Source Code

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

039763,000002:                                                                                                  ## Copyright:   Public domain.
039764,000003:                                                                                                  ## Filename:    P51-P53.agc
039765,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
039766,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039767,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
039768,000007:                                                                                                  ## Assembler:   yaYUL
039769,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
039770,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
039771,000010:                                                                                                  ## Pages:       926-983
039772,000011:                                                                                                  ## Mod history: 2009-05-31 HG   Transcribed from page images.
039773,000012:                                                                                                  ##              2009-06-07 RSB  Corrected a typo.
039774,000013:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
039775,000014:                                                                                                  ##              2016-12-17 RSB  Proofed text comments with octopus/ProoferComments
039776,000015:                                                                                                  ##                              and corrected the errors found.
039777,000016:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
039778,000017:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
039779,000018:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
039780,000019:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039781,000020: 

Page 926

039783,000022:                                                                                                  #  PROGRAM NAME - PROG52                 DATE - JAN 9, 1967
039784,000023:                                                                                                  #  MOD NO - 0                                    LOG SECTION - P51-P53
039785,000024:                                                                                                  #  MODIFICATION BY - LONSKE                      ASSEMBLY - SUNDANCE REV 46
039786,000025: 
039787,000026:                                                                                                  #  FUNCTIONAL DESCRIPTION -
039788,000027: 
039789,000028:                                                                                                  #        ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT.  THE PRESENT IMU ORIENTATION IS KNOWN
039790,000029:                                                                                                  #        AND IS STORED IN REFSMMAT.  THE THREE POSSIBLE ORIENTATIONS MAY BE_
039791,000030: 
039792,000031:                                                                                                  #        (A)     PREFERRED ORIENTATION
039793,000032: 
039794,000033:                                                                                                  #                AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER.  THIS ORIENTATION MUST BE CALCULATED AND
039795,000034:                                                                                                  #                STORED BY A PREVIOUSLY SELECTED PROGRAM.
039796,000035: 
039797,000036:                                                                                                  #        (B)     NOMINAL ORIENTATION
039798,000037: 
039799,000038:                                                                                                  #                X   = UNIT ( R )
039800,000039:                                                                                                  #                -SM
039801,000040: 
039802,000041:                                                                                                  #                Y   = UNIT (V X R)
039803,000042:                                                                                                  #                 SM
039804,000043: 
039805,000044:                                                                                                  #                Z   = UNIT (X   X Y  )
039806,000045:                                                                                                  #                 SM          SM    SM
039807,000046: 
039808,000047:                                                                                                  #                WHERE_
039809,000048: 
039810,000049:                                                                                                  #                R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039811,000050:                                                                                                  #                -
039812,000051: 
039813,000052:                                                                                                  #                V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039814,000053:                                                                                                  #                -
039815,000054: 
039816,000055:                                                                                                  #        (C)     REFSMMAT ORIENTATION
039817,000056: 
039818,000057:                                                                                                  #        (D)     LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039819,000058: 
039820,000059:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION.  THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039821,000060:                                                                                                  #        WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039822,000061:                                                                                                  #        SINCE THE LAST ALIGNMENT).
039823,000062: 
039824,000063:                                                                                                  #        AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039825,000064:                                                                                                  #        NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE.  CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039826,000065:                                                                                                  #        COARSE ALIGN THE IMU.  THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED.  IF 2 STARS ARE NOT AVAILABLE AN ALARM
039827,000066:                                                                                                  #        IS FLASHED TO NOTIFY THE ASTRONAUT.  AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039828,000067:                                                                                                  #        EITHER MANUALLY OR AUTOMATICALLY.  AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51.  IF
039829,000068:                                                                                                  #        THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED.  OTHERWISE P00 IS
039830,000069:                                                                                                  #        REQUESTED.
039831,000070: 
039832,000071:                                                                                                  #  CALLING SEQUENCE -
039833,000072: 

Page 927

039835,000074:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039836,000075: 
039837,000076:                                                                                                  #  SUBROUTINES CALLED -
039838,000077: 
039839,000078:                                                                                                  #        1. FLAGDOWN              7. S52.2               13. NEWMODEX
039840,000079:                                                                                                  #        2. R02BOTH               8. CAL53A              14. PRIOLARM
039841,000080:                                                                                                  #        3. GOPERF4               9. FLAGUP
039842,000081:                                                                                                  #        4. MATMOVE              10. R56
039843,000082:                                                                                                  #        5. GOFLASH              11. R51
039844,000083:                                                                                                  #        6. S52.3                12. GOPERF3
039845,000084: 
039846,000085:                                                                                                  #  NORMAL EXIT MODES -
039847,000086: 
039848,000087:                                                                                                  #        EXITS TO ENDOFJOB
039849,000088: 
039850,000089:                                                                                                  #  ALARM OR ABORT EXIT MODES -
039851,000090: 
039852,000091:                                                                                                  #        NONE
039853,000092: 
039854,000093:                                                                                                  #  OUTPUT -
039855,000094: 
039856,000095:                                                                                                  #        THE FOLLOWING MAY BE FLASHED ON THE DSKY
039857,000096:                                                                                                  #                1. IMU ORIENTATION CODE
039858,000097:                                                                                                  #                2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039859,000098:                                                                                                  #                3. TIME OF NEXT IGNITION
039860,000099:                                                                                                  #                4. GIMBAL ANGLES
039861,000100:                                                                                                  #                5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039862,000101:                                                                                                  #                6. PLEASE PERFORM P00
039863,000102:                                                                                                  #        THE MODE DISPLAY MAY BE CHANGED TO 20
039864,000103: 
039865,000104:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
039866,000105: 
039867,000106:                                                                                                  #        PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.  IF IT HAS BEEN COMPUTED IT IS STORED IN
039868,000107:                                                                                                  #        XSMD, YSMD, ZSMD.
039869,000108: 
039870,000109:                                                                                                  #        RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039871,000110: 
039872,000111:                                                                                                  #  DEBRIS -
039873,000112: 
039874,000113:                                                                                                  #        WORK AREA
039875,000114: 
039876,000115: 33,3777                                           BANK     33                                    
039877,000116: 15,2000                                           SETLOC   P50S                                  
039878,000117: 15,2000                                           BANK                                           
039879,000118: 
039880,000119: 15,2050  E5,1755                                  EBANK=   BESTI                                 
039881,000120: 15,2050                                           COUNT*   $$/P52                                
039882,000121: 15,2050           04616        PROG52             TC       BANKCALL                              
039883,000122: 15,2051           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
039884,000123: 15,2052           34750                           CAF      PFRATBIT                              
039885,000124: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
039886,000125: 15,2054           10000                           CCS      A                                     

Page 928

039888,000127: 15,2055           02060                           TC       P52A                                  #  YES
039889,000128: 15,2056           34752                           CAF      BIT2                                  #  NO
039890,000129: 15,2057           02061                           TC       P52A       +1                         
039891,000130: 15,2060           34753        P52A               CAF      BIT1                                  
039892,000131: 15,2061           55145                           TS       OPTION2                               
039893,000132: 15,2062           34753        P52B               CAF      BIT1                                  
039894,000133: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
039895,000134: 15,2064           20713                           CADR     GOPERF4R                              #  FLASH V04N06
039896,000135: 15,2065           06001                           TC       GOTOPOOH                              
039897,000136: 15,2066           12073                           TCF      +5                                    #  V33 - PROCEED
039898,000137: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
039899,000138: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
039900,000139: 15,2071           00014                           OCT      00014                                 
039901,000140: 15,2072           05155                           TC       ENDOFJOB                              
039902,000141: 
039903,000142: 15,2073           31145                           CA       OPTION2                               
039904,000143: 15,2074           76245                           MASK     THREE                                 
039905,000144: 15,2075           50000                           INDEX    A                                     
039906,000145: 15,2076           02077                           TC       +1                                    
039907,000146: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
039908,000147: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
039909,000148: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
039910,000149: 15,2102           06037        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
039911,000150: 15,2103           77650                           GOTO                                           
039912,000151: 15,2104           32164                                    P52F                                  #  GO DO R51
039913,000152: 
039914,000153: 15,2105           00006        OPT4               EXTEND                                         
039915,000154: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
039916,000155: 15,2107           12112                           TCF      P52T       +2                         
039917,000156: 
039918,000157: 15,2110           00006        P52T               EXTEND                                         
039919,000158: 15,2111           34755                           DCA      NEG0                                  
039920,000159: 15,2112           53046                           DXCH     DSPTEM1                               
039921,000160: 15,2113           32170                           CAF      V06N34*                               
039922,000161: 15,2114           04616                           TC       BANKCALL                              
039923,000162: 15,2115           20476                           CADR     GOFLASH                               
039924,000163: 15,2116           06001                           TC       GOTOPOOH                              
039925,000164: 15,2117           02121                           TC       +2                                    
039926,000165: 15,2120           02113                           TC       -5                                    
039927,000166: 15,2121           53046                           DXCH     DSPTEM1                               
039928,000167: 15,2122           00006                           EXTEND                                         
039929,000168: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
039930,000169: 15,2124           12127                           TCF      +3                                    
039931,000170: 15,2125           00006                           EXTEND                                         
039932,000171: 15,2126           30025                           DCA      TIME2                                 
039933,000172: 15,2127           53775                           DXCH     TALIGN                                
039934,000173: 15,2130           31145        P52V               CA       OPTION2                               
039935,000174: 15,2131           74752                           MASK     BIT2                                  
039936,000175: 15,2132           10000                           CCS      A                                     
039937,000176: 15,2133           02137                           TC       P52W                                  

Page 929

039939,000178: 15,2134           06037                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
039940,000179: 15,2135           77650                           GOTO                                           
039941,000180: 15,2136           32220                                    P52LS                                 
039942,000181: 

Page 930

039944,000183:                                                                                                  #  START ALIGNMENT
039945,000184: 
039946,000185: 15,2137           06037        P52W               TC       INTPRET                               
039947,000186: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
039948,000187: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
039949,000188: 15,2142           31650                                    S52.3                                 #        ORIENTATION
039950,000189: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
039951,000190: 15,2144           31617                                    S52.2                                 #        COMPUTE GIMBAL ANGLES
039952,000191: 15,2145           77776                           EXIT                                           
039953,000192: 15,2146           35010                           CAF      V06N22                                
039954,000193: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
039955,000194: 15,2150           20476                           CADR     GOFLASH                               
039956,000195: 15,2151           06001                           TC       GOTOPOOH                              
039957,000196: 15,2152           12171                           TCF      COARSTYP                              #  V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039958,000197: 15,2153           06037        P52H               TC       INTPRET                               
039959,000198: 15,2154           77650                           GOTO                                           
039960,000199: 15,2155           32143                                    P52D                                  
039961,000200: 15,2156           06037        REGCOARS           TC       INTPRET                               
039962,000201: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
039963,000202: 15,2160           31327                                    CAL53A                                #        ROUTINE
039964,000203: 15,2161           43014        COARSRET           SET      CLEAR                                 
039965,000204: 15,2162           01462                                    REFSMFLG                              
039966,000205: 15,2163           01273                                    PFRATFLG                              
039967,000206: 15,2164           77624        P52F               CALL                                           
039968,000207: 15,2165           31015                                    R51                                   
039969,000208: 15,2166           77776        P52OUT             EXIT                                           
039970,000209: 15,2167           06001                           TC       GOTOPOOH                              
039971,000210: 15,2170     5006               VB05N09            =        V05N09                                
039972,000211: 15,2170           01442        V06N34*            VN       634                                   
039973,000212: 

Page 931

039975,000214:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039976,000215: 
039977,000216: 15,2171           32217        COARSTYP           CAF      OCT13                                 
039978,000217: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039979,000218: 15,2173           20623                           CADR     GOPERF1                               
039980,000219: 15,2174           16001                           TCF      GOTOPOOH                              #  V34 - TERMIN&OE
039981,000220: 15,2175           12156                           TCF      REGCOARS                              #  V33 - NORMAL COARSE
039982,000221: 15,2176           06037                           TC       INTPRET                               #  V32 - GYRO TORQUE COARSE
039983,000222: 15,2177           64375                           VLOAD    MXV                                   
039984,000223: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
039985,000224: 15,2201           01734                                    REFSMMAT                              
039986,000225: 15,2202           77656                           UNIT                                           
039987,000226: 15,2203           26665                           STOVL    XDC                                   
039988,000227: 15,2204           03615                                    YSMD                                  
039989,000228: 15,2205           53521                           MXV      UNIT                                  
039990,000229: 15,2206           01734                                    REFSMMAT                              
039991,000230: 15,2207           26673                           STOVL    YDC                                   
039992,000231: 15,2210           03623                                    ZSMD                                  
039993,000232: 15,2211           53521                           MXV      UNIT                                  
039994,000233: 15,2212           01734                                    REFSMMAT                              
039995,000234: 15,2213           36701                           STCALL   ZDC                                   
039996,000235: 15,2214           31164                                    GYCOARS                               
039997,000236: 15,2215           77650                           GOTO                                           
039998,000237: 15,2216           32166                                    P52OUT                                
039999,000238: 15,2217           00013        OCT13              OCT      13                                    
040000,000239: 

Page 932

040002,000241:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
040003,000242: 
040004,000243: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
040005,000244: 15,2221           01463                                    LUNAFLAG                              
040006,000245: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
040007,000246: 15,2223           77201                           SETPD    VLOAD                                 
040008,000247: 15,2224           00001                                    0                                     
040009,000248: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
040010,000249: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
040011,000250: 15,2227           02775                                    TALIGN                                
040012,000251: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
040013,000252: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
040014,000253: 15,2232           77742                           VSR2                                           
040015,000254: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
040016,000255: 15,2234           02775                                    TALIGN                                
040017,000256: 15,2235           77624                           CALL                                           
040018,000257: 15,2236           30446                                    N89DISP                               
040019,000258: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
040020,000259: 15,2240           02032                                    ALPHAV                                
040021,000260: 15,2241           37607                           STCALL   XSMD                                  
040022,000261: 15,2242           11013                                    LSORIENT                              
040023,000262: 15,2243           77650                           GOTO                                           
040024,000263: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
040025,000264: 

Page 933

040027,000266:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040028,000267: 
040029,000268: 14,2000                                           SETLOC   P50S1                                 
040030,000269: 14,2000                                           BANK                                           
040031,000270: 14,2446  E5,1642                                  EBANK=   XSM                                   
040032,000271: 
040033,000272: 14,2446           77620        N89DISP            STQ                                            
040034,000273: 14,2447           02746                                    QMAJ                                  
040035,000274: 14,2450           35243                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
040036,000275: 14,2451           26351                                    LAT-LONG                              
040037,000276: 14,2452           70545                           DLOAD    SR1                                   
040038,000277: 14,2453           01123                                    LONG                                  
040039,000278: 14,2454           16711                           STODL    LANDLONG                              
040040,000279: 14,2455           01125                                    ALT                                   
040041,000280: 14,2456           16713                           STODL    LANDALT                               
040042,000281: 14,2457           01121                                    LAT                                   
040043,000282: 14,2460           16707                           STODL    LANDLAT                               
040044,000283: 14,2461           77776                           EXIT                                           
040045,000284: 
040046,000285: 14,2462           32505        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
040047,000286: 14,2463           04616                           TC       BANKCALL                              
040048,000287: 14,2464           20476                           CADR     GOFLASH                               
040049,000288: 14,2465           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE - EXIT P57
040050,000289: 14,2466           12470                           TCF      +2                                    #  V33 - PROCEED - ACCEPT LS DATA
040051,000290: 14,2467           12462                           TCF      LSDISP                                #  V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040052,000291: 
040053,000292: 14,2470           06037                           TC       INTPRET                               
040054,000293: 14,2471           72545                           DLOAD    SL1                                   
040055,000294: 14,2472           02711                                    LANDLONG                              
040056,000295: 14,2473           15123                           STODL    LONG                                  
040057,000296: 14,2474           02713                                    LANDALT                               
040058,000297: 14,2475           15125                           STODL    ALT                                   
040059,000298: 14,2476           02707                                    LANDLAT                               
040060,000299: 14,2477           15121                           STODL    LAT                                   
040061,000300: 14,2500           01243                                    GDT/2      +4                         #  PICK UP TIME
040062,000301: 14,2501           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
040063,000302: 14,2502           26422                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
040064,000303: 14,2503           77650                           GOTO                                           
040065,000304: 14,2504           02746                                    QMAJ                                  
040066,000305: 14,2505           01531        V06N89*            VN       689                                   
040067,000306: 

Page 934

040069,000308:                                                                                                  #  NAME - S50 ALIAS LOCSAM
040070,000309:                                                                                                  #  BY
040071,000310:                                                                                                  #  VINCENT
040072,000311: 
040073,000312:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040074,000313: 
040075,000314:                                                                                                  #        DEFINE
040076,000315: 
040077,000316:                                                                                                  #        U   = UNIT( SUN WRT EARTH )
040078,000317:                                                                                                  #         ES
040079,000318: 
040080,000319:                                                                                                  #        U   = UNIT( MOON WRT EARTH )
040081,000320:                                                                                                  #         EM
040082,000321: 
040083,000322:                                                                                                  #        R   = POSITION VECTOR OF LEM
040084,000323:                                                                                                  #         L
040085,000324: 
040086,000325:                                                                                                  #        R   = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040087,000326:                                                                                                  #         EM
040088,000327: 
040089,000328:                                                                                                  #        P   = RATIO R  /(DISTANCE SUN TO EARTH) > .00257125
040090,000329:                                                                                                  #                     EM
040091,000330: 
040092,000331:                                                                                                  #        R   = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040093,000332:                                                                                                  #         E
040094,000333: 
040095,000334:                                                                                                  #        LOCSAM COMPUTES IN EARTH INFLUENCE
040096,000335: 
040097,000336:                                                                                                  #        VSUN = U
040098,000337:                                                                                                  #                ES
040099,000338: 
040100,000339:                                                                                                  #        VEARTH = -UNIT( R  )
040101,000340:                                                                                                  #                         L
040102,000341: 
040103,000342:                                                                                                  #        VMOON = UNIT(R  .U   - R  )
040104,000343:                                                                                                  #                      EM  EM    L
040105,000344: 
040106,000345:                                                                                                  #        CSUN = COS 90
040107,000346: 
040108,000347:                                                                                                  #        CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040109,000348:                                                                                                  #                                 E      L
040110,000349: 
040111,000350:                                                                                                  #        CMOON   = COS 5
040112,000351: 
040113,000352:                                                                                                  #  INPUT - TIME IN MPAC
040114,000353: 
040115,000354:                                                                                                  #  OUTPUT - LISTED ABOVE
040116,000355: 
040117,000356:                                                                                                  #  SUBROUTINES - LSPOS, LEMPREC
040118,000357: 
040119,000358:                                                                                                  #  DEBRIS - VAC AREA, TSIGHT
040120,000359: 

Page 935

040122,000361: 14,2506                                           COUNT*   $$/LOSAM                              
040123,000362: 
040124,000363: 14,2506  14,2506               S50                =        LOCSAM                                
040125,000364: 14,2506           77620        LOCSAM             STQ                                            
040126,000365: 14,2507           02745                                    QMIN                                  
040127,000366: 14,2510           37562                           STCALL   TSIGHT                                
040128,000367: 14,2511           33664                                    LSPOS                                 
040129,000368: 14,2512           77745                           DLOAD                                          
040130,000369: 14,2513           03562                                    TSIGHT                                
040131,000370: 14,2514           34041                           STCALL   TDEC1                                 
040132,000371: 14,2515           27057                                    LEMPREC                               
040133,000372: 14,2516           61131                           SSP      TIX,2                                 
040134,000373: 14,2517           00052                                    S2                                    
040135,000374: 14,2520           00000                                    0                                     
040136,000375: 14,2521           30543                                    MOONCNTR                              
040137,000376: 14,2522           74375        EARTCNTR           VLOAD    VXSC                                  
040138,000377: 14,2523           02723                                    VMOON                                 
040139,000378: 14,2524           30001                                    RSUBEM                                
040140,000379: 14,2525           52372                           VSL1     VSU                                   
040141,000380: 14,2526           00001                                    RATT                                  
040142,000381: 14,2527           77656                           UNIT                                           
040143,000382: 14,2530           26723                           STOVL    VMOON                                 
040144,000383: 14,2531           00001                                    RATT                                  
040145,000384: 14,2532           57456                           UNIT     VCOMP                                 
040146,000385: 14,2533           16707                           STODL    VEARTH                                
040147,000386: 14,2534           30005                                    RSUBE                                 
040148,000387: 14,2535           77624                           CALL                                           
040149,000388: 14,2536           30575                                    OCCOS                                 
040150,000389: 14,2537           14017                           STODL    CEARTH                                
040151,000390: 14,2540           30604                                    CSS5                                  
040152,000391: 14,2541           34023                           STCALL   CMOON                                 
040153,000392: 14,2542           30570                                    ENDSAM                                
040154,000393: 14,2543           74375        MOONCNTR           VLOAD    VXSC                                  
040155,000394: 14,2544           02723                                    VMOON                                 
040156,000395: 14,2545           30007                                    ROE                                   
040157,000396: 14,2546           53445                           BVSU     UNIT                                  
040158,000397: 14,2547           02715                                    VSUN                                  
040159,000398: 14,2550           26715                           STOVL    VSUN                                  
040160,000399: 14,2551           02723                                    VMOON                                 
040161,000400: 14,2552           53361                           VXSC     VAD                                   
040162,000401: 14,2553           30001                                    RSUBEM                                
040163,000402: 14,2554           00001                                    RATT                                  
040164,000403: 14,2555           57456                           UNIT     VCOMP                                 
040165,000404: 14,2556           26707                           STOVL    VEARTH                                
040166,000405: 14,2557           00001                                    RATT                                  
040167,000406: 14,2560           57456                           UNIT     VCOMP                                 
040168,000407: 14,2561           16723                           STODL    VMOON                                 
040169,000408: 14,2562           30003                                    RSUBM                                 
040170,000409: 14,2563           77624                           CALL                                           
040171,000410: 14,2564           30575                                    OCCOS                                 

Page 936

040173,000412: 14,2565           14023                           STODL    CMOON                                 
040174,000413: 14,2566           30604                                    CSS5                                  
040175,000414: 14,2567           00017                           STORE    CEARTH                                
040176,000415: 14,2570           77745        ENDSAM             DLOAD                                          
040177,000416: 14,2571           30606                                    CSSUN                                 
040178,000417: 14,2572           00021                           STORE    CSUN                                  
040179,000418: 14,2573           77650                           GOTO                                           
040180,000419: 14,2574           02745                                    QMIN                                  
040181,000420: 14,2575           70471        OCCOS              DDV      SR1                                   
040182,000421: 14,2576           00045                                    36D                                   
040183,000422: 14,2577           43336                           ASIN     DAD                                   
040184,000423: 14,2600           30610                                    5DEGREES                              
040185,000424: 14,2601           70546                           COS      SR1                                   
040186,000425: 14,2602           77616                           RVQ                                            
040187,000426: 14,2603                        CEARTH             =        14D                                   
040188,000427: 14,2603                        CSUN               =        16D                                   
040189,000428: 14,2603                        CMOON              =        18D                                   
040190,000429: 14,2603           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
040191,000430: 14,2605           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
040192,000431: 14,2607           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
040193,000432: 

Page 937

040195,000434:                                                                                                  #  PROGRAM NAME - R56            DATE  DEC 20 66
040196,000435:                                                                                                  #  MOD 1                         LOG SECTION P51-P53
040197,000436:                                                                                                  #                                ASSEMBLY   SUNDISK REV40
040198,000437:                                                                                                  #  BY KEN VINCENT
040199,000438: 
040200,000439:                                                                                                  #  FUNCTION
040201,000440:                                                                                                  #        THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040202,000441:                                                                                                  #        WITH RESPECT TO INERTIAL SPACE.  IT THEN COMPUTES THE SHAFT AXIS (SAX)
040203,000442:                                                                                                  #        WITH RESPECT TO REFERENCE INERTIAL.  EACH STAR IN THE CATALOG IS TESTED
040204,000443:                                                                                                  #        TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON.  IF A
040205,000444:                                                                                                  #        STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040206,000445:                                                                                                  #        THE PAIRED STAR IS TESTED FOR OCCULTATION.  PAIRS OF STARS THAT PASS
040207,000446:                                                                                                  #        THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.  A PAIR OF STARS
040208,000447:                                                                                                  #        HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040209,000448:                                                                                                  #        AND MORE THAN 50 DEGREES.  THOSE PAIRS WITH GOOD SEPARATION
040210,000449:                                                                                                  #        ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.  (WITHIN
040211,000450:                                                                                                  #        50 DEGREES OF SAX).  THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040212,000451:                                                                                                  #        THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040213,000452: 
040214,000453:                                                                                                  #  CALLING SEQUENCE
040215,000454:                                                                                                  #        L       TC      BANKCALL
040216,000455:                                                                                                  #        L+1     CADR    R56
040217,000456:                                                                                                  #        L+2     ERROR RETURN - NO STARS IN FIELD OF VIEW
040218,000457:                                                                                                  #        L+3     NORMAL RETURN
040219,000458: 
040220,000459:                                                                                                  #  OUTPUT
040221,000460:                                                                                                  #        BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040222,000461:                                                                                                  #        VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040223,000462: 
040224,000463:                                                                                                  #  INITIALIZATION
040225,000464:                                                                                                  #        1)      A CALL TO LOCSAM MUST BE MADE
040226,000465: 
040227,000466:                                                                                                  #  DEBRIS
040228,000467:                                                                                                  #        WORKAREA
040229,000468:                                                                                                  #        X,Y,ZNB
040230,000469:                                                                                                  #        SINCDU, COSCDU
040231,000470:                                                                                                  #        STARAD - STAR +5
040232,000471: 
040233,000472: 14,2611  14,2611               R56                =        PICAPAR                               
040234,000473: 14,2611                                           COUNT*   $$/R56                                
040235,000474: 14,2611           04645        PICAPAR            TC       MAKECADR                              
040236,000475: 14,2612           55745                           TS       QMIN                                  
040237,000476: 14,2613           06037                           TC       INTPRET                               
040238,000477: 14,2614           77624                           CALL                                           
040239,000478: 14,2615           47537                                    CDUTRIG                               
040240,000479: 14,2616           77624                           CALL                                           
040241,000480: 14,2617           20030                                    CALCSMSC                              
040242,000481: 14,2620           77601                           SETPD                                          
040243,000482: 14,2621           00001                                    0                                     
040244,000483: 14,2622           71214                           SET      DLOAD                                 #  VFLAG = 1
040245,000484: 14,2623           01465                                    VFLAG                                 

Page 938

040247,000486: 14,2624           24007                                    DPZERO                                
040248,000487: 14,2625           26756                           STOVL    BESTI                                 
040249,000488: 14,2626           02665                                    XNB                                   
040250,000489: 14,2627           63361                           VXSC     PDVL                                  
040251,000490: 14,2630           24005                                    HALFDP                                
040252,000491: 14,2631           02701                                    ZNB                                   
040253,000492: 14,2632           74370                           AXT,1    VXSC                                  
040254,000493: 14,2633           00344                                    228D                                  #  X1 = 37 X 6 + 6
040255,000494: 14,2634           24005                                    HALFDP                                
040256,000495: 14,2635           77655                           VAD                                            
040257,000496: 14,2636           53505                           VXM      UNIT                                  
040258,000497: 14,2637           01734                                    REFSMMAT                              
040259,000498: 14,2640           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
040260,000499: 14,2641           66331                           SSP      SSP                                   #  S1 = S2 = 6
040261,000500: 14,2642           00051                                    S1                                    
040262,000501: 14,2643           00006                                    6                                     
040263,000502: 14,2644           00052                                    S2                                    
040264,000503: 14,2645           00006                                    6                                     
040265,000504: 14,2646           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
040266,000505: 14,2647           30651                                    PIC2                                  
040267,000506: 14,2650           30766                                    PICEND                                
040268,000507: 14,2651           50373        PIC2               VLOAD*   DOT                                   
040269,000508: 14,2652           30347                                    CATLOG,1                              
040270,000509: 14,2653           02731                                    SAX                                   
040271,000510: 14,2654           50025                           DSU      BMN                                   
040272,000511: 14,2655           30765                                    CSS33                                 
040273,000512: 14,2656           30646                                    PIC1                                  
040274,000513: 14,2657           77754                           LXA,2                                          
040275,000514: 14,2660           00046                                    X1                                    
040276,000515: 14,2661           52104        PIC3               TIX,2    GOTO                                  
040277,000516: 14,2662           30664                                    PIC4                                  
040278,000517: 14,2663           30646                                    PIC1                                  
040279,000518: 14,2664           50373        PIC4               VLOAD*   DOT                                   
040280,000519: 14,2665           47430                                    CATLOG,2                              
040281,000520: 14,2666           02731                                    SAX                                   
040282,000521: 14,2667           50025                           DSU      BMN                                   
040283,000522: 14,2670           30765                                    CSS33                                 
040284,000523: 14,2671           30661                                    PIC3                                  
040285,000524: 14,2672           47773                           VLOAD*   DOT*                                  
040286,000525: 14,2673           30347                                    CATLOG,1                              
040287,000526: 14,2674           47430                                    CATLOG,2                              
040288,000527: 14,2675           51025                           DSU      BPL                                   
040289,000528: 14,2676           30763                                    CSS40                                 
040290,000529: 14,2677           30661                                    PIC3                                  
040291,000530: 14,2700           45173                           VLOAD*   CALL                                  
040292,000531: 14,2701           30347                                    CATLOG,1                              
040293,000532: 14,2702           30740                                    OCCULT                                
040294,000533: 14,2703           77614                           BON                                            
040295,000534: 14,2704           01710                                    CULTFLAG                              
040296,000535: 14,2705           30646                                    PIC1                                  

Page 939

040298,000537: 14,2706           45173                           VLOAD*   CALL                                  
040299,000538: 14,2707           47430                                    CATLOG,2                              
040300,000539: 14,2710           30740                                    OCCULT                                
040301,000540: 14,2711           77614                           BON                                            
040302,000541: 14,2712           01710                                    CULTFLAG                              
040303,000542: 14,2713           30661                                    PIC3                                  
040304,000543: 14,2714           77614        STRATGY            BONCLR                                         
040305,000544: 14,2715           01605                                    VFLAG                                 
040306,000545: 14,2716           30733                                    NEWPAR                                
040307,000546: 14,2717           65120                           XCHX,1   XCHX,2                                
040308,000547: 14,2720           02755                                    BESTI                                 
040309,000548: 14,2721           02756                                    BESTJ                                 
040310,000549: 14,2722           47773        STRAT              VLOAD*   DOT*                                  
040311,000550: 14,2723           30347                                    CATLOG,1                              
040312,000551: 14,2724           47430                                    CATLOG,2                              
040313,000552: 14,2725           43006                           PUSH     BOFINV                                
040314,000553: 14,2726           01545                                    VFLAG                                 
040315,000554: 14,2727           30717                                    STRAT      -3                         
040316,000555: 14,2730           45345                           DLOAD    DSU                                   
040317,000556: 14,2731           77644                           BPL                                            
040318,000557: 14,2732           30661                                    PIC3                                  
040319,000558: 14,2733           67130        NEWPAR             SXA,1    SXA,2                                 
040320,000559: 14,2734           02755                                    BESTI                                 
040321,000560: 14,2735           02756                                    BESTJ                                 
040322,000561: 14,2736           77650                           GOTO                                           
040323,000562: 14,2737           30661                                    PIC3                                  
040324,000563: 14,2740           51321        OCCULT             MXV      BVSU                                  
040325,000564: 14,2741           02707                                    CULTRIX                               
040326,000565: 14,2742           00017                                    CSS                                   
040327,000566: 14,2743           77654                           BZE                                            
040328,000567: 14,2744           30757                                    CULTED                                
040329,000568: 14,2745           75240                           BMN      SIGN                                  
040330,000569: 14,2746           30757                                    CULTED                                
040331,000570: 14,2747           00160                                    MPAC       +3                         
040332,000571: 14,2750           75240                           BMN      SIGN                                  
040333,000572: 14,2751           30757                                    CULTED                                
040334,000573: 14,2752           00162                                    MPAC       +5                         
040335,000574: 14,2753           43040                           BMN      CLRGO                                 
040336,000575: 14,2754           30757                                    CULTED                                
040337,000576: 14,2755           01630                                    CULTFLAG                              
040338,000577: 14,2756           00052                                    QPRET                                 
040339,000578: 14,2757           77614        CULTED             SETGO                                          
040340,000579: 14,2760           01430                                    CULTFLAG                              
040341,000580: 14,2761           00052                                    QPRET                                 
040342,000581: 14,2762  0000016               CSS                =        CEARTH                                
040343,000582: 14,2762           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
040344,000583: 14,2764           05110 35052  CSS33              2DEC     .16070                                #  COS 50 / 4
040345,000584: 14,2766           77414        PICEND             BOFF     EXIT                                  
040346,000585: 

Page 940

040348,000587: 14,2767           01745                                    VFLAG                                 
040349,000588: 14,2770           30772                                    PICGXT                                
040350,000589: 14,2771           03013                           TC       PICBXT                                
040351,000590: 14,2772           73150        PICGXT             LXA,1    LXA,2                                 
040352,000591: 14,2773           02755                                    BESTI                                 
040353,000592: 14,2774           02756                                    BESTJ                                 
040354,000593: 14,2775           47775                           VLOAD    DOT*                                  
040355,000594: 14,2776           02731                                    SAX                                   
040356,000595: 14,2777           30347                                    CATLOG,1                              
040357,000596: 14,3000           47715                           PDVL     DOT*                                  
040358,000597: 14,3001           02731                                    SAX                                   
040359,000598: 14,3002           47430                                    CATLOG,2                              
040360,000599: 14,3003           77625                           DSU                                            
040361,000600: 14,3004           66044                           BPL      SXA,1                                 
040362,000601: 14,3005           31011                                    PICNSWP                               
040363,000602: 14,3006           02756                                    BESTJ                                 
040364,000603: 14,3007           77734                           SXA,2                                          
040365,000604: 14,3010           02755                                    BESTI                                 
040366,000605: 14,3011           77776        PICNSWP            EXIT                                           
040367,000606: 14,3012           25745                           INCR     QMIN                                  
040368,000607: 14,3013           31745        PICBXT             CA       QMIN                                  
040369,000608: 14,3014           04622                           TC       SWCALL                                
040370,000609: 14,3015                        VPD                =        0D                                    
040371,000610: 14,3015                        V0                 =        6D                                    
040372,000611: 14,3015                        V1                 =        12D                                   
040373,000612: 14,3015                        V2                 =        18D                                   
040374,000613: 14,3015                        V3                 =        24D                                   
040375,000614: 14,3015                        DP0                =        30D                                   
040376,000615: 14,3015                        DP1                =        32D                                   
040377,000616: 

Page 941

040379,000618:                                                                                                  #  NAME - R51    FINE ALIGN
040380,000619:                                                                                                  #  FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040381,000620:                                                                                                  #  CALLING SEQ - CALL R51
040382,000621:                                                                                                  #  INPUT - REFSMMAT
040383,000622:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
040384,000623:                                                                                                  #  SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040385,000624: 
040386,000625: 14,3015                                           COUNT*   $$/R51                                
040387,000626: 14,3015           77620        R51                STQ                                            
040388,000627: 14,3016           02746                                    QMAJ                                  
040389,000628: 14,3017           77776        R51.1              EXIT                                           
040390,000629: 14,3020           05353                           TC       PHASCHNG                              
040391,000630: 14,3021           04024                           OCT      04024                                 
040392,000631: 
040393,000632: 14,3022           34761        R51C               CAF      OCT15                                 
040394,000633: 14,3023           04616                           TC       BANKCALL                              
040395,000634: 14,3024           20623                           CADR     GOPERF1                               
040396,000635: 14,3025           06001                           TC       GOTOPOOH                              
040397,000636: 14,3026           03030                           TC       +2                                    #  V33E
040398,000637: 14,3027           03053                           TC       R51E                                  #  ENTER
040399,000638: 14,3030           06037                           TC       INTPRET                               
040400,000639: 14,3031           43234                           RTB      DAD                                   
040401,000640: 14,3032           21573                                    LOADTIME                              
040402,000641: 14,3033           31163                                    TSIGHT1                               
040403,000642: 14,3034           77624                           CALL                                           
040404,000643: 14,3035           30506                                    LOCSAM                                
040405,000644: 14,3036           77776                           EXIT                                           
040406,000645: 14,3037           04616                           TC       BANKCALL                              
040407,000646: 14,3040           30611                           CADR     R56                                   
040408,000647: 14,3041           03043                           TC       R51I                                  
040409,000648: 14,3042           03053        R51F               TC       R51E                                  
040410,000649: 14,3043           05567        R51I               TC       ALARM                                 
040411,000650: 14,3044           00405                           OCT      405                                   
040412,000651: 14,3045           35006                           CAF      VB05N09                               
040413,000652: 14,3046           04616                           TC       BANKCALL                              
040414,000653: 14,3047           20476                           CADR     GOFLASH                               
040415,000654: 14,3050           06001                           TC       GOTOPOOH                              
040416,000655: 14,3051           03053                           TC       R51E                                  
040417,000656: 14,3052           03022                           TC       R51C                                  
040418,000657: 14,3053           34755        R51E               CAF      ZERO                                  
040419,000658: 14,3054           55757                           TS       STARIND                               
040420,000659: 14,3055           06037        R51.2              TC       INTPRET                               
040421,000660: 14,3056           77776        R51.3              EXIT                                           
040422,000661: 14,3057           05353                           TC       PHASCHNG                              
040423,000662: 14,3060           04024                           OCT      04024                                 
040424,000663: 
040425,000664: 14,3061           06037                           TC       INTPRET                               
040426,000665: 14,3062           77624                           CALL                                           
040427,000666: 14,3063           31670                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
040428,000667: 14,3064           77776                           EXIT                                           
040429,000668: 14,3065           04616                           TC       BANKCALL                              

Page 942

040431,000670: 14,3066           16000                           CADR     AOTMARK                               
040432,000671: 14,3067           04616                           TC       BANKCALL                              
040433,000672: 14,3070           17712                           CADR     OPTSTALL                              
040434,000673: 14,3071           05711                           TC       CURTAINS                              
040435,000674: 14,3072           11757                           CCS      STARIND                               
040436,000675: 14,3073           13075                           TCF      +2                                    
040437,000676: 14,3074           03145                           TC       R51.4                                 
040438,000677: 14,3075           06037                           TC       INTPRET                               
040439,000678: 14,3076           77775                           VLOAD                                          
040440,000679: 14,3077           02715                                    STARAD     +6                         
040441,000680: 14,3100           02767                           STORE    STARSAV2                              
040442,000681: 14,3101           77776                           EXIT                                           
040443,000682: 14,3102           05353                           TC       PHASCHNG                              
040444,000683: 14,3103           04024                           OCT      04024                                 
040445,000684: 
040446,000685: 14,3104           06037                           TC       INTPRET                               
040447,000686: 14,3105           45145                           DLOAD    CALL                                  
040448,000687: 14,3106           03562                                    TSIGHT                                
040449,000688: 14,3107           32472                                    PLANET                                
040450,000689: 14,3110           53521                           MXV      UNIT                                  
040451,000690: 14,3111           01734                                    REFSMMAT                              
040452,000691: 14,3112           26715                           STOVL    STARAD     +6                         
040453,000692: 14,3113           03554                                    PLANVEC                               
040454,000693: 14,3114           53521                           MXV      UNIT                                  
040455,000694: 14,3115           01734                                    REFSMMAT                              
040456,000695: 14,3116           26707                           STOVL    STARAD                                
040457,000696: 14,3117           02761                                    STARSAV1                              
040458,000697: 14,3120           24007                           STOVL    6D                                    
040459,000698: 14,3121           02767                                    STARSAV2                              
040460,000699: 14,3122           34015                           STCALL   12D                                   
040461,000700: 14,3123           31256                                    R54                                   #  STAR DATA TEST
040462,000701: 14,3124           45014                           BOFF     CALL                                  
040463,000702: 14,3125           00354                                    FREEFLAG                              
040464,000703: 14,3126           31134                                    R51K                                  
040465,000704: 14,3127           47441                                    AXISGEN                               
040466,000705: 14,3130           77624                           CALL                                           
040467,000706: 14,3131           31224                                    R55                                   #  GYRO TORQUE
040468,000707: 14,3132           77614                           CLEAR                                          
040469,000708: 14,3133           01273                                    PFRATFLG                              
040470,000709: 14,3134           77776        R51K               EXIT                                           
040471,000710: 14,3135           35751        R51P63             CAF      OCT14                                 
040472,000711: 14,3136           04616                           TC       BANKCALL                              
040473,000712: 14,3137           20623                           CADR     GOPERF1                               
040474,000713: 14,3140           06001                           TC       GOTOPOOH                              
040475,000714: 14,3141           03022                           TC       R51C                                  
040476,000715: 14,3142           06037                           TC       INTPRET                               
040477,000716: 14,3143           77650                           GOTO                                           
040478,000717: 14,3144           02746                                    QMAJ                                  
040479,000718: 14,3145           06037        R51.4              TC       INTPRET                               
040480,000719: 14,3146           77775                           VLOAD                                          

Page 943

040482,000721: 14,3147           02715                                    STARAD     +6                         
040483,000722: 14,3150           02761                           STORE    STARSAV1                              
040484,000723: 14,3151           45145                           DLOAD    CALL                                  
040485,000724: 14,3152           03562                                    TSIGHT                                
040486,000725: 14,3153           32472                                    PLANET                                
040487,000726: 14,3154           03554                           STORE    PLANVEC                               
040488,000727: 14,3155           77731                           SSP                                            
040489,000728: 14,3156           02760                                    STARIND                               
040490,000729: 14,3157           00001                                    1                                     
040491,000730: 14,3160           77650                           GOTO                                           
040492,000731: 14,3161           31056                                    R51.3                                 
040493,000732: 14,3162           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
040494,000733: 

Page 944

040496,000735:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
040497,000736: 
040498,000737: 14,3164           45020        GYCOARS            STQ      CALL                                  
040499,000738: 14,3165           02746                                    QMAJ                                  
040500,000739: 14,3166           47247                                    CALCGTA                               
040501,000740: 14,3167           43014                           CLEAR    CLEAR                                 
040502,000741: 14,3170           01260                                    DRIFTFLG                              
040503,000742: 14,3171           01662                                    REFSMFLG                              
040504,000743: 14,3172           77776                           EXIT                                           
040505,000744: 14,3173           33223                           CAF      V16N20                                #  MONITOR GIMBALS
040506,000745: 14,3174           04616                           TC       BANKCALL                              
040507,000746: 14,3175           20451                           CADR     GODSPR                                
040508,000747: 14,3176           33255                           CA       R55CDR                                
040509,000748: 14,3177           04616                           TC       BANKCALL                              
040510,000749: 14,3200           17323                           CADR     IMUPULSE                              
040511,000750: 14,3201           04616                           TC       BANKCALL                              
040512,000751: 14,3202           17716                           CADR     IMUSTALL                              
040513,000752: 14,3203           05711                           TC       CURTAINS                              
040514,000753: 14,3204           05353                           TC       PHASCHNG                              
040515,000754: 14,3205           04024                           OCT      04024                                 
040516,000755: 
040517,000756: 14,3206           06037                           TC       INTPRET                               
040518,000757: 14,3207           75160                           AXC,1    AXC,2                                 
040519,000758: 14,3210           03606                                    XSMD                                  
040520,000759: 14,3211           01733                                    REFSMMAT                              
040521,000760: 14,3212           77624                           CALL                                           #  STORE DESIRED REFSMMAT
040522,000761: 14,3213           31377                                    MATMOVE                               
040523,000762: 14,3214           43014                           CLEAR    SET                                   
040524,000763: 14,3215           01273                                    PFRATFLG                              
040525,000764: 14,3216           01462                                    REFSMFLG                              
040526,000765: 14,3217           77624                           CALL                                           
040527,000766: 14,3220           31602                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
040528,000767: 14,3221           77650                           GOTO                                           
040529,000768: 14,3222           31134                                    R51K                                  
040530,000769: 14,3223           04024        V16N20             VN       1620                                  
040531,000770: 

Page 945

040533,000772:                                                                                                  #  R55   GYRO TORQUE
040534,000773:                                                                                                  #  FUNCTION - COMPUTE AND SEND GYRO PULSES
040535,000774:                                                                                                  #  CALLING SEQ - CALL R55
040536,000775:                                                                                                  #  INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040537,000776:                                                                                                  #  OUTPUT - GYRO PULSES
040538,000777:                                                                                                  #  SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040539,000778: 
040540,000779: 14,3224                                           COUNT*   $$/R55                                
040541,000780: 14,3224           77620        R55                STQ                                            
040542,000781: 14,3225           02745                                    QMIN                                  
040543,000782: 14,3226           77624                           CALL                                           
040544,000783: 14,3227           47247                                    CALCGTA                               
040545,000784: 14,3230           77776        PULSEM             EXIT                                           
040546,000785: 14,3231           33254        R55.1              CAF      V06N93                                
040547,000786: 14,3232           04616                           TC       BANKCALL                              
040548,000787: 14,3233           20476                           CADR     GOFLASH                               
040549,000788: 14,3234           06001                           TC       GOTOPOOH                              
040550,000789: 14,3235           03237                           TC       R55.2                                 
040551,000790: 14,3236           03251                           TC       R55RET                                
040552,000791: 14,3237           05353        R55.2              TC       PHASCHNG                              
040553,000792: 14,3240           00214                           OCT      00214                                 
040554,000793: 14,3241           33255                           CA       R55CDR                                
040555,000794: 14,3242           04616                           TC       BANKCALL                              
040556,000795: 14,3243           17323                           CADR     IMUPULSE                              
040557,000796: 14,3244           04616                           TC       BANKCALL                              
040558,000797: 14,3245           17716                           CADR     IMUSTALL                              
040559,000798: 14,3246           05711                           TC       CURTAINS                              
040560,000799: 14,3247           05353                           TC       PHASCHNG                              
040561,000800: 14,3250           04024                           OCT      04024                                 
040562,000801: 
040563,000802: 14,3251           06037        R55RET             TC       INTPRET                               
040564,000803: 14,3252           77650                           GOTO                                           
040565,000804: 14,3253           02745                                    QMIN                                  
040566,000805: 14,3254           01535        V06N93             VN       0693                                  
040567,000806: 14,3255           02737        R55CDR             ECADR    OGC                                   
040568,000807: 14,3256  14,3256               R54                =        CHKSDATA                              
040569,000808: 
040570,000809:                                                                                                  #  ROUTINE NAME - CHKSDATA               DATE - JAN 9, 1967
040571,000810:                                                                                                  #  MOD NO - 0                            LOG SECTION - P51-P53
040572,000811:                                                                                                  #  MODIFICATION BY - LONSKE              ASSEMBLY -
040573,000812: 
040574,000813:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS.  WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040575,000814:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040576,000815:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE.  THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040577,000816:                                                                                                  #        OS1     =       OBSERVED STAR 1 VECTOR
040578,000817:                                                                                                  #        OS2     =       OBSERVED STAR 2 VECTOR
040579,000818:                                                                                                  #        SS1     =       STORED STAR 1 VECTOR
040580,000819:                                                                                                  #        SS2     =       STORED STAR 2 VECTOR
040581,000820:                                                                                                  #         A1     =       ARCCOS(OS1 - OS2)
040582,000821:                                                                                                  #         A2     =       ARCCOS(SS1 - SS2)
040583,000822:                                                                                                  #          A     =       ABS(2(A1 - A2))

Page 946

040585,000824:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040586,000825: 
040587,000826:                                                                                                  #  EXIT MODE     1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040588,000827:                                                                                                  #                2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE            ERANCE)
040589,000828: 
040590,000829:                                                                                                  #  OUTPUT -      1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040591,000830:                                                                                                  #                2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040592,000831: 
040593,000832:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040594,000833:                                                                                                  #                1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040595,000834:                                                                                                  #                2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040596,000835: 
040597,000836:                                                                                                  #  DEBRIS -
040598,000837: 
040599,000838: 14,3256                                           COUNT*   $$/R54                                
040600,000839: 14,3256           43020        CHKSDATA           STQ      SET                                   
040601,000840: 14,3257           02745                                    QMIN                                  
040602,000841: 14,3260           00074                                    FREEFLAG                              
040603,000842: 14,3261           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
040604,000843: 14,3262           02706                                    STARAD                                
040605,000844: 
040606,000845: 14,3263           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
040607,000846: 14,3264           00001                                    0,1                                   
040608,000847: 14,3265           00007                                    6,1                                   
040609,000848: 14,3266           65552                           SL1      ACOS                                  
040610,000849: 14,3267           00025                           STORE    THETA                                 
040611,000850: 14,3270           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
040612,000851: 14,3271           00354                                    FREEFLAG                              
040613,000852: 14,3272           31302                                    CHKSD                                 
040614,000853: 14,3273           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
040615,000854: 14,3274           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
040616,000855: 14,3275           00006                                    6D                                    
040617,000856: 14,3276           00025                                    THETA                                 
040618,000857: 14,3277           00023                           STORE    18D                                   
040619,000858: 14,3300           77650                           GOTO                                           
040620,000859: 14,3301           31263                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
040621,000860: 14,3302           45345        CHKSD              DLOAD    DSU                                   
040622,000861: 14,3303           00025                                    THETA                                 
040623,000862: 14,3304           00023                                    18D                                   
040624,000863: 14,3305           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
040625,000864: 14,3306           21612                                    SGNAGREE                              
040626,000865: 14,3307           01046                           STORE    NORMTEM1                              
040627,000866: 14,3310           77414                           SET      EXIT                                  
040628,000867: 14,3311           00074                                    FREEFLAG                              
040629,000868: 14,3312           33326                           CAF      VB6N5                                 
040630,000869: 14,3313           04616                           TC       BANKCALL                              
040631,000870: 14,3314           20476                           CADR     GOFLASH                               
040632,000871: 14,3315           16001                           TCF      GOTOPOOH                              
040633,000872: 14,3316           03323                           TC       CHKSDA                                #  PROCEED
040634,000873: 14,3317           06037                           TC       INTPRET                               
040635,000874: 14,3320           52014                           CLEAR    GOTO                                  
040636,000875: 14,3321           00274                                    FREEFLAG                              
040637,000876: 14,3322           02745                                    QMIN                                  
040638,000877: 14,3323           06037        CHKSDA             TC       INTPRET                               

Page 947

040640,000879: 14,3324           77650                           GOTO                                           
040641,000880: 14,3325           02745                                    QMIN                                  
040642,000881: 14,3326           01405        VB6N5              VN       605                                   
040643,000882: 
040644,000883:                                                                                                  #  NAME - CAL53A
040645,000884:                                                                                                  #  FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040646,000885:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
040647,000886:                                                                                                  #  INPUT - X,Y,ZSMD, CDUX,Y,Z
040648,000887:                                                                                                  #           DESIRED GIMBAL ANGLES - THETAD,+1,+2
040649,000888:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040650,000889:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040651,000890: 
040652,000891: 14,3327                                           COUNT*   $$/R50                                
040653,000892: 14,3327           77624        CAL53A             CALL                                           
040654,000893: 14,3330           31617                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
040655,000894: 14,3331           66234                           RTB      SSP                                   
040656,000895: 14,3332           31413                                    RDCDUS                                #  READ CDUS
040657,000896: 14,3333           00051                                    S1                                    
040658,000897: 14,3334           00001                                    1                                     
040659,000898: 14,3335           40370                           AXT,1    SETPD                                 
040660,000899: 14,3336           00003                                    3                                     
040661,000900: 14,3337           00005                                    4                                     
040662,000901: 14,3340           70543        CALOOP             DLOAD*   SR1                                   
040663,000902: 14,3341           00325                                    THETAD     +3D,1                      
040664,000903: 14,3342           70523                           PDDL*    SR1                                   
040665,000904: 14,3343           00005                                    4,1                                   
040666,000905: 14,3344           51425                           DSU      ABS                                   
040667,000906: 14,3345           45206                           PUSH     DSU                                   
040668,000907: 14,3346           31412                                    DEGREE1                               
040669,000908: 14,3347           71240                           BMN      DLOAD                                 
040670,000909: 14,3350           31366                                    CALOOP1                               
040671,000910: 14,3351           51025                           DSU      BPL                                   
040672,000911: 14,3352           31413                                    DEG359                                
040673,000912: 14,3353           31366                                    CALOOP1                               
040674,000913: 14,3354           77776                           EXIT                                           
040675,000914: 14,3355           05353                           TC       PHASCHNG                              
040676,000915: 14,3356           04024                           OCT      04024                                 
040677,000916: 
040678,000917: 14,3357           06037                           TC       INTPRET                               
040679,000918: 14,3360           77624        COARFINE           CALL                                           
040680,000919: 14,3361           31565                                    COARSE                                
040681,000920: 14,3362           77624                           CALL                                           
040682,000921: 14,3363           31602                                    NCOARSE                               
040683,000922: 14,3364           77650                           GOTO                                           
040684,000923: 14,3365           31370                                    FINEONLY                              
040685,000924: 14,3366           77700        CALOOP1            TIX,1                                          
040686,000925: 14,3367           31340                                    CALOOP                                
040687,000926: 14,3370           75160        FINEONLY           AXC,1    AXC,2                                 
040688,000927: 14,3371           02642                                    XSM                                   
040689,000928: 14,3372           01733                                    REFSMMAT                              
040690,000929: 14,3373           77624                           CALL                                           
040691,000930: 14,3374           31377                                    MATMOVE                               

Page 948

040693,000932: 14,3375           77650                           GOTO                                           
040694,000933: 14,3376           32161                                    COARSRET                              
040695,000934: 14,3377           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
040696,000935: 14,3400           00001                                    0,1                                   
040697,000936: 14,3401           10001                           STORE    0,2                                   
040698,000937: 14,3402           77773                           VLOAD*                                         
040699,000938: 14,3403           00007                                    6D,1                                  
040700,000939: 14,3404           10007                           STORE    6D,2                                  
040701,000940: 14,3405           77773                           VLOAD*                                         
040702,000941: 14,3406           00015                                    12D,1                                 
040703,000942: 14,3407           10015                           STORE    12D,2                                 
040704,000943: 14,3410           77616                           RVQ                                            
040705,000944: 14,3411           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
040706,000945: 14,3412           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
040707,000946: 14,3413           00004        RDCDUS             INHINT                                         #  READ CDUS
040708,000947: 14,3414           30032                           CA       CDUX                                  
040709,000948: 14,3415           50120                           INDEX    FIXLOC                                
040710,000949: 14,3416           54001                           TS       1                                     
040711,000950: 14,3417           30033                           CA       CDUY                                  
040712,000951: 14,3420           50120                           INDEX    FIXLOC                                
040713,000952: 14,3421           54002                           TS       2                                     
040714,000953: 14,3422           30034                           CA       CDUZ                                  
040715,000954: 14,3423           50120                           INDEX    FIXLOC                                
040716,000955: 14,3424           54003                           TS       3                                     
040717,000956: 14,3425           00003                           RELINT                                         
040718,000957: 14,3426           06061                           TC       DANZIG                                #                                        +
040719,000958: 14,3427                                           COUNT*   $$/INFLT                              
040720,000959: 

Page 949

040722,000961:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
040723,000962:                                                                                                  #  MOD. NO. 1    23 JAN 67                               LOG SECTION - P51-P53
040724,000963:                                                                                                  #  MOD BY STURLAUGSON                                    ASSEMBLY SUNDANCE REV56
040725,000964: 
040726,000965:                                                                                                  #  FUNCTIONAL DESCRIPTION
040727,000966:                                                                                                  #        DETERMINES THE INERTIAL ORIENTATION OF THE IMU.  THE PROGRAM IS SELECTED BY DSKY ENTRY.  THE SIGHTING
040728,000967:                                                                                                  #        (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA.  AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040729,000968:                                                                                                  #        STAR LOS VECTOR IN STARAD +6.  TWO STARS ARE THUS SIGHTED.  THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040730,000969:                                                                                                  #        CHKSDATA (R54).  REFSMMAT IS THEN COMPUTED AT AXISGEN.
040731,000970: 
040732,000971:                                                                                                  #  CALLING SEQUENCE
040733,000972:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040734,000973: 
040735,000974:                                                                                                  #  SUBROUTINES CALLED.
040736,000975:                                                                                                  #        GOPERF3
040737,000976:                                                                                                  #        GOPERF1
040738,000977:                                                                                                  #        GODSPR
040739,000978:                                                                                                  #        IMUCOARS
040740,000979:                                                                                                  #        IMUFIN20
040741,000980:                                                                                                  #        AOTMARK (R53)
040742,000981:                                                                                                  #        CHKSDATA (R54)
040743,000982:                                                                                                  #        MKRELEAS
040744,000983:                                                                                                  #        AXISGEN
040745,000984:                                                                                                  #        MATMOVE
040746,000985: 
040747,000986:                                                                                                  #  ALARMS
040748,000987:                                                                                                  #        NONE.
040749,000988: 
040750,000989:                                                                                                  #  ERASABLE INITIALIZATION
040751,000990:                                                                                                  #        IMU ZERO FLAG SHOULD BE SET.
040752,000991: 
040753,000992:                                                                                                  #  OUTPUT
040754,000993:                                                                                                  #        REFSMMAT
040755,000994:                                                                                                  #        REFSMFLG
040756,000995: 
040757,000996:                                                                                                  #  DEBRIS
040758,000997:                                                                                                  #        WORK AREA
040759,000998:                                                                                                  #        STARAD
040760,000999:                                                                                                  #        STARIND
040761,001000:                                                                                                  #        BESTI
040762,001001:                                                                                                  #        BESTJ
040763,001002: 
040764,001003: 14,3427                                           COUNT*   $$/P51                                

Page 950

040766,001005: 14,3427           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
040767,001006: 14,3430           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040768,001007: 
040769,001008: 14,3431           34761                           CAF      OCT15                                 
040770,001009: 14,3432           04616                           TC       BANKCALL                              
040771,001010: 14,3433           20623                           CADR     GOPERF1                               
040772,001011: 14,3434           06001                           TC       GOTOPOOH                              #  TERM.
040773,001012: 14,3435           13461                           TCF      P51B                                  #  V33
040774,001013: 14,3436           05353                           TC       PHASCHNG                              
040775,001014: 14,3437           04024                           OCT      04024                                 
040776,001015: 
040777,001016: 14,3440           34755                           CAF      ZERO                                  
040778,001017: 14,3441           54321                           TS       THETAD                                #  ZERO THE GIMBALS
040779,001018: 14,3442           54322                           TS       THETAD     +1                         
040780,001019: 14,3443           54323                           TS       THETAD     +2                         
040781,001020: 14,3444           35010                           CAF      V06N22                                
040782,001021: 14,3445           04616                           TC       BANKCALL                              
040783,001022: 14,3446           20446                           CADR     GODSPRET                              
040784,001023: 14,3447           33564                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
040785,001024: 14,3450           04616                           TC       BANKCALL                              
040786,001025: 14,3451           20446                           CADR     GODSPRET                              
040787,001026: 14,3452           06037                           TC       INTPRET                               
040788,001027: 14,3453           77624                           CALL                                           
040789,001028: 14,3454           31565                                    COARSE                                
040790,001029: 14,3455           77776                           EXIT                                           
040791,001030: 14,3456           05353                           TC       PHASCHNG                              
040792,001031: 14,3457           04024                           OCT      04024                                 
040793,001032: 14,3460           13431                           TCF      P51        +2                         
040794,001033: 
040795,001034: 14,3461           05353        P51B               TC       PHASCHNG                              
040796,001035: 14,3462           00014                           OCT      00014                                 
040797,001036: 14,3463           06037                           TC       INTPRET                               
040798,001037: 14,3464           77624                           CALL                                           
040799,001038: 14,3465           31602                                    NCOARSE                               
040800,001039: 14,3466           40331                           SSP      SETPD                                 
040801,001040: 14,3467           02760                                    STARIND                               #  INDEX - STAR 1 OR 2
040802,001041: 14,3470           00000                                    0                                     
040803,001042: 14,3471           00001                                    0                                     
040804,001043: 14,3472           77776        P51C               EXIT                                           
040805,001044: 14,3473           05353                           TC       PHASCHNG                              
040806,001045: 14,3474           04024                           OCT      04024                                 
040807,001046: 
040808,001047: 14,3475           04616                           TC       BANKCALL                              
040809,001048: 14,3476           16000                           CADR     AOTMARK                               #  R53
040810,001049: 14,3477           04616                           TC       BANKCALL                              
040811,001050: 14,3500           17712                           CADR     AOTSTALL                              
040812,001051: 14,3501           05711                           TC       CURTAINS                              
040813,001052: 14,3502           11757                           CCS      STARIND                               
040814,001053: 14,3503           13511                           TCF      P51D       +1                         
040815,001054: 14,3504           06037                           TC       INTPRET                               

Page 951

040817,001056: 14,3505           77775                           VLOAD                                          
040818,001057: 14,3506           02715                                    STARAD     +6                         
040819,001058: 14,3507           02761                           STORE    STARSAV1                              
040820,001059: 14,3510           77776        P51D               EXIT                                           
040821,001060: 14,3511           05353                           TC       PHASCHNG                              
040822,001061: 14,3512           04024                           OCT      04024                                 
040823,001062: 
040824,001063: 14,3513           11757                           CCS      STARIND                               
040825,001064: 14,3514           13530                           TCF      P51E                                  
040826,001065: 14,3515           05353                           TC       PHASCHNG                              
040827,001066: 14,3516           04024                           OCT      04024                                 
040828,001067: 
040829,001068: 14,3517           06037                           TC       INTPRET                               
040830,001069: 14,3520           45145                           DLOAD    CALL                                  
040831,001070: 14,3521           03562                                    TSIGHT                                
040832,001071: 14,3522           32472                                    PLANET                                
040833,001072: 14,3523           03554                           STORE    PLANVEC                               
040834,001073: 14,3524           77776                           EXIT                                           
040835,001074: 14,3525           34753                           CAF      BIT1                                  
040836,001075: 14,3526           55757                           TS       STARIND                               
040837,001076: 14,3527           13473                           TCF      P51C       +1                         #  DO SECOND STAR
040838,001077: 14,3530           05353        P51E               TC       PHASCHNG                              
040839,001078: 14,3531           04024                           OCT      04024                                 
040840,001079: 
040841,001080: 14,3532           06037                           TC       INTPRET                               
040842,001081: 14,3533           45145                           DLOAD    CALL                                  
040843,001082: 14,3534           03562                                    TSIGHT                                
040844,001083: 14,3535           32472                                    PLANET                                
040845,001084: 14,3536           24015                           STOVL    12D                                   
040846,001085: 14,3537           03554                                    PLANVEC                               
040847,001086: 14,3540           24007                           STOVL    6D                                    
040848,001087: 14,3541           02761                                    STARSAV1                              
040849,001088: 14,3542           26707                           STOVL    STARAD                                
040850,001089: 14,3543           02767                                    STARSAV2                              
040851,001090: 14,3544           36715                           STCALL   STARAD     +6                         
040852,001091: 14,3545           31256                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
040853,001092: 14,3546           77414                           BON      EXIT                                  
040854,001093: 14,3547           00314                                    FREEFLAG                              
040855,001094: 14,3550           31552                                    P51G                                  
040856,001095: 14,3551           03431                           TC       P51        +2                         
040857,001096: 14,3552           77624        P51G               CALL                                           
040858,001097: 14,3553           47441                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
040859,001098: 14,3554           75160                           AXC,1    AXC,2                                 
040860,001099: 14,3555           02664                                    XDC                                   
040861,001100: 14,3556           01733                                    REFSMMAT                              
040862,001101: 14,3557           77624                           CALL                                           
040863,001102: 14,3560           31377                                    MATMOVE                               
040864,001103: 14,3561           77414                           SET      EXIT                                  
040865,001104: 14,3562           01462                                    REFSMFLG                              
040866,001105: 14,3563           06001                           TC       GOTOPOOH                              #  FINIS

Page 952

040868,001107: 14,3564           12200        V41K               VN       4100                                  
040869,001108: 14,3565           77776        COARSE             EXIT                                           
040870,001109: 14,3566           04616                           TC       BANKCALL                              
040871,001110: 14,3567           17000                           CADR     IMUCOARS                              
040872,001111: 14,3570           04616                           TC       BANKCALL                              
040873,001112: 14,3571           17716                           CADR     IMUSTALL                              
040874,001113: 14,3572           05711                           TC       CURTAINS                              
040875,001114: 14,3573           04616                           TC       BANKCALL                              
040876,001115: 14,3574           17210                           CADR     IMUFINE                               
040877,001116: 14,3575           04616                           TC       BANKCALL                              
040878,001117: 14,3576           17716                           CADR     IMUSTALL                              
040879,001118: 14,3577           05711                           TC       CURTAINS                              
040880,001119: 14,3600           06037                           TC       INTPRET                               
040881,001120: 14,3601           77616                           RVQ                                            
040882,001121: 14,3602           77776        NCOARSE            EXIT                                           
040883,001122: 14,3603           30025                           CA       TIME1                                 
040884,001123: 14,3604           55075                           TS       1/PIPADT                              
040885,001124: 14,3605           44755                           CS       ZERO                                  
040886,001125: 14,3606           54037                           TS       PIPAX                                 
040887,001126: 14,3607           54040                           TS       PIPAY                                 
040888,001127: 14,3610           54041                           TS       PIPAZ                                 
040889,001128: 14,3611           06037                           TC       INTPRET                               
040890,001129: 14,3612           77775                           VLOAD                                          
040891,001130: 14,3613           24007                                    ZEROVEC                               
040892,001131: 14,3614           01472                           STORE    GCOMP                                 
040893,001132: 14,3615           43414                           SET      RVQ                                   
040894,001133: 14,3616           01060                                    DRIFTFLG                              
040895,001134: 

Page 953

040897,001136:                                                                                                  #  NAME - S52.2
040898,001137:                                                                                                  #  FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040899,001138:                                                                                                  #  CALL - CALL S52.2
040900,001139:                                                                                                  #  INPUT - X,Y,ZSMD
040901,001140:                                                                                                  #  OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040902,001141:                                                                                                  #  SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040903,001142: 
040904,001143: 14,3617                                           COUNT*   $$/S52.1                              
040905,001144: 14,3617           45020        S52.2              STQ      CALL                                  
040906,001145: 14,3620           02746                                    QMAJ                                  
040907,001146: 14,3621           47537                                    CDUTRIG                               
040908,001147: 14,3622           77624                           CALL                                           
040909,001148: 14,3623           20030                                    CALCSMSC                              
040910,001149: 14,3624           66370                           AXT,1    SSP                                   
040911,001150: 14,3625           00022                                    18D                                   
040912,001151: 14,3626           00051                                    S1                                    
040913,001152: 14,3627           00006                                    6D                                    
040914,001153: 14,3630           61373        S52.2A             VLOAD*   VXM                                   
040915,001154: 14,3631           02707                                    XNB        +18D,1                     
040916,001155: 14,3632           01734                                    REFSMMAT                              
040917,001156: 14,3633           77656                           UNIT                                           
040918,001157: 14,3634           06707                           STORE    XNB        +18D,1                     
040919,001158: 14,3635           77700                           TIX,1                                          
040920,001159: 14,3636           31630                                    S52.2A                                
040921,001160: 14,3637           75160        S52.2.1            AXC,1    AXC,2                                 
040922,001161: 14,3640           03606                                    XSMD                                  
040923,001162: 14,3641           02642                                    XSM                                   
040924,001163: 14,3642           77624                           CALL                                           
040925,001164: 14,3643           31377                                    MATMOVE                               
040926,001165: 14,3644           77624                           CALL                                           
040927,001166: 14,3645           47353                                    CALCGA                                
040928,001167: 14,3646           77650                           GOTO                                           
040929,001168: 14,3647           02746                                    QMAJ                                  
040930,001169: 

Page 954

040932,001171:                                                                                                  #  NAME - S52.3
040933,001172:                                                                                                  #  FUNCTION      XSMD= UNIT R
040934,001173:                                                                                                  #                YSMD= UNIT(V X R)
040935,001174:                                                                                                  #                ZSMD= UNIT(XSMD X YSMD)
040936,001175:                                                                                                  #  CALL          DLOAD   CALL
040937,001176:                                                                                                  #                        TALIGN
040938,001177:                                                                                                  #                        S52.3
040939,001178:                                                                                                  #  INPUT -       TIME OF ALIGNMENT IN MPAC
040940,001179:                                                                                                  #  OUTPUT -      X,Y,ZSMD
040941,001180:                                                                                                  #  SUBROUTINES - CSMCONIC
040942,001181: 
040943,001182: 14,3650                                           COUNT*   $$/S52.3                              
040944,001183: 14,3650           77620        S52.3              STQ                                            
040945,001184: 14,3651           02746                                    QMAJ                                  
040946,001185: 14,3652           34041                           STCALL   TDEC1                                 
040947,001186: 14,3653           27100                                    LEMCONIC                              
040948,001187: 14,3654           53575                           VLOAD    UNIT                                  
040949,001188: 14,3655           00001                                    RATT                                  
040950,001189: 14,3656           27607                           STOVL    XSMD                                  
040951,001190: 14,3657           00007                                    VATT                                  
040952,001191: 14,3660           53435                           VXV      UNIT                                  
040953,001192: 14,3661           00001                                    RATT                                  
040954,001193: 14,3662           27615                           STOVL    YSMD                                  
040955,001194: 14,3663           03607                                    XSMD                                  
040956,001195: 14,3664           53435                           VXV      UNIT                                  
040957,001196: 14,3665           03615                                    YSMD                                  
040958,001197: 14,3666           37623                           STCALL   ZSMD                                  
040959,001198: 14,3667           02746                                    QMAJ                                  
040960,001199: 

Page 955

040962,001201:                                                                                                  #  NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040963,001202: 
040964,001203:                                                                                                  #  FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040965,001204:                                                                                                  #  STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040966,001205: 
040967,001206:                                                                                                  #  CALLING - CALL R52
040968,001207: 
040969,001208:                                                                                                  #  INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040970,001209: 
040971,001210:                                                                                                  #  OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040972,001211:                                                                                                  #  (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040973,001212:                                                                                                  #  POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040974,001213:                                                                                                  #  SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040975,001214: 
040976,001215:                                                                                                  #  SUBROUT - R60LEM
040977,001216: 
040978,001217: 14,3670                                           COUNT*   $$/R52                                
040979,001218: 14,3670           77420        R52                STQ      EXIT                                  
040980,001219: 14,3671           03665                                    SAVQR52                               
040981,001220: 14,3672           51757                           INDEX    STARIND                               
040982,001221: 14,3673           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
040983,001222: 14,3674           00006                           EXTEND                                         
040984,001223: 14,3675           73771                           MP       1/6TH                                 
040985,001224: 14,3676           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
040986,001225: 14,3677           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
040987,001226: 
040988,001227: 14,3700           33772        R52A               CAF      V01N70                                
040989,001228: 14,3701           04616                           TC       BANKCALL                              
040990,001229: 14,3702           20476                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
040991,001230: 14,3703           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040992,001231: 14,3704           13706                           TCF      R52B                                  #  V33 - PROCEED TO ORIENT LEM
040993,001232: 14,3705           13700                           TCF      R52A                                  #  ENTER - SELECT NEW STARCODE - RECYCLE
040994,001233: 
040995,001234: 14,3706           05516        R52B               TC       DOWNFLAG                              
040996,001235: 14,3707           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040997,001236: 14,3710           30735                           CA       STARCODE                              #  GRAB DETENT CODE
040998,001237: 14,3711           77744                           MASK     HIGH9                                 
040999,001238: 14,3712           00006                           EXTEND                                         
041000,001239: 14,3713           74743                           MP       BIT9                                  
041001,001240: 14,3714           54001                           TS       L                                     #  TEMP STORE DETENT
041002,001241: 
041003,001242: 14,3715           00006                           EXTEND                                         
041004,001243: 14,3716           63734                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
041005,001244: 
041006,001245: 14,3717           65660                           AD       NEG7                                  
041007,001246: 14,3720           00006                           EXTEND                                         
041008,001247: 14,3721           13734                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
041009,001248: 
041010,001249: 14,3722  E7,1551                                  EBANK=   XYMARK                                
041011,001250: 14,3722           35016                           CA       EBANK7                                
041012,001251: 14,3723           54003                           TS       EBANK                                 

Page 956

041014,001253: 14,3724           50001                           INDEX    L                                     
041015,001254: 14,3725           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
041016,001255: 14,3726           54001                           TS       L                                     
041017,001256: 14,3727  E5,1642                                  EBANK=   XSM                                   
041018,001257: 14,3727           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
041019,001258: 14,3730           54003                           TS       EBANK                                 
041020,001259: 14,3731           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041021,001260: 14,3732           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041022,001261: 14,3733           13744                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
041023,001262: 
041024,001263: 14,3734           33773        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
041025,001264: 14,3735           04616                           TC       BANKCALL                              
041026,001265: 14,3736           20476                           CADR     GOFLASH                               
041027,001266: 14,3737           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041028,001267: 14,3740           13742                           TCF      +2                                    #  PROCEED - CALC OPTIC AXIS
041029,001268: 14,3741           13734                           TCF      GETAZEL                               #  ENTER - RECYCLE
041030,001269: 
041031,001270: 14,3742           00006                           EXTEND                                         
041032,001271: 14,3743           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
041033,001272: 14,3744           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
041034,001273: 14,3745           52011                           DXCH     8D                                    
041035,001274: 14,3746           06037                           TC       INTPRET                               
041036,001275: 14,3747           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
041037,001276: 14,3750           10536                                    OANB                                  #  SCAXIS IN NB COORDS
041038,001277: 14,3751           45034                           RTB      CALL                                  
041039,001278: 14,3752           21573                                    LOADTIME                              
041040,001279: 14,3753           32472                                    PLANET                                
041041,001280: 14,3754           53521                           MXV      UNIT                                  
041042,001281: 14,3755           01734                                    REFSMMAT                              
041043,001282: 14,3756           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
041044,001283: 
041045,001284: 14,3757           77776                           EXIT                                           
041046,001285: 14,3760           04616                           TC       BANKCALL                              
041047,001286: 14,3761           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
041048,001287: 
041049,001288: 14,3762           37744                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
041050,001289: 14,3763           70735                           MASK     STARCODE                              
041051,001290: 14,3764           00006                           EXTEND                                         
041052,001291: 14,3765           13700                           BZF      R52A                                  
041053,001292: 
041054,001293: 14,3766           06037                           TC       INTPRET                               #  RETURN FROM KALCMANU
041055,001294: 14,3767           77650                           GOTO                                           
041056,001295: 14,3770           03665                                    SAVQR52                               #  RETURN TO CALLER
041057,001296: 
041058,001297: 14,3771           05253        1/6TH              DEC      .1666667                              
041059,001298: 14,3772           00306        V01N70             VN       0170                                  
041060,001299: 14,3773           01527        V06N87             VN       687                                   
041061,001300: 

Page 957

041063,001302:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
041064,001303: 
041065,001304: 15,2245                                           BANK     15                                    
041066,001305: 15,2000                                           SETLOC   P50S                                  
041067,001306: 15,2000                                           BANK                                           
041068,001307: 15,2245                                           COUNT*   $$/R59                                
041069,001308: 
041070,001309: 15,2245           40077        R59                CS       FLAGWRD3                              
041071,001310: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041072,001311: 15,2247           10000                           CCS      A                                     
041073,001312: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
041074,001313: 
041075,001314: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
041076,001315: 15,2252           04616                           TC       BANKCALL                              
041077,001316: 15,2253           20476                           CADR     GOFLASH                               
041078,001317: 15,2254           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041079,001318: 15,2255           12257                           TCF      R59A                                  #  V33 - PROCEED
041080,001319: 15,2256           12245                           TCF      R59                                   #  V32 - RECYCLE
041081,001320: 
041082,001321: 15,2257           47744        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
041083,001322: 15,2260           70735                           MASK     AOTCODE                               
041084,001323: 15,2261           00006                           EXTEND                                         
041085,001324: 15,2262           76242                           MP       REVCNT                                #  JUST 6
041086,001325: 15,2263           56001                           XCH      L                                     
041087,001326: 15,2264           51757                           INDEX    STARIND                               
041088,001327: 15,2265           55755                           TS       BESTI                                 
041089,001328: 15,2266           50120                           INDEX    FIXLOC                                
041090,001329: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
041091,001330: 15,2270           00006                           EXTEND                                         
041092,001331: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
041093,001332: 15,2272           40000                           COM                                            
041094,001333: 15,2273           62561                           AD       DEC227                                
041095,001334: 15,2274           00006                           EXTEND                                         
041096,001335: 15,2275           62455                           BZMF     R59OUT                                
041097,001336: 
041098,001337: 15,2276           06037                           TC       INTPRET                               
041099,001338: 15,2277           64373                           VLOAD*   MXV                                   
041100,001339: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
041101,001340: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
041102,001341: 15,2302           45056                           UNIT     CALL                                  
041103,001342: 15,2303           47646                                    CDU*SMNB                              
041104,001343: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
041105,001344: 15,2305           77776                           EXIT                                           
041106,001345: 
041107,001346: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
041108,001347: 15,2307           55242                           TS       POSCODE                               
041109,001348: 
041110,001349: 15,2310  E7,1551                                  EBANK=   XYMARK                                
041111,001350: 15,2310           35016        INCAZ              CA       EBANK7                                
041112,001351: 15,2311           54003                           TS       EBANK                                 
041113,001352: 

Page 958

041115,001354: 15,2312           51242                           INDEX    POSCODE                               
041116,001355: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
041117,001356: 15,2314           54001                           TS       L                                     
041118,001357: 
041119,001358: 15,2315  E5,1642                                  EBANK=   XSM                                   
041120,001359: 15,2315           35014                           CA       EBANK5                                
041121,001360: 15,2316           54003                           TS       EBANK                                 
041122,001361: 
041123,001362: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041124,001363: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041125,001364: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
041126,001365: 15,2322           50120                           INDEX    FIXLOC                                
041127,001366: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041128,001367: 
041129,001368: 15,2324           06037                           TC       INTPRET                               
041130,001369: 15,2325           77624                           CALL                                           
041131,001370: 15,2326           10536                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
041132,001371: 15,2327           50375                           VLOAD    DOT                                   
041133,001372: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
041134,001373: 15,2331           03765                                    SCAXIS                                
041135,001374: 15,2332           65552                           SL1      ARCCOS                                
041136,001375: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
041137,001376: 
041138,001377: 15,2334           51025                           DSU      BPL                                   
041139,001378: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
041140,001379: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
041141,001380: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
041142,001381: 15,2340           00031                                    24D                                   
041143,001382: 15,2341           32470                                    DEG.5                                 
041144,001383: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
041145,001384: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
041146,001385: 15,2344           00031                                    24D                                   #  GET SPIRAL
041147,001386: 15,2345           42405                           DMP      SL4                                   
041148,001387: 15,2346           25764                                    3/4                                   #  12 SCALED AT 16
041149,001388: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
041150,001389: 
041151,001390: 15,2350           03765                                    SCAXIS                                #  OA
041152,001391: 15,2351           53435                           VXV      UNIT                                  
041153,001392: 15,2352           24005                                    XUNIT                                 
041154,001393: 15,2353           47206                           PUSH     VXV                                   #  OA X UNITX    PD 0-5
041155,001394: 15,2354           03765                                    SCAXIS                                
041156,001395: 15,2355           77676                           VCOMP                                          
041157,001396: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X (OA X UNITX))       PD 6-11
041158,001397: 15,2357           03765                                    SCAXIS                                
041159,001398: 15,2360           53435                           VXV      UNIT                                  
041160,001399: 15,2361           02731                                    STAR                                  
041161,001400: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)        PD 12-17
041162,001401: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
041163,001402: 15,2364           65552                           SL1      ARCCOS                                
041164,001403: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS

Page 959

041166,001405: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
041167,001406: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG - GET 360-THET
041168,001407: 15,2370           32375                                    R59D                                  
041169,001408: 15,2371           32047                                    ABOUTONE                              
041170,001409: 15,2372           77625                           DSU                                            
041171,001410: 15,2373           00033                                    26D                                   
041172,001411: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
041173,001412: 
041174,001413: 15,2375           70535        R59D               SLOAD    SR1                                   
041175,001414: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
041176,001415: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
041177,001416: 15,2400           00033                                    26D                                   
041178,001417: 15,2401           77634                           RTB                                            
041179,001418: 15,2402           21614                                    1STO2S                                
041180,001419: 15,2403           15237                           STODL    CURSOR                                #  YROT IN 1/2 REVS
041181,001420: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
041182,001421: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
041183,001422: 15,2406           77634                           RTB                                            
041184,001423: 15,2407           21614                                    1STO2S                                
041185,001424: 15,2410           01241                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
041186,001425: 15,2411           77776                           EXIT                                           
041187,001426: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
041188,001427: 
041189,001428: 15,2413           77776        ZSPCR              EXIT                                           
041190,001429: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
041191,001430: 15,2415           55236                           TS       CURSOR                                #  AND SPIRAL ANGLES
041192,001431: 15,2416           55240                           TS       SPIRAL                                
041193,001432: 15,2417           12437                           TCF      79DISP                                
041194,001433: 
041195,001434: 15,2420           77776        NXAX               EXIT                                           
041196,001435: 15,2421           25242                           INCR     POSCODE                               
041197,001436: 15,2422           41242                           CS       POSCODE                               
041198,001437: 15,2423           64757                           AD       SEVEN                                 
041199,001438: 15,2424           00006                           EXTEND                                         
041200,001439: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
041201,001440: 15,2426           12310                           TCF      INCAZ                                 
041202,001441: 
041203,001442: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
041204,001443: 15,2430           00404                           OCT      404                                   
041205,001444: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
041206,001445: 15,2432           04616                           TC       BANKCALL                              
041207,001446: 15,2433           20476                           CADR     GOFLASH                               
041208,001447: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041209,001448: 15,2435           12455                           TCF      R59OUT                                #  VB33 - PROCEED, GO WITHOUT AQUIRE
041210,001449: 15,2436           12245                           TCF      R59                                   #  VB32 - RECYCLE AND TRY ANOTHER STAR
041211,001450: 
041212,001451: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
041213,001452: 15,2440           04616                           TC       BANKCALL                              
041214,001453: 15,2441           20476                           CADR     GOFLASH                               
041215,001454: 15,2442           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE

Page 960

041217,001456: 15,2443           12445                           TCF      R59E                                  #  V33 - PROCEED TO MARK ROUTINE
041218,001457: 15,2444           12245                           TCF      R59                                   #  V32 - RECYCLE TO TOP OF R59 AGAIN
041219,001458: 
041220,001459: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
041221,001460: 15,2446           71242                           MASK     POSCODE                               
041222,001461: 15,2447           00006                           EXTEND                                         
041223,001462: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041224,001463: 15,2451           47744                           CS       HIGH9                                 
041225,001464: 15,2452           70735                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041226,001465: 15,2453           60001                           AD       L                                     
041227,001466: 15,2454           54735                           TS       AOTCODE                               #  STORE DETENT 7-9
041228,001467: 
041229,001468: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
041230,001469: 15,2456           16000                           CADR     AOTMARK                               
041231,001470: 15,2457           04616                           TC       BANKCALL                              
041232,001471: 15,2460           17712                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
041233,001472: 15,2461           05711                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
041234,001473: 15,2462           13054                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
041235,001474: 
041236,001475: 15,2463           00306        V01N70*            VN       170                                   
041237,001476: 15,2464           01517        V06N79             VN       679                                   
041238,001477: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
041239,001478: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
041240,001479: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
041241,001480: 15,2472     1236               CURSOR             EQUALS   GDT/2                                 
041242,001481: 15,2472     1240               SPIRAL             EQUALS   GDT/2      +2                         
041243,001482: 15,2472     1242               POSCODE            EQUALS   GDT/2      +4                         
041244,001483: 

Page 961

041246,001485:                                                                                                  #  NAME -        PLANET
041247,001486:                                                                                                  #  FUNCTION -    TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041248,001487:                                                                                                  #                BODY.  STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041249,001488:                                                                                                  #                MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041250,001489:                                                                                                  #                BY DSDY INPUT
041251,001490:                                                                                                  #  CALL  -       CALL
041252,001491:                                                                                                  #                        PLANET
041253,001492:                                                                                                  #  INPUT -       TIME IN MPAC
041254,001493:                                                                                                  #  OUTPUT -      VECTOR IN MPAC
041255,001494:                                                                                                  #  SUBROUTINES - LOCSAM
041256,001495:                                                                                                  #  DEBRIS -      VAC, STARAD - STARAD +17
041257,001496: 
041258,001497: 15,2000                                           SETLOC   P50S                                  
041259,001498: 15,2000                                           BANK                                           
041260,001499: 15,2472                                           COUNT*   $$/P51                                
041261,001500: 
041262,001501: 15,2472           27562        PLANET             STOVL    TSIGHT                                
041263,001502: 15,2473           24007                                    ZEROVEC                               #  ZERO N88 DISPLAY VEC
041264,001503: 15,2474           02707                           STORE    STARAD                                
041265,001504: 15,2475           77420                           STQ      EXIT                                  
041266,001505: 15,2476           02736                                    GCTR                                  
041267,001506: 15,2477           47744                           CS       HIGH9                                 
041268,001507: 15,2500           70735                           MASK     AOTCODE                               
041269,001508: 15,2501           00006                           EXTEND                                         
041270,001509: 15,2502           76242                           MP       REVCNT                                
041271,001510: 15,2503           56001                           XCH      L                                     
041272,001511: 15,2504           51757                           INDEX    STARIND                               
041273,001512: 15,2505           55755                           TS       BESTI                                 
041274,001513: 15,2506           10000                           CCS      A                                     
041275,001514: 15,2507           12523                           TCF      NOTPLAN                               
041276,001515: 15,2510           32562                           CAF      VNPLANV                               
041277,001516: 15,2511           04616                           TC       BANKCALL                              
041278,001517: 15,2512           20476                           CADR     GOFLASH                               
041279,001518: 15,2513           02510                           TC       -3                                    
041280,001519: 15,2514           02516                           TC       +2                                    
041281,001520: 15,2515           02510                           TC       -5                                    
041282,001521: 15,2516           06037                           TC       INTPRET                               
041283,001522: 15,2517           53575                           VLOAD    UNIT                                  
041284,001523: 15,2520           02707                                    STARAD                                
041285,001524: 15,2521           77650                           GOTO                                           
041286,001525: 15,2522           02736                                    GCTR                                  
041287,001526: 15,2523           40000        NOTPLAN            CS       A                                     
041288,001527: 15,2524           62561                           AD       DEC227                                
041289,001528: 15,2525           00006                           EXTEND                                         
041290,001529: 15,2526           62537                           BZMF     CALSAM1                               
041291,001530: 15,2527           51757                           INDEX    STARIND                               
041292,001531: 15,2530           31755                           CA       BESTI                                 
041293,001532: 15,2531           50120                           INDEX    FIXLOC                                
041294,001533: 15,2532           54046                           TS       X1                                    
041295,001534: 15,2533           06037                           TC       INTPRET                               

Page 962

041297,001536: 15,2534           52173                           VLOAD*   GOTO                                  
041298,001537: 15,2535           30347                                    CATLOG,1                              
041299,001538: 15,2536           02736                                    GCTR                                  
041300,001539: 15,2537           06037        CALSAM1            TC       INTPRET                               
041301,001540: 15,2540           45145        CALSAM             DLOAD    CALL                                  
041302,001541: 15,2541           03562                                    TSIGHT                                
041303,001542: 15,2542           30506                                    LOCSAM                                
041304,001543: 15,2543           77340                           LXC,1    VLOAD                                 
041305,001544: 15,2544           02757                                    STARIND                               
041306,001545: 15,2545           02707                                    VEARTH                                
041307,001546: 15,2546           24001                           STOVL    0D                                    
041308,001547: 15,2547           02715                                    VSUN                                  
041309,001548: 15,2550           26707                           STOVL    VEARTH                                
041310,001549: 15,2551           00001                                    0D                                    
041311,001550: 15,2552           02715                           STORE    VSUN                                  
041312,001551: 15,2553           70143                           DLOAD*   LXC,1                                 
041313,001552: 15,2554           02756                                    BESTI,1                               
041314,001553: 15,2555           00154                                    MPAC                                  
041315,001554: 15,2556           52173                           VLOAD*   GOTO                                  
041316,001555: 15,2557           02343                                    STARAD     -228D,1                    
041317,001556: 15,2560           02736                                    GCTR                                  
041318,001557: 15,2561           00343        DEC227             DEC      227        B-14                       
041319,001558: 15,2562           01530        VNPLANV            VN       0688                                  
041320,001559: 15,2563  37,3544               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
041321,001560: 

Page 963

041323,001562:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
041324,001563:                                                                                                  #  BY KEN VINCENT
041325,001564: 
041326,001565:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041327,001566: 
041328,001567:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041329,001568:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE.  IT WILL BE USED
041330,001569:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT.  THE GRAVITY VECTOR IS
041331,001570:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041332,001571:                                                                                                  #  PARTICULAR ORIONTATIONS.  THE TWO READINGS ARE AVERAGED
041333,001572:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES.  THE TWO
041334,001573:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041335,001574:                                                                                                  #  READINGS.
041336,001575: 
041337,001576:                                                                                                  #  CALL -
041338,001577:                                                                                                  #        TC      BANKCALL
041339,001578:                                                                                                  #        CADR    GVDETER
041340,001579: 
041341,001580:                                                                                                  #  INPUTS -
041342,001581:                                                                                                  #        PIPAS, CDUS
041343,001582: 
041344,001583:                                                                                                  #  OUTPUTS -
041345,001584:                                                                                                  #        STARSAV1 = UNIT GRAVITY
041346,001585:                                                                                                  #        GSAV     = DITTO
041347,001586:                                                                                                  #        GRAVBIT  = 1
041348,001587: 
041349,001588:                                                                                                  #  SUBROUTINES -
041350,001589:                                                                                                  #        PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041351,001590:                                                                                                  #        *NBSM*, *SNMB*, CALCGA, FOFLASH
041352,001591: 
041353,001592:                                                                                                  #  DEBRIS -
041354,001593:                                                                                                  #        VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041355,001594: 
041356,001595: 15,2563           32772        GVDETER            CAF      42DEG                                 
041357,001596: 15,2564           54321                           TS       THETAD                                
041358,001597: 15,2565           40000                           COM                                            
041359,001598: 15,2566           54322                           TS       THETAD     +1                         
041360,001599: 15,2567           32773                           CAF      35DEG                                 
041361,001600: 15,2570           54323                           TS       THETAD     +2                         
041362,001601: 15,2571           06037                           TC       INTPRET                               
041363,001602: 15,2572           45014                           CLEAR    CALL                                  
041364,001603: 15,2573           01662                                    REFSMFLG                              
041365,001604: 15,2574           32670                                    LUNG                                  
041366,001605: 
041367,001606:                                                                                                  #  FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041368,001607: 
041369,001608:                                                                                                  #        DEFINE G COOR SYS
041370,001609:                                                                                                  #                      -
041371,001610:                                                                                                  #                      X          UNIT G     
041372,001611:                                                                                                  #                *     -                  - 
041373,001612:                                                                                                  #                M =   Y   =   UNITEZSM * X )
041374,001613:                                                                                                  #                      -            -     -   
041375,001614:                                                                                                  #                      Z       UNIT(X   * Y )
041376,001615: 
041377,001616:                                                                                                  #        THEN ROTATED SM WRT PRESENT IS
041378,001617: 
041379,001618:                                                                                                  #                             1,  0,  0  
041380,001619:                                                                                                  #                 *      *T               *             *      *

Page 964

041382,001621:                                                                                                  #                XSM =   M    0, -1,  0   M  =  2 (X X ) - 1/2 I  *
041383,001622:                                                                                                  #                                                   I J
041384,001623:                                                                                                  #                             0,  0, -1 
041385,001624: 
041386,001625:                                                                                                  #        ALSO NB WRT PRES SM IS
041387,001626: 
041388,001627:                                                                                                  #                 *      *  *
041389,001628:                                                                                                  #                XNB = NBSM I
041390,001629:                                                                                                  #                                 *    *
041391,001630:                                                                                                  #        GIMBAL ANGLES = CALCGA( XSM, XNB )
041392,001631: 
041393,001632: 15,2000                                           SETLOC   P50S                                  
041394,001633: 15,2000                                           BANK                                           
041395,001634: 15,2575                                           COUNT*   $$/P57                                
041396,001635: 15,2575           66370                           AXT,1    SSP                                   #  X1=18
041397,001636: 15,2576           00022                                    18D                                   #  S1=6
041398,001637: 15,2577           00051                                    S1                                    #  X2, -2
041399,001638: 15,2600           00006                                    6D                                    
041400,001639: 15,2601           77744                           LXC,2                                          
041401,001640: 15,2602           00050                                    S1                                    
041402,001641: 15,2603           45173        GRAVEL             VLOAD*   CALL                                  
041403,001642: 15,2604           54000                                    XUNIT      -6,2                       
041404,001643: 15,2605           47673                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
041405,001644: 15,2606           06707                           STORE    XNB        +18D,1                     
041406,001645: 15,2607           77775                           VLOAD                                          
041407,001646: 15,2610           02731                                    STAR                                  
041408,001647: 15,2611           73744                           LXC,2    VXSC*                                 #  COMPLEMENT - UNITX ARE BACKWARD -
041409,001648: 15,2612           00047                                    X2                                    
041410,001649: 15,2613           75040                                    STAR       +6,2                       #  OUTER PRODUCT
041411,001650: 15,2614           71152                           VSL2     LXC,2                                 
041412,001651: 15,2615           00047                                    X2                                    
041413,001652: 15,2616           63047                           VSU*     INCR,2                                
041414,001653: 15,2617           54000                                    XUNIT      -6,2                       
041415,001654: 15,2620           00002                                    2D                                    
041416,001655: 15,2621           06665                           STORE    XSM        +18D,1                     
041417,001656: 15,2622           45100                           TIX,1    CALL                                  
041418,001657: 15,2623           32603                                    GRAVEL                                
041419,001658: 15,2624           47353                                    CALCGA                                
041420,001659: 15,2625           74575                           VLOAD    VSR1                                  
041421,001660: 15,2626           02715                                    GOUT                                  
041422,001661: 15,2627           36723                           STCALL   STARAD     +12D                       
041423,001662: 15,2630           32670                                    LUNG                                  
041424,001663: 15,2631           74575                           VLOAD    VSR1                                  
041425,001664: 15,2632           02715                                    GOUT                                  
041426,001665: 15,2633           53455                           VAD      UNIT                                  
041427,001666: 15,2634           02723                                    STARAD     +12D                       
041428,001667: 15,2635           02761                           STORE    STARSAV1                              
041429,001668: 15,2636           77641                           DOT                                            
041430,001669: 15,2637           02231                                    GSAV                                  
041431,001670: 15,2640           65552                           SL1      ACOS                                  

Page 965

041433,001672: 15,2641           01046                           STORE    DSPTEM1                               
041434,001673: 15,2642           77776                           EXIT                                           
041435,001674: 15,2643           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
041436,001675: 15,2644           00014                           ADRES    FREEFLAG                              
041437,001676: 
041438,001677: 15,2645           32771                           CA       DISGRVER                              
041439,001678: 15,2646           04616                           TC       BANKCALL                              
041440,001679: 15,2647           20476                           CADR     GOFLASH                               
041441,001680: 15,2650           06001                           TC       GOTOPOOH                              
041442,001681: 15,2651           12654                           TCF      PROGRAV                               #  VB33 - PROCEED
041443,001682: 15,2652           05504                           TC       UPFLAG                                #  VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041444,001683: 15,2653           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
041445,001684: 
041446,001685: 15,2654           05353        PROGRAV            TC       PHASCHNG                              
041447,001686: 15,2655           04024                           OCT      04024                                 
041448,001687: 
041449,001688: 15,2656           06037                           TC       INTPRET                               
041450,001689: 15,2657           77775                           VLOAD                                          
041451,001690: 15,2660           02761                                    STARSAV1                              
041452,001691: 15,2661           02231                           STORE    GSAV                                  
041453,001692: 15,2662           77776                           EXIT                                           
041454,001693: 15,2663           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041455,001694: 15,2664           70074                           MASK     FLAGWRD0                              
041456,001695: 15,2665           10000                           CCS      A                                     
041457,001696: 15,2666           12563                           TCF      GVDETER                               #  SET
041458,001697: 15,2667           13553                           TCF      ATTCHK                                #  EXIT FROM GVDETER
041459,001698: 
041460,001699: 15,2670           77220        LUNG               STQ      VLOAD                                 
041461,001700: 15,2671           02745                                    QMIN                                  
041462,001701: 15,2672           24007                                    ZEROVEC                               
041463,001702: 15,2673           02707                           STORE    GACC                                  
041464,001703: 15,2674           77776                           EXIT                                           
041465,001704: 15,2675           05353                           TC       PHASCHNG                              
041466,001705: 15,2676           04024                           OCT      04024                                 
041467,001706: 
041468,001707: 15,2677           04616                           TC       BANKCALL                              
041469,001708: 15,2700           17000                           CADR     IMUCOARS                              
041470,001709: 15,2701           04616                           TC       BANKCALL                              
041471,001710: 15,2702           17716                           CADR     IMUSTALL                              
041472,001711: 15,2703           05711                           TC       CURTAINS                              
041473,001712: 15,2704           04616                           TC       BANKCALL                              
041474,001713: 15,2705           17210                           CADR     IMUFINE                               
041475,001714: 15,2706           04616                           TC       BANKCALL                              
041476,001715: 15,2707           17716                           CADR     IMUSTALL                              
041477,001716: 15,2710           05711                           TC       CURTAINS                              
041478,001717: 15,2711           32770                           CA       T/2SEC                                
041479,001718: 15,2712           55736                           TS       GCTR                                  
041480,001719: 15,2713           37716                           CA       PRIO31                                
041481,001720: 15,2714           55075                           TS       1/PIPADT                              
041482,001721: 15,2715           04616                           TC       BANKCALL                              

Page 966

041484,001723: 15,2716           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
041485,001724: 15,2717           05353                           TC       PHASCHNG                              
041486,001725: 15,2720           04024                           OCT      04024                                 
041487,001726: 
041488,001727: 15,2721           04616                           TC       BANKCALL                              #  DONT NEED TO INHINY   THIS USED TO
041489,001728: 15,2722           77544                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
041490,001729: 15,2723           06037                           TC       INTPRET                               
041491,001730: 15,2724           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
041492,001731: 15,2725           35000                           CAF      2SECS                                 
041493,001732: 15,2726           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
041494,001733: 15,2727           02731                           ADRES    GRABGRAV                              
041495,001734: 
041496,001735: 15,2730           05155                           TC       ENDOFJOB                              
041497,001736: 
041498,001737: 15,2731           04674        GRABGRAV           TC       IBNKCALL                              
041499,001738: 15,2732           77544                           CADR     PIPSRINE                              
041500,001739: 15,2733           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
041501,001740: 15,2734           05105                           TC       FINDVAC                               
041502,001741: 15,2735  E5,1706                                  EBANK=   STARAD                                
041503,001742: 15,2735           02740 32065                     2CADR    ADDGRAV                               
041504,001743: 
041505,001744: 15,2737           05261                           TC       TASKOVER                              
041506,001745: 
041507,001746: 15,2740           04616        ADDGRAV            TC       BANKCALL                              
041508,001747: 15,2741           15263                           CADR     1/PIPA                                
041509,001748: 15,2742           25736                           INCR     GCTR                                  
041510,001749: 15,2743           06037                           TC       INTPRET                               
041511,001750: 15,2744           53375                           VLOAD    VAD                                   
041512,001751: 15,2745           00325                                    DELV                                  
041513,001752: 15,2746           02707                                    GACC                                  
041514,001753: 15,2747           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
041515,001754: 15,2750           50135                           SLOAD    BMN                                   
041516,001755: 15,2751           02737                                    GCTR                                  
041517,001756: 15,2752           32724                                    GREED                                 
041518,001757: 15,2753           53575                           VLOAD    UNIT                                  
041519,001758: 15,2754           02707                                    GACC                                  
041520,001759: 15,2755           36731                           STCALL   STAR                                  
041521,001760: 15,2756           47537                                    CDUTRIG                               #  TRANSFORM IN NB COOR AND STORE
041522,001761: 15,2757           77624                           CALL                                           #        IN OUTPUT
041523,001762: 15,2760           47671                                    *SMNB*                                
041524,001763: 15,2761           02715                           STORE    GOUT                                  
041525,001764: 15,2762           77776                           EXIT                                           
041526,001765: 15,2763           05353                           TC       PHASCHNG                              
041527,001766: 15,2764           04024                           OCT      04024                                 
041528,001767: 
041529,001768: 15,2765           06037        QMINEXIT           TC       INTPRET                               
041530,001769: 15,2766           77650                           GOTO                                           
041531,001770: 15,2767           02745                                    QMIN                                  
041532,001771: 15,2770           77753        T/2SEC             DEC      -20        B-14                       

Page 967

041534,001773: 15,2771           01404        DISGRVER           VN       0604                                  
041535,001774: 15,2772           07357        42DEG              OCT      07357                                 
041536,001775: 15,2773           06211        35DEG              OCT      06211                                 
041537,001776: 

Page 968

041539,001778:                                                                                                  #  NAME  GYROTRIM
041540,001779: 
041541,001780:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041542,001781:                                                                                                  #  TO ATTAIN A PRESCRIBED SET OF ANGLES.  THIS ROUTINE ASSUMES THE
041543,001782:                                                                                                  #  VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041544,001783: 
041545,001784:                                                                                                  #  CALL          CALL
041546,001785:                                                                                                  #                        GYROTRIM
041547,001786: 
041548,001787:                                                                                                  #  INPUT         THETAD,+1,+2 = DESIRED CDU ANGLES
041549,001788:                                                                                                  #                CDUX,CDUY,CDUZ
041550,001789: 
041551,001790:                                                                                                  #  OUTPUT -      GYRO TORQUE PULSES
041552,001791: 
041553,001792:                                                                                                  #  SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041554,001793:                                                                                                  #                IMPULSE, IMUSTALL
041555,001794:                                                                                                  #                -        -       -          *          *   -
041556,001795:                                                                                                  #  DEBRIS -      CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041557,001796: 
041558,001797: 15,2774                                           COUNT*   $$/P57                                
041559,001798: 15,2774           71220        GYROTRIM           STQ      DLOAD                                 
041560,001799: 15,2775           02745                                    QMIN                                  
041561,001800: 15,2776           00322                                    THETAD                                
041562,001801: 15,2777           65325                           PDDL     PDDL                                  
041563,001802: 15,3000           00324                                    THETAD     +2                         
041564,001803: 15,3001           00323                                    THETAD     +1                         
041565,001804: 15,3002           77666                           VDEF                                           
041566,001805: 15,3003           24767                           STOVL    CDUSPOT                               
041567,001806: 15,3004           24005                                    XUNIT                                 
041568,001807: 15,3005           77624                           CALL                                           
041569,001808: 15,3006           47664                                    TRG*NBSM                              
041570,001809: 15,3007           26707                           STOVL    STARAD                                
041571,001810: 15,3010           24003                                    YUNIT                                 
041572,001811: 15,3011           77624                           CALL                                           
041573,001812: 15,3012           47673                                    *NBSM*                                
041574,001813: 15,3013           36715                           STCALL   STARAD     +6                         
041575,001814: 15,3014           47537                                    CDUTRIG                               
041576,001815: 15,3015           77624                           CALL                                           
041577,001816: 15,3016           20030                                    CALCSMSC                              
041578,001817: 15,3017           77775                           VLOAD                                          
041579,001818: 15,3020           02665                                    XNB                                   
041580,001819: 15,3021           24007                           STOVL    6D                                    
041581,001820: 15,3022           02673                                    YNB                                   
041582,001821: 15,3023           34015                           STCALL   12D                                   
041583,001822: 15,3024           47441                                    AXISGEN                               
041584,001823: 15,3025           77624                           CALL                                           
041585,001824: 15,3026           47247                                    CALCGTA                               
041586,001825: 15,3027           77776        JUSTTRIM           EXIT                                           
041587,001826: 15,3030           04616                           TC       BANKCALL                              
041588,001827: 15,3031           17210                           CADR     IMUFINE                               
041589,001828: 15,3032           04616                           TC       BANKCALL                              

Page 969

041591,001830: 15,3033           17716                           CADR     IMUSTALL                              
041592,001831: 15,3034           05711                           TC       CURTAINS                              
041593,001832: 15,3035           33044                           CA       GYRCDR                                
041594,001833: 15,3036           04616                           TC       BANKCALL                              
041595,001834: 15,3037           17323                           CADR     IMUPULSE                              
041596,001835: 15,3040           04616                           TC       BANKCALL                              
041597,001836: 15,3041           17716                           CADR     IMUSTALL                              
041598,001837: 15,3042           05711                           TC       CURTAINS                              
041599,001838: 15,3043           12765                           TCF      QMINEXIT                              
041600,001839: 
041601,001840: 15,3044           02737        GYRCDR             ECADR    OGC                                   
041602,001841: 

Page 970

041604,001843:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
041605,001844: 
041606,001845: 15,3045           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
041607,001846: 15,3046           13050                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041608,001847: 15,3047           34753        1STAR              CAF      BIT1                                  
041609,001848: 15,3050           55757                           TS       STARIND                               
041610,001849: 
041611,001850: 15,3051           05353                           TC       PHASCHNG                              
041612,001851: 15,3052           04024                           OCT      04024                                 
041613,001852: 
041614,001853: 15,3053           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
041615,001854: 
041616,001855: 15,3054           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
041617,001856: 15,3055           00006                           EXTEND                                         
041618,001857: 15,3056           13067                           BZF      ASTAR                                 #  1ST STAR MARKED
041619,001858: 
041620,001859: 15,3057           05353                           TC       PHASCHNG                              
041621,001860: 15,3060           04024                           OCT      04024                                 
041622,001861: 
041623,001862: 15,3061           06037                           TC       INTPRET                               
041624,001863: 15,3062           45145                           DLOAD    CALL                                  
041625,001864: 15,3063           03562                                    TSIGHT                                #  TIME OF 2ND MARK
041626,001865: 15,3064           32472                                    PLANET                                
041627,001866: 15,3065           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
041628,001867: 15,3066           33101                                    SURFLINE                              
041629,001868: 
041630,001869: 15,3067           06037        ASTAR              TC       INTPRET                               
041631,001870: 15,3070           77775                           VLOAD                                          
041632,001871: 15,3071           02715                                    STARAD     +6                         
041633,001872: 15,3072           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
041634,001873: 15,3073           45145                           DLOAD    CALL                                  
041635,001874: 15,3074           03562                                    TSIGHT                                #  TIME OF 1ST MARK
041636,001875: 15,3075           32472                                    PLANET                                
041637,001876: 15,3076           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
041638,001877: 15,3077           77776                           EXIT                                           
041639,001878: 15,3100           13047                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
041640,001879: 

Page 971

041642,001881:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
041643,001882: 
041644,001883: 15,3101           77131        SURFLINE           SSP      AXT,2                                 
041645,001884: 15,3102           00052                                    S2                                    
041646,001885: 15,3103           00006                                    6                                     
041647,001886: 15,3104           00014                                    12D                                   
041648,001887: 15,3105           64373        WRTDESIR           VLOAD*   MXV                                   
041649,001888: 15,3106           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
041650,001889: 15,3107           03607                                    XSMD                                  
041651,001890: 15,3110           77656                           UNIT                                           
041652,001891: 15,3111           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
041653,001892: 15,3112           77773                           VLOAD*                                         
041654,001893: 15,3113           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
041655,001894: 15,3114           10023                           STORE    18D,2                                 
041656,001895: 15,3115           43104                           TIX,2    BON                                   
041657,001896: 15,3116           33105                                    WRTDESIR                              
041658,001897: 15,3117           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
041659,001898: 15,3120           33126                                    INITBY                                
041660,001899: 15,3121           77624        DOALIGN            CALL                                           
041661,001900: 15,3122           31256                                    R54                                   #  DO CHKSDATA
041662,001901: 15,3123           77614                           BOFF                                           
041663,001902: 15,3124           00354                                    FREEFLAG                              
041664,001903: 15,3125           33206                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
041665,001904: 15,3126           77624        INITBY             CALL                                           
041666,001905: 15,3127           47441                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041667,001906: 15,3130           77624                           CALL                                           
041668,001907: 15,3131           47247                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
041669,001908: 15,3132           77776                           EXIT                                           
041670,001909: 15,3133           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041671,001910: 15,3134           70104                           MASK     FLAGWRD8                              
041672,001911: 15,3135           10000                           CCS      A                                     
041673,001912: 15,3136           13145                           TCF      5DEGTEST                              
041674,001913: 15,3137           33313                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
041675,001914: 15,3140           04616                           TC       BANKCALL                              
041676,001915: 15,3141           20476                           CADR     GOFLASH                               
041677,001916: 15,3142           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041678,001917: 15,3143           13145                           TCF      5DEGTEST                              #  VB33 - PROCEED TO COARSE OR FINE
041679,001918: 15,3144           13207                           TCF      P57POST    +1                         #  VB32 - RECYCLE, MAYBE RE-ALIGN
041680,001919: 
041681,001920: 15,3145           06037        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041682,001921: 15,3146           40175                           VLOAD    BOV                                   
041683,001922: 15,3147           02740                                    OGC                                   
041684,001923: 15,3150           33151                                    SURFSUP                               
041685,001924: 15,3151           02750        SURFSUP            STORE    OGCT                                  
041686,001925: 15,3152           40141                           V/SC     BOV                                   
041687,001926: 15,3153           30610                                    5DEGREES                              
041688,001927: 15,3154           33254                                    COATRIM                               
041689,001928: 15,3155           52131                           SSP      GOTO                                  
041690,001929: 15,3156           02746                                    QMIN                                  
041691,001930: 15,3157           33161                                    SURFDISP                              

Page 972

041693,001932: 15,3160           33027                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041694,001933: 
041695,001934: 15,3161           77776        SURFDISP           EXIT                                           
041696,001935: 15,3162           05353                           TC       PHASCHNG                              
041697,001936: 15,3163           04024                           OCT      04024                                 
041698,001937: 
041699,001938: 15,3164           06037                           TC       INTPRET                               
041700,001939: 15,3165           75160                           AXC,1    AXC,2                                 
041701,001940: 15,3166           03606                                    XSMD                                  
041702,001941: 15,3167           01733                                    REFSMMAT                              
041703,001942: 15,3170           45014                           SET      CALL                                  
041704,001943: 15,3171           01462                                    REFSMFLG                              
041705,001944: 15,3172           31377                                    MATMOVE                               
041706,001945: 15,3173           77776                           EXIT                                           
041707,001946: 15,3174           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
041708,001947: 15,3175           13177                           TCF      B2F8                                  
041709,001948: 15,3176           13207                           TCF      P57POST    +1                         
041710,001949: 
041711,001950: 15,3177           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
041712,001951: 15,3200           70104                           MASK     FLAGWRD8                              
041713,001952: 15,3201           10000                           CCS      A                                     
041714,001953: 15,3202           13561                           TCF      P57JUMP                               #  ITS SET
041715,001954: 15,3203           06037                           TC       INTPRET                               
041716,001955: 15,3204           77624                           CALL                                           
041717,001956: 15,3205           33506                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041718,001957: 15,3206           77776        P57POST            EXIT                                           
041719,001958: 15,3207           35751                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
041720,001959: 15,3210           04616                           TC       BANKCALL                              
041721,001960: 15,3211           20623                           CADR     GOPERF1                               
041722,001961: 15,3212           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041723,001962: 15,3213           13561                           TCF      P57JUMP                               #  VB33 - PROCEED TO RE-ALIGN
041724,001963: 15,3214           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
041725,001964: 15,3215           61145                           AD       OPTION2                               
041726,001965: 15,3216           00006                           EXTEND                                         
041727,001966: 15,3217           13221                           BZF      +2                                    #  YES - GO CALCULATE LANDING SITE
041728,001967: 15,3220           16001                           TCF      GOTOPOOH                              #  NO - EXIT P57
041729,001968: 15,3221           05353                           TC       PHASCHNG                              #  RESTART PLACE
041730,001969: 15,3222           04024                           OCT      04024                                 
041731,001970: 15,3223           06037                           TC       INTPRET                               
041732,001971: 15,3224           45175                           VLOAD    CALL                                  #  USE GNB
041733,001972: 15,3225           02231                                    GSAV                                  
041734,001973: 15,3226           47661                                    CDU*NBSM                              #  GO TO SM COORDS
041735,001974: 15,3227           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
041736,001975: 15,3230           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
041737,001976: 15,3231           01463                                    LUNAFLAG                              
041738,001977: 15,3232           51515                           PDVL     ABVAL                                 
041739,001978: 15,3233           02023                                    RLS                                   
041740,001979: 15,3234           45561                           VXSC     STADR                                 
041741,001980: 15,3235           75745                           STORE    ALPHAV                                #  ALPHAV = RLSMAG * G(REF)
041742,001981: 15,3236           47014                           CLEAR    RTB                                   

Page 973

041744,001983: 15,3237           00662                                    ERADFLAG                              
041745,001984: 15,3240           21573                                    LOADTIME                              
041746,001985: 15,3241           77624                           CALL                                           
041747,001986: 15,3242           30446                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
041748,001987: 15,3243           01221                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
041749,001988: 15,3244           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041750,001989: 15,3245           01243                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
041751,001990: 15,3246           77606                           PUSH                                           #  TIME AT 6-7 IN PDLIST
041752,001991: 15,3247           35235                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
041753,001992: 15,3250           51670                                    R-TO-RP                               
041754,001993: 15,3251           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
041755,001994: 15,3252           77776                           EXIT                                           
041756,001995: 15,3253           16001                           TCF      GOTOPOOH                              #  EXIT P57
041757,001996: 

Page 974

041759,001998:                                                                                                  #  COARSE AND FINE ALIGN IMU
041760,001999: 
041761,002000: 15,3254           75160        COATRIM            AXC,1    AXC,2                                 
041762,002001: 15,3255           02664                                    XDC                                   
041763,002002: 15,3256           02642                                    XSM                                   
041764,002003: 15,3257           77624                           CALL                                           
041765,002004: 15,3260           31377                                    MATMOVE                               
041766,002005: 15,3261           77624                           CALL                                           
041767,002006: 15,3262           47537                                    CDUTRIG                               
041768,002007: 15,3263           77624                           CALL                                           
041769,002008: 15,3264           20030                                    CALCSMSC                              
041770,002009: 15,3265           77624                           CALL                                           
041771,002010: 15,3266           47353                                    CALCGA                                
041772,002011: 15,3267           77414                           BOFF     EXIT                                  
041773,002012: 15,3270           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
041774,002013: 15,3271           33303                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
041775,002014: 15,3272           35010                           CAF      V06N22                                #  THAN 5 DEGREES
041776,002015: 15,3273           04616                           TC       BANKCALL                              
041777,002016: 15,3274           20476                           CADR     GOFLASH                               
041778,002017: 15,3275           06001                           TC       GOTOPOOH                              
041779,002018: 15,3276           13300                           TCF      +2                                    
041780,002019: 15,3277           13272                           TCF      -5                                    
041781,002020: 15,3300           05353                           TC       PHASCHNG                              
041782,002021: 15,3301           04024                           OCT      04024                                 
041783,002022: 
041784,002023: 15,3302           06037                           TC       INTPRET                               
041785,002024: 15,3303           77624        CORSIT             CALL                                           
041786,002025: 15,3304           31565                                    COARSE                                
041787,002026: 15,3305           77624                           CALL                                           
041788,002027: 15,3306           31602                                    NCOARSE                               
041789,002028: 15,3307           77624                           CALL                                           
041790,002029: 15,3310           32774                                    GYROTRIM                              
041791,002030: 15,3311           77650                           GOTO                                           
041792,002031: 15,3312           33161                                    SURFDISP                              
041793,002032: 15,3313           01535        DISPGYRO           VN       0693                                  
041794,002033: 

Page 975

041796,002035:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
041797,002036: 
041798,002037: 15,3314           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041799,002038: 15,3315           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
041800,002039: 
041801,002040: 15,3316           36245                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041802,002041: 15,3317           55145                           TS       OPTION2                               
041803,002042: 15,3320           34753        P57OPT             CAF      BIT1                                  
041804,002043: 15,3321           04616                           TC       BANKCALL                              
041805,002044: 15,3322           20713                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
041806,002045: 15,3323           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
041807,002046: 15,3324           13331                           TCF      ALIGNOPT                              #  V33 PROCEED
041808,002047: 15,3325           13320                           TCF      P57OPT                                #  V32 RECYCLE
041809,002048: 
041810,002049: 15,3326           05353                           TC       PHASCHNG                              
041811,002050: 15,3327           00014                           OCT      00014                                 
041812,002051: 15,3330           05155                           TC       ENDOFJOB                              
041813,002052: 
041814,002053: 15,3331           31145        ALIGNOPT           CA       OPTION2                               
041815,002054: 15,3332           76245                           MASK     THREE                                 
041816,002055: 15,3333           50000                           INDEX    A                                     
041817,002056: 15,3334           13335                           TCF      +1                                    
041818,002057: 15,3335           13350                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
041819,002058: 15,3336           13411                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
041820,002059: 15,3337           13320                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
041821,002060: 15,3340           06037                           TC       INTPRET                               #  OPTION 3 REFSMMAT
041822,002061: 15,3341           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
041823,002062: 15,3342           01733                                    REFSMMAT                              
041824,002063: 15,3343           03606                                    XSMD                                  
041825,002064: 15,3344           77624                           CALL                                           
041826,002065: 15,3345           31377                                    MATMOVE                               
041827,002066: 15,3346           77650                           GOTO                                           
041828,002067: 15,3347           33410                                    PACKOPTN   -1                         
041829,002068: 
041830,002069: 15,3350           06037        TDISP              TC       INTPRET                               
041831,002070: 15,3351           77745                           DLOAD                                          
041832,002071: 15,3352           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
041833,002072: 15,3353           01046        P57A               STORE    DSPTEM1                               
041834,002073: 15,3354           77776                           EXIT                                           
041835,002074: 15,3355           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
041836,002075: 15,3356           04616                           TC       BANKCALL                              
041837,002076: 15,3357           20476                           CADR     GOFLASH                               
041838,002077: 15,3360           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE
041839,002078: 15,3361           13363                           TCF      +2                                    
041840,002079: 15,3362           13355                           TCF      P57AA                                 #  VB32 - RECYCLE
041841,002080: 
041842,002081: 15,3363           06037                           TC       INTPRET                               
041843,002082: 15,3364           65234                           RTB      PDDL                                  
041844,002083: 15,3365           21573                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
041845,002084: 15,3366           01046                                    DSPTEM1                               

Page 976

041847,002086: 15,3367           65254                           BZE      PDDL                                  
041848,002087: 15,3370           33400                                    P57C                                  #  IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041849,002088: 15,3371           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041850,002089: 15,3372           01046                                    DSPTEM1                               
041851,002090: 15,3373           33400                                    P57C                                  
041852,002091: 15,3374           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
041853,002092: 15,3375           74335                           STORE    TIG                                   #  STORE IT IN TIG
041854,002093: 15,3376           36775                           STCALL   TALIGN                                
041855,002094: 15,3377           33402                                    P57D                                  
041856,002095: 15,3400           45545        P57C               DLOAD    STADR                                 
041857,002096: 15,3401           75002                           STORE    TALIGN                                
041858,002097: 15,3402           34041        P57D               STCALL   TDEC1                                 
041859,002098: 15,3403           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
041860,002099: 15,3404           53575                           VLOAD    UNIT                                  #  IN X,Y,ZSMD
041861,002100: 15,3405           00001                                    RATT                                  
041862,002101: 15,3406           37607                           STCALL   XSMD                                  
041863,002102: 15,3407           11013                                    LSORIENT                              
041864,002103: 15,3410           77776                           EXIT                                           
041865,002104: 15,3411           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
041866,002105: 15,3412           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
041867,002106: 15,3413           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
041868,002107: 15,3414           34737                           CAF      REFSMBIT                              
041869,002108: 15,3415           70077                           MASK     FLAGWRD3                              #  REFSMFLG
041870,002109: 15,3416           10000                           CCS      A                                     
041871,002110: 15,3417           34745                           CAF      BIT7                                  #  SET
041872,002111: 15,3420           27146                           ADS      OPTION1    +2                         #  CLEAR - JUST ZERO
041873,002112: 15,3421           34753                           CAF      ATTFLBIT                              
041874,002113: 15,3422           70102                           MASK     FLAGWRD6                              #  ATTFLG
041875,002114: 15,3423           10000                           CCS      A                                     
041876,002115: 15,3424           34750                           CAF      BIT4                                  #  SET
041877,002116: 15,3425           27146                           ADS      OPTION1    +2                         #  CLEAR - ZERO IN A
041878,002117: 15,3426           34750                           CAF      BIT4                                  
041879,002118: 15,3427           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
041880,002119: 
041881,002120: 15,3430           33651        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
041882,002121: 15,3431           04616                           TC       BANKCALL                              
041883,002122: 15,3432           20476                           CADR     GOFLASH                               
041884,002123: 15,3433           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041885,002124: 15,3434           13436                           TCF      +2                                    #  V33 - PROCEED
041886,002125: 15,3435           13430                           TCF      DSPOPTN                               #  V32 - RECYCLE
041887,002126: 
041888,002127: 15,3436           34737                           CAF      REFSMBIT                              
041889,002128: 15,3437           70077                           MASK     FLAGWRD3                              
041890,002129: 15,3440           10000                           CCS      A                                     
041891,002130: 15,3441           13541                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
041892,002131: 15,3442           34753                           CAF      ATTFLBIT                              #  CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041893,002132: 15,3443           70102                           MASK     FLAGWRD6                              
041894,002133: 15,3444           10000                           CCS      A                                     
041895,002134: 15,3445           13545                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041896,002135: 15,3446           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 977

041898,002137: 15,3447           71145                           MASK     OPTION2                               
041899,002138: 15,3450           10000                           CCS      A                                     
041900,002139: 15,3451           13545                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041901,002140: 15,3452           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS - ALARM 701
041902,002141: 15,3453           00701                           OCT      701                                   
041903,002142: 15,3454           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
041904,002143: 15,3455           04616                           TC       BANKCALL                              
041905,002144: 15,3456           20476                           CADR     GOFLASH                               
041906,002145: 15,3457           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041907,002146: 15,3460           13430                           TCF      DSPOPTN                               #  V33 - PROCEED ********TEMPORARY
041908,002147: 15,3461           13430                           TCF      DSPOPTN                               #  VB32 - RECYCLE TO OPTION DISPLAY V 05N06
041909,002148: 

Page 978

041911,002150:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041912,002151: 
041913,002152: 15,3462           40220        MFREF              STQ      SETPD                                 
041914,002153: 15,3463           02746                                    QMAJ                                  
041915,002154: 15,3464           00001                                    0                                     
041916,002155: 15,3465           77634                           RTB                                            
041917,002156: 15,3466           21573                                    LOADTIME                              
041918,002157: 15,3467           27562                           STOVL    TSIGHT                                
041919,002158: 15,3470           02723                                    VEC1                                  
041920,002159: 15,3471           41525                           PDDL     PUSH                                  
041921,002160: 15,3472           03562                                    TSIGHT                                
041922,002161: 15,3473           77624                           CALL                                           
041923,002162: 15,3474           55716                                    RP-TO-R                               
041924,002163: 15,3475           26723                           STOVL    VEC1                                  
041925,002164: 15,3476           02731                                    VEC2                                  
041926,002165: 15,3477           65201                           SETPD    PDDL                                  
041927,002166: 15,3500           00001                                    0                                     
041928,002167: 15,3501           03562                                    TSIGHT                                
041929,002168: 15,3502           45006                           PUSH     CALL                                  
041930,002169: 15,3503           55716                                    RP-TO-R                               
041931,002170: 15,3504           36731                           STCALL   VEC2                                  
041932,002171: 15,3505           02746                                    QMAJ                                  
041933,002172: 

Page 979

041935,002174:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041936,002175:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
041937,002176: 
041938,002177: 15,3506           45020        REFMF              STQ      CALL                                  
041939,002178: 15,3507           02746                                    QMAJ                                  
041940,002179: 15,3510           47537                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
041941,002180: 15,3511           40234                           RTB      SETPD                                 
041942,002181: 15,3512           21573                                    LOADTIME                              
041943,002182: 15,3513           00001                                    0                                     
041944,002183: 15,3514           37562                           STCALL   TSIGHT                                
041945,002184: 15,3515           20030                                    CALCSMSC                              #  GET YNB IN SM
041946,002185: 15,3516           61375                           VLOAD    VXM                                   
041947,002186: 15,3517           02673                                    YNB                                   
041948,002187: 15,3520           01734                                    REFSMMAT                              #  YNB TO REF
041949,002188: 15,3521           65256                           UNIT     PDDL                                  
041950,002189: 15,3522           03562                                    TSIGHT                                
041951,002190: 15,3523           45006                           PUSH     CALL                                  
041952,002191: 15,3524           51670                                    R-TO-RP                               
041953,002192: 15,3525           26237                           STOVL    YNBSAV                                #  YNB TO MF
041954,002193: 15,3526           02701                                    ZNB                                   
041955,002194: 15,3527           53505                           VXM      UNIT                                  
041956,002195: 15,3530           01734                                    REFSMMAT                              #  ZNB TO REF
041957,002196: 15,3531           41525                           PDDL     PUSH                                  
041958,002197: 15,3532           03562                                    TSIGHT                                
041959,002198: 15,3533           77624                           CALL                                           
041960,002199: 15,3534           51670                                    R-TO-RP                               #  ZNB TO MF
041961,002200: 15,3535           02245                           STORE    ZNBSAV                                
041962,002201: 15,3536           77614                           SETGO                                          
041963,002202: 15,3537           03036                                    ATTFLAG                               
041964,002203: 15,3540           02746                                    QMAJ                                  
041965,002204: 

Page 980

041967,002206:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
041968,002207: 
041969,002208: 15,3541           06037        GETLMATT           TC       INTPRET                               
041970,002209: 15,3542           77624                           CALL                                           
041971,002210: 15,3543           33506                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041972,002211: 15,3544           77776                           EXIT                                           
041973,002212: 
041974,002213: 15,3545           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
041975,002214: 15,3546           00205                           ADRES    INITALGN                              
041976,002215: 15,3547           34753                           CAF      BIT1                                  
041977,002216: 15,3550           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
041978,002217: 15,3551           10000                           CCS      A                                     
041979,002218: 15,3552           12563                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
041980,002219: 
041981,002220: 15,3553           05353        ATTCHK             TC       PHASCHNG                              
041982,002221: 15,3554           04024                           OCT      04024                                 
041983,002222: 
041984,002223: 15,3555           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
041985,002224: 15,3556           70102                           MASK     FLAGWRD6                              
041986,002225: 15,3557           10000                           CCS      A                                     
041987,002226: 15,3560           13575                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
041988,002227: 15,3561           05353        P57JUMP            TC       PHASCHNG                              
041989,002228: 15,3562           04024                           OCT      04024                                 
041990,002229: 
041991,002230: 15,3563           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR - RESET INTALIGN FLAG
041992,002231: 15,3564           00205                           ADRES    INITALGN                              
041993,002232: 15,3565           36245                           CAF      THREE                                 
041994,002233: 15,3566           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
041995,002234: 15,3567           50000                           INDEX    A                                     
041996,002235: 15,3570           13571                           TCF      +1                                    
041997,002236: 15,3571           13575                           TCF      P57OPT0                               #  OPTION IS 0
041998,002237: 15,3572           13616                           TCF      P57OPT1                               #  OPTION IS 1
041999,002238: 15,3573           13634                           TCF      P57OPT2                               #  OPTION IS 2
042000,002239: 15,3574           13635                           TCF      P57OPT3                               #  OPTION IS 3
042001,002240: 

Page 981

042003,002242:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
042004,002243: 
042005,002244: 15,3575           06037        P57OPT0            TC       INTPRET                               
042006,002245: 15,3576           77775                           VLOAD                                          
042007,002246: 15,3577           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
042008,002247: 15,3600           26723                           STOVL    VEC1                                  
042009,002248: 15,3601           02245                                    ZNBSAV                                
042010,002249: 15,3602           36731                           STCALL   VEC2                                  
042011,002250: 15,3603           47537                                    CDUTRIG                               
042012,002251: 15,3604           77624                           CALL                                           
042013,002252: 15,3605           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
042014,002253: 15,3606           77775                           VLOAD                                          
042015,002254: 15,3607           02673                                    YNB                                   
042016,002255: 15,3610           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
042017,002256: 15,3611           02701                                    ZNB                                   
042018,002257: 15,3612           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
042019,002258: 15,3613           33462                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
042020,002259: 15,3614           77650                           GOTO                                           
042021,002260: 15,3615           33101                                    SURFLINE                              
042022,002261: 
042023,002262:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042024,002263: 
042025,002264: 15,3616           06037        P57OPT1            TC       INTPRET                               
042026,002265: 15,3617           53575                           VLOAD    UNIT                                  
042027,002266: 15,3620           02023                                    RLS                                   #  LANDING SITE VEC
042028,002267: 15,3621           26723                           STOVL    VEC1                                  
042029,002268: 15,3622           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
042030,002269: 15,3623           36731                           STCALL   VEC2                                  
042031,002270: 15,3624           47537                                    CDUTRIG                               
042032,002271: 15,3625           77624                           CALL                                           
042033,002272: 15,3626           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
042034,002273: 15,3627           45175                           VLOAD    CALL                                  
042035,002274: 15,3630           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042036,002275: 15,3631           47661                                    CDU*NBSM                              
042037,002276: 15,3632           77650                           GOTO                                           
042038,002277: 15,3633           33610                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
042039,002278: 

Page 982

042041,002280:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
042042,002281: 
042043,002282: 15,3634           13045        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
042044,002283: 
042045,002284:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042046,002285: 
042047,002286: 15,3635           06037        P57OPT3            TC       INTPRET                               
042048,002287: 15,3636           53575                           VLOAD    UNIT                                  
042049,002288: 15,3637           02023                                    RLS                                   #  LANDING SITE VEC
042050,002289: 15,3640           02723                           STORE    VEC1                                  
042051,002290: 15,3641           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
042052,002291: 15,3642           02231                                    GSAV                                  #  GRAVITY VEC NB
042053,002292: 15,3643           77624                           CALL                                           
042054,002293: 15,3644           47661                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042055,002294: 15,3645           36761                           STCALL   STARSAV1                              
042056,002295: 15,3646           33462                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
042057,002296: 15,3647           77776                           EXIT                                           
042058,002297: 15,3650           13047                           TCF      1STAR                                 #  1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042059,002298: 
042060,002299: 15,3651           01206        VB05N06            VN       506                                   
042061,002300: 

Page 983

042063,002302:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
042064,002303: 
042065,002304: 15,3652           41302        IMUCHK             CS       IMODES30                              
042066,002305: 15,3653           74743                           MASK     BIT9                                  
042067,002306: 15,3654           10000                           CCS      A                                     #  IS IMU ON
042068,002307: 15,3655           13661                           TCF      +4                                    #  YES
042069,002308: 
042070,002309: 15,3656           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
042071,002310: 15,3657           00210                           OCT      210                                   
042072,002311: 15,3660           06001                           TC       GOTOPOOH                              
042073,002312: 
042074,002313: 15,3661           05504                           TC       UPFLAG                                
042075,002314: 15,3662           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
042076,002315: 
042077,002316: 15,3663           04631                           TC       SWRETURN                              
042078,002317: 
042079,002318: 04,3013                                           BANK     04                                    
042080,002319: 04,2000                                           SETLOC   AOTMARK2                              
042081,002320: 04,2000                                           BANK                                           
042082,002321: 04,3013                                           COUNT*   $$/P57                                
042083,002322: 
042084,002323: 04,3013           77220        LSORIENT           STQ      VLOAD                                 
042085,002324: 04,3014           02746                                    QMAJ                                  
042086,002325: 04,3015           01555                                    RRECTCSM                              
042087,002326: 04,3016           47235                           VXV      VXV                                   
042088,002327: 04,3017           01563                                    VRECTCSM                              
042089,002328: 04,3020           03607                                    XSMD                                  
042090,002329: 04,3021           77656                           UNIT                                           
042091,002330: 04,3022           03623                           STORE    ZSMD                                  
042092,002331: 04,3023           53435                           VXV      UNIT                                  
042093,002332: 04,3024           03607                                    XSMD                                  
042094,002333: 04,3025           37615                           STCALL   YSMD                                  
042095,002334: 04,3026           02746                                    QMAJ                                  
042096,002335: 

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