCHNG                              
040831,001078: 14,3531           04024                           OCT      04024                                 
040832,001079: 
040833,001080: 14,3532           06037                           TC       INTPRET                               
040834,001081: 14,3533           45145                           DLOAD    CALL                                  
040835,001082: 14,3534           03562                                    TSIGHT                                
040836,001083: 14,3535           32472                                    PLANET                                
040837,001084: 14,3536           24015                           STOVL    12D                                   
040838,001085: 14,3537           03554                                    PLANVEC                               
040839,001086: 14,3540           24007                           STOVL    6D                                    
040840,001087: 14,3541           02761                                    STARSAV1                              
040841,001088: 14,3542           26707                           STOVL    STARAD                                
040842,001089: 14,3543           02767                                    STARSAV2                              
040843,001090: 14,3544           36715                           STCALL   STARAD     +6                         
040844,001091: 14,3545           31256                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
040845,001092: 14,3546           77414                           BON      EXIT                                  
040846,001093: 14,3547           00314                                    FREEFLAG                              
040847,001094: 14,3550           31552                                    P51G                                  
040848,001095: 14,3551           03431                           TC       P51        +2                         
040849,001096: 14,3552           77624        P51G               CALL                                           
040850,001097: 14,3553           47441                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
040851,001098: 14,3554           75160                           AXC,1    AXC,2                                 
040852,001099: 14,3555           02664                                    XDC                                   
040853,001100: 14,3556           01733                                    REFSMMAT                              
040854,001101: 14,3557           77624                           CALL                                           
040855,001102: 14,3560           31377                                    MATMOVE                               
040856,001103: 14,3561           77414                           SET      EXIT                                  
040857,001104: 14,3562           01462                                    REFSMFLG                              
040858,001105: 14,3563           06001                           TC       GOTOPOOH                              #  FINIS

Page 952

040860,001107: 14,3564           12200        V41K               VN       4100                                  
040861,001108: 14,3565           77776        COARSE             EXIT                                           
040862,001109: 14,3566           04616                           TC       BANKCALL                              
040863,001110: 14,3567           17000                           CADR     IMUCOARS                              
040864,001111: 14,3570           04616                           TC       BANKCALL                              
040865,001112: 14,3571           17716                           CADR     IMUSTALL                              
040866,001113: 14,3572           05711                           TC       CURTAINS                              
040867,001114: 14,3573           04616                           TC       BANKCALL                              
040868,001115: 14,3574           17210                           CADR     IMUFINE                               
040869,001116: 14,3575           04616                           TC       BANKCALL                              
040870,001117: 14,3576           17716                           CADR     IMUSTALL                              
040871,001118: 14,3577           05711                           TC       CURTAINS                              
040872,001119: 14,3600           06037                           TC       INTPRET                               
040873,001120: 14,3601           77616                           RVQ                                            
040874,001121: 14,3602           77776        NCOARSE            EXIT                                           
040875,001122: 14,3603           30025                           CA       TIME1                                 
040876,001123: 14,3604           55075                           TS       1/PIPADT                              
040877,001124: 14,3605           44755                           CS       ZERO                                  
040878,001125: 14,3606           54037                           TS       PIPAX                                 
040879,001126: 14,3607           54040                           TS       PIPAY                                 
040880,001127: 14,3610           54041                           TS       PIPAZ                                 
040881,001128: 14,3611           06037                           TC       INTPRET                               
040882,001129: 14,3612           77775                           VLOAD                                          
040883,001130: 14,3613           24007                                    ZEROVEC                               
040884,001131: 14,3614           01472                           STORE    GCOMP                                 
040885,001132: 14,3615           43414                           SET      RVQ                                   
040886,001133: 14,3616           01060                                    DRIFTFLG                              
040887,001134: 

Page 953

040889,001136:                                                                                                  #  NAME - S52.2
040890,001137:                                                                                                  #  FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040891,001138:                                                                                                  #  CALL - CALL S52.2
040892,001139:                                                                                                  #  INPUT - X,Y,ZSMD
040893,001140:                                                                                                  #  OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040894,001141:                                                                                                  #  SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040895,001142: 
040896,001143: 14,3617                                           COUNT*   $$/S52.1                              
040897,001144: 14,3617           45020        S52.2              STQ      CALL                                  
040898,001145: 14,3620           02746                                    QMAJ                                  
040899,001146: 14,3621           47537                                    CDUTRIG                               
040900,001147: 14,3622           77624                           CALL                                           
040901,001148: 14,3623           20030                                    CALCSMSC                              
040902,001149: 14,3624           66370                           AXT,1    SSP                                   
040903,001150: 14,3625           00022                                    18D                                   
040904,001151: 14,3626           00051                                    S1                                    
040905,001152: 14,3627           00006                                    6D                                    
040906,001153: 14,3630           61373        S52.2A             VLOAD*   VXM                                   
040907,001154: 14,3631           02707                                    XNB        +18D,1                     
040908,001155: 14,3632           01734                                    REFSMMAT                              
040909,001156: 14,3633           77656                           UNIT                                           
040910,001157: 14,3634           06707                           STORE    XNB        +18D,1                     
040911,001158: 14,3635           77700                           TIX,1                                          
040912,001159: 14,3636           31630                                    S52.2A                                
040913,001160: 14,3637           75160        S52.2.1            AXC,1    AXC,2                                 
040914,001161: 14,3640           03606                                    XSMD                                  
040915,001162: 14,3641           02642                                    XSM                                   
040916,001163: 14,3642           77624                           CALL                                           
040917,001164: 14,3643           31377                                    MATMOVE                               
040918,001165: 14,3644           77624                           CALL                                           
040919,001166: 14,3645           47353                                    CALCGA                                
040920,001167: 14,3646           77650                           GOTO                                           
040921,001168: 14,3647           02746                                    QMAJ                                  
040922,001169: 

Page 954

040924,001171:                                                                                                  #  NAME - S52.3
040925,001172:                                                                                                  #  FUNCTION      XSMD= UNIT R
040926,001173:                                                                                                  #                YSMD= UNIT(V X R)
040927,001174:                                                                                                  #                ZSMD= UNIT(XSMD X YSMD)
040928,001175:                                                                                                  #  CALL          DLOAD   CALL
040929,001176:                                                                                                  #                        TALIGN
040930,001177:                                                                                                  #                        S52.3
040931,001178:                                                                                                  #  INPUT -       TIME OF ALIGNMENT IN MPAC
040932,001179:                                                                                                  #  OUTPUT -      X,Y,ZSMD
040933,001180:                                                                                                  #  SUBROUTINES - CSMCONIC
040934,001181: 
040935,001182: 14,3650                                           COUNT*   $$/S52.3                              
040936,001183: 14,3650           77620        S52.3              STQ                                            
040937,001184: 14,3651           02746                                    QMAJ                                  
040938,001185: 14,3652           34041                           STCALL   TDEC1                                 
040939,001186: 14,3653           27100                                    LEMCONIC                              
040940,001187: 14,3654           53575                           VLOAD    UNIT                                  
040941,001188: 14,3655           00001                                    RATT                                  
040942,001189: 14,3656           27607                           STOVL    XSMD                                  
040943,001190: 14,3657           00007                                    VATT                                  
040944,001191: 14,3660           53435                           VXV      UNIT                                  
040945,001192: 14,3661           00001                                    RATT                                  
040946,001193: 14,3662           27615                           STOVL    YSMD                                  
040947,001194: 14,3663           03607                                    XSMD                                  
040948,001195: 14,3664           53435                           VXV      UNIT                                  
040949,001196: 14,3665           03615                                    YSMD                                  
040950,001197: 14,3666           37623                           STCALL   ZSMD                                  
040951,001198: 14,3667           02746                                    QMAJ                                  
040952,001199: 

Page 955

040954,001201:                                                                                                  #  NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040955,001202: 
040956,001203:                                                                                                  #  FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040957,001204:                                                                                                  #  STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040958,001205: 
040959,001206:                                                                                                  #  CALLING - CALL R52
040960,001207: 
040961,001208:                                                                                                  #  INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040962,001209: 
040963,001210:                                                                                                  #  OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040964,001211:                                                                                                  #  (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040965,001212:                                                                                                  #  POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040966,001213:                                                                                                  #  SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040967,001214: 
040968,001215:                                                                                                  #  SUBROUT - R60LEM
040969,001216: 
040970,001217: 14,3670                                           COUNT*   $$/R52                                
040971,001218: 14,3670           77420        R52                STQ      EXIT                                  
040972,001219: 14,3671           03665                                    SAVQR52                               
040973,001220: 14,3672           51757                           INDEX    STARIND                               
040974,001221: 14,3673           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
040975,001222: 14,3674           00006                           EXTEND                                         
040976,001223: 14,3675           73771                           MP       1/6TH                                 
040977,001224: 14,3676           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
040978,001225: 14,3677           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
040979,001226: 
040980,001227: 14,3700           33772        R52A               CAF      V01N70                                
040981,001228: 14,3701           04616                           TC       BANKCALL                              
040982,001229: 14,3702           20476                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
040983,001230: 14,3703           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040984,001231: 14,3704           13706                           TCF      R52B                                  #  V33 - PROCEED TO ORIENT LEM
040985,001232: 14,3705           13700                           TCF      R52A                                  #  ENTER - SELECT NEW STARCODE - RECYCLE
040986,001233: 
040987,001234: 14,3706           05516        R52B               TC       DOWNFLAG                              
040988,001235: 14,3707           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040989,001236: 14,3710           30735                           CA       STARCODE                              #  GRAB DETENT CODE
040990,001237: 14,3711           77744                           MASK     HIGH9                                 
040991,001238: 14,3712           00006                           EXTEND                                         
040992,001239: 14,3713           74743                           MP       BIT9                                  
040993,001240: 14,3714           54001                           TS       L                                     #  TEMP STORE DETENT
040994,001241: 
040995,001242: 14,3715           00006                           EXTEND                                         
040996,001243: 14,3716           63734                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
040997,001244: 
040998,001245: 14,3717           65660                           AD       NEG7                                  
040999,001246: 14,3720           00006                           EXTEND                                         
041000,001247: 14,3721           13734                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
041001,001248: 
041002,001249: 14,3722  E7,1551                                  EBANK=   XYMARK                                
041003,001250: 14,3722           35016                           CA       EBANK7                                
041004,001251: 14,3723           54003                           TS       EBANK                                 

Page 956

041006,001253: 14,3724           50001                           INDEX    L                                     
041007,001254: 14,3725           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
041008,001255: 14,3726           54001                           TS       L                                     
041009,001256: 14,3727  E5,1642                                  EBANK=   XSM                                   
041010,001257: 14,3727           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
041011,001258: 14,3730           54003                           TS       EBANK                                 
041012,001259: 14,3731           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041013,001260: 14,3732           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041014,001261: 14,3733           13744                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
041015,001262: 
041016,001263: 14,3734           33773        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
041017,001264: 14,3735           04616                           TC       BANKCALL                              
041018,001265: 14,3736           20476                           CADR     GOFLASH                               
041019,001266: 14,3737           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041020,001267: 14,3740           13742                           TCF      +2                                    #  PROCEED - CALC OPTIC AXIS
041021,001268: 14,3741           13734                           TCF      GETAZEL                               #  ENTER - RECYCLE
041022,001269: 
041023,001270: 14,3742           00006                           EXTEND                                         
041024,001271: 14,3743           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
041025,001272: 14,3744           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
041026,001273: 14,3745           52011                           DXCH     8D                                    
041027,001274: 14,3746           06037                           TC       INTPRET                               
041028,001275: 14,3747           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
041029,001276: 14,3750           10536                                    OANB                                  #  SCAXIS IN NB COORDS
041030,001277: 14,3751           45034                           RTB      CALL                                  
041031,001278: 14,3752           21573                                    LOADTIME                              
041032,001279: 14,3753           32472                                    PLANET                                
041033,001280: 14,3754           53521                           MXV      UNIT                                  
041034,001281: 14,3755           01734                                    REFSMMAT                              
041035,001282: 14,3756           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
041036,001283: 
041037,001284: 14,3757           77776                           EXIT                                           
041038,001285: 14,3760           04616                           TC       BANKCALL                              
041039,001286: 14,3761           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
041040,001287: 
041041,001288: 14,3762           37744                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
041042,001289: 14,3763           70735                           MASK     STARCODE                              
041043,001290: 14,3764           00006                           EXTEND                                         
041044,001291: 14,3765           13700                           BZF      R52A                                  
041045,001292: 
041046,001293: 14,3766           06037                           TC       INTPRET                               #  RETURN FROM KALCMANU
041047,001294: 14,3767           77650                           GOTO                                           
041048,001295: 14,3770           03665                                    SAVQR52                               #  RETURN TO CALLER
041049,001296: 
041050,001297: 14,3771           05253        1/6TH              DEC      .1666667                              
041051,001298: 14,3772           00306        V01N70             VN       0170                                  
041052,001299: 14,3773           01527        V06N87             VN       687                                   
041053,001300: 

Page 957

041055,001302:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
041056,001303: 
041057,001304: 15,2245                                           BANK     15                                    
041058,001305: 15,2000                                           SETLOC   P50S                                  
041059,001306: 15,2000                                           BANK                                           
041060,001307: 15,2245                                           COUNT*   $$/R59                                
041061,001308: 
041062,001309: 15,2245           40077        R59                CS       FLAGWRD3                              
041063,001310: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041064,001311: 15,2247           10000                           CCS      A                                     
041065,001312: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
041066,001313: 
041067,001314: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
041068,001315: 15,2252           04616                           TC       BANKCALL                              
041069,001316: 15,2253           20476                           CADR     GOFLASH                               
041070,001317: 15,2254           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041071,001318: 15,2255           12257                           TCF      R59A                                  #  V33 - PROCEED
041072,001319: 15,2256           12245                           TCF      R59                                   #  V32 - RECYCLE
041073,001320: 
041074,001321: 15,2257           47744        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
041075,001322: 15,2260           70735                           MASK     AOTCODE                               
041076,001323: 15,2261           00006                           EXTEND                                         
041077,001324: 15,2262           76242                           MP       REVCNT                                #  JUST 6
041078,001325: 15,2263           56001                           XCH      L                                     
041079,001326: 15,2264           51757                           INDEX    STARIND                               
041080,001327: 15,2265           55755                           TS       BESTI                                 
041081,001328: 15,2266           50120                           INDEX    FIXLOC                                
041082,001329: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
041083,001330: 15,2270           00006                           EXTEND                                         
041084,001331: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
041085,001332: 15,2272           40000                           COM                                            
041086,001333: 15,2273           62561                           AD       DEC227                                
041087,001334: 15,2274           00006                           EXTEND                                         
041088,001335: 15,2275           62455                           BZMF     R59OUT                                
041089,001336: 
041090,001337: 15,2276           06037                           TC       INTPRET                               
041091,001338: 15,2277           64373                           VLOAD*   MXV                                   
041092,001339: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
041093,001340: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
041094,001341: 15,2302           45056                           UNIT     CALL                                  
041095,001342: 15,2303           47646                                    CDU*SMNB                              
041096,001343: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
041097,001344: 15,2305           77776                           EXIT                                           
041098,001345: 
041099,001346: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
041100,001347: 15,2307           55242                           TS       POSCODE                               
041101,001348: 
041102,001349: 15,2310  E7,1551                                  EBANK=   XYMARK                                
041103,001350: 15,2310           35016        INCAZ              CA       EBANK7                                
041104,001351: 15,2311           54003                           TS       EBANK                                 
041105,001352: 

Page 958

041107,001354: 15,2312           51242                           INDEX    POSCODE                               
041108,001355: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
041109,001356: 15,2314           54001                           TS       L                                     
041110,001357: 
041111,001358: 15,2315  E5,1642                                  EBANK=   XSM                                   
041112,001359: 15,2315           35014                           CA       EBANK5                                
041113,001360: 15,2316           54003                           TS       EBANK                                 
041114,001361: 
041115,001362: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041116,001363: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041117,001364: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
041118,001365: 15,2322           50120                           INDEX    FIXLOC                                
041119,001366: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041120,001367: 
041121,001368: 15,2324           06037                           TC       INTPRET                               
041122,001369: 15,2325           77624                           CALL                                           
041123,001370: 15,2326           10536                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
041124,001371: 15,2327           50375                           VLOAD    DOT                                   
041125,001372: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
041126,001373: 15,2331           03765                                    SCAXIS                                
041127,001374: 15,2332           65552                           SL1      ARCCOS                                
041128,001375: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
041129,001376: 
041130,001377: 15,2334           51025                           DSU      BPL                                   
041131,001378: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
041132,001379: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
041133,001380: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
041134,001381: 15,2340           00031                                    24D                                   
041135,001382: 15,2341           32470                                    DEG.5                                 
041136,001383: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
041137,001384: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
041138,001385: 15,2344           00031                                    24D                                   #  GET SPIRAL
041139,001386: 15,2345           42405                           DMP      SL4                                   
041140,001387: 15,2346           25764                                    3/4                                   #  12 SCALED AT 16
041141,001388: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
041142,001389: 
041143,001390: 15,2350           03765                                    SCAXIS                                #  OA
041144,001391: 15,2351           53435                           VXV      UNIT                                  
041145,001392: 15,2352           24005                                    XUNIT                                 
041146,001393: 15,2353           47206                           PUSH     VXV                                   #  OA X UNITX    PD 0-5
041147,001394: 15,2354           03765                                    SCAXIS                                
041148,001395: 15,2355           77676                           VCOMP                                          
041149,001396: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X (OA X UNITX))       PD 6-11
041150,001397: 15,2357           03765                                    SCAXIS                                
041151,001398: 15,2360           53435                           VXV      UNIT                                  
041152,001399: 15,2361           02731                                    STAR                                  
041153,001400: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)        PD 12-17
041154,001401: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
041155,001402: 15,2364           65552                           SL1      ARCCOS                                
041156,001403: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS

Page 959

041158,001405: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
041159,001406: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG - GET 360-THET
041160,001407: 15,2370           32375                                    R59D                                  
041161,001408: 15,2371           32047                                    ABOUTONE                              
041162,001409: 15,2372           77625                           DSU                                            
041163,001410: 15,2373           00033                                    26D                                   
041164,001411: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
041165,001412: 
041166,001413: 15,2375           70535        R59D               SLOAD    SR1                                   
041167,001414: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
041168,001415: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
041169,001416: 15,2400           00033                                    26D                                   
041170,001417: 15,2401           77634                           RTB                                            
041171,001418: 15,2402           21614                                    1STO2S                                
041172,001419: 15,2403           15237                           STODL    CURSOR                                #  YROT IN 1/2 REVS
041173,001420: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
041174,001421: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
041175,001422: 15,2406           77634                           RTB                                            
041176,001423: 15,2407           21614                                    1STO2S                                
041177,001424: 15,2410           01241                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
041178,001425: 15,2411           77776                           EXIT                                           
041179,001426: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
041180,001427: 
041181,001428: 15,2413           77776        ZSPCR              EXIT                                           
041182,001429: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
041183,001430: 15,2415           55236                           TS       CURSOR                                #  AND SPIRAL ANGLES
041184,001431: 15,2416           55240                           TS       SPIRAL                                
041185,001432: 15,2417           12437                           TCF      79DISP                                
041186,001433: 
041187,001434: 15,2420           77776        NXAX               EXIT                                           
041188,001435: 15,2421           25242                           INCR     POSCODE                               
041189,001436: 15,2422           41242                           CS       POSCODE                               
041190,001437: 15,2423           64757                           AD       SEVEN                                 
041191,001438: 15,2424           00006                           EXTEND                                         
041192,001439: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
041193,001440: 15,2426           12310                           TCF      INCAZ                                 
041194,001441: 
041195,001442: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
041196,001443: 15,2430           00404                           OCT      404                                   
041197,001444: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
041198,001445: 15,2432           04616                           TC       BANKCALL                              
041199,001446: 15,2433           20476                           CADR     GOFLASH                               
041200,001447: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041201,001448: 15,2435           12455                           TCF      R59OUT                                #  VB33 - PROCEED, GO WITHOUT AQUIRE
041202,001449: 15,2436           12245                           TCF      R59                                   #  VB32 - RECYCLE AND TRY ANOTHER STAR
041203,001450: 
041204,001451: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
041205,001452: 15,2440           04616                           TC       BANKCALL                              
041206,001453: 15,2441           20476                           CADR     GOFLASH                               
041207,001454: 15,2442           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE

Page 960

041209,001456: 15,2443           12445                           TCF      R59E                                  #  V33 - PROCEED TO MARK ROUTINE
041210,001457: 15,2444           12245                           TCF      R59                                   #  V32 - RECYCLE TO TOP OF R59 AGAIN
041211,001458: 
041212,001459: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
041213,001460: 15,2446           71242                           MASK     POSCODE                               
041214,001461: 15,2447           00006                           EXTEND                                         
041215,001462: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041216,001463: 15,2451           47744                           CS       HIGH9                                 
041217,001464: 15,2452           70735                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041218,001465: 15,2453           60001                           AD       L                                     
041219,001466: 15,2454           54735                           TS       AOTCODE                               #  STORE DETENT 7-9
041220,001467: 
041221,001468: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
041222,001469: 15,2456           16000                           CADR     AOTMARK                               
041223,001470: 15,2457           04616                           TC       BANKCALL                              
041224,001471: 15,2460           17712                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
041225,001472: 15,2461           05711                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
041226,001473: 15,2462           13054                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
041227,001474: 
041228,001475: 15,2463           00306        V01N70*            VN       170                                   
041229,001476: 15,2464           01517        V06N79             VN       679                                   
041230,001477: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
041231,001478: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
041232,001479: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
041233,001480: 15,2472     1236               CURSOR             EQUALS   GDT/2                                 
041234,001481: 15,2472     1240               SPIRAL             EQUALS   GDT/2      +2                         
041235,001482: 15,2472     1242               POSCODE            EQUALS   GDT/2      +4                         
041236,001483: 

Page 961

041238,001485:                                                                                                  #  NAME -        PLANET
041239,001486:                                                                                                  #  FUNCTION -    TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041240,001487:                                                                                                  #                BODY.  STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041241,001488:                                                                                                  #                MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041242,001489:                                                                                                  #                BY DSDY INPUT
041243,001490:                                                                                                  #  CALL  -       CALL
041244,001491:                                                                                                  #                        PLANET
041245,001492:                                                                                                  #  INPUT -       TIME IN MPAC
041246,001493:                                                                                                  #  OUTPUT -      VECTOR IN MPAC
041247,001494:                                                                                                  #  SUBROUTINES - LOCSAM
041248,001495:                                                                                                  #  DEBRIS -      VAC, STARAD - STARAD +17
041249,001496: 
041250,001497: 15,2000                                           SETLOC   P50S                                  
041251,001498: 15,2000                                           BANK                                           
041252,001499: 15,2472                                           COUNT*   $$/P51                                
041253,001500: 
041254,001501: 15,2472           27562        PLANET             STOVL    TSIGHT                                
041255,001502: 15,2473           24007                                    ZEROVEC                               #  ZERO N88 DISPLAY VEC
041256,001503: 15,2474           02707                           STORE    STARAD                                
041257,001504: 15,2475           77420                           STQ      EXIT                                  
041258,001505: 15,2476           02736                                    GCTR                                  
041259,001506: 15,2477           47744                           CS       HIGH9                                 
041260,001507: 15,2500           70735                           MASK     AOTCODE                               
041261,001508: 15,2501           00006                           EXTEND                                         
041262,001509: 15,2502           76242                           MP       REVCNT                                
041263,001510: 15,2503           56001                           XCH      L                                     
041264,001511: 15,2504           51757                           INDEX    STARIND                               
041265,001512: 15,2505           55755                           TS       BESTI                                 
041266,001513: 15,2506           10000                           CCS      A                                     
041267,001514: 15,2507           12523                           TCF      NOTPLAN                               
041268,001515: 15,2510           32562                           CAF      VNPLANV                               
041269,001516: 15,2511           04616                           TC       BANKCALL                              
041270,001517: 15,2512           20476                           CADR     GOFLASH                               
041271,001518: 15,2513           02510                           TC       -3                                    
041272,001519: 15,2514           02516                           TC       +2                                    
041273,001520: 15,2515           02510                           TC       -5                                    
041274,001521: 15,2516           06037                           TC       INTPRET                               
041275,001522: 15,2517           53575                           VLOAD    UNIT                                  
041276,001523: 15,2520           02707                                    STARAD                                
041277,001524: 15,2521           77650                           GOTO                                           
041278,001525: 15,2522           02736                                    GCTR                                  
041279,001526: 15,2523           40000        NOTPLAN            CS       A                                     
041280,001527: 15,2524           62561                           AD       DEC227                                
041281,001528: 15,2525           00006                           EXTEND                                         
041282,001529: 15,2526           62537                           BZMF     CALSAM1                               
041283,001530: 15,2527           51757                           INDEX    STARIND                               
041284,001531: 15,2530           31755                           CA       BESTI                                 
041285,001532: 15,2531           50120                           INDEX    FIXLOC                                
041286,001533: 15,2532           54046                           TS       X1                                    
041287,001534: 15,2533           06037                           TC       INTPRET                               

Page 962

041289,001536: 15,2534           52173                           VLOAD*   GOTO                                  
041290,001537: 15,2535           30347                                    CATLOG,1                              
041291,001538: 15,2536           02736                                    GCTR                                  
041292,001539: 15,2537           06037        CALSAM1            TC       INTPRET                               
041293,001540: 15,2540           45145        CALSAM             DLOAD    CALL                                  
041294,001541: 15,2541           03562                                    TSIGHT                                
041295,001542: 15,2542           30506                                    LOCSAM                                
041296,001543: 15,2543           77340                           LXC,1    VLOAD                                 
041297,001544: 15,2544           02757                                    STARIND                               
041298,001545: 15,2545           02707                                    VEARTH                                
041299,001546: 15,2546           24001                           STOVL    0D                                    
041300,001547: 15,2547           02715                                    VSUN                                  
041301,001548: 15,2550           26707                           STOVL    VEARTH                                
041302,001549: 15,2551           00001                                    0D                                    
041303,001550: 15,2552           02715                           STORE    VSUN                                  
041304,001551: 15,2553           70143                           DLOAD*   LXC,1                                 
041305,001552: 15,2554           02756                                    BESTI,1                               
041306,001553: 15,2555           00154                                    MPAC                                  
041307,001554: 15,2556           52173                           VLOAD*   GOTO                                  
041308,001555: 15,2557           02343                                    STARAD     -228D,1                    
041309,001556: 15,2560           02736                                    GCTR                                  
041310,001557: 15,2561           00343        DEC227             DEC      227        B-14                       
041311,001558: 15,2562           01530        VNPLANV            VN       0688                                  
041312,001559: 15,2563  37,3544               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
041313,001560: 

Page 963

041315,001562:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
041316,001563:                                                                                                  #  BY KEN VINCENT
041317,001564: 
041318,001565:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041319,001566: 
041320,001567:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041321,001568:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE.  IT WILL BE USED
041322,001569:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT.  THE GRAVITY VECTOR IS
041323,001570:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041324,001571:                                                                                                  #  PARTICULAR ORIONTATIONS.  THE TWO READINGS ARE AVERAGED
041325,001572:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES.  THE TWO
041326,001573:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041327,001574:                                                                                                  #  READINGS.
041328,001575: 
041329,001576:                                                                                                  #  CALL -
041330,001577:                                                                                                  #        TC      BANKCALL
041331,001578:                                                                                                  #        CADR    GVDETER
041332,001579: 
041333,001580:                                                                                                  #  INPUTS -
041334,001581:                                                                                                  #        PIPAS, CDUS
041335,001582: 
041336,001583:                                                                                                  #  OUTPUTS -
041337,001584:                                                                                                  #        STARSAV1 = UNIT GRAVITY
041338,001585:                                                                                                  #        GSAV     = DITTO
041339,001586:                                                                                                  #        GRAVBIT  = 1
041340,001587: 
041341,001588:                                                                                                  #  SUBROUTINES -
041342,001589:                                                                                                  #        PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041343,001590:                                                                                                  #        *NBSM*, *SNMB*, CALCGA, FOFLASH
041344,001591: 
041345,001592:                                                                                                  #  DEBRIS -
041346,001593:                                                                                                  #        VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041347,001594: 
041348,001595: 15,2563           32772        GVDETER            CAF      42DEG                                 
041349,001596: 15,2564           54321                           TS       THETAD                                
041350,001597: 15,2565           40000                           COM                                            
041351,001598: 15,2566           54322                           TS       THETAD     +1                         
041352,001599: 15,2567           32773                           CAF      35DEG                                 
041353,001600: 15,2570           54323                           TS       THETAD     +2                         
041354,001601: 15,2571           06037                           TC       INTPRET                               
041355,001602: 15,2572           45014                           CLEAR    CALL                                  
041356,001603: 15,2573           01662                                    REFSMFLG                              
041357,001604: 15,2574           32670                                    LUNG                                  
041358,001605: 
041359,001606:                                                                                                  #  FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041360,001607: 
041361,001608:                                                                                                  #        DEFINE G COOR SYS
041362,001609:                                                                                                  #                      -
041363,001610:                                                                                                  #                      X          UNIT G     
041364,001611:                                                                                                  #                *     -                  - 
041365,001612:                                                                                                  #                M =   Y   =   UNITEZSM * X )
041366,001613:                                                                                                  #                      -            -     -   
041367,001614:                                                                                                  #                      Z       UNIT(X   * Y )
041368,001615: 
041369,001616:                                                                                                  #        THEN ROTATED SM WRT PRESENT IS
041370,001617: 
041371,001618:                                                                                                  #                             1,  0,  0  
041372,001619:                                                                                                  #                 *      *T               *             *      *

Page 964

041374,001621:                                                                                                  #                XSM =   M    0, -1,  0   M  =  2 (X X ) - 1/2 I  *
041375,001622:                                                                                                  #                                                   I J
041376,001623:                                                                                                  #                             0,  0, -1 
041377,001624: 
041378,001625:                                                                                                  #        ALSO NB WRT PRES SM IS
041379,001626: 
041380,001627:                                                                                                  #                 *      *  *
041381,001628:                                                                                                  #                XNB = NBSM I
041382,001629:                                                                                                  #                                 *    *
041383,001630:                                                                                                  #        GIMBAL ANGLES = CALCGA( XSM, XNB )
041384,001631: 
041385,001632: 15,2000                                           SETLOC   P50S                                  
041386,001633: 15,2000                                           BANK                                           
041387,001634: 15,2575                                           COUNT*   $$/P57                                
041388,001635: 15,2575           66370                           AXT,1    SSP                                   #  X1=18
041389,001636: 15,2576           00022                                    18D                                   #  S1=6
041390,001637: 15,2577           00051                                    S1                                    #  X2, -2
041391,001638: 15,2600           00006                                    6D                                    
041392,001639: 15,2601           77744                           LXC,2                                          
041393,001640: 15,2602           00050                                    S1                                    
041394,001641: 15,2603           45173        GRAVEL             VLOAD*   CALL                                  
041395,001642: 15,2604           54000                                    XUNIT      -6,2                       
041396,001643: 15,2605           47673                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
041397,001644: 15,2606           06707                           STORE    XNB        +18D,1                     
041398,001645: 15,2607           77775                           VLOAD                                          
041399,001646: 15,2610           02731                                    STAR                                  
041400,001647: 15,2611           73744                           LXC,2    VXSC*                                 #  COMPLEMENT - UNITX ARE BACKWARD -
041401,001648: 15,2612           00047                                    X2                                    
041402,001649: 15,2613           75040                                    STAR       +6,2                       #  OUTER PRODUCT
041403,001650: 15,2614           71152                           VSL2     LXC,2                                 
041404,001651: 15,2615           00047                                    X2                                    
041405,001652: 15,2616           63047                           VSU*     INCR,2                                
041406,001653: 15,2617           54000                                    XUNIT      -6,2                       
041407,001654: 15,2620           00002                                    2D                                    
041408,001655: 15,2621           06665                           STORE    XSM        +18D,1                     
041409,001656: 15,2622           45100                           TIX,1    CALL                                  
041410,001657: 15,2623           32603                                    GRAVEL                                
041411,001658: 15,2624           47353                                    CALCGA                                
041412,001659: 15,2625           74575                           VLOAD    VSR1                                  
041413,001660: 15,2626           02715                                    GOUT                                  
041414,001661: 15,2627           36723                           STCALL   STARAD     +12D                       
041415,001662: 15,2630           32670                                    LUNG                                  
041416,001663: 15,2631           74575                           VLOAD    VSR1                                  
041417,001664: 15,2632           02715                                    GOUT                                  
041418,001665: 15,2633           53455                           VAD      UNIT                                  
041419,001666: 15,2634           02723                                    STARAD     +12D                       
041420,001667: 15,2635           02761                           STORE    STARSAV1                              
041421,001668: 15,2636           77641                           DOT                                            
041422,001669: 15,2637           02231                                    GSAV                                  
041423,001670: 15,2640           65552                           SL1      ACOS                                  

Page 965

041425,001672: 15,2641           01046                           STORE    DSPTEM1                               
041426,001673: 15,2642           77776                           EXIT                                           
041427,001674: 15,2643           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
041428,001675: 15,2644           00014                           ADRES    FREEFLAG                              
041429,001676: 
041430,001677: 15,2645           32771                           CA       DISGRVER                              
041431,001678: 15,2646           04616                           TC       BANKCALL                              
041432,001679: 15,2647           20476                           CADR     GOFLASH                               
041433,001680: 15,2650           06001                           TC       GOTOPOOH                              
041434,001681: 15,2651           12654                           TCF      PROGRAV                               #  VB33 - PROCEED
041435,001682: 15,2652           05504                           TC       UPFLAG                                #  VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041436,001683: 15,2653           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
041437,001684: 
041438,001685: 15,2654           05353        PROGRAV            TC       PHASCHNG                              
041439,001686: 15,2655           04024                           OCT      04024                                 
041440,001687: 
041441,001688: 15,2656           06037                           TC       INTPRET                               
041442,001689: 15,2657           77775                           VLOAD                                          
041443,001690: 15,2660           02761                                    STARSAV1                              
041444,001691: 15,2661           02231                           STORE    GSAV                                  
041445,001692: 15,2662           77776                           EXIT                                           
041446,001693: 15,2663           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041447,001694: 15,2664           70074                           MASK     FLAGWRD0                              
041448,001695: 15,2665           10000                           CCS      A                                     
041449,001696: 15,2666           12563                           TCF      GVDETER                               #  SET
041450,001697: 15,2667           13553                           TCF      ATTCHK                                #  EXIT FROM GVDETER
041451,001698: 
041452,001699: 15,2670           77220        LUNG               STQ      VLOAD                                 
041453,001700: 15,2671           02745                                    QMIN                                  
041454,001701: 15,2672           24007                                    ZEROVEC                               
041455,001702: 15,2673           02707                           STORE    GACC                                  
041456,001703: 15,2674           77776                           EXIT                                           
041457,001704: 15,2675           05353                           TC       PHASCHNG                              
041458,001705: 15,2676           04024                           OCT      04024                                 
041459,001706: 
041460,001707: 15,2677           04616                           TC       BANKCALL                              
041461,001708: 15,2700           17000                           CADR     IMUCOARS                              
041462,001709: 15,2701           04616                           TC       BANKCALL                              
041463,001710: 15,2702           17716                           CADR     IMUSTALL                              
041464,001711: 15,2703           05711                           TC       CURTAINS                              
041465,001712: 15,2704           04616                           TC       BANKCALL                              
041466,001713: 15,2705           17210                           CADR     IMUFINE                               
041467,001714: 15,2706           04616                           TC       BANKCALL                              
041468,001715: 15,2707           17716                           CADR     IMUSTALL                              
041469,001716: 15,2710           05711                           TC       CURTAINS                              
041470,001717: 15,2711           32770                           CA       T/2SEC                                
041471,001718: 15,2712           55736                           TS       GCTR                                  
041472,001719: 15,2713           37716                           CA       PRIO31                                
041473,001720: 15,2714           55075                           TS       1/PIPADT                              
041474,001721: 15,2715           04616                           TC       BANKCALL                              

Page 966

041476,001723: 15,2716           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
041477,001724: 15,2717           05353                           TC       PHASCHNG                              
041478,001725: 15,2720           04024                           OCT      04024                                 
041479,001726: 
041480,001727: 15,2721           04616                           TC       BANKCALL                              #  DONT NEED TO INHINY   THIS USED TO
041481,001728: 15,2722           77544                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
041482,001729: 15,2723           06037                           TC       INTPRET                               
041483,001730: 15,2724           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
041484,001731: 15,2725           35000                           CAF      2SECS                                 
041485,001732: 15,2726           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
041486,001733: 15,2727           02731                           ADRES    GRABGRAV                              
041487,001734: 
041488,001735: 15,2730           05155                           TC       ENDOFJOB                              
041489,001736: 
041490,001737: 15,2731           04674        GRABGRAV           TC       IBNKCALL                              
041491,001738: 15,2732           77544                           CADR     PIPSRINE                              
041492,001739: 15,2733           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
041493,001740: 15,2734           05105                           TC       FINDVAC                               
041494,001741: 15,2735  E5,1706                                  EBANK=   STARAD                                
041495,001742: 15,2735           02740 32065                     2CADR    ADDGRAV                               
041496,001743: 
041497,001744: 15,2737           05261                           TC       TASKOVER                              
041498,001745: 
041499,001746: 15,2740           04616        ADDGRAV            TC       BANKCALL                              
041500,001747: 15,2741           15263                           CADR     1/PIPA                                
041501,001748: 15,2742           25736                           INCR     GCTR                                  
041502,001749: 15,2743           06037                           TC       INTPRET                               
041503,001750: 15,2744           53375                           VLOAD    VAD                                   
041504,001751: 15,2745           00325                                    DELV                                  
041505,001752: 15,2746           02707                                    GACC                                  
041506,001753: 15,2747           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
041507,001754: 15,2750           50135                           SLOAD    BMN                                   
041508,001755: 15,2751           02737                                    GCTR                                  
041509,001756: 15,2752           32724                                    GREED                                 
041510,001757: 15,2753           53575                           VLOAD    UNIT                                  
041511,001758: 15,2754           02707                                    GACC                                  
041512,001759: 15,2755           36731                           STCALL   STAR                                  
041513,001760: 15,2756           47537                                    CDUTRIG                               #  TRANSFORM IN NB COOR AND STORE
041514,001761: 15,2757           77624                           CALL                                           #        IN OUTPUT
041515,001762: 15,2760           47671                                    *SMNB*                                
041516,001763: 15,2761           02715                           STORE    GOUT                                  
041517,001764: 15,2762           77776                           EXIT                                           
041518,001765: 15,2763           05353                           TC       PHASCHNG                              
041519,001766: 15,2764           04024                           OCT      04024                                 
041520,001767: 
041521,001768: 15,2765           06037        QMINEXIT           TC       INTPRET                               
041522,001769: 15,2766           77650                           GOTO                                           
041523,001770: 15,2767           02745                                    QMIN                                  
041524,001771: 15,2770           77753        T/2SEC             DEC      -20        B-14                       

Page 967

041526,001773: 15,2771           01404        DISGRVER           VN       0604                                  
041527,001774: 15,2772           07357        42DEG              OCT      07357                                 
041528,001775: 15,2773           06211        35DEG              OCT      06211                                 
041529,001776: 

Page 968

041531,001778:                                                                                                  #  NAME  GYROTRIM
041532,001779: 
041533,001780:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041534,001781:                                                                                                  #  TO ATTAIN A PRESCRIBED SET OF ANGLES.  THIS ROUTINE ASSUMES THE
041535,001782:                                                                                                  #  VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041536,001783: 
041537,001784:                                                                                                  #  CALL          CALL
041538,001785:                                                                                                  #                        GYROTRIM
041539,001786: 
041540,001787:                                                                                                  #  INPUT         THETAD,+1,+2 = DESIRED CDU ANGLES
041541,001788:                                                                                                  #                CDUX,CDUY,CDUZ
041542,001789: 
041543,001790:                                                                                                  #  OUTPUT -      GYRO TORQUE PULSES
041544,001791: 
041545,001792:                                                                                                  #  SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041546,001793:                                                                                                  #                IMPULSE, IMUSTALL
041547,001794:                                                                                                  #                -        -       -          *          *   -
041548,001795:                                                                                                  #  DEBRIS -      CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041549,001796: 
041550,001797: 15,2774                                           COUNT*   $$/P57                                
041551,001798: 15,2774           71220        GYROTRIM           STQ      DLOAD                                 
041552,001799: 15,2775           02745                                    QMIN                                  
041553,001800: 15,2776           00322                                    THETAD                                
041554,001801: 15,2777           65325                           PDDL     PDDL                                  
041555,001802: 15,3000           00324                                    THETAD     +2                         
041556,001803: 15,3001           00323                                    THETAD     +1                         
041557,001804: 15,3002           77666                           VDEF                                           
041558,001805: 15,3003           24767                           STOVL    CDUSPOT                               
041559,001806: 15,3004           24005                                    XUNIT                                 
041560,001807: 15,3005           77624                           CALL                                           
041561,001808: 15,3006           47664                                    TRG*NBSM                              
041562,001809: 15,3007           26707                           STOVL    STARAD                                
041563,001810: 15,3010           24003                                    YUNIT                                 
041564,001811: 15,3011           77624                           CALL                                           
041565,001812: 15,3012           47673                                    *NBSM*                                
041566,001813: 15,3013           36715                           STCALL   STARAD     +6                         
041567,001814: 15,3014           47537                                    CDUTRIG                               
041568,001815: 15,3015           77624                           CALL                                           
041569,001816: 15,3016           20030                                    CALCSMSC                              
041570,001817: 15,3017           77775                           VLOAD                                          
041571,001818: 15,3020           02665                                    XNB                                   
041572,001819: 15,3021           24007                           STOVL    6D                                    
041573,001820: 15,3022           02673                                    YNB                                   
041574,001821: 15,3023           34015                           STCALL   12D                                   
041575,001822: 15,3024           47441                                    AXISGEN                               
041576,001823: 15,3025           77624                           CALL                                           
041577,001824: 15,3026           47247                                    CALCGTA                               
041578,001825: 15,3027           77776        JUSTTRIM           EXIT                                           
041579,001826: 15,3030           04616                           TC       BANKCALL                              
041580,001827: 15,3031           17210                           CADR     IMUFINE                               
041581,001828: 15,3032           04616                           TC       BANKCALL                              

Page 969

041583,001830: 15,3033           17716                           CADR     IMUSTALL                              
041584,001831: 15,3034           05711                           TC       CURTAINS                              
041585,001832: 15,3035           33044                           CA       GYRCDR                                
041586,001833: 15,3036           04616                           TC       BANKCALL                              
041587,001834: 15,3037           17323                           CADR     IMUPULSE                              
041588,001835: 15,3040           04616                           TC       BANKCALL                              
041589,001836: 15,3041           17716                           CADR     IMUSTALL                              
041590,001837: 15,3042           05711                           TC       CURTAINS                              
041591,001838: 15,3043           12765                           TCF      QMINEXIT                              
041592,001839: 
041593,001840: 15,3044           02737        GYRCDR             ECADR    OGC                                   
041594,001841: 

Page 970

041596,001843:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
041597,001844: 
041598,001845: 15,3045           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
041599,001846: 15,3046           13050                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041600,001847: 15,3047           34753        1STAR              CAF      BIT1                                  
041601,001848: 15,3050           55757                           TS       STARIND                               
041602,001849: 
041603,001850: 15,3051           05353                           TC       PHASCHNG                              
041604,001851: 15,3052           04024                           OCT      04024                                 
041605,001852: 
041606,001853: 15,3053           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
041607,001854: 
041608,001855: 15,3054           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
041609,001856: 15,3055           00006                           EXTEND                                         
041610,001857: 15,3056           13067                           BZF      ASTAR                                 #  1ST STAR MARKED
041611,001858: 
041612,001859: 15,3057           05353                           TC       PHASCHNG                              
041613,001860: 15,3060           04024                           OCT      04024                                 
041614,001861: 
041615,001862: 15,3061           06037                           TC       INTPRET                               
041616,001863: 15,3062           45145                           DLOAD    CALL                                  
041617,001864: 15,3063           03562                                    TSIGHT                                #  TIME OF 2ND MARK
041618,001865: 15,3064           32472                                    PLANET                                
041619,001866: 15,3065           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
041620,001867: 15,3066           33101                                    SURFLINE                              
041621,001868: 
041622,001869: 15,3067           06037        ASTAR              TC       INTPRET                               
041623,001870: 15,3070           77775                           VLOAD                                          
041624,001871: 15,3071           02715                                    STARAD     +6                         
041625,001872: 15,3072           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
041626,001873: 15,3073           45145                           DLOAD    CALL                                  
041627,001874: 15,3074           03562                                    TSIGHT                                #  TIME OF 1ST MARK
041628,001875: 15,3075           32472                                    PLANET                                
041629,001876: 15,3076           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
041630,001877: 15,3077           77776                           EXIT                                           
041631,001878: 15,3100           13047                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
041632,001879: 

Page 971

041634,001881:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
041635,001882: 
041636,001883: 15,3101           77131        SURFLINE           SSP      AXT,2                                 
041637,001884: 15,3102           00052                                    S2                                    
041638,001885: 15,3103           00006                                    6                                     
041639,001886: 15,3104           00014                                    12D                                   
041640,001887: 15,3105           64373        WRTDESIR           VLOAD*   MXV                                   
041641,001888: 15,3106           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
041642,001889: 15,3107           03607                                    XSMD                                  
041643,001890: 15,3110           77656                           UNIT                                           
041644,001891: 15,3111           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
041645,001892: 15,3112           77773                           VLOAD*                                         
041646,001893: 15,3113           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
041647,001894: 15,3114           10023                           STORE    18D,2                                 
041648,001895: 15,3115           43104                           TIX,2    BON                                   
041649,001896: 15,3116           33105                                    WRTDESIR                              
041650,001897: 15,3117           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
041651,001898: 15,3120           33126                                    INITBY                                
041652,001899: 15,3121           77624        DOALIGN            CALL                                           
041653,001900: 15,3122           31256                                    R54                                   #  DO CHKSDATA
041654,001901: 15,3123           77614                           BOFF                                           
041655,001902: 15,3124           00354                                    FREEFLAG                              
041656,001903: 15,3125           33206                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
041657,001904: 15,3126           77624        INITBY             CALL                                           
041658,001905: 15,3127           47441                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041659,001906: 15,3130           77624                           CALL                                           
041660,001907: 15,3131           47247                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
041661,001908: 15,3132           77776                           EXIT                                           
041662,001909: 15,3133           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041663,001910: 15,3134           70104                           MASK     FLAGWRD8                              
041664,001911: 15,3135           10000                           CCS      A                                     
041665,001912: 15,3136           13145                           TCF      5DEGTEST                              
041666,001913: 15,3137           33313                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
041667,001914: 15,3140           04616                           TC       BANKCALL                              
041668,001915: 15,3141           20476                           CADR     GOFLASH                               
041669,001916: 15,3142           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041670,001917: 15,3143           13145                           TCF      5DEGTEST                              #  VB33 - PROCEED TO COARSE OR FINE
041671,001918: 15,3144           13207                           TCF      P57POST    +1                         #  VB32 - RECYCLE, MAYBE RE-ALIGN
041672,001919: 
041673,001920: 15,3145           06037        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041674,001921: 15,3146           40175                           VLOAD    BOV                                   
041675,001922: 15,3147           02740                                    OGC                                   
041676,001923: 15,3150           33151                                    SURFSUP                               
041677,001924: 15,3151           02750        SURFSUP            STORE    OGCT                                  
041678,001925: 15,3152           40141                           V/SC     BOV                                   
041679,001926: 15,3153           30610                                    5DEGREES                              
041680,001927: 15,3154           33254                                    COATRIM                               
041681,001928: 15,3155           52131                           SSP      GOTO                                  
041682,001929: 15,3156           02746                                    QMIN                                  
041683,001930: 15,3157           33161                                    SURFDISP                              

Page 972

041685,001932: 15,3160           33027                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041686,001933: 
041687,001934: 15,3161           77776        SURFDISP           EXIT                                           
041688,001935: 15,3162           05353                           TC       PHASCHNG                              
041689,001936: 15,3163           04024                           OCT      04024                                 
041690,001937: 
041691,001938: 15,3164           06037                           TC       INTPRET                               
041692,001939: 15,3165           75160                           AXC,1    AXC,2                                 
041693,001940: 15,3166           03606                                    XSMD                                  
041694,001941: 15,3167           01733                                    REFSMMAT                              
041695,001942: 15,3170           45014                           SET      CALL                                  
041696,001943: 15,3171           01462                                    REFSMFLG                              
041697,001944: 15,3172           31377                                    MATMOVE                               
041698,001945: 15,3173           77776                           EXIT                                           
041699,001946: 15,3174           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
041700,001947: 15,3175           13177                           TCF      B2F8                                  
041701,001948: 15,3176           13207                           TCF      P57POST    +1                         
041702,001949: 
041703,001950: 15,3177           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
041704,001951: 15,3200           70104                           MASK     FLAGWRD8                              
041705,001952: 15,3201           10000                           CCS      A                                     
041706,001953: 15,3202           13561                           TCF      P57JUMP                               #  ITS SET
041707,001954: 15,3203           06037                           TC       INTPRET                               
041708,001955: 15,3204           77624                           CALL                                           
041709,001956: 15,3205           33506                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041710,001957: 15,3206           77776        P57POST            EXIT                                           
041711,001958: 15,3207           35751                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
041712,001959: 15,3210           04616                           TC       BANKCALL                              
041713,001960: 15,3211           20623                           CADR     GOPERF1                               
041714,001961: 15,3212           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041715,001962: 15,3213           13561                           TCF      P57JUMP                               #  VB33 - PROCEED TO RE-ALIGN
041716,001963: 15,3214           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
041717,001964: 15,3215           61145                           AD       OPTION2                               
041718,001965: 15,3216           00006                           EXTEND                                         
041719,001966: 15,3217           13221                           BZF      +2                                    #  YES - GO CALCULATE LANDING SITE
041720,001967: 15,3220           16001                           TCF      GOTOPOOH                              #  NO - EXIT P57
041721,001968: 15,3221           05353                           TC       PHASCHNG                              #  RESTART PLACE
041722,001969: 15,3222           04024                           OCT      04024                                 
041723,001970: 15,3223           06037                           TC       INTPRET                               
041724,001971: 15,3224           45175                           VLOAD    CALL                                  #  USE GNB
041725,001972: 15,3225           02231                                    GSAV                                  
041726,001973: 15,3226           47661                                    CDU*NBSM                              #  GO TO SM COORDS
041727,001974: 15,3227           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
041728,001975: 15,3230           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
041729,001976: 15,3231           01463                                    LUNAFLAG                              
041730,001977: 15,3232           51515                           PDVL     ABVAL                                 
041731,001978: 15,3233           02023                                    RLS                                   
041732,001979: 15,3234           45561                           VXSC     STADR                                 
041733,001980: 15,3235           75745                           STORE    ALPHAV                                #  ALPHAV = RLSMAG * G(REF)
041734,001981: 15,3236           47014                           CLEAR    RTB                                   

Page 973

041736,001983: 15,3237           00662                                    ERADFLAG                              
041737,001984: 15,3240           21573                                    LOADTIME                              
041738,001985: 15,3241           77624                           CALL                                           
041739,001986: 15,3242           30446                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
041740,001987: 15,3243           01221                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
041741,001988: 15,3244           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041742,001989: 15,3245           01243                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
041743,001990: 15,3246           77606                           PUSH                                           #  TIME AT 6-7 IN PDLIST
041744,001991: 15,3247           35235                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
041745,001992: 15,3250           51670                                    R-TO-RP                               
041746,001993: 15,3251           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
041747,001994: 15,3252           77776                           EXIT                                           
041748,001995: 15,3253           16001                           TCF      GOTOPOOH                              #  EXIT P57
041749,001996: 

Page 974

041751,001998:                                                                                                  #  COARSE AND FINE ALIGN IMU
041752,001999: 
041753,002000: 15,3254           75160        COATRIM            AXC,1    AXC,2                                 
041754,002001: 15,3255           02664                                    XDC                                   
041755,002002: 15,3256           02642                                    XSM                                   
041756,002003: 15,3257           77624                           CALL                                           
041757,002004: 15,3260           31377                                    MATMOVE                               
041758,002005: 15,3261           77624                           CALL                                           
041759,002006: 15,3262           47537                                    CDUTRIG                               
041760,002007: 15,3263           77624                           CALL                                           
041761,002008: 15,3264           20030                                    CALCSMSC                              
041762,002009: 15,3265           77624                           CALL                                           
041763,002010: 15,3266           47353                                    CALCGA                                
041764,002011: 15,3267           77414                           BOFF     EXIT                                  
041765,002012: 15,3270           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
041766,002013: 15,3271           33303                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
041767,002014: 15,3272           35010                           CAF      V06N22                                #  THAN 5 DEGREES
041768,002015: 15,3273           04616                           TC       BANKCALL                              
041769,002016: 15,3274           20476                           CADR     GOFLASH                               
041770,002017: 15,3275           06001                           TC       GOTOPOOH                              
041771,002018: 15,3276           13300                           TCF      +2                                    
041772,002019: 15,3277           13272                           TCF      -5                                    
041773,002020: 15,3300           05353                           TC       PHASCHNG                              
041774,002021: 15,3301           04024                           OCT      04024                                 
041775,002022: 
041776,002023: 15,3302           06037                           TC       INTPRET                               
041777,002024: 15,3303           77624        CORSIT             CALL                                           
041778,002025: 15,3304           31565                                    COARSE                                
041779,002026: 15,3305           77624                           CALL                                           
041780,002027: 15,3306           31602                                    NCOARSE                               
041781,002028: 15,3307           77624                           CALL                                           
041782,002029: 15,3310           32774                                    GYROTRIM                              
041783,002030: 15,3311           77650                           GOTO                                           
041784,002031: 15,3312           33161                                    SURFDISP                              
041785,002032: 15,3313           01535        DISPGYRO           VN       0693                                  
041786,002033: 

Page 975

041788,002035:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
041789,002036: 
041790,002037: 15,3314           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041791,002038: 15,3315           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
041792,002039: 
041793,002040: 15,3316           36245                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041794,002041: 15,3317           55145                           TS       OPTION2                               
041795,002042: 15,3320           34753        P57OPT             CAF      BIT1                                  
041796,002043: 15,3321           04616                           TC       BANKCALL                              
041797,002044: 15,3322           20713                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
041798,002045: 15,3323           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
041799,002046: 15,3324           13331                           TCF      ALIGNOPT                              #  V33 PROCEED
041800,002047: 15,3325           13320                           TCF      P57OPT                                #  V32 RECYCLE
041801,002048: 
041802,002049: 15,3326           05353                           TC       PHASCHNG                              
041803,002050: 15,3327           00014                           OCT      00014                                 
041804,002051: 15,3330           05155                           TC       ENDOFJOB                              
041805,002052: 
041806,002053: 15,3331           31145        ALIGNOPT           CA       OPTION2                               
041807,002054: 15,3332           76245                           MASK     THREE                                 
041808,002055: 15,3333           50000                           INDEX    A                                     
041809,002056: 15,3334           13335                           TCF      +1                                    
041810,002057: 15,3335           13350                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
041811,002058: 15,3336           13411                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
041812,002059: 15,3337           13320                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
041813,002060: 15,3340           06037                           TC       INTPRET                               #  OPTION 3 REFSMMAT
041814,002061: 15,3341           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
041815,002062: 15,3342           01733                                    REFSMMAT                              
041816,002063: 15,3343           03606                                    XSMD                                  
041817,002064: 15,3344           77624                           CALL                                           
041818,002065: 15,3345           31377                                    MATMOVE                               
041819,002066: 15,3346           77650                           GOTO                                           
041820,002067: 15,3347           33410                                    PACKOPTN   -1                         
041821,002068: 
041822,002069: 15,3350           06037        TDISP              TC       INTPRET                               
041823,002070: 15,3351           77745                           DLOAD                                          
041824,002071: 15,3352           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
041825,002072: 15,3353           01046        P57A               STORE    DSPTEM1                               
041826,002073: 15,3354           77776                           EXIT                                           
041827,002074: 15,3355           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
041828,002075: 15,3356           04616                           TC       BANKCALL                              
041829,002076: 15,3357           20476                           CADR     GOFLASH                               
041830,002077: 15,3360           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE
041831,002078: 15,3361           13363                           TCF      +2                                    
041832,002079: 15,3362           13355                           TCF      P57AA                                 #  VB32 - RECYCLE
041833,002080: 
041834,002081: 15,3363           06037                           TC       INTPRET                               
041835,002082: 15,3364           65234                           RTB      PDDL                                  
041836,002083: 15,3365           21573                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
041837,002084: 15,3366           01046                                    DSPTEM1                               

Page 976

041839,002086: 15,3367           65254                           BZE      PDDL                                  
041840,002087: 15,3370           33400                                    P57C                                  #  IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041841,002088: 15,3371           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041842,002089: 15,3372           01046                                    DSPTEM1                               
041843,002090: 15,3373           33400                                    P57C                                  
041844,002091: 15,3374           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
041845,002092: 15,3375           74335                           STORE    TIG                                   #  STORE IT IN TIG
041846,002093: 15,3376           36775                           STCALL   TALIGN                                
041847,002094: 15,3377           33402                                    P57D                                  
041848,002095: 15,3400           45545        P57C               DLOAD    STADR                                 
041849,002096: 15,3401           75002                           STORE    TALIGN                                
041850,002097: 15,3402           34041        P57D               STCALL   TDEC1                                 
041851,002098: 15,3403           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
041852,002099: 15,3404           53575                           VLOAD    UNIT                                  #  IN X,Y,ZSMD
041853,002100: 15,3405           00001                                    RATT                                  
041854,002101: 15,3406           37607                           STCALL   XSMD                                  
041855,002102: 15,3407           11013                                    LSORIENT                              
041856,002103: 15,3410           77776                           EXIT                                           
041857,002104: 15,3411           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
041858,002105: 15,3412           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
041859,002106: 15,3413           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
041860,002107: 15,3414           34737                           CAF      REFSMBIT                              
041861,002108: 15,3415           70077                           MASK     FLAGWRD3                              #  REFSMFLG
041862,002109: 15,3416           10000                           CCS      A                                     
041863,002110: 15,3417           34745                           CAF      BIT7                                  #  SET
041864,002111: 15,3420           27146                           ADS      OPTION1    +2                         #  CLEAR - JUST ZERO
041865,002112: 15,3421           34753                           CAF      ATTFLBIT                              
041866,002113: 15,3422           70102                           MASK     FLAGWRD6                              #  ATTFLG
041867,002114: 15,3423           10000                           CCS      A                                     
041868,002115: 15,3424           34750                           CAF      BIT4                                  #  SET
041869,002116: 15,3425           27146                           ADS      OPTION1    +2                         #  CLEAR - ZERO IN A
041870,002117: 15,3426           34750                           CAF      BIT4                                  
041871,002118: 15,3427           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
041872,002119: 
041873,002120: 15,3430           33651        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
041874,002121: 15,3431           04616                           TC       BANKCALL                              
041875,002122: 15,3432           20476                           CADR     GOFLASH                               
041876,002123: 15,3433           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041877,002124: 15,3434           13436                           TCF      +2                                    #  V33 - PROCEED
041878,002125: 15,3435           13430                           TCF      DSPOPTN                               #  V32 - RECYCLE
041879,002126: 
041880,002127: 15,3436           34737                           CAF      REFSMBIT                              
041881,002128: 15,3437           70077                           MASK     FLAGWRD3                              
041882,002129: 15,3440           10000                           CCS      A                                     
041883,002130: 15,3441           13541                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
041884,002131: 15,3442           34753                           CAF      ATTFLBIT                              #  CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041885,002132: 15,3443           70102                           MASK     FLAGWRD6                              
041886,002133: 15,3444           10000                           CCS      A                                     
041887,002134: 15,3445           13545                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041888,002135: 15,3446           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 977

041890,002137: 15,3447           71145                           MASK     OPTION2                               
041891,002138: 15,3450           10000                           CCS      A                                     
041892,002139: 15,3451           13545                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041893,002140: 15,3452           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS - ALARM 701
041894,002141: 15,3453           00701                           OCT      701                                   
041895,002142: 15,3454           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
041896,002143: 15,3455           04616                           TC       BANKCALL                              
041897,002144: 15,3456           20476                           CADR     GOFLASH                               
041898,002145: 15,3457           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041899,002146: 15,3460           13430                           TCF      DSPOPTN                               #  V33 - PROCEED ********TEMPORARY
041900,002147: 15,3461           13430                           TCF      DSPOPTN                               #  VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041901,002148: 

Page 978

041903,002150:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041904,002151: 
041905,002152: 15,3462           40220        MFREF              STQ      SETPD                                 
041906,002153: 15,3463           02746                                    QMAJ                                  
041907,002154: 15,3464           00001                                    0                                     
041908,002155: 15,3465           77634                           RTB                                            
041909,002156: 15,3466           21573                                    LOADTIME                              
041910,002157: 15,3467           27562                           STOVL    TSIGHT                                
041911,002158: 15,3470           02723                                    VEC1                                  
041912,002159: 15,3471           41525                           PDDL     PUSH                                  
041913,002160: 15,3472           03562                                    TSIGHT                                
041914,002161: 15,3473           77624                           CALL                                           
041915,002162: 15,3474           55716                                    RP-TO-R                               
041916,002163: 15,3475           26723                           STOVL    VEC1                                  
041917,002164: 15,3476           02731                                    VEC2                                  
041918,002165: 15,3477           65201                           SETPD    PDDL                                  
041919,002166: 15,3500           00001                                    0                                     
041920,002167: 15,3501           03562                                    TSIGHT                                
041921,002168: 15,3502           45006                           PUSH     CALL                                  
041922,002169: 15,3503           55716                                    RP-TO-R                               
041923,002170: 15,3504           36731                           STCALL   VEC2                                  
041924,002171: 15,3505           02746                                    QMAJ                                  
041925,002172: 

Page 979

041927,002174:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041928,002175:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
041929,002176: 
041930,002177: 15,3506           45020        REFMF              STQ      CALL                                  
041931,002178: 15,3507           02746                                    QMAJ                                  
041932,002179: 15,3510           47537                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
041933,002180: 15,3511           40234                           RTB      SETPD                                 
041934,002181: 15,3512           21573                                    LOADTIME                              
041935,002182: 15,3513           00001                                    0                                     
041936,002183: 15,3514           37562                           STCALL   TSIGHT                                
041937,002184: 15,3515           20030                                    CALCSMSC                              #  GET YNB IN SM
041938,002185: 15,3516           61375                           VLOAD    VXM                                   
041939,002186: 15,3517           02673                                    YNB                                   
041940,002187: 15,3520           01734                                    REFSMMAT                              #  YNB TO REF
041941,002188: 15,3521           65256                           UNIT     PDDL                                  
041942,002189: 15,3522           03562                                    TSIGHT                                
041943,002190: 15,3523           45006                           PUSH     CALL                                  
041944,002191: 15,3524           51670                                    R-TO-RP                               
041945,002192: 15,3525           26237                           STOVL    YNBSAV                                #  YNB TO MF
041946,002193: 15,3526           02701                                    ZNB                                   
041947,002194: 15,3527           53505                           VXM      UNIT                                  
041948,002195: 15,3530           01734                                    REFSMMAT                              #  ZNB TO REF
041949,002196: 15,3531           41525                           PDDL     PUSH                                  
041950,002197: 15,3532           03562                                    TSIGHT                                
041951,002198: 15,3533           77624                           CALL                                           
041952,002199: 15,3534           51670                                    R-TO-RP                               #  ZNB TO MF
041953,002200: 15,3535           02245                           STORE    ZNBSAV                                
041954,002201: 15,3536           77614                           SETGO                                          
041955,002202: 15,3537           03036                                    ATTFLAG                               
041956,002203: 15,3540           02746                                    QMAJ                                  
041957,002204: 

Page 980

041959,002206:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
041960,002207: 
041961,002208: 15,3541           06037        GETLMATT           TC       INTPRET                               
041962,002209: 15,3542           77624                           CALL                                           
041963,002210: 15,3543           33506                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041964,002211: 15,3544           77776                           EXIT                                           
041965,002212: 
041966,002213: 15,3545           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
041967,002214: 15,3546           00205                           ADRES    INITALGN                              
041968,002215: 15,3547           34753                           CAF      BIT1                                  
041969,002216: 15,3550           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
041970,002217: 15,3551           10000                           CCS      A                                     
041971,002218: 15,3552           12563                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
041972,002219: 
041973,002220: 15,3553           05353        ATTCHK             TC       PHASCHNG                              
041974,002221: 15,3554           04024                           OCT      04024                                 
041975,002222: 
041976,002223: 15,3555           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
041977,002224: 15,3556           70102                           MASK     FLAGWRD6                              
041978,002225: 15,3557           10000                           CCS      A                                     
041979,002226: 15,3560           13575                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
041980,002227: 15,3561           05353        P57JUMP            TC       PHASCHNG                              
041981,002228: 15,3562           04024                           OCT      04024                                 
041982,002229: 
041983,002230: 15,3563           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR - RESET INTALIGN FLAG
041984,002231: 15,3564           00205                           ADRES    INITALGN                              
041985,002232: 15,3565           36245                           CAF      THREE                                 
041986,002233: 15,3566           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
041987,002234: 15,3567           50000                           INDEX    A                                     
041988,002235: 15,3570           13571                           TCF      +1                                    
041989,002236: 15,3571           13575                           TCF      P57OPT0                               #  OPTION IS 0
041990,002237: 15,3572           13616                           TCF      P57OPT1                               #  OPTION IS 1
041991,002238: 15,3573           13634                           TCF      P57OPT2                               #  OPTION IS 2
041992,002239: 15,3574           13635                           TCF      P57OPT3                               #  OPTION IS 3
041993,002240: 

Page 981

041995,002242:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
041996,002243: 
041997,002244: 15,3575           06037        P57OPT0            TC       INTPRET                               
041998,002245: 15,3576           77775                           VLOAD                                          
041999,002246: 15,3577           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
042000,002247: 15,3600           26723                           STOVL    VEC1                                  
042001,002248: 15,3601           02245                                    ZNBSAV                                
042002,002249: 15,3602           36731                           STCALL   VEC2                                  
042003,002250: 15,3603           47537                                    CDUTRIG                               
042004,002251: 15,3604           77624                           CALL                                           
042005,002252: 15,3605           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
042006,002253: 15,3606           77775                           VLOAD                                          
042007,002254: 15,3607           02673                                    YNB                                   
042008,002255: 15,3610           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
042009,002256: 15,3611           02701                                    ZNB                                   
042010,002257: 15,3612           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
042011,002258: 15,3613           33462                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
042012,002259: 15,3614           77650                           GOTO                                           
042013,002260: 15,3615           33101                                    SURFLINE                              
042014,002261: 
042015,002262:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042016,002263: 
042017,002264: 15,3616           06037        P57OPT1            TC       INTPRET                               
042018,002265: 15,3617           53575                           VLOAD    UNIT                                  
042019,002266: 15,3620           02023                                    RLS                                   #  LANDING SITE VEC
042020,002267: 15,3621           26723                           STOVL    VEC1                                  
042021,002268: 15,3622           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
042022,002269: 15,3623           36731                           STCALL   VEC2                                  
042023,002270: 15,3624           47537                                    CDUTRIG                               
042024,002271: 15,3625           77624                           CALL                                           
042025,002272: 15,3626           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
042026,002273: 15,3627           45175                           VLOAD    CALL                                  
042027,002274: 15,3630           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042028,002275: 15,3631           47661                                    CDU*NBSM                              
042029,002276: 15,3632           77650                           GOTO                                           
042030,002277: 15,3633           33610                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
042031,002278: 

Page 982

042033,002280:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
042034,002281: 
042035,002282: 15,3634           13045        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
042036,002283: 
042037,002284:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042038,002285: 
042039,002286: 15,3635           06037        P57OPT3            TC       INTPRET                               
042040,002287: 15,3636           53575                           VLOAD    UNIT                                  
042041,002288: 15,3637           02023                                    RLS                                   #  LANDING SITE VEC
042042,002289: 15,3640           02723                           STORE    VEC1                                  
042043,002290: 15,3641           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
042044,002291: 15,3642           02231                                    GSAV                                  #  GRAVITY VEC NB
042045,002292: 15,3643           77624                           CALL                                           
042046,002293: 15,3644           47661                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042047,002294: 15,3645           36761                           STCALL   STARSAV1                              
042048,002295: 15,3646           33462                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
042049,002296: 15,3647           77776                           EXIT                                           
042050,002297: 15,3650           13047                           TCF      1STAR                                 #  1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042051,002298: 
042052,002299: 15,3651           01206        VB05N06            VN       506                                   
042053,002300: 

Page 983

042055,002302:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
042056,002303: 
042057,002304: 15,3652           41302        IMUCHK             CS       IMODES30                              
042058,002305: 15,3653           74743                           MASK     BIT9                                  
042059,002306: 15,3654           10000                           CCS      A                                     #  IS IMU ON
042060,002307: 15,3655           13661                           TCF      +4                                    #  YES
042061,002308: 
042062,002309: 15,3656           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
042063,002310: 15,3657           00210                           OCT      210                                   
042064,002311: 15,3660           06001                           TC       GOTOPOOH                              
042065,002312: 
042066,002313: 15,3661           05504                           TC       UPFLAG                                
042067,002314: 15,3662           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
042068,002315: 
042069,002316: 15,3663           04631                           TC       SWRETURN                              
042070,002317: 
042071,002318: 04,3013                                           BANK     04                                    
042072,002319: 04,2000                                           SETLOC   AOTMARK2                              
042073,002320: 04,2000                                           BANK                                           
042074,002321: 04,3013                                           COUNT*   $$/P57                                
042075,002322: 
042076,002323: 04,3013           77220        LSORIENT           STQ      VLOAD                                 
042077,002324: 04,3014           02746                                    QMAJ                                  
042078,002325: 04,3015           01555                                    RRECTCSM                              
042079,002326: 04,3016           47235                           VXV      VXV                                   
042080,002327: 04,3017           01563                                    VRECTCSM                              
042081,002328: 04,3020           03607                                    XSMD                                  
042082,002329: 04,3021           77656                           UNIT                                           
042083,002330: 04,3022           03623                           STORE    ZSMD                                  
042084,002331: 04,3023           53435                           VXV      UNIT                                  
042085,002332: 04,3024           03607                                    XSMD                                  
042086,002333: 04,3025           37615                           STCALL   YSMD                                  
042087,002334: 04,3026           02746                                    QMAJ                                  
042088,002335: 

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