Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	16:27 JULY 14,1969
Note that the date is the date of the printout, not the date of the program revision.

040522,000002:                                                                                                  ## Copyright:   Public domain.
040523,000003:                                                                                                  ## Filename:    P51-P53.agc
040524,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
040525,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
040526,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
040527,000007:                                                                                                  ## Assembler:   yaYUL
040528,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
040529,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
040530,000010:                                                                                                  ## Pages:       926-983
040531,000011:                                                                                                  ## Mod history: 2009-05-31 HG   Transcribed from page images.
040532,000012:                                                                                                  ##              2009-06-07 RSB  Corrected a typo.
040533,000013:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
040534,000014:                                                                                                  ##              2016-12-17 RSB  Proofed text comments with octopus/ProoferComments
040535,000015:                                                                                                  ##                              and corrected the errors found.
040536,000016:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
040537,000017:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
040538,000018:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
040539,000019: 
040540,000020:                                                                                                  ## This source code has been transcribed or otherwise adapted from
040541,000021:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
040542,000022:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
040543,000023:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
040544,000024:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
040545,000025:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
040546,000026:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
040547,000027:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
040548,000028:                                                                                                  ## actually created.
040549,000029:                                                                                                  ##
040550,000030:                                                                                                  ## Notations on the hardcopy document read, in part:
040551,000031:                                                                                                  ##
040552,000032:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
040553,000033:                                                                                                  ##      16:27 JULY 14, 1969 
040554,000034: 

Page 926

040556,000036:                                                                                                  #  PROGRAM NAME - PROG52                 DATE - JAN 9, 1967
040557,000037:                                                                                                  #  MOD NO - 0                                    LOG SECTION - P51-P53
040558,000038:                                                                                                  #  MODIFICATION BY - LONSKE                      ASSEMBLY - SUNDANCE REV 46
040559,000039: 
040560,000040:                                                                                                  #  FUNCTIONAL DESCRIPTION -
040561,000041: 
040562,000042:                                                                                                  #        ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT.  THE PRESENT IMU ORIENTATION IS KNOWN
040563,000043:                                                                                                  #        AND IS STORED IN REFSMMAT.  THE THREE POSSIBLE ORIENTATIONS MAY BE_
040564,000044: 
040565,000045:                                                                                                  #        (A)     PREFERRED ORIENTATION
040566,000046: 
040567,000047:                                                                                                  #                AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER.  THIS ORIENTATION MUST BE CALCULATED AND
040568,000048:                                                                                                  #                STORED BY A PREVIOUSLY SELECTED PROGRAM.
040569,000049: 
040570,000050:                                                                                                  #        (B)     NOMINAL ORIENTATION
040571,000051: 
040572,000052:                                                                                                  #                X   = UNIT ( R )
040573,000053:                                                                                                  #                -SM
040574,000054: 
040575,000055:                                                                                                  #                Y   = UNIT (V X R)
040576,000056:                                                                                                  #                 SM
040577,000057: 
040578,000058:                                                                                                  #                Z   = UNIT (X   X Y  )
040579,000059:                                                                                                  #                 SM          SM    SM
040580,000060: 
040581,000061:                                                                                                  #                WHERE_
040582,000062: 
040583,000063:                                                                                                  #                R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040584,000064:                                                                                                  #                -
040585,000065: 
040586,000066:                                                                                                  #                V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
040587,000067:                                                                                                  #                -
040588,000068: 
040589,000069:                                                                                                  #        (C)     REFSMMAT ORIENTATION
040590,000070: 
040591,000071:                                                                                                  #        (D)     LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
040592,000072: 
040593,000073:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION.  THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
040594,000074:                                                                                                  #        WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT (I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
040595,000075:                                                                                                  #        SINCE THE LAST ALIGNMENT).
040596,000076: 
040597,000077:                                                                                                  #        AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
040598,000078:                                                                                                  #        NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE.  CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
040599,000079:                                                                                                  #        COARSE ALIGN THE IMU.  THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED.  IF 2 STARS ARE NOT AVAILABLE AN ALARM
040600,000080:                                                                                                  #        IS FLASHED TO NOTIFY THE ASTRONAUT.  AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
040601,000081:                                                                                                  #        EITHER MANUALLY OR AUTOMATICALLY.  AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51.  IF
040602,000082:                                                                                                  #        THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED.  OTHERWISE P00 IS
040603,000083:                                                                                                  #        REQUESTED.
040604,000084: 
040605,000085:                                                                                                  #  CALLING SEQUENCE -
040606,000086: 

Page 927

040608,000088:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040609,000089: 
040610,000090:                                                                                                  #  SUBROUTINES CALLED -
040611,000091: 
040612,000092:                                                                                                  #        1. FLAGDOWN              7. S52.2               13. NEWMODEX
040613,000093:                                                                                                  #        2. R02BOTH               8. CAL53A              14. PRIOLARM
040614,000094:                                                                                                  #        3. GOPERF4               9. FLAGUP
040615,000095:                                                                                                  #        4. MATMOVE              10. R56
040616,000096:                                                                                                  #        5. GOFLASH              11. R51
040617,000097:                                                                                                  #        6. S52.3                12. GOPERF3
040618,000098: 
040619,000099:                                                                                                  #  NORMAL EXIT MODES -
040620,000100: 
040621,000101:                                                                                                  #        EXITS TO ENDOFJOB
040622,000102: 
040623,000103:                                                                                                  #  ALARM OR ABORT EXIT MODES -
040624,000104: 
040625,000105:                                                                                                  #        NONE
040626,000106: 
040627,000107:                                                                                                  #  OUTPUT -
040628,000108: 
040629,000109:                                                                                                  #        THE FOLLOWING MAY BE FLASHED ON THE DSKY
040630,000110:                                                                                                  #                1. IMU ORIENTATION CODE
040631,000111:                                                                                                  #                2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
040632,000112:                                                                                                  #                3. TIME OF NEXT IGNITION
040633,000113:                                                                                                  #                4. GIMBAL ANGLES
040634,000114:                                                                                                  #                5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
040635,000115:                                                                                                  #                6. PLEASE PERFORM P00
040636,000116:                                                                                                  #        THE MODE DISPLAY MAY BE CHANGED TO 20
040637,000117: 
040638,000118:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040639,000119: 
040640,000120:                                                                                                  #        PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.  IF IT HAS BEEN COMPUTED IT IS STORED IN
040641,000121:                                                                                                  #        XSMD, YSMD, ZSMD.
040642,000122: 
040643,000123:                                                                                                  #        RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
040644,000124: 
040645,000125:                                                                                                  #  DEBRIS -
040646,000126: 
040647,000127:                                                                                                  #        WORK AREA
040648,000128: 
040649,000129: 33,3777                                           BANK     33                                    
040650,000130: 15,2000                                           SETLOC   P50S                                  
040651,000131: 15,2000                                           BANK                                           
040652,000132: 
040653,000133: 15,2050  E5,1755                                  EBANK=   BESTI                                 
040654,000134: 15,2050                                           COUNT*   $$/P52                                
040655,000135: 15,2050           04616        PROG52             TC       BANKCALL                              
040656,000136: 15,2051           11254                           CADR     R02BOTH                               #  IMU STATUS CHECK
040657,000137: 15,2052           34750                           CAF      PFRATBIT                              
040658,000138: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
040659,000139: 15,2054           10000                           CCS      A                                     

Page 928

040661,000141: 15,2055           02060                           TC       P52A                                  #  YES
040662,000142: 15,2056           34752                           CAF      BIT2                                  #  NO
040663,000143: 15,2057           02061                           TC       P52A       +1                         
040664,000144: 15,2060           34753        P52A               CAF      BIT1                                  
040665,000145: 15,2061           55145                           TS       OPTION2                               
040666,000146: 15,2062           34753        P52B               CAF      BIT1                                  
040667,000147: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
040668,000148: 15,2064           20713                           CADR     GOPERF4R                              #  FLASH V04N06
040669,000149: 15,2065           06001                           TC       GOTOPOOH                              
040670,000150: 15,2066           12073                           TCF      +5                                    #  V33 - PROCEED
040671,000151: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
040672,000152: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
040673,000153: 15,2071           00014                           OCT      00014                                 
040674,000154: 15,2072           05155                           TC       ENDOFJOB                              
040675,000155: 
040676,000156: 15,2073           31145                           CA       OPTION2                               
040677,000157: 15,2074           76245                           MASK     THREE                                 
040678,000158: 15,2075           50000                           INDEX    A                                     
040679,000159: 15,2076           02077                           TC       +1                                    
040680,000160: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
040681,000161: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
040682,000162: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
040683,000163: 15,2102           06037        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
040684,000164: 15,2103           77650                           GOTO                                           
040685,000165: 15,2104           32164                                    P52F                                  #  GO DO R51
040686,000166: 
040687,000167: 15,2105           00006        OPT4               EXTEND                                         
040688,000168: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
040689,000169: 15,2107           12112                           TCF      P52T       +2                         
040690,000170: 
040691,000171: 15,2110           00006        P52T               EXTEND                                         
040692,000172: 15,2111           34755                           DCA      NEG0                                  
040693,000173: 15,2112           53046                           DXCH     DSPTEM1                               
040694,000174: 15,2113           32170                           CAF      V06N34*                               
040695,000175: 15,2114           04616                           TC       BANKCALL                              
040696,000176: 15,2115           20476                           CADR     GOFLASH                               
040697,000177: 15,2116           06001                           TC       GOTOPOOH                              
040698,000178: 15,2117           02121                           TC       +2                                    
040699,000179: 15,2120           02113                           TC       -5                                    
040700,000180: 15,2121           53046                           DXCH     DSPTEM1                               
040701,000181: 15,2122           00006                           EXTEND                                         
040702,000182: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
040703,000183: 15,2124           12127                           TCF      +3                                    
040704,000184: 15,2125           00006                           EXTEND                                         
040705,000185: 15,2126           30025                           DCA      TIME2                                 
040706,000186: 15,2127           53775                           DXCH     TALIGN                                
040707,000187: 15,2130           31145        P52V               CA       OPTION2                               
040708,000188: 15,2131           74752                           MASK     BIT2                                  
040709,000189: 15,2132           10000                           CCS      A                                     
040710,000190: 15,2133           02137                           TC       P52W                                  

Page 929

040712,000192: 15,2134           06037                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
040713,000193: 15,2135           77650                           GOTO                                           
040714,000194: 15,2136           32220                                    P52LS                                 
040715,000195: 

Page 930

040717,000197:                                                                                                  #  START ALIGNMENT
040718,000198: 
040719,000199: 15,2137           06037        P52W               TC       INTPRET                               
040720,000200: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
040721,000201: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
040722,000202: 15,2142           31650                                    S52.3                                 #        ORIENTATION
040723,000203: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
040724,000204: 15,2144           31617                                    S52.2                                 #        COMPUTE GIMBAL ANGLES
040725,000205: 15,2145           77776                           EXIT                                           
040726,000206: 15,2146           35010                           CAF      V06N22                                
040727,000207: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
040728,000208: 15,2150           20476                           CADR     GOFLASH                               
040729,000209: 15,2151           06001                           TC       GOTOPOOH                              
040730,000210: 15,2152           12171                           TCF      COARSTYP                              #  V33 - PROCEED, SEE IF GYRO TORQUE COARSE
040731,000211: 15,2153           06037        P52H               TC       INTPRET                               
040732,000212: 15,2154           77650                           GOTO                                           
040733,000213: 15,2155           32143                                    P52D                                  
040734,000214: 15,2156           06037        REGCOARS           TC       INTPRET                               
040735,000215: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
040736,000216: 15,2160           31327                                    CAL53A                                #        ROUTINE
040737,000217: 15,2161           43014        COARSRET           SET      CLEAR                                 
040738,000218: 15,2162           01462                                    REFSMFLG                              
040739,000219: 15,2163           01273                                    PFRATFLG                              
040740,000220: 15,2164           77624        P52F               CALL                                           
040741,000221: 15,2165           31015                                    R51                                   
040742,000222: 15,2166           77776        P52OUT             EXIT                                           
040743,000223: 15,2167           06001                           TC       GOTOPOOH                              
040744,000224: 15,2170     5006               VB05N09            =        V05N09                                
040745,000225: 15,2170           01442        V06N34*            VN       634                                   
040746,000226: 

Page 931

040748,000228:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
040749,000229: 
040750,000230: 15,2171           32217        COARSTYP           CAF      OCT13                                 
040751,000231: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
040752,000232: 15,2173           20623                           CADR     GOPERF1                               
040753,000233: 15,2174           16001                           TCF      GOTOPOOH                              #  V34 - TERMIN&OE
040754,000234: 15,2175           12156                           TCF      REGCOARS                              #  V33 - NORMAL COARSE
040755,000235: 15,2176           06037                           TC       INTPRET                               #  V32 - GYRO TORQUE COARSE
040756,000236: 15,2177           64375                           VLOAD    MXV                                   
040757,000237: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
040758,000238: 15,2201           01734                                    REFSMMAT                              
040759,000239: 15,2202           77656                           UNIT                                           
040760,000240: 15,2203           26665                           STOVL    XDC                                   
040761,000241: 15,2204           03615                                    YSMD                                  
040762,000242: 15,2205           53521                           MXV      UNIT                                  
040763,000243: 15,2206           01734                                    REFSMMAT                              
040764,000244: 15,2207           26673                           STOVL    YDC                                   
040765,000245: 15,2210           03623                                    ZSMD                                  
040766,000246: 15,2211           53521                           MXV      UNIT                                  
040767,000247: 15,2212           01734                                    REFSMMAT                              
040768,000248: 15,2213           36701                           STCALL   ZDC                                   
040769,000249: 15,2214           31164                                    GYCOARS                               
040770,000250: 15,2215           77650                           GOTO                                           
040771,000251: 15,2216           32166                                    P52OUT                                
040772,000252: 15,2217           00013        OCT13              OCT      13                                    
040773,000253: 

Page 932

040775,000255:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
040776,000256: 
040777,000257: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
040778,000258: 15,2221           01463                                    LUNAFLAG                              
040779,000259: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
040780,000260: 15,2223           77201                           SETPD    VLOAD                                 
040781,000261: 15,2224           00001                                    0                                     
040782,000262: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
040783,000263: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
040784,000264: 15,2227           02775                                    TALIGN                                
040785,000265: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
040786,000266: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
040787,000267: 15,2232           77742                           VSR2                                           
040788,000268: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
040789,000269: 15,2234           02775                                    TALIGN                                
040790,000270: 15,2235           77624                           CALL                                           
040791,000271: 15,2236           30446                                    N89DISP                               
040792,000272: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
040793,000273: 15,2240           02032                                    ALPHAV                                
040794,000274: 15,2241           37607                           STCALL   XSMD                                  
040795,000275: 15,2242           11013                                    LSORIENT                              
040796,000276: 15,2243           77650                           GOTO                                           
040797,000277: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
040798,000278: 

Page 933

040800,000280:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040801,000281: 
040802,000282: 14,2000                                           SETLOC   P50S1                                 
040803,000283: 14,2000                                           BANK                                           
040804,000284: 14,2446  E5,1642                                  EBANK=   XSM                                   
040805,000285: 
040806,000286: 14,2446           77620        N89DISP            STQ                                            
040807,000287: 14,2447           02746                                    QMAJ                                  
040808,000288: 14,2450           35243                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
040809,000289: 14,2451           26351                                    LAT-LONG                              
040810,000290: 14,2452           70545                           DLOAD    SR1                                   
040811,000291: 14,2453           01123                                    LONG                                  
040812,000292: 14,2454           16711                           STODL    LANDLONG                              
040813,000293: 14,2455           01125                                    ALT                                   
040814,000294: 14,2456           16713                           STODL    LANDALT                               
040815,000295: 14,2457           01121                                    LAT                                   
040816,000296: 14,2460           16707                           STODL    LANDLAT                               
040817,000297: 14,2461           77776                           EXIT                                           
040818,000298: 
040819,000299: 14,2462           32505        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
040820,000300: 14,2463           04616                           TC       BANKCALL                              
040821,000301: 14,2464           20476                           CADR     GOFLASH                               
040822,000302: 14,2465           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE - EXIT P57
040823,000303: 14,2466           12470                           TCF      +2                                    #  V33 - PROCEED - ACCEPT LS DATA
040824,000304: 14,2467           12462                           TCF      LSDISP                                #  V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
040825,000305: 
040826,000306: 14,2470           06037                           TC       INTPRET                               
040827,000307: 14,2471           72545                           DLOAD    SL1                                   
040828,000308: 14,2472           02711                                    LANDLONG                              
040829,000309: 14,2473           15123                           STODL    LONG                                  
040830,000310: 14,2474           02713                                    LANDALT                               
040831,000311: 14,2475           15125                           STODL    ALT                                   
040832,000312: 14,2476           02707                                    LANDLAT                               
040833,000313: 14,2477           15121                           STODL    LAT                                   
040834,000314: 14,2500           01243                                    GDT/2      +4                         #  PICK UP TIME
040835,000315: 14,2501           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
040836,000316: 14,2502           26422                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
040837,000317: 14,2503           77650                           GOTO                                           
040838,000318: 14,2504           02746                                    QMAJ                                  
040839,000319: 14,2505           01531        V06N89*            VN       689                                   
040840,000320: 

Page 934

040842,000322:                                                                                                  #  NAME - S50 ALIAS LOCSAM
040843,000323:                                                                                                  #  BY
040844,000324:                                                                                                  #  VINCENT
040845,000325: 
040846,000326:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040847,000327: 
040848,000328:                                                                                                  #        DEFINE
040849,000329: 
040850,000330:                                                                                                  #        U   = UNIT( SUN WRT EARTH )
040851,000331:                                                                                                  #         ES
040852,000332: 
040853,000333:                                                                                                  #        U   = UNIT( MOON WRT EARTH )
040854,000334:                                                                                                  #         EM
040855,000335: 
040856,000336:                                                                                                  #        R   = POSITION VECTOR OF LEM
040857,000337:                                                                                                  #         L
040858,000338: 
040859,000339:                                                                                                  #        R   = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040860,000340:                                                                                                  #         EM
040861,000341: 
040862,000342:                                                                                                  #        P   = RATIO R  /(DISTANCE SUN TO EARTH) > .00257125
040863,000343:                                                                                                  #                     EM
040864,000344: 
040865,000345:                                                                                                  #        R   = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040866,000346:                                                                                                  #         E
040867,000347: 
040868,000348:                                                                                                  #        LOCSAM COMPUTES IN EARTH INFLUENCE
040869,000349: 
040870,000350:                                                                                                  #        VSUN = U
040871,000351:                                                                                                  #                ES
040872,000352: 
040873,000353:                                                                                                  #        VEARTH = -UNIT( R  )
040874,000354:                                                                                                  #                         L
040875,000355: 
040876,000356:                                                                                                  #        VMOON = UNIT(R  .U   - R  )
040877,000357:                                                                                                  #                      EM  EM    L
040878,000358: 
040879,000359:                                                                                                  #        CSUN = COS 90
040880,000360: 
040881,000361:                                                                                                  #        CEARTH = COS(5 + ARCSIN(R /MAG(R )))
040882,000362:                                                                                                  #                                 E      L
040883,000363: 
040884,000364:                                                                                                  #        CMOON   = COS 5
040885,000365: 
040886,000366:                                                                                                  #  INPUT - TIME IN MPAC
040887,000367: 
040888,000368:                                                                                                  #  OUTPUT - LISTED ABOVE
040889,000369: 
040890,000370:                                                                                                  #  SUBROUTINES - LSPOS, LEMPREC
040891,000371: 
040892,000372:                                                                                                  #  DEBRIS - VAC AREA, TSIGHT
040893,000373: 

Page 935

040895,000375: 14,2506                                           COUNT*   $$/LOSAM                              
040896,000376: 
040897,000377: 14,2506  14,2506               S50                =        LOCSAM                                
040898,000378: 14,2506           77620        LOCSAM             STQ                                            
040899,000379: 14,2507           02745                                    QMIN                                  
040900,000380: 14,2510           37562                           STCALL   TSIGHT                                
040901,000381: 14,2511           33664                                    LSPOS                                 
040902,000382: 14,2512           77745                           DLOAD                                          
040903,000383: 14,2513           03562                                    TSIGHT                                
040904,000384: 14,2514           34041                           STCALL   TDEC1                                 
040905,000385: 14,2515           27057                                    LEMPREC                               
040906,000386: 14,2516           61131                           SSP      TIX,2                                 
040907,000387: 14,2517           00052                                    S2                                    
040908,000388: 14,2520           00000                                    0                                     
040909,000389: 14,2521           30543                                    MOONCNTR                              
040910,000390: 14,2522           74375        EARTCNTR           VLOAD    VXSC                                  
040911,000391: 14,2523           02723                                    VMOON                                 
040912,000392: 14,2524           30001                                    RSUBEM                                
040913,000393: 14,2525           52372                           VSL1     VSU                                   
040914,000394: 14,2526           00001                                    RATT                                  
040915,000395: 14,2527           77656                           UNIT                                           
040916,000396: 14,2530           26723                           STOVL    VMOON                                 
040917,000397: 14,2531           00001                                    RATT                                  
040918,000398: 14,2532           57456                           UNIT     VCOMP                                 
040919,000399: 14,2533           16707                           STODL    VEARTH                                
040920,000400: 14,2534           30005                                    RSUBE                                 
040921,000401: 14,2535           77624                           CALL                                           
040922,000402: 14,2536           30575                                    OCCOS                                 
040923,000403: 14,2537           14017                           STODL    CEARTH                                
040924,000404: 14,2540           30604                                    CSS5                                  
040925,000405: 14,2541           34023                           STCALL   CMOON                                 
040926,000406: 14,2542           30570                                    ENDSAM                                
040927,000407: 14,2543           74375        MOONCNTR           VLOAD    VXSC                                  
040928,000408: 14,2544           02723                                    VMOON                                 
040929,000409: 14,2545           30007                                    ROE                                   
040930,000410: 14,2546           53445                           BVSU     UNIT                                  
040931,000411: 14,2547           02715                                    VSUN                                  
040932,000412: 14,2550           26715                           STOVL    VSUN                                  
040933,000413: 14,2551           02723                                    VMOON                                 
040934,000414: 14,2552           53361                           VXSC     VAD                                   
040935,000415: 14,2553           30001                                    RSUBEM                                
040936,000416: 14,2554           00001                                    RATT                                  
040937,000417: 14,2555           57456                           UNIT     VCOMP                                 
040938,000418: 14,2556           26707                           STOVL    VEARTH                                
040939,000419: 14,2557           00001                                    RATT                                  
040940,000420: 14,2560           57456                           UNIT     VCOMP                                 
040941,000421: 14,2561           16723                           STODL    VMOON                                 
040942,000422: 14,2562           30003                                    RSUBM                                 
040943,000423: 14,2563           77624                           CALL                                           
040944,000424: 14,2564           30575                                    OCCOS                                 

Page 936

040946,000426: 14,2565           14023                           STODL    CMOON                                 
040947,000427: 14,2566           30604                                    CSS5                                  
040948,000428: 14,2567           00017                           STORE    CEARTH                                
040949,000429: 14,2570           77745        ENDSAM             DLOAD                                          
040950,000430: 14,2571           30606                                    CSSUN                                 
040951,000431: 14,2572           00021                           STORE    CSUN                                  
040952,000432: 14,2573           77650                           GOTO                                           
040953,000433: 14,2574           02745                                    QMIN                                  
040954,000434: 14,2575           70471        OCCOS              DDV      SR1                                   
040955,000435: 14,2576           00045                                    36D                                   
040956,000436: 14,2577           43336                           ASIN     DAD                                   
040957,000437: 14,2600           30610                                    5DEGREES                              
040958,000438: 14,2601           70546                           COS      SR1                                   
040959,000439: 14,2602           77616                           RVQ                                            
040960,000440: 14,2603                        CEARTH             =        14D                                   
040961,000441: 14,2603                        CSUN               =        16D                                   
040962,000442: 14,2603                        CMOON              =        18D                                   
040963,000443: 14,2603           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
040964,000444: 14,2605           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
040965,000445: 14,2607           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
040966,000446: 

Page 937

040968,000448:                                                                                                  #  PROGRAM NAME - R56            DATE  DEC 20 66
040969,000449:                                                                                                  #  MOD 1                         LOG SECTION P51-P53
040970,000450:                                                                                                  #                                ASSEMBLY   SUNDISK REV40
040971,000451:                                                                                                  #  BY KEN VINCENT
040972,000452: 
040973,000453:                                                                                                  #  FUNCTION
040974,000454:                                                                                                  #        THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040975,000455:                                                                                                  #        WITH RESPECT TO INERTIAL SPACE.  IT THEN COMPUTES THE SHAFT AXIS (SAX)
040976,000456:                                                                                                  #        WITH RESPECT TO REFERENCE INERTIAL.  EACH STAR IN THE CATALOG IS TESTED
040977,000457:                                                                                                  #        TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON.  IF A
040978,000458:                                                                                                  #        STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040979,000459:                                                                                                  #        THE PAIRED STAR IS TESTED FOR OCCULTATION.  PAIRS OF STARS THAT PASS
040980,000460:                                                                                                  #        THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.  A PAIR OF STARS
040981,000461:                                                                                                  #        HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040982,000462:                                                                                                  #        AND MORE THAN 50 DEGREES.  THOSE PAIRS WITH GOOD SEPARATION
040983,000463:                                                                                                  #        ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.  (WITHIN
040984,000464:                                                                                                  #        50 DEGREES OF SAX).  THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040985,000465:                                                                                                  #        THOSE WITH GOOD SEPARATION, AND IN FIELD OF VIEW.
040986,000466: 
040987,000467:                                                                                                  #  CALLING SEQUENCE
040988,000468:                                                                                                  #        L       TC      BANKCALL
040989,000469:                                                                                                  #        L+1     CADR    R56
040990,000470:                                                                                                  #        L+2     ERROR RETURN - NO STARS IN FIELD OF VIEW
040991,000471:                                                                                                  #        L+3     NORMAL RETURN
040992,000472: 
040993,000473:                                                                                                  #  OUTPUT
040994,000474:                                                                                                  #        BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040995,000475:                                                                                                  #        VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040996,000476: 
040997,000477:                                                                                                  #  INITIALIZATION
040998,000478:                                                                                                  #        1)      A CALL TO LOCSAM MUST BE MADE
040999,000479: 
041000,000480:                                                                                                  #  DEBRIS
041001,000481:                                                                                                  #        WORKAREA
041002,000482:                                                                                                  #        X,Y,ZNB
041003,000483:                                                                                                  #        SINCDU, COSCDU
041004,000484:                                                                                                  #        STARAD - STAR +5
041005,000485: 
041006,000486: 14,2611  14,2611               R56                =        PICAPAR                               
041007,000487: 14,2611                                           COUNT*   $$/R56                                
041008,000488: 14,2611           04645        PICAPAR            TC       MAKECADR                              
041009,000489: 14,2612           55745                           TS       QMIN                                  
041010,000490: 14,2613           06037                           TC       INTPRET                               
041011,000491: 14,2614           77624                           CALL                                           
041012,000492: 14,2615           47537                                    CDUTRIG                               
041013,000493: 14,2616           77624                           CALL                                           
041014,000494: 14,2617           20030                                    CALCSMSC                              
041015,000495: 14,2620           77601                           SETPD                                          
041016,000496: 14,2621           00001                                    0                                     
041017,000497: 14,2622           71214                           SET      DLOAD                                 #  VFLAG = 1
041018,000498: 14,2623           01465                                    VFLAG                                 

Page 938

041020,000500: 14,2624           24007                                    DPZERO                                
041021,000501: 14,2625           26756                           STOVL    BESTI                                 
041022,000502: 14,2626           02665                                    XNB                                   
041023,000503: 14,2627           63361                           VXSC     PDVL                                  
041024,000504: 14,2630           24005                                    HALFDP                                
041025,000505: 14,2631           02701                                    ZNB                                   
041026,000506: 14,2632           74370                           AXT,1    VXSC                                  
041027,000507: 14,2633           00344                                    228D                                  #  X1 = 37 X 6 + 6
041028,000508: 14,2634           24005                                    HALFDP                                
041029,000509: 14,2635           77655                           VAD                                            
041030,000510: 14,2636           53505                           VXM      UNIT                                  
041031,000511: 14,2637           01734                                    REFSMMAT                              
041032,000512: 14,2640           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
041033,000513: 14,2641           66331                           SSP      SSP                                   #  S1 = S2 = 6
041034,000514: 14,2642           00051                                    S1                                    
041035,000515: 14,2643           00006                                    6                                     
041036,000516: 14,2644           00052                                    S2                                    
041037,000517: 14,2645           00006                                    6                                     
041038,000518: 14,2646           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
041039,000519: 14,2647           30651                                    PIC2                                  
041040,000520: 14,2650           30766                                    PICEND                                
041041,000521: 14,2651           50373        PIC2               VLOAD*   DOT                                   
041042,000522: 14,2652           30347                                    CATLOG,1                              
041043,000523: 14,2653           02731                                    SAX                                   
041044,000524: 14,2654           50025                           DSU      BMN                                   
041045,000525: 14,2655           30765                                    CSS33                                 
041046,000526: 14,2656           30646                                    PIC1                                  
041047,000527: 14,2657           77754                           LXA,2                                          
041048,000528: 14,2660           00046                                    X1                                    
041049,000529: 14,2661           52104        PIC3               TIX,2    GOTO                                  
041050,000530: 14,2662           30664                                    PIC4                                  
041051,000531: 14,2663           30646                                    PIC1                                  
041052,000532: 14,2664           50373        PIC4               VLOAD*   DOT                                   
041053,000533: 14,2665           47430                                    CATLOG,2                              
041054,000534: 14,2666           02731                                    SAX                                   
041055,000535: 14,2667           50025                           DSU      BMN                                   
041056,000536: 14,2670           30765                                    CSS33                                 
041057,000537: 14,2671           30661                                    PIC3                                  
041058,000538: 14,2672           47773                           VLOAD*   DOT*                                  
041059,000539: 14,2673           30347                                    CATLOG,1                              
041060,000540: 14,2674           47430                                    CATLOG,2                              
041061,000541: 14,2675           51025                           DSU      BPL                                   
041062,000542: 14,2676           30763                                    CSS40                                 
041063,000543: 14,2677           30661                                    PIC3                                  
041064,000544: 14,2700           45173                           VLOAD*   CALL                                  
041065,000545: 14,2701           30347                                    CATLOG,1                              
041066,000546: 14,2702           30740                                    OCCULT                                
041067,000547: 14,2703           77614                           BON                                            
041068,000548: 14,2704           01710                                    CULTFLAG                              
041069,000549: 14,2705           30646                                    PIC1                                  

Page 939

041071,000551: 14,2706           45173                           VLOAD*   CALL                                  
041072,000552: 14,2707           47430                                    CATLOG,2                              
041073,000553: 14,2710           30740                                    OCCULT                                
041074,000554: 14,2711           77614                           BON                                            
041075,000555: 14,2712           01710                                    CULTFLAG                              
041076,000556: 14,2713           30661                                    PIC3                                  
041077,000557: 14,2714           77614        STRATGY            BONCLR                                         
041078,000558: 14,2715           01605                                    VFLAG                                 
041079,000559: 14,2716           30733                                    NEWPAR                                
041080,000560: 14,2717           65120                           XCHX,1   XCHX,2                                
041081,000561: 14,2720           02755                                    BESTI                                 
041082,000562: 14,2721           02756                                    BESTJ                                 
041083,000563: 14,2722           47773        STRAT              VLOAD*   DOT*                                  
041084,000564: 14,2723           30347                                    CATLOG,1                              
041085,000565: 14,2724           47430                                    CATLOG,2                              
041086,000566: 14,2725           43006                           PUSH     BOFINV                                
041087,000567: 14,2726           01545                                    VFLAG                                 
041088,000568: 14,2727           30717                                    STRAT      -3                         
041089,000569: 14,2730           45345                           DLOAD    DSU                                   
041090,000570: 14,2731           77644                           BPL                                            
041091,000571: 14,2732           30661                                    PIC3                                  
041092,000572: 14,2733           67130        NEWPAR             SXA,1    SXA,2                                 
041093,000573: 14,2734           02755                                    BESTI                                 
041094,000574: 14,2735           02756                                    BESTJ                                 
041095,000575: 14,2736           77650                           GOTO                                           
041096,000576: 14,2737           30661                                    PIC3                                  
041097,000577: 14,2740           51321        OCCULT             MXV      BVSU                                  
041098,000578: 14,2741           02707                                    CULTRIX                               
041099,000579: 14,2742           00017                                    CSS                                   
041100,000580: 14,2743           77654                           BZE                                            
041101,000581: 14,2744           30757                                    CULTED                                
041102,000582: 14,2745           75240                           BMN      SIGN                                  
041103,000583: 14,2746           30757                                    CULTED                                
041104,000584: 14,2747           00160                                    MPAC       +3                         
041105,000585: 14,2750           75240                           BMN      SIGN                                  
041106,000586: 14,2751           30757                                    CULTED                                
041107,000587: 14,2752           00162                                    MPAC       +5                         
041108,000588: 14,2753           43040                           BMN      CLRGO                                 
041109,000589: 14,2754           30757                                    CULTED                                
041110,000590: 14,2755           01630                                    CULTFLAG                              
041111,000591: 14,2756           00052                                    QPRET                                 
041112,000592: 14,2757           77614        CULTED             SETGO                                          
041113,000593: 14,2760           01430                                    CULTFLAG                              
041114,000594: 14,2761           00052                                    QPRET                                 
041115,000595: 14,2762  0000016               CSS                =        CEARTH                                
041116,000596: 14,2762           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
041117,000597: 14,2764           05110 35052  CSS33              2DEC     .16070                                #  COS 50 / 4
041118,000598: 14,2766           77414        PICEND             BOFF     EXIT                                  
041119,000599: 

Page 940

041121,000601: 14,2767           01745                                    VFLAG                                 
041122,000602: 14,2770           30772                                    PICGXT                                
041123,000603: 14,2771           03013                           TC       PICBXT                                
041124,000604: 14,2772           73150        PICGXT             LXA,1    LXA,2                                 
041125,000605: 14,2773           02755                                    BESTI                                 
041126,000606: 14,2774           02756                                    BESTJ                                 
041127,000607: 14,2775           47775                           VLOAD    DOT*                                  
041128,000608: 14,2776           02731                                    SAX                                   
041129,000609: 14,2777           30347                                    CATLOG,1                              
041130,000610: 14,3000           47715                           PDVL     DOT*                                  
041131,000611: 14,3001           02731                                    SAX                                   
041132,000612: 14,3002           47430                                    CATLOG,2                              
041133,000613: 14,3003           77625                           DSU                                            
041134,000614: 14,3004           66044                           BPL      SXA,1                                 
041135,000615: 14,3005           31011                                    PICNSWP                               
041136,000616: 14,3006           02756                                    BESTJ                                 
041137,000617: 14,3007           77734                           SXA,2                                          
041138,000618: 14,3010           02755                                    BESTI                                 
041139,000619: 14,3011           77776        PICNSWP            EXIT                                           
041140,000620: 14,3012           25745                           INCR     QMIN                                  
041141,000621: 14,3013           31745        PICBXT             CA       QMIN                                  
041142,000622: 14,3014           04622                           TC       SWCALL                                
041143,000623: 14,3015                        VPD                =        0D                                    
041144,000624: 14,3015                        V0                 =        6D                                    
041145,000625: 14,3015                        V1                 =        12D                                   
041146,000626: 14,3015                        V2                 =        18D                                   
041147,000627: 14,3015                        V3                 =        24D                                   
041148,000628: 14,3015                        DP0                =        30D                                   
041149,000629: 14,3015                        DP1                =        32D                                   
041150,000630: 

Page 941

041152,000632:                                                                                                  #  NAME - R51    FINE ALIGN
041153,000633:                                                                                                  #  FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
041154,000634:                                                                                                  #  CALLING SEQ - CALL R51
041155,000635:                                                                                                  #  INPUT - REFSMMAT
041156,000636:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
041157,000637:                                                                                                  #  SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
041158,000638: 
041159,000639: 14,3015                                           COUNT*   $$/R51                                
041160,000640: 14,3015           77620        R51                STQ                                            
041161,000641: 14,3016           02746                                    QMAJ                                  
041162,000642: 14,3017           77776        R51.1              EXIT                                           
041163,000643: 14,3020           05353                           TC       PHASCHNG                              
041164,000644: 14,3021           04024                           OCT      04024                                 
041165,000645: 
041166,000646: 14,3022           34761        R51C               CAF      OCT15                                 
041167,000647: 14,3023           04616                           TC       BANKCALL                              
041168,000648: 14,3024           20623                           CADR     GOPERF1                               
041169,000649: 14,3025           06001                           TC       GOTOPOOH                              
041170,000650: 14,3026           03030                           TC       +2                                    #  V33E
041171,000651: 14,3027           03053                           TC       R51E                                  #  ENTER
041172,000652: 14,3030           06037                           TC       INTPRET                               
041173,000653: 14,3031           43234                           RTB      DAD                                   
041174,000654: 14,3032           21573                                    LOADTIME                              
041175,000655: 14,3033           31163                                    TSIGHT1                               
041176,000656: 14,3034           77624                           CALL                                           
041177,000657: 14,3035           30506                                    LOCSAM                                
041178,000658: 14,3036           77776                           EXIT                                           
041179,000659: 14,3037           04616                           TC       BANKCALL                              
041180,000660: 14,3040           30611                           CADR     R56                                   
041181,000661: 14,3041           03043                           TC       R51I                                  
041182,000662: 14,3042           03053        R51F               TC       R51E                                  
041183,000663: 14,3043           05567        R51I               TC       ALARM                                 
041184,000664: 14,3044           00405                           OCT      405                                   
041185,000665: 14,3045           35006                           CAF      VB05N09                               
041186,000666: 14,3046           04616                           TC       BANKCALL                              
041187,000667: 14,3047           20476                           CADR     GOFLASH                               
041188,000668: 14,3050           06001                           TC       GOTOPOOH                              
041189,000669: 14,3051           03053                           TC       R51E                                  
041190,000670: 14,3052           03022                           TC       R51C                                  
041191,000671: 14,3053           34755        R51E               CAF      ZERO                                  
041192,000672: 14,3054           55757                           TS       STARIND                               
041193,000673: 14,3055           06037        R51.2              TC       INTPRET                               
041194,000674: 14,3056           77776        R51.3              EXIT                                           
041195,000675: 14,3057           05353                           TC       PHASCHNG                              
041196,000676: 14,3060           04024                           OCT      04024                                 
041197,000677: 
041198,000678: 14,3061           06037                           TC       INTPRET                               
041199,000679: 14,3062           77624                           CALL                                           
041200,000680: 14,3063           31670                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
041201,000681: 14,3064           77776                           EXIT                                           
041202,000682: 14,3065           04616                           TC       BANKCALL                              

Page 942

041204,000684: 14,3066           16000                           CADR     AOTMARK                               
041205,000685: 14,3067           04616                           TC       BANKCALL                              
041206,000686: 14,3070           17712                           CADR     OPTSTALL                              
041207,000687: 14,3071           05711                           TC       CURTAINS                              
041208,000688: 14,3072           11757                           CCS      STARIND                               
041209,000689: 14,3073           13075                           TCF      +2                                    
041210,000690: 14,3074           03145                           TC       R51.4                                 
041211,000691: 14,3075           06037                           TC       INTPRET                               
041212,000692: 14,3076           77775                           VLOAD                                          
041213,000693: 14,3077           02715                                    STARAD     +6                         
041214,000694: 14,3100           02767                           STORE    STARSAV2                              
041215,000695: 14,3101           77776                           EXIT                                           
041216,000696: 14,3102           05353                           TC       PHASCHNG                              
041217,000697: 14,3103           04024                           OCT      04024                                 
041218,000698: 
041219,000699: 14,3104           06037                           TC       INTPRET                               
041220,000700: 14,3105           45145                           DLOAD    CALL                                  
041221,000701: 14,3106           03562                                    TSIGHT                                
041222,000702: 14,3107           32472                                    PLANET                                
041223,000703: 14,3110           53521                           MXV      UNIT                                  
041224,000704: 14,3111           01734                                    REFSMMAT                              
041225,000705: 14,3112           26715                           STOVL    STARAD     +6                         
041226,000706: 14,3113           03554                                    PLANVEC                               
041227,000707: 14,3114           53521                           MXV      UNIT                                  
041228,000708: 14,3115           01734                                    REFSMMAT                              
041229,000709: 14,3116           26707                           STOVL    STARAD                                
041230,000710: 14,3117           02761                                    STARSAV1                              
041231,000711: 14,3120           24007                           STOVL    6D                                    
041232,000712: 14,3121           02767                                    STARSAV2                              
041233,000713: 14,3122           34015                           STCALL   12D                                   
041234,000714: 14,3123           31256                                    R54                                   #  STAR DATA TEST
041235,000715: 14,3124           45014                           BOFF     CALL                                  
041236,000716: 14,3125           00354                                    FREEFLAG                              
041237,000717: 14,3126           31134                                    R51K                                  
041238,000718: 14,3127           47441                                    AXISGEN                               
041239,000719: 14,3130           77624                           CALL                                           
041240,000720: 14,3131           31224                                    R55                                   #  GYRO TORQUE
041241,000721: 14,3132           77614                           CLEAR                                          
041242,000722: 14,3133           01273                                    PFRATFLG                              
041243,000723: 14,3134           77776        R51K               EXIT                                           
041244,000724: 14,3135           35751        R51P63             CAF      OCT14                                 
041245,000725: 14,3136           04616                           TC       BANKCALL                              
041246,000726: 14,3137           20623                           CADR     GOPERF1                               
041247,000727: 14,3140           06001                           TC       GOTOPOOH                              
041248,000728: 14,3141           03022                           TC       R51C                                  
041249,000729: 14,3142           06037                           TC       INTPRET                               
041250,000730: 14,3143           77650                           GOTO                                           
041251,000731: 14,3144           02746                                    QMAJ                                  
041252,000732: 14,3145           06037        R51.4              TC       INTPRET                               
041253,000733: 14,3146           77775                           VLOAD                                          

Page 943

041255,000735: 14,3147           02715                                    STARAD     +6                         
041256,000736: 14,3150           02761                           STORE    STARSAV1                              
041257,000737: 14,3151           45145                           DLOAD    CALL                                  
041258,000738: 14,3152           03562                                    TSIGHT                                
041259,000739: 14,3153           32472                                    PLANET                                
041260,000740: 14,3154           03554                           STORE    PLANVEC                               
041261,000741: 14,3155           77731                           SSP                                            
041262,000742: 14,3156           02760                                    STARIND                               
041263,000743: 14,3157           00001                                    1                                     
041264,000744: 14,3160           77650                           GOTO                                           
041265,000745: 14,3161           31056                                    R51.3                                 
041266,000746: 14,3162           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
041267,000747: 

Page 944

041269,000749:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
041270,000750: 
041271,000751: 14,3164           45020        GYCOARS            STQ      CALL                                  
041272,000752: 14,3165           02746                                    QMAJ                                  
041273,000753: 14,3166           47247                                    CALCGTA                               
041274,000754: 14,3167           43014                           CLEAR    CLEAR                                 
041275,000755: 14,3170           01260                                    DRIFTFLG                              
041276,000756: 14,3171           01662                                    REFSMFLG                              
041277,000757: 14,3172           77776                           EXIT                                           
041278,000758: 14,3173           33223                           CAF      V16N20                                #  MONITOR GIMBALS
041279,000759: 14,3174           04616                           TC       BANKCALL                              
041280,000760: 14,3175           20451                           CADR     GODSPR                                
041281,000761: 14,3176           33255                           CA       R55CDR                                
041282,000762: 14,3177           04616                           TC       BANKCALL                              
041283,000763: 14,3200           17323                           CADR     IMUPULSE                              
041284,000764: 14,3201           04616                           TC       BANKCALL                              
041285,000765: 14,3202           17716                           CADR     IMUSTALL                              
041286,000766: 14,3203           05711                           TC       CURTAINS                              
041287,000767: 14,3204           05353                           TC       PHASCHNG                              
041288,000768: 14,3205           04024                           OCT      04024                                 
041289,000769: 
041290,000770: 14,3206           06037                           TC       INTPRET                               
041291,000771: 14,3207           75160                           AXC,1    AXC,2                                 
041292,000772: 14,3210           03606                                    XSMD                                  
041293,000773: 14,3211           01733                                    REFSMMAT                              
041294,000774: 14,3212           77624                           CALL                                           #  STORE DESIRED REFSMMAT
041295,000775: 14,3213           31377                                    MATMOVE                               
041296,000776: 14,3214           43014                           CLEAR    SET                                   
041297,000777: 14,3215           01273                                    PFRATFLG                              
041298,000778: 14,3216           01462                                    REFSMFLG                              
041299,000779: 14,3217           77624                           CALL                                           
041300,000780: 14,3220           31602                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
041301,000781: 14,3221           77650                           GOTO                                           
041302,000782: 14,3222           31134                                    R51K                                  
041303,000783: 14,3223           04024        V16N20             VN       1620                                  
041304,000784: 

Page 945

041306,000786:                                                                                                  #  R55   GYRO TORQUE
041307,000787:                                                                                                  #  FUNCTION - COMPUTE AND SEND GYRO PULSES
041308,000788:                                                                                                  #  CALLING SEQ - CALL R55
041309,000789:                                                                                                  #  INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
041310,000790:                                                                                                  #  OUTPUT - GYRO PULSES
041311,000791:                                                                                                  #  SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
041312,000792: 
041313,000793: 14,3224                                           COUNT*   $$/R55                                
041314,000794: 14,3224           77620        R55                STQ                                            
041315,000795: 14,3225           02745                                    QMIN                                  
041316,000796: 14,3226           77624                           CALL                                           
041317,000797: 14,3227           47247                                    CALCGTA                               
041318,000798: 14,3230           77776        PULSEM             EXIT                                           
041319,000799: 14,3231           33254        R55.1              CAF      V06N93                                
041320,000800: 14,3232           04616                           TC       BANKCALL                              
041321,000801: 14,3233           20476                           CADR     GOFLASH                               
041322,000802: 14,3234           06001                           TC       GOTOPOOH                              
041323,000803: 14,3235           03237                           TC       R55.2                                 
041324,000804: 14,3236           03251                           TC       R55RET                                
041325,000805: 14,3237           05353        R55.2              TC       PHASCHNG                              
041326,000806: 14,3240           00214                           OCT      00214                                 
041327,000807: 14,3241           33255                           CA       R55CDR                                
041328,000808: 14,3242           04616                           TC       BANKCALL                              
041329,000809: 14,3243           17323                           CADR     IMUPULSE                              
041330,000810: 14,3244           04616                           TC       BANKCALL                              
041331,000811: 14,3245           17716                           CADR     IMUSTALL                              
041332,000812: 14,3246           05711                           TC       CURTAINS                              
041333,000813: 14,3247           05353                           TC       PHASCHNG                              
041334,000814: 14,3250           04024                           OCT      04024                                 
041335,000815: 
041336,000816: 14,3251           06037        R55RET             TC       INTPRET                               
041337,000817: 14,3252           77650                           GOTO                                           
041338,000818: 14,3253           02745                                    QMIN                                  
041339,000819: 14,3254           01535        V06N93             VN       0693                                  
041340,000820: 14,3255           02737        R55CDR             ECADR    OGC                                   
041341,000821: 14,3256  14,3256               R54                =        CHKSDATA                              
041342,000822: 
041343,000823:                                                                                                  #  ROUTINE NAME - CHKSDATA               DATE - JAN 9, 1967
041344,000824:                                                                                                  #  MOD NO - 0                            LOG SECTION - P51-P53
041345,000825:                                                                                                  #  MODIFICATION BY - LONSKE              ASSEMBLY -
041346,000826: 
041347,000827:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS.  WHEN A PAIR OF STAR SIGHTINGS ARE MADE
041348,000828:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
041349,000829:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE.  THE FOLLOWING COMPUTATIONS ARE PERFORMED_
041350,000830:                                                                                                  #        OS1     =       OBSERVED STAR 1 VECTOR
041351,000831:                                                                                                  #        OS2     =       OBSERVED STAR 2 VECTOR
041352,000832:                                                                                                  #        SS1     =       STORED STAR 1 VECTOR
041353,000833:                                                                                                  #        SS2     =       STORED STAR 2 VECTOR
041354,000834:                                                                                                  #         A1     =       ARCCOS(OS1 - OS2)
041355,000835:                                                                                                  #         A2     =       ARCCOS(SS1 - SS2)
041356,000836:                                                                                                  #          A     =       ABS(2(A1 - A2))

Page 946

041358,000838:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
041359,000839: 
041360,000840:                                                                                                  #  EXIT MODE     1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
041361,000841:                                                                                                  #                2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE            ERANCE)
041362,000842: 
041363,000843:                                                                                                  #  OUTPUT -      1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
041364,000844:                                                                                                  #                2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
041365,000845: 
041366,000846:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
041367,000847:                                                                                                  #                1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
041368,000848:                                                                                                  #                2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
041369,000849: 
041370,000850:                                                                                                  #  DEBRIS -
041371,000851: 
041372,000852: 14,3256                                           COUNT*   $$/R54                                
041373,000853: 14,3256           43020        CHKSDATA           STQ      SET                                   
041374,000854: 14,3257           02745                                    QMIN                                  
041375,000855: 14,3260           00074                                    FREEFLAG                              
041376,000856: 14,3261           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
041377,000857: 14,3262           02706                                    STARAD                                
041378,000858: 
041379,000859: 14,3263           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
041380,000860: 14,3264           00001                                    0,1                                   
041381,000861: 14,3265           00007                                    6,1                                   
041382,000862: 14,3266           65552                           SL1      ACOS                                  
041383,000863: 14,3267           00025                           STORE    THETA                                 
041384,000864: 14,3270           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
041385,000865: 14,3271           00354                                    FREEFLAG                              
041386,000866: 14,3272           31302                                    CHKSD                                 
041387,000867: 14,3273           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
041388,000868: 14,3274           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
041389,000869: 14,3275           00006                                    6D                                    
041390,000870: 14,3276           00025                                    THETA                                 
041391,000871: 14,3277           00023                           STORE    18D                                   
041392,000872: 14,3300           77650                           GOTO                                           
041393,000873: 14,3301           31263                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
041394,000874: 14,3302           45345        CHKSD              DLOAD    DSU                                   
041395,000875: 14,3303           00025                                    THETA                                 
041396,000876: 14,3304           00023                                    18D                                   
041397,000877: 14,3305           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
041398,000878: 14,3306           21612                                    SGNAGREE                              
041399,000879: 14,3307           01046                           STORE    NORMTEM1                              
041400,000880: 14,3310           77414                           SET      EXIT                                  
041401,000881: 14,3311           00074                                    FREEFLAG                              
041402,000882: 14,3312           33326                           CAF      VB6N5                                 
041403,000883: 14,3313           04616                           TC       BANKCALL                              
041404,000884: 14,3314           20476                           CADR     GOFLASH                               
041405,000885: 14,3315           16001                           TCF      GOTOPOOH                              
041406,000886: 14,3316           03323                           TC       CHKSDA                                #  PROCEED
041407,000887: 14,3317           06037                           TC       INTPRET                               
041408,000888: 14,3320           52014                           CLEAR    GOTO                                  
041409,000889: 14,3321           00274                                    FREEFLAG                              
041410,000890: 14,3322           02745                                    QMIN                                  
041411,000891: 14,3323           06037        CHKSDA             TC       INTPRET                               

Page 947

041413,000893: 14,3324           77650                           GOTO                                           
041414,000894: 14,3325           02745                                    QMIN                                  
041415,000895: 14,3326           01405        VB6N5              VN       605                                   
041416,000896: 
041417,000897:                                                                                                  #  NAME - CAL53A
041418,000898:                                                                                                  #  FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
041419,000899:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
041420,000900:                                                                                                  #  INPUT - X,Y,ZSMD, CDUX,Y,Z
041421,000901:                                                                                                  #           DESIRED GIMBAL ANGLES - THETAD,+1,+2
041422,000902:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
041423,000903:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
041424,000904: 
041425,000905: 14,3327                                           COUNT*   $$/R50                                
041426,000906: 14,3327           77624        CAL53A             CALL                                           
041427,000907: 14,3330           31617                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
041428,000908: 14,3331           66234                           RTB      SSP                                   
041429,000909: 14,3332           31413                                    RDCDUS                                #  READ CDUS
041430,000910: 14,3333           00051                                    S1                                    
041431,000911: 14,3334           00001                                    1                                     
041432,000912: 14,3335           40370                           AXT,1    SETPD                                 
041433,000913: 14,3336           00003                                    3                                     
041434,000914: 14,3337           00005                                    4                                     
041435,000915: 14,3340           70543        CALOOP             DLOAD*   SR1                                   
041436,000916: 14,3341           00325                                    THETAD     +3D,1                      
041437,000917: 14,3342           70523                           PDDL*    SR1                                   
041438,000918: 14,3343           00005                                    4,1                                   
041439,000919: 14,3344           51425                           DSU      ABS                                   
041440,000920: 14,3345           45206                           PUSH     DSU                                   
041441,000921: 14,3346           31412                                    DEGREE1                               
041442,000922: 14,3347           71240                           BMN      DLOAD                                 
041443,000923: 14,3350           31366                                    CALOOP1                               
041444,000924: 14,3351           51025                           DSU      BPL                                   
041445,000925: 14,3352           31413                                    DEG359                                
041446,000926: 14,3353           31366                                    CALOOP1                               
041447,000927: 14,3354           77776                           EXIT                                           
041448,000928: 14,3355           05353                           TC       PHASCHNG                              
041449,000929: 14,3356           04024                           OCT      04024                                 
041450,000930: 
041451,000931: 14,3357           06037                           TC       INTPRET                               
041452,000932: 14,3360           77624        COARFINE           CALL                                           
041453,000933: 14,3361           31565                                    COARSE                                
041454,000934: 14,3362           77624                           CALL                                           
041455,000935: 14,3363           31602                                    NCOARSE                               
041456,000936: 14,3364           77650                           GOTO                                           
041457,000937: 14,3365           31370                                    FINEONLY                              
041458,000938: 14,3366           77700        CALOOP1            TIX,1                                          
041459,000939: 14,3367           31340                                    CALOOP                                
041460,000940: 14,3370           75160        FINEONLY           AXC,1    AXC,2                                 
041461,000941: 14,3371           02642                                    XSM                                   
041462,000942: 14,3372           01733                                    REFSMMAT                              
041463,000943: 14,3373           77624                           CALL                                           
041464,000944: 14,3374           31377                                    MATMOVE                               

Page 948

041466,000946: 14,3375           77650                           GOTO                                           
041467,000947: 14,3376           32161                                    COARSRET                              
041468,000948: 14,3377           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
041469,000949: 14,3400           00001                                    0,1                                   
041470,000950: 14,3401           10001                           STORE    0,2                                   
041471,000951: 14,3402           77773                           VLOAD*                                         
041472,000952: 14,3403           00007                                    6D,1                                  
041473,000953: 14,3404           10007                           STORE    6D,2                                  
041474,000954: 14,3405           77773                           VLOAD*                                         
041475,000955: 14,3406           00015                                    12D,1                                 
041476,000956: 14,3407           10015                           STORE    12D,2                                 
041477,000957: 14,3410           77616                           RVQ                                            
041478,000958: 14,3411           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
041479,000959: 14,3412           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
041480,000960: 14,3413           00004        RDCDUS             INHINT                                         #  READ CDUS
041481,000961: 14,3414           30032                           CA       CDUX                                  
041482,000962: 14,3415           50120                           INDEX    FIXLOC                                
041483,000963: 14,3416           54001                           TS       1                                     
041484,000964: 14,3417           30033                           CA       CDUY                                  
041485,000965: 14,3420           50120                           INDEX    FIXLOC                                
041486,000966: 14,3421           54002                           TS       2                                     
041487,000967: 14,3422           30034                           CA       CDUZ                                  
041488,000968: 14,3423           50120                           INDEX    FIXLOC                                
041489,000969: 14,3424           54003                           TS       3                                     
041490,000970: 14,3425           00003                           RELINT                                         
041491,000971: 14,3426           06061                           TC       DANZIG                                #                                        +
041492,000972: 14,3427                                           COUNT*   $$/INFLT                              
041493,000973: 

Page 949

041495,000975:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
041496,000976:                                                                                                  #  MOD. NO. 1    23 JAN 67                               LOG SECTION - P51-P53
041497,000977:                                                                                                  #  MOD BY STURLAUGSON                                    ASSEMBLY SUNDANCE REV56
041498,000978: 
041499,000979:                                                                                                  #  FUNCTIONAL DESCRIPTION
041500,000980:                                                                                                  #        DETERMINES THE INERTIAL ORIENTATION OF THE IMU.  THE PROGRAM IS SELECTED BY DSKY ENTRY.  THE SIGHTING
041501,000981:                                                                                                  #        (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA.  AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
041502,000982:                                                                                                  #        STAR LOS VECTOR IN STARAD +6.  TWO STARS ARE THUS SIGHTED.  THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
041503,000983:                                                                                                  #        CHKSDATA (R54).  REFSMMAT IS THEN COMPUTED AT AXISGEN.
041504,000984: 
041505,000985:                                                                                                  #  CALLING SEQUENCE
041506,000986:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041507,000987: 
041508,000988:                                                                                                  #  SUBROUTINES CALLED.
041509,000989:                                                                                                  #        GOPERF3
041510,000990:                                                                                                  #        GOPERF1
041511,000991:                                                                                                  #        GODSPR
041512,000992:                                                                                                  #        IMUCOARS
041513,000993:                                                                                                  #        IMUFIN20
041514,000994:                                                                                                  #        AOTMARK (R53)
041515,000995:                                                                                                  #        CHKSDATA (R54)
041516,000996:                                                                                                  #        MKRELEAS
041517,000997:                                                                                                  #        AXISGEN
041518,000998:                                                                                                  #        MATMOVE
041519,000999: 
041520,001000:                                                                                                  #  ALARMS
041521,001001:                                                                                                  #        NONE.
041522,001002: 
041523,001003:                                                                                                  #  ERASABLE INITIALIZATION
041524,001004:                                                                                                  #        IMU ZERO FLAG SHOULD BE SET.
041525,001005: 
041526,001006:                                                                                                  #  OUTPUT
041527,001007:                                                                                                  #        REFSMMAT
041528,001008:                                                                                                  #        REFSMFLG
041529,001009: 
041530,001010:                                                                                                  #  DEBRIS
041531,001011:                                                                                                  #        WORK AREA
041532,001012:                                                                                                  #        STARAD
041533,001013:                                                                                                  #        STARIND
041534,001014:                                                                                                  #        BESTI
041535,001015:                                                                                                  #        BESTJ
041536,001016: 
041537,001017: 14,3427                                           COUNT*   $$/P51                                

Page 950

041539,001019: 14,3427           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041540,001020: 14,3430           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
041541,001021: 
041542,001022: 14,3431           34761                           CAF      OCT15                                 
041543,001023: 14,3432           04616                           TC       BANKCALL                              
041544,001024: 14,3433           20623                           CADR     GOPERF1                               
041545,001025: 14,3434           06001                           TC       GOTOPOOH                              #  TERM.
041546,001026: 14,3435           13461                           TCF      P51B                                  #  V33
041547,001027: 14,3436           05353                           TC       PHASCHNG                              
041548,001028: 14,3437           04024                           OCT      04024                                 
041549,001029: 
041550,001030: 14,3440           34755                           CAF      ZERO                                  
041551,001031: 14,3441           54321                           TS       THETAD                                #  ZERO THE GIMBALS
041552,001032: 14,3442           54322                           TS       THETAD     +1                         
041553,001033: 14,3443           54323                           TS       THETAD     +2                         
041554,001034: 14,3444           35010                           CAF      V06N22                                
041555,001035: 14,3445           04616                           TC       BANKCALL                              
041556,001036: 14,3446           20446                           CADR     GODSPRET                              
041557,001037: 14,3447           33564                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
041558,001038: 14,3450           04616                           TC       BANKCALL                              
041559,001039: 14,3451           20446                           CADR     GODSPRET                              
041560,001040: 14,3452           06037                           TC       INTPRET                               
041561,001041: 14,3453           77624                           CALL                                           
041562,001042: 14,3454           31565                                    COARSE                                
041563,001043: 14,3455           77776                           EXIT                                           
041564,001044: 14,3456           05353                           TC       PHASCHNG                              
041565,001045: 14,3457           04024                           OCT      04024                                 
041566,001046: 14,3460           13431                           TCF      P51        +2                         
041567,001047: 
041568,001048: 14,3461           05353        P51B               TC       PHASCHNG                              
041569,001049: 14,3462           00014                           OCT      00014                                 
041570,001050: 14,3463           06037                           TC       INTPRET                               
041571,001051: 14,3464           77624                           CALL                                           
041572,001052: 14,3465           31602                                    NCOARSE                               
041573,001053: 14,3466           40331                           SSP      SETPD                                 
041574,001054: 14,3467           02760                                    STARIND                               #  INDEX - STAR 1 OR 2
041575,001055: 14,3470           00000                                    0                                     
041576,001056: 14,3471           00001                                    0                                     
041577,001057: 14,3472           77776        P51C               EXIT                                           
041578,001058: 14,3473           05353                           TC       PHASCHNG                              
041579,001059: 14,3474           04024                           OCT      04024                                 
041580,001060: 
041581,001061: 14,3475           04616                           TC       BANKCALL                              
041582,001062: 14,3476           16000                           CADR     AOTMARK                               #  R53
041583,001063: 14,3477           04616                           TC       BANKCALL                              
041584,001064: 14,3500           17712                           CADR     AOTSTALL                              
041585,001065: 14,3501           05711                           TC       CURTAINS                              
041586,001066: 14,3502           11757                           CCS      STARIND                               
041587,001067: 14,3503           13511                           TCF      P51D       +1                         
041588,001068: 14,3504           06037                           TC       INTPRET                               

Page 951

041590,001070: 14,3505           77775                           VLOAD                                          
041591,001071: 14,3506           02715                                    STARAD     +6                         
041592,001072: 14,3507           02761                           STORE    STARSAV1                              
041593,001073: 14,3510           77776        P51D               EXIT                                           
041594,001074: 14,3511           05353                           TC       PHASCHNG                              
041595,001075: 14,3512           04024                           OCT      04024                                 
041596,001076: 
041597,001077: 14,3513           11757                           CCS      STARIND                               
041598,001078: 14,3514           13530                           TCF      P51E                                  
041599,001079: 14,3515           05353                           TC       PHASCHNG                              
041600,001080: 14,3516           04024                           OCT      04024                                 
041601,001081: 
041602,001082: 14,3517           06037                           TC       INTPRET                               
041603,001083: 14,3520           45145                           DLOAD    CALL                                  
041604,001084: 14,3521           03562                                    TSIGHT                                
041605,001085: 14,3522           32472                                    PLANET                                
041606,001086: 14,3523           03554                           STORE    PLANVEC                               
041607,001087: 14,3524           77776                           EXIT                                           
041608,001088: 14,3525           34753                           CAF      BIT1                                  
041609,001089: 14,3526           55757                           TS       STARIND                               
041610,001090: 14,3527           13473                           TCF      P51C       +1                         #  DO SECOND STAR
041611,001091: 14,3530           05353        P51E               TC       PHASCHNG                              
041612,001092: 14,3531           04024                           OCT      04024                                 
041613,001093: 
041614,001094: 14,3532           06037                           TC       INTPRET                               
041615,001095: 14,3533           45145                           DLOAD    CALL                                  
041616,001096: 14,3534           03562                                    TSIGHT                                
041617,001097: 14,3535           32472                                    PLANET                                
041618,001098: 14,3536           24015                           STOVL    12D                                   
041619,001099: 14,3537           03554                                    PLANVEC                               
041620,001100: 14,3540           24007                           STOVL    6D                                    
041621,001101: 14,3541           02761                                    STARSAV1                              
041622,001102: 14,3542           26707                           STOVL    STARAD                                
041623,001103: 14,3543           02767                                    STARSAV2                              
041624,001104: 14,3544           36715                           STCALL   STARAD     +6                         
041625,001105: 14,3545           31256                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
041626,001106: 14,3546           77414                           BON      EXIT                                  
041627,001107: 14,3547           00314                                    FREEFLAG                              
041628,001108: 14,3550           31552                                    P51G                                  
041629,001109: 14,3551           03431                           TC       P51        +2                         
041630,001110: 14,3552           77624        P51G               CALL                                           
041631,001111: 14,3553           47441                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
041632,001112: 14,3554           75160                           AXC,1    AXC,2                                 
041633,001113: 14,3555           02664                                    XDC                                   
041634,001114: 14,3556           01733                                    REFSMMAT                              
041635,001115: 14,3557           77624                           CALL                                           
041636,001116: 14,3560           31377                                    MATMOVE                               
041637,001117: 14,3561           77414                           SET      EXIT                                  
041638,001118: 14,3562           01462                                    REFSMFLG                              
041639,001119: 14,3563           06001                           TC       GOTOPOOH                              #  FINIS

Page 952

041641,001121: 14,3564           12200        V41K               VN       4100                                  
041642,001122: 14,3565           77776        COARSE             EXIT                                           
041643,001123: 14,3566           04616                           TC       BANKCALL                              
041644,001124: 14,3567           17000                           CADR     IMUCOARS                              
041645,001125: 14,3570           04616                           TC       BANKCALL                              
041646,001126: 14,3571           17716                           CADR     IMUSTALL                              
041647,001127: 14,3572           05711                           TC       CURTAINS                              
041648,001128: 14,3573           04616                           TC       BANKCALL                              
041649,001129: 14,3574           17210                           CADR     IMUFINE                               
041650,001130: 14,3575           04616                           TC       BANKCALL                              
041651,001131: 14,3576           17716                           CADR     IMUSTALL                              
041652,001132: 14,3577           05711                           TC       CURTAINS                              
041653,001133: 14,3600           06037                           TC       INTPRET                               
041654,001134: 14,3601           77616                           RVQ                                            
041655,001135: 14,3602           77776        NCOARSE            EXIT                                           
041656,001136: 14,3603           30025                           CA       TIME1                                 
041657,001137: 14,3604           55075                           TS       1/PIPADT                              
041658,001138: 14,3605           44755                           CS       ZERO                                  
041659,001139: 14,3606           54037                           TS       PIPAX                                 
041660,001140: 14,3607           54040                           TS       PIPAY                                 
041661,001141: 14,3610           54041                           TS       PIPAZ                                 
041662,001142: 14,3611           06037                           TC       INTPRET                               
041663,001143: 14,3612           77775                           VLOAD                                          
041664,001144: 14,3613           24007                                    ZEROVEC                               
041665,001145: 14,3614           01472                           STORE    GCOMP                                 
041666,001146: 14,3615           43414                           SET      RVQ                                   
041667,001147: 14,3616           01060                                    DRIFTFLG                              
041668,001148: 

Page 953

041670,001150:                                                                                                  #  NAME - S52.2
041671,001151:                                                                                                  #  FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
041672,001152:                                                                                                  #  CALL - CALL S52.2
041673,001153:                                                                                                  #  INPUT - X,Y,ZSMD
041674,001154:                                                                                                  #  OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
041675,001155:                                                                                                  #  SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
041676,001156: 
041677,001157: 14,3617                                           COUNT*   $$/S52.1                              
041678,001158: 14,3617           45020        S52.2              STQ      CALL                                  
041679,001159: 14,3620           02746                                    QMAJ                                  
041680,001160: 14,3621           47537                                    CDUTRIG                               
041681,001161: 14,3622           77624                           CALL                                           
041682,001162: 14,3623           20030                                    CALCSMSC                              
041683,001163: 14,3624           66370                           AXT,1    SSP                                   
041684,001164: 14,3625           00022                                    18D                                   
041685,001165: 14,3626           00051                                    S1                                    
041686,001166: 14,3627           00006                                    6D                                    
041687,001167: 14,3630           61373        S52.2A             VLOAD*   VXM                                   
041688,001168: 14,3631           02707                                    XNB        +18D,1                     
041689,001169: 14,3632           01734                                    REFSMMAT                              
041690,001170: 14,3633           77656                           UNIT                                           
041691,001171: 14,3634           06707                           STORE    XNB        +18D,1                     
041692,001172: 14,3635           77700                           TIX,1                                          
041693,001173: 14,3636           31630                                    S52.2A                                
041694,001174: 14,3637           75160        S52.2.1            AXC,1    AXC,2                                 
041695,001175: 14,3640           03606                                    XSMD                                  
041696,001176: 14,3641           02642                                    XSM                                   
041697,001177: 14,3642           77624                           CALL                                           
041698,001178: 14,3643           31377                                    MATMOVE                               
041699,001179: 14,3644           77624                           CALL                                           
041700,001180: 14,3645           47353                                    CALCGA                                
041701,001181: 14,3646           77650                           GOTO                                           
041702,001182: 14,3647           02746                                    QMAJ                                  
041703,001183: 

Page 954

041705,001185:                                                                                                  #  NAME - S52.3
041706,001186:                                                                                                  #  FUNCTION      XSMD= UNIT R
041707,001187:                                                                                                  #                YSMD= UNIT(V X R)
041708,001188:                                                                                                  #                ZSMD= UNIT(XSMD X YSMD)
041709,001189:                                                                                                  #  CALL          DLOAD   CALL
041710,001190:                                                                                                  #                        TALIGN
041711,001191:                                                                                                  #                        S52.3
041712,001192:                                                                                                  #  INPUT -       TIME OF ALIGNMENT IN MPAC
041713,001193:                                                                                                  #  OUTPUT -      X,Y,ZSMD
041714,001194:                                                                                                  #  SUBROUTINES - CSMCONIC
041715,001195: 
041716,001196: 14,3650                                           COUNT*   $$/S52.3                              
041717,001197: 14,3650           77620        S52.3              STQ                                            
041718,001198: 14,3651           02746                                    QMAJ                                  
041719,001199: 14,3652           34041                           STCALL   TDEC1                                 
041720,001200: 14,3653           27100                                    LEMCONIC                              
041721,001201: 14,3654           53575                           VLOAD    UNIT                                  
041722,001202: 14,3655           00001                                    RATT                                  
041723,001203: 14,3656           27607                           STOVL    XSMD                                  
041724,001204: 14,3657           00007                                    VATT                                  
041725,001205: 14,3660           53435                           VXV      UNIT                                  
041726,001206: 14,3661           00001                                    RATT                                  
041727,001207: 14,3662           27615                           STOVL    YSMD                                  
041728,001208: 14,3663           03607                                    XSMD                                  
041729,001209: 14,3664           53435                           VXV      UNIT                                  
041730,001210: 14,3665           03615                                    YSMD                                  
041731,001211: 14,3666           37623                           STCALL   ZSMD                                  
041732,001212: 14,3667           02746                                    QMAJ                                  
041733,001213: 

Page 955

041735,001215:                                                                                                  #  NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
041736,001216: 
041737,001217:                                                                                                  #  FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
041738,001218:                                                                                                  #  STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
041739,001219: 
041740,001220:                                                                                                  #  CALLING - CALL R52
041741,001221: 
041742,001222:                                                                                                  #  INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
041743,001223: 
041744,001224:                                                                                                  #  OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
041745,001225:                                                                                                  #  (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
041746,001226:                                                                                                  #  POINTVSM-1/2 UNIT NAV STAR VEC IN SM
041747,001227:                                                                                                  #  SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
041748,001228: 
041749,001229:                                                                                                  #  SUBROUT - R60LEM
041750,001230: 
041751,001231: 14,3670                                           COUNT*   $$/R52                                
041752,001232: 14,3670           77420        R52                STQ      EXIT                                  
041753,001233: 14,3671           03665                                    SAVQR52                               
041754,001234: 14,3672           51757                           INDEX    STARIND                               
041755,001235: 14,3673           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
041756,001236: 14,3674           00006                           EXTEND                                         
041757,001237: 14,3675           73771                           MP       1/6TH                                 
041758,001238: 14,3676           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
041759,001239: 14,3677           54735                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
041760,001240: 
041761,001241: 14,3700           33772        R52A               CAF      V01N70                                
041762,001242: 14,3701           04616                           TC       BANKCALL                              
041763,001243: 14,3702           20476                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
041764,001244: 14,3703           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041765,001245: 14,3704           13706                           TCF      R52B                                  #  V33 - PROCEED TO ORIENT LEM
041766,001246: 14,3705           13700                           TCF      R52A                                  #  ENTER - SELECT NEW STARCODE - RECYCLE
041767,001247: 
041768,001248: 14,3706           05516        R52B               TC       DOWNFLAG                              
041769,001249: 14,3707           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041770,001250: 14,3710           30735                           CA       STARCODE                              #  GRAB DETENT CODE
041771,001251: 14,3711           77744                           MASK     HIGH9                                 
041772,001252: 14,3712           00006                           EXTEND                                         
041773,001253: 14,3713           74743                           MP       BIT9                                  
041774,001254: 14,3714           54001                           TS       L                                     #  TEMP STORE DETENT
041775,001255: 
041776,001256: 14,3715           00006                           EXTEND                                         
041777,001257: 14,3716           63734                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
041778,001258: 
041779,001259: 14,3717           65660                           AD       NEG7                                  
041780,001260: 14,3720           00006                           EXTEND                                         
041781,001261: 14,3721           13734                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
041782,001262: 
041783,001263: 14,3722  E7,1551                                  EBANK=   XYMARK                                
041784,001264: 14,3722           35016                           CA       EBANK7                                
041785,001265: 14,3723           54003                           TS       EBANK                                 

Page 956

041787,001267: 14,3724           50001                           INDEX    L                                     
041788,001268: 14,3725           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
041789,001269: 14,3726           54001                           TS       L                                     
041790,001270: 14,3727  E5,1642                                  EBANK=   XSM                                   
041791,001271: 14,3727           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
041792,001272: 14,3730           54003                           TS       EBANK                                 
041793,001273: 14,3731           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041794,001274: 14,3732           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041795,001275: 14,3733           13744                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
041796,001276: 
041797,001277: 14,3734           33773        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
041798,001278: 14,3735           04616                           TC       BANKCALL                              
041799,001279: 14,3736           20476                           CADR     GOFLASH                               
041800,001280: 14,3737           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041801,001281: 14,3740           13742                           TCF      +2                                    #  PROCEED - CALC OPTIC AXIS
041802,001282: 14,3741           13734                           TCF      GETAZEL                               #  ENTER - RECYCLE
041803,001283: 
041804,001284: 14,3742           00006                           EXTEND                                         
041805,001285: 14,3743           31350                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
041806,001286: 14,3744           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
041807,001287: 14,3745           52011                           DXCH     8D                                    
041808,001288: 14,3746           06037                           TC       INTPRET                               
041809,001289: 14,3747           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
041810,001290: 14,3750           10536                                    OANB                                  #  SCAXIS IN NB COORDS
041811,001291: 14,3751           45034                           RTB      CALL                                  
041812,001292: 14,3752           21573                                    LOADTIME                              
041813,001293: 14,3753           32472                                    PLANET                                
041814,001294: 14,3754           53521                           MXV      UNIT                                  
041815,001295: 14,3755           01734                                    REFSMMAT                              
041816,001296: 14,3756           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
041817,001297: 
041818,001298: 14,3757           77776                           EXIT                                           
041819,001299: 14,3760           04616                           TC       BANKCALL                              
041820,001300: 14,3761           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
041821,001301: 
041822,001302: 14,3762           37744                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
041823,001303: 14,3763           70735                           MASK     STARCODE                              
041824,001304: 14,3764           00006                           EXTEND                                         
041825,001305: 14,3765           13700                           BZF      R52A                                  
041826,001306: 
041827,001307: 14,3766           06037                           TC       INTPRET                               #  RETURN FROM KALCMANU
041828,001308: 14,3767           77650                           GOTO                                           
041829,001309: 14,3770           03665                                    SAVQR52                               #  RETURN TO CALLER
041830,001310: 
041831,001311: 14,3771           05253        1/6TH              DEC      .1666667                              
041832,001312: 14,3772           00306        V01N70             VN       0170                                  
041833,001313: 14,3773           01527        V06N87             VN       687                                   
041834,001314: 

Page 957

041836,001316:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
041837,001317: 
041838,001318: 15,2245                                           BANK     15                                    
041839,001319: 15,2000                                           SETLOC   P50S                                  
041840,001320: 15,2000                                           BANK                                           
041841,001321: 15,2245                                           COUNT*   $$/R59                                
041842,001322: 
041843,001323: 15,2245           40077        R59                CS       FLAGWRD3                              
041844,001324: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041845,001325: 15,2247           10000                           CCS      A                                     
041846,001326: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
041847,001327: 
041848,001328: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
041849,001329: 15,2252           04616                           TC       BANKCALL                              
041850,001330: 15,2253           20476                           CADR     GOFLASH                               
041851,001331: 15,2254           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041852,001332: 15,2255           12257                           TCF      R59A                                  #  V33 - PROCEED
041853,001333: 15,2256           12245                           TCF      R59                                   #  V32 - RECYCLE
041854,001334: 
041855,001335: 15,2257           47744        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
041856,001336: 15,2260           70735                           MASK     AOTCODE                               
041857,001337: 15,2261           00006                           EXTEND                                         
041858,001338: 15,2262           76242                           MP       REVCNT                                #  JUST 6
041859,001339: 15,2263           56001                           XCH      L                                     
041860,001340: 15,2264           51757                           INDEX    STARIND                               
041861,001341: 15,2265           55755                           TS       BESTI                                 
041862,001342: 15,2266           50120                           INDEX    FIXLOC                                
041863,001343: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
041864,001344: 15,2270           00006                           EXTEND                                         
041865,001345: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
041866,001346: 15,2272           40000                           COM                                            
041867,001347: 15,2273           62561                           AD       DEC227                                
041868,001348: 15,2274           00006                           EXTEND                                         
041869,001349: 15,2275           62455                           BZMF     R59OUT                                
041870,001350: 
041871,001351: 15,2276           06037                           TC       INTPRET                               
041872,001352: 15,2277           64373                           VLOAD*   MXV                                   
041873,001353: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
041874,001354: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
041875,001355: 15,2302           45056                           UNIT     CALL                                  
041876,001356: 15,2303           47646                                    CDU*SMNB                              
041877,001357: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
041878,001358: 15,2305           77776                           EXIT                                           
041879,001359: 
041880,001360: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
041881,001361: 15,2307           55242                           TS       POSCODE                               
041882,001362: 
041883,001363: 15,2310  E7,1551                                  EBANK=   XYMARK                                
041884,001364: 15,2310           35016        INCAZ              CA       EBANK7                                
041885,001365: 15,2311           54003                           TS       EBANK                                 
041886,001366: 

Page 958

041888,001368: 15,2312           51242                           INDEX    POSCODE                               
041889,001369: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
041890,001370: 15,2314           54001                           TS       L                                     
041891,001371: 
041892,001372: 15,2315  E5,1642                                  EBANK=   XSM                                   
041893,001373: 15,2315           35014                           CA       EBANK5                                
041894,001374: 15,2316           54003                           TS       EBANK                                 
041895,001375: 
041896,001376: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041897,001377: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041898,001378: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
041899,001379: 15,2322           50120                           INDEX    FIXLOC                                
041900,001380: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041901,001381: 
041902,001382: 15,2324           06037                           TC       INTPRET                               
041903,001383: 15,2325           77624                           CALL                                           
041904,001384: 15,2326           10536                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
041905,001385: 15,2327           50375                           VLOAD    DOT                                   
041906,001386: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
041907,001387: 15,2331           03765                                    SCAXIS                                
041908,001388: 15,2332           65552                           SL1      ARCCOS                                
041909,001389: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
041910,001390: 
041911,001391: 15,2334           51025                           DSU      BPL                                   
041912,001392: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
041913,001393: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
041914,001394: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
041915,001395: 15,2340           00031                                    24D                                   
041916,001396: 15,2341           32470                                    DEG.5                                 
041917,001397: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
041918,001398: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
041919,001399: 15,2344           00031                                    24D                                   #  GET SPIRAL
041920,001400: 15,2345           42405                           DMP      SL4                                   
041921,001401: 15,2346           25764                                    3/4                                   #  12 SCALED AT 16
041922,001402: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
041923,001403: 
041924,001404: 15,2350           03765                                    SCAXIS                                #  OA
041925,001405: 15,2351           53435                           VXV      UNIT                                  
041926,001406: 15,2352           24005                                    XUNIT                                 
041927,001407: 15,2353           47206                           PUSH     VXV                                   #  OA X UNITX    PD 0-5
041928,001408: 15,2354           03765                                    SCAXIS                                
041929,001409: 15,2355           77676                           VCOMP                                          
041930,001410: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X (OA X UNITX))       PD 6-11
041931,001411: 15,2357           03765                                    SCAXIS                                
041932,001412: 15,2360           53435                           VXV      UNIT                                  
041933,001413: 15,2361           02731                                    STAR                                  
041934,001414: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)        PD 12-17
041935,001415: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
041936,001416: 15,2364           65552                           SL1      ARCCOS                                
041937,001417: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS

Page 959

041939,001419: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
041940,001420: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG - GET 360-THET
041941,001421: 15,2370           32375                                    R59D                                  
041942,001422: 15,2371           32047                                    ABOUTONE                              
041943,001423: 15,2372           77625                           DSU                                            
041944,001424: 15,2373           00033                                    26D                                   
041945,001425: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
041946,001426: 
041947,001427: 15,2375           70535        R59D               SLOAD    SR1                                   
041948,001428: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
041949,001429: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
041950,001430: 15,2400           00033                                    26D                                   
041951,001431: 15,2401           77634                           RTB                                            
041952,001432: 15,2402           21614                                    1STO2S                                
041953,001433: 15,2403           15237                           STODL    CURSOR                                #  YROT IN 1/2 REVS
041954,001434: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
041955,001435: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
041956,001436: 15,2406           77634                           RTB                                            
041957,001437: 15,2407           21614                                    1STO2S                                
041958,001438: 15,2410           01241                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
041959,001439: 15,2411           77776                           EXIT                                           
041960,001440: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
041961,001441: 
041962,001442: 15,2413           77776        ZSPCR              EXIT                                           
041963,001443: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
041964,001444: 15,2415           55236                           TS       CURSOR                                #  AND SPIRAL ANGLES
041965,001445: 15,2416           55240                           TS       SPIRAL                                
041966,001446: 15,2417           12437                           TCF      79DISP                                
041967,001447: 
041968,001448: 15,2420           77776        NXAX               EXIT                                           
041969,001449: 15,2421           25242                           INCR     POSCODE                               
041970,001450: 15,2422           41242                           CS       POSCODE                               
041971,001451: 15,2423           64757                           AD       SEVEN                                 
041972,001452: 15,2424           00006                           EXTEND                                         
041973,001453: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
041974,001454: 15,2426           12310                           TCF      INCAZ                                 
041975,001455: 
041976,001456: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
041977,001457: 15,2430           00404                           OCT      404                                   
041978,001458: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
041979,001459: 15,2432           04616                           TC       BANKCALL                              
041980,001460: 15,2433           20476                           CADR     GOFLASH                               
041981,001461: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041982,001462: 15,2435           12455                           TCF      R59OUT                                #  VB33 - PROCEED, GO WITHOUT AQUIRE
041983,001463: 15,2436           12245                           TCF      R59                                   #  VB32 - RECYCLE AND TRY ANOTHER STAR
041984,001464: 
041985,001465: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
041986,001466: 15,2440           04616                           TC       BANKCALL                              
041987,001467: 15,2441           20476                           CADR     GOFLASH                               
041988,001468: 15,2442           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE

Page 960

041990,001470: 15,2443           12445                           TCF      R59E                                  #  V33 - PROCEED TO MARK ROUTINE
041991,001471: 15,2444           12245                           TCF      R59                                   #  V32 - RECYCLE TO TOP OF R59 AGAIN
041992,001472: 
041993,001473: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
041994,001474: 15,2446           71242                           MASK     POSCODE                               
041995,001475: 15,2447           00006                           EXTEND                                         
041996,001476: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041997,001477: 15,2451           47744                           CS       HIGH9                                 
041998,001478: 15,2452           70735                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041999,001479: 15,2453           60001                           AD       L                                     
042000,001480: 15,2454           54735                           TS       AOTCODE                               #  STORE DETENT 7-9
042001,001481: 
042002,001482: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
042003,001483: 15,2456           16000                           CADR     AOTMARK                               
042004,001484: 15,2457           04616                           TC       BANKCALL                              
042005,001485: 15,2460           17712                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
042006,001486: 15,2461           05711                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
042007,001487: 15,2462           13054                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
042008,001488: 
042009,001489: 15,2463           00306        V01N70*            VN       170                                   
042010,001490: 15,2464           01517        V06N79             VN       679                                   
042011,001491: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
042012,001492: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
042013,001493: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
042014,001494: 15,2472     1236               CURSOR             EQUALS   GDT/2                                 
042015,001495: 15,2472     1240               SPIRAL             EQUALS   GDT/2      +2                         
042016,001496: 15,2472     1242               POSCODE            EQUALS   GDT/2      +4                         
042017,001497: 

Page 961

042019,001499:                                                                                                  #  NAME -        PLANET
042020,001500:                                                                                                  #  FUNCTION -    TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042021,001501:                                                                                                  #                BODY.  STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
042022,001502:                                                                                                  #                MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
042023,001503:                                                                                                  #                BY DSDY INPUT
042024,001504:                                                                                                  #  CALL -        CALL
042025,001505:                                                                                                  #                        PLANET
042026,001506:                                                                                                  #  INPUT -       TIME IN MPAC
042027,001507:                                                                                                  #  OUTPUT -      VECTOR IN MPAC
042028,001508:                                                                                                  #  SUBROUTINES - LOCSAM
042029,001509:                                                                                                  #  DEBRIS -      VAC, STARAD - STARAD +17
042030,001510: 
042031,001511: 15,2000                                           SETLOC   P50S                                  
042032,001512: 15,2000                                           BANK                                           
042033,001513: 15,2472                                           COUNT*   $$/P51                                
042034,001514: 
042035,001515: 15,2472           27562        PLANET             STOVL    TSIGHT                                
042036,001516: 15,2473           24007                                    ZEROVEC                               #  ZERO N88 DISPLAY VEC
042037,001517: 15,2474           02707                           STORE    STARAD                                
042038,001518: 15,2475           77420                           STQ      EXIT                                  
042039,001519: 15,2476           02736                                    GCTR                                  
042040,001520: 15,2477           47744                           CS       HIGH9                                 
042041,001521: 15,2500           70735                           MASK     AOTCODE                               
042042,001522: 15,2501           00006                           EXTEND                                         
042043,001523: 15,2502           76242                           MP       REVCNT                                
042044,001524: 15,2503           56001                           XCH      L                                     
042045,001525: 15,2504           51757                           INDEX    STARIND                               
042046,001526: 15,2505           55755                           TS       BESTI                                 
042047,001527: 15,2506           10000                           CCS      A                                     
042048,001528: 15,2507           12523                           TCF      NOTPLAN                               
042049,001529: 15,2510           32562                           CAF      VNPLANV                               
042050,001530: 15,2511           04616                           TC       BANKCALL                              
042051,001531: 15,2512           20476                           CADR     GOFLASH                               
042052,001532: 15,2513           02510                           TC       -3                                    
042053,001533: 15,2514           02516                           TC       +2                                    
042054,001534: 15,2515           02510                           TC       -5                                    
042055,001535: 15,2516           06037                           TC       INTPRET                               
042056,001536: 15,2517           53575                           VLOAD    UNIT                                  
042057,001537: 15,2520           02707                                    STARAD                                
042058,001538: 15,2521           77650                           GOTO                                           
042059,001539: 15,2522           02736                                    GCTR                                  
042060,001540: 15,2523           40000        NOTPLAN            CS       A                                     
042061,001541: 15,2524           62561                           AD       DEC227                                
042062,001542: 15,2525           00006                           EXTEND                                         
042063,001543: 15,2526           62537                           BZMF     CALSAM1                               
042064,001544: 15,2527           51757                           INDEX    STARIND                               
042065,001545: 15,2530           31755                           CA       BESTI                                 
042066,001546: 15,2531           50120                           INDEX    FIXLOC                                
042067,001547: 15,2532           54046                           TS       X1                                    
042068,001548: 15,2533           06037                           TC       INTPRET                               

Page 962

042070,001550: 15,2534           52173                           VLOAD*   GOTO                                  
042071,001551: 15,2535           30347                                    CATLOG,1                              
042072,001552: 15,2536           02736                                    GCTR                                  
042073,001553: 15,2537           06037        CALSAM1            TC       INTPRET                               
042074,001554: 15,2540           45145        CALSAM             DLOAD    CALL                                  
042075,001555: 15,2541           03562                                    TSIGHT                                
042076,001556: 15,2542           30506                                    LOCSAM                                
042077,001557: 15,2543           77340                           LXC,1    VLOAD                                 
042078,001558: 15,2544           02757                                    STARIND                               
042079,001559: 15,2545           02707                                    VEARTH                                
042080,001560: 15,2546           24001                           STOVL    0D                                    
042081,001561: 15,2547           02715                                    VSUN                                  
042082,001562: 15,2550           26707                           STOVL    VEARTH                                
042083,001563: 15,2551           00001                                    0D                                    
042084,001564: 15,2552           02715                           STORE    VSUN                                  
042085,001565: 15,2553           70143                           DLOAD*   LXC,1                                 
042086,001566: 15,2554           02756                                    BESTI,1                               
042087,001567: 15,2555           00154                                    MPAC                                  
042088,001568: 15,2556           52173                           VLOAD*   GOTO                                  
042089,001569: 15,2557           02343                                    STARAD     -228D,1                    
042090,001570: 15,2560           02736                                    GCTR                                  
042091,001571: 15,2561           00343        DEC227             DEC      227        B-14                       
042092,001572: 15,2562           01530        VNPLANV            VN       0688                                  
042093,001573: 15,2563  37,3544               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
042094,001574: 

Page 963

042096,001576:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
042097,001577:                                                                                                  #  BY KEN VINCENT
042098,001578: 
042099,001579:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042100,001580: 
042101,001581:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042102,001582:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE.  IT WILL BE USED
042103,001583:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT.  THE GRAVITY VECTOR IS
042104,001584:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042105,001585:                                                                                                  #  PARTICULAR ORIONTATIONS.  THE TWO READINGS ARE AVERAGED
042106,001586:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES.  THE TWO
042107,001587:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042108,001588:                                                                                                  #  READINGS.
042109,001589: 
042110,001590:                                                                                                  #  CALL -
042111,001591:                                                                                                  #        TC      BANKCALL
042112,001592:                                                                                                  #        CADR    GVDETER
042113,001593: 
042114,001594:                                                                                                  #  INPUTS -
042115,001595:                                                                                                  #        PIPAS, CDUS
042116,001596: 
042117,001597:                                                                                                  #  OUTPUTS -
042118,001598:                                                                                                  #        STARSAV1 = UNIT GRAVITY
042119,001599:                                                                                                  #        GSAV     = DITTO
042120,001600:                                                                                                  #        GRAVBIT  = 1
042121,001601: 
042122,001602:                                                                                                  #  SUBROUTINES -
042123,001603:                                                                                                  #        PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
042124,001604:                                                                                                  #        *NBSM*, *SNMB*, CALCGA, FOFLASH
042125,001605: 
042126,001606:                                                                                                  #  DEBRIS -
042127,001607:                                                                                                  #        VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
042128,001608: 
042129,001609: 15,2563           32772        GVDETER            CAF      42DEG                                 
042130,001610: 15,2564           54321                           TS       THETAD                                
042131,001611: 15,2565           40000                           COM                                            
042132,001612: 15,2566           54322                           TS       THETAD     +1                         
042133,001613: 15,2567           32773                           CAF      35DEG                                 
042134,001614: 15,2570           54323                           TS       THETAD     +2                         
042135,001615: 15,2571           06037                           TC       INTPRET                               
042136,001616: 15,2572           45014                           CLEAR    CALL                                  
042137,001617: 15,2573           01662                                    REFSMFLG                              
042138,001618: 15,2574           32670                                    LUNG                                  
042139,001619: 
042140,001620:                                                                                                  #  FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
042141,001621: 
042142,001622:                                                                                                  #        DEFINE G COOR SYS
042143,001623:                                                                                                  #                      -
042144,001624:                                                                                                  #                      X          UNIT G     
042145,001625:                                                                                                  #                *     -                  - 
042146,001626:                                                                                                  #                M =   Y   =   UNITEZSM * X )
042147,001627:                                                                                                  #                      -            -     -   
042148,001628:                                                                                                  #                      Z       UNIT(X   * Y )
042149,001629: 
042150,001630:                                                                                                  #        THEN ROTATED SM WRT PRESENT IS
042151,001631: 
042152,001632:                                                                                                  #                             1,  0,  0  
042153,001633:                                                                                                  #                 *      *T               *             *      *

Page 964

042155,001635:                                                                                                  #                XSM =   M    0, -1,  0   M  =  2 (X X ) - 1/2 I  *
042156,001636:                                                                                                  #                                                   I J
042157,001637:                                                                                                  #                             0,  0, -1 
042158,001638: 
042159,001639:                                                                                                  #        ALSO NB WRT PRES SM IS
042160,001640: 
042161,001641:                                                                                                  #                 *      *  *
042162,001642:                                                                                                  #                XNB = NBSM I
042163,001643:                                                                                                  #                                 *    *
042164,001644:                                                                                                  #        GIMBAL ANGLES = CALCGA( XSM, XNB )
042165,001645: 
042166,001646: 15,2000                                           SETLOC   P50S                                  
042167,001647: 15,2000                                           BANK                                           
042168,001648: 15,2575                                           COUNT*   $$/P57                                
042169,001649: 15,2575           66370                           AXT,1    SSP                                   #  X1=18
042170,001650: 15,2576           00022                                    18D                                   #  S1=6
042171,001651: 15,2577           00051                                    S1                                    #  X2, -2
042172,001652: 15,2600           00006                                    6D                                    
042173,001653: 15,2601           77744                           LXC,2                                          
042174,001654: 15,2602           00050                                    S1                                    
042175,001655: 15,2603           45173        GRAVEL             VLOAD*   CALL                                  
042176,001656: 15,2604           54000                                    XUNIT      -6,2                       
042177,001657: 15,2605           47673                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
042178,001658: 15,2606           06707                           STORE    XNB        +18D,1                     
042179,001659: 15,2607           77775                           VLOAD                                          
042180,001660: 15,2610           02731                                    STAR                                  
042181,001661: 15,2611           73744                           LXC,2    VXSC*                                 #  COMPLEMENT - UNITX ARE BACKWARD -
042182,001662: 15,2612           00047                                    X2                                    
042183,001663: 15,2613           75040                                    STAR       +6,2                       #  OUTER PRODUCT
042184,001664: 15,2614           71152                           VSL2     LXC,2                                 
042185,001665: 15,2615           00047                                    X2                                    
042186,001666: 15,2616           63047                           VSU*     INCR,2                                
042187,001667: 15,2617           54000                                    XUNIT      -6,2                       
042188,001668: 15,2620           00002                                    2D                                    
042189,001669: 15,2621           06665                           STORE    XSM        +18D,1                     
042190,001670: 15,2622           45100                           TIX,1    CALL                                  
042191,001671: 15,2623           32603                                    GRAVEL                                
042192,001672: 15,2624           47353                                    CALCGA                                
042193,001673: 15,2625           74575                           VLOAD    VSR1                                  
042194,001674: 15,2626           02715                                    GOUT                                  
042195,001675: 15,2627           36723                           STCALL   STARAD     +12D                       
042196,001676: 15,2630           32670                                    LUNG                                  
042197,001677: 15,2631           74575                           VLOAD    VSR1                                  
042198,001678: 15,2632           02715                                    GOUT                                  
042199,001679: 15,2633           53455                           VAD      UNIT                                  
042200,001680: 15,2634           02723                                    STARAD     +12D                       
042201,001681: 15,2635           02761                           STORE    STARSAV1                              
042202,001682: 15,2636           77641                           DOT                                            
042203,001683: 15,2637           02231                                    GSAV                                  
042204,001684: 15,2640           65552                           SL1      ACOS                                  

Page 965

042206,001686: 15,2641           01046                           STORE    DSPTEM1                               
042207,001687: 15,2642           77776                           EXIT                                           
042208,001688: 15,2643           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
042209,001689: 15,2644           00014                           ADRES    FREEFLAG                              
042210,001690: 
042211,001691: 15,2645           32771                           CA       DISGRVER                              
042212,001692: 15,2646           04616                           TC       BANKCALL                              
042213,001693: 15,2647           20476                           CADR     GOFLASH                               
042214,001694: 15,2650           06001                           TC       GOTOPOOH                              
042215,001695: 15,2651           12654                           TCF      PROGRAV                               #  VB33 - PROCEED
042216,001696: 15,2652           05504                           TC       UPFLAG                                #  VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
042217,001697: 15,2653           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
042218,001698: 
042219,001699: 15,2654           05353        PROGRAV            TC       PHASCHNG                              
042220,001700: 15,2655           04024                           OCT      04024                                 
042221,001701: 
042222,001702: 15,2656           06037                           TC       INTPRET                               
042223,001703: 15,2657           77775                           VLOAD                                          
042224,001704: 15,2660           02761                                    STARSAV1                              
042225,001705: 15,2661           02231                           STORE    GSAV                                  
042226,001706: 15,2662           77776                           EXIT                                           
042227,001707: 15,2663           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042228,001708: 15,2664           70074                           MASK     FLAGWRD0                              
042229,001709: 15,2665           10000                           CCS      A                                     
042230,001710: 15,2666           12563                           TCF      GVDETER                               #  SET
042231,001711: 15,2667           13553                           TCF      ATTCHK                                #  EXIT FROM GVDETER
042232,001712: 
042233,001713: 15,2670           77220        LUNG               STQ      VLOAD                                 
042234,001714: 15,2671           02745                                    QMIN                                  
042235,001715: 15,2672           24007                                    ZEROVEC                               
042236,001716: 15,2673           02707                           STORE    GACC                                  
042237,001717: 15,2674           77776                           EXIT                                           
042238,001718: 15,2675           05353                           TC       PHASCHNG                              
042239,001719: 15,2676           04024                           OCT      04024                                 
042240,001720: 
042241,001721: 15,2677           04616                           TC       BANKCALL                              
042242,001722: 15,2700           17000                           CADR     IMUCOARS                              
042243,001723: 15,2701           04616                           TC       BANKCALL                              
042244,001724: 15,2702           17716                           CADR     IMUSTALL                              
042245,001725: 15,2703           05711                           TC       CURTAINS                              
042246,001726: 15,2704           04616                           TC       BANKCALL                              
042247,001727: 15,2705           17210                           CADR     IMUFINE                               
042248,001728: 15,2706           04616                           TC       BANKCALL                              
042249,001729: 15,2707           17716                           CADR     IMUSTALL                              
042250,001730: 15,2710           05711                           TC       CURTAINS                              
042251,001731: 15,2711           32770                           CA       T/2SEC                                
042252,001732: 15,2712           55736                           TS       GCTR                                  
042253,001733: 15,2713           37716                           CA       PRIO31                                
042254,001734: 15,2714           55075                           TS       1/PIPADT                              
042255,001735: 15,2715           04616                           TC       BANKCALL                              

Page 966

042257,001737: 15,2716           15701                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
042258,001738: 15,2717           05353                           TC       PHASCHNG                              
042259,001739: 15,2720           04024                           OCT      04024                                 
042260,001740: 
042261,001741: 15,2721           04616                           TC       BANKCALL                              #  DONT NEED TO INHINY   THIS USED TO
042262,001742: 15,2722           77544                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
042263,001743: 15,2723           06037                           TC       INTPRET                               
042264,001744: 15,2724           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
042265,001745: 15,2725           35000                           CAF      2SECS                                 
042266,001746: 15,2726           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
042267,001747: 15,2727           02731                           ADRES    GRABGRAV                              
042268,001748: 
042269,001749: 15,2730           05155                           TC       ENDOFJOB                              
042270,001750: 
042271,001751: 15,2731           04674        GRABGRAV           TC       IBNKCALL                              
042272,001752: 15,2732           77544                           CADR     PIPSRINE                              
042273,001753: 15,2733           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
042274,001754: 15,2734           05105                           TC       FINDVAC                               
042275,001755: 15,2735  E5,1706                                  EBANK=   STARAD                                
042276,001756: 15,2735           02740 32065                     2CADR    ADDGRAV                               
042277,001757: 
042278,001758: 15,2737           05261                           TC       TASKOVER                              
042279,001759: 
042280,001760: 15,2740           04616        ADDGRAV            TC       BANKCALL                              
042281,001761: 15,2741           15263                           CADR     1/PIPA                                
042282,001762: 15,2742           25736                           INCR     GCTR                                  
042283,001763: 15,2743           06037                           TC       INTPRET                               
042284,001764: 15,2744           53375                           VLOAD    VAD                                   
042285,001765: 15,2745           00325                                    DELV                                  
042286,001766: 15,2746           02707                                    GACC                                  
042287,001767: 15,2747           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
042288,001768: 15,2750           50135                           SLOAD    BMN                                   
042289,001769: 15,2751           02737                                    GCTR                                  
042290,001770: 15,2752           32724                                    GREED                                 
042291,001771: 15,2753           53575                           VLOAD    UNIT                                  
042292,001772: 15,2754           02707                                    GACC                                  
042293,001773: 15,2755           36731                           STCALL   STAR                                  
042294,001774: 15,2756           47537                                    CDUTRIG                               #  TRANSFORM IN NB COOR AND STORE
042295,001775: 15,2757           77624                           CALL                                           #        IN OUTPUT
042296,001776: 15,2760           47671                                    *SMNB*                                
042297,001777: 15,2761           02715                           STORE    GOUT                                  
042298,001778: 15,2762           77776                           EXIT                                           
042299,001779: 15,2763           05353                           TC       PHASCHNG                              
042300,001780: 15,2764           04024                           OCT      04024                                 
042301,001781: 
042302,001782: 15,2765           06037        QMINEXIT           TC       INTPRET                               
042303,001783: 15,2766           77650                           GOTO                                           
042304,001784: 15,2767           02745                                    QMIN                                  
042305,001785: 15,2770           77753        T/2SEC             DEC      -20        B-14                       

Page 967

042307,001787: 15,2771           01404        DISGRVER           VN       0604                                  
042308,001788: 15,2772           07357        42DEG              OCT      07357                                 
042309,001789: 15,2773           06211        35DEG              OCT      06211                                 
042310,001790: 

Page 968

042312,001792:                                                                                                  #  NAME  GYROTRIM
042313,001793: 
042314,001794:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
042315,001795:                                                                                                  #  TO ATTAIN A PRESCRIBED SET OF ANGLES.  THIS ROUTINE ASSUMES THE
042316,001796:                                                                                                  #  VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
042317,001797: 
042318,001798:                                                                                                  #  CALL          CALL
042319,001799:                                                                                                  #                        GYROTRIM
042320,001800: 
042321,001801:                                                                                                  #  INPUT         THETAD,+1,+2 = DESIRED CDU ANGLES
042322,001802:                                                                                                  #                CDUX,CDUY,CDUZ
042323,001803: 
042324,001804:                                                                                                  #  OUTPUT -      GYRO TORQUE PULSES
042325,001805: 
042326,001806:                                                                                                  #  SUBROUTINES - TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
042327,001807:                                                                                                  #                IMPULSE, IMUSTALL
042328,001808:                                                                                                  #                -        -       -          *          *   -
042329,001809:                                                                                                  #  DEBRIS -      CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
042330,001810: 
042331,001811: 15,2774                                           COUNT*   $$/P57                                
042332,001812: 15,2774           71220        GYROTRIM           STQ      DLOAD                                 
042333,001813: 15,2775           02745                                    QMIN                                  
042334,001814: 15,2776           00322                                    THETAD                                
042335,001815: 15,2777           65325                           PDDL     PDDL                                  
042336,001816: 15,3000           00324                                    THETAD     +2                         
042337,001817: 15,3001           00323                                    THETAD     +1                         
042338,001818: 15,3002           77666                           VDEF                                           
042339,001819: 15,3003           24767                           STOVL    CDUSPOT                               
042340,001820: 15,3004           24005                                    XUNIT                                 
042341,001821: 15,3005           77624                           CALL                                           
042342,001822: 15,3006           47664                                    TRG*NBSM                              
042343,001823: 15,3007           26707                           STOVL    STARAD                                
042344,001824: 15,3010           24003                                    YUNIT                                 
042345,001825: 15,3011           77624                           CALL                                           
042346,001826: 15,3012           47673                                    *NBSM*                                
042347,001827: 15,3013           36715                           STCALL   STARAD     +6                         
042348,001828: 15,3014           47537                                    CDUTRIG                               
042349,001829: 15,3015           77624                           CALL                                           
042350,001830: 15,3016           20030                                    CALCSMSC                              
042351,001831: 15,3017           77775                           VLOAD                                          
042352,001832: 15,3020           02665                                    XNB                                   
042353,001833: 15,3021           24007                           STOVL    6D                                    
042354,001834: 15,3022           02673                                    YNB                                   
042355,001835: 15,3023           34015                           STCALL   12D                                   
042356,001836: 15,3024           47441                                    AXISGEN                               
042357,001837: 15,3025           77624                           CALL                                           
042358,001838: 15,3026           47247                                    CALCGTA                               
042359,001839: 15,3027           77776        JUSTTRIM           EXIT                                           
042360,001840: 15,3030           04616                           TC       BANKCALL                              
042361,001841: 15,3031           17210                           CADR     IMUFINE                               
042362,001842: 15,3032           04616                           TC       BANKCALL                              

Page 969

042364,001844: 15,3033           17716                           CADR     IMUSTALL                              
042365,001845: 15,3034           05711                           TC       CURTAINS                              
042366,001846: 15,3035           33044                           CA       GYRCDR                                
042367,001847: 15,3036           04616                           TC       BANKCALL                              
042368,001848: 15,3037           17323                           CADR     IMUPULSE                              
042369,001849: 15,3040           04616                           TC       BANKCALL                              
042370,001850: 15,3041           17716                           CADR     IMUSTALL                              
042371,001851: 15,3042           05711                           TC       CURTAINS                              
042372,001852: 15,3043           12765                           TCF      QMINEXIT                              
042373,001853: 
042374,001854: 15,3044           02737        GYRCDR             ECADR    OGC                                   
042375,001855: 

Page 970

042377,001857:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
042378,001858: 
042379,001859: 15,3045           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
042380,001860: 15,3046           13050                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
042381,001861: 15,3047           34753        1STAR              CAF      BIT1                                  
042382,001862: 15,3050           55757                           TS       STARIND                               
042383,001863: 
042384,001864: 15,3051           05353                           TC       PHASCHNG                              
042385,001865: 15,3052           04024                           OCT      04024                                 
042386,001866: 
042387,001867: 15,3053           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
042388,001868: 
042389,001869: 15,3054           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
042390,001870: 15,3055           00006                           EXTEND                                         
042391,001871: 15,3056           13067                           BZF      ASTAR                                 #  1ST STAR MARKED
042392,001872: 
042393,001873: 15,3057           05353                           TC       PHASCHNG                              
042394,001874: 15,3060           04024                           OCT      04024                                 
042395,001875: 
042396,001876: 15,3061           06037                           TC       INTPRET                               
042397,001877: 15,3062           45145                           DLOAD    CALL                                  
042398,001878: 15,3063           03562                                    TSIGHT                                #  TIME OF 2ND MARK
042399,001879: 15,3064           32472                                    PLANET                                
042400,001880: 15,3065           36731                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
042401,001881: 15,3066           33101                                    SURFLINE                              
042402,001882: 
042403,001883: 15,3067           06037        ASTAR              TC       INTPRET                               
042404,001884: 15,3070           77775                           VLOAD                                          
042405,001885: 15,3071           02715                                    STARAD     +6                         
042406,001886: 15,3072           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
042407,001887: 15,3073           45145                           DLOAD    CALL                                  
042408,001888: 15,3074           03562                                    TSIGHT                                #  TIME OF 1ST MARK
042409,001889: 15,3075           32472                                    PLANET                                
042410,001890: 15,3076           02723                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
042411,001891: 15,3077           77776                           EXIT                                           
042412,001892: 15,3100           13047                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
042413,001893: 

Page 971

042415,001895:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
042416,001896: 
042417,001897: 15,3101           77131        SURFLINE           SSP      AXT,2                                 
042418,001898: 15,3102           00052                                    S2                                    
042419,001899: 15,3103           00006                                    6                                     
042420,001900: 15,3104           00014                                    12D                                   
042421,001901: 15,3105           64373        WRTDESIR           VLOAD*   MXV                                   
042422,001902: 15,3106           75040                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
042423,001903: 15,3107           03607                                    XSMD                                  
042424,001904: 15,3110           77656                           UNIT                                           
042425,001905: 15,3111           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
042426,001906: 15,3112           77773                           VLOAD*                                         
042427,001907: 15,3113           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
042428,001908: 15,3114           10023                           STORE    18D,2                                 
042429,001909: 15,3115           43104                           TIX,2    BON                                   
042430,001910: 15,3116           33105                                    WRTDESIR                              
042431,001911: 15,3117           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
042432,001912: 15,3120           33126                                    INITBY                                
042433,001913: 15,3121           77624        DOALIGN            CALL                                           
042434,001914: 15,3122           31256                                    R54                                   #  DO CHKSDATA
042435,001915: 15,3123           77614                           BOFF                                           
042436,001916: 15,3124           00354                                    FREEFLAG                              
042437,001917: 15,3125           33206                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
042438,001918: 15,3126           77624        INITBY             CALL                                           
042439,001919: 15,3127           47441                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
042440,001920: 15,3130           77624                           CALL                                           
042441,001921: 15,3131           47247                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
042442,001922: 15,3132           77776                           EXIT                                           
042443,001923: 15,3133           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
042444,001924: 15,3134           70104                           MASK     FLAGWRD8                              
042445,001925: 15,3135           10000                           CCS      A                                     
042446,001926: 15,3136           13145                           TCF      5DEGTEST                              
042447,001927: 15,3137           33313                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
042448,001928: 15,3140           04616                           TC       BANKCALL                              
042449,001929: 15,3141           20476                           CADR     GOFLASH                               
042450,001930: 15,3142           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
042451,001931: 15,3143           13145                           TCF      5DEGTEST                              #  VB33 - PROCEED TO COARSE OR FINE
042452,001932: 15,3144           13207                           TCF      P57POST    +1                         #  VB32 - RECYCLE, MAYBE RE-ALIGN
042453,001933: 
042454,001934: 15,3145           06037        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
042455,001935: 15,3146           40175                           VLOAD    BOV                                   
042456,001936: 15,3147           02740                                    OGC                                   
042457,001937: 15,3150           33151                                    SURFSUP                               
042458,001938: 15,3151           02750        SURFSUP            STORE    OGCT                                  
042459,001939: 15,3152           40141                           V/SC     BOV                                   
042460,001940: 15,3153           30610                                    5DEGREES                              
042461,001941: 15,3154           33254                                    COATRIM                               
042462,001942: 15,3155           52131                           SSP      GOTO                                  
042463,001943: 15,3156           02746                                    QMIN                                  
042464,001944: 15,3157           33161                                    SURFDISP                              

Page 972

042466,001946: 15,3160           33027                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
042467,001947: 
042468,001948: 15,3161           77776        SURFDISP           EXIT                                           
042469,001949: 15,3162           05353                           TC       PHASCHNG                              
042470,001950: 15,3163           04024                           OCT      04024                                 
042471,001951: 
042472,001952: 15,3164           06037                           TC       INTPRET                               
042473,001953: 15,3165           75160                           AXC,1    AXC,2                                 
042474,001954: 15,3166           03606                                    XSMD                                  
042475,001955: 15,3167           01733                                    REFSMMAT                              
042476,001956: 15,3170           45014                           SET      CALL                                  
042477,001957: 15,3171           01462                                    REFSMFLG                              
042478,001958: 15,3172           31377                                    MATMOVE                               
042479,001959: 15,3173           77776                           EXIT                                           
042480,001960: 15,3174           11145                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
042481,001961: 15,3175           13177                           TCF      B2F8                                  
042482,001962: 15,3176           13207                           TCF      P57POST    +1                         
042483,001963: 
042484,001964: 15,3177           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
042485,001965: 15,3200           70104                           MASK     FLAGWRD8                              
042486,001966: 15,3201           10000                           CCS      A                                     
042487,001967: 15,3202           13561                           TCF      P57JUMP                               #  ITS SET
042488,001968: 15,3203           06037                           TC       INTPRET                               
042489,001969: 15,3204           77624                           CALL                                           
042490,001970: 15,3205           33506                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
042491,001971: 15,3206           77776        P57POST            EXIT                                           
042492,001972: 15,3207           35751                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
042493,001973: 15,3210           04616                           TC       BANKCALL                              
042494,001974: 15,3211           20623                           CADR     GOPERF1                               
042495,001975: 15,3212           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
042496,001976: 15,3213           13561                           TCF      P57JUMP                               #  VB33 - PROCEED TO RE-ALIGN
042497,001977: 15,3214           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
042498,001978: 15,3215           61145                           AD       OPTION2                               
042499,001979: 15,3216           00006                           EXTEND                                         
042500,001980: 15,3217           13221                           BZF      +2                                    #  YES - GO CALCULATE LANDING SITE
042501,001981: 15,3220           16001                           TCF      GOTOPOOH                              #  NO - EXIT P57
042502,001982: 15,3221           05353                           TC       PHASCHNG                              #  RESTART PLACE
042503,001983: 15,3222           04024                           OCT      04024                                 
042504,001984: 15,3223           06037                           TC       INTPRET                               
042505,001985: 15,3224           45175                           VLOAD    CALL                                  #  USE GNB
042506,001986: 15,3225           02231                                    GSAV                                  
042507,001987: 15,3226           47661                                    CDU*NBSM                              #  GO TO SM COORDS
042508,001988: 15,3227           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
042509,001989: 15,3230           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
042510,001990: 15,3231           01463                                    LUNAFLAG                              
042511,001991: 15,3232           51515                           PDVL     ABVAL                                 
042512,001992: 15,3233           02023                                    RLS                                   
042513,001993: 15,3234           45561                           VXSC     STADR                                 
042514,001994: 15,3235           75745                           STORE    ALPHAV                                #  ALPHAV = RLSMAG * G(REF)
042515,001995: 15,3236           47014                           CLEAR    RTB                                   

Page 973

042517,001997: 15,3237           00662                                    ERADFLAG                              
042518,001998: 15,3240           21573                                    LOADTIME                              
042519,001999: 15,3241           77624                           CALL                                           
042520,002000: 15,3242           30446                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
042521,002001: 15,3243           01221                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
042522,002002: 15,3244           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
042523,002003: 15,3245           01243                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
042524,002004: 15,3246           77606                           PUSH                                           #  TIME AT 6-7 IN PDLIST
042525,002005: 15,3247           35235                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
042526,002006: 15,3250           51670                                    R-TO-RP                               
042527,002007: 15,3251           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
042528,002008: 15,3252           77776                           EXIT                                           
042529,002009: 15,3253           16001                           TCF      GOTOPOOH                              #  EXIT P57
042530,002010: 

Page 974

042532,002012:                                                                                                  #  COARSE AND FINE ALIGN IMU
042533,002013: 
042534,002014: 15,3254           75160        COATRIM            AXC,1    AXC,2                                 
042535,002015: 15,3255           02664                                    XDC                                   
042536,002016: 15,3256           02642                                    XSM                                   
042537,002017: 15,3257           77624                           CALL                                           
042538,002018: 15,3260           31377                                    MATMOVE                               
042539,002019: 15,3261           77624                           CALL                                           
042540,002020: 15,3262           47537                                    CDUTRIG                               
042541,002021: 15,3263           77624                           CALL                                           
042542,002022: 15,3264           20030                                    CALCSMSC                              
042543,002023: 15,3265           77624                           CALL                                           
042544,002024: 15,3266           47353                                    CALCGA                                
042545,002025: 15,3267           77414                           BOFF     EXIT                                  
042546,002026: 15,3270           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
042547,002027: 15,3271           33303                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
042548,002028: 15,3272           35010                           CAF      V06N22                                #  THAN 5 DEGREES
042549,002029: 15,3273           04616                           TC       BANKCALL                              
042550,002030: 15,3274           20476                           CADR     GOFLASH                               
042551,002031: 15,3275           06001                           TC       GOTOPOOH                              
042552,002032: 15,3276           13300                           TCF      +2                                    
042553,002033: 15,3277           13272                           TCF      -5                                    
042554,002034: 15,3300           05353                           TC       PHASCHNG                              
042555,002035: 15,3301           04024                           OCT      04024                                 
042556,002036: 
042557,002037: 15,3302           06037                           TC       INTPRET                               
042558,002038: 15,3303           77624        CORSIT             CALL                                           
042559,002039: 15,3304           31565                                    COARSE                                
042560,002040: 15,3305           77624                           CALL                                           
042561,002041: 15,3306           31602                                    NCOARSE                               
042562,002042: 15,3307           77624                           CALL                                           
042563,002043: 15,3310           32774                                    GYROTRIM                              
042564,002044: 15,3311           77650                           GOTO                                           
042565,002045: 15,3312           33161                                    SURFDISP                              
042566,002046: 15,3313           01535        DISPGYRO           VN       0693                                  
042567,002047: 

Page 975

042569,002049:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
042570,002050: 
042571,002051: 15,3314           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
042572,002052: 15,3315           33652                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
042573,002053: 
042574,002054: 15,3316           36245                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
042575,002055: 15,3317           55145                           TS       OPTION2                               
042576,002056: 15,3320           34753        P57OPT             CAF      BIT1                                  
042577,002057: 15,3321           04616                           TC       BANKCALL                              
042578,002058: 15,3322           20713                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
042579,002059: 15,3323           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
042580,002060: 15,3324           13331                           TCF      ALIGNOPT                              #  V33 PROCEED
042581,002061: 15,3325           13320                           TCF      P57OPT                                #  V32 RECYCLE
042582,002062: 
042583,002063: 15,3326           05353                           TC       PHASCHNG                              
042584,002064: 15,3327           00014                           OCT      00014                                 
042585,002065: 15,3330           05155                           TC       ENDOFJOB                              
042586,002066: 
042587,002067: 15,3331           31145        ALIGNOPT           CA       OPTION2                               
042588,002068: 15,3332           76245                           MASK     THREE                                 
042589,002069: 15,3333           50000                           INDEX    A                                     
042590,002070: 15,3334           13335                           TCF      +1                                    
042591,002071: 15,3335           13350                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
042592,002072: 15,3336           13411                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
042593,002073: 15,3337           13320                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
042594,002074: 15,3340           06037                           TC       INTPRET                               #  OPTION 3 REFSMMAT
042595,002075: 15,3341           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
042596,002076: 15,3342           01733                                    REFSMMAT                              
042597,002077: 15,3343           03606                                    XSMD                                  
042598,002078: 15,3344           77624                           CALL                                           
042599,002079: 15,3345           31377                                    MATMOVE                               
042600,002080: 15,3346           77650                           GOTO                                           
042601,002081: 15,3347           33410                                    PACKOPTN   -1                         
042602,002082: 
042603,002083: 15,3350           06037        TDISP              TC       INTPRET                               
042604,002084: 15,3351           77745                           DLOAD                                          
042605,002085: 15,3352           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
042606,002086: 15,3353           01046        P57A               STORE    DSPTEM1                               
042607,002087: 15,3354           77776                           EXIT                                           
042608,002088: 15,3355           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
042609,002089: 15,3356           04616                           TC       BANKCALL                              
042610,002090: 15,3357           20476                           CADR     GOFLASH                               
042611,002091: 15,3360           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE
042612,002092: 15,3361           13363                           TCF      +2                                    
042613,002093: 15,3362           13355                           TCF      P57AA                                 #  VB32 - RECYCLE
042614,002094: 
042615,002095: 15,3363           06037                           TC       INTPRET                               
042616,002096: 15,3364           65234                           RTB      PDDL                                  
042617,002097: 15,3365           21573                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
042618,002098: 15,3366           01046                                    DSPTEM1                               

Page 976

042620,002100: 15,3367           65254                           BZE      PDDL                                  
042621,002101: 15,3370           33400                                    P57C                                  #  IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
042622,002102: 15,3371           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
042623,002103: 15,3372           01046                                    DSPTEM1                               
042624,002104: 15,3373           33400                                    P57C                                  
042625,002105: 15,3374           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
042626,002106: 15,3375           74335                           STORE    TIG                                   #  STORE IT IN TIG
042627,002107: 15,3376           36775                           STCALL   TALIGN                                
042628,002108: 15,3377           33402                                    P57D                                  
042629,002109: 15,3400           45545        P57C               DLOAD    STADR                                 
042630,002110: 15,3401           75002                           STORE    TALIGN                                
042631,002111: 15,3402           34041        P57D               STCALL   TDEC1                                 
042632,002112: 15,3403           27057                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
042633,002113: 15,3404           53575                           VLOAD    UNIT                                  #  IN X,Y,ZSMD
042634,002114: 15,3405           00001                                    RATT                                  
042635,002115: 15,3406           37607                           STCALL   XSMD                                  
042636,002116: 15,3407           11013                                    LSORIENT                              
042637,002117: 15,3410           77776                           EXIT                                           
042638,002118: 15,3411           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
042639,002119: 15,3412           55145                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
042640,002120: 15,3413           55146                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
042641,002121: 15,3414           34737                           CAF      REFSMBIT                              
042642,002122: 15,3415           70077                           MASK     FLAGWRD3                              #  REFSMFLG
042643,002123: 15,3416           10000                           CCS      A                                     
042644,002124: 15,3417           34745                           CAF      BIT7                                  #  SET
042645,002125: 15,3420           27146                           ADS      OPTION1    +2                         #  CLEAR - JUST ZERO
042646,002126: 15,3421           34753                           CAF      ATTFLBIT                              
042647,002127: 15,3422           70102                           MASK     FLAGWRD6                              #  ATTFLG
042648,002128: 15,3423           10000                           CCS      A                                     
042649,002129: 15,3424           34750                           CAF      BIT4                                  #  SET
042650,002130: 15,3425           27146                           ADS      OPTION1    +2                         #  CLEAR - ZERO IN A
042651,002131: 15,3426           34750                           CAF      BIT4                                  
042652,002132: 15,3427           55144                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
042653,002133: 
042654,002134: 15,3430           33651        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
042655,002135: 15,3431           04616                           TC       BANKCALL                              
042656,002136: 15,3432           20476                           CADR     GOFLASH                               
042657,002137: 15,3433           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
042658,002138: 15,3434           13436                           TCF      +2                                    #  V33 - PROCEED
042659,002139: 15,3435           13430                           TCF      DSPOPTN                               #  V32 - RECYCLE
042660,002140: 
042661,002141: 15,3436           34737                           CAF      REFSMBIT                              
042662,002142: 15,3437           70077                           MASK     FLAGWRD3                              
042663,002143: 15,3440           10000                           CCS      A                                     
042664,002144: 15,3441           13541                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
042665,002145: 15,3442           34753                           CAF      ATTFLBIT                              #  CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
042666,002146: 15,3443           70102                           MASK     FLAGWRD6                              
042667,002147: 15,3444           10000                           CCS      A                                     
042668,002148: 15,3445           13545                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
042669,002149: 15,3446           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 977

042671,002151: 15,3447           71145                           MASK     OPTION2                               
042672,002152: 15,3450           10000                           CCS      A                                     
042673,002153: 15,3451           13545                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
042674,002154: 15,3452           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS - ALARM 701
042675,002155: 15,3453           00701                           OCT      701                                   
042676,002156: 15,3454           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
042677,002157: 15,3455           04616                           TC       BANKCALL                              
042678,002158: 15,3456           20476                           CADR     GOFLASH                               
042679,002159: 15,3457           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
042680,002160: 15,3460           13430                           TCF      DSPOPTN                               #  V33 - PROCEED ********TEMPORARY
042681,002161: 15,3461           13430                           TCF      DSPOPTN                               #  VB32 - RECYCLE TO OPTION DISPLAY V 05N06
042682,002162: 

Page 978

042684,002164:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
042685,002165: 
042686,002166: 15,3462           40220        MFREF              STQ      SETPD                                 
042687,002167: 15,3463           02746                                    QMAJ                                  
042688,002168: 15,3464           00001                                    0                                     
042689,002169: 15,3465           77634                           RTB                                            
042690,002170: 15,3466           21573                                    LOADTIME                              
042691,002171: 15,3467           27562                           STOVL    TSIGHT                                
042692,002172: 15,3470           02723                                    VEC1                                  
042693,002173: 15,3471           41525                           PDDL     PUSH                                  
042694,002174: 15,3472           03562                                    TSIGHT                                
042695,002175: 15,3473           77624                           CALL                                           
042696,002176: 15,3474           55716                                    RP-TO-R                               
042697,002177: 15,3475           26723                           STOVL    VEC1                                  
042698,002178: 15,3476           02731                                    VEC2                                  
042699,002179: 15,3477           65201                           SETPD    PDDL                                  
042700,002180: 15,3500           00001                                    0                                     
042701,002181: 15,3501           03562                                    TSIGHT                                
042702,002182: 15,3502           45006                           PUSH     CALL                                  
042703,002183: 15,3503           55716                                    RP-TO-R                               
042704,002184: 15,3504           36731                           STCALL   VEC2                                  
042705,002185: 15,3505           02746                                    QMAJ                                  
042706,002186: 

Page 979

042708,002188:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
042709,002189:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
042710,002190: 
042711,002191: 15,3506           45020        REFMF              STQ      CALL                                  
042712,002192: 15,3507           02746                                    QMAJ                                  
042713,002193: 15,3510           47537                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
042714,002194: 15,3511           40234                           RTB      SETPD                                 
042715,002195: 15,3512           21573                                    LOADTIME                              
042716,002196: 15,3513           00001                                    0                                     
042717,002197: 15,3514           37562                           STCALL   TSIGHT                                
042718,002198: 15,3515           20030                                    CALCSMSC                              #  GET YNB IN SM
042719,002199: 15,3516           61375                           VLOAD    VXM                                   
042720,002200: 15,3517           02673                                    YNB                                   
042721,002201: 15,3520           01734                                    REFSMMAT                              #  YNB TO REF
042722,002202: 15,3521           65256                           UNIT     PDDL                                  
042723,002203: 15,3522           03562                                    TSIGHT                                
042724,002204: 15,3523           45006                           PUSH     CALL                                  
042725,002205: 15,3524           51670                                    R-TO-RP                               
042726,002206: 15,3525           26237                           STOVL    YNBSAV                                #  YNB TO MF
042727,002207: 15,3526           02701                                    ZNB                                   
042728,002208: 15,3527           53505                           VXM      UNIT                                  
042729,002209: 15,3530           01734                                    REFSMMAT                              #  ZNB TO REF
042730,002210: 15,3531           41525                           PDDL     PUSH                                  
042731,002211: 15,3532           03562                                    TSIGHT                                
042732,002212: 15,3533           77624                           CALL                                           
042733,002213: 15,3534           51670                                    R-TO-RP                               #  ZNB TO MF
042734,002214: 15,3535           02245                           STORE    ZNBSAV                                
042735,002215: 15,3536           77614                           SETGO                                          
042736,002216: 15,3537           03036                                    ATTFLAG                               
042737,002217: 15,3540           02746                                    QMAJ                                  
042738,002218: 

Page 980

042740,002220:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
042741,002221: 
042742,002222: 15,3541           06037        GETLMATT           TC       INTPRET                               
042743,002223: 15,3542           77624                           CALL                                           
042744,002224: 15,3543           33506                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
042745,002225: 15,3544           77776                           EXIT                                           
042746,002226: 
042747,002227: 15,3545           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
042748,002228: 15,3546           00205                           ADRES    INITALGN                              
042749,002229: 15,3547           34753                           CAF      BIT1                                  
042750,002230: 15,3550           71145                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
042751,002231: 15,3551           10000                           CCS      A                                     
042752,002232: 15,3552           12563                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
042753,002233: 
042754,002234: 15,3553           05353        ATTCHK             TC       PHASCHNG                              
042755,002235: 15,3554           04024                           OCT      04024                                 
042756,002236: 
042757,002237: 15,3555           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
042758,002238: 15,3556           70102                           MASK     FLAGWRD6                              
042759,002239: 15,3557           10000                           CCS      A                                     
042760,002240: 15,3560           13575                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
042761,002241: 15,3561           05353        P57JUMP            TC       PHASCHNG                              
042762,002242: 15,3562           04024                           OCT      04024                                 
042763,002243: 
042764,002244: 15,3563           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR - RESET INTALIGN FLAG
042765,002245: 15,3564           00205                           ADRES    INITALGN                              
042766,002246: 15,3565           36245                           CAF      THREE                                 
042767,002247: 15,3566           71145                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
042768,002248: 15,3567           50000                           INDEX    A                                     
042769,002249: 15,3570           13571                           TCF      +1                                    
042770,002250: 15,3571           13575                           TCF      P57OPT0                               #  OPTION IS 0
042771,002251: 15,3572           13616                           TCF      P57OPT1                               #  OPTION IS 1
042772,002252: 15,3573           13634                           TCF      P57OPT2                               #  OPTION IS 2
042773,002253: 15,3574           13635                           TCF      P57OPT3                               #  OPTION IS 3
042774,002254: 

Page 981

042776,002256:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
042777,002257: 
042778,002258: 15,3575           06037        P57OPT0            TC       INTPRET                               
042779,002259: 15,3576           77775                           VLOAD                                          
042780,002260: 15,3577           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
042781,002261: 15,3600           26723                           STOVL    VEC1                                  
042782,002262: 15,3601           02245                                    ZNBSAV                                
042783,002263: 15,3602           36731                           STCALL   VEC2                                  
042784,002264: 15,3603           47537                                    CDUTRIG                               
042785,002265: 15,3604           77624                           CALL                                           
042786,002266: 15,3605           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
042787,002267: 15,3606           77775                           VLOAD                                          
042788,002268: 15,3607           02673                                    YNB                                   
042789,002269: 15,3610           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
042790,002270: 15,3611           02701                                    ZNB                                   
042791,002271: 15,3612           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
042792,002272: 15,3613           33462                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
042793,002273: 15,3614           77650                           GOTO                                           
042794,002274: 15,3615           33101                                    SURFLINE                              
042795,002275: 
042796,002276:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042797,002277: 
042798,002278: 15,3616           06037        P57OPT1            TC       INTPRET                               
042799,002279: 15,3617           53575                           VLOAD    UNIT                                  
042800,002280: 15,3620           02023                                    RLS                                   #  LANDING SITE VEC
042801,002281: 15,3621           26723                           STOVL    VEC1                                  
042802,002282: 15,3622           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
042803,002283: 15,3623           36731                           STCALL   VEC2                                  
042804,002284: 15,3624           47537                                    CDUTRIG                               
042805,002285: 15,3625           77624                           CALL                                           
042806,002286: 15,3626           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
042807,002287: 15,3627           45175                           VLOAD    CALL                                  
042808,002288: 15,3630           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042809,002289: 15,3631           47661                                    CDU*NBSM                              
042810,002290: 15,3632           77650                           GOTO                                           
042811,002291: 15,3633           33610                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
042812,002292: 

Page 982

042814,002294:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
042815,002295: 
042816,002296: 15,3634           13045        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
042817,002297: 
042818,002298:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042819,002299: 
042820,002300: 15,3635           06037        P57OPT3            TC       INTPRET                               
042821,002301: 15,3636           53575                           VLOAD    UNIT                                  
042822,002302: 15,3637           02023                                    RLS                                   #  LANDING SITE VEC
042823,002303: 15,3640           02723                           STORE    VEC1                                  
042824,002304: 15,3641           26731                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
042825,002305: 15,3642           02231                                    GSAV                                  #  GRAVITY VEC NB
042826,002306: 15,3643           77624                           CALL                                           
042827,002307: 15,3644           47661                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042828,002308: 15,3645           36761                           STCALL   STARSAV1                              
042829,002309: 15,3646           33462                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
042830,002310: 15,3647           77776                           EXIT                                           
042831,002311: 15,3650           13047                           TCF      1STAR                                 #  1STAR GET VEC2, STARSAV2, GOES TO SURFLINE
042832,002312: 
042833,002313: 15,3651           01206        VB05N06            VN       506                                   
042834,002314: 

Page 983

042836,002316:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
042837,002317: 
042838,002318: 15,3652           41302        IMUCHK             CS       IMODES30                              
042839,002319: 15,3653           74743                           MASK     BIT9                                  
042840,002320: 15,3654           10000                           CCS      A                                     #  IS IMU ON
042841,002321: 15,3655           13661                           TCF      +4                                    #  YES
042842,002322: 
042843,002323: 15,3656           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
042844,002324: 15,3657           00210                           OCT      210                                   
042845,002325: 15,3660           06001                           TC       GOTOPOOH                              
042846,002326: 
042847,002327: 15,3661           05504                           TC       UPFLAG                                
042848,002328: 15,3662           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
042849,002329: 
042850,002330: 15,3663           04631                           TC       SWRETURN                              
042851,002331: 
042852,002332: 04,3013                                           BANK     04                                    
042853,002333: 04,2000                                           SETLOC   AOTMARK2                              
042854,002334: 04,2000                                           BANK                                           
042855,002335: 04,3013                                           COUNT*   $$/P57                                
042856,002336: 
042857,002337: 04,3013           77220        LSORIENT           STQ      VLOAD                                 
042858,002338: 04,3014           02746                                    QMAJ                                  
042859,002339: 04,3015           01555                                    RRECTCSM                              
042860,002340: 04,3016           47235                           VXV      VXV                                   
042861,002341: 04,3017           01563                                    VRECTCSM                              
042862,002342: 04,3020           03607                                    XSMD                                  
042863,002343: 04,3021           77656                           UNIT                                           
042864,002344: 04,3022           03623                           STORE    ZSMD                                  
042865,002345: 04,3023           53435                           VXV      UNIT                                  
042866,002346: 04,3024           03607                                    XSMD                                  
042867,002347: 04,3025           37615                           STCALL   YSMD                                  
042868,002348: 04,3026           02746                                    QMAJ                                  
042869,002349: 

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