Source Code

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

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

030294,000002:                                                                                                  ## Copyright:   Public domain.
030295,000003:                                                                                                  ## Filename:    P51-P53.agc
030296,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
030297,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
030298,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
030299,000007:                                                                                                  ## Assembler:   yaYUL
030300,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
030301,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
030302,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
030303,000011:                                                                                                  ## Mod history: 2011-02-23 JL   Adapted from corresponding Colossus 249 file.
030304,000012:                                                                                                  ##              2011-04-17 JL   Removed temporary line.
030305,000013:                                                                                                  ##              2016-12-31 RSB  Proofed comment text using octopus/ProoferComments,
030306,000014:                                                                                                  ##                              and corrected errors found.
030307,000015:                                                                                                  ##              2017-01-18 RSB  Fixed comment-text errors noted while diff'ing
030308,000016:                                                                                                  ##                              vs Colossus 249.
030309,000017: 

Page 690

030311,000019:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- NOV 30, 1966
030312,000020:                                                                                                  #  MOD NO- 2                                                                              LOG SECTION- P51-P53
030313,000021:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDISK REV 30
030314,000022: 
030315,000023:                                                                                                  #  FUNCTIONAL DESCRIPTION-
030316,000024: 
030317,000025:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
030318,000026:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
030319,000027: 
030320,000028:                                                                                                  #       (A) PREFERRED ORIENTATION
030321,000029: 
030322,000030:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
030323,000031:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
030324,000032: 
030325,000033:                                                                                                  #       (B) NOMINAL ORIENTATION
030326,000034: 
030327,000035:                                                                                                  #            X  = UNIT(Y  X Z  )
030328,000036:                                                                                                  #            -SM       -SM  -SM
030329,000037: 
030330,000038:                                                                                                  #            Y  = UNIT(V X R)
030331,000039:                                                                                                  #            -SM       -   -
030332,000040: 
030333,000041:                                                                                                  #            Z   = UNIT(-R)
030334,000042:                                                                                                  #            -SM         -
030335,000043: 
030336,000044:                                                                                                  #           WHERE_
030337,000045:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030338,000046:                                                                                                  #            -
030339,000047: 
030340,000048:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
030341,000049:                                                                                                  #            -
030342,000050: 
030343,000051:                                                                                                  #       (C) REFSMMAT ORIENTATION
030344,000052: 
030345,000053:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
030346,000054:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
030347,000055:                                                                                                  #       SINCE THE LAST ALIGNMENT).
030348,000056: 
030349,000057:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
030350,000058:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
030351,000059:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
030352,000060:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
030353,000061:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
030354,000062:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
030355,000063:                                                                                                  #  REQUESTED.
030356,000064: 
030357,000065:                                                                                                  #  CALLING SEQUENCE-
030358,000066: 
030359,000067:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
030360,000068: 

Page 691

030362,000070:                                                                                                  #  SUBROUTINES CALLED-
030363,000071: 
030364,000072:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
030365,000073:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
030366,000074:                                                                                                  #      3. GOPERF4       9. FLAGUP
030367,000075:                                                                                                  #      4. MATMOVE      10. R56
030368,000076:                                                                                                  #      5. GOFLASH      11. R51
030369,000077:                                                                                                  #      6. S52.3        12. GOPERF3
030370,000078: 
030371,000079:                                                                                                  #  NORMAL EXIT MODES-
030372,000080: 
030373,000081:                                                                                                  #        EXITS TO ENDOFJOB
030374,000082: 
030375,000083:                                                                                                  #  ALARM OR ABORT EXIT MODES-
030376,000084: 
030377,000085:                                                                                                  #        NONE
030378,000086: 
030379,000087:                                                                                                  #  OUTPUT-
030380,000088: 
030381,000089:                                                                                                  #      THE FOLLOWING MAY BE FLASHED ON THE DSKY
030382,000090:                                                                                                  #         1. IMU ORIENTATION CODE
030383,000091:                                                                                                  #         2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
030384,000092:                                                                                                  #         3. TIME OF NEXT IGNITION
030385,000093:                                                                                                  #         4. GIMBAL ANGLES
030386,000094:                                                                                                  #         5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
030387,000095:                                                                                                  #         6. PLEASE PERFORM P00
030388,000096:                                                                                                  #      THE MODE DISPLAY MAY BE CHANGED TO 20
030389,000097: 
030390,000098:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
030391,000099: 
030392,000100:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
030393,000101:                                                                                                  #      XSMD,YSMD,ZSMD.
030394,000102:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
030395,000103: 
030396,000104:                                                                                                  #  DEBRIS-
030397,000105: 
030398,000106:                                                                                                  #      WORK AREA
030399,000107: 21,2026  15,2000               P54                =        PROG52                                
030400,000108: 33,3773                                           BANK     33                                    
030401,000109: 15,2000                                           SETLOC   P50S                                  
030402,000110: 15,2000                                           BANK                                           
030403,000111: 
030404,000112: 15,2000  30,2000                                  SBANK=   LOWSUPER                              
030405,000113: 15,2000  E5,1773                                  EBANK=   SAC                                   
030406,000114: 15,2000                                           COUNT    15/P52                                
030407,000115: 
030408,000116: 15,2000           05301        PROG52             TC       PHASCHNG                              
030409,000117: 15,2001           00254                           OCT      00254                                 
030410,000118: 15,2002           05447                           TC       DOWNFLAG                              
030411,000119: 15,2003           00027                           ADRES    UPDATFLG                              #  BIT 7  FLAG 1

Page 692

030413,000121: 15,2004           05447                           TC       DOWNFLAG                              
030414,000122: 15,2005           00031                           ADRES    TRACKFLG                              #  BIT 5  FLAG 1
030415,000123: 15,2006           04555                           TC       BANKCALL                              
030416,000124: 15,2007           17573                           CADR     R02BOTH                               #  IMU STATUS CHECK
030417,000125: 15,2010           34707                           CAF      BIT4                                  
030418,000126: 15,2011           70076                           MASK     STATE      +2                         #  IS PFRATFLG SET(PREFERRED ORIENTATION)
030419,000127: 15,2012           10000                           CCS      A                                     
030420,000128: 15,2013           02016                           TC       P52A                                  #  YES
030421,000129: 15,2014           34711                           CAF      BIT2                                  #  NO
030422,000130: 15,2015           02017                           TC       P52A       +1                         
030423,000131: 15,2016           34712        P52A               CAF      BIT1                                  
030424,000132: 15,2017           55132                           TS       OPTION2                               
030425,000133: 15,2020           34712        P52B               CAF      BIT1                                  
030426,000134: 15,2021           04555                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
030427,000135: 15,2022           21041                           CADR     GOPERF4R                              
030428,000136: 15,2023           04106                           TC       GOTOPOOH                              
030429,000137: 15,2024           02031                           TC       +5                                    
030430,000138: 15,2025           02020                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
030431,000139: 15,2026           05301                           TC       PHASCHNG                              
030432,000140: 15,2027           00014                           OCT      00014                                 
030433,000141: 15,2030           05112                           TC       ENDOFJOB                              
030434,000142: 15,2031           31132                           CA       OPTION2                               
030435,000143: 15,2032           76214                           MASK     THREE                                 
030436,000144: 15,2033           50000                           INDEX    A                                     
030437,000145: 15,2034           02035                           TC       +1                                    
030438,000146: 15,2035           02041                           TC       P52T                                  #  L.S.
030439,000147: 15,2036           02110                           TC       P52J                                  #  PREF
030440,000148: 15,2037           02041                           TC       P52T                                  #  NOM
030441,000149: 15,2040           12120                           TCF      P52C                                  #  REF
030442,000150: 15,2041           00006        P52T               EXTEND                                         
030443,000151: 15,2042           34714                           DCA      NEG0                                  
030444,000152: 15,2043           53046                           DXCH     DSPTEM1                               
030445,000153: 15,2044           32155                           CAF      V06N34                                
030446,000154: 15,2045           04555                           TC       BANKCALL                              
030447,000155: 15,2046           20624                           CADR     GOFLASH                               
030448,000156: 15,2047           04106                           TC       GOTOPOOH                              
030449,000157: 15,2050           02052                           TC       +2                                    
030450,000158: 15,2051           02044                           TC       -5                                    
030451,000159: 15,2052           00006                           EXTEND                                         
030452,000160: 15,2053           31046                           DCA      DSPTEM1                               
030453,000161: 15,2054           00006                           EXTEND                                         
030454,000162: 15,2055           12057                           BZF      +2                                    
030455,000163: 15,2056           12062                           TCF      +4                                    
030456,000164: 
030457,000165: 15,2057           00006                           EXTEND                                         
030458,000166: 15,2060           30025                           DCA      TIME2                                 
030459,000167: 15,2061           53046                           DXCH     DSPTEM1                               
030460,000168: 15,2062           31132                           CA       OPTION2                               
030461,000169: 15,2063           74711                           MASK     BIT2                                  
030462,000170: 15,2064           10000                           CCS      A                                     

Page 693

030464,000172: 15,2065           12073                           TCF      +6                                    #  NOM
030465,000173: 15,2066           06006                           TC       INTPRET                               #  LS
030466,000174: 15,2067           77624                           CALL                                           
030467,000175: 15,2070           34506                                    P52LS                                 
030468,000176: 15,2071           77650                           GOTO                                           
030469,000177: 15,2072           32100                                    P52D                                  
030470,000178: 15,2073           06006                           TC       INTPRET                               
030471,000179: 15,2074           77745                           DLOAD                                          
030472,000180: 15,2075           01046                                    DSPTEM1                               
030473,000181: 15,2076           77624                           CALL                                           #  COMPUTE NOMINAL IMU
030474,000182: 15,2077           34636                                    S52.3                                 #   ORIENTATION
030475,000183: 15,2100           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
030476,000184: 15,2101           22256                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
030477,000185: 15,2102           77776                           EXIT                                           
030478,000186: 15,2103           32156                           CAF      VB06N22                               
030479,000187: 15,2104           04555                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
030480,000188: 15,2105           20624                           CADR     GOFLASH                               
030481,000189: 15,2106           04106                           TC       GOTOPOOH                              
030482,000190: 15,2107           02113                           TC       +4                                    #  PROCEED
030483,000191: 15,2110           06006        P52J               TC       INTPRET                               #  RECYCLE- VEHICLE HAS BEEN MENUEVERED
030484,000192: 15,2111           77650                           GOTO                                           
030485,000193: 15,2112           32100                                    P52D                                  
030486,000194: 15,2113           06006                           TC       INTPRET                               
030487,000195: 15,2114           77624                           CALL                                           #  DO COARSE ALIGN
030488,000196: 15,2115           30763                                    CAL53A                                #   ROUTINE
030489,000197: 15,2116           77414                           SET      EXIT                                  
030490,000198: 15,2117           01462                                    REFSMFLG                              
030491,000199: 15,2120           34720        P52C               CAF      ALRM15                                
030492,000200: 15,2121           04555                           TC       BANKCALL                              
030493,000201: 15,2122           20751                           CADR     GOPERF1                               
030494,000202: 15,2123           04106                           TC       GOTOPOOH                              
030495,000203: 15,2124           02126                           TC       +2                                    #  V33
030496,000204: 15,2125           02140                           TC       P52F                                  #  E
030497,000205: 15,2126           06006                           TC       INTPRET                               
030498,000206: 15,2127           43234                           RTB      DAD                                   
030499,000207: 15,2130           45505                                    LOADTIME                              
030500,000208: 15,2131           32176                                    TSIGHT1                               
030501,000209: 15,2132           77624                           CALL                                           
030502,000210: 15,2133           30216                                    LOCSAM                                
030503,000211: 15,2134           77776                           EXIT                                           
030504,000212: 15,2135           04555        P52E               TC       BANKCALL                              #  DO STAR SELECTION
030505,000213: 15,2136           30324                           CADR     PICAPAR                               
030506,000214: 15,2137           02145                           TC       P52I                                  #  2 STARS NOT AVAILABLE
030507,000215: 15,2140           06006        P52F               TC       INTPRET                               #  2 STARS AVAILABLE
030508,000216: 15,2141           77624                           CALL                                           
030509,000217: 15,2142           30523                                    R51                                   
030510,000218: 15,2143           77776        ENDP50S            EXIT                                           
030511,000219: 15,2144           04106                           TC       GOTOPOOH                              
030512,000220: 15,2145           05537        P52I               TC       ALARM                                 
030513,000221: 15,2146           00405                           OCT      405                                   

Page 694

030515,000223: 15,2147           34743                           CAF      V05N09                                
030516,000224: 15,2150           04555                           TC       BANKCALL                              
030517,000225: 15,2151           20624                           CADR     GOFLASH                               
030518,000226: 15,2152           04106                           TC       GOTOPOOH                              
030519,000227: 15,2153           02140                           TC       P52F                                  #  PROCEED - DO FINE ALIGN-R51
030520,000228: 15,2154           02120                           TC       P52C                                  #  RECYCLE- VEHICLE HAS BEEN MANUEVERED                  
030521,000229: 15,2155           01442        V06N34             VN       00634                                 
030522,000230: 15,2156           01426        VB06N22            VN       00622                                 
030523,000231: 15,2157     4720               ALRM15             EQUALS   OCT15                                 
030524,000232: 16,2000                                           SETLOC   P50S2                                 
030525,000233: 16,2000                                           BANK                                           
030526,000234: 16,2505           01531        V06N89*            VN       0689                                  
030527,000235:                                                                                                  #  NAME-P52LS
030528,000236:                                                                                                  #  FUNCTION - TO DISPLAY THE LANDING SITE LATITUDE,
030529,000237:                                                                                                  #  LONGTITUDE AND ALTITUDE. TO ACCEPT NEW DATA VIA
030530,000238:                                                                                                  #  THE KEYBOARD. TO COMPUTE THE LANDING SITE
030531,000239:                                                                                                  #  ORIENTATION FOR P52 OR P54
030532,000240: 
030533,000241:                                                                                                  #  LET:
030534,000242:                                                                                                  #     RLS  = LANDING SITE VECTOR IN REF COORDINATES
030535,000243:                                                                                                  #     R    = CSM POSITION VECTOR IN REF COORDINATES
030536,000244:                                                                                                  #     V    = CSM VELOCITY VECTOR IN REF COORDINATES
030537,000245:                                                                                                  #  THEN THE LANDING SITE ORIENTATION IS:
030538,000246:                                                                                                  #     XSMD = UNIT(RLS)
030539,000247:                                                                                                  #     YSMD = UNIT(ZSMD*XSMD)
030540,000248:                                                                                                  #     ZSMD = UNIT((R*V)*RLS)
030541,000249:                                                                                                  #  CALL -   CALL
030542,000250:                                                                                                  #                  P52LS
030543,000251:                                                                                                  #  INPUTS-  DSPTEM1=TIME OF ALIGNMENT
030544,000252:                                                                                                  #           RLS=LANDING SITE VECTOR IN MOON FIXED COORINATES
030545,000253:                                                                                                  #  OUTPUTS- XSMD,YSMD,ZSMD
030546,000254:                                                                                                  #  SUBROUTINES- RP-TO-R ,LAT-LONG,LLASRD,LLASRDA,CSMPREC
030547,000255:                                                                                                  #  DEBRIS- VAC, SEE SUBROUTINES
030548,000256: 
030549,000257: 16,2506           43020        P52LS              STQ      SET                                   
030550,000258: 16,2507           00300                                    QMAJ                                  
030551,000259: 16,2510           01463                                    LUNAFLAG                              
030552,000260: 16,2511           77745                           DLOAD                                          
030553,000261: 16,2512           01046                                    DSPTEM1                               
030554,000262: 16,2513           02607                           STORE    TSIGHT                                
030555,000263: 16,2514           43175                           VLOAD    SET                                   
030556,000264: 16,2515           02026                                    RLS                                   
030557,000265: 16,2516           00462                                    ERADFLAG                              
030558,000266: 16,2517           14001                           STODL    0D                                    
030559,000267: 16,2520           02607                                    TSIGHT                                
030560,000268: 16,2521           34007                           STCALL   6D                                    
030561,000269: 16,2522           55341                                    RP-TO-R                               
030562,000270: 16,2523           77742                           VSR2                                           
030563,000271: 16,2524           16152                           STODL    ALPHAV                                
030564,000272: 16,2525           02607                                    TSIGHT                                

Page 695

030566,000274: 16,2526           77624                           CALL                                           
030567,000275: 16,2527           26322                                    LAT-LONG                              
030568,000276: 16,2530           77624                           CALL                                           
030569,000277: 16,2531           61336                                    LLASRD                                
030570,000278: 16,2532           77776                           EXIT                                           
030571,000279: 16,2533           32505        LSDISP             CAF      V06N89*                               
030572,000280: 16,2534           04555                           TC       BANKCALL                              
030573,000281: 16,2535           20624                           CADR     GOFLASH                               
030574,000282: 16,2536           04106                           TC       GOTOPOOH                              
030575,000283: 16,2537           02541                           TC       +2                                    
030576,000284: 16,2540           02533                           TC       LSDISP                                
030577,000285: 16,2541           06006                           TC       INTPRET                               
030578,000286: 16,2542           77624                           CALL                                           
030579,000287: 16,2543           61345                                    LLASRDA                               
030580,000288: 16,2544           45145                           DLOAD    CALL                                  
030581,000289: 16,2545           02607                                    TSIGHT                                
030582,000290: 16,2546           26373                                    LALOTORV                              
030583,000291: 16,2547           53575                           VLOAD    UNIT                                  
030584,000292: 16,2550           02152                                    ALPHAV                                
030585,000293: 16,2551           14307                           STODL    XSMD                                  
030586,000294: 16,2552           02607                                    TSIGHT                                
030587,000295: 16,2553           34041                           STCALL   TDEC1                                 
030588,000296: 16,2554           27022                                    CSMPREC                               
030589,000297: 16,2555           47375                           VLOAD    VXV                                   
030590,000298: 16,2556           00001                                    RATT                                  
030591,000299: 16,2557           00007                                    VATT                                  
030592,000300: 16,2560           53435                           VXV      UNIT                                  
030593,000301: 16,2561           00307                                    XSMD                                  
030594,000302: 16,2562           00323                           STORE    ZSMD                                  
030595,000303: 16,2563           53435                           VXV      UNIT                                  
030596,000304: 16,2564           00307                                    XSMD                                  
030597,000305: 16,2565           34315                           STCALL   YSMD                                  
030598,000306: 16,2566           00300                                    QMAJ                                  
030599,000307: 14,2000                                           SETLOC   P50S1                                 
030600,000308: 14,2000                                           BANK                                           
030601,000309:                                                                                                  #  NAME- AUTOMATIC OPTICS POSITIONING ROUTINE
030602,000310: 
030603,000311:                                                                                                  #  FUNCTION- (1) TO POINT THE STAR LOS OF THE OPTICS AT A STAR OR LANDMARK DEFINED BY THE PROGRAM OR BY DSKY INPUT.
030604,000312:                                                                                                  #            (2) TO POINT THE STAR LOS OF THE OPTICS AT THE LEM DURING RENDEZVOUS TRACKING OPERATIONS.
030605,000313: 
030606,000314:                                                                                                  #  CALLING SEQUENCE- CALL R52
030607,000315: 
030608,000316:                                                                                                  #  INPUT- 1. TARG1FLG AND TARG2FLG- PRESET BY CALLER
030609,000317:                                                                                                  #         2. RNDVZFLG AND TRACKFLG- PRESET BY CALLER
030610,000318:                                                                                                  #         3. STAR CODE- PRESET BY CALLER. ALSO INPUT THROUGH DSKY
030611,000319:                                                                                                  #         4. LAT, LONG AND ALT OF LANDMARK- INPUT THROUGH DSKY
030612,000320:                                                                                                  #         5. NO. OF MARKS(MARKINDX)- PRESET BY CALLER
030613,000321: 
030614,000322:                                                                                                  #  OUTPUT-  DRIVE SHAFT AND TRUNNION CDUS
030615,000323: 

Page 696

030617,000325:                                                                                                  #  SUBROUTINES- 1. FIXDELAY        7. CLEANDSP
030618,000326:                                                                                                  #               2. GOPERF1         8. GODSPR
030619,000327:                                                                                                  #               3. GOFLASH         9. REFLASHR
030620,000328:                                                                                                  #               4. R53            10. R52.2
030621,000329:                                                                                                  #               5. ALARM          11. R52.3
030622,000330:                                                                                                  #               6. SR52.1
030623,000331: 
030624,000332: 14,2002                                           COUNT    15/R52                                
030625,000333: 
030626,000334: 14,2002           43020        R52                STQ      CLEAR                                 
030627,000335: 14,2003           02576                                    SAVQR52                               
030628,000336: 14,2004           04265                                    ADVTRK                                
030629,000337: 14,2005           77776        R52VRB             EXIT                                           
030630,000338: 14,2006           00006                           EXTEND                                         
030631,000339: 14,2007           30036                           DCA      CDUT                                  
030632,000340: 14,2010           53161                           DXCH     DESOPTT                               
030633,000341: 14,2011           06006                           TC       INTPRET                               
030634,000342: 14,2012           43131                           SSP      CLEAR                                 
030635,000343: 14,2013           01304                                    OPTIND                                
030636,000344: 14,2014           00000                                    0                                     
030637,000345: 14,2015           00271                                    R53FLAG                               
030638,000346: 14,2016           77776                           EXIT                                           
030639,000347: 14,2017           06006        R52A               TC       INTPRET                               
030640,000348: 14,2020           43014                           SET      BON                                   
030641,000349: 14,2021           00073                                    TRUNFLAG                              
030642,000350: 14,2022           00705                                    TARG1FLG                              
030643,000351: 14,2023           30103                                    R52H                                  
030644,000352: 14,2024           77414                           CLEAR    EXIT                                  
030645,000353: 14,2025           03660                                    TERMIFLG                              
030646,000354: 14,2026           31314        R52C               CA       SWSAMPLE                              #  IS OPTICS MODE IN AGC
030647,000355: 14,2027           00006                           EXTEND                                         
030648,000356: 14,2030           62131                           BZMF     R52M                                  #  MANUAL
030649,000357: 14,2031           04555        R52D               TC       BANKCALL                              #  AGC
030650,000358: 14,2032           26176                           CADR     SR52.1                                
030651,000359: 14,2033           12161                           TCF      R52L                                  #  GR 90 DEGREES
030652,000360: 14,2034           12124                           TCF      R52J                                  #  GR 50 DEGREES
030653,000361: 14,2035           05435                           TC       UPFLAG                                #  LS 50 DEGREES
030654,000362: 14,2036           00013                           ADRES    TRUNFLAG                              #  SET TRUNFLAG  BIT 4  FLAG 0
030655,000363: 14,2037           34701        R52JA              CAF      BIT10                                 #  IS THIS A LEM
030656,000364: 14,2040           70075                           MASK     STATE      +1                         
030657,000365: 14,2041           10000                           CCS      A                                     
030658,000366: 14,2042           02052                           TC       R52E                                  #  YES
030659,000367: 14,2043           34705                           CAF      BIT6                                  #  NO, IS R53FLAG SET
030660,000368: 14,2044           70074                           MASK     STATE                                 
030661,000369: 14,2045           10000                           CCS      A                                     
030662,000370: 14,2046           12052                           TCF      R52E                                  #  YES
030663,000371: 14,2047           32151                           CAF      V06N92                                #  NO
030664,000372: 14,2050           04555                           TC       BANKCALL                              
030665,000373: 14,2051           20602                           CADR     GODSPR                                
030666,000374: 14,2052           31314        R52E               CA       SWSAMPLE                              #  IS OSS IN CMC MODE

Page 697

030668,000376: 14,2053           00006                           EXTEND                                         
030669,000377: 14,2054           62065                           BZMF     R52F                                  #  NO
030670,000378: 14,2055           40074                           CS       STATE                                 #  YES- IS TRUNFLAG SET
030671,000379: 14,2056           74707                           MASK     BIT4                                  
030672,000380: 14,2057           10000                           CCS      A                                     
030673,000381: 14,2060           02063                           TC       +3                                    #  NO
030674,000382: 14,2061           31775                           CA       PAC                                   #  YES
030675,000383: 14,2062           55160                           TS       DESOPTT                               
030676,000384: 14,2063           31773                           CA       SAC                                   
030677,000385: 14,2064           55161                           TS       DESOPTS                               
030678,000386: 14,2065           34731        R52F               CAF      .5SEC                                 #  WAIT 1/2 SEC
030679,000387: 14,2066           04555                           TC       BANKCALL                              
030680,000388: 14,2067           01730                           CADR     DELAYJOB                              
030681,000389: 14,2070           34701                           CAF      BIT10                                 
030682,000390: 14,2071           70075                           MASK     STATE      +1                         
030683,000391: 14,2072           10000                           CCS      A                                     
030684,000392: 14,2073           12104                           TCF      R52HA                                 #  YES, LEM
030685,000393: 14,2074           34674                           CAF      BIT15                                 #  NO
030686,000394: 14,2075           70103                           MASK     STATE      +7                         #  IS TERMIFLG SET
030687,000395: 14,2076           00006                           EXTEND                                         
030688,000396: 14,2077           12026                           BZF      R52C                                  #  NO
030689,000397: 14,2100           06006        R52Q               TC       INTPRET                               #  YES
030690,000398: 14,2101           77650                           GOTO                                           
030691,000399: 14,2102           02576                                    SAVQR52                               
030692,000400: 14,2103           77776        R52H               EXIT                                           #  LEM
030693,000401: 14,2104           04555        R52HA              TC       BANKCALL                              
030694,000402: 14,2105           76536                           CADR     R61CSM                                
030695,000403: 14,2106           30075                           CA       STATE      +1                         
030696,000404: 14,2107           74706                           MASK     BIT5                                  
030697,000405: 14,2110           00006                           EXTEND                                         #  TRACKFLG
030698,000406: 14,2111           12100                           BZF      R52Q                                  
030699,000407: 
030700,000408: 14,2112           40075                           CS       STATE      +1                         
030701,000409: 14,2113           74704                           MASK     BIT7                                  #  UPDATFLG
030702,000410: 14,2114           10000                           CCS      A                                     
030703,000411: 14,2115           12122                           TCF      R52SYNC                               
030704,000412: 
030705,000413: 14,2116           30101        R52I               CA       STATE      +5                         
030706,000414: 14,2117           74701                           MASK     BIT10                                 
030707,000415: 14,2120           10000                           CCS      A                                     
030708,000416: 14,2121           02031                           TC       R52D                                  #  PRFTRKAT = 1
030709,000417: 14,2122           32175        R52SYNC            CAF      1.8SEC                                #  MAKE UP FOR LOST TIME
030710,000418: 14,2123           12066                           TCF      R52F       +1                         
030711,000419: 
030712,000420: 14,2124           05447        R52J               TC       DOWNFLAG                              #  CLEAR TRUNFLAG
030713,000421: 14,2125           00013                           ADRES    TRUNFLAG                              #  BIT 4  FLAG 0
030714,000422: 14,2126           05537                           TC       ALARM                                 #  SET 407 ALARM
030715,000423: 14,2127           00407                           OCT      407                                   
030716,000424: 14,2130           02037                           TC       R52JA                                 
030717,000425: 14,2131           34705        R52M               CAF      BIT6                                  #  IS R53FLAG SET

Page 698

030719,000427: 14,2132           70074                           MASK     STATE                                 
030720,000428: 14,2133           10000                           CCS      A                                     
030721,000429: 14,2134           02065                           TC       R52F                                  #  YES
030722,000430: 14,2135           00004                           INHINT                                         #  NO
030723,000431: 14,2136           37661                           CAF      PRIO24                                
030724,000432: 14,2137           05042                           TC       FINDVAC                               
030725,000433: 14,2140  E5,1773                                  EBANK=   SAC                                   
030726,000434: 14,2140           02144 30065                     2CADR    R53JOB                                
030727,000435: 14,2142           00003                           RELINT                                         
030728,000436: 14,2143           12065                           TCF      R52F                                  
030729,000437: 14,2144           06006        R53JOB             TC       INTPRET                               
030730,000438: 14,2145           77624                           CALL                                           
030731,000439: 14,2146           31327                                    R53                                   
030732,000440: 14,2147           77776        ENDPLAC            EXIT                                           #  INTERPRETER RETURN TO ENDOFJOB(R22 USES)
030733,000441: 14,2150           05112                           TC       ENDOFJOB                              
030734,000442: 14,2151           01534        V06N92             VN       00692                                 
030735,000443: 14,2152           01531        V06N89A            VN       0689                                  
030736,000444: 14,2153           10464 12470  SHAXIS             2DEC     .5376381241 B-1                        
030737,000445: 
030738,000446: 14,2155           00000 00000                     2DEC     0          B-28                       
030739,000447: 14,2157           15373 11554                     2DEC     .8431766920 B-1                        
030740,000448: 14,2161           34701        R52L               CAF      BIT10                                 #  IS THIS A LEM
030741,000449: 14,2162           70075                           MASK     STATE      +1                         
030742,000450: 14,2163           10000                           CCS      A                                     
030743,000451: 14,2164           02124                           TC       R52J                                  #  YES
030744,000452: 14,2165           32174                           CAF      OCT404                                
030745,000453: 14,2166           04555                           TC       BANKCALL                              
030746,000454: 14,2167           21671                           CADR     PRIOLARM                              
030747,000455: 14,2170           12176                           TCF      TERM52                                #  TERMINATE
030748,000456: 14,2171           12065                           TCF      R52F                                  #  PROCEED
030749,000457: 14,2172           12065                           TCF      R52F                                  #  NO PROVISION FOR NEW DATA
030750,000458: 14,2173           15112                           TCF      ENDOFJOB                              
030751,000459: 
030752,000460: 14,2174           00404        OCT404             OCT      404                                   
030753,000461: 
030754,000462: 14,2175           00264        1.8SEC             DEC      180        B-14                       
030755,000463: 
030756,000464: 14,2176           05425        TERM52             TC       CLEARMRK                              
030757,000465: 
030758,000466: 14,2177           04555                           TC       BANKCALL                              #  KILL MARK SYSTEM
030759,000467: 14,2200           16063                           CADR     MKRELEAS                              
030760,000468: 
030761,000469: 14,2201           34714                           CAF      ZERO                                  
030762,000470: 14,2202           55323                           TS       OPTCADR                               
030763,000471: 
030764,000472: 14,2203           04555                           TC       BANKCALL                              #  CLEAR OUT EXTENDED VERBS

Page 699

030766,000474: 14,2204           20464                           CADR     KLEENEX                               
030767,000475: 
030768,000476: 14,2205           04106                           TC       GOTOPOOH                              #  NOW GO TO POO
030769,000477: 
030770,000478: 14,2206           43020        ADVORB             STQ      SET                                   #  SETS UP ADVANCED ORBIT TRACKING
030771,000479: 14,2207           02576                                    SAVQR52                               
030772,000480: 14,2210           04065                                    ADVTRK                                
030773,000481: 14,2211           43014                           SET      SET                                   
030774,000482: 14,2212           01463                                    LUNAFLAG                              
030775,000483: 14,2213           00462                                    ERADFLAG                              
030776,000484: 14,2214           77650                           GOTO                                           
030777,000485: 14,2215           30005                                    R52VRB                                
030778,000486: 

Page 700

030780,000488:                                                                                                  #  NAME -S50 ALIAS  LOCSAM
030781,000489:                                                                                                  #  NAME- LOCSAM
030782,000490:                                                                                                  #  FUNCTION -TO COMPUTE QUATITIGS LISTED BELOW, USED IN THE
030783,000491:                                                                                                  #            IMU ALIGNMENT PROGRAMS
030784,000492:                                                                                                  #  DEFINE:
030785,000493:                                                                                                  #       RATT=POSITION VECTOR OF CM  WRT PRIMARY BODY
030786,000494:                                                                                                  #       VATT=VELOCITY VECTOR OF CM  WRT PRIMARY BODY
030787,000495:                                                                                                  #       RE  =RADIUS OF EARTH
030788,000496:                                                                                                  #       RM  =RADIUS OF MOON
030789,000497:                                                                                                  #       ECLIPOL= POLE OF ECLIPTIC SCALED BY TANGENTIAL VELOCITY OF EARTH
030790,000498:                                                                                                  #                WRT TO SUN  OVER  THE VELOCITY OF LIGHT
030791,000499:                                                                                                  #       REM =POSITION OF MOON  WRT  EARTH
030792,000500:                                                                                                  #       RES =POSITION OF SUN  WRT EARTH
030793,000501:                                                                                                  #       C = VELOCITY OF LIGHT
030794,000502: 
030795,000503: 
030796,000504:                                                                                                  #           EARTH IS PRIMARY               MOON IS PRIMARY
030797,000505:                                                                                                  #                   -                              -
030798,000506:                                                                                                  #           VEARTH=-1(RATT)                VEARTH=-1(REM+RATT)
030799,000507: 
030800,000508:                                                                                                  #                   -                              -
030801,000509:                                                                                                  #           VMOON = 1(REM-RATT)            VMOON =-1(RATT)
030802,000510: 
030803,000511:                                                                                                  #                   -                              -
030804,000512:                                                                                                  #           VSUN  = 1(RES)                 VSUN  = 1(RES-REM)
030805,000513: 
030806,000514:                                                                                                  #                         -1
030807,000515:                                                                                                  #           CEARTH=COS(SIN (RE/RATT)+5)    CEARTH=COS 5
030808,000516: 
030809,000517:                                                                                                  #                                                       -1
030810,000518:                                                                                                  #           CMOON= COS 5                   CMOON=COS(SIN CRM/RATT)+5)
030811,000519: 
030812,000520: 
030813,000521:                                                                                                  #           CSUN = COS 15                  CSUN = COS 15
030814,000522: 
030815,000523: 
030816,000524:                                                                                                  #                        VEL/C = VSUN X ECLIPOL + VATT/C
030817,000525: 
030818,000526: 
030819,000527: 
030820,000528:                                                                                                  #  CALL -   DLOAD  CALL
030821,000529:                                                                                                  #                  DESIRED TIME
030822,000530:                                                                                                  #                  LOCSAM
030823,000531:                                                                                                  #  INPUTS - MPAC = TIME
030824,000532: 
030825,000533:                                                                                                  #  OUTPUTS- VEARTH,VMOON,VSUN,CEARTH,CMOON,CSUN,VEL/C
030826,000534: 
030827,000535:                                                                                                  #  SUBROUTINES- LSPOS,CSMCONIC
030828,000536: 
030829,000537:                                                                                                  #  DEBRIS - VAC AREA,SEE SUBROUTINES
030830,000538: 

Page 701

030832,000540: 14,2000                                           SETLOC   P50S1                                 
030833,000541: 14,2000                                           BANK                                           
030834,000542: 
030835,000543: 14,2216                                           COUNT*   $$/S50                                
030836,000544: 
030837,000545: 14,2216  14,2216               LOCSAM             =        S50                                   
030838,000546: 14,2216           77620        S50                STQ                                            
030839,000547: 14,2217           00300                                    QMAJ                                  
030840,000548: 14,2220           36607                           STCALL   TSIGHT                                
030841,000549: 14,2221           54110                                    LSPOS                                 
030842,000550: 14,2222           26752                           STOVL    VMOON                                 
030843,000551: 14,2223           00003                                    2D                                    
030844,000552: 14,2224           16744                           STODL    VSUN                                  
030845,000553: 14,2225           02607                                    TSIGHT                                
030846,000554: 14,2226           34041                           STCALL   TDEC1                                 
030847,000555: 14,2227           27045                                    CSMCONIC                              
030848,000556: 14,2230           61131                           SSP      TIX,2                                 
030849,000557: 14,2231           00052                                    S2                                    
030850,000558: 14,2232           00000                                    0                                     
030851,000559: 14,2233           30256                                    MOONCNTR                              
030852,000560: 14,2234           52375        EARTCNTR           VLOAD    VSU                                   
030853,000561: 14,2235           02752                                    VMOON                                 
030854,000562: 14,2236           00001                                    RATT                                  
030855,000563: 14,2237           77656                           UNIT                                           
030856,000564: 14,2240           26752                           STOVL    VMOON                                 
030857,000565: 14,2241           00001                                    RATT                                  
030858,000566: 14,2242           57456                           UNIT     VCOMP                                 
030859,000567: 14,2243           16736                           STODL    VEARTH                                
030860,000568: 14,2244           32162                                    RSUBE                                 
030861,000569: 14,2245           77624                           CALL                                           
030862,000570: 14,2246           30316                                    OCCOS                                 
030863,000571: 14,2247           14017                           STODL    CEARTH                                
030864,000572: 14,2250           32200                                    CSS5                                  
030865,000573: 14,2251           24023                           STOVL    CMOON                                 
030866,000574: 14,2252           02744                                    VSUN                                  
030867,000575: 14,2253           77656                           UNIT                                           
030868,000576: 14,2254           36744                           STCALL   VSUN                                  
030869,000577: 14,2255           30303                                    ENDSAM                                
030870,000578: 14,2256           40575        MOONCNTR           VLOAD    VSR8                                  
030871,000579: 14,2257           02752                                    VMOON                                 
030872,000580: 14,2260           51362                           VSR1     BVSU                                  
030873,000581: 14,2261           02744                                    VSUN                                  
030874,000582: 14,2262           77656                           UNIT                                           
030875,000583: 14,2263           26744                           STOVL    VSUN                                  
030876,000584: 14,2264           02752                                    VMOON                                 
030877,000585: 14,2265           53455                           VAD      UNIT                                  
030878,000586: 14,2266           00001                                    RATT                                  
030879,000587: 14,2267           77676                           VCOMP                                          
030880,000588: 14,2270           26736                           STOVL    VEARTH                                

Page 702

030882,000590: 14,2271           00001                                    RATT                                  
030883,000591: 14,2272           57456                           UNIT     VCOMP                                 
030884,000592: 14,2273           16752                           STODL    VMOON                                 
030885,000593: 14,2274           32160                                    RSUBM                                 
030886,000594: 14,2275           77624                           CALL                                           
030887,000595: 14,2276           30316                                    OCCOS                                 
030888,000596: 14,2277           14023                           STODL    CMOON                                 
030889,000597: 14,2300           32200                                    CSS5                                  
030890,000598: 14,2301           24017                           STOVL    CEARTH                                
030891,000599: 14,2302           02744                                    VSUN                                  
030892,000600: 14,2303           77635        ENDSAM             VXV                                            
030893,000601: 14,2304           32170                                    ECLIPOL                               
030894,000602: 14,2305           27474                           STOVL    VEL/C                                 
030895,000603: 14,2306           00007                                    VATT                                  
030896,000604: 14,2307           53361                           VXSC     VAD                                   
030897,000605: 14,2310           32166                                    1/C                                   
030898,000606: 14,2311           03474                                    VEL/C                                 
030899,000607: 14,2312           17474                           STODL    VEL/C                                 
030900,000608: 14,2313           32202                                    CSSUN                                 
030901,000609: 14,2314           34021                           STCALL   CSUN                                  
030902,000610: 14,2315           00300                                    QMAJ                                  
030903,000611: 14,2316           70471        OCCOS              DDV      SR1                                   
030904,000612: 14,2317           00045                                    36D                                   
030905,000613: 14,2320           43336                           ASIN     DAD                                   
030906,000614: 14,2321           32164                                    5DEGREES                              
030907,000615: 14,2322           70546                           COS      SR1                                   
030908,000616: 14,2323           77616                           RVQ                                            
030909,000617: 15,2000                                           SETLOC   P50S                                  
030910,000618: 15,2000                                           BANK                                           
030911,000619: 15,2157           00065 01265  RSUBM              2DEC     1738090    B-29                       #  MOON RADIUS IN METERS
030912,000620: 15,2161           00302 24533  RSUBE              2DEC     6378166    B-29                       
030913,000621: 15,2163           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
030914,000622: 15,2165           00000 13143  1/C                2DEC     .000042699 B-1                        #  *
030915,000623: 15,2167           00000 00000  ECLIPOL            2DEC     0          B-28                       #  *
030916,000624: 15,2171           77777 53231                     2DEC     -.00007896 B-1                        #  *
030917,000625: 15,2173           00001 17570                     2DEC     .00018209  B-1                        #  *           * FOR USE BY CSM ONLY
030918,000626: 15,2175           00001 16700  TSIGHT1            2DEC     24000      B-28                       
030919,000627: 15,2177                        CEARTH             =        14D                                   
030920,000628: 15,2177                        CSUN               =        16D                                   
030921,000629: 15,2177                        CMOON              =        18D                                   
030922,000630: 15,2177           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4

Page 703

030924,000632: 15,2201           07564 15042  CSSUN              2DEC     .24148                                #  COS 15  /4
030925,000633: 

Page 704

030927,000635:                                                                                                  #  PROGRAM NAME - PICAPAR           DATE DEC 20 66
030928,000636:                                                                                                  #  MOD 1                            LOG SECTION P51-P53
030929,000637:                                                                                                  #                                   ASSEMBLY  SUNDISK  REV40
030930,000638:                                                                                                  #  BY KEN VINCENT
030931,000639: 
030932,000640:                                                                                                  #  FUNCTION
030933,000641:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
030934,000642:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
030935,000643:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
030936,000644:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
030937,000645:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
030938,000646:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
030939,000647:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
030940,000648:                                                                                                  #  HAVE GOOD SEPARATION IF THE ANGLE BETWEEN THEM IS LESS THAN 66DEGREES
030941,000649:                                                                                                  #  AND MORE THAN 40DEGREES. THOSE PAIRS OF STARS WITH GOOD SEPARATION
030942,000650:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
030943,000651:                                                                                                  #  33DEGREES OF SAX). THE PAIR WITH MAXIMUM SEPARATION IS CHOSEN FROM
030944,000652:                                                                                                  #  THOSE WITH GOOD SEPARATION,AND     IN FIELD OF VIEW.
030945,000653: 
030946,000654:                                                                                                  #  CALLING SEQUENCE
030947,000655:                                                                                                  #  L        TC     BANKCALL
030948,000656:                                                                                                  #  L+1      CADR   PICAPAR
030949,000657:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
030950,000658:                                                                                                  #  L+3      NORMAL RETURN
030951,000659: 
030952,000660:                                                                                                  #  OUTPUT
030953,000661:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
030954,000662:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
030955,000663: 
030956,000664:                                                                                                  #  INITIALIZATION
030957,000665:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
030958,000666:                                                                                                  #  2)VEARTH = -UNIT(R)  WHERE R HAS BEEN UPDATED TOO APPROXIMATE TIME OF
030959,000667:                                                                                                  #       SIGHTINGS.
030960,000668: 
030961,000669:                                                                                                  #  DEBRIS
030962,000670:                                                                                                  #  WORK AREA
030963,000671:                                                                                                  #  X,Y,ZNB
030964,000672:                                                                                                  #  SINCDU,COSCDU
030965,000673:                                                                                                  #  STARAD - STAR +5
030966,000674: 15,2203                                           COUNT    14/PICAP                              
030967,000675: 
030968,000676: 14,2000                                           SETLOC   P50S1                                 
030969,000677: 14,2000                                           BANK                                           
030970,000678: 14,2324           04604        PICAPAR            TC       MAKECADR                              
030971,000679: 14,2325           55777                           TS       QMIN                                  
030972,000680: 14,2326           06006                           TC       INTPRET                               
030973,000681: 14,2327           77624                           CALL                                           
030974,000682: 14,2330           47432                                    CDUTRIG                               
030975,000683: 14,2331           77624                           CALL                                           
030976,000684: 14,2332           34567                                    CALCSMSC                              

Page 705

030978,000686: 14,2333           77601                           SETPD                                          
030979,000687: 14,2334           00001                                    0                                     
030980,000688: 14,2335           71214                           SET      DLOAD                                 #  VFLAG = 1
030981,000689: 14,2336           01465                                    VFLAG                                 
030982,000690: 14,2337           11453                                    DPZERO                                
030983,000691: 14,2340           24303                           STOVL    BESTI                                 
030984,000692: 14,2341           02714                                    XNB                                   
030985,000693: 14,2342           63361                           VXSC     PDVL                                  
030986,000694: 14,2343           30502                                    SIN33                                 
030987,000695: 14,2344           02730                                    ZNB                                   
030988,000696: 14,2345           74370                           AXT,1    VXSC                                  
030989,000697: 14,2346           00344                                    228D                                  #  X1 = 37 X 6 + 6
030990,000698: 14,2347           30504                                    COS33                                 
030991,000699: 14,2350           77655                           VAD                                            
030992,000700: 14,2351           53505                           VXM      UNIT                                  
030993,000701: 14,2352           01736                                    REFSMMAT                              
030994,000702: 14,2353           02760                           STORE    SAX                                   #  SAX = SHAFT AXIS
030995,000703: 14,2354           66331                           SSP      SSP                                   #  S1=S2=6
030996,000704: 14,2355           00051                                    S1                                    
030997,000705: 14,2356           00006                                    6                                     
030998,000706: 14,2357           00052                                    S2                                    
030999,000707: 14,2360           00006                                    6                                     
031000,000708: 14,2361           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
031001,000709: 14,2362           30364                                    PIC2                                  
031002,000710: 14,2363           30513                                    PICEND                                
031003,000711: 14,2364           45173        PIC2               VLOAD*   CALL                                  
031004,000712: 14,2365           31751                                    CATLOG,1                              
031005,000713: 14,2366           30457                                    OCCULT                                
031006,000714: 14,2367           73014                           BON      LXA,2                                 
031007,000715: 14,2370           01710                                    CULTFLAG                              
031008,000716: 14,2371           30361                                    PIC1                                  
031009,000717: 14,2372           00046                                    X1                                    
031010,000718: 14,2373           52104        PIC3               TIX,2    GOTO                                  
031011,000719: 14,2374           30376                                    PIC4                                  
031012,000720: 14,2375           30361                                    PIC1                                  
031013,000721: 14,2376           45173        PIC4               VLOAD*   CALL                                  
031014,000722: 14,2377           46026                                    CATLOG,2                              
031015,000723: 14,2400           30457                                    OCCULT                                
031016,000724: 14,2401           76614                           BON      VLOAD*                                
031017,000725: 14,2402           01710                                    CULTFLAG                              
031018,000726: 14,2403           30373                                    PIC3                                  
031019,000727: 14,2404           31751                                    CATLOG,1                              
031020,000728: 14,2405           45237                           DOT*     DSU                                   
031021,000729: 14,2406           46026                                    CATLOG,2                              
031022,000730: 14,2407           30506                                    CSS66                                 #  SEPERATION LESS THAN 66 DEG.
031023,000731: 14,2410           43240                           BMN      DAD                                   
031024,000732: 14,2411           30373                                    PIC3                                  
031025,000733: 14,2412           30510                                    CSS6640                               #  SEPERATION MORE THAN 40 DEG.
031026,000734: 14,2413           77644                           BPL                                            
031027,000735: 14,2414           30373                                    PIC3                                  

Page 706

031029,000737: 14,2415           50373                           VLOAD*   DOT                                   
031030,000738: 14,2416           31751                                    CATLOG,1                              
031031,000739: 14,2417           02760                                    SAX                                   
031032,000740: 14,2420           50025                           DSU      BMN                                   #  MAJOR STAR IN CONE
031033,000741: 14,2421           30512                                    CSS33                                 
031034,000742: 14,2422           30361                                    PIC1                                  
031035,000743: 14,2423           50373                           VLOAD*   DOT                                   
031036,000744: 14,2424           46026                                    CATLOG,2                              
031037,000745: 14,2425           02760                                    SAX                                   
031038,000746: 14,2426           51025                           DSU      BPL                                   
031039,000747: 14,2427           30512                                    CSS33                                 
031040,000748: 14,2430           30433                                    STRATGY                               
031041,000749: 14,2431           77650                           GOTO                                           
031042,000750: 14,2432           30373                                    PIC3                                  
031043,000751: 14,2433           77614        STRATGY            BONCLR                                         
031044,000752: 14,2434           01605                                    VFLAG                                 
031045,000753: 14,2435           30452                                    NEWPAR                                
031046,000754: 14,2436           65120                           XCHX,1   XCHX,2                                
031047,000755: 14,2437           00302                                    BESTI                                 
031048,000756: 14,2440           00303                                    BESTJ                                 
031049,000757: 14,2441           47773        STRAT              VLOAD*   DOT*                                  
031050,000758: 14,2442           31751                                    CATLOG,1                              
031051,000759: 14,2443           46026                                    CATLOG,2                              
031052,000760: 14,2444           43006                           PUSH     BOFINV                                
031053,000761: 14,2445           01545                                    VFLAG                                 
031054,000762: 14,2446           30436                                    STRAT      -3                         
031055,000763: 14,2447           45345                           DLOAD    DSU                                   
031056,000764: 14,2450           77644                           BPL                                            
031057,000765: 14,2451           30373                                    PIC3                                  
031058,000766: 14,2452           67130        NEWPAR             SXA,1    SXA,2                                 
031059,000767: 14,2453           00302                                    BESTI                                 
031060,000768: 14,2454           00303                                    BESTJ                                 
031061,000769: 14,2455           77650                           GOTO                                           
031062,000770: 14,2456           30373                                    PIC3                                  
031063,000771: 14,2457           51321        OCCULT             MXV      BVSU                                  
031064,000772: 14,2460           02736                                    CULTRIX                               
031065,000773: 14,2461           00017                                    CSS                                   
031066,000774: 14,2462           77654                           BZE                                            
031067,000775: 14,2463           30476                                    CULTED                                
031068,000776: 14,2464           75240                           BMN      SIGN                                  
031069,000777: 14,2465           30476                                    CULTED                                
031070,000778: 14,2466           00160                                    MPAC       +3                         
031071,000779: 14,2467           75240                           BMN      SIGN                                  
031072,000780: 14,2470           30476                                    CULTED                                
031073,000781: 14,2471           00162                                    MPAC       +5                         
031074,000782: 14,2472           43040                           BMN      CLRGO                                 
031075,000783: 14,2473           30476                                    CULTED                                
031076,000784: 14,2474           01630                                    CULTFLAG                              
031077,000785: 14,2475           00052                                    QPRET                                 
031078,000786: 14,2476           77614        CULTED             SETGO                                          

Page 707

031080,000788: 14,2477           01430                                    CULTFLAG                              
031081,000789: 14,2500           00052                                    QPRET                                 
031082,000790: 14,2501  0000016               CSS                =        CEARTH                                
031083,000791: 14,2501           21150 25157  SIN33              2DEC     .5376381241                            
031084,000792: 14,2503           32766 22713  COS33              2DEC     .8431756920                            
031085,000793: 14,2505           01736 35137  CSS66              2DEC     .060480472                            #  (COS76)/4
031086,000794: 14,2507           73003 65403  CSS6640            2DEC     -.15602587                            #  (COS76 - COS30)/4
031087,000795: 14,2511           06233 26112  CSS33              2DEC     .197002688                            #  COS(1/2(76))/4
031088,000796: 14,2513           77414        PICEND             BOFF     EXIT                                  
031089,000797: 14,2514           01745                                    VFLAG                                 
031090,000798: 14,2515           30517                                    PICGXT                                
031091,000799: 14,2516           02521                           TC       PICBXT                                
031092,000800: 14,2517           77776        PICGXT             EXIT                                           
031093,000801: 14,2520           25777                           INCR     QMIN                                  
031094,000802: 14,2521           31777        PICBXT             CA       QMIN                                  
031095,000803: 14,2522           04561                           TC       SWCALL                                
031096,000804:                                                                                                  # V1             =       12D
031097,000805: 

Page 708

031099,000807:                                                                                                  #  NAME-R51  FINE ALIGN
031100,000808:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
031101,000809:                                                                                                  #  CALLING SEQ- CALL  R51
031102,000810:                                                                                                  #  INPUT- BESTI,BESTJ(PAIR OF STAR NO )
031103,000811:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
031104,000812:                                                                                                  #  SUBROUTINES- R52,R54,R55(SXTNB,NBSM,AXISGEN
031105,000813: 14,2523                                           COUNT    14/R51                                
031106,000814: 
031107,000815: 14,2523           77776        R51                EXIT                                           
031108,000816: 14,2524           34712                           CAF      BIT1                                  
031109,000817: 14,2525           54304                           TS       STARIND                               
031110,000818: 14,2526           54301                           TS       MARKINDX                              
031111,000819: 14,2527           06006        R51.2              TC       INTPRET                               
031112,000820: 14,2530           43014        R51.3              CLEAR    CLEAR                                 
031113,000821: 14,2531           00666                                    TARG2FLG                              
031114,000822: 14,2532           00665                                    TARG1FLG                              
031115,000823: 14,2533           77776                           EXIT                                           
031116,000824: 14,2534           05301                           TC       PHASCHNG                              
031117,000825: 14,2535           05024                           OCT      05024                                 #  RESTART  GR 4  FOR R52 - R53
031118,000826: 14,2536           13000                           OCT      13000                                 
031119,000827: 14,2537           50304                           INDEX    STARIND                               
031120,000828: 14,2540           30302                           CA       BESTI                                 
031121,000829: 14,2541           00006                           EXTEND                                         
031122,000830: 14,2542           72706                           MP       1/6TH                                 
031123,000831: 14,2543           54735                           TS       STARCODE                              
031124,000832: 14,2544           32705                           CAF      V01N70                                
031125,000833: 14,2545           04555                           TC       BANKCALL                              
031126,000834: 14,2546           20763                           CADR     GOFLASHR                              
031127,000835: 14,2547           04106                           TC       GOTOPOOH                              
031128,000836: 14,2550           02555                           TC       +5                                    
031129,000837: 14,2551           02544                           TC       -5                                    
031130,000838: 14,2552           36211                           CAF      SIX                                   
031131,000839: 14,2553           05415                           TC       BLANKET                               
031132,000840: 14,2554           15112                           TCF      ENDOFJOB                              
031133,000841: 14,2555           06006                           TC       INTPRET                               
031134,000842: 14,2556           45034                           RTB      CALL                                  
031135,000843: 14,2557           45505                                    LOADTIME                              
031136,000844: 14,2560           32363                                    PLANET                                
031137,000845: 14,2561           72131                           SSP      LXA,1                                 
031138,000846: 14,2562           00051                                    S1                                    
031139,000847: 14,2563           00000                                    0                                     
031140,000848: 14,2564           00304                                    STARIND                               
031141,000849: 14,2565           77700                           TIX,1                                          
031142,000850: 14,2566           30571                                    R51ST                                 
031143,000851: 14,2567           36617                           STCALL   STARSAV2                              #  2ND STAR
031144,000852: 14,2570           30572                                    R51ST      +1                         
031145,000853: 14,2571           02611        R51ST              STORE    STARSAV1                              #  1ST STAR
031146,000854: 14,2572           77776                           EXIT                                           
031147,000855: 14,2573           41011                           CS       MODREG                                #  IS THIS P54
031148,000856: 14,2574           62704                           AD       OCT66                                 

Page 709

031150,000858: 14,2575           00006                           EXTEND                                         
031151,000859: 14,2576           12677                           BZF      R51B                                  #  YES
031152,000860: 14,2577           06006                           TC       INTPRET                               
031153,000861: 14,2600           77624                           CALL                                           
031154,000862: 14,2601           30002                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
031155,000863: 14,2602           77624        R51A               CALL                                           #  COMPUTE LOS IN SM FROM MARK DATA
031156,000864: 14,2603           31273                                    SXTSM                                 
031157,000865: 14,2604           02617                           STORE    STARSAV2                              
031158,000866: 14,2605           77776                           EXIT                                           
031159,000867: 14,2606           04555                           TC       BANKCALL                              
031160,000868: 14,2607           16063                           CADR     MKRELEAS                              
031161,000869: 14,2610           06006                           TC       INTPRET                               
031162,000870: 14,2611           45145                           DLOAD    CALL                                  
031163,000871: 14,2612           02607                                    TSIGHT                                
031164,000872: 14,2613           32363                                    PLANET                                
031165,000873: 14,2614           77776                           EXIT                                           
031166,000874: 14,2615           10304                           CCS      STARIND                               
031167,000875: 14,2616           02664                           TC       R51.4                                 
031168,000876: 14,2617           06006                           TC       INTPRET                               
031169,000877: 14,2620           53521                           MXV      UNIT                                  
031170,000878: 14,2621           01736                                    REFSMMAT                              
031171,000879: 14,2622           02736                           STORE    STARAD                                
031172,000880: 14,2623           77776                           EXIT                                           
031173,000881: 14,2624           05301                           TC       PHASCHNG                              
031174,000882: 14,2625           05024                           OCT      05024                                 #  RESTART THIS GROUP 4  JOB
031175,000883: 14,2626           13000                           OCT      13000                                 #   WITH PRIORITY  13
031176,000884: 14,2627           06006                           TC       INTPRET                               
031177,000885: 14,2630           77775                           VLOAD                                          
031178,000886: 14,2631           02617                                    STARSAV2                              
031179,000887: 14,2632           24007                           STOVL    6D                                    
031180,000888: 14,2633           02611                                    STARSAV1                              
031181,000889: 14,2634           24015                           STOVL    12D                                   
031182,000890: 14,2635           02601                                    PLANVEC                               
031183,000891: 14,2636           36744                           STCALL   STARAD     +6                         
031184,000892: 14,2637           30707                                    R54                                   #  STAR DATA TEST
031185,000893: 14,2640           45014                           BOFF     CALL                                  
031186,000894: 14,2641           00354                                    FREEFLAG                              
031187,000895: 14,2642           30650                                    R51K                                  
031188,000896: 14,2643           47334                                    AXISGEN                               
031189,000897: 14,2644           77624                           CALL                                           
031190,000898: 14,2645           32203                                    R55                                   #  GYRO TORQUE
031191,000899: 14,2646           77614                           CLEAR                                          
031192,000900: 14,2647           01273                                    PFRATFLG                              
031193,000901: 14,2650           77776        R51K               EXIT                                           
031194,000902: 14,2651           35660                           CAF      OCT14                                 
031195,000903: 14,2652           04555                           TC       BANKCALL                              
031196,000904: 14,2653           20751                           CADR     GOPERF1                               
031197,000905: 14,2654           04106                           TC       GOTOPOOH                              
031198,000906: 14,2655           02657                           TC       +2                                    #  V33
031199,000907: 14,2656           02661                           TC       +3                                    

Page 710

031201,000909: 14,2657           04555                           TC       BANKCALL                              
031202,000910: 14,2660           32120                           CADR     P52C                                  
031203,000911: 14,2661           06006                           TC       INTPRET                               
031204,000912: 14,2662           77650                           GOTO                                           
031205,000913: 14,2663           32143                                    ENDP50S                               
031206,000914: 14,2664           06006        R51.4              TC       INTPRET                               
031207,000915: 14,2665           53521                           MXV      UNIT                                  
031208,000916: 14,2666           01736                                    REFSMMAT                              
031209,000917: 14,2667           26601                           STOVL    PLANVEC                               
031210,000918: 14,2670           02617                                    STARSAV2                              
031211,000919: 14,2671           02611                           STORE    STARSAV1                              
031212,000920: 14,2672           77731                           SSP                                            
031213,000921: 14,2673           00305                                    STARIND                               
031214,000922: 14,2674           00000                                    0                                     
031215,000923: 14,2675           77650                           GOTO                                           
031216,000924: 14,2676           30530                                    R51.3                                 
031217,000925: 14,2677           06006        R51B               TC       INTPRET                               
031218,000926: 14,2700           77624                           CALL                                           
031219,000927: 14,2701           32252                                    R56                                   
031220,000928: 14,2702           77650                           GOTO                                           
031221,000929: 14,2703           30602                                    R51A                                  
031222,000930: 14,2704           00066        OCT66              OCT      00066                                 
031223,000931: 14,2705           00306        V01N70             VN       0170                                  
031224,000932: 14,2706           05253        1/6TH              DEC      .1666667                              
031225,000933: 

Page 711

031227,000935:                                                                                                  #  NAME-R55  GYRO TORQUE
031228,000936:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
031229,000937:                                                                                                  #  CALLING SEQ- CALL R55
031230,000938:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
031231,000939:                                                                                                  #  OUTPUT- GYRO PULSES
031232,000940:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
031233,000941: 15,2000                                           SETLOC   P50S                                  
031234,000942: 15,2000                                           BANK                                           
031235,000943: 15,2203                                           COUNT*   $$/R55                                
031236,000944: 15,2203           77620        R55                STQ                                            
031237,000945: 15,2204           02777                                    QMIN                                  
031238,000946: 15,2205           77624                           CALL                                           
031239,000947: 15,2206           47140                                    CALCGTA                               
031240,000948: 15,2207           77776        PULSEM             EXIT                                           
031241,000949: 15,2210           32234        R55.1              CAF      V06N93                                
031242,000950: 15,2211           04555                           TC       BANKCALL                              
031243,000951: 15,2212           20624                           CADR     GOFLASH                               
031244,000952: 15,2213           04106                           TC       GOTOPOOH                              
031245,000953: 15,2214           02216                           TC       R55.2                                 
031246,000954: 15,2215           02231                           TC       R55RET                                
031247,000955: 15,2216           05301        R55.2              TC       PHASCHNG                              
031248,000956: 15,2217           00314                           OCT      00314                                 
031249,000957: 15,2220           32235                           CA       R55CDR                                
031250,000958: 15,2221           04555                           TC       BANKCALL                              
031251,000959: 15,2222           17125                           CADR     IMUPULSE                              
031252,000960: 15,2223           04555                           TC       BANKCALL                              
031253,000961: 15,2224           17516                           CADR     IMUSTALL                              
031254,000962: 15,2225           05646                           TC       CURTAINS                              
031255,000963: 15,2226           05301                           TC       PHASCHNG                              
031256,000964: 15,2227           05024                           OCT      05024                                 
031257,000965: 15,2230           13000                           OCT      13000                                 
031258,000966: 15,2231           06006        R55RET             TC       INTPRET                               
031259,000967: 15,2232           77650                           GOTO                                           
031260,000968: 15,2233           02777                                    QMIN                                  
031261,000969: 15,2234           01535        V06N93             VN       0693                                  
031262,000970: 15,2235           02757        R55CDR             ECADR    OGC                                   
031263,000971: 15,2236  14,2707               R54                =        CHKSDATA                              
031264,000972:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
031265,000973:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
031266,000974:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
031267,000975: 
031268,000976:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
031269,000977:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
031270,000978:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
031271,000979: 
031272,000980:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
031273,000981:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
031274,000982:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
031275,000983:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
031276,000984:                                                                                                  #                   A1 = ARCCOS(OS1 - OS2)

Page 712

031278,000986:                                                                                                  #                   A2 = ARCCOS(SS1 - SS2)
031279,000987:                                                                                                  #                    A = ABS(2(A1 - A2))
031280,000988: 
031281,000989:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
031282,000990:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
031283,000991:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
031284,000992:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
031285,000993:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
031286,000994: 
031287,000995:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
031288,000996:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
031289,000997:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
031290,000998:                                                                                                  #  DEBRIS -
031291,000999: 14,2000                                           SETLOC   P50S1                                 
031292,001000: 14,2000                                           BANK                                           
031293,001001: 14,2707                                           COUNT*   $$/R50                                
031294,001002: 14,2707           43020        CHKSDATA           STQ      SET                                   
031295,001003: 14,2710           02777                                    QMIN                                  
031296,001004: 14,2711           00074                                    FREEFLAG                              
031297,001005: 14,2712           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE  EPHEMERIS DATA
031298,001006: 14,2713           02735                                    STARAD                                
031299,001007: 
031300,001008: 14,2714           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
031301,001009: 14,2715           00001                                    0,1                                   
031302,001010: 14,2716           00007                                    6,1                                   
031303,001011: 14,2717           65552                           SL1      ACOS                                  
031304,001012: 14,2720           00025                           STORE    THETA                                 
031305,001013: 14,2721           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
031306,001014: 14,2722           00354                                    FREEFLAG                              
031307,001015: 14,2723           30733                                    CHKSD                                 
031308,001016: 14,2724           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
031309,001017: 14,2725           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
031310,001018: 14,2726           00006                                    6D                                    
031311,001019: 14,2727           00025                                    THETA                                 
031312,001020: 14,2730           00023                           STORE    18D                                   
031313,001021: 14,2731           77650                           GOTO                                           
031314,001022: 14,2732           30714                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
031315,001023: 14,2733           45345        CHKSD              DLOAD    DSU                                   
031316,001024: 14,2734           00025                                    THETA                                 
031317,001025: 14,2735           00023                                    18D                                   #  COMPUTE POS DIFF
031318,001026: 14,2736           47046                           ABS      RTB                                   
031319,001027: 14,2737           45541                                    SGNAGREE                              
031320,001028: 14,2740           01046                           STORE    NORMTEM1                              
031321,001029: 14,2741           77414                           SET      EXIT                                  
031322,001030: 14,2742           00074                                    FREEFLAG                              
031323,001031: 14,2743           34714                           CAF      ZERO                                  
031324,001032: 14,2744           04555                           TC       BANKCALL                              
031325,001033: 14,2745           20607                           CADR     CLEANDSP                              
031326,001034: 
031327,001035: 14,2746           32762                           CAF      VB6N5                                 

Page 713

031329,001037: 14,2747           04555                           TC       BANKCALL                              
031330,001038: 14,2750           20624                           CADR     GOFLASH                               
031331,001039: 14,2751           14106                           TCF      GOTOPOOH                              
031332,001040: 14,2752           02757                           TC       CHKSDA                                #  PROCEED
031333,001041: 14,2753           06006                           TC       INTPRET                               
031334,001042: 14,2754           52014                           CLEAR    GOTO                                  
031335,001043: 14,2755           00274                                    FREEFLAG                              
031336,001044: 14,2756           02777                                    QMIN                                  
031337,001045: 14,2757           06006        CHKSDA             TC       INTPRET                               
031338,001046: 14,2760           77650                           GOTO                                           
031339,001047: 14,2761           02777                                    QMIN                                  
031340,001048: 14,2762           01405        VB6N5              VN       605                                   
031341,001049:                                                                                                  #  NAME - CAL53A
031342,001050:                                                                                                  #  NAME - CAL53A
031343,001051:                                                                                                  #  FUNCTION - COARSE ALIGN THE IMU, IF NECESSARY. 
031344,001052:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
031345,001053:                                                                                                  #  INPUT -  PRESENT GIMBAL ANGLES - CDUX,CDUY,CDUZ
031346,001054:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
031347,001055:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
031348,001056:                                                                                                  #  SUBROUTINES USED - 1.IMUCOARS 2.IMUSTALL 3.CURTAINS
031349,001057: 14,2763                                           COUNT    14/R50                                
031350,001058: 
031351,001059: 14,2763           45020        CAL53A             STQ      CALL                                  
031352,001060: 14,2764           00035                                    29D                                   
031353,001061: 14,2765           22256                                    S52.2                                 #  MAKE FINAL COMP OF GIMBAL ANGLES
031354,001062: 14,2766           66234                           RTB      SSP                                   
031355,001063: 14,2767           32236                                    RDCDUS                                #  READ CDUS
031356,001064: 14,2770           00051                                    S1                                    
031357,001065: 14,2771           00001                                    1                                     
031358,001066: 14,2772           40370                           AXT,1    SETPD                                 
031359,001067: 14,2773           00003                                    3                                     
031360,001068: 14,2774           00005                                    4                                     
031361,001069: 14,2775           70543        CALOOP             DLOAD*   SR1                                   
031362,001070: 14,2776           01161                                    THETAD     +3D,1                      
031363,001071: 14,2777           70523                           PDDL*    SR1                                   
031364,001072: 14,3000           00005                                    4,1                                   
031365,001073: 14,3001           51425                           DSU      ABS                                   
031366,001074: 14,3002           45206                           PUSH     DSU                                   
031367,001075: 14,3003           31060                                    DEGREE1                               
031368,001076: 14,3004           71240                           BMN      DLOAD                                 
031369,001077: 14,3005           31034                                    CALOOP1                               
031370,001078: 14,3006           51025                           DSU      BPL                                   
031371,001079: 14,3007           31061                                    DEG359                                
031372,001080: 14,3010           31034                                    CALOOP1                               
031373,001081: 14,3011           77776        COARFINE           EXIT                                           
031374,001082: 14,3012           04555                           TC       BANKCALL                              
031375,001083: 14,3013           16602                           CADR     IMUCOARS                              #  PERFORM COARSE ALIGNMENT
031376,001084: 14,3014           04555                           TC       BANKCALL                              
031377,001085: 14,3015           17516                           CADR     IMUSTALL                              #  REQUEST MODE SWITCH
031378,001086: 14,3016           05646                           TC       CURTAINS                              

Page 714

031380,001088: 14,3017           04555                           TC       BANKCALL                              
031381,001089: 14,3020           17012                           CADR     IMUFIN20                              
031382,001090: 14,3021           04555                           TC       BANKCALL                              
031383,001091: 14,3022           17516                           CADR     IMUSTALL                              
031384,001092: 14,3023           05646                           TC       CURTAINS                              #  TEST FOR MALFUNCTION
031385,001093: 14,3024           06006                           TC       INTPRET                               
031386,001094: 14,3025           77234                           RTB      VLOAD                                 
031387,001095: 14,3026           31270                                    SET1/PDT                              
031388,001096: 14,3027           11453                                    ZEROVEC                               
031389,001097: 14,3030           01472                           STORE    GCOMP                                 
031390,001098: 14,3031           52014                           SET      GOTO                                  
031391,001099: 14,3032           01060                                    DRIFTFLG                              
031392,001100: 14,3033           31036                                    FINEONLY                              
031393,001101: 14,3034           77700        CALOOP1            TIX,1                                          
031394,001102: 14,3035           30775                                    CALOOP                                
031395,001103: 14,3036           75160        FINEONLY           AXC,1    AXC,2                                 
031396,001104: 14,3037           02671                                    XSM                                   
031397,001105: 14,3040           01735                                    REFSMMAT                              
031398,001106: 14,3041           77624                           CALL                                           
031399,001107: 14,3042           31045                                    MATMOVE                               
031400,001108: 14,3043           77650                           GOTO                                           
031401,001109: 14,3044           00035                                    29D                                   
031402,001110: 14,3045           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
031403,001111: 14,3046           00001                                    0,1                                   
031404,001112: 14,3047           10001                           STORE    0,2                                   
031405,001113: 14,3050           77773                           VLOAD*                                         
031406,001114: 14,3051           00007                                    6D,1                                  
031407,001115: 14,3052           10007                           STORE    6D,2                                  
031408,001116: 14,3053           77773                           VLOAD*                                         
031409,001117: 14,3054           00015                                    12D,1                                 
031410,001118: 14,3055           10015                           STORE    12D,2                                 
031411,001119: 14,3056           77616                           RVQ                                            
031412,001120: 14,3057           00056        DEGREE1            DEC      46         B-14                       
031413,001121: 14,3060           37722        DEG359             DEC      16338      B-14                       
031414,001122: 15,2000                                           SETLOC   P50S                                  
031415,001123: 15,2000                                           BANK                                           
031416,001124: 15,2236           00004        RDCDUS             INHINT                                         #  READ CDUS
031417,001125: 15,2237           30032                           CA       CDUX                                  
031418,001126: 15,2240           50120                           INDEX    FIXLOC                                
031419,001127: 15,2241           54001                           TS       1                                     
031420,001128: 15,2242           30033                           CA       CDUY                                  
031421,001129: 15,2243           50120                           INDEX    FIXLOC                                
031422,001130: 15,2244           54002                           TS       2                                     
031423,001131: 15,2245           30034                           CA       CDUZ                                  
031424,001132: 15,2246           50120                           INDEX    FIXLOC                                
031425,001133: 15,2247           54003                           TS       3                                     
031426,001134: 15,2250           00003                           RELINT                                         
031427,001135: 15,2251           06030                           TC       DANZIG                                #                                +
031428,001136:                                                                                                  #  NAME - GIMB
031429,001137:                                                                                                  #  FUNCTION - DETERMINE AND COMPUTE THE DESIRED GIMBAL ANGLES TO BE USED            FOR COARSE ALIGNMENT.

Page 715

031431,001139:                                                                                                  #  CALLING SEQUENCE - CALL GIMB
031432,001140:                                                                                                  #  INPUT - DESIRED IMU INERTIAL ORIENTATION VECTORS-XSMD,YSMD,ZSMD
031433,001141:                                                                                                  #  OUTPUT - GIMBAL ANGLES LEFT IN THETAD,+1,+2                           +
031434,001142:                                                                                                  #  SUBROUTINES USED - 1.CDUTRIG 2.CALCSMSC 3.CALCGA
031435,001143: 16,2000                                           SETLOC   P50S2                                 
031436,001144: 16,2000                                           BANK                                           
031437,001145: 16,2567                                           COUNT    14/INFLT                              
031438,001146: 
031439,001147: 16,2567           41345        CALCSMSC           DLOAD    DMP                                   
031440,001148: 16,2570           00737                                    SINCDUY                               
031441,001149: 16,2571           00747                                    COSCDUZ                               
031442,001150: 16,2572           77676                           DCOMP                                          
031443,001151: 16,2573           70525                           PDDL     SR1                                   
031444,001152: 16,2574           00741                                    SINCDUZ                               
031445,001153: 16,2575           41325                           PDDL     DMP                                   
031446,001154: 16,2576           00745                                    COSCDUY                               
031447,001155: 16,2577           00747                                    COSCDUZ                               
031448,001156: 16,2600           76466                           VDEF     VSL1                                  
031449,001157: 16,2601           02714                           STORE    XNB                                   
031450,001158: 16,2602           41345                           DLOAD    DMP                                   
031451,001159: 16,2603           00743                                    SINCDUX                               
031452,001160: 16,2604           00741                                    SINCDUZ                               
031453,001161: 16,2605           77752                           SL1                                            
031454,001162: 16,2606           00033                           STORE    26D                                   
031455,001163: 16,2607           77605                           DMP                                            
031456,001164: 16,2610           00737                                    SINCDUY                               
031457,001165: 16,2611           41325                           PDDL     DMP                                   
031458,001166: 16,2612           00751                                    COSCDUX                               
031459,001167: 16,2613           00745                                    COSCDUY                               
031460,001168: 16,2614           77625                           DSU                                            
031461,001169: 16,2615           41325                           PDDL     DMP                                   
031462,001170: 16,2616           00743                                    SINCDUX                               
031463,001171: 16,2617           00747                                    COSCDUZ                               
031464,001172: 16,2620           77676                           DCOMP                                          
031465,001173: 16,2621           41325                           PDDL     DMP                                   
031466,001174: 16,2622           00751                                    COSCDUX                               
031467,001175: 16,2623           00737                                    SINCDUY                               
031468,001176: 16,2624           41325                           PDDL     DMP                                   
031469,001177: 16,2625           00745                                    COSCDUY                               
031470,001178: 16,2626           00033                                    26D                                   
031471,001179: 16,2627           55415                           DAD      VDEF                                  
031472,001180: 16,2630           77772                           VSL1                                           
031473,001181: 16,2631           02730                           STORE    ZNB                                   
031474,001182: 16,2632           76435                           VXV      VSL1                                  
031475,001183: 16,2633           02714                                    XNB                                   
031476,001184: 16,2634           02722                           STORE    YNB                                   
031477,001185: 16,2635           77616                           RVQ                                            
031478,001186:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
031479,001187:                                                                                                  #  MOD.NO.2  21 DEC 66                                                                      LOG SECTION - P51-P53
031480,001188:                                                                                                  #  MOD BY STURLAUGSON                                                                       ASSEMBLY SUNDISK REV15

Page 716

031482,001190:                                                                                                  #  FUNCTIONAL DESCRIPTION
031483,001191: 
031484,001192:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
031485,001193:                                                                                                  #  ROUTINE IS CALLED TO COLLECT THE CDU COUNTERS AND SHAFT AND TRUNNION ANGLES FOR A SIGHTED STAR. THE DATA IS
031486,001194:                                                                                                  #  THEN PROCESSED AS FOLLOWS.
031487,001195: 
031488,001196:                                                                                                  #    1. SEXTANT ANGLES ARE COMPUTED IN TERMS OF NAVIGATIONAL BASE COORDINATES. LET SA AND TA BE THE SHAFT AND
031489,001197:                                                                                                  #  TRUNNION ANGLES, RESPECTIVELY. THEN,
031490,001198: 
031491,001199:                                                                                                  #              -
031492,001200:                                                                                                  #              V  = (SIN(TA)*COS(SA), SIN(TA)*SIN(SA), COS(TA))   (A COLUMN VECTOR)
031493,001201:                                                                                                  #               NB
031494,001202:                                                                                                  #  THE OUTPUT IS A HALF-UNIT VECTOR STORED IN STARM.
031495,001203: 
031496,001204:                                                                                                  #    2. THIS VECTOR IN NAV. BASE COORDS. IS THEN TRANSFORMED TO ONE IN STABLE MEMBER COORDINATES.
031497,001205: 
031498,001206:                                                                                                  #              -      T  T  T -
031499,001207:                                                                                                  #              V  =  Q *Q *Q *V  , WHERE
031500,001208:                                                                                                  #                     1  2  3  NB
031501,001209: 
031502,001210:                                                                                                  #                   ( COS(IG)     0    -SIN(IG) )
031503,001211:                                                                                                  #                   (                           )                            THE GIMBAL ANGLES ARE COMPUTED FROM
031504,001212:                                                                                                  #              Q  = (   0         1        0    ), IG=INNER GIMBAL ANGLE     THE CDU COUNTERS AT NBSM (USING AXIS-
031505,001213:                                                                                                  #               1   (                           )                            ROT AND CDULOGIC)
031506,001214:                                                                                                  #                   ( SIN(IG)     0     COS(IG) )
031507,001215: 
031508,001216: 
031509,001217:                                                                                                  #                   ( COS(MG)  SIN(MG)     0    )
031510,001218:                                                                                                  #                   (                           )
031511,001219:                                                                                                  #              Q  = (-SIN(MG)  COS(MG)     0    ), MG=MIDDLE GIMBAL ANGLE
031512,001220:                                                                                                  #               2   (                           )
031513,001221:                                                                                                  #                   (   0         0        1    )
031514,001222: 
031515,001223: 
031516,001224:                                                                                                  #                   (   1         0        0    )
031517,001225:                                                                                                  #                   (                           )
031518,001226:                                                                                                  #              Q  = (    0     COS(OG)  SIN(OG) ), OG=OUTER GIMBAL ANGLE
031519,001227:                                                                                                  #               3   (                           )
031520,001228:                                                                                                  #                   (    0    -SIN(OG)  COS(OG) )
031521,001229: 
031522,001230:                                                                                                  #    3. THE STAR NUMBER IS SAVED AND THE SECOND STAR IS THEN SIMILARLY PROCESSED.
031523,001231: 
031524,001232:                                                                                                  #    4. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT CKSDATA.
031525,001233: 
031526,001234:                                                                                                  #    5. REFSMMAT IS THEN COMPUTED AT AXISGEN AS FOLLOWS.
031527,001235:                                                                                                  #            -      -
031528,001236:                                                                                                  #        LET S  AND S  BE TWO STAR VECTORS EXPRESSED IN TWO COORDINATE SYSTEMS,A AND B (BASIC AND STABLE MEMBER).
031529,001237:                                                                                                  #             1      2
031530,001238: 
031531,001239:                                                                                                  #   DEFINE,    -    -

Page 717

031533,001241:                                                                                                  #              U  = S
031534,001242:                                                                                                  #               A    A1
031535,001243: 
031536,001244:                                                                                                  #              -         -    -
031537,001245:                                                                                                  #              V  = UNIT(S  X S  )
031538,001246:                                                                                                  #               A         A1   A2
031539,001247: 
031540,001248:                                                                                                  #              -    -   -
031541,001249:                                                                                                  #              W = U X V
031542,001250:                                                                                                  #               A    A   A
031543,001251:                                                                                                  #       AND
031544,001252:                                                                                                  #              -    -
031545,001253:                                                                                                  #              U  = S
031546,001254:                                                                                                  #               B    B1
031547,001255: 
031548,001256:                                                                                                  #              -         -    -
031549,001257:                                                                                                  #              V  = UNIT(S  X S  )
031550,001258:                                                                                                  #               B         B1   B2
031551,001259: 
031552,001260:                                                                                                  #              -    -   -
031553,001261:                                                                                                  #              W  = U X V
031554,001262:                                                                                                  #               B    B   B
031555,001263: 
031556,001264:                                                                                                  #       THEN   -        -       -       -
031557,001265:                                                                                                  #              X  = U  *U + V  *V + W  *W
031558,001266:                                                                                                  #                    B1  A   B1  A   B1  A
031559,001267: 
031560,001268:                                                                                                  #              -        -       -       -            (REFSMMAT)
031561,001269:                                                                                                  #              Y  = U  *U + V  *V + W  *W
031562,001270:                                                                                                  #                    B2  A   B2  A   B2  A
031563,001271: 
031564,001272:                                                                                                  #              -        -       -       -
031565,001273:                                                                                                  #              Z  = U  *U + V  *V + W  *W
031566,001274:                                                                                                  #                    B3  A   B3  A   B3  A
031567,001275: 
031568,001276:                                                                                                  #        THE INPUTS CONSIST OF THE FOUR HALF-UNIT VECTORS STORED AS FOLLOWS
031569,001277: 
031570,001278:                                                                                                  #              -
031571,001279:                                                                                                  #              S   IN 6-11 OF THE VAC AREA
031572,001280:                                                                                                  #               A1
031573,001281: 
031574,001282:                                                                                                  #              -
031575,001283:                                                                                                  #              S   IN 12-17 OF THE VAC AREA
031576,001284:                                                                                                  #               A2
031577,001285: 
031578,001286:                                                                                                  #              -
031579,001287:                                                                                                  #              S   IN STARAD
031580,001288:                                                                                                  #               B1
031581,001289: 
031582,001290:                                                                                                  #              -

Page 718

031584,001292:                                                                                                  #              S   IN STARAD +6
031585,001293:                                                                                                  #               B2
031586,001294: 
031587,001295:                                                                                                  #  CALLING SEQUENCE
031588,001296: 
031589,001297:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
031590,001298: 
031591,001299:                                                                                                  #  SUBROUTINES CALLED.
031592,001300: 
031593,001301:                                                                                                  #       GOPERF3
031594,001302:                                                                                                  #       GOPERF1R
031595,001303:                                                                                                  #       GODSPR
031596,001304:                                                                                                  #       IMUCOARS
031597,001305:                                                                                                  #       IMUFIN20
031598,001306:                                                                                                  #       R53
031599,001307:                                                                                                  #       SXTNB
031600,001308:                                                                                                  #       NBSM
031601,001309:                                                                                                  #       MKRELEAS
031602,001310:                                                                                                  #       CHKSDATA
031603,001311:                                                                                                  #       MATMOVE
031604,001312: 
031605,001313:                                                                                                  #  ALARMS
031606,001314: 
031607,001315:                                                                                                  #       NONE.
031608,001316:                                                                                                  #  ERASABLE INITIALIZATION
031609,001317: 
031610,001318:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
031611,001319: 
031612,001320:                                                                                                  #  OUTPUT
031613,001321: 
031614,001322:                                                                                                  #       REFSMMAT
031615,001323:                                                                                                  #       REFSMFLG
031616,001324: 
031617,001325:                                                                                                  #  DEBRIS
031618,001326: 
031619,001327:                                                                                                  #       WORK AREA
031620,001328:                                                                                                  #       STARAD
031621,001329:                                                                                                  #       STARIND
031622,001330:                                                                                                  #       BESTI
031623,001331:                                                                                                  #       BESTJ
031624,001332: 
031625,001333: 14,2000                                           SETLOC   P50S1                                 
031626,001334: 14,2000                                           BANK                                           
031627,001335: 14,3061                                           COUNT    14/P5153                              
031628,001336: 
031629,001337: 14,3061  14,3061               P53                EQUALS   P51                                   
031630,001338: 14,3061           41320        P51                CS       IMODES30                              
031631,001339: 14,3062           74702                           MASK     BIT9                                  
031632,001340: 14,3063           10000                           CCS      A                                     
031633,001341: 14,3064           03070                           TC       P51A                                  

Page 719

031635,001343: 14,3065           05537                           TC       ALARM                                 
031636,001344: 14,3066           00210                           OCT      210                                   
031637,001345: 14,3067           04106                           TC       GOTOPOOH                              
031638,001346: 14,3070           04555        P51A               TC       BANKCALL                              
031639,001347: 14,3071           17607                           CADR     R02ZERO                               
031640,001348: 
031641,001349: 14,3072           34720        P51AA              CAF      PRFMSTAQ                              
031642,001350: 14,3073           04555                           TC       BANKCALL                              
031643,001351: 14,3074           20751                           CADR     GOPERF1                               
031644,001352: 14,3075           04106                           TC       GOTOPOOH                              #  TERM.
031645,001353: 14,3076           03141                           TC       P51B                                  #  V 33
031646,001354: 14,3077           05301                           TC       PHASCHNG                              
031647,001355: 14,3100           05024                           OCT      05024                                 
031648,001356: 14,3101           13000                           OCT      13000                                 
031649,001357: 14,3102           34714                           CAF      P51ZERO                               
031650,001358: 14,3103           55155                           TS       THETAD                                #  ZERO THE GIMBALS
031651,001359: 14,3104           55156                           TS       THETAD     +1                         
031652,001360: 14,3105           55157                           TS       THETAD     +2                         
031653,001361: 14,3106           33266                           CAF      V6N22                                 
031654,001362: 14,3107           04555                           TC       BANKCALL                              
031655,001363: 14,3110           20577                           CADR     GODSPRET                              
031656,001364: 14,3111           33267                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
031657,001365: 14,3112           04555                           TC       BANKCALL                              
031658,001366: 14,3113           20577                           CADR     GODSPRET                              
031659,001367: 14,3114           04555                           TC       BANKCALL                              
031660,001368: 14,3115           16602                           CADR     IMUCOARS                              
031661,001369: 14,3116           04555                           TC       BANKCALL                              
031662,001370: 14,3117           17516                           CADR     IMUSTALL                              
031663,001371: 14,3120           05646                           TC       CURTAINS                              #  CAGING OR BAD END
031664,001372: 14,3121           04555                           TC       BANKCALL                              #  SCHEDULE IFAILOK AND IMUFINED TASKS,IN 5
031665,001373: 14,3122           17012                           CADR     IMUFIN20                              #  AND 20 SECS. DIRECT RETURN AND NO STALL,
031666,001374: 14,3123           04555                           TC       BANKCALL                              #  IF CAGING, BUT T4 WILL ZERO C/A ENABLE.
031667,001375: 14,3124           17516                           CADR     IMUSTALL                              #  IF PUT TO SLEEP, IMUFINED WILL WAKE US
031668,001376: 14,3125           05646                           TC       CURTAINS                              #  UP.
031669,001377: 14,3126           06006                           TC       INTPRET                               
031670,001378: 14,3127           77234                           RTB      VLOAD                                 
031671,001379: 14,3130           31270                                    SET1/PDT                              
031672,001380: 14,3131           11453                                    ZEROVEC                               
031673,001381: 14,3132           01472                           STORE    GCOMP                                 
031674,001382: 14,3133           77414                           SET      EXIT                                  
031675,001383: 14,3134           01060                                    DRIFTFLG                              
031676,001384: 14,3135           05301                           TC       PHASCHNG                              
031677,001385: 14,3136           05024                           OCT      05024                                 
031678,001386: 14,3137           13000                           OCT      13000                                 
031679,001387: 14,3140           13072                           TCF      P51AA                                 #  COARSE ALIGN DONE - RECYCLE FOR FINE

Page 720

031681,001389:                                                                                                  #     DO STAR SIGHTING AND COMPUTE NEW REFSMMAT
031682,001390: 
031683,001391: 14,3141           05301        P51B               TC       PHASCHNG                              
031684,001392: 14,3142           00014                           OCT      00014                                 
031685,001393: 14,3143           06006                           TC       INTPRET                               
031686,001394: 14,3144           40331                           SSP      SETPD                                 
031687,001395: 14,3145           00305                                    STARIND                               #  INDEX-STAR 1 OR 2
031688,001396: 14,3146           00000                                    0                                     
031689,001397: 14,3147           00001                                    0                                     
031690,001398: 14,3150           77414                           CLEAR    EXIT                                  
031691,001399: 14,3151           00666                                    TARG2FLG                              #  SHOW STAR MARK-NOT LAND MARK
031692,001400: 14,3152           34712                           CAF      BIT1                                  
031693,001401: 14,3153           54301                           TS       MARKINDX                              #  INITIALIZE FOR ONE MARK
031694,001402: 
031695,001403: 14,3154           05301        P51C               TC       PHASCHNG                              
031696,001404: 14,3155           05024                           OCT      05024                                 
031697,001405: 14,3156           13000                           OCT      13000                                 
031698,001406: 14,3157           05253                           TC       CHECKMM                               
031699,001407: 14,3160           00065                           MM       53         B-14                       #  BACKUP PROGRAM
031700,001408: 14,3161           13167                           TCF      P51C.1                                #  NOT P53
031701,001409: 14,3162           06006                           TC       INTPRET                               
031702,001410: 14,3163           77624                           CALL                                           
031703,001411: 14,3164           32252                                    R56                                   
031704,001412: 14,3165           77650                           GOTO                                           
031705,001413: 14,3166           31172                                    P51C.2                                
031706,001414: 14,3167           06006        P51C.1             TC       INTPRET                               
031707,001415: 14,3170           77624                           CALL                                           
031708,001416: 14,3171           31327                                    R53                                   #  SIGHTING ROUTINE
031709,001417: 14,3172           77624        P51C.2             CALL                                           #  COMPUTE LOS IN SM FROM MARK DATA
031710,001418: 14,3173           31273                                    SXTSM                                 
031711,001419: 14,3174           77606                           PUSH                                           
031712,001420: 14,3175           53135                           SLOAD    BZE                                   
031713,001421: 14,3176           00305                                    STARIND                               
031714,001422: 14,3177           31204                                    P51D                                  
031715,001423: 14,3200           45575                           VLOAD    STADR                                 
031716,001424: 14,3201           75160                           STORE    STARSAV2                              #  DOWNLINK
031717,001425: 14,3202           77650                           GOTO                                           
031718,001426: 14,3203           31212                                    P51E                                  
031719,001427: 14,3204           45575        P51D               VLOAD    STADR                                 
031720,001428: 14,3205           61166                           STODL    STARSAV1                              
031721,001429: 14,3206           02607                                    TSIGHT                                
031722,001430: 14,3207           77624                           CALL                                           
031723,001431: 14,3210           32363                                    PLANET                                
031724,001432: 14,3211           02601                           STORE    PLANVEC                               
031725,001433: 14,3212           77776        P51E               EXIT                                           
031726,001434: 14,3213           05301                           TC       PHASCHNG                              
031727,001435: 14,3214           05024                           OCT      05024                                 
031728,001436: 14,3215           13000                           OCT      13000                                 
031729,001437: 14,3216           04555                           TC       BANKCALL                              
031730,001438: 14,3217           16063                           CADR     MKRELEAS                              #  ZERO MARKSTAT

Page 721

031732,001440: 14,3220           10304                           CCS      STARIND                               
031733,001441: 14,3221           13230                           TCF      P51F                                  #  STAR 2
031734,001442: 14,3222           05301                           TC       PHASCHNG                              
031735,001443: 14,3223           05024                           OCT      05024                                 
031736,001444: 14,3224           13000                           OCT      13000                                 
031737,001445: 14,3225           34712                           CAF      BIT1                                  
031738,001446: 14,3226           54304                           TS       STARIND                               
031739,001447: 14,3227           13154                           TCF      P51C                                  #  GO DO SECOND STAR
031740,001448: 14,3230           05301        P51F               TC       PHASCHNG                              
031741,001449: 14,3231           05024                           OCT      05024                                 
031742,001450: 14,3232           13000                           OCT      13000                                 
031743,001451: 14,3233           06006                           TC       INTPRET                               
031744,001452: 14,3234           45145                           DLOAD    CALL                                  
031745,001453: 14,3235           02607                                    TSIGHT                                
031746,001454: 14,3236           32363                                    PLANET                                
031747,001455: 14,3237           24015                           STOVL    12D                                   
031748,001456: 14,3240           02601                                    PLANVEC                               
031749,001457: 14,3241           24007                           STOVL    6D                                    
031750,001458: 14,3242           02611                                    STARSAV1                              
031751,001459: 14,3243           26736                           STOVL    STARAD                                
031752,001460: 14,3244           02617                                    STARSAV2                              
031753,001461: 14,3245           36744                           STCALL   STARAD     +6                         
031754,001462: 14,3246           30707                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
031755,001463: 14,3247           77414                           BON      EXIT                                  
031756,001464: 14,3250           00314                                    FREEFLAG                              
031757,001465: 14,3251           31253                                    P51G                                  
031758,001466: 14,3252           03072                           TC       P51AA                                 
031759,001467: 14,3253           77624        P51G               CALL                                           
031760,001468: 14,3254           47334                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
031761,001469: 14,3255           75160                           AXC,1    AXC,2                                 
031762,001470: 14,3256           02713                                    XDC                                   
031763,001471: 14,3257           01735                                    REFSMMAT                              
031764,001472: 14,3260           45014                           CLEAR    CALL                                  
031765,001473: 14,3261           01662                                    REFSMFLG                              
031766,001474: 14,3262           31045                                    MATMOVE                               
031767,001475: 14,3263           52014                           SET      GOTO                                  
031768,001476: 14,3264           01462                                    REFSMFLG                              
031769,001477: 14,3265           32143                                    ENDP50S                               
031770,001478: 14,3266     4720               PRFMSTAQ           =        OCT15                                 
031771,001479: 14,3266     4714               P51ZERO            =        ZERO                                  
031772,001480: 14,3266     4715               P51FIVE            =        FIVE                                  
031773,001481: 14,3266           01426        V6N22              VN       0622                                  
031774,001482: 14,3267           12200        V41K               VN       4100                                  
031775,001483: 14,3270           30025        SET1/PDT           CA       TIME1                                 
031776,001484: 14,3271           55074                           TS       1/PIPADT                              
031777,001485: 14,3272           16030                           TCF      DANZIG                                
031778,001486: 

Page 722

031780,001488:                                                                                                  #     SXTSM COMPUTES AN LOS VECTOR IN SM COORD FROM OCDU AND ICDU MARK DATA
031781,001489: 
031782,001490: 14,3273           77620        SXTSM              STQ                                            
031783,001491: 14,3274           00300                                    QMAJ                                  
031784,001492: 14,3275           70740                           LXC,1    DLOAD*                                
031785,001493: 14,3276           01330                                    MARKSTAT                              
031786,001494: 14,3277           00001                                    0D,1                                  
031787,001495: 14,3300           02607                           STORE    TSIGHT                                
031788,001496: 14,3301           66764                           AXC,2    SLOAD*                                
031789,001497: 14,3302           00304                                    STARIND                               
031790,001498: 14,3303           46451                                    MKDNCDR,2                             
031791,001499: 14,3304           76764                           AXC,2    VLOAD*                                
031792,001500: 14,3305           00154                                    MPAC                                  
031793,001501: 14,3306           00001                                    0,1                                   
031794,001502: 14,3307           10001                           STORE    0,2                                   
031795,001503: 14,3310           77743                           DLOAD*                                         
031796,001504: 14,3311           00006                                    5,1                                   
031797,001505: 14,3312           10006                           STORE    5,2                                   
031798,001506: 14,3313           77624                           CALL                                           
031799,001507: 14,3314           46000                                    SXTNB                                 #  COMPUTE LOS VECTOR FROM OCDU IN MKVAC
031800,001508: 14,3315           62150                           LXA,1    INCR,1                                
031801,001509: 14,3316           01330                                    MARKSTAT                              
031802,001510: 14,3317           00002                                    2                                     #  INCREMENT TO BASE ADR OF ICDU
031803,001511: 14,3320           45130                           SXA,1    CALL                                  
031804,001512: 14,3321           00050                                    S1                                    
031805,001513: 14,3322           47541                                    NBSM                                  #  TRANSFORM LOS TO SM
031806,001514: 14,3323           77650                           GOTO                                           
031807,001515: 14,3324           00300                                    QMAJ                                  
031808,001516: 14,3325           03674        MKDNCDR            ECADR    MARKDOWN                              
031809,001517: 14,3326           03502                           ECADR    MARK2DWN                              
031810,001518: 

Page 723

031812,001520:                                                                                                  #  PROGRAM DESCRIPTION - R53 - SIGHTING MARK ROUTINE
031813,001521:                                                                                                  #  MOD.NO.2  21 DEC 66
031814,001522:                                                                                                  #  MOD BY STURLAUGSON
031815,001523: 
031816,001524:                                                                                                  #  FUNCTIONAL DESCRIPTION
031817,001525:                                                                                                  #          TO PERFORM A SATISFACTORY NUMBER OF SIGHTING MARKS FOR THE REQUESTING PROGRAM (OR ROUTINE). SIGHTINGS
031818,001526:                                                                                                  #  CAN BE MADE ON A STAR OR LANDMARK. WHEN THE CMC ACCEPTS A MARK IT RECORDS AND STORES 5 ANGLES (3 ICDUS AND 2
031819,001527:                                                                                                  #  OCDUS) AND THE TIME OF THE MARK.
031820,001528: 
031821,001529:                                                                                                  #  CALLING SEQUENCE
031822,001530:                                                                                                  #    R53 IS CALLED AND RETURNS IN INTERPRETIVE CODE. RETURN IS VIA QPRET.
031823,001531:                                                                                                  #    THERE IS NO ERROR EXIT IN THIS ROUTINE ITSELF.
031824,001532: 
031825,001533:                                                                                                  #  SUBROUTINES CALLED
031826,001534:                                                                                                  #    SXTMARK
031827,001535:                                                                                                  #    OPTSTALL
031828,001536:                                                                                                  #    GOFLASH
031829,001537: 
031830,001538:                                                                                                  #  ERASABLE INITIALIZATION
031831,001539:                                                                                                  #    TARGET FLAG - STAR OR LANDMARK
031832,001540:                                                                                                  #    MARKINDX - NUMBER OF MARKS WANTED
031833,001541:                                                                                                  #    STARIND - INDEX TO BESTI OR BESTJ (STAR NUMBER)
031834,001542:                                                                                                  #  OUTPUT
031835,001543:                                                                                                  #    MARKSTAT CONTAINS INDEX TO VACANT AREA WHERE MARK DATA IS STORED
031836,001544:                                                                                                  #    BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER SIGHTED
031837,001545:                                                                                                  #  DEBRIS
031838,001546:                                                                                                  #    MARKINDX CONTAINS NUMBER OF MARKS DESIRED
031839,001547: 14,2000                                           SETLOC   RT53                                  
031840,001548: 14,2000                                           BANK                                           
031841,001549: 
031842,001550: 14,3327                                           COUNT    14/R53                                
031843,001551: 
031844,001552: 14,3327           43020        R53                STQ      SET                                   #  SET SIGHTING MARK FLAG
031845,001553: 14,3330           03501                                    R53EXIT                               
031846,001554: 14,3331           00071                                    R53FLAG                               
031847,001555: 14,3332           77776                           EXIT                                           
031848,001556: 14,3333           30301        R53A               CA       MARKINDX                              #  NUMBER OF MARKS
031849,001557: 14,3334           74716                           MASK     LOW3                                  
031850,001558: 14,3335           04555                           TC       BANKCALL                              
031851,001559: 14,3336           16002                           CADR     SXTMARK                               
031852,001560: 14,3337           04555                           TC       BANKCALL                              
031853,001561: 14,3340           17512                           CADR     OPTSTALL                              
031854,001562: 14,3341           05646                           TC       CURTAINS                              
031855,001563: 14,3342           51330                           INDEX    MARKSTAT                              
031856,001564: 14,3343           10052                           CCS      QPRET                                 #  NUMBER OF MARKS ACTUALLY DONE
031857,001565: 14,3344           13355                           TCF      R53B                                  
031858,001566: 14,3345           13347                           TCF      +2                                    #  ZERO
031859,001567: 14,3346           13347                           TCF      +1                                    #  CCS HOLE
031860,001568: 14,3347           34714                           CAF      ZERO                                  #  HOUSEKEEP VAC AREA SAVE
031861,001569: 14,3350           57330                           XCH      MARKSTAT                              #   AND MARKSTAT

Page 724

031863,001571: 14,3351           10000                           CCS      A                                     
031864,001572: 14,3352           50000                           INDEX    A                                     
031865,001573: 14,3353           54000                           TS       0                                     
031866,001574: 14,3354           13333                           TCF      R53A                                  
031867,001575: 14,3355           05253        R53B               TC       CHECKMM                               
031868,001576: 14,3356           00026                           MM       22         B-14                       
031869,001577: 14,3357           13361                           TCF      +2                                    
031870,001578: 14,3360           13405                           TCF      R53D                                  
031871,001579: 14,3361           05253                           TC       CHECKMM                               
031872,001580: 14,3362           00027                           MM       23         B-14                       
031873,001581: 14,3363           13365                           TCF      R53C                                  
031874,001582: 14,3364           13405                           TCF      R53D                                  
031875,001583: 14,3365           33411        R53C               CAF      V01N71                                
031876,001584: 14,3366           04555                           TC       BANKCALL                              
031877,001585: 14,3367           20763                           CADR     GOFLASHR                              
031878,001586: 14,3370           04106                           TC       GOTOPOOH                              #  TERM.
031879,001587: 14,3371           13376                           TCF      R53Z                                  
031880,001588: 14,3372           03365                           TC       R53C                                  #  RECYCLE
031881,001589: 14,3373           36211                           CAF      SIX                                   
031882,001590: 14,3374           05415                           TC       BLANKET                               
031883,001591: 14,3375           05112                           TC       ENDOFJOB                              
031884,001592: 14,3376           47713        R53Z               CS       HIGH9                                 
031885,001593: 14,3377           70735                           MASK     STARCODE                              
031886,001594: 14,3400           00006                           EXTEND                                         
031887,001595: 14,3401           76211                           MP       SIGHTSIX                              
031888,001596: 14,3402           56001                           XCH      L                                     
031889,001597: 14,3403           50304                           INDEX    STARIND                               
031890,001598: 14,3404           54302                           TS       BESTI                                 
031891,001599: 14,3405           06006        R53D               TC       INTPRET                               
031892,001600: 14,3406           77614        R53OUT             SETGO                                          
031893,001601: 14,3407           03420                                    TERMIFLG                              #  SET TERMINATE FOR R52
031894,001602: 14,3410           03501                                    R53EXIT                               
031895,001603: 14,3411     6211               SIGHTSIX           =        SIX                                   
031896,001604: 14,3411           00307        V01N71             VN       0171                                  
031897,001605: 

Page 725

031899,001607:                                                                                                  #  NAME-S52.2
031900,001608:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
031901,001609:                                                                                                  #  CALL-  CALL  S52.2
031902,001610:                                                                                                  #  INPUT- X,Y,ZSMD
031903,001611:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
031904,001612:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
031905,001613: 11,2000                                           SETLOC   S52/2                                 
031906,001614: 11,2000                                           BANK                                           
031907,001615: 
031908,001616: 11,2256                                           COUNT    13/S52.2                              
031909,001617: 11,2256           77620        S52.2              STQ                                            
031910,001618: 11,2257           00300                                    QMAJ                                  
031911,001619: 11,2260           77624                           CALL                                           
031912,001620: 11,2261           47432                                    CDUTRIG                               
031913,001621: 11,2262           77624                           CALL                                           
031914,001622: 11,2263           34567                                    CALCSMSC                              
031915,001623: 11,2264           66370                           AXT,1    SSP                                   
031916,001624: 11,2265           00022                                    18D                                   
031917,001625: 11,2266           00051                                    S1                                    
031918,001626: 11,2267           00006                                    6D                                    
031919,001627: 11,2270           61373        S52.2A             VLOAD*   VXM                                   
031920,001628: 11,2271           02736                                    XNB        +18D,1                     
031921,001629: 11,2272           01736                                    REFSMMAT                              
031922,001630: 11,2273           77656                           UNIT                                           
031923,001631: 11,2274           06736                           STORE    XNB        +18D,1                     
031924,001632: 11,2275           77700                           TIX,1                                          
031925,001633: 11,2276           22270                                    S52.2A                                
031926,001634: 11,2277           75160        S52.2.1            AXC,1    AXC,2                                 
031927,001635: 11,2300           00306                                    XSMD                                  
031928,001636: 11,2301           02671                                    XSM                                   
031929,001637: 11,2302           77624                           CALL                                           
031930,001638: 11,2303           31045                                    MATMOVE                               
031931,001639: 11,2304           77624                           CALL                                           
031932,001640: 11,2305           47244                                    CALCGA                                
031933,001641: 11,2306           77650                           GOTO                                           
031934,001642: 11,2307           00300                                    QMAJ                                  
031935,001643: 

Page 726

031937,001645:                                                                                                  #  PROGRAM NAME - SR52.1           DATE DEC 20  66
031938,001646:                                                                                                  #  MOD 1                           LOG SEC  P51-P53
031939,001647:                                                                                                  #  BY  KEN VINCENT                 ASSEMBLY  SUNDISK REV 40
031940,001648: 
031941,001649:                                                                                                  #  FUNCTION
031942,001650:                                                                                                  #   TARG1 AND TARG2 FLAGS ARE LOOKED AT TO DETERMINE IF THE TARGET IS THE
031943,001651:                                                                                                  #   LEM, STAR OR LANDMARK. IN CASE OF LEM OR LMK,THE PRESENT TIME PLUS
031944,001652:                                                                                                  #   2 SECONDS IS SAVED IN AOPTIME (ALIAS STARAD ,+1 ). IF THE LEM IS 
031945,001653:                                                                                                  #   THE TARGET  THEN CONIC UPDATES     OF THE CSM AND LEM ARE MADE TO
031946,001654:                                                                                                  #   THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE OF LEM AND CSM
031947,001655:                                                                                                  #   POSITION VECTORS BECOMES THE REFERENCE SIGHTING VECTOR  USED IN THE
031948,001656:                                                                                                  #   COMMON PART OF THIS PROGRAM.
031949,001657:                                                                                                  #   IN THE CASE OF LANDMARK, THE CSM IS UPDATED CONICALLY. THE RADIUS
031950,001658:                                                                                                  #   VECTOR FOR THE LANDMARK IS OBTAINED FROM LALOTORV. BOTH OF THESE ARE
031951,001659:                                                                                                  #   FOUND FOR THE TIME IN AOPTIME. THE UNIT OF THE DIFFERENCE BETWEEN
031952,001660:                                                                                                  #   THE LANDMARK AND CSM RADIUS VECTORS BECOMES THE REFERENCE SIGHTING
031953,001661:                                                                                                  #   VECTOR FOR THE COMMON PART OF THIS ROUTINE.
031954,001662:                                                                                                  #   IF A STAR IS THE TARGET, THE PROPER STAR IS OBTAINED FROM THE CATALOG
031955,001663:                                                                                                  #   AND THIS VECTOR BECOMES THE REFERENCE SIGHTING VECTOR.
031956,001664:                                                                                                  #   THE COMMON PART OF THIS PROGRAM  TRANSFORMS THE REFERENCE SIGHTING
031957,001665:                                                                                                  #   VECTOR INTO STABLE MEMBER COORDINATES. IT READS THE IMU-CDUS AND USES
031958,001666:                                                                                                  #   THIS DATA IN A CALL TO CALCSXA. ON RETURN FROM CALCSXA A TEST IS
031959,001667:                                                                                                  #   MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN  90DEG OR 38DEG.
031960,001668:                                                                                                  #   MADE TO SEE IF THE TRUNNION ANGLE IS GREATER THAN 90DEG. OR 50DEG.
031961,001669: 
031962,001670:                                                                                                  #  CALLING SEQUENCE
031963,001671:                                                                                                  #  L+4      RETURN WHEN SHAFT OR TRUNION NOT WITHIN 5DEG OF DESIRED
031964,001672:                                                                                                  #  L        TC     BANKCALL
031965,001673:                                                                                                  #  L+1      CADR   SR52.1
031966,001674:                                                                                                  #  L+2      ERROR RETURN   TRUNNION GREATER THAN 90 DEG
031967,001675:                                                                                                  #  L&3      ERROR RETURN   TRUNNION GREATER THAN 50 DEG
031968,001676:                                                                                                  #  L+4      NORMAL RETURN
031969,001677: 
031970,001678:                                                                                                  #  OUTPUT
031971,001679:                                                                                                  #  SAC -SINGLE PREC,2S COMP,SCALED AT HALF REVS- SHAFT ANGLE DESIRED
031972,001680:                                                                                                  #  PAC -SINGLE PREC,2S COMP SCALED AT EIGTH REVS - TRUNNION ANGLE DESIRED
031973,001681: 
031974,001682:                                                                                                  #  INITIALIZATION
031975,001683:                                                                                                  #  IF TARG1FLG =1 THEN TARGET IS LEM -NO OTHER INPUT REQUIRED
031976,001684:                                                                                                  #  IF TARG1FLG =0 AND TARG2FLG =0 THE TARGET IS STAR, STARIND SHOULD
031977,001685:                                                                                                  #  0 OR 1 DENOTING BESTI OR BESTJ RESPECTIVELY AS STAR CODE. STAR CODES
031978,001686:                                                                                                  #  ARE 6 TIMES STAR NUMBER.
031979,001687:                                                                                                  #  IF TARG1FLG =0 AND TARG2FLG =1 THEN TARGET IS LANDMARK. SEE ROUTINE
031980,001688:                                                                                                  #  LALOTORV FOR INPUT REQUIREMENTS. HERE FIXERAD=1 FOR CONSTANT EARTH
031981,001689:                                                                                                  #  RADIUS
031982,001690: 
031983,001691:                                                                                                  #  DEBRIS
031984,001692:                                                                                                  #   WORK AREA
031985,001693:                                                                                                  #   STARAD - STAR+5 (STAR IS DESIRED LOS IN STABLE MEMBER COORDINATES)
031986,001694: 11,2310                                           COUNT*   $$/SR521                              

Page 727

031988,001696: 13,2000                                           SETLOC   SR52/1                                
031989,001697: 13,2000                                           BANK                                           
031990,001698: 
031991,001699: 13,2176           04604        SR52.1             TC       MAKECADR                              
031992,001700: 13,2177           55777                           TS       QMIN                                  
031993,001701: 13,2200           06006                           TC       INTPRET                               
031994,001702: 13,2201           43234                           RTB      DAD                                   
031995,001703: 13,2202           45505                                    LOADTIME                              
031996,001704: 13,2203           26317                                    1.3SECDP                              
031997,001705: 13,2204           02356                           STORE    AOPTIME                               
031998,001706: 13,2205           43014                           BON      BON                                   
031999,001707: 13,2206           00705                                    TARG1FLG                              
032000,001708: 13,2207           26214                                    LEM52                                 
032001,001709: 13,2210           00706                                    TARG2FLG                              
032002,001710: 13,2211           26224                                    LMK52                                 
032003,001711: 13,2212           77650                           GOTO                                           
032004,001712: 13,2213           26245                                    STAR52                                
032005,001713: 13,2214           77745        LEM52              DLOAD                                          
032006,001714: 13,2215           02356                                    AOPTIME                               
032007,001715: 13,2216           34041                           STCALL   TDEC1                                 
032008,001716: 13,2217           27057                                    LEMCONIC                              
032009,001717: 13,2220           77775                           VLOAD                                          
032010,001718: 13,2221           00001                                    RATT                                  
032011,001719: 13,2222           77650                           GOTO                                           
032012,001720: 13,2223           26234                                    LMKLMCOM                              
032013,001721: 13,2224           71214        LMK52              BON      DLOAD                                 
032014,001722: 13,2225           04305                                    ADVTRK                                
032015,001723: 13,2226           54000                                    ADVTRACK                              
032016,001724: 13,2227           02356                                    AOPTIME                               
032017,001725: 13,2230           77624                           CALL                                           
032018,001726: 13,2231           26373                                    LALOTORV                              
032019,001727: 13,2232           77775                           VLOAD                                          
032020,001728: 13,2233           02152                                    ALPHAV                                
032021,001729: 13,2234           16766        LMKLMCOM           STODL    STAR                                  
032022,001730: 13,2235           02356                                    AOPTIME                               
032023,001731: 13,2236           34041                           STCALL   TDEC1                                 
032024,001732: 13,2237           27045                                    CSMCONIC                              
032025,001733: 13,2240           52375                           VLOAD    VSU                                   
032026,001734: 13,2241           02766                                    STAR                                  
032027,001735: 13,2242           00001                                    RATT                                  
032028,001736: 13,2243           52056                           UNIT     GOTO                                  
032029,001737: 13,2244           26260                                    COM52                                 
032030,001738: 13,2245           72131        STAR52             SSP      LXA,1                                 
032031,001739: 13,2246           00051                                    S1                                    
032032,001740: 13,2247           00000                                    0                                     
032033,001741: 13,2250           00304                                    STARIND                               
032034,001742: 13,2251           77700                           TIX,1                                          
032035,001743: 13,2252           26256                                    ST52ST                                
032036,001744: 13,2253           52175                           VLOAD    GOTO                                  
032037,001745: 13,2254           02617                                    STARSAV2                              

Page 728

032039,001747: 13,2255           26260                                    COM52                                 
032040,001748: 13,2256           77775        ST52ST             VLOAD                                          
032041,001749: 13,2257           02611                                    STARSAV1                              
032042,001750: 13,2260           53521        COM52              MXV      UNIT                                  
032043,001751: 13,2261           01736                                    REFSMMAT                              
032044,001752: 13,2262           02766                           STORE    STAR                                  
032045,001753: 13,2263           45001                           SETPD    CALL                                  
032046,001754: 13,2264           00001                                    0                                     
032047,001755: 13,2265           47432                                    CDUTRIG                               #  COMPUTES SINES AND COSINES FOR CALCSXA
032048,001756: 13,2266           77624                           CALL                                           #    NOW EXPECT TO SEE THE CDU ANGLES.
032049,001757: 13,2267           46034                                    CALCSXA                               
032050,001758: 13,2270           77414                           BOFF     EXIT                                  
032051,001759: 13,2271           01750                                    CULTFLAG                              
032052,001760: 13,2272           26274                                    TRUN38                                
032053,001761: 13,2273           02312                           TC       SR52E1                                
032054,001762: 13,2274           45345        TRUN38             DLOAD    DSU                                   
032055,001763: 13,2275           02776                                    PAC                                   
032056,001764: 13,2276           26315                                    38TRDEG                               
032057,001765: 13,2277           71244                           BPL      DLOAD                                 
032058,001766: 13,2300           26305                                    SR52E22                               
032059,001767: 13,2301           02776                                    PAC                                   
032060,001768: 13,2302           51025                           DSU      BPL                                   
032061,001769: 13,2303           26321                                    20DEGSMN                              
032062,001770: 13,2304           26307                                    SR52E3                                
032063,001771: 13,2305           77776        SR52E22            EXIT                                           
032064,001772: 13,2306           02311                           TC       SR52E2                                
032065,001773: 13,2307           77776        SR52E3             EXIT                                           
032066,001774: 13,2310           25777                           INCR     QMIN                                  
032067,001775: 13,2311           25777        SR52E2             INCR     QMIN                                  
032068,001776: 13,2312           31777        SR52E1             CA       QMIN                                  
032069,001777: 13,2313           04561                           TC       SWCALL                                
032070,001778: 13,2314           25252 25254  38TRDEG            2DEC     .66666667                             #  CORESPONDS TO 50 DEGS IN TRUNION
032071,001779: 13,2316           00000 00202  1.3SECDP           2DEC     130        B-28                       
032072,001780: 13,2320           61740        20DEGSMN           DEC      -07199     B-14                       
032073,001781: 13,2321           77777                           DEC      -0         B-14                       
032074,001782: 

Page 729

032076,001784:                                                                                                  #     THE ADVTRACK ROUTINE IS USED TO COMPUTE AN OPTICS LOS VECTOR TO
032077,001785:                                                                                                  #  A POINT ON THE GROUND TRACK 60 DEGRESS FORWARD OF THE LOCAL VERTICAL
032078,001786:                                                                                                  #  OF AN ADVANCED ORBIT A SPECIFIED NUMBER OF REVOLUTIONS FROM NOW
032079,001787: 
032080,001788: 26,2000                                           SETLOC   26P50S                                
032081,001789: 26,2000                                           BANK                                           
032082,001790: 26,2000           77601        ADVTRACK           SETPD                                          
032083,001791: 26,2001           00001                                    0                                     
032084,001792: 26,2002           41575                           VLOAD    PUSH                                  #  INITIALIZE FOR RP-TO-R
032085,001793: 26,2003           15324                                    UNITZ                                 #  UZ VEC IN PD 0-5
032086,001794: 26,2004           41434                           RTB      PUSH                                  #  TIME IN PD 6-7
032087,001795: 26,2005           45505                                    LOADTIME                              
032088,001796: 26,2006           36356                           STCALL   AOPTIME                               #  TIME ALSO IN AOPTIME FOR CSMCONIC
032089,001797: 26,2007           55341                                    RP-TO-R                               #  GET MOON ROTATION VEC IN REF
032090,001798: 26,2010           16766                           STODL    STAR                                  
032091,001799: 26,2011           02356                                    AOPTIME                               #  PICK UP TIME
032092,001800: 26,2012           34041                           STCALL   TDEC1                                 #  UPDATE STATE TO TIME
032093,001801: 26,2013           27045                                    CSMCONIC                              
032094,001802: 26,2014           47375                           VLOAD    VXV                                   
032095,001803: 26,2015           00007                                    VATT                                  
032096,001804: 26,2016           00001                                    RATT                                  
032097,001805: 26,2017           77656                           UNIT                                           
032098,001806: 26,2020           24031                           STOVL    24D                                   #  SAVE -UNIT(V X R) FOR 2ND ROTATION
032099,001807: 26,2021           00001                                    RATT                                  
032100,001808: 26,2022           57456                           UNIT     VCOMP                                 
032101,001809: 26,2023           41401                           SETPD    PUSH                                  #  PUSH LOS=-UNIT(RVEC)  PD 0-5
032102,001810: 26,2024           00001                                    0                                     
032103,001811: 26,2025           77776                           EXIT                                           
032104,001812: 26,2026           31751                           CA       LANDMARK                              
032105,001813: 26,2027           74716                           MASK     SEVEN                                 #  GET NUMBER OF ADVANCE PERIODS
032106,001814: 26,2030           00006                           EXTEND                                         
032107,001815: 26,2031           74700                           MP       BIT11                                 #  GET N/16
032108,001816: 26,2032           56001                           XCH      L                                     
032109,001817: 26,2033           50120                           INDEX    FIXLOC                                
032110,001818: 26,2034           54036                           TS       30D                                   #  TEMP STORE N/16
032111,001819: 26,2035           06006                           TC       INTPRET                               
032112,001820: 26,2036           41335                           SLOAD    DMP                                   
032113,001821: 26,2037           00037                                    30D                                   
032114,001822: 26,2040           14107                                    MPERIOD                               
032115,001823: 26,2041           36356                           STCALL   AOPTIME                               #  ROTATE ANG ABOUT UR
032116,001824: 26,2042           54057                                    ROTA                                  
032117,001825: 26,2043           77775                           VLOAD                                          
032118,001826: 26,2044           00031                                    24D                                   #  PICK UP 2ND ROTATION AXIS
032119,001827: 26,2045           16766                           STODL    STAR                                  
032120,001828: 26,2046           14105                                    DP1/6                                 
032121,001829: 26,2047           77625                           DSU                                            
032122,001830: 26,2050           02356                                    AOPTIME                               #  2ND RAT ANGLE = 60 - A
032123,001831: 26,2051           36356                           STCALL   AOPTIME                               
032124,001832: 26,2052           54057                                    ROTA                                  #  GO ROTATE 2ND TIME
032125,001833: 26,2053           77775                           VLOAD                                          

Page 730

032127,001835: 26,2054           00001                                    0                                     
032128,001836: 26,2055           36766                           STCALL   STAR                                  #  STORE FINAL LOS IN STAR
032129,001837: 26,2056           26260                                    COM52                                 #  RETURN TO SR52.1
032130,001838: 
032131,001839: 26,2057           73545        ROTA               DLOAD    SIN                                   
032132,001840: 26,2060           02356                                    AOPTIME                               
032133,001841: 26,2061           47315                           PDVL     VXV                                   #  PUSH 1/2SIN(A)  PD  6-7
032134,001842: 26,2062           02766                                    STAR                                  #    UR VEC
032135,001843: 26,2063           00001                                    0                                     #    LOS
032136,001844: 26,2064           72561                           VXSC     VSL2                                  #  1/2SIN(A)(URXLOS)  PD 6-11
032137,001845: 26,2065           50315                           PDVL     DOT                                   
032138,001846: 26,2066           02766                                    STAR                                  
032139,001847: 26,2067           00001                                    0                                     
032140,001848: 26,2070           72561                           VXSC     VSL2                                  
032141,001849: 26,2071           02766                                    STAR                                  
032142,001850: 26,2072           71525                           PDDL     COS                                   #  1/2(UR . LOS)UR  12-17
032143,001851: 26,2073           02356                                    AOPTIME                               
032144,001852: 26,2074           51315                           PDVL     BVSU                                  #  PUSH 1/2COS(A)  18-19
032145,001853: 26,2075           00015                                    12D                                   
032146,001854: 26,2076           00001                                    0                                     
032147,001855: 26,2077           76561                           VXSC     VSL1                                  #  UP 18-19
032148,001856: 26,2100           53255                           VAD      VAD                                   #  UP 12-17  UP 6-11
032149,001857: 26,2101           40256                           UNIT     SETPD                                 
032150,001858: 26,2102           00001                                    0                                     
032151,001859: 26,2103           43406                           PUSH     RVQ                                   
032152,001860: 
032153,001861: 26,2104           05252 25251  DP1/6              2DEC     .16666666                             
032154,001862: 26,2106           11446 02760  MPERIOD            2DEC     .2992                                 #  APPROX LUNAR ROT ANG IN 2HRS X 16
032155,001863: 

Page 731

032157,001865:                                                                                                  #  NAME-S52.3
032158,001866:                                                                                                  #  FUNCTION- XSMD= UNIT(YSMD X ZSMD)
032159,001867:                                                                                                  #            YSMD= UNIT(V X R)
032160,001868:                                                                                                  #            ZSMD= UNIT(-R)
032161,001869:                                                                                                  #  CALL     DLOAD  CALL
032162,001870:                                                                                                  #                  TALIGN
032163,001871:                                                                                                  #                  S52.3
032164,001872:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
032165,001873:                                                                                                  #  OUTPUT-  X,Y,ZSMD
032166,001874:                                                                                                  #  SUBROUTINES- CSMCONIC
032167,001875: 16,2000                                           SETLOC   P50S2                                 
032168,001876: 16,2000                                           BANK                                           
032169,001877: 
032170,001878: 16,2636                                           COUNT    15/S52.3                              
032171,001879: 16,2636           77620        S52.3              STQ                                            
032172,001880: 16,2637           00300                                    QMAJ                                  
032173,001881: 16,2640           34041                           STCALL   TDEC1                                 
032174,001882: 16,2641           27045                                    CSMCONIC                              
032175,001883: 16,2642           77601                           SETPD                                          
032176,001884: 16,2643           00001                                    0                                     
032177,001885: 16,2644           57575                           VLOAD    VCOMP                                 
032178,001886: 16,2645           00001                                    RATT                                  
032179,001887: 16,2646           77656                           UNIT                                           
032180,001888: 16,2647           24323                           STOVL    ZSMD                                  
032181,001889: 16,2650           00007                                    VATT                                  
032182,001890: 16,2651           53435                           VXV      UNIT                                  
032183,001891: 16,2652           00001                                    RATT                                  
032184,001892: 16,2653           00315                           STORE    YSMD                                  
032185,001893: 16,2654           53435                           VXV      UNIT                                  
032186,001894: 16,2655           00323                                    ZSMD                                  
032187,001895: 16,2656           34307                           STCALL   XSMD                                  
032188,001896: 16,2657           00300                                    QMAJ                                  
032189,001897: 

Page 732

032191,001899:                                                                                                  #  PROGRAM DESCRIPTION - R56 - ALTERNATE LOS SIGHTING MARK ROUTINE
032192,001900: 
032193,001901:                                                                                                  #  FUNCTIONAL DESCRIPTION
032194,001902:                                                                                                  #         TO PERFORM SIGHTING MARKS FOR THE BACK-UP ALIGNMENT PROGRAMS (P53,P54).  THE ASTRONAUT KNOWS THE
032195,001903:                                                                                                  #  COORDINATES (OPTICS) OF THE ALTERNATE LINE OF SIGHT HE MUST USE FOR THIS ROUTINE.  WHEN THE ASTRONAUT KEYS IN
032196,001904:                                                                                                  #  ENTER IN RESPONSE TO THE FLASHING V50 N25 R1-XXXXX THE CMC STORES THE THREE ICDU ANGLES AND TWO ANGLES DISPLAYED
032197,001905:                                                                                                  #  IN N92.
032198,001906: 
032199,001907:                                                                                                  #  CALLING SEQUENCE
032200,001908:                                                                                                  #         CALL
032201,001909:                                                                                                  #               R56
032202,001910: 
032203,001911:                                                                                                  #  SUBROUTINES CALLED
032204,001912:                                                                                                  #         A PORTION OF SXTMARK (VAC.AREA SEARCH)
032205,001913:                                                                                                  #         GOFLASH
032206,001914:                                                                                                  #         GOPERF1
032207,001915: 
032208,001916:                                                                                                  #  ERASABLE INITIALIZATION
032209,001917:                                                                                                  #         STARIND-INDEX TO STAR NUMBER
032210,001918: 
032211,001919:                                                                                                  #  OUTPUT
032212,001920:                                                                                                  #         MARKSTAT-INDEX TO VAC.AREA WHERE OUTPUT IS STORED.
032213,001921:                                                                                                  #         BESTI (INDEXED BY STARIND) CONTAINS STAR NUMBER.
032214,001922:                                                                                                  #         ICDU AND OCDU ANGLES IN VAC. AREA AS FOLLOWS-
032215,001923:                                                                                                  #            VAC +2  CDUY
032216,001924:                                                                                                  #            VAC +3  CDUS
032217,001925:                                                                                                  #            VAC +4  CDUZ
032218,001926:                                                                                                  #            VAC +5  CDUT
032219,001927:                                                                                                  #            VAC +6  CDUX
032220,001928: 
032221,001929: 16,2660                                           COUNT*   $$/R56                                
032222,001930: 15,2000                                           SETLOC   P50S                                  
032223,001931: 15,2000                                           BANK                                           
032224,001932: 15,2252           77776        R56                EXIT                                           
032225,001933: 15,2253           32362                           CAF      V06N94B                               
032226,001934: 15,2254           04555                           TC       BANKCALL                              
032227,001935: 15,2255           20624                           CADR     GOFLASH                               
032228,001936: 15,2256           04106                           TC       GOTOPOOH                              #  TERM.
032229,001937: 15,2257           02261                           TC       R56A                                  #  PROCEED - ANGLES OK
032230,001938: 15,2260           02253                           TC       -5                                    #  ENTER - NEW ANGLES
032231,001939: 15,2261           04555        R56A               TC       BANKCALL                              
032232,001940: 15,2262           16004                           CADR     SXTMARK    +2                         #  INHIBIR EXT VB ACT AND FIND VAC AREA
032233,001941: 
032234,001942: 15,2263           34714                           CAF      ZERO                                  
032235,001943: 15,2264           04555                           TC       BANKCALL                              
032236,001944: 15,2265           20607                           CADR     CLEANDSP                              
032237,001945: 
032238,001946: 15,2266           32360                           CAF      VB53                                  #  DISPLAY V53 REQUESTING ALTERNATE MARK
032239,001947: 15,2267           04555                           TC       BANKCALL                              
032240,001948: 15,2270           20470                           CADR     GOMARK2                               

Page 733

032242,001950: 15,2271           14106                           TCF      GOTOPOOH                              #  V34-TERMINATE
032243,001951: 15,2272           12263                           TCF      R56A       +2                         #  V33-DONT PROCEED-JUST ENTER TO MARK
032244,001952: 15,2273           06006                           TC       INTPRET                               
032245,001953: 15,2274           77745                           DLOAD                                          
032246,001954: 15,2275           03731                                    MRKBUF1    +3                         
032247,001955: 15,2276           16774                           STODL    SAC                                   
032248,001956: 15,2277           03733                                    MRKBUF1    +5                         
032249,001957: 15,2300           02776                           STORE    PAC                                   
032250,001958: 15,2301           77776                           EXIT                                           
032251,001959: 15,2302           00004                           INHINT                                         
032252,001960: 15,2303           00006                           EXTEND                                         
032253,001961: 15,2304           30025                           DCA      TIME2                                 
032254,001962: 15,2305           51330                           INDEX    MARKSTAT                              
032255,001963: 15,2306           52001                           DXCH     0                                     
032256,001964: 15,2307           30033                           CA       CDUY                                  #  ENTER-THIS IS A BACKUP SYSTEM MARK
032257,001965: 15,2310           51330                           INDEX    MARKSTAT                              
032258,001966: 15,2311           54002                           TS       2                                     
032259,001967: 15,2312           31773                           CA       SAC                                   
032260,001968: 15,2313           51330                           INDEX    MARKSTAT                              
032261,001969: 15,2314           54003                           TS       3                                     
032262,001970: 15,2315           30034                           CA       CDUZ                                  
032263,001971: 15,2316           51330                           INDEX    MARKSTAT                              
032264,001972: 15,2317           54004                           TS       4                                     
032265,001973: 15,2320           31775                           CA       PAC                                   
032266,001974: 15,2321           51330                           INDEX    MARKSTAT                              
032267,001975: 15,2322           54005                           TS       5                                     
032268,001976: 15,2323           30032                           CA       CDUX                                  
032269,001977: 15,2324           51330                           INDEX    MARKSTAT                              
032270,001978: 15,2325           54006                           TS       6                                     
032271,001979: 15,2326           00003                           RELINT                                         
032272,001980: 15,2327           05425                           TC       CLEARMRK                              #  ENABLE EXTENDED VERBS
032273,001981: 15,2330           34333                           CAF      OCT16                                 
032274,001982: 15,2331           04555                           TC       BANKCALL                              
032275,001983: 15,2332           20751                           CADR     GOPERF1                               
032276,001984: 15,2333           04106                           TC       GOTOPOOH                              #  TERM.
032277,001985: 15,2334           12336                           TCF      R56B                                  #  PROCEED-MARK COMPLETED
032278,001986: 15,2335           12263                           TCF      R56A       +2                         #   RECYCLE - DO ANOTHER MARK - LIKE REJECT
032279,001987: 15,2336           34714        R56B               CAF      ZERO                                  
032280,001988: 15,2337           04555                           TC       BANKCALL                              
032281,001989: 15,2340           20607                           CADR     CLEANDSP                              
032282,001990: 
032283,001991: 15,2341           32361                           CAF      V01N71B                               
032284,001992: 15,2342           04555                           TC       BANKCALL                              
032285,001993: 15,2343           20624                           CADR     GOFLASH                               
032286,001994: 15,2344           04106                           TC       GOTOPOOH                              
032287,001995: 15,2345           02347                           TC       +2                                    
032288,001996: 15,2346           12336                           TCF      R56B                                  #  RECYCLE
032289,001997: 15,2347           47713                           CS       HIGH9                                 
032290,001998: 15,2350           70735                           MASK     STARCODE                              
032291,001999: 15,2351           00006                           EXTEND                                         

Page 734

032293,002001: 15,2352           76211                           MP       SIX                                   
032294,002002: 15,2353           56001                           XCH      L                                     
032295,002003: 15,2354           50304                           INDEX    STARIND                               
032296,002004: 15,2355           54302                           TS       BESTI                                 
032297,002005: 15,2356           06006                           TC       INTPRET                               
032298,002006: 15,2357           77616                           RVQ                                            
032299,002007: 15,2360           15200        VB53               VN       05300                                 #  ALTERNATE MARK VERB
032300,002008: 15,2361           00307        V01N71B            VN       00171                                 
032301,002009: 15,2362           01536        V06N94B            VN       00694                                 
032302,002010: 15,2363           02607        PLANET             STORE    TSIGHT                                
032303,002011: 15,2364           45020                           STQ      CALL                                  
032304,002012: 15,2365           02777                                    QMIN                                  
032305,002013: 15,2366           30216                                    LOCSAM                                
032306,002014: 15,2367           77775                           VLOAD                                          
032307,002015: 15,2370           02736                                    VEARTH                                
032308,002016: 15,2371           24001                           STOVL    0D                                    
032309,002017: 15,2372           02744                                    VSUN                                  
032310,002018: 15,2373           26736                           STOVL    VEARTH                                
032311,002019: 15,2374           00001                                    0D                                    
032312,002020: 15,2375           02744                           STORE    VSUN                                  
032313,002021: 15,2376           77776        NOSAM              EXIT                                           
032314,002022: 15,2377           47713                           CS       HIGH9                                 
032315,002023: 15,2400           70735                           MASK     STARCODE                              
032316,002024: 15,2401           00006                           EXTEND                                         
032317,002025: 15,2402           76211                           MP       SIGHTSIX                              
032318,002026: 15,2403           56001                           XCH      L                                     
032319,002027: 15,2404           50304                           INDEX    STARIND                               
032320,002028: 15,2405           54302                           TS       BESTI                                 
032321,002029: 15,2406           10000                           CCS      A                                     
032322,002030: 15,2407           12423                           TCF      NOTPLAN                               
032323,002031: 15,2410           32453                           CAF      VNPLANV                               
032324,002032: 15,2411           04555                           TC       BANKCALL                              
032325,002033: 15,2412           20624                           CADR     GOFLASH                               
032326,002034: 15,2413           04106                           TC       GOTOPOOH                              
032327,002035: 15,2414           02416                           TC       +2                                    
032328,002036: 15,2415           02410                           TC       -5                                    
032329,002037: 15,2416           06006                           TC       INTPRET                               
032330,002038: 15,2417           53575                           VLOAD    UNIT                                  
032331,002039: 15,2420           02766                                    STAR                                  
032332,002040: 15,2421           77650                           GOTO                                           
032333,002041: 15,2422           32446                                    CORPLAN                               
032334,002042: 15,2423           40000        NOTPLAN            CS       A                                     
032335,002043: 15,2424           62452                           AD       DEC227                                
032336,002044: 15,2425           00006                           EXTEND                                         
032337,002045: 15,2426           62437                           BZMF     CALSAM1                               
032338,002046: 15,2427           50304                           INDEX    STARIND                               
032339,002047: 15,2430           30302                           CA       BESTI                                 
032340,002048: 15,2431           50120                           INDEX    FIXLOC                                
032341,002049: 15,2432           54046                           TS       X1                                    
032342,002050: 15,2433           06006                           TC       INTPRET                               

Page 735

032344,002052: 15,2434           52173                           VLOAD*   GOTO                                  
032345,002053: 15,2435           31751                                    CATLOG,1                              
032346,002054: 15,2436           32446                                    CORPLAN                               
032347,002055: 15,2437           06006        CALSAM1            TC       INTPRET                               
032348,002056: 15,2440           70740                           LXC,1    DLOAD*                                
032349,002057: 15,2441           00304                                    STARIND                               
032350,002058: 15,2442           00303                                    BESTI,1                               
032351,002059: 15,2443           76740                           LXC,1    VLOAD*                                
032352,002060: 15,2444           00154                                    MPAC                                  
032353,002061: 15,2445           02372                                    STARAD     -228D,1                    
032354,002062: 15,2446           53455        CORPLAN            VAD      UNIT                                  
032355,002063: 15,2447           03474                                    VEL/C                                 
032356,002064: 15,2450           77650                           GOTO                                           
032357,002065: 15,2451           02777                                    QMIN                                  
032358,002066: 15,2452           00343        DEC227             DEC      227        B-14                       
032359,002067: 15,2453           01530        VNPLANV            VN       0688                                  

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