Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

041004,000002:                                                                                                  ## Copyright:   Public domain.
041005,000003:                                                                                                  ## Filename:    P51-P53.agc
041006,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
041007,000005:                                                                                                  ##              It is part of the source code for the original release
041008,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
041009,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
041010,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
041011,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
041012,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
041013,000011:                                                                                                  ##              that the code format has been changed to conform to the
041014,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
041015,000013:                                                                                                  ##              original YUL assembler.
041016,000014:                                                                                                  ## Reference:   pp. 925-978
041017,000015:                                                                                                  ## Assembler:   yaYUL
041018,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041019,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
041020,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
041021,000019:                                                                                                  ##              2016-12-18 MAS  Updated from comment-proofed Luminary 99 version.
041022,000020:                                                                                                  ##              2017-01-22 HG   Transcribed
041023,000021:                                                                                                  ##              2017-01-22 HG   Fix operand V06N22  -> V6N22
041024,000022:                                                                                                  ##                                          V06N22  -> V06N22* 
041025,000023:                                                                                                  ##                                          DSPTEM1 -> DSPTEM2  
041026,000024:                                                                                                  ##                              Fix interpretive operator SET EXIT -> SET
041027,000025:                                                                                                  ##                                                        STOVL -> STORE
041028,000026:                                                                                                  ##                              Fix operator XCH -> TS
041029,000027:                                                                                                  ##                                           +2  -> +5
041030,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
041031,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
041032,000030: 

Page 925

041034,000032:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- JAN 9, 1967
041035,000033:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
041036,000034:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDANCE REV 46
041037,000035: 
041038,000036:                                                                                                  #  FUNCTIONAL DESCRIPTION-
041039,000037: 
041040,000038:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041041,000039:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041042,000040: 
041043,000041:                                                                                                  #       (A) PREFERRED ORIENTATION
041044,000042: 
041045,000043:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041046,000044:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
041047,000045: 
041048,000046:                                                                                                  #       (B) NOMINAL ORIENTATION
041049,000047: 
041050,000048:                                                                                                  #           X   =  UNIT ( R )
041051,000049:                                                                                                  #           -SM
041052,000050: 
041053,000051:                                                                                                  #           Y  =  UNIT (V X R)
041054,000052:                                                                                                  #            SM
041055,000053: 
041056,000054:                                                                                                  #           Z   =  UNIT (X   X  Y  )
041057,000055:                                                                                                  #            SM           SM     SM
041058,000056: 
041059,000057:                                                                                                  #           WHERE_
041060,000058:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041061,000059:                                                                                                  #            -
041062,000060: 
041063,000061:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041064,000062:                                                                                                  #            -
041065,000063: 
041066,000064:                                                                                                  #       (C) REFSMMAT ORIENTATION
041067,000065: 
041068,000066:                                                                                                  #           (D)  LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041069,000067: 
041070,000068:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041071,000069:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041072,000070:                                                                                                  #       SINCE THE LAST ALIGNMENT).
041073,000071: 
041074,000072:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041075,000073:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041076,000074:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041077,000075:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041078,000076:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041079,000077:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041080,000078:                                                                                                  #  REQUESTED.
041081,000079: 
041082,000080:                                                                                                  #  CALLING SEQUENCE-
041083,000081: 

Page 926

041085,000083:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041086,000084: 
041087,000085:                                                                                                  #  SUBROUTINES CALLED-
041088,000086: 
041089,000087:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
041090,000088:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
041091,000089:                                                                                                  #      3. GOPERF4       9. FLAGUP
041092,000090:                                                                                                  #      4. MATMOVE      10. R56
041093,000091:                                                                                                  #      5. GOFLASH      11. R51
041094,000092:                                                                                                  #      6. S52.3        12. GOPERF3
041095,000093: 
041096,000094:                                                                                                  #  NORMAL EXIT MODES-
041097,000095: 
041098,000096:                                                                                                  #      EXITS TO ENDOFJOB
041099,000097: 
041100,000098:                                                                                                  #  ALARM OR ABORT EXIT MODES-
041101,000099: 
041102,000100:                                                                                                  #      NONE
041103,000101: 
041104,000102:                                                                                                  #  OUTPUT-
041105,000103: 
041106,000104:                                                                                                  #      THE FOLLOWING MAY BE FLASHED ON THE DSKY
041107,000105:                                                                                                  #         1. IMU ORIENTATION CODE
041108,000106:                                                                                                  #         2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041109,000107:                                                                                                  #         3. TIME OF NEXT IGNITION
041110,000108:                                                                                                  #         4. GIMBAL ANGLES
041111,000109:                                                                                                  #         5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041112,000110:                                                                                                  #         6. PLEASE PERFORM P00
041113,000111:                                                                                                  #      THE MODE DISPLAY MAY BE CHANGED TO 20
041114,000112: 
041115,000113:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
041116,000114: 
041117,000115:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041118,000116:                                                                                                  #      XSMD,YSMD,ZSMD.
041119,000117:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041120,000118: 
041121,000119:                                                                                                  #  DEBRIS-
041122,000120: 
041123,000121:                                                                                                  #      WORK AREA
041124,000122: 33,3755                                           BANK     33                                    
041125,000123: 15,2000                                           SETLOC   P50S                                  
041126,000124: 15,2000                                           BANK                                           
041127,000125: 
041128,000126: 15,2050  E5,1755                                  EBANK=   BESTI                                 
041129,000127: 15,2050                                           COUNT*   $$/P52                                
041130,000128: 15,2050           04616        PROG52             TC       BANKCALL                              
041131,000129: 15,2051           11175                           CADR     R02BOTH                               #  IMU STATUS CHECK
041132,000130: 15,2052           34750                           CAF      PFRATBIT                              
041133,000131: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
041134,000132: 15,2054           10000                           CCS      A                                     
041135,000133: 

Page 927

041137,000135: 15,2055           02060                           TC       P52A                                  #  YES
041138,000136: 15,2056           34752                           CAF      BIT2                                  #  NO
041139,000137: 15,2057           02061                           TC       P52A       +1                         
041140,000138: 15,2060           34753        P52A               CAF      BIT1                                  
041141,000139: 15,2061           55145                           TS       OPTION2                               
041142,000140: 15,2062           34753        P52B               CAF      BIT1                                  
041143,000141: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
041144,000142: 15,2064           20566                           CADR     GOPERF4R                              #  FLASH V04N06
041145,000143: 15,2065           06001                           TC       GOTOPOOH                              
041146,000144: 15,2066           12073                           TCF      +5                                    #  V33-PROCEED
041147,000145: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
041148,000146: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
041149,000147: 15,2071           00014                           OCT      00014                                 
041150,000148: 15,2072           05155                           TC       ENDOFJOB                              
041151,000149: 
041152,000150: 15,2073           31145                           CA       OPTION2                               
041153,000151: 15,2074           76244                           MASK     THREE                                 
041154,000152: 15,2075           50000                           INDEX    A                                     
041155,000153: 15,2076           02077                           TC       +1                                    
041156,000154: 15,2077           02105                           TC       P52T                                  
041157,000155: 15,2100           02166                           TC       P52H                                  
041158,000156: 15,2101           02105                           TC       P52T                                  
041159,000157: 15,2102           06036        P52E               TC       INTPRET                               
041160,000158: 15,2103           77650                           GOTO                                           
041161,000159: 15,2104           32162                                    P52F                                  
041162,000160: 15,2105           00006        P52T               EXTEND                                         
041163,000161: 15,2106           34755                           DCA      NEG0                                  
041164,000162: 15,2107           53046                           DXCH     DSPTEM1                               
041165,000163: 15,2110           32172                           CAF      V06N34*                               
041166,000164: 15,2111           04616                           TC       BANKCALL                              
041167,000165: 15,2112           20351                           CADR     GOFLASH                               
041168,000166: 15,2113           06001                           TC       GOTOPOOH                              
041169,000167: 15,2114           02116                           TC       +2                                    
041170,000168: 15,2115           02110                           TC       -5                                    
041171,000169: 15,2116           53046                           DXCH     DSPTEM1                               
041172,000170: 15,2117           00006                           EXTEND                                         
041173,000171: 15,2120           62122                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
041174,000172: 15,2121           12124                           TCF      +3                                    
041175,000173: 15,2122           00006                           EXTEND                                         
041176,000174: 15,2123           30025                           DCA      TIME2                                 
041177,000175: 15,2124           53775                           DXCH     TALIGN                                
041178,000176: 15,2125           31145        P52V               CA       OPTION2                               
041179,000177: 15,2126           74752                           MASK     BIT2                                  
041180,000178: 15,2127           10000                           CCS      A                                     
041181,000179: 15,2130           02134                           TC       P52W                                  
041182,000180: 15,2131           06036                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
041183,000181: 15,2132           77650                           GOTO                                           
041184,000182: 15,2133           32223                                    P52LS                                 
041185,000183: 

Page 928

041187,000185:                                                                                                  #  START ALIGNMENT
041188,000186: 
041189,000187: 15,2134           06036        P52W               TC       INTPRET                               
041190,000188: 15,2135           77745                           DLOAD                                          
041191,000189: 15,2136           02775                                    TALIGN                                #  PICK UP ALIGN TIME
041192,000190: 15,2137           77624                           CALL                                           #  COMPUTE NOMINAL IMU
041193,000191: 15,2140           31566                                    S52.3                                 #   ORIENTATION
041194,000192: 15,2141           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
041195,000193: 15,2142           31534                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
041196,000194: 15,2143           77776                           EXIT                                           
041197,000195: 15,2144           32171                           CAF      V06N22*                               
041198,000196: 15,2145           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
041199,000197: 15,2146           20351                           CADR     GOFLASH                               
041200,000198: 15,2147           06001                           TC       GOTOPOOH                              
041201,000199: 15,2150           12174                           TCF      COARSTYP                              #  V33-PROCEED, SEE IF GYRO TORQUE COARSE
041202,000200: 15,2151           06036                           TC       INTPRET                               #  RECYCLE - VEHICLE HAS BEEN MANUEVERED
041203,000201: 15,2152           77650                           GOTO                                           
041204,000202: 15,2153           32141                                    P52D                                  
041205,000203: 15,2154           06036        REGCOARS           TC       INTPRET                               
041206,000204: 15,2155           77624                           CALL                                           #  DO COARSE ALIGN
041207,000205: 15,2156           31172                                    CAL53A                                #   ROUTINE
041208,000206: 15,2157           43014                           SET      CLEAR                                 
041209,000207: 15,2160           01462                                    REFSMFLG                              
041210,000208: 15,2161           01273                                    PFRATFLG                              
041211,000209: 15,2162           77624        P52F               CALL                                           
041212,000210: 15,2163           30656                                    R51                                   
041213,000211: 15,2164           77776        P52OUT             EXIT                                           
041214,000212: 15,2165           06001                           TC       GOTOPOOH                              
041215,000213: 15,2166           06036        P52H               TC       INTPRET                               #  PREFERRED OPTION, GO COMPUTE GIMBALS
041216,000214: 15,2167           77650                           GOTO                                           
041217,000215: 15,2170           32141                                    P52D                                  
041218,000216: 
041219,000217: 15,2171     5006               VB05N09            =        V05N09                                
041220,000218: 15,2171           01426        V06N22*            VN       00622                                 
041221,000219: 15,2172           01442        V06N34*            VN       634                                   
041222,000220: 
041223,000221: 15,2173           01531        V06N89*            VN       0689                                  
041224,000222: 

Page 929

041226,000224:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041227,000225: 15,2174           32222        COARSTYP           CAF      OCT13                                 
041228,000226: 15,2175           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041229,000227: 15,2176           20476                           CADR     GOPERF1                               
041230,000228: 15,2177           16001                           TCF      GOTOPOOH                              #  V34-TERMIN&OE
041231,000229: 15,2200           12154                           TCF      REGCOARS                              #  V33-NORMAL COARSE
041232,000230: 15,2201           06036                           TC       INTPRET                               #  V32-GYRO TORQUE COARSE
041233,000231: 15,2202           64375                           VLOAD    MXV                                   
041234,000232: 15,2203           03605                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
041235,000233: 15,2204           01734                                    REFSMMAT                              
041236,000234: 15,2205           77656                           UNIT                                           
041237,000235: 15,2206           26665                           STOVL    XDC                                   
041238,000236: 15,2207           03613                                    YSMD                                  
041239,000237: 15,2210           53521                           MXV      UNIT                                  
041240,000238: 15,2211           01734                                    REFSMMAT                              
041241,000239: 15,2212           26673                           STOVL    YDC                                   
041242,000240: 15,2213           03621                                    ZSMD                                  
041243,000241: 15,2214           53521                           MXV      UNIT                                  
041244,000242: 15,2215           01734                                    REFSMMAT                              
041245,000243: 15,2216           36701                           STCALL   ZDC                                   
041246,000244: 15,2217           31025                                    GYCOARS                               
041247,000245: 15,2220           77650                           GOTO                                           
041248,000246: 15,2221           32164                                    P52OUT                                
041249,000247: 15,2222           00013        OCT13              OCT      13                                    
041250,000248: 

Page 930

041252,000250:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
041253,000251: 15,2223           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
041254,000252: 15,2224           01463                                    LUNAFLAG                              
041255,000253: 15,2225           00662                                    ERADFLAG                              #  TO PICK UP RLS
041256,000254: 15,2226           77201                           SETPD    VLOAD                                 
041257,000255: 15,2227           00001                                    0                                     
041258,000256: 15,2230           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
041259,000257: 15,2231           41525                           PDDL     PUSH                                  #  RLS PD 0-5
041260,000258: 15,2232           02775                                    TALIGN                                
041261,000259: 15,2233           77624                           CALL                                           
041262,000260: 15,2234           51504                                    RP-TO-R                               #  TRANS RLS TO REF
041263,000261: 15,2235           77742                           VSR2                                           
041264,000262: 15,2236           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
041265,000263: 15,2237           02775                                    TALIGN                                
041266,000264: 15,2240           77624                           CALL                                           
041267,000265: 15,2241           26351                                    LAT-LONG                              #  GET LAT, LONG, AND ALT
041268,000266: 15,2242           70545                           DLOAD    SR1                                   #  RESCALE LONG TO DEGREES/2
041269,000267: 15,2243           01123                                    LONG                                  
041270,000268: 15,2244           16711                           STODL    LANDLONG                              
041271,000269: 15,2245           01125                                    ALT                                   
041272,000270: 15,2246           16713                           STODL    LANDALT                               #  ALT ALREADY AT 2(29) METERS
041273,000271: 15,2247           01121                                    LAT                                   
041274,000272: 15,2250           02707                           STORE    LANDLAT                               
041275,000273: 15,2251           77776                           EXIT                                           
041276,000274: 
041277,000275: 15,2252           32173        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2, ALT
041278,000276: 15,2253           04616                           TC       BANKCALL                              
041279,000277: 15,2254           20351                           CADR     GOFLASH                               
041280,000278: 15,2255           16001                           TCF      GOTOPOOH                              #  VB34 TERMINATE
041281,000279: 15,2256           12260                           TCF      +2                                    #  VB33 PROCEED
041282,000280: 15,2257           12252                           TCF      LSDISP                                #  VB32 RECYCLE
041283,000281: 
041284,000282: 15,2260           06036                           TC       INTPRET                               
041285,000283: 15,2261           72545                           DLOAD    SL1                                   
041286,000284: 15,2262           02711                                    LANDLONG                              
041287,000285: 15,2263           15123                           STODL    LONG                                  
041288,000286: 15,2264           02713                                    LANDALT                               
041289,000287: 15,2265           15125                           STODL    ALT                                   
041290,000288: 15,2266           02707                                    LANDLAT                               
041291,000289: 15,2267           15121                           STODL    LAT                                   
041292,000290: 15,2270           02775                                    TALIGN                                
041293,000291: 15,2271           77624                           CALL                                           
041294,000292: 15,2272           26422                                    LALOTORV                              
041295,000293: 15,2273           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
041296,000294: 15,2274           02032                                    ALPHAV                                
041297,000295: 15,2275           37605                           STCALL   XSMD                                  
041298,000296: 15,2276           33647                                    LSORIENT                              
041299,000297: 15,2277           77650                           GOTO                                           
041300,000298: 15,2300           32141                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
041301,000299: 

Page 931

041303,000301:                                                                                                  #  NAME -S50 ALIAS  LOCSAM
041304,000302:                                                                                                  #  BY
041305,000303:                                                                                                  #  VINCENT
041306,000304:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR  AND PLANET
041307,000305: 
041308,000306:                                                                                                  #           DEFINE
041309,000307: 
041310,000308: 
041311,000309:                                                                                                  #           U    = UNIT( SUN WRT EARTH)
041312,000310:                                                                                                  #            ES
041313,000311: 
041314,000312:                                                                                                  #           U    =UNIT( MOON WRT EARTH)
041315,000313:                                                                                                  #            EM
041316,000314: 
041317,000315:                                                                                                  #           R    =POSITION VECTOR OF LEM
041318,000316:                                                                                                  #            L
041319,000317: 
041320,000318:                                                                                                  #           R    =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041321,000319:                                                                                                  #            EM
041322,000320: 
041323,000321:                                                                                                  #           P    =RATIO   R   /(DISTANCE SUN TO EARTH)    >.00257125
041324,000322:                                                                                                  #                           EM
041325,000323: 
041326,000324:                                                                                                  #           R    =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041327,000325:                                                                                                  #            E
041328,000326: 
041329,000327:                                                                                                  #           LOCSAM  COMPUTES IN EARTH INFLUENCE
041330,000328: 
041331,000329: 
041332,000330:                                                                                                  #       VSUN   =   U
041333,000331:                                                                                                  #                   ES
041334,000332: 
041335,000333:                                                                                                  #      VEARTH  =   -UNIT( R  )
041336,000334:                                                                                                  #                          L
041337,000335: 
041338,000336:                                                                                                  #      VMOON   =    UNIT(R  .U   - R  )
041339,000337:                                                                                                  #                         EM  EM    L
041340,000338: 
041341,000339:                                                                                                  #      CSUN    =   COS 90
041342,000340: 
041343,000341:                                                                                                  #      CEARTH  =    COS(5 + ARCSIN(R /MAG(R )))
041344,000342:                                                                                                  #                                   E      L
041345,000343: 
041346,000344:                                                                                                  #      CMOON   =    COS 5
041347,000345: 
041348,000346: 
041349,000347:                                                                                                  #  INPUT -  TIME IN MPAC
041350,000348:                                                                                                  #  OUTPUT - LISTED ABOVE
041351,000349:                                                                                                  #  SUBROUTINES -LSPOS,LEMPREC
041352,000350:                                                                                                  #  DEBRIS - VAC AREA ,TSIGHT
041353,000351: 

Page 932

041355,000353: 14,2000                                           SETLOC   P50S1                                 
041356,000354: 14,2000                                           BANK                                           
041357,000355: 14,2347  E5,1642                                  EBANK=   XSM                                   
041358,000356: 
041359,000357: 14,2347                                           COUNT*   $$/LOSAM                              
041360,000358: 
041361,000359: 14,2347  14,2347               S50                =        LOCSAM                                
041362,000360: 14,2347           77620        LOCSAM             STQ                                            
041363,000361: 14,2350           02745                                    QMIN                                  
041364,000362: 14,2351           37560                           STCALL   TSIGHT                                
041365,000363: 14,2352           33663                                    LSPOS                                 
041366,000364: 14,2353           77745                           DLOAD                                          
041367,000365: 14,2354           03560                                    TSIGHT                                
041368,000366: 14,2355           34041                           STCALL   TDEC1                                 
041369,000367: 14,2356           27057                                    LEMPREC                               
041370,000368: 14,2357           61131                           SSP      TIX,2                                 
041371,000369: 14,2360           00052                                    S2                                    
041372,000370: 14,2361           00000                                    0                                     
041373,000371: 14,2362           30404                                    MOONCNTR                              
041374,000372: 14,2363           74375        EARTCNTR           VLOAD    VXSC                                  
041375,000373: 14,2364           02723                                    VMOON                                 
041376,000374: 14,2365           30001                                    RSUBEM                                
041377,000375: 14,2366           52372                           VSL1     VSU                                   
041378,000376: 14,2367           00001                                    RATT                                  
041379,000377: 14,2370           77656                           UNIT                                           
041380,000378: 14,2371           26723                           STOVL    VMOON                                 
041381,000379: 14,2372           00001                                    RATT                                  
041382,000380: 14,2373           57456                           UNIT     VCOMP                                 
041383,000381: 14,2374           16707                           STODL    VEARTH                                
041384,000382: 14,2375           30005                                    RSUBE                                 
041385,000383: 14,2376           77624                           CALL                                           
041386,000384: 14,2377           30436                                    OCCOS                                 
041387,000385: 14,2400           14017                           STODL    CEARTH                                
041388,000386: 14,2401           30445                                    CSS5                                  
041389,000387: 14,2402           34023                           STCALL   CMOON                                 
041390,000388: 14,2403           30431                                    ENDSAM                                
041391,000389: 14,2404           74375        MOONCNTR           VLOAD    VXSC                                  
041392,000390: 14,2405           02723                                    VMOON                                 
041393,000391: 14,2406           30007                                    ROE                                   
041394,000392: 14,2407           53445                           BVSU     UNIT                                  
041395,000393: 14,2410           02715                                    VSUN                                  
041396,000394: 14,2411           26715                           STOVL    VSUN                                  
041397,000395: 14,2412           02723                                    VMOON                                 
041398,000396: 14,2413           53361                           VXSC     VAD                                   
041399,000397: 14,2414           30001                                    RSUBEM                                
041400,000398: 14,2415           00001                                    RATT                                  
041401,000399: 14,2416           57456                           UNIT     VCOMP                                 
041402,000400: 14,2417           26707                           STOVL    VEARTH                                
041403,000401: 14,2420           00001                                    RATT                                  
041404,000402: 14,2421           57456                           UNIT     VCOMP                                 
041405,000403: 

Page 933

041407,000405: 14,2422           16723                           STODL    VMOON                                 
041408,000406: 14,2423           30003                                    RSUBM                                 
041409,000407: 14,2424           77624                           CALL                                           
041410,000408: 14,2425           30436                                    OCCOS                                 
041411,000409: 14,2426           14023                           STODL    CMOON                                 
041412,000410: 14,2427           30445                                    CSS5                                  
041413,000411: 14,2430           00017                           STORE    CEARTH                                
041414,000412: 14,2431           77745        ENDSAM             DLOAD                                          
041415,000413: 14,2432           30447                                    CSSUN                                 
041416,000414: 14,2433           00021                           STORE    CSUN                                  
041417,000415: 14,2434           77650                           GOTO                                           
041418,000416: 14,2435           02745                                    QMIN                                  
041419,000417: 14,2436           70471        OCCOS              DDV      SR1                                   
041420,000418: 14,2437           00045                                    36D                                   
041421,000419: 14,2440           43336                           ASIN     DAD                                   
041422,000420: 14,2441           30451                                    5DEGREES                              
041423,000421: 14,2442           70546                           COS      SR1                                   
041424,000422: 14,2443           77616                           RVQ                                            
041425,000423: 14,2444                        CEARTH             =        14D                                   
041426,000424: 14,2444                        CSUN               =        16D                                   
041427,000425: 14,2444                        CMOON              =        18D                                   
041428,000426: 14,2444           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
041429,000427: 14,2446           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
041430,000428: 14,2450           00343 21616  5DEGREES           2DEC     .013888889                            #     SCALED IN REVS
041431,000429: 

Page 934

041433,000431:                                                                                                  #  PROGRAM NAME - R56              DATE  DEC 20 66
041434,000432:                                                                                                  #  MOD 1                           LOG SECTION P51-P53
041435,000433:                                                                                                  #                                  ASSEMBLY  SUNDISK  REV40
041436,000434:                                                                                                  #  BY KEN VINCENT
041437,000435: 
041438,000436:                                                                                                  #  FUNCTION
041439,000437:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041440,000438:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041441,000439:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041442,000440:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041443,000441:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041444,000442:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041445,000443:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041446,000444:                                                                                                  #  HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041447,000445:                                                                                                  #  AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041448,000446:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041449,000447:                                                                                                  #  50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041450,000448:                                                                                                  #  THOSE WITH GOOD SEPARATION,AND     IN FIELD OF VIEW.
041451,000449: 
041452,000450:                                                                                                  #  CALLING SEQUENCE
041453,000451:                                                                                                  #  L        TC     BANKCALL
041454,000452:                                                                                                  #  L+1      CADR   R56
041455,000453:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
041456,000454:                                                                                                  #  L+3      NORMAL RETURN
041457,000455: 
041458,000456:                                                                                                  #  OUTPUT
041459,000457:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041460,000458:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
041461,000459: 
041462,000460:                                                                                                  #  INITIALIZATION
041463,000461:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
041464,000462: 
041465,000463:                                                                                                  #  DEBRIS
041466,000464:                                                                                                  #  WORK AREA
041467,000465:                                                                                                  #  X,Y,ZNB
041468,000466:                                                                                                  #  SINCDU,COSCDU
041469,000467:                                                                                                  #  STARAD - STAR +5
041470,000468: 14,2452  14,2452               R56                =        PICAPAR                               
041471,000469: 14,2452                                           COUNT*   $$/R56                                
041472,000470: 14,2452           04645        PICAPAR            TC       MAKECADR                              
041473,000471: 14,2453           55745                           TS       QMIN                                  
041474,000472: 14,2454           06036                           TC       INTPRET                               
041475,000473: 14,2455           77624                           CALL                                           
041476,000474: 14,2456           47443                                    CDUTRIG                               
041477,000475: 14,2457           77624                           CALL                                           
041478,000476: 14,2460           31267                                    CALCSMSC                              
041479,000477: 14,2461           77601                           SETPD                                          
041480,000478: 14,2462           00001                                    0                                     
041481,000479: 14,2463           71214                           SET      DLOAD                                 #  VFLAG = 1
041482,000480: 14,2464           01465                                    VFLAG                                 
041483,000481: 

Page 935

041485,000483: 14,2465           22275                                    DPZERO                                
041486,000484: 14,2466           26756                           STOVL    BESTI                                 
041487,000485: 14,2467           02665                                    XNB                                   
041488,000486: 14,2470           63361                           VXSC     PDVL                                  
041489,000487: 14,2471           22273                                    HALFDP                                
041490,000488: 14,2472           02701                                    ZNB                                   
041491,000489: 14,2473           74370                           AXT,1    VXSC                                  
041492,000490: 14,2474           00344                                    228D                                  #  X1 = 37 X 6 + 6
041493,000491: 14,2475           22273                                    HALFDP                                
041494,000492: 14,2476           77655                           VAD                                            
041495,000493: 14,2477           53505                           VXM      UNIT                                  
041496,000494: 14,2500           01734                                    REFSMMAT                              
041497,000495: 14,2501           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
041498,000496: 14,2502           66331                           SSP      SSP                                   #  S1=S2=6
041499,000497: 14,2503           00051                                    S1                                    
041500,000498: 14,2504           00006                                    6                                     
041501,000499: 14,2505           00052                                    S2                                    
041502,000500: 14,2506           00006                                    6                                     
041503,000501: 14,2507           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
041504,000502: 14,2510           30512                                    PIC2                                  
041505,000503: 14,2511           30627                                    PICEND                                
041506,000504: 14,2512           50373        PIC2               VLOAD*   DOT                                   
041507,000505: 14,2513           30347                                    CATLOG,1                              
041508,000506: 14,2514           02731                                    SAX                                   
041509,000507: 14,2515           50025                           DSU      BMN                                   
041510,000508: 14,2516           30626                                    CSS33                                 
041511,000509: 14,2517           30507                                    PIC1                                  
041512,000510: 14,2520           77754                           LXA,2                                          
041513,000511: 14,2521           00046                                    X1                                    
041514,000512: 14,2522           52104        PIC3               TIX,2    GOTO                                  
041515,000513: 14,2523           30525                                    PIC4                                  
041516,000514: 14,2524           30507                                    PIC1                                  
041517,000515: 14,2525           50373        PIC4               VLOAD*   DOT                                   
041518,000516: 14,2526           47430                                    CATLOG,2                              
041519,000517: 14,2527           02731                                    SAX                                   
041520,000518: 14,2530           50025                           DSU      BMN                                   
041521,000519: 14,2531           30626                                    CSS33                                 
041522,000520: 14,2532           30522                                    PIC3                                  
041523,000521: 14,2533           47773                           VLOAD*   DOT*                                  
041524,000522: 14,2534           30347                                    CATLOG,1                              
041525,000523: 14,2535           47430                                    CATLOG,2                              
041526,000524: 14,2536           51025                           DSU      BPL                                   
041527,000525: 14,2537           30624                                    CSS40                                 
041528,000526: 14,2540           30522                                    PIC3                                  
041529,000527: 14,2541           45173                           VLOAD*   CALL                                  
041530,000528: 14,2542           30347                                    CATLOG,1                              
041531,000529: 14,2543           30601                                    OCCULT                                
041532,000530: 14,2544           77614                           BON                                            
041533,000531: 14,2545           01710                                    CULTFLAG                              
041534,000532: 14,2546           30507                                    PIC1                                  
041535,000533: 

Page 936

041537,000535: 14,2547           45173                           VLOAD*   CALL                                  
041538,000536: 14,2550           47430                                    CATLOG,2                              
041539,000537: 14,2551           30601                                    OCCULT                                
041540,000538: 14,2552           77614                           BON                                            
041541,000539: 14,2553           01710                                    CULTFLAG                              
041542,000540: 14,2554           30522                                    PIC3                                  
041543,000541: 14,2555           77614        STRATGY            BONCLR                                         
041544,000542: 14,2556           01605                                    VFLAG                                 
041545,000543: 14,2557           30574                                    NEWPAR                                
041546,000544: 14,2560           65120                           XCHX,1   XCHX,2                                
041547,000545: 14,2561           02755                                    BESTI                                 
041548,000546: 14,2562           02756                                    BESTJ                                 
041549,000547: 14,2563           47773        STRAT              VLOAD*   DOT*                                  
041550,000548: 14,2564           30347                                    CATLOG,1                              
041551,000549: 14,2565           47430                                    CATLOG,2                              
041552,000550: 14,2566           43006                           PUSH     BOFINV                                
041553,000551: 14,2567           01545                                    VFLAG                                 
041554,000552: 14,2570           30560                                    STRAT      -3                         
041555,000553: 14,2571           45345                           DLOAD    DSU                                   
041556,000554: 14,2572           77644                           BPL                                            
041557,000555: 14,2573           30522                                    PIC3                                  
041558,000556: 14,2574           67130        NEWPAR             SXA,1    SXA,2                                 
041559,000557: 14,2575           02755                                    BESTI                                 
041560,000558: 14,2576           02756                                    BESTJ                                 
041561,000559: 14,2577           77650                           GOTO                                           
041562,000560: 14,2600           30522                                    PIC3                                  
041563,000561: 14,2601           51321        OCCULT             MXV      BVSU                                  
041564,000562: 14,2602           02707                                    CULTRIX                               
041565,000563: 14,2603           00017                                    CSS                                   
041566,000564: 14,2604           77654                           BZE                                            
041567,000565: 14,2605           30620                                    CULTED                                
041568,000566: 14,2606           75240                           BMN      SIGN                                  
041569,000567: 14,2607           30620                                    CULTED                                
041570,000568: 14,2610           00160                                    MPAC       +3                         
041571,000569: 14,2611           75240                           BMN      SIGN                                  
041572,000570: 14,2612           30620                                    CULTED                                
041573,000571: 14,2613           00162                                    MPAC       +5                         
041574,000572: 14,2614           43040                           BMN      CLRGO                                 
041575,000573: 14,2615           30620                                    CULTED                                
041576,000574: 14,2616           01630                                    CULTFLAG                              
041577,000575: 14,2617           00052                                    QPRET                                 
041578,000576: 14,2620           77614        CULTED             SETGO                                          
041579,000577: 14,2621           01430                                    CULTFLAG                              
041580,000578: 14,2622           00052                                    QPRET                                 
041581,000579: 14,2623  0000016               CSS                =        CEARTH                                
041582,000580: 14,2623           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
041583,000581: 14,2625           05110 35052  CSS33              2DEC     .16070                                #   COS 50 / 4
041584,000582: 14,2627           77414        PICEND             BOFF     EXIT                                  
041585,000583: 

Page 937

041587,000585: 14,2630           01745                                    VFLAG                                 
041588,000586: 14,2631           30633                                    PICGXT                                
041589,000587: 14,2632           02654                           TC       PICBXT                                
041590,000588: 14,2633           73150        PICGXT             LXA,1    LXA,2                                 
041591,000589: 14,2634           02755                                    BESTI                                 
041592,000590: 14,2635           02756                                    BESTJ                                 
041593,000591: 14,2636           47775                           VLOAD    DOT*                                  
041594,000592: 14,2637           02731                                    SAX                                   
041595,000593: 14,2640           30347                                    CATLOG,1                              
041596,000594: 14,2641           47715                           PDVL     DOT*                                  
041597,000595: 14,2642           02731                                    SAX                                   
041598,000596: 14,2643           47430                                    CATLOG,2                              
041599,000597: 14,2644           77625                           DSU                                            
041600,000598: 14,2645           66044                           BPL      SXA,1                                 
041601,000599: 14,2646           30652                                    PICNSWP                               
041602,000600: 14,2647           02756                                    BESTJ                                 
041603,000601: 14,2650           77734                           SXA,2                                          
041604,000602: 14,2651           02755                                    BESTI                                 
041605,000603: 14,2652           77776        PICNSWP            EXIT                                           
041606,000604: 14,2653           25745                           INCR     QMIN                                  
041607,000605: 14,2654           31745        PICBXT             CA       QMIN                                  
041608,000606: 14,2655           04622                           TC       SWCALL                                
041609,000607: 14,2656                        VPD                =        0D                                    
041610,000608: 14,2656                        V0                 =        6D                                    
041611,000609: 14,2656                        V1                 =        12D                                   
041612,000610: 14,2656                        V2                 =        18D                                   
041613,000611: 14,2656                        V3                 =        24D                                   
041614,000612: 14,2656                        DP0                =        30D                                   
041615,000613: 14,2656                        DP1                =        32D                                   
041616,000614: 

Page 938

041618,000616:                                                                                                  #  NAME-R51  FINE ALIGN
041619,000617:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041620,000618:                                                                                                  #  CALLING SEQ- CALL  R51
041621,000619:                                                                                                  #  INPUT -  REFSMMAT
041622,000620:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
041623,000621:                                                                                                  #  SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041624,000622: 14,2656                                           COUNT*   $$/R51                                
041625,000623: 14,2656           77620        R51                STQ                                            
041626,000624: 14,2657           02746                                    QMAJ                                  
041627,000625: 14,2660           77776        R51.1              EXIT                                           
041628,000626: 14,2661           34761        R51C               CAF      OCT15                                 
041629,000627: 14,2662           04616                           TC       BANKCALL                              
041630,000628: 14,2663           20476                           CADR     GOPERF1                               
041631,000629: 14,2664           06001                           TC       GOTOPOOH                              
041632,000630: 14,2665           02667                           TC       +2                                    #  V33E
041633,000631: 14,2666           02712                           TC       R51E                                  #  ENTER
041634,000632: 14,2667           06036                           TC       INTPRET                               
041635,000633: 14,2670           43234                           RTB      DAD                                   
041636,000634: 14,2671           21462                                    LOADTIME                              
041637,000635: 14,2672           31024                                    TSIGHT1                               
041638,000636: 14,2673           77624                           CALL                                           
041639,000637: 14,2674           30347                                    LOCSAM                                
041640,000638: 14,2675           77776                           EXIT                                           
041641,000639: 14,2676           04616                           TC       BANKCALL                              
041642,000640: 14,2677           30452                           CADR     R56                                   
041643,000641: 14,2700           02702                           TC       R51I                                  
041644,000642: 14,2701           02712        R51F               TC       R51E                                  
041645,000643: 14,2702           05567        R51I               TC       ALARM                                 
041646,000644: 14,2703           00405                           OCT      405                                   
041647,000645: 14,2704           35006                           CAF      VB05N09                               
041648,000646: 14,2705           04616                           TC       BANKCALL                              
041649,000647: 14,2706           20351                           CADR     GOFLASH                               
041650,000648: 14,2707           06001                           TC       GOTOPOOH                              
041651,000649: 14,2710           02712                           TC       R51E                                  
041652,000650: 14,2711           02661                           TC       R51C                                  
041653,000651: 14,2712           34755        R51E               CAF      ZERO                                  
041654,000652: 14,2713           55757                           TS       STARIND                               
041655,000653: 14,2714           06036        R51.2              TC       INTPRET                               
041656,000654: 14,2715           77776        R51.3              EXIT                                           
041657,000655: 14,2716           05353                           TC       PHASCHNG                              
041658,000656: 14,2717           05024                           OCT      05024                                 
041659,000657: 14,2720           13000                           OCT      13000                                 
041660,000658: 14,2721           06036                           TC       INTPRET                               
041661,000659: 14,2722           77624                           CALL                                           
041662,000660: 14,2723           31610                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
041663,000661: 14,2724           77776                           EXIT                                           
041664,000662: 14,2725           04616                           TC       BANKCALL                              
041665,000663: 14,2726           16000                           CADR     AOTMARK                               
041666,000664: 14,2727           04616                           TC       BANKCALL                              
041667,000665: 14,2730           17665                           CADR     OPTSTALL                              
041668,000666: 

Page 939

041670,000668: 14,2731           05703                           TC       CURTAINS                              
041671,000669: 14,2732           11757                           CCS      STARIND                               
041672,000670: 14,2733           12735                           TCF      +2                                    
041673,000671: 14,2734           03006                           TC       R51.4                                 
041674,000672: 14,2735           06036                           TC       INTPRET                               
041675,000673: 14,2736           77775                           VLOAD                                          
041676,000674: 14,2737           02715                                    STARAD     +6                         
041677,000675: 14,2740           02767                           STORE    STARSAV2                              
041678,000676: 14,2741           77776                           EXIT                                           
041679,000677: 14,2742           05353                           TC       PHASCHNG                              
041680,000678: 14,2743           05024                           OCT      05024                                 
041681,000679: 14,2744           13000                           OCT      13000                                 
041682,000680: 14,2745           06036                           TC       INTPRET                               
041683,000681: 14,2746           45145                           DLOAD    CALL                                  
041684,000682: 14,2747           03560                                    TSIGHT                                
041685,000683: 14,2750           32540                                    PLANET                                
041686,000684: 14,2751           53521                           MXV      UNIT                                  
041687,000685: 14,2752           01734                                    REFSMMAT                              
041688,000686: 14,2753           26715                           STOVL    STARAD     +6                         
041689,000687: 14,2754           03552                                    PLANVEC                               
041690,000688: 14,2755           53521                           MXV      UNIT                                  
041691,000689: 14,2756           01734                                    REFSMMAT                              
041692,000690: 14,2757           26707                           STOVL    STARAD                                
041693,000691: 14,2760           02761                                    STARSAV1                              
041694,000692: 14,2761           24007                           STOVL    6D                                    
041695,000693: 14,2762           02767                                    STARSAV2                              
041696,000694: 14,2763           34015                           STCALL   12D                                   
041697,000695: 14,2764           31121                                    R54                                   #  STAR DATA TEST
041698,000696: 14,2765           45014                           BOFF     CALL                                  
041699,000697: 14,2766           00354                                    FREEFLAG                              
041700,000698: 14,2767           30775                                    R51K                                  
041701,000699: 14,2770           47345                                    AXISGEN                               
041702,000700: 14,2771           77624                           CALL                                           
041703,000701: 14,2772           31066                                    R55                                   #  GYRO TORQUE
041704,000702: 14,2773           77614                           CLEAR                                          
041705,000703: 14,2774           01273                                    PFRATFLG                              
041706,000704: 14,2775           77776        R51K               EXIT                                           
041707,000705: 14,2776           35742        R51P63             CAF      OCT14                                 
041708,000706: 14,2777           04616                           TC       BANKCALL                              
041709,000707: 14,3000           20476                           CADR     GOPERF1                               
041710,000708: 14,3001           06001                           TC       GOTOPOOH                              
041711,000709: 14,3002           02661                           TC       R51C                                  
041712,000710: 14,3003           06036                           TC       INTPRET                               
041713,000711: 14,3004           77650                           GOTO                                           
041714,000712: 14,3005           02746                                    QMAJ                                  
041715,000713: 14,3006           06036        R51.4              TC       INTPRET                               
041716,000714: 14,3007           77775                           VLOAD                                          
041717,000715: 14,3010           02715                                    STARAD     +6                         
041718,000716: 14,3011           02761                           STORE    STARSAV1                              
041719,000717: 14,3012           45145                           DLOAD    CALL                                  
041720,000718: 

Page 940

041722,000720: 14,3013           03560                                    TSIGHT                                
041723,000721: 14,3014           32540                                    PLANET                                
041724,000722: 14,3015           03552                           STORE    PLANVEC                               
041725,000723: 14,3016           77731                           SSP                                            
041726,000724: 14,3017           02760                                    STARIND                               
041727,000725: 14,3020           00001                                    1                                     
041728,000726: 14,3021           77650                           GOTO                                           
041729,000727: 14,3022           30715                                    R51.3                                 
041730,000728: 14,3023           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
041731,000729: 

Page 941

041733,000731:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
041734,000732: 14,3025           45020        GYCOARS            STQ      CALL                                  
041735,000733: 14,3026           02746                                    QMAJ                                  
041736,000734: 14,3027           47151                                    CALCGTA                               
041737,000735: 14,3030           43014                           CLEAR    CLEAR                                 
041738,000736: 14,3031           01260                                    DRIFTFLG                              
041739,000737: 14,3032           01662                                    REFSMFLG                              
041740,000738: 14,3033           77776                           EXIT                                           
041741,000739: 14,3034           33065                           CAF      V16N20                                #  MONITOR GIMBALS
041742,000740: 14,3035           04616                           TC       BANKCALL                              
041743,000741: 14,3036           20327                           CADR     GODSPR                                
041744,000742: 14,3037           33120                           CA       R55CDR                                
041745,000743: 14,3040           04616                           TC       BANKCALL                              
041746,000744: 14,3041           17276                           CADR     IMUPULSE                              
041747,000745: 14,3042           04616                           TC       BANKCALL                              
041748,000746: 14,3043           17671                           CADR     IMUSTALL                              
041749,000747: 14,3044           05703                           TC       CURTAINS                              
041750,000748: 14,3045           05353                           TC       PHASCHNG                              
041751,000749: 14,3046           05024                           OCT      05024                                 
041752,000750: 14,3047           13000                           OCT      13000                                 
041753,000751: 14,3050           06036                           TC       INTPRET                               
041754,000752: 14,3051           75160                           AXC,1    AXC,2                                 
041755,000753: 14,3052           03604                                    XSMD                                  
041756,000754: 14,3053           01733                                    REFSMMAT                              
041757,000755: 14,3054           77624                           CALL                                           #  STORE DESIRED REFSMMAT
041758,000756: 14,3055           31237                                    MATMOVE                               
041759,000757: 14,3056           43014                           CLEAR    SET                                   
041760,000758: 14,3057           01273                                    PFRATFLG                              
041761,000759: 14,3060           01462                                    REFSMFLG                              
041762,000760: 14,3061           77624                           CALL                                           
041763,000761: 14,3062           31523                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
041764,000762: 14,3063           77650                           GOTO                                           
041765,000763: 14,3064           30775                                    R51K                                  
041766,000764: 14,3065           04024        V16N20             VN       1620                                  
041767,000765: 

Page 942

041769,000767:                                                                                                  #  R55  GYRO TORQUE
041770,000768:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
041771,000769:                                                                                                  #  CALLING SEQ- CALL R55
041772,000770:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
041773,000771:                                                                                                  #  OUTPUT- GYRO PULSES
041774,000772:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE, IMUPULSE,GOPERF1
041775,000773: 14,3066                                           COUNT*   $$/R55                                
041776,000774: 14,3066           77620        R55                STQ                                            
041777,000775: 14,3067           02745                                    QMIN                                  
041778,000776: 14,3070           77624                           CALL                                           
041779,000777: 14,3071           47151                                    CALCGTA                               
041780,000778: 14,3072           77776        PULSEM             EXIT                                           
041781,000779: 14,3073           33117        R55.1              CAF      V06N93                                
041782,000780: 14,3074           04616                           TC       BANKCALL                              
041783,000781: 14,3075           20351                           CADR     GOFLASH                               
041784,000782: 14,3076           06001                           TC       GOTOPOOH                              
041785,000783: 14,3077           03101                           TC       R55.2                                 
041786,000784: 14,3100           03114                           TC       R55RET                                
041787,000785: 14,3101           05353        R55.2              TC       PHASCHNG                              
041788,000786: 14,3102           00214                           OCT      00214                                 
041789,000787: 14,3103           33120                           CA       R55CDR                                
041790,000788: 14,3104           04616                           TC       BANKCALL                              
041791,000789: 14,3105           17276                           CADR     IMUPULSE                              
041792,000790: 14,3106           04616                           TC       BANKCALL                              
041793,000791: 14,3107           17671                           CADR     IMUSTALL                              
041794,000792: 14,3110           05703                           TC       CURTAINS                              
041795,000793: 14,3111           05353                           TC       PHASCHNG                              
041796,000794: 14,3112           05024                           OCT      05024                                 
041797,000795: 14,3113           13000                           OCT      13000                                 
041798,000796: 14,3114           06036        R55RET             TC       INTPRET                               
041799,000797: 14,3115           77650                           GOTO                                           
041800,000798: 14,3116           02745                                    QMIN                                  
041801,000799: 14,3117           01535        V06N93             VN       0693                                  
041802,000800: 14,3120           02737        R55CDR             ECADR    OGC                                   
041803,000801: 14,3121  14,3121               R54                =        CHKSDATA                              
041804,000802:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
041805,000803:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
041806,000804:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
041807,000805: 
041808,000806:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041809,000807:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041810,000808:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041811,000809: 
041812,000810:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
041813,000811:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
041814,000812:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
041815,000813:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
041816,000814:                                                                                                  #                  A1  = ARCCOS(OS1 - OS2)
041817,000815:                                                                                                  #                  A2  = ARCCOS(SS1 - SS2)
041818,000816:                                                                                                  #                  A   = ABS(2(A1 - A2))
041819,000817: 

Page 943

041821,000819:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041822,000820:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
041823,000821:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
041824,000822:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041825,000823:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041826,000824: 
041827,000825:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
041828,000826:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041829,000827:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
041830,000828:                                                                                                  #  DEBRIS -
041831,000829: 14,3121                                           COUNT*   $$/R54                                
041832,000830: 14,3121           43020        CHKSDATA           STQ      SET                                   
041833,000831: 14,3122           02745                                    QMIN                                  
041834,000832: 14,3123           00074                                    FREEFLAG                              
041835,000833: 14,3124           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
041836,000834: 14,3125           02706                                    STARAD                                
041837,000835: 
041838,000836: 14,3126           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
041839,000837: 14,3127           00001                                    0,1                                   
041840,000838: 14,3130           00007                                    6,1                                   
041841,000839: 14,3131           65552                           SL1      ACOS                                  
041842,000840: 14,3132           00025                           STORE    THETA                                 
041843,000841: 14,3133           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
041844,000842: 14,3134           00354                                    FREEFLAG                              
041845,000843: 14,3135           31145                                    CHKSD                                 
041846,000844: 14,3136           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
041847,000845: 14,3137           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
041848,000846: 14,3140           00006                                    6D                                    
041849,000847: 14,3141           00025                                    THETA                                 
041850,000848: 14,3142           00023                           STORE    18D                                   
041851,000849: 14,3143           77650                           GOTO                                           
041852,000850: 14,3144           31126                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
041853,000851: 14,3145           45345        CHKSD              DLOAD    DSU                                   
041854,000852: 14,3146           00025                                    THETA                                 
041855,000853: 14,3147           00023                                    18D                                   
041856,000854: 14,3150           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
041857,000855: 14,3151           21516                                    SGNAGREE                              
041858,000856: 14,3152           01046                           STORE    NORMTEM1                              
041859,000857: 14,3153           77414                           SET      EXIT                                  
041860,000858: 14,3154           00074                                    FREEFLAG                              
041861,000859: 14,3155           33171                           CAF      VB6N5                                 
041862,000860: 14,3156           04616                           TC       BANKCALL                              
041863,000861: 14,3157           20351                           CADR     GOFLASH                               
041864,000862: 14,3160           16001                           TCF      GOTOPOOH                              
041865,000863: 14,3161           03166                           TC       CHKSDA                                #  PROCEED
041866,000864: 14,3162           06036                           TC       INTPRET                               
041867,000865: 14,3163           52014                           CLEAR    GOTO                                  
041868,000866: 14,3164           00274                                    FREEFLAG                              
041869,000867: 14,3165           02745                                    QMIN                                  
041870,000868: 14,3166           06036        CHKSDA             TC       INTPRET                               
041871,000869: 

Page 944

041873,000871: 14,3167           77650                           GOTO                                           
041874,000872: 14,3170           02745                                    QMIN                                  
041875,000873: 14,3171           01405        VB6N5              VN       605                                   
041876,000874:                                                                                                  #  NAME - CAL53A
041877,000875:                                                                                                  #  FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041878,000876:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
041879,000877:                                                                                                  #  INPUT - X,Y,ZSMD ,CDUX,Y,Z
041880,000878:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
041881,000879:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041882,000880:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
041883,000881: 14,3172                                           COUNT*   $$/R50                                
041884,000882: 14,3172           45020        CAL53A             STQ      CALL                                  
041885,000883: 14,3173           00035                                    29D                                   
041886,000884: 14,3174           31534                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBLE ANGLES
041887,000885: 14,3175           66234                           RTB      SSP                                   
041888,000886: 14,3176           31253                                    RDCDUS                                #  READ CDUS
041889,000887: 14,3177           00051                                    S1                                    
041890,000888: 14,3200           00001                                    1                                     
041891,000889: 14,3201           40370                           AXT,1    SETPD                                 
041892,000890: 14,3202           00003                                    3                                     
041893,000891: 14,3203           00005                                    4                                     
041894,000892: 14,3204           70543        CALOOP             DLOAD*   SR1                                   
041895,000893: 14,3205           00325                                    THETAD     +3D,1                      
041896,000894: 14,3206           70523                           PDDL*    SR1                                   
041897,000895: 14,3207           00005                                    4,1                                   
041898,000896: 14,3210           51425                           DSU      ABS                                   
041899,000897: 14,3211           45206                           PUSH     DSU                                   
041900,000898: 14,3212           31252                                    DEGREE1                               
041901,000899: 14,3213           71240                           BMN      DLOAD                                 
041902,000900: 14,3214           31226                                    CALOOP1                               
041903,000901: 14,3215           51025                           DSU      BPL                                   
041904,000902: 14,3216           31253                                    DEG359                                
041905,000903: 14,3217           31226                                    CALOOP1                               
041906,000904: 14,3220           77624        COARFINE           CALL                                           
041907,000905: 14,3221           31506                                    COARSE                                
041908,000906: 14,3222           77624                           CALL                                           
041909,000907: 14,3223           31523                                    NCOARSE                               
041910,000908: 14,3224           77650                           GOTO                                           
041911,000909: 14,3225           31230                                    FINEONLY                              
041912,000910: 14,3226           77700        CALOOP1            TIX,1                                          
041913,000911: 14,3227           31204                                    CALOOP                                
041914,000912: 14,3230           75160        FINEONLY           AXC,1    AXC,2                                 
041915,000913: 14,3231           02642                                    XSM                                   
041916,000914: 14,3232           01733                                    REFSMMAT                              
041917,000915: 14,3233           77624                           CALL                                           
041918,000916: 14,3234           31237                                    MATMOVE                               
041919,000917: 14,3235           77650                           GOTO                                           
041920,000918: 14,3236           00035                                    29D                                   
041921,000919: 14,3237           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
041922,000920: 14,3240           00001                                    0,1                                   
041923,000921: 

Page 945

041925,000923: 14,3241           10001                           STORE    0,2                                   
041926,000924: 14,3242           77773                           VLOAD*                                         
041927,000925: 14,3243           00007                                    6D,1                                  
041928,000926: 14,3244           10007                           STORE    6D,2                                  
041929,000927: 14,3245           77773                           VLOAD*                                         
041930,000928: 14,3246           00015                                    12D,1                                 
041931,000929: 14,3247           10015                           STORE    12D,2                                 
041932,000930: 14,3250           77616                           RVQ                                            
041933,000931: 14,3251           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
041934,000932: 14,3252           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
041935,000933: 14,3253           00004        RDCDUS             INHINT                                         #  READ CDUS
041936,000934: 14,3254           30032                           CA       CDUX                                  
041937,000935: 14,3255           50120                           INDEX    FIXLOC                                
041938,000936: 14,3256           54001                           TS       1                                     
041939,000937: 14,3257           30033                           CA       CDUY                                  
041940,000938: 14,3260           50120                           INDEX    FIXLOC                                
041941,000939: 14,3261           54002                           TS       2                                     
041942,000940: 14,3262           30034                           CA       CDUZ                                  
041943,000941: 14,3263           50120                           INDEX    FIXLOC                                
041944,000942: 14,3264           54003                           TS       3                                     
041945,000943: 14,3265           00003                           RELINT                                         
041946,000944: 14,3266           06060                           TC       DANZIG                                #                                        +
041947,000945: 14,3267                                           COUNT*   $$/INFLT                              
041948,000946: 14,3267           77760        CALCSMSC           AXC,1                                          
041949,000947: 14,3270           02664                                    XNB                                   
041950,000948: 
041951,000949: 14,3271           41345        XNBNDX             DLOAD    DMP                                   
041952,000950: 14,3272           00737                                    SINCDUY                               
041953,000951: 14,3273           00747                                    COSCDUZ                               
041954,000952: 14,3274           77676                           DCOMP                                          
041955,000953: 14,3275           70525                           PDDL     SR1                                   
041956,000954: 14,3276           00741                                    SINCDUZ                               
041957,000955: 14,3277           41325                           PDDL     DMP                                   
041958,000956: 14,3300           00745                                    COSCDUY                               
041959,000957: 14,3301           00747                                    COSCDUZ                               
041960,000958: 14,3302           76466                           VDEF     VSL1                                  
041961,000959: 14,3303           04001                           STORE    0,1                                   
041962,000960: 14,3304           41345                           DLOAD    DMP                                   
041963,000961: 14,3305           00743                                    SINCDUX                               
041964,000962: 14,3306           00741                                    SINCDUZ                               
041965,000963: 14,3307           77752                           SL1                                            
041966,000964: 14,3310           00033                           STORE    26D                                   
041967,000965: 14,3311           77605                           DMP                                            
041968,000966: 14,3312           00737                                    SINCDUY                               
041969,000967: 14,3313           41325                           PDDL     DMP                                   
041970,000968: 14,3314           00751                                    COSCDUX                               
041971,000969: 14,3315           00745                                    COSCDUY                               
041972,000970: 14,3316           77625                           DSU                                            
041973,000971: 14,3317           41325                           PDDL     DMP                                   
041974,000972: 14,3320           00743                                    SINCDUX                               
041975,000973: 

Page 946

041977,000975: 14,3321           00747                                    COSCDUZ                               
041978,000976: 14,3322           77676                           DCOMP                                          
041979,000977: 14,3323           41325                           PDDL     DMP                                   
041980,000978: 14,3324           00751                                    COSCDUX                               
041981,000979: 14,3325           00737                                    SINCDUY                               
041982,000980: 14,3326           41325                           PDDL     DMP                                   
041983,000981: 14,3327           00745                                    COSCDUY                               
041984,000982: 14,3330           00033                                    26D                                   
041985,000983: 14,3331           55415                           DAD      VDEF                                  
041986,000984: 14,3332           77772                           VSL1                                           
041987,000985: 14,3333           04015                           STORE    14,1                                  
041988,000986: 14,3334           76433                           VXV*     VSL1                                  
041989,000987: 14,3335           00001                                    0,1                                   
041990,000988: 14,3336           04007                           STORE    6,1                                   
041991,000989: 14,3337           77616                           RVQ                                            
041992,000990: 

Page 947

041994,000992:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
041995,000993:                                                                                                  #           MOD.NO.1  23 JAN 67                                                             LOG SECTION - P51-P53
041996,000994:                                                                                                  #  MOD BY STURLAUGSON                                                                      ASSEMBLY SUNDANCE REV56
041997,000995: 
041998,000996:                                                                                                  #  FUNCTIONAL DESCRIPTION
041999,000997: 
042000,000998:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042001,000999:                                                                                                  #  (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042002,001000:                                                                                                  #  STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042003,001001:                                                                                                  #  CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042004,001002: 
042005,001003:                                                                                                  #  CALLING SEQUENCE
042006,001004: 
042007,001005:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042008,001006: 
042009,001007:                                                                                                  #  SUBROUTINES CALLED.
042010,001008: 
042011,001009:                                                                                                  #       GOPERF3
042012,001010:                                                                                                  #       GOPERF1
042013,001011:                                                                                                  #       GODSPR
042014,001012:                                                                                                  #       IMUCOARS
042015,001013:                                                                                                  #       IMUFIN20
042016,001014:                                                                                                  #       AOTMARK(R53)
042017,001015:                                                                                                  #       CHKSDATA(R54)
042018,001016:                                                                                                  #       MKRELEAS
042019,001017:                                                                                                  #       AXISGEN
042020,001018:                                                                                                  #       MATMOVE
042021,001019: 
042022,001020:                                                                                                  #  ALARMS
042023,001021: 
042024,001022:                                                                                                  #       NONE.
042025,001023: 
042026,001024:                                                                                                  #  ERASABLE INITIALIZATION
042027,001025: 
042028,001026:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
042029,001027: 
042030,001028:                                                                                                  #  OUTPUT
042031,001029: 
042032,001030:                                                                                                  #       REFSMMAT
042033,001031:                                                                                                  #       REFSMFLG
042034,001032: 
042035,001033:                                                                                                  #  DEBRIS
042036,001034: 
042037,001035:                                                                                                  #       WORK AREA
042038,001036:                                                                                                  #       STARAD
042039,001037:                                                                                                  #       STARIND
042040,001038:                                                                                                  #       BESTI
042041,001039:                                                                                                  #       BESTJ
042042,001040: 
042043,001041: 14,3340                                           COUNT*   $$/P51                                

Page 948

042045,001043: 14,3340           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
042046,001044: 14,3341           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042047,001045: 
042048,001046: 14,3342           34761                           CAF      PRFMSTAQ                              
042049,001047: 14,3343           04616                           TC       BANKCALL                              
042050,001048: 14,3344           20476                           CADR     GOPERF1                               
042051,001049: 14,3345           06001                           TC       GOTOPOOH                              #  TERM.
042052,001050: 14,3346           13374                           TCF      P51B                                  #  V33
042053,001051: 14,3347           05353                           TC       PHASCHNG                              
042054,001052: 14,3350           05024                           OCT      05024                                 
042055,001053: 14,3351           13000                           OCT      13000                                 
042056,001054: 14,3352           34755                           CAF      P51ZERO                               
042057,001055: 14,3353           54321                           TS       THETAD                                #  ZERO THE GIMBALS
042058,001056: 14,3354           54322                           TS       THETAD     +1                         
042059,001057: 14,3355           54323                           TS       THETAD     +2                         
042060,001058: 14,3356           33504                           CAF      V6N22                                 
042061,001059: 14,3357           04616                           TC       BANKCALL                              
042062,001060: 14,3360           20324                           CADR     GODSPRET                              
042063,001061: 14,3361           33505                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
042064,001062: 14,3362           04616                           TC       BANKCALL                              
042065,001063: 14,3363           20324                           CADR     GODSPRET                              
042066,001064: 14,3364           06036                           TC       INTPRET                               
042067,001065: 14,3365           77624                           CALL                                           
042068,001066: 14,3366           31506                                    COARSE                                
042069,001067: 14,3367           77776                           EXIT                                           
042070,001068: 14,3370           05353                           TC       PHASCHNG                              
042071,001069: 14,3371           05024                           OCT      05024                                 
042072,001070: 14,3372           13000                           OCT      13000                                 
042073,001071: 14,3373           13342                           TCF      P51        +2                         
042074,001072: 
042075,001073: 14,3374           05353        P51B               TC       PHASCHNG                              
042076,001074: 14,3375           00014                           OCT      00014                                 
042077,001075: 14,3376           06036                           TC       INTPRET                               
042078,001076: 14,3377           77624                           CALL                                           
042079,001077: 14,3400           31523                                    NCOARSE                               
042080,001078: 14,3401           40331                           SSP      SETPD                                 
042081,001079: 14,3402           02760                                    STARIND                               #  INDEX-STAR 1 OR 2
042082,001080: 14,3403           00000                                    0                                     
042083,001081: 14,3404           00001                                    0                                     
042084,001082: 14,3405           77776        P51C               EXIT                                           
042085,001083: 14,3406           05353                           TC       PHASCHNG                              
042086,001084: 14,3407           05024                           OCT      05024                                 
042087,001085: 14,3410           13000                           OCT      13000                                 
042088,001086: 14,3411           04616                           TC       BANKCALL                              
042089,001087: 14,3412           16000                           CADR     AOTMARK                               #  R53
042090,001088: 14,3413           04616                           TC       BANKCALL                              
042091,001089: 14,3414           17665                           CADR     AOTSTALL                              
042092,001090: 14,3415           05703                           TC       CURTAINS                              
042093,001091: 14,3416           11757                           CCS      STARIND                               
042094,001092: 14,3417           13425                           TCF      P51D       +1                         
042095,001093: 

Page 949

042097,001095: 14,3420           06036                           TC       INTPRET                               
042098,001096: 14,3421           77775                           VLOAD                                          
042099,001097: 14,3422           02715                                    STARAD     +6                         
042100,001098: 14,3423           02761                           STORE    STARSAV1                              
042101,001099: 14,3424           77776        P51D               EXIT                                           
042102,001100: 14,3425           05353                           TC       PHASCHNG                              
042103,001101: 14,3426           05024                           OCT      05024                                 
042104,001102: 14,3427           13000                           OCT      13000                                 
042105,001103: 14,3430           11757                           CCS      STARIND                               
042106,001104: 14,3431           13446                           TCF      P51E                                  
042107,001105: 14,3432           05353                           TC       PHASCHNG                              
042108,001106: 14,3433           05024                           OCT      05024                                 
042109,001107: 14,3434           13000                           OCT      13000                                 
042110,001108: 14,3435           06036                           TC       INTPRET                               
042111,001109: 14,3436           45145                           DLOAD    CALL                                  
042112,001110: 14,3437           03560                                    TSIGHT                                
042113,001111: 14,3440           32540                                    PLANET                                
042114,001112: 14,3441           03552                           STORE    PLANVEC                               
042115,001113: 14,3442           77776                           EXIT                                           
042116,001114: 14,3443           34753                           CAF      BIT1                                  
042117,001115: 14,3444           55757                           TS       STARIND                               
042118,001116: 14,3445           13406                           TCF      P51C       +1                         #  DO SECOND STAR
042119,001117: 14,3446           05353        P51E               TC       PHASCHNG                              
042120,001118: 14,3447           05024                           OCT      05024                                 
042121,001119: 14,3450           13000                           OCT      13000                                 
042122,001120: 14,3451           06036                           TC       INTPRET                               
042123,001121: 14,3452           45145                           DLOAD    CALL                                  
042124,001122: 14,3453           03560                                    TSIGHT                                
042125,001123: 14,3454           32540                                    PLANET                                
042126,001124: 14,3455           24015                           STOVL    12D                                   
042127,001125: 14,3456           03552                                    PLANVEC                               
042128,001126: 14,3457           24007                           STOVL    6D                                    
042129,001127: 14,3460           02761                                    STARSAV1                              
042130,001128: 14,3461           26707                           STOVL    STARAD                                
042131,001129: 14,3462           02767                                    STARSAV2                              
042132,001130: 14,3463           36715                           STCALL   STARAD     +6                         
042133,001131: 14,3464           31121                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
042134,001132: 14,3465           77414                           BON      EXIT                                  
042135,001133: 14,3466           00314                                    FREEFLAG                              
042136,001134: 14,3467           31471                                    P51G                                  
042137,001135: 14,3470           03342                           TC       P51        +2                         
042138,001136: 14,3471           77624        P51G               CALL                                           
042139,001137: 14,3472           47345                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
042140,001138: 14,3473           75160                           AXC,1    AXC,2                                 
042141,001139: 14,3474           02664                                    XDC                                   
042142,001140: 14,3475           01733                                    REFSMMAT                              
042143,001141: 14,3476           77624                           CALL                                           
042144,001142: 14,3477           31237                                    MATMOVE                               
042145,001143: 14,3500           77614                           SET                                            
042146,001144: 14,3501           01462                                    REFSMFLG                              
042147,001145: 

Page 950

042149,001147: 14,3502           77776                           EXIT                                           
042150,001148: 14,3503           06001                           TC       GOTOPOOH                              #  FINIS
042151,001149: 14,3504     4761               PRFMSTAQ           =        OCT15                                 
042152,001150: 14,3504     4755               P51ZERO            =        ZERO                                  
042153,001151: 14,3504     4756               P51FIVE            =        FIVE                                  
042154,001152: 14,3504           01426        V6N22              VN       0622                                  
042155,001153: 14,3505           12200        V41K               VN       4100                                  
042156,001154: 14,3506           77776        COARSE             EXIT                                           
042157,001155: 14,3507           04616                           TC       BANKCALL                              
042158,001156: 14,3510           16753                           CADR     IMUCOARS                              
042159,001157: 14,3511           04616                           TC       BANKCALL                              
042160,001158: 14,3512           17671                           CADR     IMUSTALL                              
042161,001159: 14,3513           05703                           TC       CURTAINS                              
042162,001160: 14,3514           04616                           TC       BANKCALL                              
042163,001161: 14,3515           17163                           CADR     IMUFINE                               
042164,001162: 14,3516           04616                           TC       BANKCALL                              
042165,001163: 14,3517           17671                           CADR     IMUSTALL                              
042166,001164: 14,3520           05703                           TC       CURTAINS                              
042167,001165: 14,3521           06036                           TC       INTPRET                               
042168,001166: 14,3522           77616                           RVQ                                            
042169,001167: 14,3523           77776        NCOARSE            EXIT                                           
042170,001168: 14,3524           30025                           CA       TIME1                                 
042171,001169: 14,3525           55075                           TS       1/PIPADT                              
042172,001170: 14,3526           06036                           TC       INTPRET                               
042173,001171: 14,3527           77775                           VLOAD                                          
042174,001172: 14,3530           22275                                    ZEROVEC                               
042175,001173: 14,3531           01472                           STORE    GCOMP                                 
042176,001174: 14,3532           43414                           SET      RVQ                                   
042177,001175: 14,3533           01060                                    DRIFTFLG                              
042178,001176: 

Page 951

042180,001178:                                                                                                  #  NAME-S52.2
042181,001179:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042182,001180:                                                                                                  #  CALL-  CALL  S52.2
042183,001181:                                                                                                  #  INPUT- X,Y,ZSMD
042184,001182:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042185,001183:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042186,001184: 14,3534                                           COUNT*   $$/S52.1                              
042187,001185: 14,3534           77620        S52.2              STQ                                            
042188,001186: 14,3535           02746                                    QMAJ                                  
042189,001187: 14,3536           77624                           CALL                                           
042190,001188: 14,3537           47443                                    CDUTRIG                               
042191,001189: 14,3540           77624                           CALL                                           
042192,001190: 14,3541           31267                                    CALCSMSC                              
042193,001191: 14,3542           66370                           AXT,1    SSP                                   
042194,001192: 14,3543           00022                                    18D                                   
042195,001193: 14,3544           00051                                    S1                                    
042196,001194: 14,3545           00006                                    6D                                    
042197,001195: 14,3546           61373        S52.2A             VLOAD*   VXM                                   
042198,001196: 14,3547           02707                                    XNB        +18D,1                     
042199,001197: 14,3550           01734                                    REFSMMAT                              
042200,001198: 14,3551           77656                           UNIT                                           
042201,001199: 14,3552           06707                           STORE    XNB        +18D,1                     
042202,001200: 14,3553           77700                           TIX,1                                          
042203,001201: 14,3554           31546                                    S52.2A                                
042204,001202: 14,3555           75160        S52.2.1            AXC,1    AXC,2                                 
042205,001203: 14,3556           03604                                    XSMD                                  
042206,001204: 14,3557           02642                                    XSM                                   
042207,001205: 14,3560           77624                           CALL                                           
042208,001206: 14,3561           31237                                    MATMOVE                               
042209,001207: 14,3562           77624                           CALL                                           
042210,001208: 14,3563           47255                                    CALCGA                                
042211,001209: 14,3564           77650                           GOTO                                           
042212,001210: 14,3565           02746                                    QMAJ                                  
042213,001211: 

Page 952

042215,001213:                                                                                                  #  NAME-S52.3
042216,001214:                                                                                                  #  FUNCTION  XSMD= UNIT R
042217,001215:                                                                                                  #            YSMD= UNIT(V X R)
042218,001216:                                                                                                  #            ZSMD= UNIT(XSMD X YSMD)
042219,001217:                                                                                                  #  CALL     DLOAD  CALL
042220,001218:                                                                                                  #                  TALIGN
042221,001219:                                                                                                  #                  S52.3
042222,001220:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
042223,001221:                                                                                                  #  OUTPUT-  X,Y,ZSMD
042224,001222:                                                                                                  #  SUBROUTINES- CSMCONIC
042225,001223: 14,3566                                           COUNT*   $$/S52.3                              
042226,001224: 14,3566           77620        S52.3              STQ                                            
042227,001225: 14,3567           02746                                    QMAJ                                  
042228,001226: 14,3570           34041                           STCALL   TDEC1                                 
042229,001227: 14,3571           27100                                    LEMCONIC                              
042230,001228: 14,3572           77601                           SETPD                                          
042231,001229: 14,3573           00001                                    0                                     
042232,001230: 14,3574           53575                           VLOAD    UNIT                                  
042233,001231: 14,3575           00001                                    RATT                                  
042234,001232: 14,3576           27605                           STOVL    XSMD                                  
042235,001233: 14,3577           00007                                    VATT                                  
042236,001234: 14,3600           53435                           VXV      UNIT                                  
042237,001235: 14,3601           00001                                    RATT                                  
042238,001236: 14,3602           27613                           STOVL    YSMD                                  
042239,001237: 14,3603           03605                                    XSMD                                  
042240,001238: 14,3604           53435                           VXV      UNIT                                  
042241,001239: 14,3605           03613                                    YSMD                                  
042242,001240: 14,3606           37621                           STCALL   ZSMD                                  
042243,001241: 14,3607           02746                                    QMAJ                                  
042244,001242: 

Page 953

042246,001244:                                                                                                  #  NAME    -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042247,001245: 
042248,001246:                                                                                                  #  FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042249,001247:                                                                                                  #           STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042250,001248: 
042251,001249:                                                                                                  #  CALLING -CALL R52
042252,001250: 
042253,001251:                                                                                                  #  INPUT   -BESTI AND BESTJ (STAR CODES TIMES 6)
042254,001252:                                                                                                  #  OUTPUT  -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042255,001253:                                                                                                  #           (NO CHECK IS MADE TO INSURE THE DETENT  CODE TO BE VALID)
042256,001254:                                                                                                  #           POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042257,001255:                                                                                                  #           SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042258,001256: 
042259,001257:                                                                                                  #  SUBROUT -R60LEM
042260,001258: 
042261,001259: 14,3610                                           COUNT*   $$/R52                                
042262,001260: 14,3610           77420        R52                STQ      EXIT                                  
042263,001261: 14,3611           03663                                    SAVQR52                               
042264,001262: 14,3612           51757                           INDEX    STARIND                               
042265,001263: 14,3613           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
042266,001264: 14,3614           00006                           EXTEND                                         
042267,001265: 14,3615           73706                           MP       1/6TH                                 
042268,001266: 14,3616           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
042269,001267: 14,3617           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
042270,001268: 
042271,001269: 14,3620           33707        R52A               CAF      V01N70                                
042272,001270: 14,3621           04616                           TC       BANKCALL                              
042273,001271: 14,3622           20351                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
042274,001272: 14,3623           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042275,001273: 14,3624           13626                           TCF      R52B                                  #  V33-PROCEED TO ORIENT LEM
042276,001274: 14,3625           13620                           TCF      R52A                                  #  ENTER-SELECT NEW STARCODE-RECYCLE
042277,001275: 
042278,001276: 14,3626           05516        R52B               TC       DOWNFLAG                              
042279,001277: 14,3627           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042280,001278: 14,3630           30735                           CA       STARCODE                              #  GRAB DETENT CODE
042281,001279: 14,3631           77743                           MASK     HIGH9                                 
042282,001280: 14,3632           00006                           EXTEND                                         
042283,001281: 14,3633           63620                           BZMF     R52A                                  #  DONT ALLOW ZERO CODE-RECYCLE
042284,001282: 14,3634           74743                           MASK     BIT9                                  #  SEE IF CODE 4 OR 5
042285,001283: 14,3635           10000                           CCS      A                                     
042286,001284: 14,3636           13655                           TCF      GETAZEL                               #  CODE 4 OR 5-GET CALIBRATION AZ EL
042287,001285: 14,3637  E7,1547                                  EBANK=   XYMARK                                
042288,001286: 14,3637           35016                           CA       EBANK7                                
042289,001287: 14,3640           54003                           TS       EBANK                                 
042290,001288: 14,3641           37743                           CAF      HIGH9                                 #  FORWARD DETENT, INDEX DETENT AND GRAB
042291,001289: 14,3642           70735                           MASK     STARCODE                              #  AZIMUTH  ANGLE AND ELV = 45 DEG
042292,001290: 14,3643           00006                           EXTEND                                         
042293,001291: 14,3644           74743                           MP       BIT9                                  #  SHIFT DETENT TO BITS1-2 FOR INDEX
042294,001292: 14,3645           50000                           INDEX    A                                     
042295,001293: 14,3646           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
042296,001294: 

Page 954

042298,001296: 14,3647           54001                           TS       L                                     
042299,001297: 14,3650  E5,1642                                  EBANK=   XSM                                   
042300,001298: 14,3650           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
042301,001299: 14,3651           54003                           TS       EBANK                                 
042302,001300: 14,3652           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
042303,001301: 14,3653           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
042304,001302: 14,3654           13665                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
042305,001303: 
042306,001304: 14,3655           33710        GETAZEL            CAF      V06N87                                #  CODE 4 OR 5-GET AZ AND EL FROM ASTRO
042307,001305: 14,3656           04616                           TC       BANKCALL                              
042308,001306: 14,3657           20351                           CADR     GOFLASH                               
042309,001307: 14,3660           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042310,001308: 14,3661           13663                           TCF      +2                                    #  PROCEED-CALC OPTIC AXIS
042311,001309: 14,3662           13655                           TCF      GETAZEL                               #  ENTER-RECYCLE
042312,001310: 
042313,001311: 14,3663           00006                           EXTEND                                         
042314,001312: 14,3664           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
042315,001313: 14,3665           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
042316,001314: 14,3666           52011                           DXCH     8D                                    
042317,001315: 14,3667           06036                           TC       INTPRET                               
042318,001316: 14,3670           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
042319,001317: 14,3671           13370                                    OANB                                  #  SCAXIS IN NB COORDS
042320,001318: 14,3672           45034                           RTB      CALL                                  
042321,001319: 14,3673           21462                                    LOADTIME                              
042322,001320: 14,3674           32540                                    PLANET                                
042323,001321: 14,3675           53521                           MXV      UNIT                                  
042324,001322: 14,3676           01734                                    REFSMMAT                              
042325,001323: 14,3677           03767                           STORE    POINTVSM                              #  STORE FOR VECPOINT
042326,001324: 
042327,001325: 14,3700           77776                           EXIT                                           
042328,001326: 14,3701           04616                           TC       BANKCALL                              
042329,001327: 14,3702           54101                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
042330,001328: 
042331,001329: 14,3703           06036                           TC       INTPRET                               #  RETURN FROM KALCMANU
042332,001330: 14,3704           77650                           GOTO                                           
042333,001331: 14,3705           03663                                    SAVQR52                               #  RETURN TO CALLER
042334,001332: 
042335,001333: 14,3706           05253        1/6TH              DEC      .1666667                              
042336,001334: 14,3707           00306        V01N70             VN       0170                                  
042337,001335: 14,3710           01527        V06N87             VN       687                                   
042338,001336: 

Page 955

042340,001338:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
042341,001339: 
042342,001340: 15,2301                                           BANK     15                                    
042343,001341: 15,2000                                           SETLOC   P50S                                  
042344,001342: 15,2000                                           BANK                                           
042345,001343: 15,2301                                           COUNT*   $$/R59                                
042346,001344: 
042347,001345: 15,2301           40077        R59                CS       FLAGWRD3                              
042348,001346: 15,2302           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042349,001347: 15,2303           10000                           CCS      A                                     
042350,001348: 15,2304           12523                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
042351,001349: 
042352,001350: 15,2305           32531                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
042353,001351: 15,2306           04616                           TC       BANKCALL                              
042354,001352: 15,2307           20351                           CADR     GOFLASH                               
042355,001353: 15,2310           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042356,001354: 15,2311           12313                           TCF      R59A                                  #  V33-PROCEED
042357,001355: 15,2312           12301                           TCF      R59                                   #  V32-RECYCLE
042358,001356: 
042359,001357: 15,2313           47743        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
042360,001358: 15,2314           70735                           MASK     AOTCODE                               
042361,001359: 15,2315           00006                           EXTEND                                         
042362,001360: 15,2316           76241                           MP       REVCNT                                #  JUST 6
042363,001361: 15,2317           56001                           XCH      L                                     
042364,001362: 15,2320           51757                           INDEX    STARIND                               
042365,001363: 15,2321           55755                           TS       BESTI                                 
042366,001364: 15,2322           50120                           INDEX    FIXLOC                                
042367,001365: 15,2323           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
042368,001366: 15,2324           00006                           EXTEND                                         
042369,001367: 15,2325           12523                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
042370,001368: 15,2326           40000                           COM                                            
042371,001369: 15,2327           62625                           AD       DEC227                                
042372,001370: 15,2330           00006                           EXTEND                                         
042373,001371: 15,2331           62523                           BZMF     R59OUT                                
042374,001372: 
042375,001373: 15,2332           06036                           TC       INTPRET                               
042376,001374: 15,2333           77624                           CALL                                           
042377,001375: 15,2334           47443                                    CDUTRIG                               #  GET CDU JAZZ FOR SMNB
042378,001376: 15,2335           64373                           VLOAD*   MXV                                   
042379,001377: 15,2336           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
042380,001378: 15,2337           01734                                    REFSMMAT                              #  TRANSFORM TO SM
042381,001379: 15,2340           45056                           UNIT     CALL                                  
042382,001380: 15,2341           47575                                    *SMNB*                                #  TRANSFORM TO NB
042383,001381: 15,2342           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
042384,001382: 15,2343           77776                           EXIT                                           
042385,001383: 
042386,001384: 15,2344           34753                           CAF      BIT1                                  #  INITIALIZE POS TO ONE
042387,001385: 15,2345           55052                           TS       POSCODE                               
042388,001386: 15,2346           42537                           CS       DEG60                                 #  AS(N) TO -60 DEG
042389,001387: 15,2347           55745                           TS       QMIN                                  
042390,001388: 

Page 956

042392,001390: 
042393,001391: 
042394,001392: 15,2350           54000        STORPOS            TS       A                                     #  DETECT OVF AZ = -120
042395,001393: 15,2351           12354                           TCF      +3                                    #  NO OVF
042396,001394: 15,2352           34735                           CAF      BIT15                                 #  OVF SKIP-ADD NEGMAX TO OVF CORRECT QMIN
042397,001395: 15,2353           27745                           ADS      QMIN                                  
042398,001396: 15,2354           34737                           CAF      BIT13                                 #  ELV=45 DEG
042399,001397: 15,2355           54001                           TS       L                                     
042400,001398: 15,2356           31745                           CA       QMIN                                  
042401,001399: 15,2357           50120                           INDEX    FIXLOC                                
042402,001400: 15,2360           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042403,001401: 
042404,001402: 15,2361           06036                           TC       INTPRET                               
042405,001403: 15,2362           77624                           CALL                                           
042406,001404: 15,2363           13370                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
042407,001405: 15,2364           50375                           VLOAD    DOT                                   
042408,001406: 15,2365           02731                                    STAR                                  #  DOT STAR WITH OA
042409,001407: 15,2366           03761                                    SCAXIS                                
042410,001408: 15,2367           65552                           SL1      ARCCOS                                
042411,001409: 15,2370           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
042412,001410: 
042413,001411: 15,2371           51025                           DSU      BPL                                   
042414,001412: 15,2372           32534                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
042415,001413: 15,2373           32455                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
042416,001414: 15,2374           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
042417,001415: 15,2375           00031                                    24D                                   
042418,001416: 15,2376           32536                                    DEG.5                                 
042419,001417: 15,2377           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
042420,001418: 15,2400           32450                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
042421,001419: 15,2401           00031                                    24D                                   #  GET SPIRAL
042422,001420: 15,2402           42405                           DMP      SL4                                   
042423,001421: 15,2403           23710                                    3/4                                   #  12 SCALED AT 16
042424,001422: 15,2404           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
042425,001423: 
042426,001424: 15,2405           03761                                    SCAXIS                                #  OA
042427,001425: 15,2406           53435                           VXV      UNIT                                  
042428,001426: 15,2407           22273                                    XUNIT                                 
042429,001427: 15,2410           47206                           PUSH     VXV                                   #   OA X UNITX   PD 0-5
042430,001428: 15,2411           03761                                    SCAXIS                                
042431,001429: 15,2412           77676                           VCOMP                                          
042432,001430: 15,2413           63256                           UNIT     PDVL                                  #  UNIT(OA X(OA X UNITX))  PD 6-11
042433,001431: 15,2414           03761                                    SCAXIS                                
042434,001432: 15,2415           53435                           VXV      UNIT                                  
042435,001433: 15,2416           02731                                    STAR                                  
042436,001434: 15,2417           50206                           PUSH     DOT                                   #  1/2(OA X STAR)   PD 12-17
042437,001435: 15,2420           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX)  FOR YROT
042438,001436: 15,2421           65552                           SL1      ARCCOS                                
042439,001437: 15,2422           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS
042440,001438: 
042441,001439: 15,2423           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
042442,001440: 15,2424           71244                           BPL      DLOAD                                 #  IF THET NEG-GET 360-THET
042443,001441: 15,2425           32432                                    R59D                                  
042444,001442: 

Page 957

042446,001444: 15,2426           32047                                    ABOUTONE                              
042447,001445: 15,2427           77625                           DSU                                            
042448,001446: 15,2430           00033                                    26D                                   
042449,001447: 15,2431           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
042450,001448: 
042451,001449: 15,2432           70535        R59D               SLOAD    SR1                                   
042452,001450: 15,2433           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
042453,001451: 15,2434           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
042454,001452: 15,2435           00033                                    26D                                   
042455,001453: 15,2436           77634                           RTB                                            
042456,001454: 15,2437           21520                                    1STO2S                                
042457,001455: 15,2440           15046                           STODL    CURSOR                                #  YROT IN 1/2 REVS
042458,001456: 15,2441           00031                                    24D                                   #  LOAD SROT IN REVS
042459,001457: 15,2442           77615                           DAD                                            #  12(SEP) + YROT
042460,001458: 15,2443           77634                           RTB                                            
042461,001459: 15,2444           21520                                    1STO2S                                
042462,001460: 15,2445           01047                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
042463,001461: 15,2446           77776                           EXIT                                           
042464,001462: 15,2447           12476                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
042465,001463: 
042466,001464: 15,2450           77776        ZSPCR              EXIT                                           
042467,001465: 15,2451           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS,ZERO CURSOR
042468,001466: 15,2452           55045                           TS       CURSOR                                #  AND SPIRAL ANGLES
042469,001467: 15,2453           55046                           TS       SPIRAL                                
042470,001468: 15,2454           12476                           TCF      79DISP                                
042471,001469: 
042472,001470: 15,2455           77776        NXAX               EXIT                                           
042473,001471: 15,2456           25052                           INCR     POSCODE                               
042474,001472: 15,2457           41052                           CS       POSCODE                               
042475,001473: 15,2460           64757                           AD       SEVEN                                 
042476,001474: 15,2461           00006                           EXTEND                                         
042477,001475: 15,2462           62466                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
042478,001476: 15,2463           32537                           CAF      DEG60                                 #  ADVANCE AZ(N) BY 60 DEG
042479,001477: 15,2464           27745                           ADS      QMIN                                  #  IF OVF, QMIN CONTAINS OVF CORRECTED
042480,001478: 15,2465           12350                           TCF      STORPOS                               
042481,001479: 15,2466           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
042482,001480: 15,2467           00404                           OCT      404                                   
042483,001481: 15,2470           35006                           CAF      VB05N09                               #  DISPLAY ALARM
042484,001482: 15,2471           04616                           TC       BANKCALL                              
042485,001483: 15,2472           20351                           CADR     GOFLASH                               
042486,001484: 15,2473           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
042487,001485: 15,2474           12523                           TCF      R59OUT                                #  VB33-PROCEED, GO WITHOUT AQUIRE
042488,001486: 15,2475           12301                           TCF      R59                                   #  VB32-RECYCLE AND TRY ANOTHER STAR
042489,001487: 
042490,001488: 15,2476           32532        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
042491,001489: 15,2477           04616                           TC       BANKCALL                              
042492,001490: 15,2500           20351                           CADR     GOFLASH                               
042493,001491: 15,2501           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
042494,001492: 15,2502           12504                           TCF      R59E                                  #  V33-PROCEED TO MARK ROUTINE
042495,001493: 15,2503           12301                           TCF      R59                                   #  V32-RECYCLE TO TOP OF R59 AGAIN
042496,001494: 

Page 958

042498,001496: 15,2504           34751        R59E               CAF      BIT3                                  #  GET DETENT CORRESPONDING TO POSITION COD
042499,001497: 15,2505           71052                           MASK     POSCODE                               #  KEYED IN POS CODE
042500,001498: 15,2506           00006                           EXTEND                                         
042501,001499: 15,2507           12511                           BZF      +2                                    #  FORWARD DETENT
042502,001500: 15,2510           12513                           TCF      +3                                    #  ITS REAR DETENT, 4 ALREADY IN (A)
042503,001501: 15,2511           34757                           CAF      SEVEN                                 #  GET FORWARD DETENT
042504,001502: 15,2512           71052                           MASK     POSCODE                               
042505,001503: 15,2513           00006                           EXTEND                                         
042506,001504: 15,2514           74745                           MP       BIT7                                  
042507,001505: 15,2515           56001                           XCH      L                                     
042508,001506: 15,2516           55745                           TS       QMIN                                  
042509,001507: 15,2517           47743                           CS       HIGH9                                 
042510,001508: 15,2520           70735                           MASK     AOTCODE                               
042511,001509: 15,2521           61745                           AD       QMIN                                  
042512,001510: 15,2522           54735                           TS       AOTCODE                               #  STORE DETENT IN 7-9
042513,001511: 
042514,001512: 15,2523           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
042515,001513: 15,2524           16000                           CADR     AOTMARK                               
042516,001514: 15,2525           04616                           TC       BANKCALL                              
042517,001515: 15,2526           17665                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
042518,001516: 15,2527           05703                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
042519,001517: 15,2530           13123                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
042520,001518: 
042521,001519: 15,2531           00306        V01N70*            VN       170                                   
042522,001520: 15,2532           01517        V06N79             VN       679                                   
042523,001521: 15,2533           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
042524,001522: 15,2535           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
042525,001523: 15,2537           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
042526,001524: 15,2540     1045               CURSOR             EQUALS   DSPTEM1                               
042527,001525: 15,2540     1046               SPIRAL             EQUALS   DSPTEM1    +1                         
042528,001526: 15,2540     1052               POSCODE            EQUALS   DSPTEM2    +2                         
042529,001527: 

Page 959

042531,001529:                                                                                                  #  NAME -    PLANET
042532,001530:                                                                                                  #  FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042533,001531:                                                                                                  #            BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042534,001532:                                                                                                  #            MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042535,001533:                                                                                                  #            BY DSDY INPUT
042536,001534:                                                                                                  #  CALL  -  CALL
042537,001535:                                                                                                  #                  PLANET
042538,001536:                                                                                                  #  INPUT -  TIME IN MPAC
042539,001537:                                                                                                  #  OUTPUT - VECTOR  IN MPAC
042540,001538:                                                                                                  #  SUBROUTINES - LOCSAM
042541,001539:                                                                                                  #  DEBRIS - VAC ,STARAD - STARAD +17
042542,001540: 
042543,001541: 15,2000                                           SETLOC   P50S                                  
042544,001542: 15,2000                                           BANK                                           
042545,001543: 15,2540                                           COUNT*   $$/P51                                
042546,001544: 
042547,001545: 15,2540           03560        PLANET             STORE    TSIGHT                                
042548,001546: 15,2541           77420                           STQ      EXIT                                  
042549,001547: 15,2542           02736                                    GCTR                                  
042550,001548: 15,2543           47743                           CS       HIGH9                                 
042551,001549: 15,2544           70735                           MASK     AOTCODE                               
042552,001550: 15,2545           00006                           EXTEND                                         
042553,001551: 15,2546           76241                           MP       REVCNT                                
042554,001552: 15,2547           56001                           XCH      L                                     
042555,001553: 15,2550           51757                           INDEX    STARIND                               
042556,001554: 15,2551           55755                           TS       BESTI                                 
042557,001555: 15,2552           10000                           CCS      A                                     
042558,001556: 15,2553           12567                           TCF      NOTPLAN                               
042559,001557: 15,2554           32626                           CAF      VNPLANV                               
042560,001558: 15,2555           04616                           TC       BANKCALL                              
042561,001559: 15,2556           20351                           CADR     GOFLASH                               
042562,001560: 15,2557           02554                           TC       -3                                    
042563,001561: 15,2560           02562                           TC       +2                                    
042564,001562: 15,2561           02554                           TC       -5                                    
042565,001563: 15,2562           06036                           TC       INTPRET                               
042566,001564: 15,2563           53575                           VLOAD    UNIT                                  
042567,001565: 15,2564           02707                                    STARAD                                
042568,001566: 15,2565           77650                           GOTO                                           
042569,001567: 15,2566           02736                                    GCTR                                  
042570,001568: 15,2567           40000        NOTPLAN            CS       A                                     
042571,001569: 15,2570           62625                           AD       DEC227                                
042572,001570: 15,2571           00006                           EXTEND                                         
042573,001571: 15,2572           62603                           BZMF     CALSAM1                               
042574,001572: 15,2573           51757                           INDEX    STARIND                               
042575,001573: 15,2574           31755                           CA       BESTI                                 
042576,001574: 15,2575           50120                           INDEX    FIXLOC                                
042577,001575: 15,2576           54046                           TS       X1                                    
042578,001576: 15,2577           06036                           TC       INTPRET                               
042579,001577: 15,2600           52173                           VLOAD*   GOTO                                  
042580,001578: 15,2601           30347                                    CATLOG,1                              
042581,001579: 

Page 960

042583,001581: 15,2602           02736                                    GCTR                                  
042584,001582: 15,2603           06036        CALSAM1            TC       INTPRET                               
042585,001583: 15,2604           45145        CALSAM             DLOAD    CALL                                  
042586,001584: 15,2605           03560                                    TSIGHT                                
042587,001585: 15,2606           30347                                    LOCSAM                                
042588,001586: 15,2607           77340                           LXC,1    VLOAD                                 
042589,001587: 15,2610           02757                                    STARIND                               
042590,001588: 15,2611           02707                                    VEARTH                                
042591,001589: 15,2612           24001                           STOVL    0D                                    
042592,001590: 15,2613           02715                                    VSUN                                  
042593,001591: 15,2614           26707                           STOVL    VEARTH                                
042594,001592: 15,2615           00001                                    0D                                    
042595,001593: 15,2616           02715                           STORE    VSUN                                  
042596,001594: 15,2617           70143                           DLOAD*   LXC,1                                 
042597,001595: 15,2620           02756                                    BESTI,1                               
042598,001596: 15,2621           00154                                    MPAC                                  
042599,001597: 15,2622           52173                           VLOAD*   GOTO                                  
042600,001598: 15,2623           02343                                    STARAD     -228D,1                    
042601,001599: 15,2624           02736                                    GCTR                                  
042602,001600: 15,2625           00343        DEC227             DEC      227        B-14                       
042603,001601: 15,2626           01530        VNPLANV            VN       0688                                  
042604,001602: 15,2627  37,3533               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
042605,001603: 

Page 961

042607,001605:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
042608,001606:                                                                                                  #  BY KEN VINCENT
042609,001607:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042610,001608:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042611,001609:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042612,001610:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042613,001611:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042614,001612:                                                                                                  #  PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042615,001613:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042616,001614:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042617,001615:                                                                                                  #  READINGS.
042618,001616: 
042619,001617:                                                                                                  #  CALL-
042620,001618:                                                                                                  #           TC     BANKCALL
042621,001619:                                                                                                  #           CADR   GVDETER
042622,001620:                                                                                                  #  INPUTS-
042623,001621:                                                                                                  #           PIPAS,CDUS
042624,001622:                                                                                                  #  OUTPUTS-
042625,001623:                                                                                                  #           STARSAV1 = UNIT GRAVITY
042626,001624:                                                                                                  #           GSAV     =   DITTO
042627,001625:                                                                                                  #           GRAVBIT  = 1
042628,001626:                                                                                                  #  SUBROUTINES-
042629,001627:                                                                                                  #           PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042630,001628:                                                                                                  #           *NBSM* ,*SNMB*, CALCGA,FOFLASH
042631,001629:                                                                                                  #  DEBRIS-
042632,001630:                                                                                                  #           VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042633,001631: 15,2627           44737        GVDETER            CS       BIT13                                 #  JAM 45 DEG IN DESIRED GIMBAL ANGLES
042634,001632: 15,2630           54322                           TS       THETAD     +1                         
042635,001633: 15,2631           40000                           COM                                            
042636,001634: 15,2632           54323                           TS       THETAD     +2                         
042637,001635: 15,2633           54321                           TS       THETAD                                
042638,001636: 15,2634           06036                           TC       INTPRET                               
042639,001637: 15,2635           45014                           CLEAR    CALL                                  
042640,001638: 15,2636           01662                                    REFSMFLG                              
042641,001639: 15,2637           32734                                    LUNG                                  
042642,001640:                                                                                                  #  FIND  GIMBAL ANGLES WHICH ROTATE SM 180DEG  ABOUT  G VEC
042643,001641: 
042644,001642:                                                                                                  #   DEFINE G COOR SYS
042645,001643:                                                                                                  #                       -
042646,001644:                                                                                                  #                       X    UNIT G
042647,001645:                                                                                                  #                   *   -               -
042648,001646:                                                                                                  #                   M=  Y =  UNITEZSM * X )
042649,001647:                                                                                                  #                       -         -     -
042650,001648:                                                                                                  #                       Z    UNIT(X   * Y )
042651,001649:                                                                                                  #   THEN   ROTATED  SM WRT  PRESENT IS
042652,001650: 
042653,001651: 
042654,001652:                                                                                                  #                      1,  0 , 0
042655,001653:                                                                                                  #            *      *T            *          *         *
042656,001654:                                                                                                  #           XSM =   M  0, -1 , 0  M  = 2  (X X ) - 1/2 I  *
042657,001655: 

Page 962

042659,001657:                                                                                                  #                                           I J
042660,001658:                                                                                                  #                      0,  0 ,-1
042661,001659: 
042662,001660:                                                                                                  #   ALSO   NB WRT PRES SM  IS
042663,001661: 
042664,001662:                                                                                                  #                 *      *   *
042665,001663:                                                                                                  #                XNB = NBSM  I
042666,001664:                                                                                                  #                             *     *
042667,001665:                                                                                                  #   GIMBAL ANGLES  = CALCGA( XSM , XNB )
042668,001666: 
042669,001667: 15,2000                                           SETLOC   P50S                                  
042670,001668: 15,2000                                           BANK                                           
042671,001669: 15,2640                                           COUNT*   $$/P57                                
042672,001670: 15,2640           66370                           AXT,1    SSP                                   #  X1=18
042673,001671: 15,2641           00022                                    18D                                   #  S1= 6
042674,001672: 15,2642           00051                                    S1                                    #  X2, -2
042675,001673: 15,2643           00006                                    6D                                    
042676,001674: 15,2644           77744                           LXC,2                                          
042677,001675: 15,2645           00050                                    S1                                    
042678,001676: 15,2646           45173        GRAVEL             VLOAD*   CALL                                  
042679,001677: 15,2647           55512                                    XUNIT      -6,2                       
042680,001678: 15,2650           47577                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
042681,001679: 15,2651           06707                           STORE    XNB        +18D,1                     
042682,001680: 15,2652           77775                           VLOAD                                          
042683,001681: 15,2653           02731                                    STAR                                  
042684,001682: 15,2654           73744                           LXC,2    VXSC*                                 #  COMPLEMENT- UNITX  ARE BACKWARD -
042685,001683: 15,2655           00047                                    X2                                    
042686,001684: 15,2656           75040                                    STAR       +6,2                       #  OUTER PRODUCT
042687,001685: 15,2657           71152                           VSL2     LXC,2                                 
042688,001686: 15,2660           00047                                    X2                                    
042689,001687: 15,2661           63047                           VSU*     INCR,2                                
042690,001688: 15,2662           55512                                    XUNIT      -6,2                       
042691,001689: 15,2663           00002                                    2D                                    
042692,001690: 15,2664           06665                           STORE    XSM        +18D,1                     
042693,001691: 15,2665           45100                           TIX,1    CALL                                  
042694,001692: 15,2666           32646                                    GRAVEL                                
042695,001693: 15,2667           47255                                    CALCGA                                
042696,001694: 15,2670           74575                           VLOAD    VSR1                                  
042697,001695: 15,2671           02715                                    GOUT                                  
042698,001696: 15,2672           36723                           STCALL   STARAD     +12D                       
042699,001697: 15,2673           32734                                    LUNG                                  
042700,001698: 15,2674           74575                           VLOAD    VSR1                                  
042701,001699: 15,2675           02715                                    GOUT                                  
042702,001700: 15,2676           53455                           VAD      UNIT                                  
042703,001701: 15,2677           02723                                    STARAD     +12D                       
042704,001702: 15,2700           02761                           STORE    STARSAV1                              
042705,001703: 15,2701           77641                           DOT                                            
042706,001704: 15,2702           02235                                    GSAV                                  
042707,001705: 15,2703           65552                           SL1      ACOS                                  
042708,001706: 15,2704           01046                           STORE    DSPTEM1                               
042709,001707: 

Page 963

042711,001709: 15,2705           77776                           EXIT                                           
042712,001710: 15,2706           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
042713,001711: 15,2707           00014                           ADRES    FREEFLAG                              
042714,001712: 
042715,001713: 15,2710           33040                           CA       DISGRVER                              
042716,001714: 15,2711           04616                           TC       BANKCALL                              
042717,001715: 15,2712           20351                           CADR     GOFLASH                               
042718,001716: 15,2713           06001                           TC       GOTOPOOH                              
042719,001717: 15,2714           12717                           TCF      PROGRAV                               #  VB33-PROCEED
042720,001718: 15,2715           05504                           TC       UPFLAG                                #  VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042721,001719: 15,2716           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
042722,001720: 
042723,001721: 15,2717           05353        PROGRAV            TC       PHASCHNG                              
042724,001722: 15,2720           05024                           OCT      05024                                 
042725,001723: 15,2721           13000                           OCT      13000                                 
042726,001724: 15,2722           06036                           TC       INTPRET                               
042727,001725: 15,2723           77775                           VLOAD                                          
042728,001726: 15,2724           02761                                    STARSAV1                              
042729,001727: 15,2725           02235                           STORE    GSAV                                  
042730,001728: 15,2726           77776                           EXIT                                           
042731,001729: 15,2727           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042732,001730: 15,2730           70074                           MASK     FLAGWRD0                              
042733,001731: 15,2731           10000                           CCS      A                                     
042734,001732: 15,2732           12627                           TCF      GVDETER                               #  SET
042735,001733: 15,2733           13535                           TCF      ATTCHK                                #  EXIT FROM GVDETER
042736,001734: 
042737,001735: 15,2734           77220        LUNG               STQ      VLOAD                                 
042738,001736: 15,2735           02745                                    QMIN                                  
042739,001737: 15,2736           22275                                    ZEROVEC                               
042740,001738: 15,2737           02707                           STORE    GACC                                  
042741,001739: 15,2740           77776                           EXIT                                           
042742,001740: 15,2741           05353                           TC       PHASCHNG                              
042743,001741: 15,2742           05024                           OCT      05024                                 
042744,001742: 15,2743           13000                           OCT      13000                                 
042745,001743: 15,2744           04616                           TC       BANKCALL                              
042746,001744: 15,2745           16753                           CADR     IMUCOARS                              
042747,001745: 15,2746           04616                           TC       BANKCALL                              
042748,001746: 15,2747           17671                           CADR     IMUSTALL                              
042749,001747: 15,2750           05703                           TC       CURTAINS                              
042750,001748: 15,2751           04616                           TC       BANKCALL                              
042751,001749: 15,2752           17163                           CADR     IMUFINE                               
042752,001750: 15,2753           04616                           TC       BANKCALL                              
042753,001751: 15,2754           17671                           CADR     IMUSTALL                              
042754,001752: 15,2755           05703                           TC       CURTAINS                              
042755,001753: 15,2756           33037                           CA       T/2SEC                                
042756,001754: 15,2757           55736                           TS       GCTR                                  
042757,001755: 15,2760           37715                           CA       PRIO31                                
042758,001756: 15,2761           55075                           TS       1/PIPADT                              
042759,001757: 15,2762           04616                           TC       BANKCALL                              
042760,001758: 15,2763           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
042761,001759: 

Page 964

042763,001761: 15,2764           05353                           TC       PHASCHNG                              
042764,001762: 15,2765           05024                           OCT      05024                                 
042765,001763: 15,2766           13000                           OCT      13000                                 
042766,001764: 15,2767           04616                           TC       BANKCALL                              #   DONT NEED TO INHINY  THIS USED TO
042767,001765: 15,2770           77533                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
042768,001766: 15,2771           06036                           TC       INTPRET                               
042769,001767: 15,2772           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
042770,001768: 15,2773           35000                           CAF      2SECS                                 
042771,001769: 15,2774           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
042772,001770: 15,2775           02777                           ADRES    GRABGRAV                              
042773,001771: 
042774,001772: 15,2776           05155                           TC       ENDOFJOB                              
042775,001773: 
042776,001774: 15,2777           04674        GRABGRAV           TC       IBNKCALL                              
042777,001775: 15,3000           77533                           CADR     PIPSRINE                              
042778,001776: 15,3001           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
042779,001777: 15,3002           05105                           TC       FINDVAC                               
042780,001778: 15,3003  E5,1706                                  EBANK=   STARAD                                
042781,001779: 15,3003           03006 32065                     2CADR    ADDGRAV                               
042782,001780: 
042783,001781: 15,3005           05261                           TC       TASKOVER                              
042784,001782: 
042785,001783: 15,3006           04616        ADDGRAV            TC       BANKCALL                              
042786,001784: 15,3007           15263                           CADR     1/PIPA                                
042787,001785: 15,3010           25736                           INCR     GCTR                                  
042788,001786: 15,3011           06036                           TC       INTPRET                               
042789,001787: 15,3012           53375                           VLOAD    VAD                                   
042790,001788: 15,3013           00325                                    DELV                                  
042791,001789: 15,3014           02707                                    GACC                                  
042792,001790: 15,3015           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
042793,001791: 15,3016           50135                           SLOAD    BMN                                   
042794,001792: 15,3017           02737                                    GCTR                                  
042795,001793: 15,3020           32772                                    GREED                                 
042796,001794: 15,3021           53575                           VLOAD    UNIT                                  
042797,001795: 15,3022           02707                                    GACC                                  
042798,001796: 15,3023           36731                           STCALL   STAR                                  
042799,001797: 15,3024           47443                                    CDUTRIG                               #  TRANSFORM IN NB COOR  AND  STORE
042800,001798: 15,3025           77624                           CALL                                           #   IN OUTPUT
042801,001799: 15,3026           47575                                    *SMNB*                                
042802,001800: 15,3027           02715                           STORE    GOUT                                  
042803,001801: 15,3030           77776                           EXIT                                           
042804,001802: 15,3031           05353                           TC       PHASCHNG                              
042805,001803: 15,3032           05024                           OCT      05024                                 
042806,001804: 15,3033           13000                           OCT      13000                                 
042807,001805: 15,3034           06036                           TC       INTPRET                               
042808,001806: 15,3035           77650                           GOTO                                           
042809,001807: 15,3036           02745                                    QMIN                                  
042810,001808: 15,3037           77751        T/2SEC             DEC      -22        B-14                       
042811,001809: 15,3040           01404        DISGRVER           VN       0604                                  
042812,001810: 

Page 965

042814,001812:                                                                                                  #  NAME  GYROTRIM
042815,001813: 
042816,001814:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042817,001815:                                                                                                  #    TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
042818,001816:                                                                                                  #    VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042819,001817: 
042820,001818:                                                                                                  #  CALL     CALL
042821,001819:                                                                                                  #                  GYROTRIM
042822,001820: 
042823,001821:                                                                                                  #  INPUT    THETAD,+1,+2 = DESIRED CDU ANGLES
042824,001822:                                                                                                  #           CDUX,CDUY,CDUZ
042825,001823: 
042826,001824:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
042827,001825: 
042828,001826:                                                                                                  #  SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
042829,001827:                                                                                                  #               IMPULSE,IMUSTALL
042830,001828:                                                                                                  #             -         -        -        *           *     -
042831,001829:                                                                                                  #  DEBRIS -  CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
042832,001830: 15,3041                                           COUNT*   $$/P57                                
042833,001831: 15,3041           71220        GYROTRIM           STQ      DLOAD                                 
042834,001832: 15,3042           02745                                    QMIN                                  
042835,001833: 15,3043           00322                                    THETAD                                
042836,001834: 15,3044           65325                           PDDL     PDDL                                  
042837,001835: 15,3045           00324                                    THETAD     +2                         
042838,001836: 15,3046           00323                                    THETAD     +1                         
042839,001837: 15,3047           77666                           VDEF                                           
042840,001838: 15,3050           24767                           STOVL    CDUSPOT                               
042841,001839: 15,3051           22273                                    XUNIT                                 
042842,001840: 15,3052           77624                           CALL                                           
042843,001841: 15,3053           47570                                    TRG*NBSM                              
042844,001842: 15,3054           26707                           STOVL    STARAD                                
042845,001843: 15,3055           22271                                    YUNIT                                 
042846,001844: 15,3056           77624                           CALL                                           
042847,001845: 15,3057           47577                                    *NBSM*                                
042848,001846: 15,3060           36715                           STCALL   STARAD     +6                         
042849,001847: 15,3061           47443                                    CDUTRIG                               
042850,001848: 15,3062           77624                           CALL                                           
042851,001849: 15,3063           31267                                    CALCSMSC                              
042852,001850: 15,3064           77775                           VLOAD                                          
042853,001851: 15,3065           02665                                    XNB                                   
042854,001852: 15,3066           24007                           STOVL    6D                                    
042855,001853: 15,3067           02673                                    YNB                                   
042856,001854: 15,3070           34015                           STCALL   12D                                   
042857,001855: 15,3071           47345                                    AXISGEN                               
042858,001856: 15,3072           77624                           CALL                                           
042859,001857: 15,3073           47151                                    CALCGTA                               
042860,001858: 15,3074           77776        JUSTTRIM           EXIT                                           
042861,001859: 15,3075           04616                           TC       BANKCALL                              
042862,001860: 15,3076           17163                           CADR     IMUFINE                               
042863,001861: 15,3077           04616                           TC       BANKCALL                              
042864,001862: 

Page 966

042866,001864: 15,3100           17671                           CADR     IMUSTALL                              
042867,001865: 15,3101           05703                           TC       CURTAINS                              
042868,001866: 15,3102           33113                           CA       GYRCDR                                
042869,001867: 15,3103           04616                           TC       BANKCALL                              
042870,001868: 15,3104           17276                           CADR     IMUPULSE                              
042871,001869: 15,3105           04616                           TC       BANKCALL                              
042872,001870: 15,3106           17671                           CADR     IMUSTALL                              
042873,001871: 15,3107           05703                           TC       CURTAINS                              
042874,001872: 15,3110           06036                           TC       INTPRET                               
042875,001873: 15,3111           77650                           GOTO                                           
042876,001874: 15,3112           02745                                    QMIN                                  
042877,001875: 15,3113           02737        GYRCDR             ECADR    OGC                                   
042878,001876: 

Page 967

042880,001878:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
042881,001879: 
042882,001880: 15,3114           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
042883,001881: 15,3115           13117                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042884,001882: 15,3116           34753        1STAR              CAF      BIT1                                  
042885,001883: 15,3117           55757                           TS       STARIND                               
042886,001884: 
042887,001885: 15,3120           05353                           TC       PHASCHNG                              
042888,001886: 15,3121           04024                           OCT      04024                                 
042889,001887: 
042890,001888: 15,3122           12301                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
042891,001889: 
042892,001890: 15,3123           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
042893,001891: 15,3124           00006                           EXTEND                                         
042894,001892: 15,3125           13144                           BZF      ASTAR                                 #  1ST STAR MARKED
042895,001893: 
042896,001894: 15,3126           06036                           TC       INTPRET                               #  2ND STAR MARKED
042897,001895: 15,3127           77775                           VLOAD                                          
042898,001896: 15,3130           02715                                    STARAD     +6                         
042899,001897: 15,3131           02767                           STORE    STARSAV2                              #  2ND STAR IN SM
042900,001898: 
042901,001899: 15,3132           77776                           EXIT                                           
042902,001900: 15,3133           05353                           TC       PHASCHNG                              
042903,001901: 15,3134           05024                           OCT      05024                                 
042904,001902: 15,3135           13000                           OCT      13000                                 
042905,001903: 
042906,001904: 15,3136           06036                           TC       INTPRET                               
042907,001905: 15,3137           45145                           DLOAD    CALL                                  
042908,001906: 15,3140           03560                                    TSIGHT                                #  TIME OF 2ND MARK
042909,001907: 15,3141           32540                                    PLANET                                
042910,001908: 15,3142           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
042911,001909: 15,3143           33156                                    SURFLINE                              
042912,001910: 
042913,001911: 15,3144           06036        ASTAR              TC       INTPRET                               
042914,001912: 15,3145           77775                           VLOAD                                          
042915,001913: 15,3146           02715                                    STARAD     +6                         
042916,001914: 15,3147           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
042917,001915: 15,3150           45145                           DLOAD    CALL                                  
042918,001916: 15,3151           03560                                    TSIGHT                                #  TIME OF 1ST MARK
042919,001917: 15,3152           32540                                    PLANET                                
042920,001918: 15,3153           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
042921,001919: 15,3154           77776                           EXIT                                           
042922,001920: 15,3155           13116                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
042923,001921: 

Page 968

042925,001923:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
042926,001924: 
042927,001925: 15,3156           77131        SURFLINE           SSP      AXT,2                                 
042928,001926: 15,3157           00052                                    S2                                    
042929,001927: 15,3160           00006                                    6                                     
042930,001928: 15,3161           00014                                    12D                                   
042931,001929: 15,3162           64373        WRTDESIR           VLOAD*   MXV                                   
042932,001930: 15,3163           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
042933,001931: 15,3164           03605                                    XSMD                                  
042934,001932: 15,3165           77656                           UNIT                                           
042935,001933: 15,3166           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
042936,001934: 15,3167           77773                           VLOAD*                                         
042937,001935: 15,3170           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
042938,001936: 15,3171           10023                           STORE    18D,2                                 
042939,001937: 15,3172           43104                           TIX,2    BON                                   
042940,001938: 15,3173           33162                                    WRTDESIR                              
042941,001939: 15,3174           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
042942,001940: 15,3175           33203                                    INITBY                                
042943,001941: 15,3176           77624        DOALIGN            CALL                                           
042944,001942: 15,3177           31121                                    R54                                   #  DO CHKSDATA
042945,001943: 15,3200           77614                           BOFF                                           
042946,001944: 15,3201           00354                                    FREEFLAG                              
042947,001945: 15,3202           33264                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
042948,001946: 15,3203           77624        INITBY             CALL                                           
042949,001947: 15,3204           47345                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
042950,001948: 15,3205           77624                           CALL                                           
042951,001949: 15,3206           47151                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
042952,001950: 15,3207           77776                           EXIT                                           
042953,001951: 15,3210           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042954,001952: 15,3211           70104                           MASK     FLAGWRD8                              
042955,001953: 15,3212           10000                           CCS      A                                     
042956,001954: 15,3213           13222                           TCF      5DEGTEST                              
042957,001955: 15,3214           33316                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
042958,001956: 15,3215           04616                           TC       BANKCALL                              
042959,001957: 15,3216           20351                           CADR     GOFLASH                               
042960,001958: 15,3217           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042961,001959: 15,3220           13222                           TCF      5DEGTEST                              #  VB33-PROCEED TO COARSE OR FINE
042962,001960: 15,3221           13265                           TCF      P57POST    +1                         #  VB32-RECYCLE, MAYBE RE-ALIGN
042963,001961: 
042964,001962: 15,3222           06036        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042965,001963: 15,3223           40175                           VLOAD    BOV                                   
042966,001964: 15,3224           02740                                    OGC                                   
042967,001965: 15,3225           33226                                    SURFSUP                               
042968,001966: 15,3226           02750        SURFSUP            STORE    OGCT                                  
042969,001967: 15,3227           40141                           V/SC     BOV                                   
042970,001968: 15,3230           30451                                    5DEGREES                              
042971,001969: 15,3231           33273                                    COATRIM                               
042972,001970: 15,3232           52131                           SSP      GOTO                                  
042973,001971: 15,3233           02746                                    QMIN                                  
042974,001972: 15,3234           33236                                    SURFDISP                              
042975,001973: 

Page 969

042977,001975: 15,3235           33074                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042978,001976: 
042979,001977: 15,3236           77776        SURFDISP           EXIT                                           
042980,001978: 15,3237           05353                           TC       PHASCHNG                              
042981,001979: 15,3240           05024                           OCT      05024                                 #  STORE REFSMMAT ,SET REFSMFLG   AND
042982,001980: 15,3241           13000                           OCT      13000                                 #  DISPLAY ORIGINAL  TORQ ANGLES
042983,001981: 15,3242           06036                           TC       INTPRET                               
042984,001982: 15,3243           75160                           AXC,1    AXC,2                                 
042985,001983: 15,3244           03604                                    XSMD                                  
042986,001984: 15,3245           01733                                    REFSMMAT                              
042987,001985: 15,3246           45014                           SET      CALL                                  
042988,001986: 15,3247           01462                                    REFSMFLG                              
042989,001987: 15,3250           31237                                    MATMOVE                               
042990,001988: 15,3251           77776                           EXIT                                           
042991,001989: 15,3252           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
042992,001990: 15,3253           13255                           TCF      B2F8                                  
042993,001991: 15,3254           13265                           TCF      P57POST    +1                         
042994,001992: 
042995,001993: 15,3255           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
042996,001994: 15,3256           70104                           MASK     FLAGWRD8                              
042997,001995: 15,3257           10000                           CCS      A                                     
042998,001996: 15,3260           13543                           TCF      P57JUMP                               #  ITS SET
042999,001997: 15,3261           06036                           TC       INTPRET                               
043000,001998: 15,3262           77624                           CALL                                           
043001,001999: 15,3263           33470                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043002,002000: 15,3264           77776        P57POST            EXIT                                           
043003,002001: 15,3265           35742                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
043004,002002: 15,3266           04616                           TC       BANKCALL                              
043005,002003: 15,3267           20476                           CADR     GOPERF1                               
043006,002004: 15,3270           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043007,002005: 15,3271           13543                           TCF      P57JUMP                               #  VB33-PROCEED TO RE-ALIGN
043008,002006: 15,3272           16001                           TCF      GOTOPOOH                              #  VB32-R59 DONE-GO TO PROG 00
043009,002007: 

Page 970

043011,002009:                                                                                                  #  COARSE AND FINE ALIGN IMU
043012,002010: 15,3273           75160        COATRIM            AXC,1    AXC,2                                 
043013,002011: 15,3274           02664                                    XDC                                   
043014,002012: 15,3275           02642                                    XSM                                   
043015,002013: 15,3276           77624                           CALL                                           
043016,002014: 15,3277           31237                                    MATMOVE                               
043017,002015: 15,3300           77624                           CALL                                           
043018,002016: 15,3301           47443                                    CDUTRIG                               
043019,002017: 15,3302           77624                           CALL                                           
043020,002018: 15,3303           31267                                    CALCSMSC                              
043021,002019: 15,3304           77624                           CALL                                           
043022,002020: 15,3305           47255                                    CALCGA                                
043023,002021: 15,3306           77624                           CALL                                           
043024,002022: 15,3307           31506                                    COARSE                                
043025,002023: 15,3310           77624                           CALL                                           
043026,002024: 15,3311           31523                                    NCOARSE                               
043027,002025: 15,3312           77624                           CALL                                           
043028,002026: 15,3313           33041                                    GYROTRIM                              
043029,002027: 15,3314           77650                           GOTO                                           
043030,002028: 15,3315           33236                                    SURFDISP                              
043031,002029: 15,3316           01535        DISPGYRO           VN       0693                                  
043032,002030: 

Page 971

043034,002032:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
043035,002033: 
043036,002034: 15,3317           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
043037,002035: 15,3320           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
043038,002036: 
043039,002037: 15,3321           06036                           TC       INTPRET                               
043040,002038: 15,3322           77745                           DLOAD                                          
043041,002039: 15,3323           03440                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
043042,002040: 15,3324           01046        P57A               STORE    DSPTEM1                               
043043,002041: 15,3325           77776                           EXIT                                           
043044,002042: 15,3326           32172        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
043045,002043: 15,3327           04616                           TC       BANKCALL                              
043046,002044: 15,3330           20510                           CADR     GOFLASHR                              
043047,002045: 15,3331           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
043048,002046: 15,3332           13337                           TCF      +5                                    
043049,002047: 15,3333           13326                           TCF      P57AA                                 #  VB32-RECYCLE
043050,002048: 
043051,002049: 15,3334           05353                           TC       PHASCHNG                              
043052,002050: 15,3335           00014                           OCT      00014                                 
043053,002051: 15,3336           05155                           TC       ENDOFJOB                              
043054,002052: 
043055,002053: 15,3337           06036                           TC       INTPRET                               
043056,002054: 15,3340           50145                           DLOAD    BMN                                   
043057,002055: 15,3341           01046                                    DSPTEM1                               
043058,002056: 15,3342           33367                                    PACKOPTN   -1                         #  NEG TIME-PREF ORIENT IN XSMD MATRIX
043059,002057: 15,3343           65234                           RTB      PDDL                                  
043060,002058: 15,3344           21462                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
043061,002059: 15,3345           01046                                    DSPTEM1                               
043062,002060: 15,3346           65254                           BZE      PDDL                                  
043063,002061: 15,3347           33357                                    P57C                                  #  IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043064,002062: 15,3350           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043065,002063: 15,3351           01046                                    DSPTEM1                               
043066,002064: 15,3352           33357                                    P57C                                  
043067,002065: 15,3353           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
043068,002066: 15,3354           74337                           STORE    TIG                                   #  STORE IT IN TIG
043069,002067: 15,3355           36775                           STCALL   TALIGN                                
043070,002068: 15,3356           33361                                    P57D                                  
043071,002069: 15,3357           45545        P57C               DLOAD    STADR                                 
043072,002070: 15,3360           75002                           STORE    TALIGN                                
043073,002071: 15,3361           34041        P57D               STCALL   TDEC1                                 
043074,002072: 15,3362           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
043075,002073: 15,3363           53575                           VLOAD    UNIT                                  #  IN  X,Y,ZSMD
043076,002074: 15,3364           00001                                    RATT                                  
043077,002075: 15,3365           37605                           STCALL   XSMD                                  
043078,002076: 15,3366           33647                                    LSORIENT                              
043079,002077: 15,3367           77776                           EXIT                                           
043080,002078: 15,3370           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
043081,002079: 15,3371           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
043082,002080: 15,3372           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
043083,002081: 15,3373           34737                           CAF      REFSMBIT                              
043084,002082: 

Page 972

043086,002084: 15,3374           70077                           MASK     FLAGWRD3                              #  REFSMFLG
043087,002085: 15,3375           10000                           CCS      A                                     
043088,002086: 15,3376           34745                           CAF      BIT7                                  #  SET
043089,002087: 15,3377           27146                           ADS      OPTION1    +2                         #  CLEAR-JUST ZERO
043090,002088: 15,3400           34753                           CAF      ATTFLBIT                              
043091,002089: 15,3401           70102                           MASK     FLAGWRD6                              #  ATTFLG
043092,002090: 15,3402           10000                           CCS      A                                     
043093,002091: 15,3403           34750                           CAF      BIT4                                  #  SET
043094,002092: 15,3404           27146                           ADS      OPTION1    +2                         #  CLEAR-ZERO IN A
043095,002093: 15,3405           34750                           CAF      BIT4                                  
043096,002094: 15,3406           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
043097,002095: 
043098,002096: 15,3407           33634        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
043099,002097: 15,3410           04616                           TC       BANKCALL                              
043100,002098: 15,3411           20351                           CADR     GOFLASH                               
043101,002099: 15,3412           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043102,002100: 15,3413           13415                           TCF      +2                                    #  V33-PROCEED
043103,002101: 15,3414           13407                           TCF      DSPOPTN                               #  V32-RECYCLE
043104,002102: 
043105,002103: 15,3415           05353                           TC       PHASCHNG                              
043106,002104: 15,3416           05024                           OCT      05024                                 
043107,002105: 15,3417           13000                           OCT      13000                                 
043108,002106: 15,3420           34737                           CAF      REFSMBIT                              
043109,002107: 15,3421           70077                           MASK     FLAGWRD3                              
043110,002108: 15,3422           10000                           CCS      A                                     
043111,002109: 15,3423           13523                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
043112,002110: 15,3424           34753                           CAF      ATTFLBIT                              #  CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043113,002111: 15,3425           70102                           MASK     FLAGWRD6                              
043114,002112: 15,3426           10000                           CCS      A                                     
043115,002113: 15,3427           13527                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043116,002114: 15,3430           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3
043117,002115: 15,3431           71145                           MASK     OPTION2                               
043118,002116: 15,3432           10000                           CCS      A                                     
043119,002117: 15,3433           13527                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043120,002118: 15,3434           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS-ALARM 701
043121,002119: 15,3435           00701                           OCT      701                                   
043122,002120: 15,3436           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
043123,002121: 15,3437           04616                           TC       BANKCALL                              
043124,002122: 15,3440           20351                           CADR     GOFLASH                               
043125,002123: 15,3441           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043126,002124: 15,3442           13407                           TCF      DSPOPTN                               #  V33-PROCEED   ********TEMPORARY
043127,002125: 15,3443           13407                           TCF      DSPOPTN                               #  VB32-RECYCLE TO OPTION DISPLAY V 05N06
043128,002126: 

Page 973

043130,002128:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043131,002129: 
043132,002130: 15,3444           40220        MFREF              STQ      SETPD                                 
043133,002131: 15,3445           02746                                    QMAJ                                  
043134,002132: 15,3446           00001                                    0                                     
043135,002133: 15,3447           77634                           RTB                                            
043136,002134: 15,3450           21462                                    LOADTIME                              
043137,002135: 15,3451           27560                           STOVL    TSIGHT                                
043138,002136: 15,3452           02723                                    VEC1                                  
043139,002137: 15,3453           41525                           PDDL     PUSH                                  
043140,002138: 15,3454           03560                                    TSIGHT                                
043141,002139: 15,3455           77624                           CALL                                           
043142,002140: 15,3456           51504                                    RP-TO-R                               
043143,002141: 15,3457           26723                           STOVL    VEC1                                  
043144,002142: 15,3460           02731                                    VEC2                                  
043145,002143: 15,3461           65201                           SETPD    PDDL                                  
043146,002144: 15,3462           00001                                    0                                     
043147,002145: 15,3463           03560                                    TSIGHT                                
043148,002146: 15,3464           45006                           PUSH     CALL                                  
043149,002147: 15,3465           51504                                    RP-TO-R                               
043150,002148: 15,3466           36731                           STCALL   VEC2                                  
043151,002149: 15,3467           02746                                    QMAJ                                  
043152,002150: 

Page 974

043154,002152:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043155,002153:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
043156,002154: 
043157,002155: 15,3470           45020        REFMF              STQ      CALL                                  
043158,002156: 15,3471           02746                                    QMAJ                                  
043159,002157: 15,3472           47443                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
043160,002158: 15,3473           40234                           RTB      SETPD                                 
043161,002159: 15,3474           21462                                    LOADTIME                              
043162,002160: 15,3475           00001                                    0                                     
043163,002161: 15,3476           37560                           STCALL   TSIGHT                                
043164,002162: 15,3477           31267                                    CALCSMSC                              #  GET YNB IN SM
043165,002163: 15,3500           61375                           VLOAD    VXM                                   
043166,002164: 15,3501           02673                                    YNB                                   
043167,002165: 15,3502           01734                                    REFSMMAT                              #   YNB TO REF
043168,002166: 15,3503           65256                           UNIT     PDDL                                  
043169,002167: 15,3504           03560                                    TSIGHT                                
043170,002168: 15,3505           45006                           PUSH     CALL                                  
043171,002169: 15,3506           51531                                    R-TO-RP                               
043172,002170: 15,3507           26243                           STOVL    YNBSAV                                #  YNB TO MF
043173,002171: 15,3510           02701                                    ZNB                                   
043174,002172: 15,3511           53505                           VXM      UNIT                                  
043175,002173: 15,3512           01734                                    REFSMMAT                              #  ZNB TO REF
043176,002174: 15,3513           41525                           PDDL     PUSH                                  
043177,002175: 15,3514           03560                                    TSIGHT                                
043178,002176: 15,3515           77624                           CALL                                           
043179,002177: 15,3516           51531                                    R-TO-RP                               #  ZNB TO MF
043180,002178: 15,3517           02251                           STORE    ZNBSAV                                
043181,002179: 15,3520           77614                           SETGO                                          
043182,002180: 15,3521           03036                                    ATTFLAG                               
043183,002181: 15,3522           02746                                    QMAJ                                  
043184,002182: 

Page 975

043186,002184:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
043187,002185: 
043188,002186: 15,3523           06036        GETLMATT           TC       INTPRET                               
043189,002187: 15,3524           77624                           CALL                                           
043190,002188: 15,3525           33470                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043191,002189: 15,3526           77776                           EXIT                                           
043192,002190: 
043193,002191: 15,3527           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
043194,002192: 15,3530           00205                           ADRES    INITALGN                              
043195,002193: 15,3531           34753                           CAF      BIT1                                  
043196,002194: 15,3532           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
043197,002195: 15,3533           10000                           CCS      A                                     
043198,002196: 15,3534           12627                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
043199,002197: 
043200,002198: 15,3535           05353        ATTCHK             TC       PHASCHNG                              
043201,002199: 15,3536           04024                           OCT      04024                                 
043202,002200: 
043203,002201: 15,3537           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
043204,002202: 15,3540           70102                           MASK     FLAGWRD6                              
043205,002203: 15,3541           10000                           CCS      A                                     
043206,002204: 15,3542           13557                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
043207,002205: 15,3543           05353        P57JUMP            TC       PHASCHNG                              
043208,002206: 15,3544           04024                           OCT      04024                                 
043209,002207: 
043210,002208: 15,3545           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR-RESET INTALIGN FLAG
043211,002209: 15,3546           00205                           ADRES    INITALGN                              
043212,002210: 15,3547           36244                           CAF      THREE                                 
043213,002211: 15,3550           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
043214,002212: 15,3551           50000                           INDEX    A                                     
043215,002213: 15,3552           13553                           TCF      +1                                    
043216,002214: 15,3553           13557                           TCF      P57OPT0                               #  OPTION IS 0
043217,002215: 15,3554           13600                           TCF      P57OPT1                               #  OPTION IS 1
043218,002216: 15,3555           13616                           TCF      P57OPT2                               #  OPTION IS 2
043219,002217: 15,3556           13617                           TCF      P57OPT3                               #  OPTION IS 3
043220,002218: 

Page 976

043222,002220:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
043223,002221: 
043224,002222: 15,3557           06036        P57OPT0            TC       INTPRET                               
043225,002223: 15,3560           77775                           VLOAD                                          
043226,002224: 15,3561           02243                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
043227,002225: 15,3562           26723                           STOVL    VEC1                                  
043228,002226: 15,3563           02251                                    ZNBSAV                                
043229,002227: 15,3564           36731                           STCALL   VEC2                                  
043230,002228: 15,3565           47443                                    CDUTRIG                               
043231,002229: 15,3566           77624                           CALL                                           
043232,002230: 15,3567           31267                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
043233,002231: 15,3570           77775                           VLOAD                                          
043234,002232: 15,3571           02673                                    YNB                                   
043235,002233: 15,3572           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
043236,002234: 15,3573           02701                                    ZNB                                   
043237,002235: 15,3574           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
043238,002236: 15,3575           33444                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
043239,002237: 15,3576           77650                           GOTO                                           
043240,002238: 15,3577           33156                                    SURFLINE                              
043241,002239: 
043242,002240:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043243,002241: 
043244,002242: 15,3600           06036        P57OPT1            TC       INTPRET                               
043245,002243: 15,3601           53575                           VLOAD    UNIT                                  
043246,002244: 15,3602           02023                                    RLS                                   #  LANDING SITE VEC
043247,002245: 15,3603           26723                           STOVL    VEC1                                  
043248,002246: 15,3604           02251                                    ZNBSAV                                #  Z ATTITUDE VEC
043249,002247: 15,3605           36731                           STCALL   VEC2                                  
043250,002248: 15,3606           47443                                    CDUTRIG                               
043251,002249: 15,3607           77624                           CALL                                           
043252,002250: 15,3610           31267                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
043253,002251: 15,3611           45175                           VLOAD    CALL                                  
043254,002252: 15,3612           02235                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043255,002253: 15,3613           47565                                    CDU*NBSM                              
043256,002254: 15,3614           77650                           GOTO                                           
043257,002255: 15,3615           33572                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
043258,002256: 

Page 977

043260,002258:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
043261,002259: 
043262,002260: 15,3616           13114        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
043263,002261: 
043264,002262:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043265,002263: 
043266,002264: 15,3617           06036        P57OPT3            TC       INTPRET                               
043267,002265: 15,3620           53575                           VLOAD    UNIT                                  
043268,002266: 15,3621           02023                                    RLS                                   #  LANDING SITE VEC
043269,002267: 15,3622           02723                           STORE    VEC1                                  
043270,002268: 15,3623           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
043271,002269: 15,3624           02235                                    GSAV                                  #  GRAVITY VEC NB
043272,002270: 15,3625           77624                           CALL                                           
043273,002271: 15,3626           47565                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043274,002272: 15,3627           36761                           STCALL   STARSAV1                              
043275,002273: 15,3630           33444                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
043276,002274: 15,3631           77776                           EXIT                                           
043277,002275: 15,3632           13116                           TCF      1STAR                                 #  1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043278,002276: 
043279,002277: 15,3633           00701        BADOPT             OCT      00701                                 #  **** TEMP ****
043280,002278: 15,3634           01206        VB05N06            VN       506                                   
043281,002279: 

Page 978

043283,002281:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
043284,002282: 
043285,002283: 15,3635           41302        IMUCHK             CS       IMODES30                              
043286,002284: 15,3636           74743                           MASK     BIT9                                  
043287,002285: 15,3637           10000                           CCS      A                                     #  IS IMU ON
043288,002286: 15,3640           13644                           TCF      +4                                    #  YES
043289,002287: 
043290,002288: 15,3641           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
043291,002289: 15,3642           00210                           OCT      210                                   
043292,002290: 15,3643           06001                           TC       GOTOPOOH                              
043293,002291: 
043294,002292: 15,3644           05504                           TC       UPFLAG                                
043295,002293: 15,3645           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
043296,002294: 
043297,002295: 15,3646           04631                           TC       SWRETURN                              
043298,002296: 
043299,002297: 15,3647           77220        LSORIENT           STQ      VLOAD                                 
043300,002298: 15,3650           02746                                    QMAJ                                  
043301,002299: 15,3651           01555                                    RRECTCSM                              
043302,002300: 15,3652           47235                           VXV      VXV                                   
043303,002301: 15,3653           01563                                    VRECTCSM                              
043304,002302: 15,3654           03605                                    XSMD                                  
043305,002303: 15,3655           77656                           UNIT                                           
043306,002304: 15,3656           03621                           STORE    ZSMD                                  
043307,002305: 15,3657           53435                           VXV      UNIT                                  
043308,002306: 15,3660           03605                                    XSMD                                  
043309,002307: 15,3661           37613                           STCALL   YSMD                                  
043310,002308: 15,3662           02746                                    QMAJ                                  

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