Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Luminary 99 revision 1 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes described in original Luminary memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. Note that page numbers in the reconstructed code match those on the Luminary 099 revision 001 printout, although the added code would likely have changed page numbers for a real Luminary 98 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

039542,000002:                                                                                                  ## Copyright:   Public domain.
039543,000003:                                                                                                  ## Filename:    P51-P53.agc
039544,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
039545,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
039546,000006:                                                                                                  ##              development version of the flight software for the Lunar 
039547,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
039548,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
039549,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
039550,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
039551,000011:                                                                                                  ##              Luminary 98 and 99.
039552,000012:                                                                                                  ## Reference:   pp. 926-983
039553,000013:                                                                                                  ## Assembler:   yaYUL
039554,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
039555,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
039556,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
039557,000017: 

Page 926

039559,000019:                                                                                                  #  PROGRAM NAME - PROG52                 DATE - JAN 9, 1967
039560,000020:                                                                                                  #  MOD NO - 0                                    LOG SECTION - P51-P53
039561,000021:                                                                                                  #  MODIFICATION BY - LONSKE                      ASSEMBLY - SUNDANCE REV 46
039562,000022: 
039563,000023:                                                                                                  #  FUNCTIONAL DESCRIPTION -
039564,000024: 
039565,000025:                                                                                                  #        ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT.  THE PRESENT IMU ORIENTATION IS KNOWN
039566,000026:                                                                                                  #        AND IS STORED IN REFSMMAT.  THE THREE POSSIBLE ORIENTATIONS MAY BE_
039567,000027: 
039568,000028:                                                                                                  #        (A)     PREFERRED ORIENTATION
039569,000029: 
039570,000030:                                                                                                  #                AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER.  THIS ORIENTATION MUST BE CALCULATED AND
039571,000031:                                                                                                  #                STORED BY A PREVIOUSLY SELECTED PROGRAM.
039572,000032: 
039573,000033:                                                                                                  #        (B)     NOMINAL ORIENTATION
039574,000034: 
039575,000035:                                                                                                  #                X   = UNIT ( R )
039576,000036:                                                                                                  #                -SM
039577,000037: 
039578,000038:                                                                                                  #                Y   = UNIT (V X R)
039579,000039:                                                                                                  #                 SM
039580,000040: 
039581,000041:                                                                                                  #                Z   = UNIT (X   X Y  )
039582,000042:                                                                                                  #                 SM          SM    SM
039583,000043: 
039584,000044:                                                                                                  #                WHERE_
039585,000045: 
039586,000046:                                                                                                  #                R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039587,000047:                                                                                                  #                -
039588,000048: 
039589,000049:                                                                                                  #                V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039590,000050:                                                                                                  #                -
039591,000051: 
039592,000052:                                                                                                  #        (C)     REFSMMAT ORIENTATION
039593,000053: 
039594,000054:                                                                                                  #        (D)     LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039595,000055: 
039596,000056:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION.  THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039597,000057:                                                                                                  #        WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039598,000058:                                                                                                  #        SINCE THE LAST ALIGNMENT).
039599,000059: 
039600,000060:                                                                                                  #        AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039601,000061:                                                                                                  #        NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE.  CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039602,000062:                                                                                                  #        COARSE ALIGN THE IMU.  THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED.  IF 2 STARS ARE NOT AVAILABLE AN ALARM
039603,000063:                                                                                                  #        IS FLASHED TO NOTIFY THE ASTRONAUT.  AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039604,000064:                                                                                                  #        EITHER MANUALLY OR AUTOMATICALLY.  AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51.  IF
039605,000065:                                                                                                  #        THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED.  OTHERWISE P00 IS
039606,000066:                                                                                                  #        REQUESTED.
039607,000067: 
039608,000068:                                                                                                  #  CALLING SEQUENCE -
039609,000069: 

Page 927

039611,000071:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039612,000072: 
039613,000073:                                                                                                  #  SUBROUTINES CALLED -
039614,000074: 
039615,000075:                                                                                                  #        1. FLAGDOWN              7. S52.2               13. NEWMODEX
039616,000076:                                                                                                  #        2. R02BOTH               8. CAL53A              14. PRIOLARM
039617,000077:                                                                                                  #        3. GOPERF4               9. FLAGUP
039618,000078:                                                                                                  #        4. MATMOVE              10. R56
039619,000079:                                                                                                  #        5. GOFLASH              11. R51
039620,000080:                                                                                                  #        6. S52.3                12. GOPERF3
039621,000081: 
039622,000082:                                                                                                  #  NORMAL EXIT MODES -
039623,000083: 
039624,000084:                                                                                                  #        EXITS TO ENDOFJOB
039625,000085: 
039626,000086:                                                                                                  #  ALARM OR ABORT EXIT MODES -
039627,000087: 
039628,000088:                                                                                                  #        NONE
039629,000089: 
039630,000090:                                                                                                  #  OUTPUT -
039631,000091: 
039632,000092:                                                                                                  #        THE FOLLOWING MAY BE FLASHED ON THE DSKY
039633,000093:                                                                                                  #                1. IMU ORIENTATION CODE
039634,000094:                                                                                                  #                2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039635,000095:                                                                                                  #                3. TIME OF NEXT IGNITION
039636,000096:                                                                                                  #                4. GIMBAL ANGLES
039637,000097:                                                                                                  #                5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039638,000098:                                                                                                  #                6. PLEASE PERFORM P00
039639,000099:                                                                                                  #        THE MODE DISPLAY MAY BE CHANGED TO 20
039640,000100: 
039641,000101:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
039642,000102: 
039643,000103:                                                                                                  #        PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.  IF IT HAS BEEN COMPUTED IT IS STORED IN
039644,000104:                                                                                                  #        XSMD, YSMD, ZSMD.
039645,000105: 
039646,000106:                                                                                                  #        RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039647,000107: 
039648,000108:                                                                                                  #  DEBRIS -
039649,000109: 
039650,000110:                                                                                                  #        WORK AREA
039651,000111: 
039652,000112: 33,3757                                           BANK     33                                    
039653,000113: 15,2000                                           SETLOC   P50S                                  
039654,000114: 15,2000                                           BANK                                           
039655,000115: 
039656,000116: 15,2050  E5,1755                                  EBANK=   BESTI                                 
039657,000117: 15,2050                                           COUNT*   $$/P52                                
039658,000118: 15,2050           04616        PROG52             TC       BANKCALL                              
039659,000119: 15,2051           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
039660,000120: 15,2052           34750                           CAF      PFRATBIT                              
039661,000121: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
039662,000122: 15,2054           10000                           CCS      A                                     

Page 928

039664,000124: 15,2055           02060                           TC       P52A                                  #  YES
039665,000125: 15,2056           34752                           CAF      BIT2                                  #  NO
039666,000126: 15,2057           02061                           TC       P52A       +1                         
039667,000127: 15,2060           34753        P52A               CAF      BIT1                                  
039668,000128: 15,2061           55145                           TS       OPTION2                               
039669,000129: 15,2062           34753        P52B               CAF      BIT1                                  
039670,000130: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
039671,000131: 15,2064           20713                           CADR     GOPERF4R                              #  FLASH V04N06
039672,000132: 15,2065           06001                           TC       GOTOPOOH                              
039673,000133: 15,2066           12073                           TCF      +5                                    #  V33 - PROCEED
039674,000134: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
039675,000135: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
039676,000136: 15,2071           00014                           OCT      00014                                 
039677,000137: 15,2072           05155                           TC       ENDOFJOB                              
039678,000138: 
039679,000139: 15,2073           31145                           CA       OPTION2                               
039680,000140: 15,2074           76245                           MASK     THREE                                 
039681,000141: 15,2075           50000                           INDEX    A                                     
039682,000142: 15,2076           02077                           TC       +1                                    
039683,000143: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
039684,000144: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
039685,000145: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
039686,000146: 15,2102           06037        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
039687,000147: 15,2103           77650                           GOTO                                           
039688,000148: 15,2104           32164                                    P52F                                  #  GO DO R51
039689,000149: 
039690,000150: 15,2105           00006        OPT4               EXTEND                                         
039691,000151: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
039692,000152: 15,2107           12112                           TCF      P52T       +2                         
039693,000153: 
039694,000154: 15,2110           00006        P52T               EXTEND                                         
039695,000155: 15,2111           34755                           DCA      NEG0                                  
039696,000156: 15,2112           53046                           DXCH     DSPTEM1                               
039697,000157: 15,2113           32170                           CAF      V06N34*                               
039698,000158: 15,2114           04616                           TC       BANKCALL                              
039699,000159: 15,2115           20476                           CADR     GOFLASH                               
039700,000160: 15,2116           06001                           TC       GOTOPOOH                              
039701,000161: 15,2117           02121                           TC       +2                                    
039702,000162: 15,2120           02113                           TC       -5                                    
039703,000163: 15,2121           53046                           DXCH     DSPTEM1                               
039704,000164: 15,2122           00006                           EXTEND                                         
039705,000165: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
039706,000166: 15,2124           12127                           TCF      +3                                    
039707,000167: 15,2125           00006                           EXTEND                                         
039708,000168: 15,2126           30025                           DCA      TIME2                                 
039709,000169: 15,2127           53775                           DXCH     TALIGN                                
039710,000170: 15,2130           31145        P52V               CA       OPTION2                               
039711,000171: 15,2131           74752                           MASK     BIT2                                  
039712,000172: 15,2132           10000                           CCS      A                                     
039713,000173: 15,2133           02137                           TC       P52W                                  

Page 929

039715,000175: 15,2134           06037                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
039716,000176: 15,2135           77650                           GOTO                                           
039717,000177: 15,2136           32220                                    P52LS                                 
039718,000178: 

Page 930

039720,000180:                                                                                                  #  START ALIGNMENT
039721,000181: 
039722,000182: 15,2137           06037        P52W               TC       INTPRET                               
039723,000183: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
039724,000184: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
039725,000185: 15,2142           31650                                    S52.3                                 #        ORIENTATION
039726,000186: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
039727,000187: 15,2144           31617                                    S52.2                                 #        COMPUTE GIMBAL ANGLES
039728,000188: 15,2145           77776                           EXIT                                           
039729,000189: 15,2146           35010                           CAF      V06N22                                
039730,000190: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
039731,000191: 15,2150           20476                           CADR     GOFLASH                               
039732,000192: 15,2151           06001                           TC       GOTOPOOH                              
039733,000193: 15,2152           12171                           TCF      COARSTYP                              #  V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039734,000194: 15,2153           06037        P52H               TC       INTPRET                               
039735,000195: 15,2154           77650                           GOTO                                           
039736,000196: 15,2155           32143                                    P52D                                  
039737,000197: 15,2156           06037        REGCOARS           TC       INTPRET                               
039738,000198: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
039739,000199: 15,2160           31327                                    CAL53A                                #        ROUTINE
039740,000200: 15,2161           43014        COARSRET           SET      CLEAR                                 
039741,000201: 15,2162           01462                                    REFSMFLG                              
039742,000202: 15,2163           01273                                    PFRATFLG                              
039743,000203: 15,2164           77624        P52F               CALL                                           
039744,000204: 15,2165           31015                                    R51                                   
039745,000205: 15,2166           77776        P52OUT             EXIT                                           
039746,000206: 15,2167           06001                           TC       GOTOPOOH                              
039747,000207: 15,2170     5006               VB05N09            =        V05N09                                
039748,000208: 15,2170           01442        V06N34*            VN       634                                   
039749,000209: 

Page 931

039751,000211:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039752,000212: 
039753,000213: 15,2171           32217        COARSTYP           CAF      OCT13                                 
039754,000214: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039755,000215: 15,2173           20623                           CADR     GOPERF1                               
039756,000216: 15,2174           16001                           TCF      GOTOPOOH                              #  V34 - TERMIN&OE
039757,000217: 15,2175           12156                           TCF      REGCOARS                              #  V33 - NORMAL COARSE
039758,000218: 15,2176           06037                           TC       INTPRET                               #  V32 - GYRO TORQUE COARSE
039759,000219: 15,2177           64375                           VLOAD    MXV                                   
039760,000220: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
039761,000221: 15,2201           01734                                    REFSMMAT                              
039762,000222: 15,2202           77656                           UNIT                                           
039763,000223: 15,2203           26665                           STOVL    XDC                                   
039764,000224: 15,2204           03615                                    YSMD                                  
039765,000225: 15,2205           53521                           MXV      UNIT                                  
039766,000226: 15,2206           01734                                    REFSMMAT                              
039767,000227: 15,2207           26673                           STOVL    YDC                                   
039768,000228: 15,2210           03623                                    ZSMD                                  
039769,000229: 15,2211           53521                           MXV      UNIT                                  
039770,000230: 15,2212           01734                                    REFSMMAT                              
039771,000231: 15,2213           36701                           STCALL   ZDC                                   
039772,000232: 15,2214           31164                                    GYCOARS                               
039773,000233: 15,2215           77650                           GOTO                                           
039774,000234: 15,2216           32166                                    P52OUT                                
039775,000235: 15,2217           00013        OCT13              OCT      13                                    
039776,000236: 

Page 932

039778,000238:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
039779,000239: 
039780,000240: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
039781,000241: 15,2221           01463                                    LUNAFLAG                              
039782,000242: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
039783,000243: 15,2223           77201                           SETPD    VLOAD                                 
039784,000244: 15,2224           00001                                    0                                     
039785,000245: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
039786,000246: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
039787,000247: 15,2227           02775                                    TALIGN                                
039788,000248: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
039789,000249: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
039790,000250: 15,2232           77742                           VSR2                                           
039791,000251: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
039792,000252: 15,2234           02775                                    TALIGN                                
039793,000253: 15,2235           77624                           CALL                                           
039794,000254: 15,2236           30446                                    N89DISP                               
039795,000255: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
039796,000256: 15,2240           02032                                    ALPHAV                                
039797,000257: 15,2241           37607                           STCALL   XSMD                                  
039798,000258: 15,2242           11013                                    LSORIENT                              
039799,000259: 15,2243           77650                           GOTO                                           
039800,000260: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
039801,000261: 

Page 933

039803,000263:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039804,000264: 
039805,000265: 14,2000                                           SETLOC   P50S1                                 
039806,000266: 14,2000                                           BANK                                           
039807,000267: 14,2446  E5,1642                                  EBANK=   XSM                                   
039808,000268: 
039809,000269: 14,2446           77620        N89DISP            STQ                                            
039810,000270: 14,2447           02746                                    QMAJ                                  
039811,000271: 14,2450           35243                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
039812,000272: 14,2451           26351                                    LAT-LONG                              
039813,000273: 14,2452           70545                           DLOAD    SR1                                   
039814,000274: 14,2453           01123                                    LONG                                  
039815,000275: 14,2454           16711                           STODL    LANDLONG                              
039816,000276: 14,2455           01125                                    ALT                                   
039817,000277: 14,2456           16713                           STODL    LANDALT                               
039818,000278: 14,2457           01121                                    LAT                                   
039819,000279: 14,2460           16707                           STODL    LANDLAT                               
039820,000280: 14,2461           77776                           EXIT                                           
039821,000281: 
039822,000282: 14,2462           32505        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
039823,000283: 14,2463           04616                           TC       BANKCALL                              
039824,000284: 14,2464           20476                           CADR     GOFLASH                               
039825,000285: 14,2465           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE - EXIT P57
039826,000286: 14,2466           12470                           TCF      +2                                    #  V33 - PROCEED - ACCEPT LS DATA
039827,000287: 14,2467           12462                           TCF      LSDISP                                #  V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039828,000288: 
039829,000289: 14,2470           06037                           TC       INTPRET                               
039830,000290: 14,2471           72545                           DLOAD    SL1                                   
039831,000291: 14,2472           02711                                    LANDLONG                              
039832,000292: 14,2473           15123                           STODL    LONG                                  
039833,000293: 14,2474           02713                                    LANDALT                               
039834,000294: 14,2475           15125                           STODL    ALT                                   
039835,000295: 14,2476           02707                                    LANDLAT                               
039836,000296: 14,2477           15121                           STODL    LAT                                   
039837,000297: 14,2500           01243                                    GDT/2      +4                         #  PICK UP TIME
039838,000298: 14,2501           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
039839,000299: 14,2502           26422                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
039840,000300: 14,2503           77650                           GOTO                                           
039841,000301: 14,2504           02746                                    QMAJ                                  
039842,000302: 14,2505           01531        V06N89*            VN       689                                   
039843,000303: 

Page 934

039845,000305:                                                                                                  #  NAME - S50 ALIAS LOCSAM
039846,000306:                                                                                                  #  BY
039847,000307:                                                                                                  #  VINCENT
039848,000308: 
039849,000309:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039850,000310: 
039851,000311:                                                                                                  #        DEFINE
039852,000312: 
039853,000313:                                                                                                  #        U   = UNIT( SUN WRT EARTH )
039854,000314:                                                                                                  #         ES
039855,000315: 
039856,000316:                                                                                                  #        U   = UNIT( MOON WRT EARTH )
039857,000317:                                                                                                  #         EM
039858,000318: 
039859,000319:                                                                                                  #        R   = POSITION VECTOR OF LEM
039860,000320:                                                                                                  #         L
039861,000321: 
039862,000322:                                                                                                  #        R   = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039863,000323:                                                                                                  #         EM
039864,000324: 
039865,000325:                                                                                                  #        P   = RATIO R  /(DISTANCE SUN TO EARTH) > .00257125
039866,000326:                                                                                                  #                     EM
039867,000327: 
039868,000328:                                                                                                  #        R   = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039869,000329:                                                                                                  #         E
039870,000330: 
039871,000331:                                                                                                  #        LOCSAM COMPUTES IN EARTH INFLUENCE
039872,000332: 
039873,000333:                                                                                                  #        VSUN = U
039874,000334:                                                                                                  #                ES
039875,000335: 
039876,000336:                                                                                                  #        VEARTH = -UNIT( R  )
039877,000337:                                                                                                  #                         L
039878,000338: 
039879,000339:                                                                                                  #        VMOON = UNIT(R  .U   - R  )
039880,000340:                                                                                                  #                      EM  EM    L
039881,000341: 
039882,000342:                                                                                                  #        CSUN = COS 90
039883,000343: 
039884,000344:                                                                                                  #        CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039885,000345:                                                                                                  #                                 E      L
039886,000346: 
039887,000347:                                                                                                  #        CMOON   = COS 5
039888,000348: 
039889,000349:                                                                                                  #  INPUT - TIME IN MPAC
039890,000350: 
039891,000351:                                                                                                  #  OUTPUT - LISTED ABOVE
039892,000352: 
039893,000353:                                                                                                  #  SUBROUTINES - LSPOS, LEMPREC
039894,000354: 
039895,000355:                                                                                                  #  DEBRIS - VAC AREA, TSIGHT
039896,000356: 

Page 935

039898,000358: 14,2506                                           COUNT*   $$/LOSAM                              
039899,000359: 
039900,000360: 14,2506  14,2506               S50                =        LOCSAM                                
039901,000361: 14,2506           77620        LOCSAM             STQ                                            
039902,000362: 14,2507           02745                                    QMIN                                  
039903,000363: 14,2510           37562                           STCALL   TSIGHT                                
039904,000364: 14,2511           33664                                    LSPOS                                 
039905,000365: 14,2512           77745                           DLOAD                                          
039906,000366: 14,2513           03562                                    TSIGHT                                
039907,000367: 14,2514           34041                           STCALL   TDEC1                                 
039908,000368: 14,2515           27057                                    LEMPREC                               
039909,000369: 14,2516           61131                           SSP      TIX,2                                 
039910,000370: 14,2517           00052                                    S2                                    
039911,000371: 14,2520           00000                                    0                                     
039912,000372: 14,2521           30543                                    MOONCNTR                              
039913,000373: 14,2522           74375        EARTCNTR           VLOAD    VXSC                                  
039914,000374: 14,2523           02723                                    VMOON                                 
039915,000375: 14,2524           30001                                    RSUBEM                                
039916,000376: 14,2525           52372                           VSL1     VSU                                   
039917,000377: 14,2526           00001                                    RATT                                  
039918,000378: 14,2527           77656                           UNIT                                           
039919,000379: 14,2530           26723                           STOVL    VMOON                                 
039920,000380: 14,2531           00001                                    RATT                                  
039921,000381: 14,2532           57456                           UNIT     VCOMP                                 
039922,000382: 14,2533           16707                           STODL    VEARTH                                
039923,000383: 14,2534           30005                                    RSUBE                                 
039924,000384: 14,2535           77624                           CALL                                           
039925,000385: 14,2536           30575                                    OCCOS                                 
039926,000386: 14,2537           14017                           STODL    CEARTH                                
039927,000387: 14,2540           30604                                    CSS5                                  
039928,000388: 14,2541           34023                           STCALL   CMOON                                 
039929,000389: 14,2542           30570                                    ENDSAM                                
039930,000390: 14,2543           74375        MOONCNTR           VLOAD    VXSC                                  
039931,000391: 14,2544           02723                                    VMOON                                 
039932,000392: 14,2545           30007                                    ROE                                   
039933,000393: 14,2546           53445                           BVSU     UNIT                                  
039934,000394: 14,2547           02715                                    VSUN                                  
039935,000395: 14,2550           26715                           STOVL    VSUN                                  
039936,000396: 14,2551           02723                                    VMOON                                 
039937,000397: 14,2552           53361                           VXSC     VAD                                   
039938,000398: 14,2553           30001                                    RSUBEM                                
039939,000399: 14,2554           00001                                    RATT                                  
039940,000400: 14,2555           57456                           UNIT     VCOMP                                 
039941,000401: 14,2556           26707                           STOVL    VEARTH                                
039942,000402: 14,2557           00001                                    RATT                                  
039943,000403: 14,2560           57456                           UNIT     VCOMP                                 
039944,000404: 14,2561           16723                           STODL    VMOON                                 
039945,000405: 14,2562           30003                                    RSUBM                                 
039946,000406: 14,2563           77624                           CALL                                           
039947,000407: 14,2564           30575                                    OCCOS                                 

Page 936

039949,000409: 14,2565           14023                           STODL    CMOON                                 
039950,000410: 14,2566           30604                                    CSS5                                  
039951,000411: 14,2567           00017                           STORE    CEARTH                                
039952,000412: 14,2570           77745        ENDSAM             DLOAD                                          
039953,000413: 14,2571           30606                                    CSSUN                                 
039954,000414: 14,2572           00021                           STORE    CSUN                                  
039955,000415: 14,2573           77650                           GOTO                                           
039956,000416: 14,2574           02745                                    QMIN                                  
039957,000417: 14,2575           70471        OCCOS              DDV      SR1                                   
039958,000418: 14,2576           00045                                    36D                                   
039959,000419: 14,2577           43336                           ASIN     DAD                                   
039960,000420: 14,2600           30610                                    5DEGREES                              
039961,000421: 14,2601           70546                           COS      SR1                                   
039962,000422: 14,2602           77616                           RVQ                                            
039963,000423: 14,2603                        CEARTH             =        14D                                   
039964,000424: 14,2603                        CSUN               =        16D                                   
039965,000425: 14,2603                        CMOON              =        18D                                   
039966,000426: 14,2603           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
039967,000427: 14,2605           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
039968,000428: 14,2607           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
039969,000429: 

Page 937

039971,000431:                                                                                                  #  PROGRAM NAME - R56            DATE  DEC 20 66
039972,000432:                                                                                                  #  MOD 1                         LOG SECTION P51-P53
039973,000433:                                                                                                  #                                ASSEMBLY   SUNDISK REV40
039974,000434:                                                                                                  #  BY KEN VINCENT
039975,000435: 
039976,000436:                                                                                                  #  FUNCTION
039977,000437:                                                                                                  #        THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039978,000438:                                                                                                  #        WITH RESPECT TO INERTIAL SPACE.  IT THEN COMPUTES THE SHAFT AXIS (SAX)
039979,000439:                                                                                                  #        WITH RESPECT TO REFERENCE INERTIAL.  EACH STAR IN THE CATALOG IS TESTED
039980,000440:                                                                                                  #        TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON.  IF A
039981,000441:                                                                                                  #        STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039982,000442:                                                                                                  #        THE PAIRED STAR IS TESTED FOR OCCULTATION.  PAIRS OF STARS THAT PASS
039983,000443:                                                                                                  #        THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.  A PAIR OF STARS
039984,000444:                                                                                                  #        HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039985,000445:                                                                                                  #        AND MORE THAN 50 DEGREES.  THOSE PAIRS WITH GOOD SEPARATION
039986,000446:                                                                                                  #        ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.  (WITHIN
039987,000447:                                                                                                  #        50 DEGREES OF SAX).  THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
039988,000448:                                                                                                  #        THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
039989,000449: 
039990,000450:                                                                                                  #  CALLING SEQUENCE
039991,000451:                                                                                                  #        L       TC      BANKCALL
039992,000452:                                                                                                  #        L+1     CADR    R56
039993,000453:                                                                                                  #        L+2     ERROR RETURN - NO STARS IN FIELD OF VIEW
039994,000454:                                                                                                  #        L+3     NORMAL RETURN
039995,000455: 
039996,000456:                                                                                                  #  OUTPUT
039997,000457:                                                                                                  #        BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
039998,000458:                                                                                                  #        VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
039999,000459: 
040000,000460:                                                                                                  #  INITIALIZATION
040001,000461:                                                                                                  #        1)      A CALL TO LOCSAM MUST BE MADE
040002,000462: 
040003,000463:                                                                                                  #  DEBRIS
040004,000464:                                                                                                  #        WORKAREA
040005,000465:                                                                                                  #        X,Y,ZNB
040006,000466:                                                                                                  #        SINCDU, COSCDU
040007,000467:                                                                                                  #        STARAD - STAR +5
040008,000468: 
040009,000469: 14,2611  14,2611               R56                =        PICAPAR                               
040010,000470: 14,2611                                           COUNT*   $$/R56                                
040011,000471: 14,2611           04645        PICAPAR            TC       MAKECADR                              
040012,000472: 14,2612           55745                           TS       QMIN                                  
040013,000473: 14,2613           06037                           TC       INTPRET                               
040014,000474: 14,2614           77624                           CALL                                           
040015,000475: 14,2615           47537                                    CDUTRIG                               
040016,000476: 14,2616           77624                           CALL                                           
040017,000477: 14,2617           20030                                    CALCSMSC                              
040018,000478: 14,2620           77601                           SETPD                                          
040019,000479: 14,2621           00001                                    0                                     
040020,000480: 14,2622           71214                           SET      DLOAD                                 #  VFLAG = 1
040021,000481: 14,2623           01465                                    VFLAG                                 

Page 938

040023,000483: 14,2624           24007                                    DPZERO                                
040024,000484: 14,2625           26756                           STOVL    BESTI                                 
040025,000485: 14,2626           02665                                    XNB                                   
040026,000486: 14,2627           63361                           VXSC     PDVL                                  
040027,000487: 14,2630           24005                                    HALFDP                                
040028,000488: 14,2631           02701                                    ZNB                                   
040029,000489: 14,2632           74370                           AXT,1    VXSC                                  
040030,000490: 14,2633           00344                                    228D                                  #  X1 = 37 X 6 + 6
040031,000491: 14,2634           24005                                    HALFDP                                
040032,000492: 14,2635           77655                           VAD                                            
040033,000493: 14,2636           53505                           VXM      UNIT                                  
040034,000494: 14,2637           01734                                    REFSMMAT                              
040035,000495: 14,2640           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
040036,000496: 14,2641           66331                           SSP      SSP                                   #  S1 = S2 = 6
040037,000497: 14,2642           00051                                    S1                                    
040038,000498: 14,2643           00006                                    6                                     
040039,000499: 14,2644           00052                                    S2                                    
040040,000500: 14,2645           00006                                    6                                     
040041,000501: 14,2646           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
040042,000502: 14,2647           30651                                    PIC2                                  
040043,000503: 14,2650           30766                                    PICEND                                
040044,000504: 14,2651           50373        PIC2               VLOAD*   DOT                                   
040045,000505: 14,2652           30347                                    CATLOG,1                              
040046,000506: 14,2653           02731                                    SAX                                   
040047,000507: 14,2654           50025                           DSU      BMN                                   
040048,000508: 14,2655           30765                                    CSS33                                 
040049,000509: 14,2656           30646                                    PIC1                                  
040050,000510: 14,2657           77754                           LXA,2                                          
040051,000511: 14,2660           00046                                    X1                                    
040052,000512: 14,2661           52104        PIC3               TIX,2    GOTO                                  
040053,000513: 14,2662           30664                                    PIC4                                  
040054,000514: 14,2663           30646                                    PIC1                                  
040055,000515: 14,2664           50373        PIC4               VLOAD*   DOT                                   
040056,000516: 14,2665           47430                                    CATLOG,2                              
040057,000517: 14,2666           02731                                    SAX                                   
040058,000518: 14,2667           50025                           DSU      BMN                                   
040059,000519: 14,2670           30765                                    CSS33                                 
040060,000520: 14,2671           30661                                    PIC3                                  
040061,000521: 14,2672           47773                           VLOAD*   DOT*                                  
040062,000522: 14,2673           30347                                    CATLOG,1                              
040063,000523: 14,2674           47430                                    CATLOG,2                              
040064,000524: 14,2675           51025                           DSU      BPL                                   
040065,000525: 14,2676           30763                                    CSS40                                 
040066,000526: 14,2677           30661                                    PIC3                                  
040067,000527: 14,2700           45173                           VLOAD*   CALL                                  
040068,000528: 14,2701           30347                                    CATLOG,1                              
040069,000529: 14,2702           30740                                    OCCULT                                
040070,000530: 14,2703           77614                           BON                                            
040071,000531: 14,2704           01710                                    CULTFLAG                              
040072,000532: 14,2705           30646                                    PIC1                                  

Page 939

040074,000534: 14,2706           45173                           VLOAD*   CALL                                  
040075,000535: 14,2707           47430                                    CATLOG,2                              
040076,000536: 14,2710           30740                                    OCCULT                                
040077,000537: 14,2711           77614                           BON                                            
040078,000538: 14,2712           01710                                    CULTFLAG                              
040079,000539: 14,2713           30661                                    PIC3                                  
040080,000540: 14,2714           77614        STRATGY            BONCLR                                         
040081,000541: 14,2715           01605                                    VFLAG                                 
040082,000542: 14,2716           30733                                    NEWPAR                                
040083,000543: 14,2717           65120                           XCHX,1   XCHX,2                                
040084,000544: 14,2720           02755                                    BESTI                                 
040085,000545: 14,2721           02756                                    BESTJ                                 
040086,000546: 14,2722           47773        STRAT              VLOAD*   DOT*                                  
040087,000547: 14,2723           30347                                    CATLOG,1                              
040088,000548: 14,2724           47430                                    CATLOG,2                              
040089,000549: 14,2725           43006                           PUSH     BOFINV                                
040090,000550: 14,2726           01545                                    VFLAG                                 
040091,000551: 14,2727           30717                                    STRAT      -3                         
040092,000552: 14,2730           45345                           DLOAD    DSU                                   
040093,000553: 14,2731           77644                           BPL                                            
040094,000554: 14,2732           30661                                    PIC3                                  
040095,000555: 14,2733           67130        NEWPAR             SXA,1    SXA,2                                 
040096,000556: 14,2734           02755                                    BESTI                                 
040097,000557: 14,2735           02756                                    BESTJ                                 
040098,000558: 14,2736           77650                           GOTO                                           
040099,000559: 14,2737           30661                                    PIC3                                  
040100,000560: 14,2740           51321        OCCULT             MXV      BVSU                                  
040101,000561: 14,2741           02707                                    CULTRIX                               
040102,000562: 14,2742           00017                                    CSS                                   
040103,000563: 14,2743           77654                           BZE                                            
040104,000564: 14,2744           30757                                    CULTED                                
040105,000565: 14,2745           75240                           BMN      SIGN                                  
040106,000566: 14,2746           30757                                    CULTED                                
040107,000567: 14,2747           00160                                    MPAC       +3                         
040108,000568: 14,2750           75240                           BMN      SIGN                                  
040109,000569: 14,2751           30757                                    CULTED                                
040110,000570: 14,2752           00162                                    MPAC       +5                         
040111,000571: 14,2753           43040                           BMN      CLRGO                                 
040112,000572: 14,2754           30757                                    CULTED                                
040113,000573: 14,2755           01630                                    CULTFLAG                              
040114,000574: 14,2756           00052                                    QPRET                                 
040115,000575: 14,2757           77614        CULTED             SETGO                                          
040116,000576: 14,2760           01430                                    CULTFLAG                              
040117,000577: 14,2761           00052                                    QPRET                                 
040118,000578: 14,2762  0000016               CSS                =        CEARTH                                
040119,000579: 14,2762           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
040120,000580: 14,2764           05110 35052  CSS33              2DEC     .16070                                #  COS 50 / 4
040121,000581: 14,2766           77414        PICEND             BOFF     EXIT                                  
040122,000582: 

Page 940

040124,000584: 14,2767           01745                                    VFLAG                                 
040125,000585: 14,2770           30772                                    PICGXT                                
040126,000586: 14,2771           03013                           TC       PICBXT                                
040127,000587: 14,2772           73150        PICGXT             LXA,1    LXA,2                                 
040128,000588: 14,2773           02755                                    BESTI                                 
040129,000589: 14,2774           02756                                    BESTJ                                 
040130,000590: 14,2775           47775                           VLOAD    DOT*                                  
040131,000591: 14,2776           02731                                    SAX                                   
040132,000592: 14,2777           30347                                    CATLOG,1                              
040133,000593: 14,3000           47715                           PDVL     DOT*                                  
040134,000594: 14,3001           02731                                    SAX                                   
040135,000595: 14,3002           47430                                    CATLOG,2                              
040136,000596: 14,3003           77625                           DSU                                            
040137,000597: 14,3004           66044                           BPL      SXA,1                                 
040138,000598: 14,3005           31011                                    PICNSWP                               
040139,000599: 14,3006           02756                                    BESTJ                                 
040140,000600: 14,3007           77734                           SXA,2                                          
040141,000601: 14,3010           02755                                    BESTI                                 
040142,000602: 14,3011           77776        PICNSWP            EXIT                                           
040143,000603: 14,3012           25745                           INCR     QMIN                                  
040144,000604: 14,3013           31745        PICBXT             CA       QMIN                                  
040145,000605: 14,3014           04622                           TC       SWCALL                                
040146,000606: 14,3015                        VPD                =        0D                                    
040147,000607: 14,3015                        V0                 =        6D                                    
040148,000608: 14,3015                        V1                 =        12D                                   
040149,000609: 14,3015                        V2                 =        18D                                   
040150,000610: 14,3015                        V3                 =        24D                                   
040151,000611: 14,3015                        DP0                =        30D                                   
040152,000612: 14,3015                        DP1                =        32D                                   
040153,000613: 

Page 941

040155,000615:                                                                                                  #  NAME - R51    FINE ALIGN
040156,000616:                                                                                                  #  FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040157,000617:                                                                                                  #  CALLING SEQ - CALL R51
040158,000618:                                                                                                  #  INPUT - REFSMMAT
040159,000619:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
040160,000620:                                                                                                  #  SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040161,000621: 
040162,000622: 14,3015                                           COUNT*   $$/R51                                
040163,000623: 14,3015           77620        R51                STQ                                            
040164,000624: 14,3016           02746                                    QMAJ                                  
040165,000625: 14,3017           77776        R51.1              EXIT                                           
040166,000626: 14,3020           05353                           TC       PHASCHNG                              
040167,000627: 14,3021           04024                           OCT      04024                                 
040168,000628: 
040169,000629: 14,3022           34761        R51C               CAF      OCT15                                 
040170,000630: 14,3023           04616                           TC       BANKCALL                              
040171,000631: 14,3024           20623                           CADR     GOPERF1                               
040172,000632: 14,3025           06001                           TC       GOTOPOOH                              
040173,000633: 14,3026           03030                           TC       +2                                    #  V33E
040174,000634: 14,3027           03053                           TC       R51E                                  #  ENTER
040175,000635: 14,3030           06037                           TC       INTPRET                               
040176,000636: 14,3031           43234                           RTB      DAD                                   
040177,000637: 14,3032           21573                                    LOADTIME                              
040178,000638: 14,3033           31163                                    TSIGHT1                               
040179,000639: 14,3034           77624                           CALL                                           
040180,000640: 14,3035           30506                                    LOCSAM                                
040181,000641: 14,3036           77776                           EXIT                                           
040182,000642: 14,3037           04616                           TC       BANKCALL                              
040183,000643: 14,3040           30611                           CADR     R56                                   
040184,000644: 14,3041           03043                           TC       R51I                                  
040185,000645: 14,3042           03053        R51F               TC       R51E                                  
040186,000646: 14,3043           05567        R51I               TC       ALARM                                 
040187,000647: 14,3044           00405                           OCT      405                                   
040188,000648: 14,3045           35006                           CAF      VB05N09                               
040189,000649: 14,3046           04616                           TC       BANKCALL                              
040190,000650: 14,3047           20476                           CADR     GOFLASH                               
040191,000651: 14,3050           06001                           TC       GOTOPOOH                              
040192,000652: 14,3051           03053                           TC       R51E                                  
040193,000653: 14,3052           03022                           TC       R51C                                  
040194,000654: 14,3053           34755        R51E               CAF      ZERO                                  
040195,000655: 14,3054           55757                           TS       STARIND                               
040196,000656: 14,3055           06037        R51.2              TC       INTPRET                               
040197,000657: 14,3056           77776        R51.3              EXIT                                           
040198,000658: 14,3057           05353                           TC       PHASCHNG                              
040199,000659: 14,3060           04024                           OCT      04024                                 
040200,000660: 
040201,000661: 14,3061           06037                           TC       INTPRET                               
040202,000662: 14,3062           77624                           CALL                                           
040203,000663: 14,3063           31670                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
040204,000664: 14,3064           77776                           EXIT                                           
040205,000665: 14,3065           04616                           TC       BANKCALL                              

Page 942

040207,000667: 14,3066           16000                           CADR     AOTMARK                               
040208,000668: 14,3067           04616                           TC       BANKCALL                              
040209,000669: 14,3070           17712                           CADR     OPTSTALL                              
040210,000670: 14,3071           05711                           TC       CURTAINS                              
040211,000671: 14,3072           11757                           CCS      STARIND                               
040212,000672: 14,3073           13075                           TCF      +2                                    
040213,000673: 14,3074           03145                           TC       R51.4                                 
040214,000674: 14,3075           06037                           TC       INTPRET                               
040215,000675: 14,3076           77775                           VLOAD                                          
040216,000676: 14,3077           02715                                    STARAD     +6                         
040217,000677: 14,3100           02767                           STORE    STARSAV2                              
040218,000678: 14,3101           77776                           EXIT                                           
040219,000679: 14,3102           05353                           TC       PHASCHNG                              
040220,000680: 14,3103           04024                           OCT      04024                                 
040221,000681: 
040222,000682: 14,3104           06037                           TC       INTPRET                               
040223,000683: 14,3105           45145                           DLOAD    CALL                                  
040224,000684: 14,3106           03562                                    TSIGHT                                
040225,000685: 14,3107           32472                                    PLANET                                
040226,000686: 14,3110           53521                           MXV      UNIT                                  
040227,000687: 14,3111           01734                                    REFSMMAT                              
040228,000688: 14,3112           26715                           STOVL    STARAD     +6                         
040229,000689: 14,3113           03554                                    PLANVEC                               
040230,000690: 14,3114           53521                           MXV      UNIT                                  
040231,000691: 14,3115           01734                                    REFSMMAT                              
040232,000692: 14,3116           26707                           STOVL    STARAD                                
040233,000693: 14,3117           02761                                    STARSAV1                              
040234,000694: 14,3120           24007                           STOVL    6D                                    
040235,000695: 14,3121           02767                                    STARSAV2                              
040236,000696: 14,3122           34015                           STCALL   12D                                   
040237,000697: 14,3123           31256                                    R54                                   #  STAR DATA TEST
040238,000698: 14,3124           45014                           BOFF     CALL                                  
040239,000699: 14,3125           00354                                    FREEFLAG                              
040240,000700: 14,3126           31134                                    R51K                                  
040241,000701: 14,3127           47441                                    AXISGEN                               
040242,000702: 14,3130           77624                           CALL                                           
040243,000703: 14,3131           31224                                    R55                                   #  GYRO TORQUE
040244,000704: 14,3132           77614                           CLEAR                                          
040245,000705: 14,3133           01273                                    PFRATFLG                              
040246,000706: 14,3134           77776        R51K               EXIT                                           
040247,000707: 14,3135           35751        R51P63             CAF      OCT14                                 
040248,000708: 14,3136           04616                           TC       BANKCALL                              
040249,000709: 14,3137           20623                           CADR     GOPERF1                               
040250,000710: 14,3140           06001                           TC       GOTOPOOH                              
040251,000711: 14,3141           03022                           TC       R51C                                  
040252,000712: 14,3142           06037                           TC       INTPRET                               
040253,000713: 14,3143           77650                           GOTO                                           
040254,000714: 14,3144           02746                                    QMAJ                                  
040255,000715: 14,3145           06037        R51.4              TC       INTPRET                               
040256,000716: 14,3146           77775                           VLOAD                                          

Page 943

040258,000718: 14,3147           02715                                    STARAD     +6                         
040259,000719: 14,3150           02761                           STORE    STARSAV1                              
040260,000720: 14,3151           45145                           DLOAD    CALL                                  
040261,000721: 14,3152           03562                                    TSIGHT                                
040262,000722: 14,3153           32472                                    PLANET                                
040263,000723: 14,3154           03554                           STORE    PLANVEC                               
040264,000724: 14,3155           77731                           SSP                                            
040265,000725: 14,3156           02760                                    STARIND                               
040266,000726: 14,3157           00001                                    1                                     
040267,000727: 14,3160           77650                           GOTO                                           
040268,000728: 14,3161           31056                                    R51.3                                 
040269,000729: 14,3162           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
040270,000730: 

Page 944

040272,000732:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
040273,000733: 
040274,000734: 14,3164           45020        GYCOARS            STQ      CALL                                  
040275,000735: 14,3165           02746                                    QMAJ                                  
040276,000736: 14,3166           47247                                    CALCGTA                               
040277,000737: 14,3167           43014                           CLEAR    CLEAR                                 
040278,000738: 14,3170           01260                                    DRIFTFLG                              
040279,000739: 14,3171           01662                                    REFSMFLG                              
040280,000740: 14,3172           77776                           EXIT                                           
040281,000741: 14,3173           33223                           CAF      V16N20                                #  MONITOR GIMBALS
040282,000742: 14,3174           04616                           TC       BANKCALL                              
040283,000743: 14,3175           20451                           CADR     GODSPR                                
040284,000744: 14,3176           33255                           CA       R55CDR                                
040285,000745: 14,3177           04616                           TC       BANKCALL                              
040286,000746: 14,3200           17323                           CADR     IMUPULSE                              
040287,000747: 14,3201           04616                           TC       BANKCALL                              
040288,000748: 14,3202           17716                           CADR     IMUSTALL                              
040289,000749: 14,3203           05711                           TC       CURTAINS                              
040290,000750: 14,3204           05353                           TC       PHASCHNG                              
040291,000751: 14,3205           04024                           OCT      04024                                 
040292,000752: 
040293,000753: 14,3206           06037                           TC       INTPRET                               
040294,000754: 14,3207           75160                           AXC,1    AXC,2                                 
040295,000755: 14,3210           03606                                    XSMD                                  
040296,000756: 14,3211           01733                                    REFSMMAT                              
040297,000757: 14,3212           77624                           CALL                                           #  STORE DESIRED REFSMMAT
040298,000758: 14,3213           31377                                    MATMOVE                               
040299,000759: 14,3214           43014                           CLEAR    SET                                   
040300,000760: 14,3215           01273                                    PFRATFLG                              
040301,000761: 14,3216           01462                                    REFSMFLG                              
040302,000762: 14,3217           77624                           CALL                                           
040303,000763: 14,3220           31602                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
040304,000764: 14,3221           77650                           GOTO                                           
040305,000765: 14,3222           31134                                    R51K                                  
040306,000766: 14,3223           04024        V16N20             VN       1620                                  
040307,000767: 

Page 945

040309,000769:                                                                                                  #  R55   GYRO TORQUE
040310,000770:                                                                                                  #  FUNCTION - COMPUTE AND SEND GYRO PULSES
040311,000771:                                                                                                  #  CALLING SEQ - CALL R55
040312,000772:                                                                                                  #  INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040313,000773:                                                                                                  #  OUTPUT - GYRO PULSES
040314,000774:                                                                                                  #  SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040315,000775: 
040316,000776: 14,3224                                           COUNT*   $$/R55                                
040317,000777: 14,3224           77620        R55                STQ                                            
040318,000778: 14,3225           02745                                    QMIN                                  
040319,000779: 14,3226           77624                           CALL                                           
040320,000780: 14,3227           47247                                    CALCGTA                               
040321,000781: 14,3230           77776        PULSEM             EXIT                                           
040322,000782: 14,3231           33254        R55.1              CAF      V06N93                                
040323,000783: 14,3232           04616                           TC       BANKCALL                              
040324,000784: 14,3233           20476                           CADR     GOFLASH                               
040325,000785: 14,3234           06001                           TC       GOTOPOOH                              
040326,000786: 14,3235           03237                           TC       R55.2                                 
040327,000787: 14,3236           03251                           TC       R55RET                                
040328,000788: 14,3237           05353        R55.2              TC       PHASCHNG                              
040329,000789: 14,3240           00214                           OCT      00214                                 
040330,000790: 14,3241           33255                           CA       R55CDR                                
040331,000791: 14,3242           04616                           TC       BANKCALL                              
040332,000792: 14,3243           17323                           CADR     IMUPULSE                              
040333,000793: 14,3244           04616                           TC       BANKCALL                              
040334,000794: 14,3245           17716                           CADR     IMUSTALL                              
040335,000795: 14,3246           05711                           TC       CURTAINS                              
040336,000796: 14,3247           05353                           TC       PHASCHNG                              
040337,000797: 14,3250           04024                           OCT      04024                                 
040338,000798: 
040339,000799: 14,3251           06037        R55RET             TC       INTPRET                               
040340,000800: 14,3252           77650                           GOTO                                           
040341,000801: 14,3253           02745                                    QMIN                                  
040342,000802: 14,3254           01535        V06N93             VN       0693                                  
040343,000803: 14,3255           02737        R55CDR             ECADR    OGC                                   
040344,000804: 14,3256  14,3256               R54                =        CHKSDATA                              
040345,000805: 
040346,000806:                                                                                                  #  ROUTINE NAME - CHKSDATA               DATE - JAN 9, 1967
040347,000807:                                                                                                  #  MOD NO - 0                            LOG SECTION - P51-P53
040348,000808:                                                                                                  #  MODIFICATION BY - LONSKE              ASSEMBLY -
040349,000809: 
040350,000810:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS.  WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040351,000811:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040352,000812:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE.  THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040353,000813:                                                                                                  #        OS1     =       OBSERVED STAR 1 VECTOR
040354,000814:                                                                                                  #        OS2     =       OBSERVED STAR 2 VECTOR
040355,000815:                                                                                                  #        SS1     =       STORED STAR 1 VECTOR
040356,000816:                                                                                                  #        SS2     =       STORED STAR 2 VECTOR
040357,000817:                                                                                                  #         A1     =       ARCCOS(OS1 - OS2)
040358,000818:                                                                                                  #         A2     =       ARCCOS(SS1 - SS2)
040359,000819:                                                                                                  #          A     =       ABS(2(A1 - A2))

Page 946

040361,000821:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040362,000822: 
040363,000823:                                                                                                  #  EXIT MODE     1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040364,000824:                                                                                                  #                2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE            ERANCE)
040365,000825: 
040366,000826:                                                                                                  #  OUTPUT -      1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040367,000827:                                                                                                  #                2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040368,000828: 
040369,000829:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040370,000830:                                                                                                  #                1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040371,000831:                                                                                                  #                2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040372,000832: 
040373,000833:                                                                                                  #  DEBRIS -
040374,000834: 
040375,000835: 14,3256                                           COUNT*   $$/R54                                
040376,000836: 14,3256           43020        CHKSDATA           STQ      SET                                   
040377,000837: 14,3257           02745                                    QMIN                                  
040378,000838: 14,3260           00074                                    FREEFLAG                              
040379,000839: 14,3261           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
040380,000840: 14,3262           02706                                    STARAD                                
040381,000841: 
040382,000842: 14,3263           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
040383,000843: 14,3264           00001                                    0,1                                   
040384,000844: 14,3265           00007                                    6,1                                   
040385,000845: 14,3266           65552                           SL1      ACOS                                  
040386,000846: 14,3267           00025                           STORE    THETA                                 
040387,000847: 14,3270           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
040388,000848: 14,3271           00354                                    FREEFLAG                              
040389,000849: 14,3272           31302                                    CHKSD                                 
040390,000850: 14,3273           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
040391,000851: 14,3274           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
040392,000852: 14,3275           00006                                    6D                                    
040393,000853: 14,3276           00025                                    THETA                                 
040394,000854: 14,3277           00023                           STORE    18D                                   
040395,000855: 14,3300           77650                           GOTO                                           
040396,000856: 14,3301           31263                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
040397,000857: 14,3302           45345        CHKSD              DLOAD    DSU                                   
040398,000858: 14,3303           00025                                    THETA                                 
040399,000859: 14,3304           00023                                    18D                                   
040400,000860: 14,3305           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
040401,000861: 14,3306           21612                                    SGNAGREE                              
040402,000862: 14,3307           01046                           STORE    NORMTEM1                              
040403,000863: 14,3310           77414                           SET      EXIT                                  
040404,000864: 14,3311           00074                                    FREEFLAG                              
040405,000865: 14,3312           33326                           CAF      VB6N5                                 
040406,000866: 14,3313           04616                           TC       BANKCALL                              
040407,000867: 14,3314           20476                           CADR     GOFLASH                               
040408,000868: 14,3315           16001                           TCF      GOTOPOOH                              
040409,000869: 14,3316           03323                           TC       CHKSDA                                #  PROCEED
040410,000870: 14,3317           06037                           TC       INTPRET                               
040411,000871: 14,3320           52014                           CLEAR    GOTO                                  
040412,000872: 14,3321           00274                                    FREEFLAG                              
040413,000873: 14,3322           02745                                    QMIN                                  
040414,000874: 14,3323           06037        CHKSDA             TC       INTPRET                               

Page 947

040416,000876: 14,3324           77650                           GOTO                                           
040417,000877: 14,3325           02745                                    QMIN                                  
040418,000878: 14,3326           01405        VB6N5              VN       605                                   
040419,000879: 
040420,000880:                                                                                                  #  NAME - CAL53A
040421,000881:                                                                                                  #  FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040422,000882:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
040423,000883:                                                                                                  #  INPUT - X,Y,ZSMD, CDUX,Y,Z
040424,000884:                                                                                                  #           DESIRED GIMBAL ANGLES - THETAD,+1,+2
040425,000885:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040426,000886:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040427,000887: 
040428,000888: 14,3327                                           COUNT*   $$/R50                                
040429,000889: 14,3327           77624        CAL53A             CALL                                           
040430,000890: 14,3330           31617                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
040431,000891: 14,3331           66234                           RTB      SSP                                   
040432,000892: 14,3332           31413                                    RDCDUS                                #  READ CDUS
040433,000893: 14,3333           00051                                    S1                                    
040434,000894: 14,3334           00001                                    1                                     
040435,000895: 14,3335           40370                           AXT,1    SETPD                                 
040436,000896: 14,3336           00003                                    3                                     
040437,000897: 14,3337           00005                                    4                                     
040438,000898: 14,3340           70543        CALOOP             DLOAD*   SR1                                   
040439,000899: 14,3341           00325                                    THETAD     +3D,1                      
040440,000900: 14,3342           70523                           PDDL*    SR1                                   
040441,000901: 14,3343           00005                                    4,1                                   
040442,000902: 14,3344           51425                           DSU      ABS                                   
040443,000903: 14,3345           45206                           PUSH     DSU                                   
040444,000904: 14,3346           31412                                    DEGREE1                               
040445,000905: 14,3347           71240                           BMN      DLOAD                                 
040446,000906: 14,3350           31366                                    CALOOP1                               
040447,000907: 14,3351           51025                           DSU      BPL                                   
040448,000908: 14,3352           31413                                    DEG359                                
040449,000909: 14,3353           31366                                    CALOOP1                               
040450,000910: 14,3354           77776                           EXIT                                           
040451,000911: 14,3355           05353                           TC       PHASCHNG                              
040452,000912: 14,3356           04024                           OCT      04024                                 
040453,000913: 
040454,000914: 14,3357           06037                           TC       INTPRET                               
040455,000915: 14,3360           77624        COARFINE           CALL                                           
040456,000916: 14,3361           31565                                    COARSE                                
040457,000917: 14,3362           77624                           CALL                                           
040458,000918: 14,3363           31602                                    NCOARSE                               
040459,000919: 14,3364           77650                           GOTO                                           
040460,000920: 14,3365           31370                                    FINEONLY                              
040461,000921: 14,3366           77700        CALOOP1            TIX,1                                          
040462,000922: 14,3367           31340                                    CALOOP                                
040463,000923: 14,3370           75160        FINEONLY           AXC,1    AXC,2                                 
040464,000924: 14,3371           02642                                    XSM                                   
040465,000925: 14,3372           01733                                    REFSMMAT                              
040466,000926: 14,3373           77624                           CALL                                           
040467,000927: 14,3374           31377                                    MATMOVE                               

Page 948

040469,000929: 14,3375           77650                           GOTO                                           
040470,000930: 14,3376           32161                                    COARSRET                              
040471,000931: 14,3377           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
040472,000932: 14,3400           00001                                    0,1                                   
040473,000933: 14,3401           10001                           STORE    0,2                                   
040474,000934: 14,3402           77773                           VLOAD*                                         
040475,000935: 14,3403           00007                                    6D,1                                  
040476,000936: 14,3404           10007                           STORE    6D,2                                  
040477,000937: 14,3405           77773                           VLOAD*                                         
040478,000938: 14,3406           00015                                    12D,1                                 
040479,000939: 14,3407           10015                           STORE    12D,2                                 
040480,000940: 14,3410           77616                           RVQ                                            
040481,000941: 14,3411           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
040482,000942: 14,3412           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
040483,000943: 14,3413           00004        RDCDUS             INHINT                                         #  READ CDUS
040484,000944: 14,3414           30032                           CA       CDUX                                  
040485,000945: 14,3415           50120                           INDEX    FIXLOC                                
040486,000946: 14,3416           54001                           TS       1                                     
040487,000947: 14,3417           30033                           CA       CDUY                                  
040488,000948: 14,3420           50120                           INDEX    FIXLOC                                
040489,000949: 14,3421           54002                           TS       2                                     
040490,000950: 14,3422           30034                           CA       CDUZ                                  
040491,000951: 14,3423           50120                           INDEX    FIXLOC                                
040492,000952: 14,3424           54003                           TS       3                                     
040493,000953: 14,3425           00003                           RELINT                                         
040494,000954: 14,3426           06061                           TC       DANZIG                                #                                        +
040495,000955: 14,3427                                           COUNT*   $$/INFLT                              
040496,000956: 

Page 949

040498,000958:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
040499,000959:                                                                                                  #  MOD. NO. 1    23 JAN 67                               LOG SECTION - P51-P53
040500,000960:                                                                                                  #  MOD BY STURLAUGSON                                    ASSEMBLY SUNDANCE REV56
040501,000961: 
040502,000962:                                                                                                  #  FUNCTIONAL DESCRIPTION
040503,000963:                                                                                                  #        DETERMINES THE INERTIAL ORIENTATION OF THE IMU.  THE PROGRAM IS SELECTED BY DSKY ENTRY.  THE SIGHTING
040504,000964:                                                                                                  #        (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA.  AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040505,000965:                                                                                                  #        STAR LOS VECTOR IN STARAD +6.  TWO STARS ARE THUS SIGHTED.  THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040506,000966:                                                                                                  #        CHKSDATA (R54).  REFSMMAT IS THEN COMPUTED AT AXISGEN.
040507,000967: 
040508,000968:                                                                                                  #  CALLING SEQUENCE
040509,000969:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040510,000970: 
040511,000971:                                                                                                  #  SUBROUTINES CALLED.
040512,000972:                                                                                                  #        GOPERF3
040513,000973:                                                                                                  #        GOPERF1
040514,000974:                                                                                                  #        GODSPR
040515,000975:                                                                                                  #        IMUCOARS
040516,000976:                                                                                                  #        IMUFIN20
040517,000977:                                                                                                  #        AOTMARK (R53)
040518,000978:                                                                                                  #        CHKSDATA (R54)
040519,000979:                                                                                                  #        MKRELEAS
040520,000980:                                                                                                  #        AXISGEN
040521,000981:                                                                                                  #        MATMOVE
040522,000982: 
040523,000983:                                                                                                  #  ALARMS
040524,000984:                                                                                                  #        NONE.
040525,000985: 
040526,000986:                                                                                                  #  ERASABLE INITIALIZATION
040527,000987:                                                                                                  #        IMU ZERO FLAG SHOULD BE SET.
040528,000988: 
040529,000989:                                                                                                  #  OUTPUT
040530,000990:                                                                                                  #        REFSMMAT
040531,000991:                                                                                                  #        REFSMFLG
040532,000992: 
040533,000993:                                                                                                  #  DEBRIS
040534,000994:                                                                                                  #        WORK AREA
040535,000995:                                                                                                  #        STARAD
040536,000996:                                                                                                  #        STARIND
040537,000997:                                                                                                  #        BESTI
040538,000998:                                                                                                  #        BESTJ
040539,000999: 
040540,001000: 14,3427                                           COUNT*   $$/P51                                

Page 950

040542,001002: 14,3427           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
040543,001003: 14,3430           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040544,001004: 
040545,001005: 14,3431           34761                           CAF      OCT15                                 
040546,001006: 14,3432           04616                           TC       BANKCALL                              
040547,001007: 14,3433           20623                           CADR     GOPERF1                               
040548,001008: 14,3434           06001                           TC       GOTOPOOH                              #  TERM.
040549,001009: 14,3435           13461                           TCF      P51B                                  #  V33
040550,001010: 14,3436           05353                           TC       PHASCHNG                              
040551,001011: 14,3437           04024                           OCT      04024                                 
040552,001012: 
040553,001013: 14,3440           34755                           CAF      ZERO                                  
040554,001014: 14,3441           54321                           TS       THETAD                                #  ZERO THE GIMBALS
040555,001015: 14,3442           54322                           TS       THETAD     +1                         
040556,001016: 14,3443           54323                           TS       THETAD     +2                         
040557,001017: 14,3444           35010                           CAF      V06N22                                
040558,001018: 14,3445           04616                           TC       BANKCALL                              
040559,001019: 14,3446           20446                           CADR     GODSPRET                              
040560,001020: 14,3447           33564                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
040561,001021: 14,3450           04616                           TC       BANKCALL                              
040562,001022: 14,3451           20446                           CADR     GODSPRET                              
040563,001023: 14,3452           06037                           TC       INTPRET                               
040564,001024: 14,3453           77624                           CALL                                           
040565,001025: 14,3454           31565                                    COARSE                                
040566,001026: 14,3455           77776                           EXIT                                           
040567,001027: 14,3456           05353                           TC       PHASCHNG                              
040568,001028: 14,3457           04024                           OCT      04024                                 
040569,001029: 14,3460           13431                           TCF      P51        +2                         
040570,001030: 
040571,001031: 14,3461           05353        P51B               TC       PHASCHNG                              
040572,001032: 14,3462           00014                           OCT      00014                                 
040573,001033: 14,3463           06037                           TC       INTPRET                               
040574,001034: 14,3464           77624                           CALL                                           
040575,001035: 14,3465           31602                                    NCOARSE                               
040576,001036: 14,3466           40331                           SSP      SETPD                                 
040577,001037: 14,3467           02760                                    STARIND                               #  INDEX - STAR 1 OR 2
040578,001038: 14,3470           00000                                    0                                     
040579,001039: 14,3471           00001                                    0                                     
040580,001040: 14,3472           77776        P51C               EXIT                                           
040581,001041: 14,3473           05353                           TC       PHASCHNG                              
040582,001042: 14,3474           04024                           OCT      04024                                 
040583,001043: 
040584,001044: 14,3475           04616                           TC       BANKCALL                              
040585,001045: 14,3476           16000                           CADR     AOTMARK                               #  R53
040586,001046: 14,3477           04616                           TC       BANKCALL                              
040587,001047: 14,3500           17712                           CADR     AOTSTALL                              
040588,001048: 14,3501           05711                           TC       CURTAINS                              
040589,001049: 14,3502           11757                           CCS      STARIND                               
040590,001050: 14,3503           13511                           TCF      P51D       +1                         
040591,001051: 14,3504           06037                           TC       INTPRET                               

Page 951

040593,001053: 14,3505           77775                           VLOAD                                          
040594,001054: 14,3506           02715                                    STARAD     +6                         
040595,001055: 14,3507           02761                           STORE    STARSAV1                              
040596,001056: 14,3510           77776        P51D               EXIT                                           
040597,001057: 14,3511           05353                           TC       PHASCHNG                              
040598,001058: 14,3512           04024                           OCT      04024                                 
040599,001059: 
040600,001060: 14,3513           11757                           CCS      STARIND                               
040601,001061: 14,3514           13530                           TCF      P51E                                  
040602,001062: 14,3515           05353                           TC       PHASCHNG                              
040603,001063: 14,3516           04024                           OCT      04024                                 
040604,001064: 
040605,001065: 14,3517           06037                           TC       INTPRET                               
040606,001066: 14,3520           45145                           DLOAD    CALL                                  
040607,001067: 14,3521           03562                                    TSIGHT                                
040608,001068: 14,3522           32472                                    PLANET                                
040609,001069: 14,3523           03554                           STORE    PLANVEC                               
040610,001070: 14,3524           77776                           EXIT                                           
040611,001071: 14,3525           34753                           CAF      BIT1                                  
040612,001072: 14,3526           55757                           TS       STARIND                               
040613,001073: 14,3527           13473                           TCF      P51C       +1                         #  DO SECOND STAR
040614,001074: 14,3530           05353        P51E               TC       PHASCHNG                              
040615,001075: 14,3531           04024                           OCT      04024                                 
040616,001076: 
040617,001077: 14,3532           06037                           TC       INTPRET                               
040618,001078: 14,3533           45145                           DLOAD    CALL                                  
040619,001079: 14,3534           03562                                    TSIGHT                                
040620,001080: 14,3535           32472                                    PLANET                                
040621,001081: 14,3536           24015                           STOVL    12D                                   
040622,001082: 14,3537           03554                                    PLANVEC                               
040623,001083: 14,3540           24007                           STOVL    6D                                    
040624,001084: 14,3541           02761                                    STARSAV1                              
040625,001085: 14,3542           26707                           STOVL    STARAD                                
040626,001086: 14,3543           02767                                    STARSAV2                              
040627,001087: 14,3544           36715                           STCALL   STARAD     +6                         
040628,001088: 14,3545           31256                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
040629,001089: 14,3546           77414                           BON      EXIT                                  
040630,001090: 14,3547           00314                                    FREEFLAG                              
040631,001091: 14,3550           31552                                    P51G                                  
040632,001092: 14,3551           03431                           TC       P51        +2                         
040633,001093: 14,3552           77624        P51G               CALL                                           
040634,001094: 14,3553           47441                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
040635,001095: 14,3554           75160                           AXC,1    AXC,2                                 
040636,001096: 14,3555           02664                                    XDC                                   
040637,001097: 14,3556           01733                                    REFSMMAT                              
040638,001098: 14,3557           77624                           CALL                                           
040639,001099: 14,3560           31377                                    MATMOVE                               
040640,001100: 14,3561           77414                           SET      EXIT                                  
040641,001101: 14,3562           01462                                    REFSMFLG                              
040642,001102: 14,3563           06001                           TC       GOTOPOOH                              #  FINIS

Page 952

040644,001104: 14,3564           12200        V41K               VN       4100                                  
040645,001105: 14,3565           77776        COARSE             EXIT                                           
040646,001106: 14,3566           04616                           TC       BANKCALL                              
040647,001107: 14,3567           17000                           CADR     IMUCOARS                              
040648,001108: 14,3570           04616                           TC       BANKCALL                              
040649,001109: 14,3571           17716                           CADR     IMUSTALL                              
040650,001110: 14,3572           05711                           TC       CURTAINS                              
040651,001111: 14,3573           04616                           TC       BANKCALL                              
040652,001112: 14,3574           17210                           CADR     IMUFINE                               
040653,001113: 14,3575           04616                           TC       BANKCALL                              
040654,001114: 14,3576           17716                           CADR     IMUSTALL                              
040655,001115: 14,3577           05711                           TC       CURTAINS                              
040656,001116: 14,3600           06037                           TC       INTPRET                               
040657,001117: 14,3601           77616                           RVQ                                            
040658,001118: 14,3602           77776        NCOARSE            EXIT                                           
040659,001119: 14,3603           30025                           CA       TIME1                                 
040660,001120: 14,3604           55075                           TS       1/PIPADT                              
040661,001121: 14,3605           44755                           CS       ZERO                                  
040662,001122: 14,3606           54037                           TS       PIPAX                                 
040663,001123: 14,3607           54040                           TS       PIPAY                                 
040664,001124: 14,3610           54041                           TS       PIPAZ                                 
040665,001125: 14,3611           06037                           TC       INTPRET                               
040666,001126: 14,3612           77775                           VLOAD                                          
040667,001127: 14,3613           24007                                    ZEROVEC                               
040668,001128: 14,3614           01472                           STORE    GCOMP                                 
040669,001129: 14,3615           43414                           SET      RVQ                                   
040670,001130: 14,3616           01060                                    DRIFTFLG                              
040671,001131: 

Page 953

040673,001133:                                                                                                  #  NAME - S52.2
040674,001134:                                                                                                  #  FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040675,001135:                                                                                                  #  CALL - CALL S52.2
040676,001136:                                                                                                  #  INPUT - X,Y,ZSMD
040677,001137:                                                                                                  #  OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040678,001138:                                                                                                  #  SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040679,001139: 
040680,001140: 14,3617                                           COUNT*   $$/S52.1                              
040681,001141: 14,3617           45020        S52.2              STQ      CALL                                  
040682,001142: 14,3620           02746                                    QMAJ                                  
040683,001143: 14,3621           47537                                    CDUTRIG                               
040684,001144: 14,3622           77624                           CALL                                           
040685,001145: 14,3623           20030                                    CALCSMSC                              
040686,001146: 14,3624           66370                           AXT,1    SSP                                   
040687,001147: 14,3625           00022                                    18D                                   
040688,001148: 14,3626           00051                                    S1                                    
040689,001149: 14,3627           00006                                    6D                                    
040690,001150: 14,3630           61373        S52.2A             VLOAD*   VXM                                   
040691,001151: 14,3631           02707                                    XNB        +18D,1                     
040692,001152: 14,3632           01734                                    REFSMMAT                              
040693,001153: 14,3633           77656                           UNIT                                           
040694,001154: 14,3634           06707                           STORE    XNB        +18D,1                     
040695,001155: 14,3635           77700                           TIX,1                                          
040696,001156: 14,3636           31630                                    S52.2A                                
040697,001157: 14,3637           75160        S52.2.1            AXC,1    AXC,2                                 
040698,001158: 14,3640           03606                                    XSMD                                  
040699,001159: 14,3641           02642                                    XSM                                   
040700,001160: 14,3642           77624                           CALL                                           
040701,001161: 14,3643           31377                                    MATMOVE                               
040702,001162: 14,3644           77624                           CALL                                           
040703,001163: 14,3645           47353                                    CALCGA                                
040704,001164: 14,3646           77650                           GOTO                                           
040705,001165: 14,3647           02746                                    QMAJ                                  
040706,001166: 

Page 954

040708,001168:                                                                                                  #  NAME - S52.3
040709,001169:                                                                                                  #  FUNCTION      XSMD= UNIT R
040710,001170:                                                                                                  #                YSMD= UNIT(V X R)
040711,001171:                                                                                                  #                ZSMD= UNIT(XSMD X YSMD)
040712,001172:                                                                                                  #  CALL          DLOAD   CALL
040713,001173:                                                                                                  #                        TALIGN
040714,001174:                                                                                                  #                        S52.3
040715,001175:                                                                                                  #  INPUT -       TIME OF ALIGNMENT IN MPAC
040716,001176:                                                                                                  #  OUTPUT -      X,Y,ZSMD
040717,001177:                                                                                                  #  SUBROUTINES - CSMCONIC
040718,001178: 
040719,001179: 14,3650                                           COUNT*   $$/S52.3                              
040720,001180: 14,3650           77620        S52.3              STQ                                            
040721,001181: 14,3651           02746                                    QMAJ                                  
040722,001182: 14,3652           34041                           STCALL   TDEC1                                 
040723,001183: 14,3653           27100                                    LEMCONIC                              
040724,001184: 14,3654           53575                           VLOAD    UNIT                                  
040725,001185: 14,3655           00001                                    RATT                                  
040726,001186: 14,3656           27607                           STOVL    XSMD                                  
040727,001187: 14,3657           00007                                    VATT                                  
040728,001188: 14,3660           53435                           VXV      UNIT                                  
040729,001189: 14,3661           00001                                    RATT                                  
040730,001190: 14,3662           27615                           STOVL    YSMD                                  
040731,001191: 14,3663           03607                                    XSMD                                  
040732,001192: 14,3664           53435                           VXV      UNIT                                  
040733,001193: 14,3665           03615                                    YSMD                                  
040734,001194: 14,3666           37623                           STCALL   ZSMD                                  
040735,001195: 14,3667           02746                                    QMAJ                                  
040736,001196: 

Page 955

040738,001198:                                                                                                  #  NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040739,001199: 
040740,001200:                                                                                                  #  FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040741,001201:                                                                                                  #  STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040742,001202: 
040743,001203:                                                                                                  #  CALLING - CALL R52
040744,001204: 
040745,001205:                                                                                                  #  INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040746,001206: 
040747,001207:                                                                                                  #  OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040748,001208:                                                                                                  #  (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040749,001209:                                                                                                  #  POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040750,001210:                                                                                                  #  SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040751,001211: 
040752,001212:                                                                                                  #  SUBROUT - R60LEM
040753,001213: 
040754,001214: 14,3670                                           COUNT*   $$/R52                                
040755,001215: 14,3670           77420        R52                STQ      EXIT                                  
040756,001216: 14,3671           03665                                    SAVQR52                               
040757,001217: 14,3672           51757                           INDEX    STARIND                               
040758,001218: 14,3673           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
040759,001219: 14,3674           00006                           EXTEND                                         
040760,001220: 14,3675           73771                           MP       1/6TH                                 
040761,001221: 14,3676           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
040762,001222: 14,3677           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
040763,001223: 
040764,001224: 14,3700           33772        R52A               CAF      V01N70                                
040765,001225: 14,3701           04616                           TC       BANKCALL                              
040766,001226: 14,3702           20476                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
040767,001227: 14,3703           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040768,001228: 14,3704           13706                           TCF      R52B                                  #  V33 - PROCEED TO ORIENT LEM
040769,001229: 14,3705           13700                           TCF      R52A                                  #  ENTER - SELECT NEW STARCODE - RECYCLE
040770,001230: 
040771,001231: 14,3706           05516        R52B               TC       DOWNFLAG                              
040772,001232: 14,3707           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040773,001233: 14,3710           30735                           CA       STARCODE                              #  GRAB DETENT CODE
040774,001234: 14,3711           77744                           MASK     HIGH9                                 
040775,001235: 14,3712           00006                           EXTEND                                         
040776,001236: 14,3713           74743                           MP       BIT9                                  
040777,001237: 14,3714           54001                           TS       L                                     #  TEMP STORE DETENT
040778,001238: 
040779,001239: 14,3715           00006                           EXTEND                                         
040780,001240: 14,3716           63734                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
040781,001241: 
040782,001242: 14,3717           65660                           AD       NEG7                                  
040783,001243: 14,3720           00006                           EXTEND                                         
040784,001244: 14,3721           13734                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
040785,001245: 
040786,001246: 14,3722  E7,1551                                  EBANK=   XYMARK                                
040787,001247: 14,3722           35016                           CA       EBANK7                                
040788,001248: 14,3723           54003                           TS       EBANK                                 

Page 956

040790,001250: 14,3724           50001                           INDEX    L                                     
040791,001251: 14,3725           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
040792,001252: 14,3726           54001                           TS       L                                     
040793,001253: 14,3727  E5,1642                                  EBANK=   XSM                                   
040794,001254: 14,3727           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
040795,001255: 14,3730           54003                           TS       EBANK                                 
040796,001256: 14,3731           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
040797,001257: 14,3732           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
040798,001258: 14,3733           13744                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
040799,001259: 
040800,001260: 14,3734           33773        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
040801,001261: 14,3735           04616                           TC       BANKCALL                              
040802,001262: 14,3736           20476                           CADR     GOFLASH                               
040803,001263: 14,3737           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040804,001264: 14,3740           13742                           TCF      +2                                    #  PROCEED - CALC OPTIC AXIS
040805,001265: 14,3741           13734                           TCF      GETAZEL                               #  ENTER - RECYCLE
040806,001266: 
040807,001267: 14,3742           00006                           EXTEND                                         
040808,001268: 14,3743           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
040809,001269: 14,3744           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
040810,001270: 14,3745           52011                           DXCH     8D                                    
040811,001271: 14,3746           06037                           TC       INTPRET                               
040812,001272: 14,3747           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
040813,001273: 14,3750           10536                                    OANB                                  #  SCAXIS IN NB COORDS
040814,001274: 14,3751           45034                           RTB      CALL                                  
040815,001275: 14,3752           21573                                    LOADTIME                              
040816,001276: 14,3753           32472                                    PLANET                                
040817,001277: 14,3754           53521                           MXV      UNIT                                  
040818,001278: 14,3755           01734                                    REFSMMAT                              
040819,001279: 14,3756           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
040820,001280: 
040821,001281: 14,3757           77776                           EXIT                                           
040822,001282: 14,3760           04616                           TC       BANKCALL                              
040823,001283: 14,3761           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
040824,001284: 
040825,001285: 14,3762           37744                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
040826,001286: 14,3763           70735                           MASK     STARCODE                              
040827,001287: 14,3764           00006                           EXTEND                                         
040828,001288: 14,3765           13700                           BZF      R52A                                  
040829,001289: 
040830,001290: 14,3766           06037                           TC       INTPRET                               #  RETURN FROM KALCMANU
040831,001291: 14,3767           77650                           GOTO                                           
040832,001292: 14,3770           03665                                    SAVQR52                               #  RETURN TO CALLER
040833,001293: 
040834,001294: 14,3771           05253        1/6TH              DEC      .1666667                              
040835,001295: 14,3772           00306        V01N70             VN       0170                                  
040836,001296: 14,3773           01527        V06N87             VN       687                                   
040837,001297: 

Page 957

040839,001299:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
040840,001300: 
040841,001301: 15,2245                                           BANK     15                                    
040842,001302: 15,2000                                           SETLOC   P50S                                  
040843,001303: 15,2000                                           BANK                                           
040844,001304: 15,2245                                           COUNT*   $$/R59                                
040845,001305: 
040846,001306: 15,2245           40077        R59                CS       FLAGWRD3                              
040847,001307: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040848,001308: 15,2247           10000                           CCS      A                                     
040849,001309: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
040850,001310: 
040851,001311: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
040852,001312: 15,2252           04616                           TC       BANKCALL                              
040853,001313: 15,2253           20476                           CADR     GOFLASH                               
040854,001314: 15,2254           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040855,001315: 15,2255           12257                           TCF      R59A                                  #  V33 - PROCEED
040856,001316: 15,2256           12245                           TCF      R59                                   #  V32 - RECYCLE
040857,001317: 
040858,001318: 15,2257           47744        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
040859,001319: 15,2260           70735                           MASK     AOTCODE                               
040860,001320: 15,2261           00006                           EXTEND                                         
040861,001321: 15,2262           76242                           MP       REVCNT                                #  JUST 6
040862,001322: 15,2263           56001                           XCH      L                                     
040863,001323: 15,2264           51757                           INDEX    STARIND                               
040864,001324: 15,2265           55755                           TS       BESTI                                 
040865,001325: 15,2266           50120                           INDEX    FIXLOC                                
040866,001326: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
040867,001327: 15,2270           00006                           EXTEND                                         
040868,001328: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
040869,001329: 15,2272           40000                           COM                                            
040870,001330: 15,2273           62561                           AD       DEC227                                
040871,001331: 15,2274           00006                           EXTEND                                         
040872,001332: 15,2275           62455                           BZMF     R59OUT                                
040873,001333: 
040874,001334: 15,2276           06037                           TC       INTPRET                               
040875,001335: 15,2277           64373                           VLOAD*   MXV                                   
040876,001336: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
040877,001337: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
040878,001338: 15,2302           45056                           UNIT     CALL                                  
040879,001339: 15,2303           47646                                    CDU*SMNB                              
040880,001340: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
040881,001341: 15,2305           77776                           EXIT                                           
040882,001342: 
040883,001343: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
040884,001344: 15,2307           55242                           TS       POSCODE                               
040885,001345: 
040886,001346: 15,2310  E7,1551                                  EBANK=   XYMARK                                
040887,001347: 15,2310           35016        INCAZ              CA       EBANK7                                
040888,001348: 15,2311           54003                           TS       EBANK                                 
040889,001349: 

Page 958

040891,001351: 15,2312           51242                           INDEX    POSCODE                               
040892,001352: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
040893,001353: 15,2314           54001                           TS       L                                     
040894,001354: 
040895,001355: 15,2315  E5,1642                                  EBANK=   XSM                                   
040896,001356: 15,2315           35014                           CA       EBANK5                                
040897,001357: 15,2316           54003                           TS       EBANK                                 
040898,001358: 
040899,001359: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
040900,001360: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
040901,001361: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
040902,001362: 15,2322           50120                           INDEX    FIXLOC                                
040903,001363: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040904,001364: 
040905,001365: 15,2324           06037                           TC       INTPRET                               
040906,001366: 15,2325           77624                           CALL                                           
040907,001367: 15,2326           10536                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
040908,001368: 15,2327           50375                           VLOAD    DOT                                   
040909,001369: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
040910,001370: 15,2331           03765                                    SCAXIS                                
040911,001371: 15,2332           65552                           SL1      ARCCOS                                
040912,001372: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
040913,001373: 
040914,001374: 15,2334           51025                           DSU      BPL                                   
040915,001375: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
040916,001376: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
040917,001377: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
040918,001378: 15,2340           00031                                    24D                                   
040919,001379: 15,2341           32470                                    DEG.5                                 
040920,001380: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
040921,001381: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
040922,001382: 15,2344           00031                                    24D                                   #  GET SPIRAL
040923,001383: 15,2345           42405                           DMP      SL4                                   
040924,001384: 15,2346           25764                                    3/4                                   #  12 SCALED AT 16
040925,001385: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
040926,001386: 
040927,001387: 15,2350           03765                                    SCAXIS                                #  OA
040928,001388: 15,2351           53435                           VXV      UNIT                                  
040929,001389: 15,2352           24005                                    XUNIT                                 
040930,001390: 15,2353           47206                           PUSH     VXV                                   #  OA X UNITX    PD 0-5
040931,001391: 15,2354           03765                                    SCAXIS                                
040932,001392: 15,2355           77676                           VCOMP                                          
040933,001393: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X (OA X UNITX))       PD 6-11
040934,001394: 15,2357           03765                                    SCAXIS                                
040935,001395: 15,2360           53435                           VXV      UNIT                                  
040936,001396: 15,2361           02731                                    STAR                                  
040937,001397: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)        PD 12-17
040938,001398: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
040939,001399: 15,2364           65552                           SL1      ARCCOS                                
040940,001400: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS

Page 959

040942,001402: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
040943,001403: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG - GET 360-THET
040944,001404: 15,2370           32375                                    R59D                                  
040945,001405: 15,2371           32047                                    ABOUTONE                              
040946,001406: 15,2372           77625                           DSU                                            
040947,001407: 15,2373           00033                                    26D                                   
040948,001408: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
040949,001409: 
040950,001410: 15,2375           70535        R59D               SLOAD    SR1                                   
040951,001411: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
040952,001412: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
040953,001413: 15,2400           00033                                    26D                                   
040954,001414: 15,2401           77634                           RTB                                            
040955,001415: 15,2402           21614                                    1STO2S                                
040956,001416: 15,2403           15237                           STODL    CURSOR                                #  YROT IN 1/2 REVS
040957,001417: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
040958,001418: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
040959,001419: 15,2406           77634                           RTB                                            
040960,001420: 15,2407           21614                                    1STO2S                                
040961,001421: 15,2410           01241                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
040962,001422: 15,2411           77776                           EXIT                                           
040963,001423: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
040964,001424: 
040965,001425: 15,2413           77776        ZSPCR              EXIT                                           
040966,001426: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
040967,001427: 15,2415           55236                           TS       CURSOR                                #  AND SPIRAL ANGLES
040968,001428: 15,2416           55240                           TS       SPIRAL                                
040969,001429: 15,2417           12437                           TCF      79DISP                                
040970,001430: 
040971,001431: 15,2420           77776        NXAX               EXIT                                           
040972,001432: 15,2421           25242                           INCR     POSCODE                               
040973,001433: 15,2422           41242                           CS       POSCODE                               
040974,001434: 15,2423           64757                           AD       SEVEN                                 
040975,001435: 15,2424           00006                           EXTEND                                         
040976,001436: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
040977,001437: 15,2426           12310                           TCF      INCAZ                                 
040978,001438: 
040979,001439: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
040980,001440: 15,2430           00404                           OCT      404                                   
040981,001441: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
040982,001442: 15,2432           04616                           TC       BANKCALL                              
040983,001443: 15,2433           20476                           CADR     GOFLASH                               
040984,001444: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
040985,001445: 15,2435           12455                           TCF      R59OUT                                #  VB33 - PROCEED, GO WITHOUT AQUIRE
040986,001446: 15,2436           12245                           TCF      R59                                   #  VB32 - RECYCLE AND TRY ANOTHER STAR
040987,001447: 
040988,001448: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
040989,001449: 15,2440           04616                           TC       BANKCALL                              
040990,001450: 15,2441           20476                           CADR     GOFLASH                               
040991,001451: 15,2442           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE

Page 960

040993,001453: 15,2443           12445                           TCF      R59E                                  #  V33 - PROCEED TO MARK ROUTINE
040994,001454: 15,2444           12245                           TCF      R59                                   #  V32 - RECYCLE TO TOP OF R59 AGAIN
040995,001455: 
040996,001456: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
040997,001457: 15,2446           71242                           MASK     POSCODE                               
040998,001458: 15,2447           00006                           EXTEND                                         
040999,001459: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041000,001460: 15,2451           47744                           CS       HIGH9                                 
041001,001461: 15,2452           70735                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041002,001462: 15,2453           60001                           AD       L                                     
041003,001463: 15,2454           54735                           TS       AOTCODE                               #  STORE DETENT 7-9
041004,001464: 
041005,001465: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
041006,001466: 15,2456           16000                           CADR     AOTMARK                               
041007,001467: 15,2457           04616                           TC       BANKCALL                              
041008,001468: 15,2460           17712                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
041009,001469: 15,2461           05711                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
041010,001470: 15,2462           13054                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
041011,001471: 
041012,001472: 15,2463           00306        V01N70*            VN       170                                   
041013,001473: 15,2464           01517        V06N79             VN       679                                   
041014,001474: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
041015,001475: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
041016,001476: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
041017,001477: 15,2472     1236               CURSOR             EQUALS   GDT/2                                 
041018,001478: 15,2472     1240               SPIRAL             EQUALS   GDT/2      +2                         
041019,001479: 15,2472     1242               POSCODE            EQUALS   GDT/2      +4                         
041020,001480: 

Page 961

041022,001482:                                                                                                  #  NAME -        PLANET
041023,001483:                                                                                                  #  FUNCTION -    TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041024,001484:                                                                                                  #                BODY.  STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041025,001485:                                                                                                  #                MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041026,001486:                                                                                                  #                BY DSDY INPUT
041027,001487:                                                                                                  #  CALL -        CALL
041028,001488:                                                                                                  #                        PLANET
041029,001489:                                                                                                  #  INPUT -       TIME IN MPAC
041030,001490:                                                                                                  #  OUTPUT -      VECTOR IN MPAC
041031,001491:                                                                                                  #  SUBROUTINES - LOCSAM
041032,001492:                                                                                                  #  DEBRIS -      VAC, STARAD - STARAD +17
041033,001493: 
041034,001494: 15,2000                                           SETLOC   P50S                                  
041035,001495: 15,2000                                           BANK                                           
041036,001496: 15,2472                                           COUNT*   $$/P51                                
041037,001497: 
041038,001498: 15,2472           27562        PLANET             STOVL    TSIGHT                                
041039,001499: 15,2473           24007                                    ZEROVEC                               #  ZERO N88 DISPLAY VEC
041040,001500: 15,2474           02707                           STORE    STARAD                                
041041,001501: 15,2475           77420                           STQ      EXIT                                  
041042,001502: 15,2476           02736                                    GCTR                                  
041043,001503: 15,2477           47744                           CS       HIGH9                                 
041044,001504: 15,2500           70735                           MASK     AOTCODE                               
041045,001505: 15,2501           00006                           EXTEND                                         
041046,001506: 15,2502           76242                           MP       REVCNT                                
041047,001507: 15,2503           56001                           XCH      L                                     
041048,001508: 15,2504           51757                           INDEX    STARIND                               
041049,001509: 15,2505           55755                           TS       BESTI                                 
041050,001510: 15,2506           10000                           CCS      A                                     
041051,001511: 15,2507           12523                           TCF      NOTPLAN                               
041052,001512: 15,2510           32562                           CAF      VNPLANV                               
041053,001513: 15,2511           04616                           TC       BANKCALL                              
041054,001514: 15,2512           20476                           CADR     GOFLASH                               
041055,001515: 15,2513           02510                           TC       -3                                    
041056,001516: 15,2514           02516                           TC       +2                                    
041057,001517: 15,2515           02510                           TC       -5                                    
041058,001518: 15,2516           06037                           TC       INTPRET                               
041059,001519: 15,2517           53575                           VLOAD    UNIT                                  
041060,001520: 15,2520           02707                                    STARAD                                
041061,001521: 15,2521           77650                           GOTO                                           
041062,001522: 15,2522           02736                                    GCTR                                  
041063,001523: 15,2523           40000        NOTPLAN            CS       A                                     
041064,001524: 15,2524           62561                           AD       DEC227                                
041065,001525: 15,2525           00006                           EXTEND                                         
041066,001526: 15,2526           62537                           BZMF     CALSAM1                               
041067,001527: 15,2527           51757                           INDEX    STARIND                               
041068,001528: 15,2530           31755                           CA       BESTI                                 
041069,001529: 15,2531           50120                           INDEX    FIXLOC                                
041070,001530: 15,2532           54046                           TS       X1                                    
041071,001531: 15,2533           06037                           TC       INTPRET                               

Page 962

041073,001533: 15,2534           52173                           VLOAD*   GOTO                                  
041074,001534: 15,2535           30347                                    CATLOG,1                              
041075,001535: 15,2536           02736                                    GCTR                                  
041076,001536: 15,2537           06037        CALSAM1            TC       INTPRET                               
041077,001537: 15,2540           45145        CALSAM             DLOAD    CALL                                  
041078,001538: 15,2541           03562                                    TSIGHT                                
041079,001539: 15,2542           30506                                    LOCSAM                                
041080,001540: 15,2543           77340                           LXC,1    VLOAD                                 
041081,001541: 15,2544           02757                                    STARIND                               
041082,001542: 15,2545           02707                                    VEARTH                                
041083,001543: 15,2546           24001                           STOVL    0D                                    
041084,001544: 15,2547           02715                                    VSUN                                  
041085,001545: 15,2550           26707                           STOVL    VEARTH                                
041086,001546: 15,2551           00001                                    0D                                    
041087,001547: 15,2552           02715                           STORE    VSUN                                  
041088,001548: 15,2553           70143                           DLOAD*   LXC,1                                 
041089,001549: 15,2554           02756                                    BESTI,1                               
041090,001550: 15,2555           00154                                    MPAC                                  
041091,001551: 15,2556           52173                           VLOAD*   GOTO                                  
041092,001552: 15,2557           02343                                    STARAD     -228D,1                    
041093,001553: 15,2560           02736                                    GCTR                                  
041094,001554: 15,2561           00343        DEC227             DEC      227        B-14                       
041095,001555: 15,2562           01530        VNPLANV            VN       0688                                  
041096,001556: 15,2563  37,3544               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
041097,001557: 

Page 963

041099,001559:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
041100,001560:                                                                                                  #  BY KEN VINCENT
041101,001561: 
041102,001562:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041103,001563: 
041104,001564:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041105,001565:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE.  IT WILL BE USED
041106,001566:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT.  THE GRAVITY VECTOR IS
041107,001567:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041108,001568:                                                                                                  #  PARTICULAR ORIONTATIONS.  THE TWO READINGS ARE AVERAGED
041109,001569:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES.  THE TWO
041110,001570:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041111,001571:                                                                                                  #  READINGS.
041112,001572: 
041113,001573:                                                                                                  #  CALL -
041114,001574:                                                                                                  #        TC      BANKCALL
041115,001575:                                                                                                  #        CADR    GVDETER
041116,001576: 
041117,001577:                                                                                                  #  INPUTS -
041118,001578:                                                                                                  #        PIPAS, CDUS
041119,001579: 
041120,001580:                                                                                                  #  OUTPUTS -
041121,001581:                                                                                                  #        STARSAV1 = UNIT GRAVITY
041122,001582:                                                                                                  #        GSAV     = DITTO
041123,001583:                                                                                                  #        GRAVBIT  = 1
041124,001584: 
041125,001585:                                                                                                  #  SUBROUTINES -
041126,001586:                                                                                                  #        PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041127,001587:                                                                                                  #        *NBSM*, *SNMB*, CALCGA, FOFLASH
041128,001588: 
041129,001589:                                                                                                  #  DEBRIS -
041130,001590:                                                                                                  #        VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041131,001591: 
041132,001592: 15,2563           32772        GVDETER            CAF      42DEG                                 
041133,001593: 15,2564           54321                           TS       THETAD                                
041134,001594: 15,2565           40000                           COM                                            
041135,001595: 15,2566           54322                           TS       THETAD     +1                         
041136,001596: 15,2567           32773                           CAF      35DEG                                 
041137,001597: 15,2570           54323                           TS       THETAD     +2                         
041138,001598: 15,2571           06037                           TC       INTPRET                               
041139,001599: 15,2572           45014                           CLEAR    CALL                                  
041140,001600: 15,2573           01662                                    REFSMFLG                              
041141,001601: 15,2574           32670                                    LUNG                                  
041142,001602: 
041143,001603:                                                                                                  #  FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041144,001604: 
041145,001605:                                                                                                  #        DEFINE G COOR SYS
041146,001606:                                                                                                  #                      -
041147,001607:                                                                                                  #                      X          UNIT G     
041148,001608:                                                                                                  #                *     -                  - 
041149,001609:                                                                                                  #                M =   Y   =   UNITEZSM * X )
041150,001610:                                                                                                  #                      -            -     -   
041151,001611:                                                                                                  #                      Z       UNIT(X   * Y )
041152,001612: 
041153,001613:                                                                                                  #        THEN ROTATED SM WRT PRESENT IS
041154,001614: 
041155,001615:                                                                                                  #                             1,  0,  0  
041156,001616:                                                                                                  #                 *      *T               *             *      *

Page 964

041158,001618:                                                                                                  #                XSM =   M    0, -1,  0   M  =  2 (X X ) - 1/2 I  *
041159,001619:                                                                                                  #                                                   I J
041160,001620:                                                                                                  #                             0,  0, -1 
041161,001621: 
041162,001622:                                                                                                  #        ALSO NB WRT PRES SM IS
041163,001623: 
041164,001624:                                                                                                  #                 *      *  *
041165,001625:                                                                                                  #                XNB = NBSM I
041166,001626:                                                                                                  #                                 *    *
041167,001627:                                                                                                  #        GIMBAL ANGLES = CALCGA( XSM, XNB )
041168,001628: 
041169,001629: 15,2000                                           SETLOC   P50S                                  
041170,001630: 15,2000                                           BANK                                           
041171,001631: 15,2575                                           COUNT*   $$/P57                                
041172,001632: 15,2575           66370                           AXT,1    SSP                                   #  X1=18
041173,001633: 15,2576           00022                                    18D                                   #  S1=6
041174,001634: 15,2577           00051                                    S1                                    #  X2, -2
041175,001635: 15,2600           00006                                    6D                                    
041176,001636: 15,2601           77744                           LXC,2                                          
041177,001637: 15,2602           00050                                    S1                                    
041178,001638: 15,2603           45173        GRAVEL             VLOAD*   CALL                                  
041179,001639: 15,2604           54000                                    XUNIT      -6,2                       
041180,001640: 15,2605           47673                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
041181,001641: 15,2606           06707                           STORE    XNB        +18D,1                     
041182,001642: 15,2607           77775                           VLOAD                                          
041183,001643: 15,2610           02731                                    STAR                                  
041184,001644: 15,2611           73744                           LXC,2    VXSC*                                 #  COMPLEMENT - UNITX ARE BACKWARD -
041185,001645: 15,2612           00047                                    X2                                    
041186,001646: 15,2613           75040                                    STAR       +6,2                       #  OUTER PRODUCT
041187,001647: 15,2614           71152                           VSL2     LXC,2                                 
041188,001648: 15,2615           00047                                    X2                                    
041189,001649: 15,2616           63047                           VSU*     INCR,2                                
041190,001650: 15,2617           54000                                    XUNIT      -6,2                       
041191,001651: 15,2620           00002                                    2D                                    
041192,001652: 15,2621           06665                           STORE    XSM        +18D,1                     
041193,001653: 15,2622           45100                           TIX,1    CALL                                  
041194,001654: 15,2623           32603                                    GRAVEL                                
041195,001655: 15,2624           47353                                    CALCGA                                
041196,001656: 15,2625           74575                           VLOAD    VSR1                                  
041197,001657: 15,2626           02715                                    GOUT                                  
041198,001658: 15,2627           36723                           STCALL   STARAD     +12D                       
041199,001659: 15,2630           32670                                    LUNG                                  
041200,001660: 15,2631           74575                           VLOAD    VSR1                                  
041201,001661: 15,2632           02715                                    GOUT                                  
041202,001662: 15,2633           53455                           VAD      UNIT                                  
041203,001663: 15,2634           02723                                    STARAD     +12D                       
041204,001664: 15,2635           02761                           STORE    STARSAV1                              
041205,001665: 15,2636           77641                           DOT                                            
041206,001666: 15,2637           02231                                    GSAV                                  
041207,001667: 15,2640           65552                           SL1      ACOS                                  

Page 965

041209,001669: 15,2641           01046                           STORE    DSPTEM1                               
041210,001670: 15,2642           77776                           EXIT                                           
041211,001671: 15,2643           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
041212,001672: 15,2644           00014                           ADRES    FREEFLAG                              
041213,001673: 
041214,001674: 15,2645           32771                           CA       DISGRVER                              
041215,001675: 15,2646           04616                           TC       BANKCALL                              
041216,001676: 15,2647           20476                           CADR     GOFLASH                               
041217,001677: 15,2650           06001                           TC       GOTOPOOH                              
041218,001678: 15,2651           12654                           TCF      PROGRAV                               #  VB33 - PROCEED
041219,001679: 15,2652           05504                           TC       UPFLAG                                #  VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041220,001680: 15,2653           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
041221,001681: 
041222,001682: 15,2654           05353        PROGRAV            TC       PHASCHNG                              
041223,001683: 15,2655           04024                           OCT      04024                                 
041224,001684: 
041225,001685: 15,2656           06037                           TC       INTPRET                               
041226,001686: 15,2657           77775                           VLOAD                                          
041227,001687: 15,2660           02761                                    STARSAV1                              
041228,001688: 15,2661           02231                           STORE    GSAV                                  
041229,001689: 15,2662           77776                           EXIT                                           
041230,001690: 15,2663           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041231,001691: 15,2664           70074                           MASK     FLAGWRD0                              
041232,001692: 15,2665           10000                           CCS      A                                     
041233,001693: 15,2666           12563                           TCF      GVDETER                               #  SET
041234,001694: 15,2667           13553                           TCF      ATTCHK                                #  EXIT FROM GVDETER
041235,001695: 
041236,001696: 15,2670           77220        LUNG               STQ      VLOAD                                 
041237,001697: 15,2671           02745                                    QMIN                                  
041238,001698: 15,2672           24007                                    ZEROVEC                               
041239,001699: 15,2673           02707                           STORE    GACC                                  
041240,001700: 15,2674           77776                           EXIT                                           
041241,001701: 15,2675           05353                           TC       PHASCHNG                              
041242,001702: 15,2676           04024                           OCT      04024                                 
041243,001703: 
041244,001704: 15,2677           04616                           TC       BANKCALL                              
041245,001705: 15,2700           17000                           CADR     IMUCOARS                              
041246,001706: 15,2701           04616                           TC       BANKCALL                              
041247,001707: 15,2702           17716                           CADR     IMUSTALL                              
041248,001708: 15,2703           05711                           TC       CURTAINS                              
041249,001709: 15,2704           04616                           TC       BANKCALL                              
041250,001710: 15,2705           17210                           CADR     IMUFINE                               
041251,001711: 15,2706           04616                           TC       BANKCALL                              
041252,001712: 15,2707           17716                           CADR     IMUSTALL                              
041253,001713: 15,2710           05711                           TC       CURTAINS                              
041254,001714: 15,2711           32770                           CA       T/2SEC                                
041255,001715: 15,2712           55736                           TS       GCTR                                  
041256,001716: 15,2713           37716                           CA       PRIO31                                
041257,001717: 15,2714           55075                           TS       1/PIPADT                              
041258,001718: 15,2715           04616                           TC       BANKCALL                              

Page 966

041260,001720: 15,2716           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
041261,001721: 15,2717           05353                           TC       PHASCHNG                              
041262,001722: 15,2720           04024                           OCT      04024                                 
041263,001723: 
041264,001724: 15,2721           04616                           TC       BANKCALL                              #  DONT NEED TO INHINY   THIS USED TO
041265,001725: 15,2722           77544                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
041266,001726: 15,2723           06037                           TC       INTPRET                               
041267,001727: 15,2724           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
041268,001728: 15,2725           35000                           CAF      2SECS                                 
041269,001729: 15,2726           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
041270,001730: 15,2727           02731                           ADRES    GRABGRAV                              
041271,001731: 
041272,001732: 15,2730           05155                           TC       ENDOFJOB                              
041273,001733: 
041274,001734: 15,2731           04674        GRABGRAV           TC       IBNKCALL                              
041275,001735: 15,2732           77544                           CADR     PIPSRINE                              
041276,001736: 15,2733           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
041277,001737: 15,2734           05105                           TC       FINDVAC                               
041278,001738: 15,2735  E5,1706                                  EBANK=   STARAD                                
041279,001739: 15,2735           02740 32065                     2CADR    ADDGRAV                               
041280,001740: 
041281,001741: 15,2737           05261                           TC       TASKOVER                              
041282,001742: 
041283,001743: 15,2740           04616        ADDGRAV            TC       BANKCALL                              
041284,001744: 15,2741           15263                           CADR     1/PIPA                                
041285,001745: 15,2742           25736                           INCR     GCTR                                  
041286,001746: 15,2743           06037                           TC       INTPRET                               
041287,001747: 15,2744           53375                           VLOAD    VAD                                   
041288,001748: 15,2745           00325                                    DELV                                  
041289,001749: 15,2746           02707                                    GACC                                  
041290,001750: 15,2747           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
041291,001751: 15,2750           50135                           SLOAD    BMN                                   
041292,001752: 15,2751           02737                                    GCTR                                  
041293,001753: 15,2752           32724                                    GREED                                 
041294,001754: 15,2753           53575                           VLOAD    UNIT                                  
041295,001755: 15,2754           02707                                    GACC                                  
041296,001756: 15,2755           36731                           STCALL   STAR                                  
041297,001757: 15,2756           47537                                    CDUTRIG                               #  TRANSFORM IN NB COOR AND STORE
041298,001758: 15,2757           77624                           CALL                                           #        IN OUTPUT
041299,001759: 15,2760           47671                                    *SMNB*                                
041300,001760: 15,2761           02715                           STORE    GOUT                                  
041301,001761: 15,2762           77776                           EXIT                                           
041302,001762: 15,2763           05353                           TC       PHASCHNG                              
041303,001763: 15,2764           04024                           OCT      04024                                 
041304,001764: 
041305,001765: 15,2765           06037        QMINEXIT           TC       INTPRET                               
041306,001766: 15,2766           77650                           GOTO                                           
041307,001767: 15,2767           02745                                    QMIN                                  
041308,001768: 15,2770           77753        T/2SEC             DEC      -20        B-14                       

Page 967

041310,001770: 15,2771           01404        DISGRVER           VN       0604                                  
041311,001771: 15,2772           07357        42DEG              OCT      07357                                 
041312,001772: 15,2773           06211        35DEG              OCT      06211                                 
041313,001773: 

Page 968

041315,001775:                                                                                                  #  NAME  GYROTRIM
041316,001776: 
041317,001777:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041318,001778:                                                                                                  #  TO ATTAIN A PRESCRIBED SET OF ANGLES.  THIS ROUTINE ASSUMES THE
041319,001779:                                                                                                  #  VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041320,001780: 
041321,001781:                                                                                                  #  CALL          CALL
041322,001782:                                                                                                  #                        GYROTRIM
041323,001783: 
041324,001784:                                                                                                  #  INPUT         THETAD,+1,+2 = DESIRED CDU ANGLES
041325,001785:                                                                                                  #                CDUX,CDUY,CDUZ
041326,001786: 
041327,001787:                                                                                                  #  OUTPUT -      GYRO TORQUE PULSES
041328,001788: 
041329,001789:                                                                                                  #  SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041330,001790:                                                                                                  #                IMPULSE, IMUSTALL
041331,001791:                                                                                                  #                -        -       -          *          *   -
041332,001792:                                                                                                  #  DEBRIS -      CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041333,001793: 
041334,001794: 15,2774                                           COUNT*   $$/P57                                
041335,001795: 15,2774           71220        GYROTRIM           STQ      DLOAD                                 
041336,001796: 15,2775           02745                                    QMIN                                  
041337,001797: 15,2776           00322                                    THETAD                                
041338,001798: 15,2777           65325                           PDDL     PDDL                                  
041339,001799: 15,3000           00324                                    THETAD     +2                         
041340,001800: 15,3001           00323                                    THETAD     +1                         
041341,001801: 15,3002           77666                           VDEF                                           
041342,001802: 15,3003           24767                           STOVL    CDUSPOT                               
041343,001803: 15,3004           24005                                    XUNIT                                 
041344,001804: 15,3005           77624                           CALL                                           
041345,001805: 15,3006           47664                                    TRG*NBSM                              
041346,001806: 15,3007           26707                           STOVL    STARAD                                
041347,001807: 15,3010           24003                                    YUNIT                                 
041348,001808: 15,3011           77624                           CALL                                           
041349,001809: 15,3012           47673                                    *NBSM*                                
041350,001810: 15,3013           36715                           STCALL   STARAD     +6                         
041351,001811: 15,3014           47537                                    CDUTRIG                               
041352,001812: 15,3015           77624                           CALL                                           
041353,001813: 15,3016           20030                                    CALCSMSC                              
041354,001814: 15,3017           77775                           VLOAD                                          
041355,001815: 15,3020           02665                                    XNB                                   
041356,001816: 15,3021           24007                           STOVL    6D                                    
041357,001817: 15,3022           02673                                    YNB                                   
041358,001818: 15,3023           34015                           STCALL   12D                                   
041359,001819: 15,3024           47441                                    AXISGEN                               
041360,001820: 15,3025           77624                           CALL                                           
041361,001821: 15,3026           47247                                    CALCGTA                               
041362,001822: 15,3027           77776        JUSTTRIM           EXIT                                           
041363,001823: 15,3030           04616                           TC       BANKCALL                              
041364,001824: 15,3031           17210                           CADR     IMUFINE                               
041365,001825: 15,3032           04616                           TC       BANKCALL                              

Page 969

041367,001827: 15,3033           17716                           CADR     IMUSTALL                              
041368,001828: 15,3034           05711                           TC       CURTAINS                              
041369,001829: 15,3035           33044                           CA       GYRCDR                                
041370,001830: 15,3036           04616                           TC       BANKCALL                              
041371,001831: 15,3037           17323                           CADR     IMUPULSE                              
041372,001832: 15,3040           04616                           TC       BANKCALL                              
041373,001833: 15,3041           17716                           CADR     IMUSTALL                              
041374,001834: 15,3042           05711                           TC       CURTAINS                              
041375,001835: 15,3043           12765                           TCF      QMINEXIT                              
041376,001836: 
041377,001837: 15,3044           02737        GYRCDR             ECADR    OGC                                   
041378,001838: 

Page 970

041380,001840:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
041381,001841: 
041382,001842: 15,3045           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
041383,001843: 15,3046           13050                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041384,001844: 15,3047           34753        1STAR              CAF      BIT1                                  
041385,001845: 15,3050           55757                           TS       STARIND                               
041386,001846: 
041387,001847: 15,3051           05353                           TC       PHASCHNG                              
041388,001848: 15,3052           04024                           OCT      04024                                 
041389,001849: 
041390,001850: 15,3053           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
041391,001851: 
041392,001852: 15,3054           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
041393,001853: 15,3055           00006                           EXTEND                                         
041394,001854: 15,3056           13067                           BZF      ASTAR                                 #  1ST STAR MARKED
041395,001855: 
041396,001856: 15,3057           05353                           TC       PHASCHNG                              
041397,001857: 15,3060           04024                           OCT      04024                                 
041398,001858: 
041399,001859: 15,3061           06037                           TC       INTPRET                               
041400,001860: 15,3062           45145                           DLOAD    CALL                                  
041401,001861: 15,3063           03562                                    TSIGHT                                #  TIME OF 2ND MARK
041402,001862: 15,3064           32472                                    PLANET                                
041403,001863: 15,3065           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
041404,001864: 15,3066           33101                                    SURFLINE                              
041405,001865: 
041406,001866: 15,3067           06037        ASTAR              TC       INTPRET                               
041407,001867: 15,3070           77775                           VLOAD                                          
041408,001868: 15,3071           02715                                    STARAD     +6                         
041409,001869: 15,3072           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
041410,001870: 15,3073           45145                           DLOAD    CALL                                  
041411,001871: 15,3074           03562                                    TSIGHT                                #  TIME OF 1ST MARK
041412,001872: 15,3075           32472                                    PLANET                                
041413,001873: 15,3076           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
041414,001874: 15,3077           77776                           EXIT                                           
041415,001875: 15,3100           13047                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
041416,001876: 

Page 971

041418,001878:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
041419,001879: 
041420,001880: 15,3101           77131        SURFLINE           SSP      AXT,2                                 
041421,001881: 15,3102           00052                                    S2                                    
041422,001882: 15,3103           00006                                    6                                     
041423,001883: 15,3104           00014                                    12D                                   
041424,001884: 15,3105           64373        WRTDESIR           VLOAD*   MXV                                   
041425,001885: 15,3106           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
041426,001886: 15,3107           03607                                    XSMD                                  
041427,001887: 15,3110           77656                           UNIT                                           
041428,001888: 15,3111           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
041429,001889: 15,3112           77773                           VLOAD*                                         
041430,001890: 15,3113           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
041431,001891: 15,3114           10023                           STORE    18D,2                                 
041432,001892: 15,3115           43104                           TIX,2    BON                                   
041433,001893: 15,3116           33105                                    WRTDESIR                              
041434,001894: 15,3117           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
041435,001895: 15,3120           33126                                    INITBY                                
041436,001896: 15,3121           77624        DOALIGN            CALL                                           
041437,001897: 15,3122           31256                                    R54                                   #  DO CHKSDATA
041438,001898: 15,3123           77614                           BOFF                                           
041439,001899: 15,3124           00354                                    FREEFLAG                              
041440,001900: 15,3125           33206                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
041441,001901: 15,3126           77624        INITBY             CALL                                           
041442,001902: 15,3127           47441                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041443,001903: 15,3130           77624                           CALL                                           
041444,001904: 15,3131           47247                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
041445,001905: 15,3132           77776                           EXIT                                           
041446,001906: 15,3133           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041447,001907: 15,3134           70104                           MASK     FLAGWRD8                              
041448,001908: 15,3135           10000                           CCS      A                                     
041449,001909: 15,3136           13145                           TCF      5DEGTEST                              
041450,001910: 15,3137           33313                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
041451,001911: 15,3140           04616                           TC       BANKCALL                              
041452,001912: 15,3141           20476                           CADR     GOFLASH                               
041453,001913: 15,3142           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041454,001914: 15,3143           13145                           TCF      5DEGTEST                              #  VB33 - PROCEED TO COARSE OR FINE
041455,001915: 15,3144           13207                           TCF      P57POST    +1                         #  VB32 - RECYCLE, MAYBE RE-ALIGN
041456,001916: 
041457,001917: 15,3145           06037        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041458,001918: 15,3146           40175                           VLOAD    BOV                                   
041459,001919: 15,3147           02740                                    OGC                                   
041460,001920: 15,3150           33151                                    SURFSUP                               
041461,001921: 15,3151           02750        SURFSUP            STORE    OGCT                                  
041462,001922: 15,3152           40141                           V/SC     BOV                                   
041463,001923: 15,3153           30610                                    5DEGREES                              
041464,001924: 15,3154           33254                                    COATRIM                               
041465,001925: 15,3155           52131                           SSP      GOTO                                  
041466,001926: 15,3156           02746                                    QMIN                                  
041467,001927: 15,3157           33161                                    SURFDISP                              

Page 972

041469,001929: 15,3160           33027                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041470,001930: 
041471,001931: 15,3161           77776        SURFDISP           EXIT                                           
041472,001932: 15,3162           05353                           TC       PHASCHNG                              
041473,001933: 15,3163           04024                           OCT      04024                                 
041474,001934: 
041475,001935: 15,3164           06037                           TC       INTPRET                               
041476,001936: 15,3165           75160                           AXC,1    AXC,2                                 
041477,001937: 15,3166           03606                                    XSMD                                  
041478,001938: 15,3167           01733                                    REFSMMAT                              
041479,001939: 15,3170           45014                           SET      CALL                                  
041480,001940: 15,3171           01462                                    REFSMFLG                              
041481,001941: 15,3172           31377                                    MATMOVE                               
041482,001942: 15,3173           77776                           EXIT                                           
041483,001943: 15,3174           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
041484,001944: 15,3175           13177                           TCF      B2F8                                  
041485,001945: 15,3176           13207                           TCF      P57POST    +1                         
041486,001946: 
041487,001947: 15,3177           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
041488,001948: 15,3200           70104                           MASK     FLAGWRD8                              
041489,001949: 15,3201           10000                           CCS      A                                     
041490,001950: 15,3202           13561                           TCF      P57JUMP                               #  ITS SET
041491,001951: 15,3203           06037                           TC       INTPRET                               
041492,001952: 15,3204           77624                           CALL                                           
041493,001953: 15,3205           33506                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041494,001954: 15,3206           77776        P57POST            EXIT                                           
041495,001955: 15,3207           35751                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
041496,001956: 15,3210           04616                           TC       BANKCALL                              
041497,001957: 15,3211           20623                           CADR     GOPERF1                               
041498,001958: 15,3212           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041499,001959: 15,3213           13561                           TCF      P57JUMP                               #  VB33 - PROCEED TO RE-ALIGN
041500,001960: 15,3214           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
041501,001961: 15,3215           61145                           AD       OPTION2                               
041502,001962: 15,3216           00006                           EXTEND                                         
041503,001963: 15,3217           13221                           BZF      +2                                    #  YES - GO CALCULATE LANDING SITE
041504,001964: 15,3220           16001                           TCF      GOTOPOOH                              #  NO - EXIT P57
041505,001965: 15,3221           05353                           TC       PHASCHNG                              #  RESTART PLACE
041506,001966: 15,3222           04024                           OCT      04024                                 
041507,001967: 15,3223           06037                           TC       INTPRET                               
041508,001968: 15,3224           45175                           VLOAD    CALL                                  #  USE GNB
041509,001969: 15,3225           02231                                    GSAV                                  
041510,001970: 15,3226           47661                                    CDU*NBSM                              #  GO TO SM COORDS
041511,001971: 15,3227           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
041512,001972: 15,3230           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
041513,001973: 15,3231           01463                                    LUNAFLAG                              
041514,001974: 15,3232           51515                           PDVL     ABVAL                                 
041515,001975: 15,3233           02023                                    RLS                                   
041516,001976: 15,3234           45561                           VXSC     STADR                                 
041517,001977: 15,3235           75745                           STORE    ALPHAV                                #  ALPHAV = RLSMAG * G(REF)
041518,001978: 15,3236           47014                           CLEAR    RTB                                   

Page 973

041520,001980: 15,3237           00662                                    ERADFLAG                              
041521,001981: 15,3240           21573                                    LOADTIME                              
041522,001982: 15,3241           77624                           CALL                                           
041523,001983: 15,3242           30446                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
041524,001984: 15,3243           01221                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
041525,001985: 15,3244           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041526,001986: 15,3245           01243                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
041527,001987: 15,3246           77606                           PUSH                                           #  TIME AT 6-7 IN PDLIST
041528,001988: 15,3247           35235                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
041529,001989: 15,3250           51670                                    R-TO-RP                               
041530,001990: 15,3251           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
041531,001991: 15,3252           77776                           EXIT                                           
041532,001992: 15,3253           16001                           TCF      GOTOPOOH                              #  EXIT P57
041533,001993: 

Page 974

041535,001995:                                                                                                  #  COARSE AND FINE ALIGN IMU
041536,001996: 
041537,001997: 15,3254           75160        COATRIM            AXC,1    AXC,2                                 
041538,001998: 15,3255           02664                                    XDC                                   
041539,001999: 15,3256           02642                                    XSM                                   
041540,002000: 15,3257           77624                           CALL                                           
041541,002001: 15,3260           31377                                    MATMOVE                               
041542,002002: 15,3261           77624                           CALL                                           
041543,002003: 15,3262           47537                                    CDUTRIG                               
041544,002004: 15,3263           77624                           CALL                                           
041545,002005: 15,3264           20030                                    CALCSMSC                              
041546,002006: 15,3265           77624                           CALL                                           
041547,002007: 15,3266           47353                                    CALCGA                                
041548,002008: 15,3267           77414                           BOFF     EXIT                                  
041549,002009: 15,3270           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
041550,002010: 15,3271           33303                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
041551,002011: 15,3272           35010                           CAF      V06N22                                #  THAN 5 DEGREES
041552,002012: 15,3273           04616                           TC       BANKCALL                              
041553,002013: 15,3274           20476                           CADR     GOFLASH                               
041554,002014: 15,3275           06001                           TC       GOTOPOOH                              
041555,002015: 15,3276           13300                           TCF      +2                                    
041556,002016: 15,3277           13272                           TCF      -5                                    
041557,002017: 15,3300           05353                           TC       PHASCHNG                              
041558,002018: 15,3301           04024                           OCT      04024                                 
041559,002019: 
041560,002020: 15,3302           06037                           TC       INTPRET                               
041561,002021: 15,3303           77624        CORSIT             CALL                                           
041562,002022: 15,3304           31565                                    COARSE                                
041563,002023: 15,3305           77624                           CALL                                           
041564,002024: 15,3306           31602                                    NCOARSE                               
041565,002025: 15,3307           77624                           CALL                                           
041566,002026: 15,3310           32774                                    GYROTRIM                              
041567,002027: 15,3311           77650                           GOTO                                           
041568,002028: 15,3312           33161                                    SURFDISP                              
041569,002029: 15,3313           01535        DISPGYRO           VN       0693                                  
041570,002030: 

Page 975

041572,002032:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
041573,002033: 
041574,002034: 15,3314           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041575,002035: 15,3315           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
041576,002036: 
041577,002037: 15,3316           36245                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041578,002038: 15,3317           55145                           TS       OPTION2                               
041579,002039: 15,3320           34753        P57OPT             CAF      BIT1                                  
041580,002040: 15,3321           04616                           TC       BANKCALL                              
041581,002041: 15,3322           20713                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
041582,002042: 15,3323           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
041583,002043: 15,3324           13331                           TCF      ALIGNOPT                              #  V33 PROCEED
041584,002044: 15,3325           13320                           TCF      P57OPT                                #  V32 RECYCLE
041585,002045: 
041586,002046: 15,3326           05353                           TC       PHASCHNG                              
041587,002047: 15,3327           00014                           OCT      00014                                 
041588,002048: 15,3330           05155                           TC       ENDOFJOB                              
041589,002049: 
041590,002050: 15,3331           31145        ALIGNOPT           CA       OPTION2                               
041591,002051: 15,3332           76245                           MASK     THREE                                 
041592,002052: 15,3333           50000                           INDEX    A                                     
041593,002053: 15,3334           13335                           TCF      +1                                    
041594,002054: 15,3335           13350                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
041595,002055: 15,3336           13411                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
041596,002056: 15,3337           13320                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
041597,002057: 15,3340           06037                           TC       INTPRET                               #  OPTION 3 REFSMMAT
041598,002058: 15,3341           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
041599,002059: 15,3342           01733                                    REFSMMAT                              
041600,002060: 15,3343           03606                                    XSMD                                  
041601,002061: 15,3344           77624                           CALL                                           
041602,002062: 15,3345           31377                                    MATMOVE                               
041603,002063: 15,3346           77650                           GOTO                                           
041604,002064: 15,3347           33410                                    PACKOPTN   -1                         
041605,002065: 
041606,002066: 15,3350           06037        TDISP              TC       INTPRET                               
041607,002067: 15,3351           77745                           DLOAD                                          
041608,002068: 15,3352           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
041609,002069: 15,3353           01046        P57A               STORE    DSPTEM1                               
041610,002070: 15,3354           77776                           EXIT                                           
041611,002071: 15,3355           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
041612,002072: 15,3356           04616                           TC       BANKCALL                              
041613,002073: 15,3357           20476                           CADR     GOFLASH                               
041614,002074: 15,3360           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE
041615,002075: 15,3361           13363                           TCF      +2                                    
041616,002076: 15,3362           13355                           TCF      P57AA                                 #  VB32 - RECYCLE
041617,002077: 
041618,002078: 15,3363           06037                           TC       INTPRET                               
041619,002079: 15,3364           65234                           RTB      PDDL                                  
041620,002080: 15,3365           21573                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
041621,002081: 15,3366           01046                                    DSPTEM1                               

Page 976

041623,002083: 15,3367           65254                           BZE      PDDL                                  
041624,002084: 15,3370           33400                                    P57C                                  #  IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041625,002085: 15,3371           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041626,002086: 15,3372           01046                                    DSPTEM1                               
041627,002087: 15,3373           33400                                    P57C                                  
041628,002088: 15,3374           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
041629,002089: 15,3375           74335                           STORE    TIG                                   #  STORE IT IN TIG
041630,002090: 15,3376           36775                           STCALL   TALIGN                                
041631,002091: 15,3377           33402                                    P57D                                  
041632,002092: 15,3400           45545        P57C               DLOAD    STADR                                 
041633,002093: 15,3401           75002                           STORE    TALIGN                                
041634,002094: 15,3402           34041        P57D               STCALL   TDEC1                                 
041635,002095: 15,3403           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
041636,002096: 15,3404           53575                           VLOAD    UNIT                                  #  IN X,Y,ZSMD
041637,002097: 15,3405           00001                                    RATT                                  
041638,002098: 15,3406           37607                           STCALL   XSMD                                  
041639,002099: 15,3407           11013                                    LSORIENT                              
041640,002100: 15,3410           77776                           EXIT                                           
041641,002101: 15,3411           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
041642,002102: 15,3412           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
041643,002103: 15,3413           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
041644,002104: 15,3414           34737                           CAF      REFSMBIT                              
041645,002105: 15,3415           70077                           MASK     FLAGWRD3                              #  REFSMFLG
041646,002106: 15,3416           10000                           CCS      A                                     
041647,002107: 15,3417           34745                           CAF      BIT7                                  #  SET
041648,002108: 15,3420           27146                           ADS      OPTION1    +2                         #  CLEAR - JUST ZERO
041649,002109: 15,3421           34753                           CAF      ATTFLBIT                              
041650,002110: 15,3422           70102                           MASK     FLAGWRD6                              #  ATTFLG
041651,002111: 15,3423           10000                           CCS      A                                     
041652,002112: 15,3424           34750                           CAF      BIT4                                  #  SET
041653,002113: 15,3425           27146                           ADS      OPTION1    +2                         #  CLEAR - ZERO IN A
041654,002114: 15,3426           34750                           CAF      BIT4                                  
041655,002115: 15,3427           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
041656,002116: 
041657,002117: 15,3430           33651        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
041658,002118: 15,3431           04616                           TC       BANKCALL                              
041659,002119: 15,3432           20476                           CADR     GOFLASH                               
041660,002120: 15,3433           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041661,002121: 15,3434           13436                           TCF      +2                                    #  V33 - PROCEED
041662,002122: 15,3435           13430                           TCF      DSPOPTN                               #  V32 - RECYCLE
041663,002123: 
041664,002124: 15,3436           34737                           CAF      REFSMBIT                              
041665,002125: 15,3437           70077                           MASK     FLAGWRD3                              
041666,002126: 15,3440           10000                           CCS      A                                     
041667,002127: 15,3441           13541                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
041668,002128: 15,3442           34753                           CAF      ATTFLBIT                              #  CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041669,002129: 15,3443           70102                           MASK     FLAGWRD6                              
041670,002130: 15,3444           10000                           CCS      A                                     
041671,002131: 15,3445           13545                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041672,002132: 15,3446           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 977

041674,002134: 15,3447           71145                           MASK     OPTION2                               
041675,002135: 15,3450           10000                           CCS      A                                     
041676,002136: 15,3451           13545                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041677,002137: 15,3452           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS - ALARM 701
041678,002138: 15,3453           00701                           OCT      701                                   
041679,002139: 15,3454           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
041680,002140: 15,3455           04616                           TC       BANKCALL                              
041681,002141: 15,3456           20476                           CADR     GOFLASH                               
041682,002142: 15,3457           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041683,002143: 15,3460           13430                           TCF      DSPOPTN                               #  V33 - PROCEED ********TEMPORARY
041684,002144: 15,3461           13430                           TCF      DSPOPTN                               #  VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041685,002145: 

Page 978

041687,002147:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041688,002148: 
041689,002149: 15,3462           40220        MFREF              STQ      SETPD                                 
041690,002150: 15,3463           02746                                    QMAJ                                  
041691,002151: 15,3464           00001                                    0                                     
041692,002152: 15,3465           77634                           RTB                                            
041693,002153: 15,3466           21573                                    LOADTIME                              
041694,002154: 15,3467           27562                           STOVL    TSIGHT                                
041695,002155: 15,3470           02723                                    VEC1                                  
041696,002156: 15,3471           41525                           PDDL     PUSH                                  
041697,002157: 15,3472           03562                                    TSIGHT                                
041698,002158: 15,3473           77624                           CALL                                           
041699,002159: 15,3474           55716                                    RP-TO-R                               
041700,002160: 15,3475           26723                           STOVL    VEC1                                  
041701,002161: 15,3476           02731                                    VEC2                                  
041702,002162: 15,3477           65201                           SETPD    PDDL                                  
041703,002163: 15,3500           00001                                    0                                     
041704,002164: 15,3501           03562                                    TSIGHT                                
041705,002165: 15,3502           45006                           PUSH     CALL                                  
041706,002166: 15,3503           55716                                    RP-TO-R                               
041707,002167: 15,3504           36731                           STCALL   VEC2                                  
041708,002168: 15,3505           02746                                    QMAJ                                  
041709,002169: 

Page 979

041711,002171:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041712,002172:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
041713,002173: 
041714,002174: 15,3506           45020        REFMF              STQ      CALL                                  
041715,002175: 15,3507           02746                                    QMAJ                                  
041716,002176: 15,3510           47537                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
041717,002177: 15,3511           40234                           RTB      SETPD                                 
041718,002178: 15,3512           21573                                    LOADTIME                              
041719,002179: 15,3513           00001                                    0                                     
041720,002180: 15,3514           37562                           STCALL   TSIGHT                                
041721,002181: 15,3515           20030                                    CALCSMSC                              #  GET YNB IN SM
041722,002182: 15,3516           61375                           VLOAD    VXM                                   
041723,002183: 15,3517           02673                                    YNB                                   
041724,002184: 15,3520           01734                                    REFSMMAT                              #  YNB TO REF
041725,002185: 15,3521           65256                           UNIT     PDDL                                  
041726,002186: 15,3522           03562                                    TSIGHT                                
041727,002187: 15,3523           45006                           PUSH     CALL                                  
041728,002188: 15,3524           51670                                    R-TO-RP                               
041729,002189: 15,3525           26237                           STOVL    YNBSAV                                #  YNB TO MF
041730,002190: 15,3526           02701                                    ZNB                                   
041731,002191: 15,3527           53505                           VXM      UNIT                                  
041732,002192: 15,3530           01734                                    REFSMMAT                              #  ZNB TO REF
041733,002193: 15,3531           41525                           PDDL     PUSH                                  
041734,002194: 15,3532           03562                                    TSIGHT                                
041735,002195: 15,3533           77624                           CALL                                           
041736,002196: 15,3534           51670                                    R-TO-RP                               #  ZNB TO MF
041737,002197: 15,3535           02245                           STORE    ZNBSAV                                
041738,002198: 15,3536           77614                           SETGO                                          
041739,002199: 15,3537           03036                                    ATTFLAG                               
041740,002200: 15,3540           02746                                    QMAJ                                  
041741,002201: 

Page 980

041743,002203:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
041744,002204: 
041745,002205: 15,3541           06037        GETLMATT           TC       INTPRET                               
041746,002206: 15,3542           77624                           CALL                                           
041747,002207: 15,3543           33506                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041748,002208: 15,3544           77776                           EXIT                                           
041749,002209: 
041750,002210: 15,3545           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
041751,002211: 15,3546           00205                           ADRES    INITALGN                              
041752,002212: 15,3547           34753                           CAF      BIT1                                  
041753,002213: 15,3550           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
041754,002214: 15,3551           10000                           CCS      A                                     
041755,002215: 15,3552           12563                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
041756,002216: 
041757,002217: 15,3553           05353        ATTCHK             TC       PHASCHNG                              
041758,002218: 15,3554           04024                           OCT      04024                                 
041759,002219: 
041760,002220: 15,3555           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
041761,002221: 15,3556           70102                           MASK     FLAGWRD6                              
041762,002222: 15,3557           10000                           CCS      A                                     
041763,002223: 15,3560           13575                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
041764,002224: 15,3561           05353        P57JUMP            TC       PHASCHNG                              
041765,002225: 15,3562           04024                           OCT      04024                                 
041766,002226: 
041767,002227: 15,3563           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR - RESET INTALIGN FLAG
041768,002228: 15,3564           00205                           ADRES    INITALGN                              
041769,002229: 15,3565           36245                           CAF      THREE                                 
041770,002230: 15,3566           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
041771,002231: 15,3567           50000                           INDEX    A                                     
041772,002232: 15,3570           13571                           TCF      +1                                    
041773,002233: 15,3571           13575                           TCF      P57OPT0                               #  OPTION IS 0
041774,002234: 15,3572           13616                           TCF      P57OPT1                               #  OPTION IS 1
041775,002235: 15,3573           13634                           TCF      P57OPT2                               #  OPTION IS 2
041776,002236: 15,3574           13635                           TCF      P57OPT3                               #  OPTION IS 3
041777,002237: 

Page 981

041779,002239:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
041780,002240: 
041781,002241: 15,3575           06037        P57OPT0            TC       INTPRET                               
041782,002242: 15,3576           77775                           VLOAD                                          
041783,002243: 15,3577           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
041784,002244: 15,3600           26723                           STOVL    VEC1                                  
041785,002245: 15,3601           02245                                    ZNBSAV                                
041786,002246: 15,3602           36731                           STCALL   VEC2                                  
041787,002247: 15,3603           47537                                    CDUTRIG                               
041788,002248: 15,3604           77624                           CALL                                           
041789,002249: 15,3605           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
041790,002250: 15,3606           77775                           VLOAD                                          
041791,002251: 15,3607           02673                                    YNB                                   
041792,002252: 15,3610           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
041793,002253: 15,3611           02701                                    ZNB                                   
041794,002254: 15,3612           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
041795,002255: 15,3613           33462                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
041796,002256: 15,3614           77650                           GOTO                                           
041797,002257: 15,3615           33101                                    SURFLINE                              
041798,002258: 
041799,002259:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041800,002260: 
041801,002261: 15,3616           06037        P57OPT1            TC       INTPRET                               
041802,002262: 15,3617           53575                           VLOAD    UNIT                                  
041803,002263: 15,3620           02023                                    RLS                                   #  LANDING SITE VEC
041804,002264: 15,3621           26723                           STOVL    VEC1                                  
041805,002265: 15,3622           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
041806,002266: 15,3623           36731                           STCALL   VEC2                                  
041807,002267: 15,3624           47537                                    CDUTRIG                               
041808,002268: 15,3625           77624                           CALL                                           
041809,002269: 15,3626           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
041810,002270: 15,3627           45175                           VLOAD    CALL                                  
041811,002271: 15,3630           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
041812,002272: 15,3631           47661                                    CDU*NBSM                              
041813,002273: 15,3632           77650                           GOTO                                           
041814,002274: 15,3633           33610                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
041815,002275: 

Page 982

041817,002277:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
041818,002278: 
041819,002279: 15,3634           13045        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
041820,002280: 
041821,002281:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041822,002282: 
041823,002283: 15,3635           06037        P57OPT3            TC       INTPRET                               
041824,002284: 15,3636           53575                           VLOAD    UNIT                                  
041825,002285: 15,3637           02023                                    RLS                                   #  LANDING SITE VEC
041826,002286: 15,3640           02723                           STORE    VEC1                                  
041827,002287: 15,3641           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
041828,002288: 15,3642           02231                                    GSAV                                  #  GRAVITY VEC NB
041829,002289: 15,3643           77624                           CALL                                           
041830,002290: 15,3644           47661                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
041831,002291: 15,3645           36761                           STCALL   STARSAV1                              
041832,002292: 15,3646           33462                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
041833,002293: 15,3647           77776                           EXIT                                           
041834,002294: 15,3650           13047                           TCF      1STAR                                 #  1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
041835,002295: 
041836,002296: 15,3651           01206        VB05N06            VN       506                                   
041837,002297: 

Page 983

041839,002299:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
041840,002300: 
041841,002301: 15,3652           41302        IMUCHK             CS       IMODES30                              
041842,002302: 15,3653           74743                           MASK     BIT9                                  
041843,002303: 15,3654           10000                           CCS      A                                     #  IS IMU ON
041844,002304: 15,3655           13661                           TCF      +4                                    #  YES
041845,002305: 
041846,002306: 15,3656           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
041847,002307: 15,3657           00210                           OCT      210                                   
041848,002308: 15,3660           06001                           TC       GOTOPOOH                              
041849,002309: 
041850,002310: 15,3661           05504                           TC       UPFLAG                                
041851,002311: 15,3662           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
041852,002312: 
041853,002313: 15,3663           04631                           TC       SWRETURN                              
041854,002314: 
041855,002315: 04,3013                                           BANK     04                                    
041856,002316: 04,2000                                           SETLOC   AOTMARK2                              
041857,002317: 04,2000                                           BANK                                           
041858,002318: 04,3013                                           COUNT*   $$/P57                                
041859,002319: 
041860,002320: 04,3013           77220        LSORIENT           STQ      VLOAD                                 
041861,002321: 04,3014           02746                                    QMAJ                                  
041862,002322: 04,3015           01555                                    RRECTCSM                              
041863,002323: 04,3016           47235                           VXV      VXV                                   
041864,002324: 04,3017           01563                                    VRECTCSM                              
041865,002325: 04,3020           03607                                    XSMD                                  
041866,002326: 04,3021           77656                           UNIT                                           
041867,002327: 04,3022           03623                           STORE    ZSMD                                  
041868,002328: 04,3023           53435                           VXV      UNIT                                  
041869,002329: 04,3024           03607                                    XSMD                                  
041870,002330: 04,3025           37615                           STCALL   YSMD                                  
041871,002331: 04,3026           02746                                    QMAJ                                  
041872,002332: 

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