Source Code

These source-code files derive from a printout of Luminary 116 (the Apollo 12 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Ron Burkey, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071
	19:09 AUG. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

039767,000002:                                                                                                  ## Copyright:   Public domain.
039768,000003:                                                                                                  ## Filename:    P51-P53.agc
039769,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
039770,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039771,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
039772,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
039773,000008:                                                                                                  ##              that the code format has been changed to conform to the
039774,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
039775,000010:                                                                                                  ##              original YUL assembler.
039776,000011:                                                                                                  ## Reference:   pp. 919-975
039777,000012:                                                                                                  ## Assembler:   yaYUL
039778,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
039779,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
039780,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
039781,000016:                                                                                                  ##              2017-03-11 HG   Transcribed
039782,000017:                                                                                                  ##              2017-03-14 RSB  Proofed comment text via 3-way diff vs
039783,000018:                                                                                                  ##                              Luminary 99 and 131.
039784,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
039785,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039786,000021:                                                                                                  ##              2017-03-19 HG   Fix operator STODL --> STORE
039787,000022: 

Page 919

039789,000024:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- JAN 9, 1967
039790,000025:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
039791,000026:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDANCE REV 46
039792,000027: 
039793,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION-
039794,000029: 
039795,000030:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
039796,000031:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
039797,000032: 
039798,000033:                                                                                                  #       (A) PREFERRED ORIENTATION
039799,000034: 
039800,000035:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
039801,000036:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
039802,000037: 
039803,000038:                                                                                                  #       (B) NOMINAL ORIENTATION
039804,000039: 
039805,000040:                                                                                                  #           X   =  UNIT ( R )
039806,000041:                                                                                                  #           -SM
039807,000042: 
039808,000043:                                                                                                  #           Y   =  UNIT (V X R)
039809,000044:                                                                                                  #            SM
039810,000045: 
039811,000046:                                                                                                  #           Z   =  UNIT (X   X  Y  )
039812,000047:                                                                                                  #            SM           SM     SM
039813,000048: 
039814,000049:                                                                                                  #           WHERE_
039815,000050:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039816,000051:                                                                                                  #            -
039817,000052: 
039818,000053:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039819,000054:                                                                                                  #            -
039820,000055: 
039821,000056:                                                                                                  #       (C) REFSMMAT ORIENTATION
039822,000057: 
039823,000058:                                                                                                  #           (D)  LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039824,000059: 
039825,000060:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039826,000061:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039827,000062:                                                                                                  #       SINCE THE LAST ALIGNMENT).
039828,000063: 
039829,000064:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039830,000065:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039831,000066:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
039832,000067:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039833,000068:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
039834,000069:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
039835,000070:                                                                                                  #  REQUESTED.
039836,000071: 
039837,000072:                                                                                                  #  CALLING SEQUENCE-
039838,000073: 

Page 920

039840,000075:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039841,000076: 
039842,000077:                                                                                                  #  SUBROUTINES CALLED-
039843,000078: 
039844,000079:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
039845,000080:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
039846,000081:                                                                                                  #      3. GOPERF4       9. FLAGUP
039847,000082:                                                                                                  #      4. MATMOVE      10. R56
039848,000083:                                                                                                  #      5. GOFLASH      11. R51
039849,000084:                                                                                                  #      6. S52.3        12. GOPERF3
039850,000085: 
039851,000086:                                                                                                  #  NORMAL EXIT MODES-
039852,000087: 
039853,000088:                                                                                                  #       EXITS TO ENDOFJOB
039854,000089: 
039855,000090:                                                                                                  #  ALARM OR ABORT EXIT MODES-
039856,000091: 
039857,000092:                                                                                                  #       NONE
039858,000093: 
039859,000094:                                                                                                  #  OUTPUT-
039860,000095: 
039861,000096:                                                                                                  #       THE FOLLOWING MAY BE FLASHED ON THE DSKY
039862,000097:                                                                                                  #          1. IMU ORIENTATION CODE
039863,000098:                                                                                                  #          2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
039864,000099:                                                                                                  #          3. TIME OF NEXT IGNITION
039865,000100:                                                                                                  #          4. GIMBAL ANGLES
039866,000101:                                                                                                  #          5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
039867,000102:                                                                                                  #          6. PLEASE PERFORM P00
039868,000103:                                                                                                  #       THE MODE DISPLAY MAY BE CHANGED TO 20
039869,000104: 
039870,000105:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
039871,000106: 
039872,000107:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
039873,000108:                                                                                                  #      XSMD,YSMD,ZSMD.
039874,000109:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039875,000110: 
039876,000111:                                                                                                  #  DEBRIS-
039877,000112: 
039878,000113:                                                                                                  #        WORK AREA
039879,000114: 
039880,000115: 33,3762                                           BANK     33                                    
039881,000116: 15,2000                                           SETLOC   P50S                                  
039882,000117: 15,2000                                           BANK                                           
039883,000118: 
039884,000119: 15,2050  E5,1755                                  EBANK=   BESTI                                 
039885,000120: 15,2050                                           COUNT*   $$/P52                                
039886,000121: 15,2050           04616        PROG52             TC       BANKCALL                              
039887,000122: 15,2051           11236                           CADR     R02BOTH                               #  IMU STATUS CHECK
039888,000123: 15,2052           34750                           CAF      PFRATBIT                              
039889,000124: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
039890,000125: 15,2054           10000                           CCS      A                                     
039891,000126: 

Page 921

039893,000128: 15,2055           02060                           TC       P52A                                  #  YES
039894,000129: 15,2056           36250                           CAF      THREE                                 #  DISPLAY REFSMMAT OPTION 3
039895,000130: 15,2057           02061                           TC       P52A       +1                         
039896,000131: 15,2060           34753        P52A               CAF      BIT1                                  
039897,000132: 15,2061           55144                           TS       OPTION2                               
039898,000133: 15,2062           34753        P52B               CAF      BIT1                                  
039899,000134: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
039900,000135: 15,2064           20714                           CADR     GOPERF4R                              #  FLASH V04N06
039901,000136: 15,2065           06001                           TC       GOTOPOOH                              
039902,000137: 15,2066           12073                           TCF      +5                                    #  V33-PROCEED
039903,000138: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
039904,000139: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
039905,000140: 15,2071           00014                           OCT      00014                                 
039906,000141: 15,2072           05155                           TC       ENDOFJOB                              
039907,000142: 
039908,000143: 15,2073           31144                           CA       OPTION2                               
039909,000144: 15,2074           76250                           MASK     THREE                                 
039910,000145: 15,2075           50000                           INDEX    A                                     
039911,000146: 15,2076           02077                           TC       +1                                    
039912,000147: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
039913,000148: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
039914,000149: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
039915,000150: 15,2102           06042        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
039916,000151: 15,2103           77650                           GOTO                                           
039917,000152: 15,2104           32164                                    P52F                                  #  GO DO R51
039918,000153: 
039919,000154: 15,2105           00006        OPT4               EXTEND                                         
039920,000155: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
039921,000156: 15,2107           12112                           TCF      P52T       +2                         
039922,000157: 
039923,000158: 15,2110           00006        P52T               EXTEND                                         
039924,000159: 15,2111           34755                           DCA      NEG0                                  
039925,000160: 15,2112           53045                           DXCH     DSPTEM1                               
039926,000161: 15,2113           32170                           CAF      V06N34*                               
039927,000162: 15,2114           04616                           TC       BANKCALL                              
039928,000163: 15,2115           20477                           CADR     GOFLASH                               
039929,000164: 15,2116           06001                           TC       GOTOPOOH                              
039930,000165: 15,2117           02121                           TC       +2                                    
039931,000166: 15,2120           02113                           TC       -5                                    
039932,000167: 15,2121           53045                           DXCH     DSPTEM1                               
039933,000168: 15,2122           00006                           EXTEND                                         
039934,000169: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
039935,000170: 15,2124           12127                           TCF      +3                                    
039936,000171: 15,2125           00006                           EXTEND                                         
039937,000172: 15,2126           30025                           DCA      TIME2                                 
039938,000173: 15,2127           53775                           DXCH     TALIGN                                
039939,000174: 15,2130           31144        P52V               CA       OPTION2                               
039940,000175: 15,2131           74752                           MASK     BIT2                                  
039941,000176: 15,2132           10000                           CCS      A                                     
039942,000177: 15,2133           02137                           TC       P52W                                  
039943,000178: 

Page 922

039945,000180: 15,2134           06042                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
039946,000181: 15,2135           77650                           GOTO                                           
039947,000182: 15,2136           32220                                    P52LS                                 
039948,000183: 

Page 923

039950,000185:                                                                                                  #  START ALIGNMENT
039951,000186: 
039952,000187: 15,2137           06042        P52W               TC       INTPRET                               
039953,000188: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
039954,000189: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
039955,000190: 15,2142           31651                                    S52.3                                 #   ORIENTATION
039956,000191: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
039957,000192: 15,2144           31620                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
039958,000193: 15,2145           77776                           EXIT                                           
039959,000194: 15,2146           35010                           CAF      V06N22                                
039960,000195: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
039961,000196: 15,2150           20477                           CADR     GOFLASH                               
039962,000197: 15,2151           06001                           TC       GOTOPOOH                              
039963,000198: 15,2152           12171                           TCF      COARSTYP                              #  V33-PROCEED, SEE IF GYRO TORQUE COARSE
039964,000199: 15,2153           06042        P52H               TC       INTPRET                               
039965,000200: 15,2154           77650                           GOTO                                           
039966,000201: 15,2155           32143                                    P52D                                  
039967,000202: 15,2156           06042        REGCOARS           TC       INTPRET                               
039968,000203: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
039969,000204: 15,2160           31321                                    CAL53A                                #   ROUTINE
039970,000205: 15,2161           43014        COARSRET           SET      CLEAR                                 
039971,000206: 15,2162           01462                                    REFSMFLG                              
039972,000207: 15,2163           01273                                    PFRATFLG                              
039973,000208: 15,2164           77624        P52F               CALL                                           
039974,000209: 15,2165           31007                                    R51                                   
039975,000210: 15,2166           77776        P52OUT             EXIT                                           
039976,000211: 15,2167           06001                           TC       GOTOPOOH                              
039977,000212: 15,2170     5006               VB05N09            =        V05N09                                
039978,000213: 15,2170           01442        V06N34*            VN       634                                   
039979,000214: 

Page 924

039981,000216:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039982,000217: 15,2171           32217        COARSTYP           CAF      OCT13                                 
039983,000218: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039984,000219: 15,2173           20624                           CADR     GOPERF1                               
039985,000220: 15,2174           16001                           TCF      GOTOPOOH                              #  V34-TERMIN&OE
039986,000221: 15,2175           12156                           TCF      REGCOARS                              #  V33-NORMAL COARSE
039987,000222: 15,2176           06042                           TC       INTPRET                               #  V32-GYRO TORQUE COARSE
039988,000223: 15,2177           64375                           VLOAD    MXV                                   
039989,000224: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
039990,000225: 15,2201           01734                                    REFSMMAT                              
039991,000226: 15,2202           77656                           UNIT                                           
039992,000227: 15,2203           26665                           STOVL    XDC                                   
039993,000228: 15,2204           03615                                    YSMD                                  
039994,000229: 15,2205           53521                           MXV      UNIT                                  
039995,000230: 15,2206           01734                                    REFSMMAT                              
039996,000231: 15,2207           26673                           STOVL    YDC                                   
039997,000232: 15,2210           03623                                    ZSMD                                  
039998,000233: 15,2211           53521                           MXV      UNIT                                  
039999,000234: 15,2212           01734                                    REFSMMAT                              
040000,000235: 15,2213           36701                           STCALL   ZDC                                   
040001,000236: 15,2214           31156                                    GYCOARS                               
040002,000237: 15,2215           77650                           GOTO                                           
040003,000238: 15,2216           32166                                    P52OUT                                
040004,000239: 15,2217           00013        OCT13              OCT      13                                    
040005,000240: 

Page 925

040007,000242:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
040008,000243: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
040009,000244: 15,2221           01463                                    LUNAFLAG                              
040010,000245: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
040011,000246: 15,2223           77201                           SETPD    VLOAD                                 
040012,000247: 15,2224           00001                                    0                                     
040013,000248: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
040014,000249: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
040015,000250: 15,2227           02775                                    TALIGN                                
040016,000251: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
040017,000252: 
040018,000253: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
040019,000254: 15,2232           77742                           VSR2                                           
040020,000255: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
040021,000256: 15,2234           02775                                    TALIGN                                
040022,000257: 15,2235           77624                           CALL                                           
040023,000258: 15,2236           30440                                    N89DISP                               
040024,000259: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
040025,000260: 15,2240           02032                                    ALPHAV                                
040026,000261: 15,2241           37607                           STCALL   XSMD                                  
040027,000262: 15,2242           10775                                    LSORIENT                              
040028,000263: 15,2243           77650                           GOTO                                           
040029,000264: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
040030,000265: 

Page 926

040032,000267:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
040033,000268: 
040034,000269: 14,2000                                           SETLOC   P50S1                                 
040035,000270: 14,2000                                           BANK                                           
040036,000271: 14,2440  E5,1642                                  EBANK=   XSM                                   
040037,000272: 
040038,000273: 14,2440           77620        N89DISP            STQ                                            
040039,000274: 14,2441           02746                                    QMAJ                                  
040040,000275: 14,2442           35242                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
040041,000276: 14,2443           26351                                    LAT-LONG                              
040042,000277: 14,2444           70545                           DLOAD    SR1                                   
040043,000278: 14,2445           01122                                    LONG                                  
040044,000279: 14,2446           16711                           STODL    LANDLONG                              
040045,000280: 14,2447           01124                                    ALT                                   
040046,000281: 14,2450           16713                           STODL    LANDALT                               
040047,000282: 14,2451           01120                                    LAT                                   
040048,000283: 14,2452           02707                           STORE    LANDLAT                               
040049,000284: 14,2453           77776                           EXIT                                           
040050,000285: 
040051,000286: 14,2454           32477        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
040052,000287: 14,2455           04616                           TC       BANKCALL                              
040053,000288: 14,2456           20477                           CADR     GOFLASH                               
040054,000289: 14,2457           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE-EXIT P57
040055,000290: 14,2460           12462                           TCF      +2                                    #  V33-PROCEED- ACCEPT LS DATA
040056,000291: 14,2461           12454                           TCF      LSDISP                                #  V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
040057,000292: 
040058,000293: 14,2462           06042                           TC       INTPRET                               
040059,000294: 14,2463           72545                           DLOAD    SL1                                   
040060,000295: 14,2464           02711                                    LANDLONG                              
040061,000296: 14,2465           15122                           STODL    LONG                                  
040062,000297: 14,2466           02713                                    LANDALT                               
040063,000298: 14,2467           15124                           STODL    ALT                                   
040064,000299: 14,2470           02707                                    LANDLAT                               
040065,000300: 14,2471           15120                           STODL    LAT                                   
040066,000301: 14,2472           01242                                    GDT/2      +4                         #  PICK UP TIME
040067,000302: 14,2473           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
040068,000303: 14,2474           26422                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
040069,000304: 14,2475           77650                           GOTO                                           
040070,000305: 14,2476           02746                                    QMAJ                                  
040071,000306: 14,2477           01531        V06N89*            VN       689                                   
040072,000307: 

Page 927

040074,000309:                                                                                                  #  NAME -S50 ALIAS LOCSAM
040075,000310:                                                                                                  #  BY
040076,000311:                                                                                                  #  VINCENT
040077,000312:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
040078,000313: 
040079,000314:                                                                                                  #           DEFINE
040080,000315: 
040081,000316: 
040082,000317:                                                                                                  #           U    = UNIT( SUN WRT EARTH)
040083,000318:                                                                                                  #            ES
040084,000319: 
040085,000320:                                                                                                  #           U    =UNIT( MOON WRT EARTH)
040086,000321:                                                                                                  #            EM
040087,000322: 
040088,000323:                                                                                                  #           R    =POSITION VECTOR OF LEM
040089,000324:                                                                                                  #            L
040090,000325: 
040091,000326:                                                                                                  #           R    =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
040092,000327:                                                                                                  #            EM
040093,000328: 
040094,000329:                                                                                                  #           P    =RATIO   R   /(DISTANCE SUN TO EARTH)    > .00257125
040095,000330:                                                                                                  #                         EM
040096,000331: 
040097,000332:                                                                                                  #           R    =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
040098,000333:                                                                                                  #            E
040099,000334: 
040100,000335:                                                                                                  #           LOCSAM  COMPUTES IN EARTH INFLUENCE
040101,000336: 
040102,000337: 
040103,000338:                                                                                                  #       VSUN   =   U
040104,000339:                                                                                                  #                   ES
040105,000340: 
040106,000341:                                                                                                  #      VEARTH  =   -UNIT( R  )
040107,000342:                                                                                                  #                          L
040108,000343: 
040109,000344:                                                                                                  #      VMOON   =    UNIT(R  .U   - R  )
040110,000345:                                                                                                  #                         EM  EM    L
040111,000346: 
040112,000347:                                                                                                  #      CSUN    =   COS 90
040113,000348: 
040114,000349:                                                                                                  #      CEARTH  =    COS(5 + ARCSIN(R /MAG(R )))
040115,000350:                                                                                                  #                                   E      L
040116,000351: 
040117,000352:                                                                                                  #      CMOON   =    COS 5
040118,000353: 
040119,000354:                                                                                                  #  INPUT - TIME IN MPAC
040120,000355:                                                                                                  #  OUTPUT - LISTED ABOVE
040121,000356:                                                                                                  #  SUBROUTINES -LSPOS,LEMPREC
040122,000357:                                                                                                  #  DEBRIS - VAC AREA ,TSIGHT
040123,000358: 

Page 928

040125,000360: 14,2500                                           COUNT*   $$/LOSAM                              
040126,000361: 
040127,000362: 14,2500  14,2500               S50                =        LOCSAM                                
040128,000363: 14,2500           77620        LOCSAM             STQ                                            
040129,000364: 14,2501           02745                                    QMIN                                  
040130,000365: 14,2502           37562                           STCALL   TSIGHT                                
040131,000366: 14,2503           33647                                    LSPOS                                 
040132,000367: 14,2504           77745                           DLOAD                                          
040133,000368: 14,2505           03562                                    TSIGHT                                
040134,000369: 14,2506           34041                           STCALL   TDEC1                                 
040135,000370: 14,2507           27060                                    LEMPREC                               
040136,000371: 14,2510           61131                           SSP      TIX,2                                 
040137,000372: 14,2511           00052                                    S2                                    
040138,000373: 14,2512           00000                                    0                                     
040139,000374: 14,2513           30535                                    MOONCNTR                              
040140,000375: 14,2514           74375        EARTCNTR           VLOAD    VXSC                                  
040141,000376: 14,2515           02723                                    VMOON                                 
040142,000377: 14,2516           30001                                    RSUBEM                                
040143,000378: 14,2517           52372                           VSL1     VSU                                   
040144,000379: 14,2520           00001                                    RATT                                  
040145,000380: 14,2521           77656                           UNIT                                           
040146,000381: 14,2522           26723                           STOVL    VMOON                                 
040147,000382: 14,2523           00001                                    RATT                                  
040148,000383: 14,2524           57456                           UNIT     VCOMP                                 
040149,000384: 14,2525           16707                           STODL    VEARTH                                
040150,000385: 14,2526           30005                                    RSUBE                                 
040151,000386: 14,2527           77624                           CALL                                           
040152,000387: 14,2530           30567                                    OCCOS                                 
040153,000388: 14,2531           14017                           STODL    CEARTH                                
040154,000389: 14,2532           30576                                    CSS5                                  
040155,000390: 14,2533           34023                           STCALL   CMOON                                 
040156,000391: 14,2534           30562                                    ENDSAM                                
040157,000392: 14,2535           74375        MOONCNTR           VLOAD    VXSC                                  
040158,000393: 14,2536           02723                                    VMOON                                 
040159,000394: 14,2537           30007                                    ROE                                   
040160,000395: 14,2540           53445                           BVSU     UNIT                                  
040161,000396: 14,2541           02715                                    VSUN                                  
040162,000397: 14,2542           26715                           STOVL    VSUN                                  
040163,000398: 14,2543           02723                                    VMOON                                 
040164,000399: 14,2544           53361                           VXSC     VAD                                   
040165,000400: 14,2545           30001                                    RSUBEM                                
040166,000401: 14,2546           00001                                    RATT                                  
040167,000402: 14,2547           57456                           UNIT     VCOMP                                 
040168,000403: 14,2550           26707                           STOVL    VEARTH                                
040169,000404: 14,2551           00001                                    RATT                                  
040170,000405: 14,2552           57456                           UNIT     VCOMP                                 
040171,000406: 14,2553           16723                           STODL    VMOON                                 
040172,000407: 14,2554           30003                                    RSUBM                                 
040173,000408: 14,2555           77624                           CALL                                           
040174,000409: 14,2556           30567                                    OCCOS                                 

Page 929

040176,000411: 14,2557           14023                           STODL    CMOON                                 
040177,000412: 14,2560           30576                                    CSS5                                  
040178,000413: 14,2561           00017                           STORE    CEARTH                                
040179,000414: 14,2562           77745        ENDSAM             DLOAD                                          
040180,000415: 14,2563           30600                                    CSSUN                                 
040181,000416: 14,2564           00021                           STORE    CSUN                                  
040182,000417: 14,2565           77650                           GOTO                                           
040183,000418: 14,2566           02745                                    QMIN                                  
040184,000419: 14,2567           70471        OCCOS              DDV      SR1                                   
040185,000420: 14,2570           00045                                    36D                                   
040186,000421: 14,2571           43336                           ASIN     DAD                                   
040187,000422: 14,2572           30602                                    5DEGREES                              
040188,000423: 14,2573           70546                           COS      SR1                                   
040189,000424: 14,2574           77616                           RVQ                                            
040190,000425: 14,2575                        CEARTH             =        14D                                   
040191,000426: 14,2575                        CSUN               =        16D                                   
040192,000427: 14,2575                        CMOON              =        18D                                   
040193,000428: 14,2575           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
040194,000429: 14,2577           04000 00000  CSSUN              2DEC     .125                                  #  (COS60)/4
040195,000430: 14,2601           00343 21616  5DEGREES           2DEC     .013888889                            #     SCALED IN REVS
040196,000431: 

Page 930

040198,000433:                                                                                                  #  PROGRAM NAME - R56              DATE  DEC 20 66
040199,000434:                                                                                                  #  MOD 1                           LOG SECTION P51-P53
040200,000435:                                                                                                  #                                  ASSEMBLY  SUNDISK REV40
040201,000436:                                                                                                  #  BY KEN VINCENT
040202,000437: 
040203,000438:                                                                                                  #  FUNCTION
040204,000439:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
040205,000440:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
040206,000441:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
040207,000442:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
040208,000443:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
040209,000444:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
040210,000445:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
040211,000446:                                                                                                  #  HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
040212,000447:                                                                                                  #  AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
040213,000448:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
040214,000449:                                                                                                  #  50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040215,000450:                                                                                                  #  THOSE WITH GOOD SEPARATION, AND    IN FIELD OF VIEW.
040216,000451: 
040217,000452:                                                                                                  #  CALLING SEQUENCE
040218,000453:                                                                                                  #  L        TC     BANKCALL
040219,000454:                                                                                                  #  L+1      CADR   R56
040220,000455:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
040221,000456:                                                                                                  #  L+3      NORMAL RETURN
040222,000457: 
040223,000458:                                                                                                  #  OUTPUT
040224,000459:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
040225,000460:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
040226,000461: 
040227,000462:                                                                                                  #  INITIALIZATION
040228,000463:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
040229,000464: 
040230,000465:                                                                                                  #  DEBRIS
040231,000466:                                                                                                  #  WORK AREA
040232,000467:                                                                                                  #  X,Y,ZNB
040233,000468:                                                                                                  #  SINCDU,COSCDU
040234,000469:                                                                                                  #  STARAD - STAR +5
040235,000470: 14,2603  14,2603               R56                =        PICAPAR                               
040236,000471: 14,2603                                           COUNT*   $$/R56                                
040237,000472: 14,2603           04645        PICAPAR            TC       MAKECADR                              
040238,000473: 14,2604           55745                           TS       QMIN                                  
040239,000474: 14,2605           06042                           TC       INTPRET                               
040240,000475: 14,2606           77624                           CALL                                           
040241,000476: 14,2607           47541                                    CDUTRIG                               
040242,000477: 14,2610           77624                           CALL                                           
040243,000478: 14,2611           20030                                    CALCSMSC                              
040244,000479: 14,2612           77601                           SETPD                                          
040245,000480: 14,2613           00001                                    0                                     
040246,000481: 14,2614           71214                           SET      DLOAD                                 #  VFLAG = 1
040247,000482: 14,2615           01465                                    VFLAG                                 

Page 931

040249,000484: 14,2616           24007                                    DPZERO                                
040250,000485: 14,2617           26756                           STOVL    BESTI                                 
040251,000486: 14,2620           02665                                    XNB                                   
040252,000487: 14,2621           63361                           VXSC     PDVL                                  
040253,000488: 14,2622           24005                                    HALFDP                                
040254,000489: 14,2623           02701                                    ZNB                                   
040255,000490: 14,2624           74370                           AXT,1    VXSC                                  
040256,000491: 14,2625           00344                                    228D                                  #  X1 = 37 X 6 +6
040257,000492: 14,2626           24005                                    HALFDP                                
040258,000493: 14,2627           77655                           VAD                                            
040259,000494: 14,2630           53505                           VXM      UNIT                                  
040260,000495: 14,2631           01734                                    REFSMMAT                              
040261,000496: 14,2632           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
040262,000497: 14,2633           66331                           SSP      SSP                                   #  S1=S2=6
040263,000498: 14,2634           00051                                    S1                                    
040264,000499: 14,2635           00006                                    6                                     
040265,000500: 14,2636           00052                                    S2                                    
040266,000501: 14,2637           00006                                    6                                     
040267,000502: 14,2640           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
040268,000503: 14,2641           30643                                    PIC2                                  
040269,000504: 14,2642           30760                                    PICEND                                
040270,000505: 14,2643           50373        PIC2               VLOAD*   DOT                                   
040271,000506: 14,2644           30347                                    CATLOG,1                              
040272,000507: 14,2645           02731                                    SAX                                   
040273,000508: 14,2646           50025                           DSU      BMN                                   
040274,000509: 14,2647           30757                                    CSS33                                 
040275,000510: 14,2650           30640                                    PIC1                                  
040276,000511: 14,2651           77754                           LXA,2                                          
040277,000512: 14,2652           00046                                    X1                                    
040278,000513: 14,2653           52104        PIC3               TIX,2    GOTO                                  
040279,000514: 14,2654           30656                                    PIC4                                  
040280,000515: 14,2655           30640                                    PIC1                                  
040281,000516: 14,2656           50373        PIC4               VLOAD*   DOT                                   
040282,000517: 14,2657           47430                                    CATLOG,2                              
040283,000518: 14,2660           02731                                    SAX                                   
040284,000519: 14,2661           50025                           DSU      BMN                                   
040285,000520: 14,2662           30757                                    CSS33                                 
040286,000521: 14,2663           30653                                    PIC3                                  
040287,000522: 14,2664           47773                           VLOAD*   DOT*                                  
040288,000523: 14,2665           30347                                    CATLOG,1                              
040289,000524: 14,2666           47430                                    CATLOG,2                              
040290,000525: 14,2667           51025                           DSU      BPL                                   
040291,000526: 14,2670           30755                                    CSS40                                 
040292,000527: 14,2671           30653                                    PIC3                                  
040293,000528: 14,2672           45173                           VLOAD*   CALL                                  
040294,000529: 14,2673           30347                                    CATLOG,1                              
040295,000530: 14,2674           30732                                    OCCULT                                
040296,000531: 14,2675           77614                           BON                                            
040297,000532: 14,2676           01710                                    CULTFLAG                              
040298,000533: 14,2677           30640                                    PIC1                                  
040299,000534: 

Page 932

040301,000536: 14,2700           45173                           VLOAD*   CALL                                  
040302,000537: 14,2701           47430                                    CATLOG,2                              
040303,000538: 14,2702           30732                                    OCCULT                                
040304,000539: 14,2703           77614                           BON                                            
040305,000540: 14,2704           01710                                    CULTFLAG                              
040306,000541: 14,2705           30653                                    PIC3                                  
040307,000542: 14,2706           77614        STRATGY            BONCLR                                         
040308,000543: 14,2707           01605                                    VFLAG                                 
040309,000544: 14,2710           30725                                    NEWPAR                                
040310,000545: 14,2711           65120                           XCHX,1   XCHX,2                                
040311,000546: 14,2712           02755                                    BESTI                                 
040312,000547: 14,2713           02756                                    BESTJ                                 
040313,000548: 14,2714           47773        STRAT              VLOAD*   DOT*                                  
040314,000549: 14,2715           30347                                    CATLOG,1                              
040315,000550: 14,2716           47430                                    CATLOG,2                              
040316,000551: 14,2717           43006                           PUSH     BOFINV                                
040317,000552: 14,2720           01545                                    VFLAG                                 
040318,000553: 14,2721           30711                                    STRAT      -3                         
040319,000554: 14,2722           45345                           DLOAD    DSU                                   
040320,000555: 14,2723           77644                           BPL                                            
040321,000556: 14,2724           30653                                    PIC3                                  
040322,000557: 14,2725           67130        NEWPAR             SXA,1    SXA,2                                 
040323,000558: 14,2726           02755                                    BESTI                                 
040324,000559: 14,2727           02756                                    BESTJ                                 
040325,000560: 14,2730           77650                           GOTO                                           
040326,000561: 14,2731           30653                                    PIC3                                  
040327,000562: 14,2732           51321        OCCULT             MXV      BVSU                                  
040328,000563: 14,2733           02707                                    CULTRIX                               
040329,000564: 14,2734           00017                                    CSS                                   
040330,000565: 14,2735           77654                           BZE                                            
040331,000566: 14,2736           30751                                    CULTED                                
040332,000567: 14,2737           75240                           BMN      SIGN                                  
040333,000568: 14,2740           30751                                    CULTED                                
040334,000569: 14,2741           00160                                    MPAC       +3                         
040335,000570: 14,2742           75240                           BMN      SIGN                                  
040336,000571: 14,2743           30751                                    CULTED                                
040337,000572: 14,2744           00162                                    MPAC       +5                         
040338,000573: 14,2745           43040                           BMN      CLRGO                                 
040339,000574: 14,2746           30751                                    CULTED                                
040340,000575: 14,2747           01630                                    CULTFLAG                              
040341,000576: 14,2750           00052                                    QPRET                                 
040342,000577: 14,2751           77614        CULTED             SETGO                                          
040343,000578: 14,2752           01430                                    CULTFLAG                              
040344,000579: 14,2753           00052                                    QPRET                                 
040345,000580: 14,2754  0000016               CSS                =        CEARTH                                
040346,000581: 14,2754           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
040347,000582: 14,2756           05110 35052  CSS33              2DEC     .16070                                #   COS 50 / 4
040348,000583: 14,2760           77414        PICEND             BOFF     EXIT                                  
040349,000584: 

Page 933

040351,000586: 14,2761           01745                                    VFLAG                                 
040352,000587: 14,2762           30764                                    PICGXT                                
040353,000588: 14,2763           03005                           TC       PICBXT                                
040354,000589: 14,2764           73150        PICGXT             LXA,1    LXA,2                                 
040355,000590: 14,2765           02755                                    BESTI                                 
040356,000591: 14,2766           02756                                    BESTJ                                 
040357,000592: 14,2767           47775                           VLOAD    DOT*                                  
040358,000593: 14,2770           02731                                    SAX                                   
040359,000594: 14,2771           30347                                    CATLOG,1                              
040360,000595: 14,2772           47715                           PDVL     DOT*                                  
040361,000596: 14,2773           02731                                    SAX                                   
040362,000597: 14,2774           47430                                    CATLOG,2                              
040363,000598: 14,2775           77625                           DSU                                            
040364,000599: 14,2776           66044                           BPL      SXA,1                                 
040365,000600: 14,2777           31003                                    PICNSWP                               
040366,000601: 14,3000           02756                                    BESTJ                                 
040367,000602: 14,3001           77734                           SXA,2                                          
040368,000603: 14,3002           02755                                    BESTI                                 
040369,000604: 14,3003           77776        PICNSWP            EXIT                                           
040370,000605: 14,3004           25745                           INCR     QMIN                                  
040371,000606: 14,3005           31745        PICBXT             CA       QMIN                                  
040372,000607: 14,3006           04622                           TC       SWCALL                                
040373,000608: 14,3007                        VPD                =        0D                                    
040374,000609: 14,3007                        V0                 =        6D                                    
040375,000610: 14,3007                        V1                 =        12D                                   
040376,000611: 14,3007                        V2                 =        18D                                   
040377,000612: 14,3007                        V3                 =        24D                                   
040378,000613: 14,3007                        DP0                =        30D                                   
040379,000614: 14,3007                        DP1                =        32D                                   
040380,000615: 

Page 934

040382,000617:                                                                                                  #  NAME-R51  FINE ALIGN
040383,000618:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
040384,000619:                                                                                                  #  CALLING SEQ- CALL  R51
040385,000620:                                                                                                  #  INPUT - REFSMMAT
040386,000621:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
040387,000622:                                                                                                  #  SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
040388,000623: 14,3007                                           COUNT*   $$/R51                                
040389,000624: 14,3007           77620        R51                STQ                                            
040390,000625: 14,3010           02746                                    QMAJ                                  
040391,000626: 14,3011           77776        R51.1              EXIT                                           
040392,000627: 14,3012           05353                           TC       PHASCHNG                              
040393,000628: 14,3013           04024                           OCT      04024                                 
040394,000629: 
040395,000630: 14,3014           34761        R51C               CAF      OCT15                                 
040396,000631: 14,3015           04616                           TC       BANKCALL                              
040397,000632: 14,3016           20624                           CADR     GOPERF1                               
040398,000633: 14,3017           06001                           TC       GOTOPOOH                              
040399,000634: 14,3020           03022                           TC       +2                                    #  V33E
040400,000635: 14,3021           03045                           TC       R51E                                  #  ENTER
040401,000636: 14,3022           06042                           TC       INTPRET                               
040402,000637: 14,3023           43234                           RTB      DAD                                   
040403,000638: 14,3024           21574                                    LOADTIME                              
040404,000639: 14,3025           31155                                    TSIGHT1                               
040405,000640: 14,3026           77624                           CALL                                           
040406,000641: 14,3027           30500                                    LOCSAM                                
040407,000642: 14,3030           77776                           EXIT                                           
040408,000643: 14,3031           04616                           TC       BANKCALL                              
040409,000644: 14,3032           30603                           CADR     R56                                   
040410,000645: 14,3033           03035                           TC       R51I                                  
040411,000646: 14,3034           03045        R51F               TC       R51E                                  
040412,000647: 14,3035           05567        R51I               TC       ALARM                                 
040413,000648: 14,3036           00405                           OCT      405                                   
040414,000649: 14,3037           35006                           CAF      VB05N09                               
040415,000650: 14,3040           04616                           TC       BANKCALL                              
040416,000651: 14,3041           20477                           CADR     GOFLASH                               
040417,000652: 14,3042           06001                           TC       GOTOPOOH                              
040418,000653: 14,3043           03045                           TC       R51E                                  
040419,000654: 14,3044           03014                           TC       R51C                                  
040420,000655: 14,3045           34755        R51E               CAF      ZERO                                  
040421,000656: 14,3046           55757                           TS       STARIND                               
040422,000657: 14,3047           06042        R51.2              TC       INTPRET                               
040423,000658: 14,3050           77776        R51.3              EXIT                                           
040424,000659: 14,3051           05353                           TC       PHASCHNG                              
040425,000660: 14,3052           04024                           OCT      04024                                 
040426,000661: 
040427,000662: 14,3053           06042                           TC       INTPRET                               
040428,000663: 14,3054           77624                           CALL                                           
040429,000664: 14,3055           31671                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
040430,000665: 14,3056           77776                           EXIT                                           
040431,000666: 14,3057           04616                           TC       BANKCALL                              
040432,000667: 

Page 935

040434,000669: 14,3060           16000                           CADR     AOTMARK                               
040435,000670: 14,3061           04616                           TC       BANKCALL                              
040436,000671: 14,3062           17704                           CADR     OPTSTALL                              
040437,000672: 14,3063           05701                           TC       CURTAINS                              
040438,000673: 14,3064           11757                           CCS      STARIND                               
040439,000674: 14,3065           13067                           TCF      +2                                    
040440,000675: 14,3066           03137                           TC       R51.4                                 
040441,000676: 14,3067           06042                           TC       INTPRET                               
040442,000677: 14,3070           77775                           VLOAD                                          
040443,000678: 14,3071           02715                                    STARAD     +6                         
040444,000679: 14,3072           02767                           STORE    STARSAV2                              
040445,000680: 14,3073           77776                           EXIT                                           
040446,000681: 14,3074           05353                           TC       PHASCHNG                              
040447,000682: 14,3075           04024                           OCT      04024                                 
040448,000683: 
040449,000684: 14,3076           06042                           TC       INTPRET                               
040450,000685: 14,3077           45145                           DLOAD    CALL                                  
040451,000686: 14,3100           03562                                    TSIGHT                                
040452,000687: 14,3101           32472                                    PLANET                                
040453,000688: 14,3102           53521                           MXV      UNIT                                  
040454,000689: 14,3103           01734                                    REFSMMAT                              
040455,000690: 14,3104           26715                           STOVL    STARAD     +6                         
040456,000691: 14,3105           03554                                    PLANVEC                               
040457,000692: 14,3106           53521                           MXV      UNIT                                  
040458,000693: 14,3107           01734                                    REFSMMAT                              
040459,000694: 14,3110           26707                           STOVL    STARAD                                
040460,000695: 14,3111           02761                                    STARSAV1                              
040461,000696: 14,3112           24007                           STOVL    6D                                    
040462,000697: 14,3113           02767                                    STARSAV2                              
040463,000698: 14,3114           34015                           STCALL   12D                                   
040464,000699: 14,3115           31250                                    R54                                   #  STAR DATA TEST
040465,000700: 14,3116           45014                           BOFF     CALL                                  
040466,000701: 14,3117           00354                                    FREEFLAG                              
040467,000702: 14,3120           31126                                    R51K                                  
040468,000703: 14,3121           47443                                    AXISGEN                               
040469,000704: 14,3122           77624                           CALL                                           
040470,000705: 14,3123           31216                                    R55                                   #  GYRO TORQUE
040471,000706: 14,3124           77614                           CLEAR                                          
040472,000707: 14,3125           01273                                    PFRATFLG                              
040473,000708: 14,3126           77776        R51K               EXIT                                           
040474,000709: 14,3127           35741        R51P63             CAF      OCT14                                 
040475,000710: 14,3130           04616                           TC       BANKCALL                              
040476,000711: 14,3131           20624                           CADR     GOPERF1                               
040477,000712: 14,3132           06001                           TC       GOTOPOOH                              
040478,000713: 14,3133           03014                           TC       R51C                                  
040479,000714: 14,3134           06042                           TC       INTPRET                               
040480,000715: 14,3135           77650                           GOTO                                           
040481,000716: 14,3136           02746                                    QMAJ                                  
040482,000717: 14,3137           06042        R51.4              TC       INTPRET                               
040483,000718: 14,3140           77775                           VLOAD                                          
040484,000719: 

Page 936

040486,000721: 14,3141           02715                                    STARAD     +6                         
040487,000722: 14,3142           02761                           STORE    STARSAV1                              
040488,000723: 14,3143           45145                           DLOAD    CALL                                  
040489,000724: 14,3144           03562                                    TSIGHT                                
040490,000725: 14,3145           32472                                    PLANET                                
040491,000726: 14,3146           03554                           STORE    PLANVEC                               
040492,000727: 14,3147           77731                           SSP                                            
040493,000728: 14,3150           02760                                    STARIND                               
040494,000729: 14,3151           00001                                    1                                     
040495,000730: 14,3152           77650                           GOTO                                           
040496,000731: 14,3153           31050                                    R51.3                                 
040497,000732: 14,3154           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6  MIN  TO  MARKING
040498,000733: 

Page 937

040500,000735:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
040501,000736: 14,3156           45020        GYCOARS            STQ      CALL                                  
040502,000737: 14,3157           02746                                    QMAJ                                  
040503,000738: 14,3160           47251                                    CALCGTA                               
040504,000739: 14,3161           43014                           CLEAR    CLEAR                                 
040505,000740: 14,3162           01260                                    DRIFTFLG                              
040506,000741: 14,3163           01662                                    REFSMFLG                              
040507,000742: 14,3164           77776                           EXIT                                           
040508,000743: 14,3165           33215                           CAF      V16N20                                #  MONITOR GIMBALS
040509,000744: 14,3166           04616                           TC       BANKCALL                              
040510,000745: 14,3167           20452                           CADR     GODSPR                                
040511,000746: 14,3170           33247                           CA       R55CDR                                
040512,000747: 14,3171           04616                           TC       BANKCALL                              
040513,000748: 14,3172           17315                           CADR     IMUPULSE                              
040514,000749: 14,3173           04616                           TC       BANKCALL                              
040515,000750: 14,3174           17710                           CADR     IMUSTALL                              
040516,000751: 14,3175           05701                           TC       CURTAINS                              
040517,000752: 14,3176           05353                           TC       PHASCHNG                              
040518,000753: 14,3177           04024                           OCT      04024                                 
040519,000754: 
040520,000755: 14,3200           06042                           TC       INTPRET                               
040521,000756: 14,3201           75160                           AXC,1    AXC,2                                 
040522,000757: 14,3202           03606                                    XSMD                                  
040523,000758: 14,3203           01733                                    REFSMMAT                              
040524,000759: 14,3204           77624                           CALL                                           #  STORE DESIRED REFSMMAT
040525,000760: 14,3205           31371                                    MATMOVE                               
040526,000761: 14,3206           43014                           CLEAR    SET                                   
040527,000762: 14,3207           01273                                    PFRATFLG                              
040528,000763: 14,3210           01462                                    REFSMFLG                              
040529,000764: 14,3211           77624                           CALL                                           
040530,000765: 14,3212           31603                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
040531,000766: 14,3213           77650                           GOTO                                           
040532,000767: 14,3214           31126                                    R51K                                  
040533,000768: 14,3215           04024        V16N20             VN       1620                                  
040534,000769: 

Page 938

040536,000771:                                                                                                  #  R55  GYRO TORQUE
040537,000772:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
040538,000773:                                                                                                  #  CALLING SEQ- CALL R55
040539,000774:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
040540,000775:                                                                                                  #  OUTPUT- GYRO PULSES
040541,000776:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
040542,000777: 14,3216                                           COUNT*   $$/R55                                
040543,000778: 14,3216           77620        R55                STQ                                            
040544,000779: 14,3217           02745                                    QMIN                                  
040545,000780: 14,3220           77624                           CALL                                           
040546,000781: 14,3221           47251                                    CALCGTA                               
040547,000782: 14,3222           77776        PULSEM             EXIT                                           
040548,000783: 14,3223           33246        R55.1              CAF      V06N93                                
040549,000784: 14,3224           04616                           TC       BANKCALL                              
040550,000785: 14,3225           20477                           CADR     GOFLASH                               
040551,000786: 14,3226           06001                           TC       GOTOPOOH                              
040552,000787: 14,3227           03231                           TC       R55.2                                 
040553,000788: 14,3230           03243                           TC       R55RET                                
040554,000789: 14,3231           05353        R55.2              TC       PHASCHNG                              
040555,000790: 14,3232           00214                           OCT      00214                                 
040556,000791: 14,3233           33247                           CA       R55CDR                                
040557,000792: 14,3234           04616                           TC       BANKCALL                              
040558,000793: 14,3235           17315                           CADR     IMUPULSE                              
040559,000794: 14,3236           04616                           TC       BANKCALL                              
040560,000795: 14,3237           17710                           CADR     IMUSTALL                              
040561,000796: 14,3240           05701                           TC       CURTAINS                              
040562,000797: 14,3241           05353                           TC       PHASCHNG                              
040563,000798: 14,3242           04024                           OCT      04024                                 
040564,000799: 
040565,000800: 14,3243           06042        R55RET             TC       INTPRET                               
040566,000801: 14,3244           77650                           GOTO                                           
040567,000802: 14,3245           02745                                    QMIN                                  
040568,000803: 14,3246           01535        V06N93             VN       0693                                  
040569,000804: 14,3247           02737        R55CDR             ECADR    OGC                                   
040570,000805: 14,3250  14,3250               R54                =        CHKSDATA                              
040571,000806:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
040572,000807:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
040573,000808:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
040574,000809: 
040575,000810:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040576,000811:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040577,000812:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040578,000813: 
040579,000814:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
040580,000815:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
040581,000816:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
040582,000817:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
040583,000818:                                                                                                  #                   A1 = ARCCOS(OS1 - OS2)
040584,000819:                                                                                                  #                   A2 = ARCCOS(SS1 - SS2)
040585,000820:                                                                                                  #                    A = ABS(2(A1 - A2))
040586,000821: 

Page 939

040588,000823:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040589,000824:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
040590,000825:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
040591,000826:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040592,000827:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040593,000828: 
040594,000829:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040595,000830:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040596,000831:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
040597,000832:                                                                                                  #  DEBRIS-
040598,000833: 14,3250                                           COUNT*   $$/R54                                
040599,000834: 14,3250           43020        CHKSDATA           STQ      SET                                   
040600,000835: 14,3251           02745                                    QMIN                                  
040601,000836: 14,3252           00074                                    FREEFLAG                              
040602,000837: 14,3253           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
040603,000838: 14,3254           02706                                    STARAD                                
040604,000839: 
040605,000840: 14,3255           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
040606,000841: 14,3256           00001                                    0,1                                   
040607,000842: 14,3257           00007                                    6,1                                   
040608,000843: 14,3260           65552                           SL1      ACOS                                  
040609,000844: 14,3261           00025                           STORE    THETA                                 
040610,000845: 14,3262           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
040611,000846: 14,3263           00354                                    FREEFLAG                              
040612,000847: 14,3264           31274                                    CHKSD                                 
040613,000848: 14,3265           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
040614,000849: 14,3266           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
040615,000850: 14,3267           00006                                    6D                                    
040616,000851: 14,3270           00025                                    THETA                                 
040617,000852: 14,3271           00023                           STORE    18D                                   
040618,000853: 14,3272           77650                           GOTO                                           
040619,000854: 14,3273           31255                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
040620,000855: 14,3274           45345        CHKSD              DLOAD    DSU                                   
040621,000856: 14,3275           00025                                    THETA                                 
040622,000857: 14,3276           00023                                    18D                                   
040623,000858: 14,3277           47046                           ABS      RTB                                   #  COMPUTE POS DIFF
040624,000859: 14,3300           21613                                    SGNAGREE                              
040625,000860: 14,3301           01045                           STORE    NORMTEM1                              
040626,000861: 14,3302           77414                           SET      EXIT                                  
040627,000862: 14,3303           00074                                    FREEFLAG                              
040628,000863: 14,3304           33320                           CAF      VB6N5                                 
040629,000864: 14,3305           04616                           TC       BANKCALL                              
040630,000865: 14,3306           20477                           CADR     GOFLASH                               
040631,000866: 14,3307           16001                           TCF      GOTOPOOH                              
040632,000867: 14,3310           03315                           TC       CHKSDA                                #  PROCEED
040633,000868: 14,3311           06042                           TC       INTPRET                               
040634,000869: 14,3312           52014                           CLEAR    GOTO                                  
040635,000870: 14,3313           00274                                    FREEFLAG                              
040636,000871: 14,3314           02745                                    QMIN                                  
040637,000872: 14,3315           06042        CHKSDA             TC       INTPRET                               
040638,000873: 

Page 940

040640,000875: 14,3316           77650                           GOTO                                           
040641,000876: 14,3317           02745                                    QMIN                                  
040642,000877: 14,3320           01405        VB6N5              VN       605                                   
040643,000878: 
040644,000879:                                                                                                  #  NAME - CAL53A
040645,000880:                                                                                                  #  FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040646,000881:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
040647,000882:                                                                                                  #  INPUT - X,Y,ZSMD ,CDUX,Y,Z
040648,000883:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
040649,000884:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
040650,000885:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
040651,000886: 
040652,000887: 14,3321                                           COUNT*   $$/R50                                
040653,000888: 14,3321           77624        CAL53A             CALL                                           
040654,000889: 14,3322           31620                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
040655,000890: 14,3323           66234                           RTB      SSP                                   
040656,000891: 14,3324           31405                                    RDCDUS                                #  READ CDUS
040657,000892: 14,3325           00051                                    S1                                    
040658,000893: 14,3326           00001                                    1                                     
040659,000894: 14,3327           40370                           AXT,1    SETPD                                 
040660,000895: 14,3330           00003                                    3                                     
040661,000896: 14,3331           00005                                    4                                     
040662,000897: 14,3332           70543        CALOOP             DLOAD*   SR1                                   
040663,000898: 14,3333           00325                                    THETAD     +3D,1                      
040664,000899: 14,3334           70523                           PDDL*    SR1                                   
040665,000900: 14,3335           00005                                    4,1                                   
040666,000901: 14,3336           51425                           DSU      ABS                                   
040667,000902: 14,3337           45206                           PUSH     DSU                                   
040668,000903: 14,3340           31404                                    DEGREE1                               
040669,000904: 14,3341           71240                           BMN      DLOAD                                 
040670,000905: 14,3342           31360                                    CALOOP1                               
040671,000906: 14,3343           51025                           DSU      BPL                                   
040672,000907: 14,3344           31405                                    DEG359                                
040673,000908: 14,3345           31360                                    CALOOP1                               
040674,000909: 14,3346           77776                           EXIT                                           
040675,000910: 14,3347           05353                           TC       PHASCHNG                              
040676,000911: 14,3350           04024                           OCT      04024                                 
040677,000912: 
040678,000913: 14,3351           06042                           TC       INTPRET                               
040679,000914: 14,3352           77624        COARFINE           CALL                                           
040680,000915: 14,3353           31557                                    COARSE                                
040681,000916: 14,3354           77624                           CALL                                           
040682,000917: 14,3355           31603                                    NCOARSE                               
040683,000918: 14,3356           77650                           GOTO                                           
040684,000919: 14,3357           31362                                    FINEONLY                              
040685,000920: 14,3360           77700        CALOOP1            TIX,1                                          
040686,000921: 14,3361           31332                                    CALOOP                                
040687,000922: 14,3362           75160        FINEONLY           AXC,1    AXC,2                                 
040688,000923: 14,3363           02642                                    XSM                                   
040689,000924: 14,3364           01733                                    REFSMMAT                              
040690,000925: 14,3365           77624                           CALL                                           
040691,000926: 14,3366           31371                                    MATMOVE                               
040692,000927: 

Page 941

040694,000929: 14,3367           77650                           GOTO                                           
040695,000930: 14,3370           32161                                    COARSRET                              
040696,000931: 14,3371           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
040697,000932: 14,3372           00001                                    0,1                                   
040698,000933: 14,3373           10001                           STORE    0,2                                   
040699,000934: 14,3374           77773                           VLOAD*                                         
040700,000935: 14,3375           00007                                    6D,1                                  
040701,000936: 14,3376           10007                           STORE    6D,2                                  
040702,000937: 14,3377           77773                           VLOAD*                                         
040703,000938: 14,3400           00015                                    12D,1                                 
040704,000939: 14,3401           10015                           STORE    12D,2                                 
040705,000940: 14,3402           77616                           RVQ                                            
040706,000941: 14,3403           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
040707,000942: 14,3404           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
040708,000943: 14,3405           00004        RDCDUS             INHINT                                         #  READ CDUS
040709,000944: 14,3406           30032                           CA       CDUX                                  
040710,000945: 14,3407           50120                           INDEX    FIXLOC                                
040711,000946: 14,3410           54001                           TS       1                                     
040712,000947: 14,3411           30033                           CA       CDUY                                  
040713,000948: 14,3412           50120                           INDEX    FIXLOC                                
040714,000949: 14,3413           54002                           TS       2                                     
040715,000950: 14,3414           30034                           CA       CDUZ                                  
040716,000951: 14,3415           50120                           INDEX    FIXLOC                                
040717,000952: 14,3416           54003                           TS       3                                     
040718,000953: 14,3417           00003                           RELINT                                         
040719,000954: 14,3420           06064                           TC       DANZIG                                #                                        +
040720,000955: 14,3421                                           COUNT*   $$/INFLT                              
040721,000956: 

Page 942

040723,000958:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
040724,000959:                                                                                                  #           MOD.NO.1  23 JAN 67                                                             LOG SECTION - P51-P53
040725,000960:                                                                                                  #  MOD BY STURLAUGSON                                                                      ASSEMBLY SUNDANCE REV56
040726,000961: 
040727,000962:                                                                                                  #  FUNCTIONAL DESCRIPTION
040728,000963: 
040729,000964:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
040730,000965:                                                                                                  #  (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
040731,000966:                                                                                                  #  STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040732,000967:                                                                                                  #  CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
040733,000968: 
040734,000969:                                                                                                  #  CALLING SEQUENCE
040735,000970: 
040736,000971:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040737,000972: 
040738,000973:                                                                                                  #  SUBROUTINES CALLED.
040739,000974: 
040740,000975:                                                                                                  #       GOPERF3
040741,000976:                                                                                                  #       GOPERF1
040742,000977:                                                                                                  #       GODSPR
040743,000978:                                                                                                  #       IMUCOARS
040744,000979:                                                                                                  #       IMUFIN20
040745,000980:                                                                                                  #       AOTMARK(R53)
040746,000981:                                                                                                  #       CHKSDATA(R54)
040747,000982:                                                                                                  #       MKRELEAS
040748,000983:                                                                                                  #       AXISGEN
040749,000984:                                                                                                  #       MATMOVE
040750,000985: 
040751,000986:                                                                                                  #  ALARMS
040752,000987: 
040753,000988:                                                                                                  #       NONE.
040754,000989: 
040755,000990:                                                                                                  #  ERASABLE INITIALIZATION
040756,000991: 
040757,000992:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
040758,000993: 
040759,000994:                                                                                                  #  OUTPUT
040760,000995: 
040761,000996:                                                                                                  #       REFSMMAT
040762,000997:                                                                                                  #       REFSMFLG
040763,000998: 
040764,000999:                                                                                                  #  DEBRIS
040765,001000: 
040766,001001:                                                                                                  #       WORK AREA
040767,001002:                                                                                                  #       STARAD
040768,001003:                                                                                                  #       STARIND
040769,001004:                                                                                                  #       BESTI
040770,001005:                                                                                                  #       BESTJ
040771,001006: 
040772,001007: 14,3421                                           COUNT*   $$/P51                                
040773,001008: 

Page 943

040775,001010: 14,3421           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
040776,001011: 14,3422           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040777,001012: 
040778,001013: 14,3423           34761                           CAF      OCT15                                 
040779,001014: 14,3424           04616                           TC       BANKCALL                              
040780,001015: 14,3425           20624                           CADR     GOPERF1                               
040781,001016: 14,3426           06001                           TC       GOTOPOOH                              #  TERM.
040782,001017: 14,3427           13453                           TCF      P51B                                  #  V33
040783,001018: 14,3430           05353                           TC       PHASCHNG                              
040784,001019: 14,3431           04024                           OCT      04024                                 
040785,001020: 
040786,001021: 14,3432           34755                           CAF      ZERO                                  
040787,001022: 14,3433           54321                           TS       THETAD                                #  ZERO THE GIMBALS
040788,001023: 14,3434           54322                           TS       THETAD     +1                         
040789,001024: 14,3435           54323                           TS       THETAD     +2                         
040790,001025: 14,3436           35010                           CAF      V06N22                                
040791,001026: 14,3437           04616                           TC       BANKCALL                              
040792,001027: 14,3440           20447                           CADR     GODSPRET                              
040793,001028: 14,3441           33556                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
040794,001029: 14,3442           04616                           TC       BANKCALL                              
040795,001030: 14,3443           20447                           CADR     GODSPRET                              
040796,001031: 14,3444           06042                           TC       INTPRET                               
040797,001032: 14,3445           77624                           CALL                                           
040798,001033: 14,3446           31557                                    COARSE                                
040799,001034: 14,3447           77776                           EXIT                                           
040800,001035: 14,3450           05353                           TC       PHASCHNG                              
040801,001036: 14,3451           04024                           OCT      04024                                 
040802,001037: 14,3452           13423                           TCF      P51        +2                         
040803,001038: 
040804,001039: 14,3453           05353        P51B               TC       PHASCHNG                              
040805,001040: 14,3454           00014                           OCT      00014                                 
040806,001041: 14,3455           06042                           TC       INTPRET                               
040807,001042: 14,3456           77624                           CALL                                           
040808,001043: 14,3457           31603                                    NCOARSE                               
040809,001044: 14,3460           40331                           SSP      SETPD                                 
040810,001045: 14,3461           02760                                    STARIND                               #  INDEX-STAR 1 OR 2
040811,001046: 14,3462           00000                                    0                                     
040812,001047: 14,3463           00001                                    0                                     
040813,001048: 14,3464           77776        P51C               EXIT                                           
040814,001049: 14,3465           05353                           TC       PHASCHNG                              
040815,001050: 14,3466           04024                           OCT      04024                                 
040816,001051: 
040817,001052: 14,3467           04616                           TC       BANKCALL                              
040818,001053: 14,3470           16000                           CADR     AOTMARK                               #  R53
040819,001054: 14,3471           04616                           TC       BANKCALL                              
040820,001055: 14,3472           17704                           CADR     AOTSTALL                              
040821,001056: 14,3473           05701                           TC       CURTAINS                              
040822,001057: 14,3474           11757                           CCS      STARIND                               
040823,001058: 14,3475           13503                           TCF      P51D       +1                         
040824,001059: 14,3476           06042                           TC       INTPRET                               
040825,001060: 

Page 944

040827,001062: 14,3477           77775                           VLOAD                                          
040828,001063: 14,3500           02715                                    STARAD     +6                         
040829,001064: 14,3501           02761                           STORE    STARSAV1                              
040830,001065: 14,3502           77776        P51D               EXIT                                           
040831,001066: 14,3503           05353                           TC       PHASCHNG                              
040832,001067: 14,3504           04024                           OCT      04024                                 
040833,001068: 
040834,001069: 14,3505           11757                           CCS      STARIND                               
040835,001070: 14,3506           13522                           TCF      P51E                                  
040836,001071: 14,3507           05353                           TC       PHASCHNG                              
040837,001072: 14,3510           04024                           OCT      04024                                 
040838,001073: 
040839,001074: 14,3511           06042                           TC       INTPRET                               
040840,001075: 14,3512           45145                           DLOAD    CALL                                  
040841,001076: 14,3513           03562                                    TSIGHT                                
040842,001077: 14,3514           32472                                    PLANET                                
040843,001078: 14,3515           03554                           STORE    PLANVEC                               
040844,001079: 14,3516           77776                           EXIT                                           
040845,001080: 14,3517           34753                           CAF      BIT1                                  
040846,001081: 14,3520           55757                           TS       STARIND                               
040847,001082: 14,3521           13465                           TCF      P51C       +1                         #  DO SECOND STAR
040848,001083: 14,3522           05353        P51E               TC       PHASCHNG                              
040849,001084: 14,3523           04024                           OCT      04024                                 
040850,001085: 
040851,001086: 14,3524           06042                           TC       INTPRET                               
040852,001087: 14,3525           45145                           DLOAD    CALL                                  
040853,001088: 14,3526           03562                                    TSIGHT                                
040854,001089: 14,3527           32472                                    PLANET                                
040855,001090: 14,3530           24015                           STOVL    12D                                   
040856,001091: 14,3531           03554                                    PLANVEC                               
040857,001092: 14,3532           24007                           STOVL    6D                                    
040858,001093: 14,3533           02761                                    STARSAV1                              
040859,001094: 14,3534           26707                           STOVL    STARAD                                
040860,001095: 14,3535           02767                                    STARSAV2                              
040861,001096: 14,3536           36715                           STCALL   STARAD     +6                         
040862,001097: 14,3537           31250                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
040863,001098: 14,3540           77414                           BON      EXIT                                  
040864,001099: 14,3541           00314                                    FREEFLAG                              
040865,001100: 14,3542           31544                                    P51G                                  
040866,001101: 14,3543           03423                           TC       P51        +2                         
040867,001102: 14,3544           77624        P51G               CALL                                           
040868,001103: 14,3545           47443                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
040869,001104: 14,3546           75160                           AXC,1    AXC,2                                 
040870,001105: 14,3547           02664                                    XDC                                   
040871,001106: 14,3550           01733                                    REFSMMAT                              
040872,001107: 14,3551           77624                           CALL                                           
040873,001108: 14,3552           31371                                    MATMOVE                               
040874,001109: 14,3553           77414                           SET      EXIT                                  
040875,001110: 14,3554           01462                                    REFSMFLG                              
040876,001111: 14,3555           06001                           TC       GOTOPOOH                              #  FINIS
040877,001112: 

Page 945

040879,001114: 14,3556           12200        V41K               VN       4100                                  
040880,001115: 14,3557           77776        COARSE             EXIT                                           
040881,001116: 14,3560           31301                 +1        CA       MODECADR                              #  SEE IF IMU DEVICE IS IN USE.
040882,001117: 14,3561           00006                           EXTEND                                         
040883,001118: 14,3562           13567                           BZF      DOCORS                                #  NOT IN USE, DO COARSE ALIGN
040884,001119: 14,3563           34777                           CAF      1SEC                                  #  IN USE, DELAY ONE SEC
040885,001120: 14,3564           04616                           TC       BANKCALL                              
040886,001121: 14,3565           01736                           CADR     DELAYJOB                              
040887,001122: 14,3566           13560                           TCF      COARSE     +1                         
040888,001123: 14,3567           04616        DOCORS             TC       BANKCALL                              
040889,001124: 14,3570           16772                           CADR     IMUCOARS                              
040890,001125: 14,3571           04616                           TC       BANKCALL                              
040891,001126: 14,3572           17710                           CADR     IMUSTALL                              
040892,001127: 14,3573           05701                           TC       CURTAINS                              
040893,001128: 14,3574           04616                           TC       BANKCALL                              
040894,001129: 14,3575           17202                           CADR     IMUFINE                               
040895,001130: 14,3576           04616                           TC       BANKCALL                              
040896,001131: 14,3577           17710                           CADR     IMUSTALL                              
040897,001132: 14,3600           05701                           TC       CURTAINS                              
040898,001133: 14,3601           06042                           TC       INTPRET                               
040899,001134: 14,3602           77616                           RVQ                                            
040900,001135: 14,3603           77776        NCOARSE            EXIT                                           
040901,001136: 14,3604           30025                           CA       TIME1                                 
040902,001137: 14,3605           55074                           TS       1/PIPADT                              
040903,001138: 14,3606           44755                           CS       ZERO                                  
040904,001139: 14,3607           54037                           TS       PIPAX                                 
040905,001140: 14,3610           54040                           TS       PIPAY                                 
040906,001141: 14,3611           54041                           TS       PIPAZ                                 
040907,001142: 14,3612           06042                           TC       INTPRET                               
040908,001143: 14,3613           77775                           VLOAD                                          
040909,001144: 14,3614           24007                                    ZEROVEC                               
040910,001145: 14,3615           01472                           STORE    GCOMP                                 
040911,001146: 14,3616           43414                           SET      RVQ                                   
040912,001147: 14,3617           01060                                    DRIFTFLG                              
040913,001148: 

Page 946

040915,001150:                                                                                                  #  NAME-S52.2
040916,001151:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040917,001152:                                                                                                  #  CALL-  CALL  S52.2
040918,001153:                                                                                                  #  INPUT- X,Y,ZSMD
040919,001154:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
040920,001155:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
040921,001156: 14,3620                                           COUNT*   $$/S52.1                              
040922,001157: 14,3620           45020        S52.2              STQ      CALL                                  
040923,001158: 14,3621           02746                                    QMAJ                                  
040924,001159: 14,3622           47541                                    CDUTRIG                               
040925,001160: 14,3623           77624                           CALL                                           
040926,001161: 14,3624           20030                                    CALCSMSC                              
040927,001162: 14,3625           66370                           AXT,1    SSP                                   
040928,001163: 14,3626           00022                                    18D                                   
040929,001164: 14,3627           00051                                    S1                                    
040930,001165: 14,3630           00006                                    6D                                    
040931,001166: 14,3631           61373        S52.2A             VLOAD*   VXM                                   
040932,001167: 14,3632           02707                                    XNB        +18D,1                     
040933,001168: 14,3633           01734                                    REFSMMAT                              
040934,001169: 14,3634           77656                           UNIT                                           
040935,001170: 14,3635           06707                           STORE    XNB        +18D,1                     
040936,001171: 14,3636           77700                           TIX,1                                          
040937,001172: 14,3637           31631                                    S52.2A                                
040938,001173: 14,3640           75160        S52.2.1            AXC,1    AXC,2                                 
040939,001174: 14,3641           03606                                    XSMD                                  
040940,001175: 14,3642           02642                                    XSM                                   
040941,001176: 14,3643           77624                           CALL                                           
040942,001177: 14,3644           31371                                    MATMOVE                               
040943,001178: 14,3645           77624                           CALL                                           
040944,001179: 14,3646           47355                                    CALCGA                                
040945,001180: 14,3647           77650                           GOTO                                           
040946,001181: 14,3650           02746                                    QMAJ                                  
040947,001182: 

Page 947

040949,001184:                                                                                                  #  NAME-S52.3
040950,001185:                                                                                                  #  FUNCTION  XSMD= UNIT  R
040951,001186:                                                                                                  #            YSMD= UNIT(V X R)
040952,001187:                                                                                                  #            ZSMD= UNIT(XSMD X YSMD)
040953,001188:                                                                                                  #  CALL     DLOAD   CALL
040954,001189:                                                                                                  #                   TALIGN
040955,001190:                                                                                                  #                   S52.3
040956,001191:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
040957,001192:                                                                                                  #  OUTPUT-  X,Y,ZSMD
040958,001193:                                                                                                  #  SUBROUTINES- CSMCONIC
040959,001194: 14,3651                                           COUNT*   $$/S52.3                              
040960,001195: 14,3651           77620        S52.3              STQ                                            
040961,001196: 14,3652           02746                                    QMAJ                                  
040962,001197: 14,3653           34041                           STCALL   TDEC1                                 
040963,001198: 14,3654           27101                                    LEMCONIC                              
040964,001199: 14,3655           53575                           VLOAD    UNIT                                  
040965,001200: 14,3656           00001                                    RATT                                  
040966,001201: 14,3657           27607                           STOVL    XSMD                                  
040967,001202: 14,3660           00007                                    VATT                                  
040968,001203: 14,3661           53435                           VXV      UNIT                                  
040969,001204: 14,3662           00001                                    RATT                                  
040970,001205: 14,3663           27615                           STOVL    YSMD                                  
040971,001206: 14,3664           03607                                    XSMD                                  
040972,001207: 14,3665           53435                           VXV      UNIT                                  
040973,001208: 14,3666           03615                                    YSMD                                  
040974,001209: 14,3667           37623                           STCALL   ZSMD                                  
040975,001210: 14,3670           02746                                    QMAJ                                  
040976,001211: 

Page 948

040978,001213:                                                                                                  #  NAME    -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040979,001214: 
040980,001215:                                                                                                  #  FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040981,001216:                                                                                                  #           STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040982,001217: 
040983,001218:                                                                                                  #  CALLING -CALL R52
040984,001219: 
040985,001220:                                                                                                  #  INPUT   -BESTI AND BESTJ (STAR CODES TIMES 6)
040986,001221:                                                                                                  #  OUTPUT  -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
040987,001222:                                                                                                  #           (NO CHECK IS MADE TO INSURE THE DETENT  CODE TO BE VALID)
040988,001223:                                                                                                  #           POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040989,001224:                                                                                                  #           SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040990,001225: 
040991,001226:                                                                                                  #  SUBROUT -R60LEM
040992,001227: 
040993,001228: 14,3671                                           COUNT*   $$/R52                                
040994,001229: 14,3671           77420        R52                STQ      EXIT                                  
040995,001230: 14,3672           03665                                    SAVQR52                               
040996,001231: 14,3673           51757                           INDEX    STARIND                               
040997,001232: 14,3674           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
040998,001233: 14,3675           00006                           EXTEND                                         
040999,001234: 14,3676           73772                           MP       1/6TH                                 
041000,001235: 14,3677           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
041001,001236: 14,3700           54734                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
041002,001237: 
041003,001238: 14,3701           33773        R52A               CAF      V01N70                                
041004,001239: 14,3702           04616                           TC       BANKCALL                              
041005,001240: 14,3703           20477                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
041006,001241: 14,3704           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
041007,001242: 14,3705           13707                           TCF      R52B                                  #  V33-PROCEED TO ORIENT LEM
041008,001243: 14,3706           13701                           TCF      R52A                                  #  ENTER-SELECT NEW STARCODE-RECYCLE
041009,001244: 
041010,001245: 14,3707           05516        R52B               TC       DOWNFLAG                              
041011,001246: 14,3710           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
041012,001247: 14,3711           30734                           CA       STARCODE                              #  GRAB DETENT CODE
041013,001248: 14,3712           77747                           MASK     HIGH9                                 
041014,001249: 14,3713           00006                           EXTEND                                         
041015,001250: 14,3714           74743                           MP       BIT9                                  
041016,001251: 14,3715           54001                           TS       L                                     #  TEMP STORE DETENT
041017,001252: 
041018,001253: 14,3716           00006                           EXTEND                                         
041019,001254: 14,3717           63735                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
041020,001255: 
041021,001256: 14,3720           65650                           AD       NEG7                                  
041022,001257: 14,3721           00006                           EXTEND                                         
041023,001258: 14,3722           13735                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
041024,001259: 
041025,001260: 14,3723  E7,1551                                  EBANK=   XYMARK                                
041026,001261: 14,3723           35016                           CA       EBANK7                                
041027,001262: 14,3724           54003                           TS       EBANK                                 
041028,001263: 

Page 949

041030,001265: 14,3725           50001                           INDEX    L                                     
041031,001266: 14,3726           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
041032,001267: 14,3727           54001                           TS       L                                     
041033,001268: 14,3730  E5,1642                                  EBANK=   XSM                                   
041034,001269: 14,3730           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
041035,001270: 14,3731           54003                           TS       EBANK                                 
041036,001271: 14,3732           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041037,001272: 14,3733           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041038,001273: 14,3734           13745                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
041039,001274: 
041040,001275: 14,3735           33774        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
041041,001276: 14,3736           04616                           TC       BANKCALL                              
041042,001277: 14,3737           20477                           CADR     GOFLASH                               
041043,001278: 14,3740           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
041044,001279: 14,3741           13743                           TCF      +2                                    #  PROCEED-CALC OPTIC AXIS
041045,001280: 14,3742           13735                           TCF      GETAZEL                               #  ENTER-RECYCLE
041046,001281: 
041047,001282: 14,3743           00006                           EXTEND                                         
041048,001283: 14,3744           31345                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
041049,001284: 14,3745           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
041050,001285: 14,3746           52011                           DXCH     8D                                    
041051,001286: 14,3747           06042                           TC       INTPRET                               
041052,001287: 14,3750           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
041053,001288: 14,3751           10520                                    OANB                                  #  SCAXIS IN NB COORDS
041054,001289: 14,3752           45034                           RTB      CALL                                  
041055,001290: 14,3753           21574                                    LOADTIME                              
041056,001291: 14,3754           32472                                    PLANET                                
041057,001292: 14,3755           53521                           MXV      UNIT                                  
041058,001293: 14,3756           01734                                    REFSMMAT                              
041059,001294: 14,3757           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
041060,001295: 
041061,001296: 14,3760           77776                           EXIT                                           
041062,001297: 14,3761           04616                           TC       BANKCALL                              
041063,001298: 14,3762           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
041064,001299: 
041065,001300: 14,3763           37747                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
041066,001301: 14,3764           70734                           MASK     STARCODE                              
041067,001302: 14,3765           00006                           EXTEND                                         
041068,001303: 14,3766           13701                           BZF      R52A                                  
041069,001304: 
041070,001305: 14,3767           06042                           TC       INTPRET                               #  RETURN FROM KALCMANU
041071,001306: 14,3770           77650                           GOTO                                           
041072,001307: 14,3771           03665                                    SAVQR52                               #  RETURN TO CALLER
041073,001308: 
041074,001309: 14,3772           05253        1/6TH              DEC      .1666667                              
041075,001310: 14,3773           00306        V01N70             VN       0170                                  
041076,001311: 14,3774           01527        V06N87             VN       687                                   
041077,001312: 

Page 950

041079,001314:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
041080,001315: 
041081,001316: 15,2245                                           BANK     15                                    
041082,001317: 15,2000                                           SETLOC   P50S                                  
041083,001318: 15,2000                                           BANK                                           
041084,001319: 15,2245                                           COUNT*   $$/R59                                
041085,001320: 
041086,001321: 15,2245           40077        R59                CS       FLAGWRD3                              
041087,001322: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
041088,001323: 15,2247           10000                           CCS      A                                     
041089,001324: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
041090,001325: 
041091,001326: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
041092,001327: 15,2252           04616                           TC       BANKCALL                              
041093,001328: 15,2253           20477                           CADR     GOFLASH                               
041094,001329: 15,2254           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
041095,001330: 15,2255           12257                           TCF      R59A                                  #  V33-PROCEED
041096,001331: 15,2256           12245                           TCF      R59                                   #  V32-RECYCLE
041097,001332: 
041098,001333: 15,2257           47747        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
041099,001334: 15,2260           70734                           MASK     AOTCODE                               
041100,001335: 15,2261           00006                           EXTEND                                         
041101,001336: 15,2262           76245                           MP       REVCNT                                #  JUST 6
041102,001337: 15,2263           56001                           XCH      L                                     
041103,001338: 15,2264           51757                           INDEX    STARIND                               
041104,001339: 15,2265           55755                           TS       BESTI                                 
041105,001340: 15,2266           50120                           INDEX    FIXLOC                                
041106,001341: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
041107,001342: 15,2270           00006                           EXTEND                                         
041108,001343: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
041109,001344: 15,2272           40000                           COM                                            
041110,001345: 15,2273           62557                           AD       DEC227                                
041111,001346: 15,2274           00006                           EXTEND                                         
041112,001347: 15,2275           62455                           BZMF     R59OUT                                
041113,001348: 
041114,001349: 15,2276           06042                           TC       INTPRET                               
041115,001350: 15,2277           64373                           VLOAD*   MXV                                   
041116,001351: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
041117,001352: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
041118,001353: 15,2302           45056                           UNIT     CALL                                  
041119,001354: 15,2303           47650                                    CDU*SMNB                              
041120,001355: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
041121,001356: 15,2305           77776                           EXIT                                           
041122,001357: 
041123,001358: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
041124,001359: 15,2307           55241                           TS       POSCODE                               
041125,001360: 
041126,001361: 15,2310  E7,1551                                  EBANK=   XYMARK                                
041127,001362: 15,2310           35016        INCAZ              CA       EBANK7                                
041128,001363: 15,2311           54003                           TS       EBANK                                 
041129,001364: 

Page 951

041131,001366: 15,2312           51241                           INDEX    POSCODE                               
041132,001367: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
041133,001368: 15,2314           54001                           TS       L                                     
041134,001369: 
041135,001370: 15,2315  E5,1642                                  EBANK=   XSM                                   
041136,001371: 15,2315           35014                           CA       EBANK5                                
041137,001372: 15,2316           54003                           TS       EBANK                                 
041138,001373: 
041139,001374: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
041140,001375: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
041141,001376: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
041142,001377: 15,2322           50120                           INDEX    FIXLOC                                
041143,001378: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
041144,001379: 
041145,001380: 15,2324           06042                           TC       INTPRET                               
041146,001381: 15,2325           77624                           CALL                                           
041147,001382: 15,2326           10520                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
041148,001383: 15,2327           50375                           VLOAD    DOT                                   
041149,001384: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
041150,001385: 15,2331           03765                                    SCAXIS                                
041151,001386: 15,2332           65552                           SL1      ARCCOS                                
041152,001387: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
041153,001388: 
041154,001389: 15,2334           51025                           DSU      BPL                                   
041155,001390: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
041156,001391: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
041157,001392: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
041158,001393: 15,2340           00031                                    24D                                   
041159,001394: 15,2341           32470                                    DEG.5                                 
041160,001395: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
041161,001396: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
041162,001397: 15,2344           00031                                    24D                                   #  GET SPIRAL
041163,001398: 15,2345           42405                           DMP      SL4                                   
041164,001399: 15,2346           13762                                    3/4                                   #  12 SCALED AT 16
041165,001400: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
041166,001401: 
041167,001402: 15,2350           03765                                    SCAXIS                                #  OA
041168,001403: 15,2351           53435                           VXV      UNIT                                  
041169,001404: 15,2352           24005                                    XUNIT                                 
041170,001405: 15,2353           47206                           PUSH     VXV                                   #   OA X UNITX   PD 0-5
041171,001406: 15,2354           03765                                    SCAXIS                                
041172,001407: 15,2355           77676                           VCOMP                                          
041173,001408: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X(OA X UNITX))  PD 6-11
041174,001409: 15,2357           03765                                    SCAXIS                                
041175,001410: 15,2360           53435                           VXV      UNIT                                  
041176,001411: 15,2361           02731                                    STAR                                  
041177,001412: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)   PD 12-17
041178,001413: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
041179,001414: 15,2364           65552                           SL1      ARCCOS                                
041180,001415: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS
041181,001416: 

Page 952

041183,001418: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
041184,001419: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG-GET 360-THET
041185,001420: 15,2370           32375                                    R59D                                  
041186,001421: 15,2371           32047                                    ABOUTONE                              
041187,001422: 15,2372           77625                           DSU                                            
041188,001423: 15,2373           00033                                    26D                                   
041189,001424: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
041190,001425: 
041191,001426: 15,2375           70535        R59D               SLOAD    SR1                                   
041192,001427: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
041193,001428: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
041194,001429: 15,2400           00033                                    26D                                   
041195,001430: 15,2401           77634                           RTB                                            
041196,001431: 15,2402           21615                                    1STO2S                                
041197,001432: 15,2403           15236                           STODL    CURSOR                                #  YROT IN 1/2 REVS
041198,001433: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
041199,001434: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
041200,001435: 15,2406           77634                           RTB                                            
041201,001436: 15,2407           21615                                    1STO2S                                
041202,001437: 15,2410           01240                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
041203,001438: 15,2411           77776                           EXIT                                           
041204,001439: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
041205,001440: 
041206,001441: 15,2413           77776        ZSPCR              EXIT                                           
041207,001442: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
041208,001443: 15,2415           55235                           TS       CURSOR                                #  AND SPIRAL ANGLES
041209,001444: 15,2416           55237                           TS       SPIRAL                                
041210,001445: 15,2417           12437                           TCF      79DISP                                
041211,001446: 
041212,001447: 15,2420           77776        NXAX               EXIT                                           
041213,001448: 15,2421           25241                           INCR     POSCODE                               
041214,001449: 15,2422           41241                           CS       POSCODE                               
041215,001450: 15,2423           64757                           AD       SEVEN                                 
041216,001451: 15,2424           00006                           EXTEND                                         
041217,001452: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
041218,001453: 15,2426           12310                           TCF      INCAZ                                 
041219,001454: 
041220,001455: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
041221,001456: 15,2430           00404                           OCT      404                                   
041222,001457: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
041223,001458: 15,2432           04616                           TC       BANKCALL                              
041224,001459: 15,2433           20477                           CADR     GOFLASH                               
041225,001460: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
041226,001461: 15,2435           12455                           TCF      R59OUT                                #  VB33-PROCEED, GO WITHOUT AQUIRE
041227,001462: 15,2436           12245                           TCF      R59                                   #  VB32-RECYCLE AND TRY ANOTHER STAR
041228,001463: 
041229,001464: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
041230,001465: 15,2440           04616                           TC       BANKCALL                              
041231,001466: 15,2441           20477                           CADR     GOFLASH                               
041232,001467: 15,2442           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
041233,001468: 

Page 953

041235,001470: 15,2443           12445                           TCF      R59E                                  #  V33-PROCEED TO MARK ROUTINE
041236,001471: 15,2444           12245                           TCF      R59                                   #  V32-RECYCLE TO TOP OF R59 AGAIN
041237,001472: 
041238,001473: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
041239,001474: 15,2446           71241                           MASK     POSCODE                               
041240,001475: 15,2447           00006                           EXTEND                                         
041241,001476: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041242,001477: 15,2451           47747                           CS       HIGH9                                 
041243,001478: 15,2452           70734                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041244,001479: 15,2453           60001                           AD       L                                     
041245,001480: 15,2454           54734                           TS       AOTCODE                               #  STORE DETENT 7-9
041246,001481: 
041247,001482: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
041248,001483: 15,2456           16000                           CADR     AOTMARK                               
041249,001484: 15,2457           04616                           TC       BANKCALL                              
041250,001485: 15,2460           17704                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
041251,001486: 15,2461           05701                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
041252,001487: 15,2462           13037                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
041253,001488: 
041254,001489: 15,2463           00306        V01N70*            VN       170                                   
041255,001490: 15,2464           01517        V06N79             VN       679                                   
041256,001491: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
041257,001492: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
041258,001493: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
041259,001494: 15,2472     1235               CURSOR             EQUALS   GDT/2                                 
041260,001495: 15,2472     1237               SPIRAL             EQUALS   GDT/2      +2                         
041261,001496: 15,2472     1241               POSCODE            EQUALS   GDT/2      +4                         
041262,001497: 

Page 954

041264,001499:                                                                                                  #  NAME -   PLANET
041265,001500:                                                                                                  #  FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041266,001501:                                                                                                  #            BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
041267,001502:                                                                                                  #            MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
041268,001503:                                                                                                  #            BY DSDY INPUT
041269,001504:                                                                                                  #  CALL  -  CALL
041270,001505:                                                                                                  #                  PLANET
041271,001506:                                                                                                  #  INPUT -  TIME IN MPAC
041272,001507:                                                                                                  #  OUTPUT - VECTOR IN MPAC
041273,001508:                                                                                                  #  SUBROUTINES - LOCSAM
041274,001509:                                                                                                  #  DEBRIS - VAC ,STARAD - STARAD +17
041275,001510: 
041276,001511: 15,2000                                           SETLOC   P50S                                  
041277,001512: 15,2000                                           BANK                                           
041278,001513: 15,2472                                           COUNT*   $$/P51                                
041279,001514: 
041280,001515: 15,2472           03562        PLANET             STORE    TSIGHT                                
041281,001516: 15,2473           77420                           STQ      EXIT                                  
041282,001517: 15,2474           02736                                    GCTR                                  
041283,001518: 15,2475           47747                           CS       HIGH9                                 
041284,001519: 15,2476           70734                           MASK     AOTCODE                               
041285,001520: 15,2477           00006                           EXTEND                                         
041286,001521: 15,2500           76245                           MP       REVCNT                                
041287,001522: 15,2501           56001                           XCH      L                                     
041288,001523: 15,2502           51757                           INDEX    STARIND                               
041289,001524: 15,2503           55755                           TS       BESTI                                 
041290,001525: 15,2504           10000                           CCS      A                                     
041291,001526: 15,2505           12521                           TCF      NOTPLAN                               
041292,001527: 15,2506           32560                           CAF      VNPLANV                               
041293,001528: 15,2507           04616                           TC       BANKCALL                              
041294,001529: 15,2510           20477                           CADR     GOFLASH                               
041295,001530: 15,2511           02506                           TC       -3                                    
041296,001531: 15,2512           02514                           TC       +2                                    
041297,001532: 15,2513           02506                           TC       -5                                    
041298,001533: 15,2514           06042                           TC       INTPRET                               
041299,001534: 15,2515           53575                           VLOAD    UNIT                                  
041300,001535: 15,2516           02707                                    STARAD                                
041301,001536: 15,2517           77650                           GOTO                                           
041302,001537: 15,2520           02736                                    GCTR                                  
041303,001538: 15,2521           40000        NOTPLAN            CS       A                                     
041304,001539: 15,2522           62557                           AD       DEC227                                
041305,001540: 15,2523           00006                           EXTEND                                         
041306,001541: 15,2524           62535                           BZMF     CALSAM1                               
041307,001542: 15,2525           51757                           INDEX    STARIND                               
041308,001543: 15,2526           31755                           CA       BESTI                                 
041309,001544: 15,2527           50120                           INDEX    FIXLOC                                
041310,001545: 15,2530           54046                           TS       X1                                    
041311,001546: 15,2531           06042                           TC       INTPRET                               
041312,001547: 15,2532           52173                           VLOAD*   GOTO                                  
041313,001548: 15,2533           30347                                    CATLOG,1                              
041314,001549: 

Page 955

041316,001551: 15,2534           02736                                    GCTR                                  
041317,001552: 15,2535           06042        CALSAM1            TC       INTPRET                               
041318,001553: 15,2536           45145        CALSAM             DLOAD    CALL                                  
041319,001554: 15,2537           03562                                    TSIGHT                                
041320,001555: 15,2540           30500                                    LOCSAM                                
041321,001556: 15,2541           77340                           LXC,1    VLOAD                                 
041322,001557: 15,2542           02757                                    STARIND                               
041323,001558: 15,2543           02707                                    VEARTH                                
041324,001559: 15,2544           24001                           STOVL    0D                                    
041325,001560: 15,2545           02715                                    VSUN                                  
041326,001561: 15,2546           26707                           STOVL    VEARTH                                
041327,001562: 15,2547           00001                                    0D                                    
041328,001563: 15,2550           02715                           STORE    VSUN                                  
041329,001564: 15,2551           70143                           DLOAD*   LXC,1                                 
041330,001565: 15,2552           02756                                    BESTI,1                               
041331,001566: 15,2553           00154                                    MPAC                                  
041332,001567: 15,2554           52173                           VLOAD*   GOTO                                  
041333,001568: 15,2555           02343                                    STARAD     -228D,1                    
041334,001569: 15,2556           02736                                    GCTR                                  
041335,001570: 15,2557           00343        DEC227             DEC      227        B-14                       
041336,001571: 15,2560           01530        VNPLANV            VN       0688                                  
041337,001572: 15,2561  37,3541               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
041338,001573: 

Page 956

041340,001575:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
041341,001576:                                                                                                  #  BY KEN VINCENT
041342,001577:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041343,001578:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041344,001579:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
041345,001580:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
041346,001581:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041347,001582:                                                                                                  #  PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
041348,001583:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
041349,001584:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041350,001585:                                                                                                  #  READINGS.
041351,001586: 
041352,001587:                                                                                                  #  CALL-
041353,001588:                                                                                                  #           TC     BANKCALL
041354,001589:                                                                                                  #           CADR   GVDETER
041355,001590:                                                                                                  #  INPUTS-
041356,001591:                                                                                                  #           PIPAS,CDUS
041357,001592:                                                                                                  #  OUTPUTS-
041358,001593:                                                                                                  #           STARSAV1 = UNIT GRAVITY
041359,001594:                                                                                                  #           GSAV     =   DITTO
041360,001595:                                                                                                  #           GRAVBIT  = 1
041361,001596:                                                                                                  #  SUBROUTINES-
041362,001597:                                                                                                  #           PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
041363,001598:                                                                                                  #           *NBSM*,*SNMB*, CALCGA,FOFLASH
041364,001599:                                                                                                  #  DEBRIS-
041365,001600:                                                                                                  #           VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
041366,001601: 15,2561           32762        GVDETER            CAF      42DEG                                 
041367,001602: 15,2562           54321                           TS       THETAD                                
041368,001603: 15,2563           40000                           COM                                            
041369,001604: 15,2564           54322                           TS       THETAD     +1                         
041370,001605: 15,2565           32763                           CAF      35DEG                                 
041371,001606: 15,2566           54323                           TS       THETAD     +2                         
041372,001607: 15,2567           06042                           TC       INTPRET                               
041373,001608: 15,2570           45014                           CLEAR    CALL                                  
041374,001609: 15,2571           01662                                    REFSMFLG                              
041375,001610: 15,2572           32666                                    LUNG                                  
041376,001611:                                                                                                  #  FIND  GIMBAL ANGLES WHICH ROTATE SM 180DEG  ABOUT  G VEC
041377,001612: 
041378,001613:                                                                                                  #   DEFINE G COOR SYS
041379,001614:                                                                                                  #                       -
041380,001615:                                                                                                  #                       X    UNIT G
041381,001616:                                                                                                  #                   *   -               -
041382,001617:                                                                                                  #                   M=  Y =  UNITEZSM * X )
041383,001618:                                                                                                  #                       -         -     -
041384,001619:                                                                                                  #                       Z    UNIT(X   * Y )
041385,001620:                                                                                                  #   THEN   ROTATED  SM WRT  PRESENT IS
041386,001621: 
041387,001622: 
041388,001623:                                                                                                  #                      1,  0 , 0
041389,001624:                                                                                                  #            *      *T            *         *         *
041390,001625: 

Page 957

041392,001627:                                                                                                  #           XSM =   M  0, -1,  0  M  =  2  (X X ) - 1/2 I  *
041393,001628:                                                                                                  #                                            I J
041394,001629:                                                                                                  #                      0,  0 ,-1
041395,001630: 
041396,001631:                                                                                                  #   ALSO   NB WRT PRES SM IS
041397,001632: 
041398,001633:                                                                                                  #                 *      *  *
041399,001634:                                                                                                  #                XNB = NBSM I
041400,001635:                                                                                                  #                            *    *
041401,001636:                                                                                                  #   GIMBAL ANGLES = CALCGA( XSM, XNB )
041402,001637: 
041403,001638: 15,2000                                           SETLOC   P50S                                  
041404,001639: 15,2000                                           BANK                                           
041405,001640: 15,2573                                           COUNT*   $$/P57                                
041406,001641: 15,2573           66370                           AXT,1    SSP                                   #   X1=18
041407,001642: 15,2574           00022                                    18D                                   #   S1=6
041408,001643: 15,2575           00051                                    S1                                    #   X2, -2
041409,001644: 15,2576           00006                                    6D                                    
041410,001645: 15,2577           77744                           LXC,2                                          
041411,001646: 15,2600           00050                                    S1                                    
041412,001647: 15,2601           45173        GRAVEL             VLOAD*   CALL                                  
041413,001648: 15,2602           54000                                    XUNIT      -6,2                       
041414,001649: 15,2603           47675                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
041415,001650: 15,2604           06707                           STORE    XNB        +18D,1                     
041416,001651: 15,2605           77775                           VLOAD                                          
041417,001652: 15,2606           02731                                    STAR                                  
041418,001653: 15,2607           73744                           LXC,2    VXSC*                                 #  COMPLEMENT- UNITX  ARE BACKWARD -
041419,001654: 15,2610           00047                                    X2                                    
041420,001655: 15,2611           75040                                    STAR       +6,2                       #  OUTER PRODUCT
041421,001656: 15,2612           71152                           VSL2     LXC,2                                 
041422,001657: 15,2613           00047                                    X2                                    
041423,001658: 15,2614           63047                           VSU*     INCR,2                                
041424,001659: 15,2615           54000                                    XUNIT      -6,2                       
041425,001660: 15,2616           00002                                    2D                                    
041426,001661: 15,2617           06665                           STORE    XSM        +18D,1                     
041427,001662: 15,2620           45100                           TIX,1    CALL                                  
041428,001663: 15,2621           32601                                    GRAVEL                                
041429,001664: 15,2622           47355                                    CALCGA                                
041430,001665: 15,2623           74575                           VLOAD    VSR1                                  
041431,001666: 15,2624           02715                                    GOUT                                  
041432,001667: 15,2625           36723                           STCALL   STARAD     +12D                       
041433,001668: 15,2626           32666                                    LUNG                                  
041434,001669: 15,2627           74575                           VLOAD    VSR1                                  
041435,001670: 15,2630           02715                                    GOUT                                  
041436,001671: 15,2631           53455                           VAD      UNIT                                  
041437,001672: 15,2632           02723                                    STARAD     +12D                       
041438,001673: 15,2633           02761                           STORE    STARSAV1                              
041439,001674: 15,2634           77641                           DOT                                            
041440,001675: 15,2635           02231                                    GSAV                                  
041441,001676: 15,2636           65552                           SL1      ACOS                                  
041442,001677: 

Page 958

041444,001679: 15,2637           01045                           STORE    DSPTEM1                               
041445,001680: 15,2640           77776                           EXIT                                           
041446,001681: 15,2641           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
041447,001682: 15,2642           00014                           ADRES    FREEFLAG                              
041448,001683: 
041449,001684: 15,2643           32761                           CA       DISGRVER                              
041450,001685: 15,2644           04616                           TC       BANKCALL                              
041451,001686: 15,2645           20477                           CADR     GOFLASH                               
041452,001687: 15,2646           06001                           TC       GOTOPOOH                              
041453,001688: 15,2647           12652                           TCF      PROGRAV                               #  VB33-PROCEED
041454,001689: 15,2650           05504                           TC       UPFLAG                                #  VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
041455,001690: 15,2651           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
041456,001691: 
041457,001692: 15,2652           05353        PROGRAV            TC       PHASCHNG                              
041458,001693: 15,2653           04024                           OCT      04024                                 
041459,001694: 
041460,001695: 15,2654           06042                           TC       INTPRET                               
041461,001696: 15,2655           77775                           VLOAD                                          
041462,001697: 15,2656           02761                                    STARSAV1                              
041463,001698: 15,2657           02231                           STORE    GSAV                                  
041464,001699: 15,2660           77776                           EXIT                                           
041465,001700: 15,2661           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041466,001701: 15,2662           70074                           MASK     FLAGWRD0                              
041467,001702: 15,2663           10000                           CCS      A                                     
041468,001703: 15,2664           12561                           TCF      GVDETER                               #  SET
041469,001704: 15,2665           13536                           TCF      ATTCHK                                #  EXIT FROM GVDETER
041470,001705: 
041471,001706: 15,2666           77220        LUNG               STQ      VLOAD                                 
041472,001707: 15,2667           02745                                    QMIN                                  
041473,001708: 15,2670           24007                                    ZEROVEC                               
041474,001709: 15,2671           02707                           STORE    GACC                                  
041475,001710: 15,2672           77776                           EXIT                                           
041476,001711: 15,2673           05353                           TC       PHASCHNG                              
041477,001712: 15,2674           04024                           OCT      04024                                 
041478,001713: 
041479,001714: 15,2675           06042                           TC       INTPRET                               
041480,001715: 15,2676           77624                           CALL                                           
041481,001716: 15,2677           31557                                    COARSE                                
041482,001717: 15,2700           77776                           EXIT                                           
041483,001718: 15,2701           32760                           CA       T/2SEC                                
041484,001719: 15,2702           55736                           TS       GCTR                                  
041485,001720: 15,2703           37721                           CA       PRIO31                                
041486,001721: 15,2704           55074                           TS       1/PIPADT                              
041487,001722: 15,2705           04616                           TC       BANKCALL                              
041488,001723: 15,2706           15707                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
041489,001724: 15,2707           05353                           TC       PHASCHNG                              
041490,001725: 15,2710           04024                           OCT      04024                                 
041491,001726: 
041492,001727: 15,2711           04616                           TC       BANKCALL                              #   DONT NEED TO INHINY  THIS USED TO
041493,001728: 15,2712           77541                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA
041494,001729: 

Page 959

041496,001731: 15,2713           06042                           TC       INTPRET                               
041497,001732: 15,2714           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
041498,001733: 15,2715           35000                           CAF      2SECS                                 
041499,001734: 15,2716           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
041500,001735: 15,2717           02721                           ADRES    GRABGRAV                              
041501,001736: 
041502,001737: 15,2720           05155                           TC       ENDOFJOB                              
041503,001738: 
041504,001739: 15,2721           04674        GRABGRAV           TC       IBNKCALL                              
041505,001740: 15,2722           77541                           CADR     PIPSRINE                              
041506,001741: 15,2723           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
041507,001742: 15,2724           05105                           TC       FINDVAC                               
041508,001743: 15,2725  E5,1706                                  EBANK=   STARAD                                
041509,001744: 15,2725           02730 32065                     2CADR    ADDGRAV                               
041510,001745: 
041511,001746: 15,2727           05261                           TC       TASKOVER                              
041512,001747: 
041513,001748: 15,2730           04616        ADDGRAV            TC       BANKCALL                              
041514,001749: 15,2731           15271                           CADR     1/PIPA                                
041515,001750: 15,2732           25736                           INCR     GCTR                                  
041516,001751: 15,2733           06042                           TC       INTPRET                               
041517,001752: 15,2734           53375                           VLOAD    VAD                                   
041518,001753: 15,2735           00325                                    DELV                                  
041519,001754: 15,2736           02707                                    GACC                                  
041520,001755: 15,2737           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
041521,001756: 15,2740           50135                           SLOAD    BMN                                   
041522,001757: 15,2741           02737                                    GCTR                                  
041523,001758: 15,2742           32714                                    GREED                                 
041524,001759: 15,2743           53575                           VLOAD    UNIT                                  
041525,001760: 15,2744           02707                                    GACC                                  
041526,001761: 15,2745           36731                           STCALL   STAR                                  
041527,001762: 15,2746           47541                                    CDUTRIG                               #  TRANSFORM  IN NB COOR  AND  STORE
041528,001763: 15,2747           77624                           CALL                                           #   IN OUTPUT
041529,001764: 15,2750           47673                                    *SMNB*                                
041530,001765: 15,2751           02715                           STORE    GOUT                                  
041531,001766: 15,2752           77776                           EXIT                                           
041532,001767: 15,2753           05353                           TC       PHASCHNG                              
041533,001768: 15,2754           04024                           OCT      04024                                 
041534,001769: 
041535,001770: 15,2755           06042        QMINEXIT           TC       INTPRET                               
041536,001771: 15,2756           77650                           GOTO                                           
041537,001772: 15,2757           02745                                    QMIN                                  
041538,001773: 15,2760           77753        T/2SEC             DEC      -20        B-14                       
041539,001774: 15,2761           01404        DISGRVER           VN       0604                                  
041540,001775: 15,2762           07357        42DEG              OCT      07357                                 
041541,001776: 15,2763           06211        35DEG              OCT      06211                                 
041542,001777: 

Page 960

041544,001779:                                                                                                  #  NAME  GYROTRIM
041545,001780: 
041546,001781:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041547,001782:                                                                                                  #    TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
041548,001783:                                                                                                  #    VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041549,001784: 
041550,001785:                                                                                                  #  CALL     CALL
041551,001786:                                                                                                  #                  GYROTRIM
041552,001787: 
041553,001788:                                                                                                  #  INPUT    THETAD,+1,+2 = DESIRED CDU ANGLES
041554,001789:                                                                                                  #           CDUX,CDUY,CDUZ
041555,001790: 
041556,001791:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
041557,001792: 
041558,001793:                                                                                                  #  SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
041559,001794:                                                                                                  #               IMPULSE,IMUSTALL
041560,001795:                                                                                                  #             -         -        -       *           *     -
041561,001796:                                                                                                  #  DEBRIS -  CDUSPOT ,SINCDU ,COSCDU ,STARAD ,VAC , XDC , OGC
041562,001797: 15,2764                                           COUNT*   $$/P57                                
041563,001798: 15,2764           71220        GYROTRIM           STQ      DLOAD                                 
041564,001799: 15,2765           02745                                    QMIN                                  
041565,001800: 15,2766           00322                                    THETAD                                
041566,001801: 15,2767           65325                           PDDL     PDDL                                  
041567,001802: 15,2770           00324                                    THETAD     +2                         
041568,001803: 15,2771           00323                                    THETAD     +1                         
041569,001804: 15,2772           77666                           VDEF                                           
041570,001805: 15,2773           24766                           STOVL    CDUSPOT                               
041571,001806: 15,2774           24005                                    XUNIT                                 
041572,001807: 15,2775           77624                           CALL                                           
041573,001808: 15,2776           47666                                    TRG*NBSM                              
041574,001809: 15,2777           26707                           STOVL    STARAD                                
041575,001810: 15,3000           24003                                    YUNIT                                 
041576,001811: 15,3001           77624                           CALL                                           
041577,001812: 15,3002           47675                                    *NBSM*                                
041578,001813: 15,3003           36715                           STCALL   STARAD     +6                         
041579,001814: 15,3004           47541                                    CDUTRIG                               
041580,001815: 15,3005           77624                           CALL                                           
041581,001816: 15,3006           20030                                    CALCSMSC                              
041582,001817: 15,3007           77775                           VLOAD                                          
041583,001818: 15,3010           02665                                    XNB                                   
041584,001819: 15,3011           24007                           STOVL    6D                                    
041585,001820: 15,3012           02673                                    YNB                                   
041586,001821: 15,3013           34015                           STCALL   12D                                   
041587,001822: 15,3014           47443                                    AXISGEN                               
041588,001823: 15,3015           77624                           CALL                                           
041589,001824: 15,3016           47251                                    CALCGTA                               
041590,001825: 15,3017           77776        JUSTTRIM           EXIT                                           
041591,001826: 15,3020           33027                           CA       GYRCDR                                
041592,001827: 15,3021           04616                           TC       BANKCALL                              
041593,001828: 15,3022           17315                           CADR     IMUPULSE                              
041594,001829: 

Page 961

041596,001831: 15,3023           04616                           TC       BANKCALL                              
041597,001832: 15,3024           17710                           CADR     IMUSTALL                              
041598,001833: 15,3025           05701                           TC       CURTAINS                              
041599,001834: 15,3026           12755                           TCF      QMINEXIT                              
041600,001835: 
041601,001836: 15,3027           02737        GYRCDR             ECADR    OGC                                   
041602,001837: 

Page 962

041604,001839:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
041605,001840: 
041606,001841: 15,3030           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
041607,001842: 15,3031           13033                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041608,001843: 15,3032           34753        1STAR              CAF      BIT1                                  
041609,001844: 15,3033           55757                           TS       STARIND                               
041610,001845: 
041611,001846: 15,3034           05353                           TC       PHASCHNG                              
041612,001847: 15,3035           04024                           OCT      04024                                 
041613,001848: 
041614,001849: 15,3036           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
041615,001850: 
041616,001851: 15,3037           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
041617,001852: 15,3040           00006                           EXTEND                                         
041618,001853: 15,3041           13052                           BZF      ASTAR                                 #  1ST STAR MARKED
041619,001854: 
041620,001855: 15,3042           05353                           TC       PHASCHNG                              
041621,001856: 15,3043           04024                           OCT      04024                                 
041622,001857: 
041623,001858: 15,3044           06042                           TC       INTPRET                               
041624,001859: 15,3045           45145                           DLOAD    CALL                                  
041625,001860: 15,3046           03562                                    TSIGHT                                #  TIME OF 2ND MARK
041626,001861: 15,3047           32472                                    PLANET                                
041627,001862: 15,3050           37255                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
041628,001863: 15,3051           33064                                    SURFLINE                              
041629,001864: 
041630,001865: 15,3052           06042        ASTAR              TC       INTPRET                               
041631,001866: 15,3053           77775                           VLOAD                                          
041632,001867: 15,3054           02715                                    STARAD     +6                         
041633,001868: 15,3055           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
041634,001869: 15,3056           45145                           DLOAD    CALL                                  
041635,001870: 15,3057           03562                                    TSIGHT                                #  TIME OF 1ST MARK
041636,001871: 15,3060           32472                                    PLANET                                
041637,001872: 15,3061           03247                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
041638,001873: 15,3062           77776                           EXIT                                           
041639,001874: 15,3063           13032                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
041640,001875: 

Page 963

041642,001877:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
041643,001878: 
041644,001879: 15,3064           77131        SURFLINE           SSP      AXT,2                                 
041645,001880: 15,3065           00052                                    S2                                    
041646,001881: 15,3066           00006                                    6                                     
041647,001882: 15,3067           00014                                    12D                                   
041648,001883: 15,3070           64373        WRTDESIR           VLOAD*   MXV                                   
041649,001884: 15,3071           74514                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
041650,001885: 15,3072           03607                                    XSMD                                  
041651,001886: 15,3073           77656                           UNIT                                           
041652,001887: 15,3074           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
041653,001888: 15,3075           77773                           VLOAD*                                         
041654,001889: 15,3076           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
041655,001890: 15,3077           10023                           STORE    18D,2                                 
041656,001891: 15,3100           43104                           TIX,2    BON                                   
041657,001892: 15,3101           33070                                    WRTDESIR                              
041658,001893: 15,3102           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
041659,001894: 15,3103           33111                                    INITBY                                
041660,001895: 15,3104           77624        DOALIGN            CALL                                           
041661,001896: 15,3105           31250                                    R54                                   #  DO CHKSDATA
041662,001897: 15,3106           77614                           BOFF                                           
041663,001898: 15,3107           00354                                    FREEFLAG                              
041664,001899: 15,3110           33171                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
041665,001900: 15,3111           77624        INITBY             CALL                                           
041666,001901: 15,3112           47443                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
041667,001902: 15,3113           77624                           CALL                                           
041668,001903: 15,3114           47251                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
041669,001904: 15,3115           77776                           EXIT                                           
041670,001905: 15,3116           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041671,001906: 15,3117           70104                           MASK     FLAGWRD8                              
041672,001907: 15,3120           10000                           CCS      A                                     
041673,001908: 15,3121           13130                           TCF      5DEGTEST                              
041674,001909: 15,3122           33276                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
041675,001910: 15,3123           04616                           TC       BANKCALL                              
041676,001911: 15,3124           20477                           CADR     GOFLASH                               
041677,001912: 15,3125           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
041678,001913: 15,3126           13130                           TCF      5DEGTEST                              #  VB33-PROCEED TO COARSE OR FINE
041679,001914: 15,3127           13172                           TCF      P57POST    +1                         #  VB32-RECYCLE, MAYBE RE-ALIGN
041680,001915: 
041681,001916: 15,3130           06042        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041682,001917: 15,3131           40175                           VLOAD    BOV                                   
041683,001918: 15,3132           02740                                    OGC                                   
041684,001919: 15,3133           33134                                    SURFSUP                               
041685,001920: 15,3134           02750        SURFSUP            STORE    OGCT                                  
041686,001921: 15,3135           40141                           V/SC     BOV                                   
041687,001922: 15,3136           30602                                    5DEGREES                              
041688,001923: 15,3137           33237                                    COATRIM                               
041689,001924: 15,3140           52131                           SSP      GOTO                                  
041690,001925: 15,3141           02746                                    QMIN                                  
041691,001926: 15,3142           33144                                    SURFDISP                              
041692,001927: 

Page 964

041694,001929: 15,3143           33017                                    JUSTTRIM                              #  ANGLES LESS THAN 5 DEG, DO GYRO TORQ
041695,001930: 
041696,001931: 15,3144           77776        SURFDISP           EXIT                                           
041697,001932: 15,3145           05353                           TC       PHASCHNG                              
041698,001933: 15,3146           04024                           OCT      04024                                 
041699,001934: 
041700,001935: 15,3147           06042                           TC       INTPRET                               
041701,001936: 15,3150           75160                           AXC,1    AXC,2                                 
041702,001937: 15,3151           03606                                    XSMD                                  
041703,001938: 15,3152           01733                                    REFSMMAT                              
041704,001939: 15,3153           45014                           SET      CALL                                  
041705,001940: 15,3154           01462                                    REFSMFLG                              
041706,001941: 15,3155           31371                                    MATMOVE                               
041707,001942: 15,3156           77776                           EXIT                                           
041708,001943: 15,3157           11144                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
041709,001944: 15,3160           13162                           TCF      B2F8                                  
041710,001945: 15,3161           13172                           TCF      P57POST    +1                         
041711,001946: 
041712,001947: 15,3162           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
041713,001948: 15,3163           70104                           MASK     FLAGWRD8                              
041714,001949: 15,3164           10000                           CCS      A                                     
041715,001950: 15,3165           13544                           TCF      P57JUMP                               #  ITS SET
041716,001951: 15,3166           06042                           TC       INTPRET                               
041717,001952: 15,3167           77624                           CALL                                           
041718,001953: 15,3170           33471                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041719,001954: 15,3171           77776        P57POST            EXIT                                           
041720,001955: 15,3172           35741                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
041721,001956: 15,3173           04616                           TC       BANKCALL                              
041722,001957: 15,3174           20624                           CADR     GOPERF1                               
041723,001958: 15,3175           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
041724,001959: 15,3176           13544                           TCF      P57JUMP                               #  VB33-PROCEED TO RE-ALIGN
041725,001960: 15,3177           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
041726,001961: 15,3200           61144                           AD       OPTION2                               
041727,001962: 15,3201           00006                           EXTEND                                         
041728,001963: 15,3202           13204                           BZF      +2                                    #  YES-GO CALCULATE LANDING SITE
041729,001964: 15,3203           16001                           TCF      GOTOPOOH                              #  NO-EXIT P57
041730,001965: 15,3204           05353                           TC       PHASCHNG                              #  RESTART PLACE
041731,001966: 15,3205           04024                           OCT      04024                                 
041732,001967: 15,3206           06042                           TC       INTPRET                               
041733,001968: 15,3207           45175                           VLOAD    CALL                                  #  USE GNB
041734,001969: 15,3210           02231                                    GSAV                                  
041735,001970: 15,3211           47663                                    CDU*NBSM                              #  GO TO SM COORDS
041736,001971: 15,3212           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
041737,001972: 15,3213           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
041738,001973: 15,3214           01463                                    LUNAFLAG                              
041739,001974: 15,3215           51515                           PDVL     ABVAL                                 
041740,001975: 15,3216           02023                                    RLS                                   
041741,001976: 15,3217           45561                           VXSC     STADR                                 
041742,001977: 15,3220           75745                           STORE    ALPHAV                                #        ALPHAV =  RLSMAG * G(REF)
041743,001978: 15,3221           47014                           CLEAR    RTB                                   
041744,001979: 

Page 965

041746,001981: 15,3222           00662                                    ERADFLAG                              
041747,001982: 15,3223           21574                                    LOADTIME                              
041748,001983: 15,3224           77624                           CALL                                           
041749,001984: 15,3225           30440                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
041750,001985: 15,3226           01220                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
041751,001986: 15,3227           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT  0-5D IN PDLIST
041752,001987: 15,3230           01242                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
041753,001988: 15,3231           77606                           PUSH                                           #  TIME AT  6-7 IN PDLIST
041754,001989: 15,3232           35234                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
041755,001990: 15,3233           51677                                    R-TO-RP                               
041756,001991: 15,3234           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
041757,001992: 15,3235           77776                           EXIT                                           
041758,001993: 15,3236           16001                           TCF      GOTOPOOH                              #  EXIT P57
041759,001994: 

Page 966

041761,001996:                                                                                                  #  COARSE AND FINE ALIGN IMU
041762,001997: 
041763,001998: 15,3237           75160        COATRIM            AXC,1    AXC,2                                 
041764,001999: 15,3240           02664                                    XDC                                   
041765,002000: 15,3241           02642                                    XSM                                   
041766,002001: 15,3242           77624                           CALL                                           
041767,002002: 15,3243           31371                                    MATMOVE                               
041768,002003: 15,3244           77624                           CALL                                           
041769,002004: 15,3245           47541                                    CDUTRIG                               
041770,002005: 15,3246           77624                           CALL                                           
041771,002006: 15,3247           20030                                    CALCSMSC                              
041772,002007: 15,3250           77624                           CALL                                           
041773,002008: 15,3251           47355                                    CALCGA                                
041774,002009: 15,3252           77414                           BOFF     EXIT                                  
041775,002010: 15,3253           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
041776,002011: 15,3254           33266                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
041777,002012: 15,3255           35010                           CAF      V06N22                                #  THAN 5 DEGREES
041778,002013: 15,3256           04616                           TC       BANKCALL                              
041779,002014: 15,3257           20477                           CADR     GOFLASH                               
041780,002015: 15,3260           06001                           TC       GOTOPOOH                              
041781,002016: 15,3261           13263                           TCF      +2                                    
041782,002017: 15,3262           13255                           TCF      -5                                    
041783,002018: 15,3263           05353                           TC       PHASCHNG                              
041784,002019: 15,3264           04024                           OCT      04024                                 
041785,002020: 
041786,002021: 15,3265           06042                           TC       INTPRET                               
041787,002022: 15,3266           77624        CORSIT             CALL                                           
041788,002023: 15,3267           31557                                    COARSE                                
041789,002024: 15,3270           77624                           CALL                                           
041790,002025: 15,3271           31603                                    NCOARSE                               
041791,002026: 15,3272           77624                           CALL                                           
041792,002027: 15,3273           32764                                    GYROTRIM                              
041793,002028: 15,3274           77650                           GOTO                                           
041794,002029: 15,3275           33144                                    SURFDISP                              
041795,002030: 15,3276           01535        DISPGYRO           VN       0693                                  
041796,002031: 

Page 967

041798,002033:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
041799,002034: 
041800,002035: 15,3277           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041801,002036: 15,3300           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
041802,002037: 
041803,002038: 15,3301           36250                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041804,002039: 15,3302           55144                           TS       OPTION2                               
041805,002040: 15,3303           34753        P57OPT             CAF      BIT1                                  
041806,002041: 15,3304           04616                           TC       BANKCALL                              
041807,002042: 15,3305           20714                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
041808,002043: 15,3306           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
041809,002044: 15,3307           13314                           TCF      ALIGNOPT                              #  V33 PROCEED
041810,002045: 15,3310           13303                           TCF      P57OPT                                #  V32 RECYCLE
041811,002046: 
041812,002047: 15,3311           05353                           TC       PHASCHNG                              
041813,002048: 15,3312           00014                           OCT      00014                                 
041814,002049: 15,3313           05155                           TC       ENDOFJOB                              
041815,002050: 
041816,002051: 15,3314           31144        ALIGNOPT           CA       OPTION2                               
041817,002052: 15,3315           76250                           MASK     THREE                                 
041818,002053: 15,3316           50000                           INDEX    A                                     
041819,002054: 15,3317           13320                           TCF      +1                                    
041820,002055: 15,3320           13333                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
041821,002056: 15,3321           13374                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
041822,002057: 15,3322           13303                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
041823,002058: 15,3323           06042                           TC       INTPRET                               #  OPTION 3 REFSMMAT
041824,002059: 15,3324           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
041825,002060: 15,3325           01733                                    REFSMMAT                              
041826,002061: 15,3326           03606                                    XSMD                                  
041827,002062: 15,3327           77624                           CALL                                           
041828,002063: 15,3330           31371                                    MATMOVE                               
041829,002064: 15,3331           77650                           GOTO                                           
041830,002065: 15,3332           33373                                    PACKOPTN   -1                         
041831,002066: 
041832,002067: 15,3333           06042        TDISP              TC       INTPRET                               
041833,002068: 15,3334           77745                           DLOAD                                          
041834,002069: 15,3335           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
041835,002070: 15,3336           01045        P57A               STORE    DSPTEM1                               
041836,002071: 15,3337           77776                           EXIT                                           
041837,002072: 15,3340           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
041838,002073: 15,3341           04616                           TC       BANKCALL                              
041839,002074: 15,3342           20477                           CADR     GOFLASH                               
041840,002075: 15,3343           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
041841,002076: 15,3344           13346                           TCF      +2                                    
041842,002077: 15,3345           13340                           TCF      P57AA                                 #  VB32-RECYCLE
041843,002078: 
041844,002079: 15,3346           06042                           TC       INTPRET                               
041845,002080: 15,3347           65234                           RTB      PDDL                                  
041846,002081: 15,3350           21574                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
041847,002082: 15,3351           01045                                    DSPTEM1                               
041848,002083: 

Page 968

041850,002085: 15,3352           65254                           BZE      PDDL                                  
041851,002086: 15,3353           33363                                    P57C                                  #  IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
041852,002087: 15,3354           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041853,002088: 15,3355           01045                                    DSPTEM1                               
041854,002089: 15,3356           33363                                    P57C                                  
041855,002090: 15,3357           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
041856,002091: 15,3360           74335                           STORE    TIG                                   #  STORE IT IN TIG
041857,002092: 15,3361           36775                           STCALL   TALIGN                                
041858,002093: 15,3362           33365                                    P57D                                  
041859,002094: 15,3363           45545        P57C               DLOAD    STADR                                 
041860,002095: 15,3364           75002                           STORE    TALIGN                                
041861,002096: 15,3365           34041        P57D               STCALL   TDEC1                                 
041862,002097: 15,3366           27060                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
041863,002098: 15,3367           53575                           VLOAD    UNIT                                  #  IN  X,Y,ZSMD
041864,002099: 15,3370           00001                                    RATT                                  
041865,002100: 15,3371           37607                           STCALL   XSMD                                  
041866,002101: 15,3372           10775                                    LSORIENT                              
041867,002102: 15,3373           77776                           EXIT                                           
041868,002103: 15,3374           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
041869,002104: 15,3375           55144                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
041870,002105: 15,3376           55145                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
041871,002106: 15,3377           34737                           CAF      REFSMBIT                              
041872,002107: 15,3400           70077                           MASK     FLAGWRD3                              #  REFSMFLG
041873,002108: 15,3401           10000                           CCS      A                                     
041874,002109: 15,3402           34745                           CAF      BIT7                                  #  SET
041875,002110: 15,3403           27145                           ADS      OPTION1    +2                         #  CLEAR-JUST ZERO
041876,002111: 15,3404           34753                           CAF      ATTFLBIT                              
041877,002112: 15,3405           70102                           MASK     FLAGWRD6                              #  ATTFLG
041878,002113: 15,3406           10000                           CCS      A                                     
041879,002114: 15,3407           34750                           CAF      BIT4                                  #  SET
041880,002115: 15,3410           27145                           ADS      OPTION1    +2                         #  CLEAR-ZERO IN A
041881,002116: 15,3411           34750                           CAF      BIT4                                  
041882,002117: 15,3412           55143                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
041883,002118: 
041884,002119: 15,3413           33634        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
041885,002120: 15,3414           04616                           TC       BANKCALL                              
041886,002121: 15,3415           20477                           CADR     GOFLASH                               
041887,002122: 15,3416           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
041888,002123: 15,3417           13421                           TCF      +2                                    #  V33-PROCEED
041889,002124: 15,3420           13413                           TCF      DSPOPTN                               #  V32-RECYCLE
041890,002125: 
041891,002126: 15,3421           34737                           CAF      REFSMBIT                              
041892,002127: 15,3422           70077                           MASK     FLAGWRD3                              
041893,002128: 15,3423           10000                           CCS      A                                     
041894,002129: 15,3424           13524                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
041895,002130: 15,3425           34753                           CAF      ATTFLBIT                              #  CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
041896,002131: 15,3426           70102                           MASK     FLAGWRD6                              
041897,002132: 15,3427           10000                           CCS      A                                     
041898,002133: 15,3430           13530                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041899,002134: 15,3431           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3
041900,002135: 

Page 969

041902,002137: 15,3432           71144                           MASK     OPTION2                               
041903,002138: 15,3433           10000                           CCS      A                                     
041904,002139: 15,3434           13530                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041905,002140: 15,3435           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS-ALARM 701
041906,002141: 15,3436           00701                           OCT      701                                   
041907,002142: 15,3437           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
041908,002143: 15,3440           04616                           TC       BANKCALL                              
041909,002144: 15,3441           20477                           CADR     GOFLASH                               
041910,002145: 15,3442           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
041911,002146: 15,3443           13413                           TCF      DSPOPTN                               #  V33-PROCEED   ********TEMPORARY
041912,002147: 15,3444           13413                           TCF      DSPOPTN                               #  VB32-RECYCLE TO OPTION DISPLAY V 05N06
041913,002148: 

Page 970

041915,002150:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041916,002151: 
041917,002152: 15,3445           40220        MFREF              STQ      SETPD                                 
041918,002153: 15,3446           02746                                    QMAJ                                  
041919,002154: 15,3447           00001                                    0                                     
041920,002155: 15,3450           77634                           RTB                                            
041921,002156: 15,3451           21574                                    LOADTIME                              
041922,002157: 15,3452           27562                           STOVL    TSIGHT                                
041923,002158: 15,3453           03247                                    VEC1                                  
041924,002159: 15,3454           41525                           PDDL     PUSH                                  
041925,002160: 15,3455           03562                                    TSIGHT                                
041926,002161: 15,3456           77624                           CALL                                           
041927,002162: 15,3457           55716                                    RP-TO-R                               
041928,002163: 15,3460           27247                           STOVL    VEC1                                  
041929,002164: 15,3461           03255                                    VEC2                                  
041930,002165: 15,3462           65201                           SETPD    PDDL                                  
041931,002166: 15,3463           00001                                    0                                     
041932,002167: 15,3464           03562                                    TSIGHT                                
041933,002168: 15,3465           45006                           PUSH     CALL                                  
041934,002169: 15,3466           55716                                    RP-TO-R                               
041935,002170: 15,3467           37255                           STCALL   VEC2                                  
041936,002171: 15,3470           02746                                    QMAJ                                  
041937,002172: 

Page 971

041939,002174:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041940,002175:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
041941,002176: 
041942,002177: 15,3471           45020        REFMF              STQ      CALL                                  
041943,002178: 15,3472           02746                                    QMAJ                                  
041944,002179: 15,3473           47541                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
041945,002180: 15,3474           40234                           RTB      SETPD                                 
041946,002181: 15,3475           21574                                    LOADTIME                              
041947,002182: 15,3476           00001                                    0                                     
041948,002183: 15,3477           37562                           STCALL   TSIGHT                                
041949,002184: 15,3500           20030                                    CALCSMSC                              #  GET YNB IN SM
041950,002185: 15,3501           61375                           VLOAD    VXM                                   
041951,002186: 15,3502           02673                                    YNB                                   
041952,002187: 15,3503           01734                                    REFSMMAT                              #   YNB TO REF
041953,002188: 15,3504           65256                           UNIT     PDDL                                  
041954,002189: 15,3505           03562                                    TSIGHT                                
041955,002190: 15,3506           45006                           PUSH     CALL                                  
041956,002191: 15,3507           51677                                    R-TO-RP                               
041957,002192: 15,3510           26237                           STOVL    YNBSAV                                #  YNB TO MF
041958,002193: 15,3511           02701                                    ZNB                                   
041959,002194: 15,3512           53505                           VXM      UNIT                                  
041960,002195: 15,3513           01734                                    REFSMMAT                              #  ZNB TO REF
041961,002196: 15,3514           41525                           PDDL     PUSH                                  
041962,002197: 15,3515           03562                                    TSIGHT                                
041963,002198: 15,3516           77624                           CALL                                           
041964,002199: 15,3517           51677                                    R-TO-RP                               #  ZNB TO MF
041965,002200: 15,3520           02245                           STORE    ZNBSAV                                
041966,002201: 15,3521           77614                           SETGO                                          
041967,002202: 15,3522           03036                                    ATTFLAG                               
041968,002203: 15,3523           02746                                    QMAJ                                  
041969,002204: 

Page 972

041971,002206:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
041972,002207: 
041973,002208: 15,3524           06042        GETLMATT           TC       INTPRET                               
041974,002209: 15,3525           77624                           CALL                                           
041975,002210: 15,3526           33471                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
041976,002211: 15,3527           77776                           EXIT                                           
041977,002212: 
041978,002213: 15,3530           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
041979,002214: 15,3531           00205                           ADRES    INITALGN                              
041980,002215: 15,3532           34753                           CAF      BIT1                                  
041981,002216: 15,3533           71144                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
041982,002217: 15,3534           10000                           CCS      A                                     
041983,002218: 15,3535           12561                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
041984,002219: 
041985,002220: 15,3536           05353        ATTCHK             TC       PHASCHNG                              
041986,002221: 15,3537           04024                           OCT      04024                                 
041987,002222: 
041988,002223: 15,3540           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
041989,002224: 15,3541           70102                           MASK     FLAGWRD6                              
041990,002225: 15,3542           10000                           CCS      A                                     
041991,002226: 15,3543           13560                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
041992,002227: 15,3544           05353        P57JUMP            TC       PHASCHNG                              
041993,002228: 15,3545           04024                           OCT      04024                                 
041994,002229: 
041995,002230: 15,3546           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR-RESET INTALIGN FLAG
041996,002231: 15,3547           00205                           ADRES    INITALGN                              
041997,002232: 15,3550           36250                           CAF      THREE                                 
041998,002233: 15,3551           71144                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
041999,002234: 15,3552           50000                           INDEX    A                                     
042000,002235: 15,3553           13554                           TCF      +1                                    
042001,002236: 15,3554           13560                           TCF      P57OPT0                               #  OPTION IS 0
042002,002237: 15,3555           13601                           TCF      P57OPT1                               #  OPTION IS 1
042003,002238: 15,3556           13617                           TCF      P57OPT2                               #  OPTION IS 2
042004,002239: 15,3557           13620                           TCF      P57OPT3                               #  OPTION IS 3
042005,002240: 

Page 973

042007,002242:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
042008,002243: 
042009,002244: 15,3560           06042        P57OPT0            TC       INTPRET                               
042010,002245: 15,3561           77775                           VLOAD                                          
042011,002246: 15,3562           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
042012,002247: 15,3563           27247                           STOVL    VEC1                                  
042013,002248: 15,3564           02245                                    ZNBSAV                                
042014,002249: 15,3565           37255                           STCALL   VEC2                                  
042015,002250: 15,3566           47541                                    CDUTRIG                               
042016,002251: 15,3567           77624                           CALL                                           
042017,002252: 15,3570           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
042018,002253: 15,3571           77775                           VLOAD                                          
042019,002254: 15,3572           02673                                    YNB                                   
042020,002255: 15,3573           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
042021,002256: 15,3574           02701                                    ZNB                                   
042022,002257: 15,3575           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
042023,002258: 15,3576           33445                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
042024,002259: 15,3577           77650                           GOTO                                           
042025,002260: 15,3600           33064                                    SURFLINE                              
042026,002261: 
042027,002262:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
042028,002263: 
042029,002264: 15,3601           06042        P57OPT1            TC       INTPRET                               
042030,002265: 15,3602           53575                           VLOAD    UNIT                                  
042031,002266: 15,3603           02023                                    RLS                                   #  LANDING SITE VEC
042032,002267: 15,3604           27247                           STOVL    VEC1                                  
042033,002268: 15,3605           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
042034,002269: 15,3606           37255                           STCALL   VEC2                                  
042035,002270: 15,3607           47541                                    CDUTRIG                               
042036,002271: 15,3610           77624                           CALL                                           
042037,002272: 15,3611           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
042038,002273: 15,3612           45175                           VLOAD    CALL                                  
042039,002274: 15,3613           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042040,002275: 15,3614           47663                                    CDU*NBSM                              
042041,002276: 15,3615           77650                           GOTO                                           
042042,002277: 15,3616           33573                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
042043,002278: 

Page 974

042045,002280:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
042046,002281: 
042047,002282: 15,3617           13030        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
042048,002283: 
042049,002284:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
042050,002285: 
042051,002286: 15,3620           06042        P57OPT3            TC       INTPRET                               
042052,002287: 15,3621           53575                           VLOAD    UNIT                                  
042053,002288: 15,3622           02023                                    RLS                                   #  LANDING SITE VEC
042054,002289: 15,3623           03247                           STORE    VEC1                                  
042055,002290: 15,3624           27255                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
042056,002291: 15,3625           02231                                    GSAV                                  #  GRAVITY VEC NB
042057,002292: 15,3626           77624                           CALL                                           
042058,002293: 15,3627           47663                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
042059,002294: 15,3630           36761                           STCALL   STARSAV1                              
042060,002295: 15,3631           33445                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
042061,002296: 15,3632           77776                           EXIT                                           
042062,002297: 15,3633           13032                           TCF      1STAR                                 #  1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
042063,002298: 
042064,002299: 15,3634           01206        VB05N06            VN       506                                   
042065,002300: 

Page 975

042067,002302:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
042068,002303: 
042069,002304: 15,3635           41277        IMUCHK             CS       IMODES30                              
042070,002305: 15,3636           74743                           MASK     BIT9                                  
042071,002306: 15,3637           10000                           CCS      A                                     #  IS IMU ON
042072,002307: 15,3640           13644                           TCF      +4                                    #  YES
042073,002308: 
042074,002309: 15,3641           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
042075,002310: 15,3642           00210                           OCT      210                                   
042076,002311: 15,3643           06001                           TC       GOTOPOOH                              
042077,002312: 
042078,002313: 15,3644           05504                           TC       UPFLAG                                
042079,002314: 15,3645           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
042080,002315: 
042081,002316: 15,3646           04631                           TC       SWRETURN                              
042082,002317: 
042083,002318: 04,2775                                           BANK     04                                    
042084,002319: 04,2000                                           SETLOC   AOTMARK2                              
042085,002320: 04,2000                                           BANK                                           
042086,002321: 04,2775                                           COUNT*   $$/P57                                
042087,002322: 
042088,002323: 04,2775           77220        LSORIENT           STQ      VLOAD                                 
042089,002324: 04,2776           02746                                    QMAJ                                  
042090,002325: 04,2777           01555                                    RRECTCSM                              
042091,002326: 04,3000           47235                           VXV      VXV                                   
042092,002327: 04,3001           01563                                    VRECTCSM                              
042093,002328: 04,3002           03607                                    XSMD                                  
042094,002329: 04,3003           77656                           UNIT                                           
042095,002330: 04,3004           03623                           STORE    ZSMD                                  
042096,002331: 04,3005           53435                           VXV      UNIT                                  
042097,002332: 04,3006           03607                                    XSMD                                  
042098,002333: 04,3007           37615                           STCALL   YSMD                                  
042099,002334: 04,3010           02746                                    QMAJ                                  

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