Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

039550,000002:                                                                                                  ## Copyright:   Public domain.
039551,000003:                                                                                                  ## Filename:    P51-P53.agc
039552,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
039553,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039554,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
039555,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
039556,000008:                                                                                                  ##              that the code format has been changed to conform to the
039557,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
039558,000010:                                                                                                  ##              original YUL assembler.
039559,000011:                                                                                                  ## Reference:   pp. 921-977
039560,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
039561,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo
039562,000014:                                                                                                  ## Mod history: 05/29/03 RSB.   Began transcribing.
039563,000015:                                                                                                  ##              2010-10-25 JL   Indentation fixes.
039564,000016:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
039565,000017:                                                                                                  ##                              original hardcopy, as opposed to the PDF page
039566,000018:                                                                                                  ##                              numbers in 1701.pdf.
039567,000019:                                                                                                  ##              2017-02-26 RSB  Proofed comment text using octopus/ProoferComments.
039568,000020:                                                                                                  ##              2017-03-01 RSB  Fixed lingering typos.
039569,000021:                                                                                                  ##              2017-03-14 RSB  Comment-text fixes noted in proofing Luminary 116.
039570,000022:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
039571,000023:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039572,000024: 

Page 921

039574,000026:                                                                                                  #  PROGRAM NAME - PROG52                         DATE - JAN 9, 1967
039575,000027:                                                                                                  #  MOD NO - 0                                    LOG SECTION - P51-P53
039576,000028:                                                                                                  #  MODIFICATION BY - LONSKE                      ASSEMBLY - SUNDANCE REV 46
039577,000029: 
039578,000030:                                                                                                  #  FUNCTIONAL DESCRIPTION -
039579,000031: 
039580,000032:                                                                                                  #        ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT.  THE PRESENT IMU ORIENTATION IS KNOWN
039581,000033:                                                                                                  #        AND IS STORED IN REFSMMAT.  THE THREE POSSIBLE ORIENTATIONS MAY BE_
039582,000034: 
039583,000035:                                                                                                  #        (A)     PREFERRED ORIENTATION
039584,000036: 
039585,000037:                                                                                                  #                AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER.  THIS ORIENTATION MUST BE CALCULATED AND
039586,000038:                                                                                                  #                STORED BY A PREVIOUSLY SELECTED PROGRAM.
039587,000039: 
039588,000040:                                                                                                  #        (B)     NOMINAL ORIENTATION
039589,000041: 
039590,000042:                                                                                                  #                X   = UNIT ( R )
039591,000043:                                                                                                  #                -SM
039592,000044: 
039593,000045:                                                                                                  #                Y   = UNIT (V X R)
039594,000046:                                                                                                  #                 SM
039595,000047: 
039596,000048:                                                                                                  #                Z   = UNIT (X   X Y  )
039597,000049:                                                                                                  #                 SM          SM    SM
039598,000050: 
039599,000051:                                                                                                  #                WHERE_
039600,000052:                                                                                                  #                R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039601,000053:                                                                                                  #                -
039602,000054: 
039603,000055:                                                                                                  #                V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
039604,000056:                                                                                                  #                -
039605,000057: 
039606,000058:                                                                                                  #        (C)     REFSMMAT ORIENTATION
039607,000059: 
039608,000060:                                                                                                  #        (D)     LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
039609,000061: 
039610,000062:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION.  THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
039611,000063:                                                                                                  #        WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
039612,000064:                                                                                                  #        SINCE THE LAST ALIGNMENT).
039613,000065: 
039614,000066:                                                                                                  #        AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
039615,000067:                                                                                                  #        NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE.  CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
039616,000068:                                                                                                  #        COARSE ALIGN THE IMU.  THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED.  IF 2 STARS ARE NOT AVAILABLE AN ALARM
039617,000069:                                                                                                  #        IS FLASHED TO NOTIFY THE ASTRONAUT.  AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
039618,000070:                                                                                                  #        EITHER MANUALLY OR AUTOMATICALLY.  AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51.  IF
039619,000071:                                                                                                  #        THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING (INDICATED BY RNDVZFLG) P20 IS DISPLAYED.  OTHERWISE P00 IS
039620,000072:                                                                                                  #        REQUESTED.
039621,000073: 
039622,000074:                                                                                                  #  CALLING SEQUENCE -
039623,000075: 

Page 922

039625,000077:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
039626,000078: 
039627,000079:                                                                                                  #  SUBROUTINES CALLED -
039628,000080: 
039629,000081:                                                                                                  #        1. FLAGDOWN              7. S52.2               13. NEWMODEX
039630,000082:                                                                                                  #        2. R02BOTH               8. CAL53A              14. PRIOLARM
039631,000083:                                                                                                  #        3. GOPERF4               9. FLAGUP
039632,000084:                                                                                                  #        4. MATMOVE              10. R56
039633,000085:                                                                                                  #        5. GOFLASH              11. R51
039634,000086:                                                                                                  #        6. S52.3                12. GOPERF3
039635,000087: 
039636,000088:                                                                                                  #  NORMAL EXIT MODES -
039637,000089: 
039638,000090:                                                                                                  #        EXITS TO ENDOFJOB
039639,000091: 
039640,000092:                                                                                                  #  ALARM OR ABORT EXIT MODES -
039641,000093: 
039642,000094:                                                                                                  #        NONE
039643,000095: 
039644,000096:                                                                                                  #  OUTPUT -
039645,000097: 
039646,000098:                                                                                                  #        THE FOLLOWING MAY BE FLASHED ON THE DSKY
039647,000099:                                                                                                  #                1. IMU ORIENTATION CODE
039648,000100:                                                                                                  #                2. ALARM CODE 215 - PREFERRED IMU ORIENTATION NOT SPECIFIED
039649,000101:                                                                                                  #                3. TIME OF NEXT IGNITION
039650,000102:                                                                                                  #                4. GIMBAL ANGLES
039651,000103:                                                                                                  #                5. ALARM CODE 405 - TWO STARS NOT AVAILABLE
039652,000104:                                                                                                  #                6. PLEASE PERFORM P00
039653,000105:                                                                                                  #        THE MODE DISPLAY MAY BE CHANGED TO 20
039654,000106: 
039655,000107:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
039656,000108: 
039657,000109:                                                                                                  #        PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.  IF IT HAS BEEN COMPUTED IT IS STORED IN
039658,000110:                                                                                                  #        XSMD, YSMD, ZSMD.
039659,000111: 
039660,000112:                                                                                                  #        RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
039661,000113: 
039662,000114:                                                                                                  #  DEBRIS -
039663,000115: 
039664,000116:                                                                                                  #        WORKAREA
039665,000117: 
039666,000118: 33,3760                                           BANK     33                                    
039667,000119: 15,2000                                           SETLOC   P50S                                  
039668,000120: 15,2000                                           BANK                                           
039669,000121: 
039670,000122: 15,2050  E5,1755                                  EBANK=   BESTI                                 
039671,000123: 15,2050                                           COUNT*   $$/P52                                
039672,000124: 15,2050           04616        PROG52             TC       BANKCALL                              
039673,000125: 15,2051           11233                           CADR     R02BOTH                               #  IMU STATUS CHECK
039674,000126: 15,2052           34750                           CAF      PFRATBIT                              
039675,000127: 15,2053           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
039676,000128: 15,2054           10000                           CCS      A                                     

Page 923

039678,000130: 15,2055           02060                           TC       P52A                                  #  YES
039679,000131: 15,2056           36250                           CAF      THREE                                 #  DISPLAY REFSMMAT OPTION 3
039680,000132: 15,2057           02061                           TC       P52A       +1                         
039681,000133: 15,2060           34753        P52A               CAF      BIT1                                  
039682,000134: 15,2061           55144                           TS       OPTION2                               
039683,000135: 15,2062           34753        P52B               CAF      BIT1                                  
039684,000136: 15,2063           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
039685,000137: 15,2064           20714                           CADR     GOPERF4R                              #  FLASH V04N06
039686,000138: 15,2065           06001                           TC       GOTOPOOH                              
039687,000139: 15,2066           12073                           TCF      +5                                    #  V33 - PROCEED
039688,000140: 15,2067           02062                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
039689,000141: 15,2070           05353                           TC       PHASCHNG                              #  DISPLAY RETURN
039690,000142: 15,2071           00014                           OCT      00014                                 
039691,000143: 15,2072           05155                           TC       ENDOFJOB                              
039692,000144: 
039693,000145: 15,2073           31144                           CA       OPTION2                               
039694,000146: 15,2074           76250                           MASK     THREE                                 
039695,000147: 15,2075           50000                           INDEX    A                                     
039696,000148: 15,2076           02077                           TC       +1                                    
039697,000149: 15,2077           12105                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
039698,000150: 15,2100           12153                           TCF      P52H                                  #  OPTION 1 PREFERRED
039699,000151: 15,2101           12110                           TCF      P52T                                  #  OPTION 2 NOMINAL
039700,000152: 15,2102           06042        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
039701,000153: 15,2103           77650                           GOTO                                           
039702,000154: 15,2104           32164                                    P52F                                  #  GO DO R51
039703,000155: 
039704,000156: 15,2105           00006        OPT4               EXTEND                                         
039705,000157: 15,2106           31401                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
039706,000158: 15,2107           12112                           TCF      P52T       +2                         
039707,000159: 
039708,000160: 15,2110           00006        P52T               EXTEND                                         
039709,000161: 15,2111           34755                           DCA      NEG0                                  
039710,000162: 15,2112           53045                           DXCH     DSPTEM1                               
039711,000163: 15,2113           32170                           CAF      V06N34*                               
039712,000164: 15,2114           04616                           TC       BANKCALL                              
039713,000165: 15,2115           20477                           CADR     GOFLASH                               
039714,000166: 15,2116           06001                           TC       GOTOPOOH                              
039715,000167: 15,2117           02121                           TC       +2                                    
039716,000168: 15,2120           02113                           TC       -5                                    
039717,000169: 15,2121           53045                           DXCH     DSPTEM1                               
039718,000170: 15,2122           00006                           EXTEND                                         
039719,000171: 15,2123           62125                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
039720,000172: 15,2124           12127                           TCF      +3                                    
039721,000173: 15,2125           00006                           EXTEND                                         
039722,000174: 15,2126           30025                           DCA      TIME2                                 
039723,000175: 15,2127           53775                           DXCH     TALIGN                                
039724,000176: 15,2130           31144        P52V               CA       OPTION2                               
039725,000177: 15,2131           74752                           MASK     BIT2                                  
039726,000178: 15,2132           10000                           CCS      A                                     
039727,000179: 15,2133           02137                           TC       P52W                                  

Page 924

039729,000181: 15,2134           06042                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
039730,000182: 15,2135           77650                           GOTO                                           
039731,000183: 15,2136           32220                                    P52LS                                 
039732,000184: 

Page 925

039734,000186:                                                                                                  #  START ALIGNMENT
039735,000187: 
039736,000188: 15,2137           06042        P52W               TC       INTPRET                               
039737,000189: 15,2140           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
039738,000190: 15,2141           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
039739,000191: 15,2142           31651                                    S52.3                                 #        ORIENTATION
039740,000192: 15,2143           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
039741,000193: 15,2144           31620                                    S52.2                                 #        COMPUTE GIMBAL ANGLES
039742,000194: 15,2145           77776                           EXIT                                           
039743,000195: 15,2146           35010                           CAF      V06N22                                
039744,000196: 15,2147           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
039745,000197: 15,2150           20477                           CADR     GOFLASH                               
039746,000198: 15,2151           06001                           TC       GOTOPOOH                              
039747,000199: 15,2152           12171                           TCF      COARSTYP                              #  V33 - PROCEED, SEE IF GYRO TORQUE COARSE
039748,000200: 15,2153           06042        P52H               TC       INTPRET                               
039749,000201: 15,2154           77650                           GOTO                                           
039750,000202: 15,2155           32143                                    P52D                                  
039751,000203: 15,2156           06042        REGCOARS           TC       INTPRET                               
039752,000204: 15,2157           77624                           CALL                                           #  DO COARSE ALIGN
039753,000205: 15,2160           31321                                    CAL53A                                #        ROUTINE
039754,000206: 15,2161           43014        COARSRET           SET      CLEAR                                 
039755,000207: 15,2162           01462                                    REFSMFLG                              
039756,000208: 15,2163           01273                                    PFRATFLG                              
039757,000209: 15,2164           77624        P52F               CALL                                           
039758,000210: 15,2165           31007                                    R51                                   
039759,000211: 15,2166           77776        P52OUT             EXIT                                           
039760,000212: 15,2167           06001                           TC       GOTOPOOH                              
039761,000213: 15,2170     5006               VB05N09            =        V05N09                                
039762,000214: 15,2170           01442        V06N34*            VN       634                                   
039763,000215: 

Page 926

039765,000217:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
039766,000218: 
039767,000219: 15,2171           32217        COARSTYP           CAF      OCT13                                 
039768,000220: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
039769,000221: 15,2173           20624                           CADR     GOPERF1                               
039770,000222: 15,2174           16001                           TCF      GOTOPOOH                              #  V34 - TERMIN&OE
039771,000223: 15,2175           12156                           TCF      REGCOARS                              #  V33 - NORMAL COARSE
039772,000224: 15,2176           06042                           TC       INTPRET                               #  V32 - GYRO TORQUE COARSE
039773,000225: 15,2177           64375                           VLOAD    MXV                                   
039774,000226: 15,2200           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
039775,000227: 15,2201           01734                                    REFSMMAT                              
039776,000228: 15,2202           77656                           UNIT                                           
039777,000229: 15,2203           26665                           STOVL    XDC                                   
039778,000230: 15,2204           03615                                    YSMD                                  
039779,000231: 15,2205           53521                           MXV      UNIT                                  
039780,000232: 15,2206           01734                                    REFSMMAT                              
039781,000233: 15,2207           26673                           STOVL    YDC                                   
039782,000234: 15,2210           03623                                    ZSMD                                  
039783,000235: 15,2211           53521                           MXV      UNIT                                  
039784,000236: 15,2212           01734                                    REFSMMAT                              
039785,000237: 15,2213           36701                           STCALL   ZDC                                   
039786,000238: 15,2214           31156                                    GYCOARS                               
039787,000239: 15,2215           77650                           GOTO                                           
039788,000240: 15,2216           32166                                    P52OUT                                
039789,000241: 15,2217           00013        OCT13              OCT      13                                    
039790,000242: 

Page 927

039792,000244:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
039793,000245: 
039794,000246: 15,2220           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
039795,000247: 15,2221           01463                                    LUNAFLAG                              
039796,000248: 15,2222           00662                                    ERADFLAG                              #  TO PICK UP RLS
039797,000249: 15,2223           77201                           SETPD    VLOAD                                 
039798,000250: 15,2224           00001                                    0                                     
039799,000251: 15,2225           02023                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
039800,000252: 15,2226           41525                           PDDL     PUSH                                  #  RLS PD 0-5
039801,000253: 15,2227           02775                                    TALIGN                                
039802,000254: 15,2230           36401                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
039803,000255: 15,2231           55716                                    RP-TO-R                               #  TRANS RLS TO REF
039804,000256: 15,2232           77742                           VSR2                                           
039805,000257: 15,2233           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
039806,000258: 15,2234           02775                                    TALIGN                                
039807,000259: 15,2235           77624                           CALL                                           
039808,000260: 15,2236           30440                                    N89DISP                               
039809,000261: 15,2237           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
039810,000262: 15,2240           02032                                    ALPHAV                                
039811,000263: 15,2241           37607                           STCALL   XSMD                                  
039812,000264: 15,2242           10757                                    LSORIENT                              
039813,000265: 15,2243           77650                           GOTO                                           
039814,000266: 15,2244           32143                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
039815,000267: 

Page 928

039817,000269:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
039818,000270: 
039819,000271: 14,2000                                           SETLOC   P50S1                                 
039820,000272: 14,2000                                           BANK                                           
039821,000273: 14,2440  E5,1642                                  EBANK=   XSM                                   
039822,000274: 
039823,000275: 14,2440           77620        N89DISP            STQ                                            
039824,000276: 14,2441           02746                                    QMAJ                                  
039825,000277: 14,2442           35242                           STCALL   GDT/2      +4                         #  TEMP STORE TIME
039826,000278: 14,2443           26347                                    LAT-LONG                              
039827,000279: 14,2444           70545                           DLOAD    SR1                                   
039828,000280: 14,2445           01122                                    LONG                                  
039829,000281: 14,2446           16711                           STODL    LANDLONG                              
039830,000282: 14,2447           01124                                    ALT                                   
039831,000283: 14,2450           16713                           STODL    LANDALT                               
039832,000284: 14,2451           01120                                    LAT                                   
039833,000285: 14,2452           02707                           STORE    LANDLAT                               
039834,000286: 14,2453           77776                           EXIT                                           
039835,000287: 
039836,000288: 14,2454           32477        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
039837,000289: 14,2455           04616                           TC       BANKCALL                              
039838,000290: 14,2456           20477                           CADR     GOFLASH                               
039839,000291: 14,2457           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE - EXIT P57
039840,000292: 14,2460           12462                           TCF      +2                                    #  V33 - PROCEED - ACCEPT LS DATA
039841,000293: 14,2461           12454                           TCF      LSDISP                                #  V32 OR E - LOOK AGAIN AND/OR LOAD NEW LS
039842,000294: 
039843,000295: 14,2462           06042                           TC       INTPRET                               
039844,000296: 14,2463           72545                           DLOAD    SL1                                   
039845,000297: 14,2464           02711                                    LANDLONG                              
039846,000298: 14,2465           15122                           STODL    LONG                                  
039847,000299: 14,2466           02713                                    LANDALT                               
039848,000300: 14,2467           15124                           STODL    ALT                                   
039849,000301: 14,2470           02707                                    LANDLAT                               
039850,000302: 14,2471           15120                           STODL    LAT                                   
039851,000303: 14,2472           01242                                    GDT/2      +4                         #  PICK UP TIME
039852,000304: 14,2473           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG,ALT
039853,000305: 14,2474           26420                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
039854,000306: 14,2475           77650                           GOTO                                           
039855,000307: 14,2476           02746                                    QMAJ                                  
039856,000308: 14,2477           01531        V06N89*            VN       689                                   
039857,000309: 

Page 929

039859,000311:                                                                                                  #  NAME - S50 ALIAS LOCSAM
039860,000312:                                                                                                  #  BY
039861,000313:                                                                                                  #  VINCENT
039862,000314: 
039863,000315:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR AND PLANET
039864,000316: 
039865,000317:                                                                                                  #        DEFINE
039866,000318: 
039867,000319:                                                                                                  #        U   = UNIT( SUN WRT EARTH )
039868,000320:                                                                                                  #         ES
039869,000321: 
039870,000322:                                                                                                  #        U   = UNIT( MOON WRT EARTH )
039871,000323:                                                                                                  #         EM
039872,000324: 
039873,000325:                                                                                                  #        R   = POSITION VECTOR OF LEM
039874,000326:                                                                                                  #         L
039875,000327: 
039876,000328:                                                                                                  #        R   = MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
039877,000329:                                                                                                  #         EM
039878,000330: 
039879,000331:                                                                                                  #        P   = RATIO R  /(DISTANCE SUN TO EARTH) > .00257125
039880,000332:                                                                                                  #                     EM
039881,000333: 
039882,000334:                                                                                                  #        R   = EQUATORIAL RADIUSS (6378.166KM) OF EARTH
039883,000335:                                                                                                  #         E
039884,000336: 
039885,000337:                                                                                                  #        LOCSAM COMPUTES IN EARTH INFLUENCE
039886,000338: 
039887,000339:                                                                                                  #        VSUN = U
039888,000340:                                                                                                  #                ES
039889,000341: 
039890,000342:                                                                                                  #        VEARTH = -UNIT( R  )
039891,000343:                                                                                                  #                         L
039892,000344: 
039893,000345:                                                                                                  #        VMOON = UNIT(R  .U   - R  )
039894,000346:                                                                                                  #                      EM  EM    L
039895,000347: 
039896,000348:                                                                                                  #        CSUN = COS 90
039897,000349: 
039898,000350:                                                                                                  #        CEARTH = COS(5 + ARCSIN(R /MAG(R )))
039899,000351:                                                                                                  #                                 E      L
039900,000352: 
039901,000353:                                                                                                  #        CMOON   = COS 5
039902,000354: 
039903,000355:                                                                                                  #  INPUT - TIME IN MPAC
039904,000356: 
039905,000357:                                                                                                  #  OUTPUT - LISTED ABOVE
039906,000358: 
039907,000359:                                                                                                  #  SUBROUTINES - LSPOS, LEMPREC
039908,000360: 
039909,000361:                                                                                                  #  DEBRIS - VAC AREA, TSIGHT
039910,000362: 

Page 930

039912,000364: 14,2500                                           COUNT*   $$/LOSAM                              
039913,000365: 
039914,000366: 14,2500  14,2500               S50                =        LOCSAM                                
039915,000367: 14,2500           77620        LOCSAM             STQ                                            
039916,000368: 14,2501           02745                                    QMIN                                  
039917,000369: 14,2502           37562                           STCALL   TSIGHT                                
039918,000370: 14,2503           33647                                    LSPOS                                 
039919,000371: 14,2504           77745                           DLOAD                                          
039920,000372: 14,2505           03562                                    TSIGHT                                
039921,000373: 14,2506           34041                           STCALL   TDEC1                                 
039922,000374: 14,2507           27056                                    LEMPREC                               
039923,000375: 14,2510           61131                           SSP      TIX,2                                 
039924,000376: 14,2511           00052                                    S2                                    
039925,000377: 14,2512           00000                                    0                                     
039926,000378: 14,2513           30535                                    MOONCNTR                              
039927,000379: 14,2514           74375        EARTCNTR           VLOAD    VXSC                                  
039928,000380: 14,2515           02723                                    VMOON                                 
039929,000381: 14,2516           30001                                    RSUBEM                                
039930,000382: 14,2517           52372                           VSL1     VSU                                   
039931,000383: 14,2520           00001                                    RATT                                  
039932,000384: 14,2521           77656                           UNIT                                           
039933,000385: 14,2522           26723                           STOVL    VMOON                                 
039934,000386: 14,2523           00001                                    RATT                                  
039935,000387: 14,2524           57456                           UNIT     VCOMP                                 
039936,000388: 14,2525           16707                           STODL    VEARTH                                
039937,000389: 14,2526           30005                                    RSUBE                                 
039938,000390: 14,2527           77624                           CALL                                           
039939,000391: 14,2530           30567                                    OCCOS                                 
039940,000392: 14,2531           14017                           STODL    CEARTH                                
039941,000393: 14,2532           30576                                    CSS5                                  
039942,000394: 14,2533           34023                           STCALL   CMOON                                 
039943,000395: 14,2534           30562                                    ENDSAM                                
039944,000396: 14,2535           74375        MOONCNTR           VLOAD    VXSC                                  
039945,000397: 14,2536           02723                                    VMOON                                 
039946,000398: 14,2537           30007                                    ROE                                   
039947,000399: 14,2540           53445                           BVSU     UNIT                                  
039948,000400: 14,2541           02715                                    VSUN                                  
039949,000401: 14,2542           26715                           STOVL    VSUN                                  
039950,000402: 14,2543           02723                                    VMOON                                 
039951,000403: 14,2544           53361                           VXSC     VAD                                   
039952,000404: 14,2545           30001                                    RSUBEM                                
039953,000405: 14,2546           00001                                    RATT                                  
039954,000406: 14,2547           57456                           UNIT     VCOMP                                 
039955,000407: 14,2550           26707                           STOVL    VEARTH                                
039956,000408: 14,2551           00001                                    RATT                                  
039957,000409: 14,2552           57456                           UNIT     VCOMP                                 
039958,000410: 14,2553           16723                           STODL    VMOON                                 
039959,000411: 14,2554           30003                                    RSUBM                                 
039960,000412: 14,2555           77624                           CALL                                           
039961,000413: 14,2556           30567                                    OCCOS                                 

Page 931

039963,000415: 14,2557           14023                           STODL    CMOON                                 
039964,000416: 14,2560           30576                                    CSS5                                  
039965,000417: 14,2561           00017                           STORE    CEARTH                                
039966,000418: 14,2562           77745        ENDSAM             DLOAD                                          
039967,000419: 14,2563           30600                                    CSSUN                                 
039968,000420: 14,2564           00021                           STORE    CSUN                                  
039969,000421: 14,2565           77650                           GOTO                                           
039970,000422: 14,2566           02745                                    QMIN                                  
039971,000423: 14,2567           70471        OCCOS              DDV      SR1                                   
039972,000424: 14,2570           00045                                    36D                                   
039973,000425: 14,2571           43336                           ASIN     DAD                                   
039974,000426: 14,2572           30602                                    5DEGREES                              
039975,000427: 14,2573           70546                           COS      SR1                                   
039976,000428: 14,2574           77616                           RVQ                                            
039977,000429: 14,2575                        CEARTH             =        14D                                   
039978,000430: 14,2575                        CSUN               =        16D                                   
039979,000431: 14,2575                        CMOON              =        18D                                   
039980,000432: 14,2575           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
039981,000433: 14,2577           04000 00000  CSSUN              2DEC     .125                                  #  (COS 60)/4
039982,000434: 14,2601           00343 21616  5DEGREES           2DEC     .013888889                            #  SCALED IN REVS
039983,000435: 

Page 932

039985,000437:                                                                                                  #  PROGRAM NAME - R56            DATE  DEC 20 66
039986,000438:                                                                                                  #  MOD 1                         LOG SECTION  P51-P53
039987,000439:                                                                                                  #                                ASSEMBLY   SUNDISK REV40
039988,000440:                                                                                                  #  BY KEN VINCENT
039989,000441: 
039990,000442:                                                                                                  #  FUNCTION
039991,000443:                                                                                                  #        THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
039992,000444:                                                                                                  #        WITH RESPECT TO INERTIAL SPACE.  IT THEN COMPUTES THE SHAFT AXIS (SAX)
039993,000445:                                                                                                  #        WITH RESPECT TO REFERENCE INERTIAL.  EACH STAR IN THE CATALOG IS TESTED
039994,000446:                                                                                                  #        TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH, SUN OR MOON.  IF A
039995,000447:                                                                                                  #        STAR IS NOT OCCULTED THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
039996,000448:                                                                                                  #        THE PAIRED STAR IS TESTED FOR OCCULTATION.  PAIRS OF STARS THAT PASS
039997,000449:                                                                                                  #        THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.  A PAIR OF STARS
039998,000450:                                                                                                  #        HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
039999,000451:                                                                                                  #        AND MORE THAN 50 DEGREES.  THOSE PAIRS WITH GOOD SEPARATION
040000,000452:                                                                                                  #        ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.  (WITHIN
040001,000453:                                                                                                  #        50 DEGREESOF SAX).  THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
040002,000454:                                                                                                  #        THOSE WITH GOOD SEPARATION, AND      IN FIELD OF VIEW.
040003,000455: 
040004,000456:                                                                                                  #  CALLING SEQUENCE
040005,000457:                                                                                                  #        L       TC      BANKCALL
040006,000458:                                                                                                  #        L+1     CADR    R56
040007,000459:                                                                                                  #        L+2     ERROR RETURN - NO STARS IN FIELD OF VIEW
040008,000460:                                                                                                  #        L+3     NORMAL RETURN
040009,000461: 
040010,000462:                                                                                                  #  OUTPUT
040011,000463:                                                                                                  #        BESTI, BESTJ - SINGLE PREC, INTEGERS, STAR NUMBERS TIMES 6
040012,000464:                                                                                                  #        VFLAG - FLAG BIT SET IMPLIES NO STARS IN FIELD OF VIEW
040013,000465: 
040014,000466:                                                                                                  #  INITIALIZATION
040015,000467:                                                                                                  #        1)      A CALL TO LOCSAM MUST BE MADE
040016,000468: 
040017,000469:                                                                                                  #  DEBRIS
040018,000470:                                                                                                  #        WORKAREA
040019,000471:                                                                                                  #        X,Y,ZNB
040020,000472:                                                                                                  #        SINCDU, COSCDU
040021,000473:                                                                                                  #        STARAD - STAR +5
040022,000474: 
040023,000475: 14,2603  14,2603               R56                =        PICAPAR                               
040024,000476: 14,2603                                           COUNT*   $$/R56                                
040025,000477: 14,2603           04645        PICAPAR            TC       MAKECADR                              
040026,000478: 14,2604           55745                           TS       QMIN                                  
040027,000479: 14,2605           06042                           TC       INTPRET                               
040028,000480: 14,2606           77624                           CALL                                           
040029,000481: 14,2607           47541                                    CDUTRIG                               
040030,000482: 14,2610           77624                           CALL                                           
040031,000483: 14,2611           20030                                    CALCSMSC                              
040032,000484: 14,2612           77601                           SETPD                                          
040033,000485: 14,2613           00001                                    0                                     
040034,000486: 14,2614           71214                           SET      DLOAD                                 #  VFLAG = 1
040035,000487: 14,2615           01465                                    VFLAG                                 

Page 933

040037,000489: 14,2616           24007                                    DPZERO                                
040038,000490: 14,2617           26756                           STOVL    BESTI                                 
040039,000491: 14,2620           02665                                    XNB                                   
040040,000492: 14,2621           63361                           VXSC     PDVL                                  
040041,000493: 14,2622           24005                                    HALFDP                                
040042,000494: 14,2623           02701                                    ZNB                                   
040043,000495: 14,2624           74370                           AXT,1    VXSC                                  
040044,000496: 14,2625           00344                                    228D                                  #  X1 = 37 X 6 + 6
040045,000497: 14,2626           24005                                    HALFDP                                
040046,000498: 14,2627           77655                           VAD                                            
040047,000499: 14,2630           53505                           VXM      UNIT                                  
040048,000500: 14,2631           01734                                    REFSMMAT                              
040049,000501: 14,2632           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
040050,000502: 14,2633           66331                           SSP      SSP                                   #  S1 = S2 = 6
040051,000503: 14,2634           00051                                    S1                                    
040052,000504: 14,2635           00006                                    6                                     
040053,000505: 14,2636           00052                                    S2                                    
040054,000506: 14,2637           00006                                    6                                     
040055,000507: 14,2640           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
040056,000508: 14,2641           30643                                    PIC2                                  
040057,000509: 14,2642           30760                                    PICEND                                
040058,000510: 14,2643           50373        PIC2               VLOAD*   DOT                                   
040059,000511: 14,2644           30347                                    CATLOG,1                              
040060,000512: 14,2645           02731                                    SAX                                   
040061,000513: 14,2646           50025                           DSU      BMN                                   
040062,000514: 14,2647           30757                                    CSS33                                 
040063,000515: 14,2650           30640                                    PIC1                                  
040064,000516: 14,2651           77754                           LXA,2                                          
040065,000517: 14,2652           00046                                    X1                                    
040066,000518: 14,2653           52104        PIC3               TIX,2    GOTO                                  
040067,000519: 14,2654           30656                                    PIC4                                  
040068,000520: 14,2655           30640                                    PIC1                                  
040069,000521: 14,2656           50373        PIC4               VLOAD*   DOT                                   
040070,000522: 14,2657           47430                                    CATLOG,2                              
040071,000523: 14,2660           02731                                    SAX                                   
040072,000524: 14,2661           50025                           DSU      BMN                                   
040073,000525: 14,2662           30757                                    CSS33                                 
040074,000526: 14,2663           30653                                    PIC3                                  
040075,000527: 14,2664           47773                           VLOAD*   DOT*                                  
040076,000528: 14,2665           30347                                    CATLOG,1                              
040077,000529: 14,2666           47430                                    CATLOG,2                              
040078,000530: 14,2667           51025                           DSU      BPL                                   
040079,000531: 14,2670           30755                                    CSS40                                 
040080,000532: 14,2671           30653                                    PIC3                                  
040081,000533: 14,2672           45173                           VLOAD*   CALL                                  
040082,000534: 14,2673           30347                                    CATLOG,1                              
040083,000535: 14,2674           30732                                    OCCULT                                
040084,000536: 14,2675           77614                           BON                                            
040085,000537: 14,2676           01710                                    CULTFLAG                              
040086,000538: 14,2677           30640                                    PIC1                                  

Page 934

040088,000540: 14,2700           45173                           VLOAD*   CALL                                  
040089,000541: 14,2701           47430                                    CATLOG,2                              
040090,000542: 14,2702           30732                                    OCCULT                                
040091,000543: 14,2703           77614                           BON                                            
040092,000544: 14,2704           01710                                    CULTFLAG                              
040093,000545: 14,2705           30653                                    PIC3                                  
040094,000546: 14,2706           77614        STRATGY            BONCLR                                         
040095,000547: 14,2707           01605                                    VFLAG                                 
040096,000548: 14,2710           30725                                    NEWPAR                                
040097,000549: 14,2711           65120                           XCHX,1   XCHX,2                                
040098,000550: 14,2712           02755                                    BESTI                                 
040099,000551: 14,2713           02756                                    BESTJ                                 
040100,000552: 14,2714           47773        STRAT              VLOAD*   DOT*                                  
040101,000553: 14,2715           30347                                    CATLOG,1                              
040102,000554: 14,2716           47430                                    CATLOG,2                              
040103,000555: 14,2717           43006                           PUSH     BOFINV                                
040104,000556: 14,2720           01545                                    VFLAG                                 
040105,000557: 14,2721           30711                                    STRAT      -3                         
040106,000558: 14,2722           45345                           DLOAD    DSU                                   
040107,000559: 14,2723           77644                           BPL                                            
040108,000560: 14,2724           30653                                    PIC3                                  
040109,000561: 14,2725           67130        NEWPAR             SXA,1    SXA,2                                 
040110,000562: 14,2726           02755                                    BESTI                                 
040111,000563: 14,2727           02756                                    BESTJ                                 
040112,000564: 14,2730           77650                           GOTO                                           
040113,000565: 14,2731           30653                                    PIC3                                  
040114,000566: 14,2732           51321        OCCULT             MXV      BVSU                                  
040115,000567: 14,2733           02707                                    CULTRIX                               
040116,000568: 14,2734           00017                                    CSS                                   
040117,000569: 14,2735           77654                           BZE                                            
040118,000570: 14,2736           30751                                    CULTED                                
040119,000571: 14,2737           75240                           BMN      SIGN                                  
040120,000572: 14,2740           30751                                    CULTED                                
040121,000573: 14,2741           00160                                    MPAC       +3                         
040122,000574: 14,2742           75240                           BMN      SIGN                                  
040123,000575: 14,2743           30751                                    CULTED                                
040124,000576: 14,2744           00162                                    MPAC       +5                         
040125,000577: 14,2745           43040                           BMN      CLRGO                                 
040126,000578: 14,2746           30751                                    CULTED                                
040127,000579: 14,2747           01630                                    CULTFLAG                              
040128,000580: 14,2750           00052                                    QPRET                                 
040129,000581: 14,2751           77614        CULTED             SETGO                                          
040130,000582: 14,2752           01430                                    CULTFLAG                              
040131,000583: 14,2753           00052                                    QPRET                                 
040132,000584: 14,2754  0000016               CSS                =        CEARTH                                
040133,000585: 14,2754           05110 35052  CSS40              2DEC     .16070                                #  COS 50 / 4
040134,000586: 14,2756           05110 35052  CSS33              2DEC     .16070                                #  COS 50 / 4
040135,000587: 14,2760           77414        PICEND             BOFF     EXIT                                  
040136,000588: 

Page 935

040138,000590: 14,2761           01745                                    VFLAG                                 
040139,000591: 14,2762           30764                                    PICGXT                                
040140,000592: 14,2763           03005                           TC       PICBXT                                
040141,000593: 14,2764           73150        PICGXT             LXA,1    LXA,2                                 
040142,000594: 14,2765           02755                                    BESTI                                 
040143,000595: 14,2766           02756                                    BESTJ                                 
040144,000596: 14,2767           47775                           VLOAD    DOT*                                  
040145,000597: 14,2770           02731                                    SAX                                   
040146,000598: 14,2771           30347                                    CATLOG,1                              
040147,000599: 14,2772           47715                           PDVL     DOT*                                  
040148,000600: 14,2773           02731                                    SAX                                   
040149,000601: 14,2774           47430                                    CATLOG,2                              
040150,000602: 14,2775           77625                           DSU                                            
040151,000603: 14,2776           66044                           BPL      SXA,1                                 
040152,000604: 14,2777           31003                                    PICNSWP                               
040153,000605: 14,3000           02756                                    BESTJ                                 
040154,000606: 14,3001           77734                           SXA,2                                          
040155,000607: 14,3002           02755                                    BESTI                                 
040156,000608: 14,3003           77776        PICNSWP            EXIT                                           
040157,000609: 14,3004           25745                           INCR     QMIN                                  
040158,000610: 14,3005           31745        PICBXT             CA       QMIN                                  
040159,000611: 14,3006           04622                           TC       SWCALL                                
040160,000612: 14,3007                        VPD                =        0D                                    
040161,000613: 14,3007                        V0                 =        6D                                    
040162,000614: 14,3007                        V1                 =        12D                                   
040163,000615: 14,3007                        V2                 =        18D                                   
040164,000616: 14,3007                        V3                 =        24D                                   
040165,000617: 14,3007                        DP0                =        30D                                   
040166,000618: 14,3007                        DP1                =        32D                                   
040167,000619: 

Page 936

040169,000621:                                                                                                  #  NAME - R51    FINE ALIGN
040170,000622:                                                                                                  #  FUNCTION - TO ALIGN THE STABLE MEMBER TO REFSMMAT
040171,000623:                                                                                                  #  CALLING SEQ - CALL R51
040172,000624:                                                                                                  #  INPUT - REFSMMAT
040173,000625:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
040174,000626:                                                                                                  #  SUBROUTINES - LOCSAM, PICAPAR, R52, R53, R54, R55
040175,000627: 
040176,000628: 14,3007                                           COUNT*   $$/R51                                
040177,000629: 14,3007           77620        R51                STQ                                            
040178,000630: 14,3010           02746                                    QMAJ                                  
040179,000631: 14,3011           77776        R51.1              EXIT                                           
040180,000632: 14,3012           05353                           TC       PHASCHNG                              
040181,000633: 14,3013           04024                           OCT      04024                                 
040182,000634: 
040183,000635: 14,3014           34761        R51C               CAF      OCT15                                 
040184,000636: 14,3015           04616                           TC       BANKCALL                              
040185,000637: 14,3016           20624                           CADR     GOPERF1                               
040186,000638: 14,3017           06001                           TC       GOTOPOOH                              
040187,000639: 14,3020           03022                           TC       +2                                    #  V33E
040188,000640: 14,3021           03045                           TC       R51E                                  #  ENTER
040189,000641: 14,3022           06042                           TC       INTPRET                               
040190,000642: 14,3023           43234                           RTB      DAD                                   
040191,000643: 14,3024           21574                                    LOADTIME                              
040192,000644: 14,3025           31155                                    TSIGHT1                               
040193,000645: 14,3026           77624                           CALL                                           
040194,000646: 14,3027           30500                                    LOCSAM                                
040195,000647: 14,3030           77776                           EXIT                                           
040196,000648: 14,3031           04616                           TC       BANKCALL                              
040197,000649: 14,3032           30603                           CADR     R56                                   
040198,000650: 14,3033           03035                           TC       R51I                                  
040199,000651: 14,3034           03045        R51F               TC       R51E                                  
040200,000652: 14,3035           05567        R51I               TC       ALARM                                 
040201,000653: 14,3036           00405                           OCT      405                                   
040202,000654: 14,3037           35006                           CAF      VB05N09                               
040203,000655: 14,3040           04616                           TC       BANKCALL                              
040204,000656: 14,3041           20477                           CADR     GOFLASH                               
040205,000657: 14,3042           06001                           TC       GOTOPOOH                              
040206,000658: 14,3043           03045                           TC       R51E                                  
040207,000659: 14,3044           03014                           TC       R51C                                  
040208,000660: 14,3045           34755        R51E               CAF      ZERO                                  
040209,000661: 14,3046           55757                           TS       STARIND                               
040210,000662: 14,3047           06042        R51.2              TC       INTPRET                               
040211,000663: 14,3050           77776        R51.3              EXIT                                           
040212,000664: 14,3051           05353                           TC       PHASCHNG                              
040213,000665: 14,3052           04024                           OCT      04024                                 
040214,000666: 
040215,000667: 14,3053           06042                           TC       INTPRET                               
040216,000668: 14,3054           77624                           CALL                                           
040217,000669: 14,3055           31671                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
040218,000670: 14,3056           77776                           EXIT                                           
040219,000671: 14,3057           04616                           TC       BANKCALL                              

Page 937

040221,000673: 14,3060           16000                           CADR     AOTMARK                               
040222,000674: 14,3061           04616                           TC       BANKCALL                              
040223,000675: 14,3062           17703                           CADR     OPTSTALL                              
040224,000676: 14,3063           05701                           TC       CURTAINS                              
040225,000677: 14,3064           11757                           CCS      STARIND                               
040226,000678: 14,3065           13067                           TCF      +2                                    
040227,000679: 14,3066           03137                           TC       R51.4                                 
040228,000680: 14,3067           06042                           TC       INTPRET                               
040229,000681: 14,3070           77775                           VLOAD                                          
040230,000682: 14,3071           02715                                    STARAD     +6                         
040231,000683: 14,3072           02767                           STORE    STARSAV2                              
040232,000684: 14,3073           77776                           EXIT                                           
040233,000685: 14,3074           05353                           TC       PHASCHNG                              
040234,000686: 14,3075           04024                           OCT      04024                                 
040235,000687: 
040236,000688: 14,3076           06042                           TC       INTPRET                               
040237,000689: 14,3077           45145                           DLOAD    CALL                                  
040238,000690: 14,3100           03562                                    TSIGHT                                
040239,000691: 14,3101           32472                                    PLANET                                
040240,000692: 14,3102           53521                           MXV      UNIT                                  
040241,000693: 14,3103           01734                                    REFSMMAT                              
040242,000694: 14,3104           26715                           STOVL    STARAD     +6                         
040243,000695: 14,3105           03554                                    PLANVEC                               
040244,000696: 14,3106           53521                           MXV      UNIT                                  
040245,000697: 14,3107           01734                                    REFSMMAT                              
040246,000698: 14,3110           26707                           STOVL    STARAD                                
040247,000699: 14,3111           02761                                    STARSAV1                              
040248,000700: 14,3112           24007                           STOVL    6D                                    
040249,000701: 14,3113           02767                                    STARSAV2                              
040250,000702: 14,3114           34015                           STCALL   12D                                   
040251,000703: 14,3115           31250                                    R54                                   #  STAR DATA TEST
040252,000704: 14,3116           45014                           BOFF     CALL                                  
040253,000705: 14,3117           00354                                    FREEFLAG                              
040254,000706: 14,3120           31126                                    R51K                                  
040255,000707: 14,3121           47443                                    AXISGEN                               
040256,000708: 14,3122           77624                           CALL                                           
040257,000709: 14,3123           31216                                    R55                                   #  GYRO TORQUE
040258,000710: 14,3124           77614                           CLEAR                                          
040259,000711: 14,3125           01273                                    PFRATFLG                              
040260,000712: 14,3126           77776        R51K               EXIT                                           
040261,000713: 14,3127           35741        R51P63             CAF      OCT14                                 
040262,000714: 14,3130           04616                           TC       BANKCALL                              
040263,000715: 14,3131           20624                           CADR     GOPERF1                               
040264,000716: 14,3132           06001                           TC       GOTOPOOH                              
040265,000717: 14,3133           03014                           TC       R51C                                  
040266,000718: 14,3134           06042                           TC       INTPRET                               
040267,000719: 14,3135           77650                           GOTO                                           
040268,000720: 14,3136           02746                                    QMAJ                                  
040269,000721: 14,3137           06042        R51.4              TC       INTPRET                               
040270,000722: 14,3140           77775                           VLOAD                                          

Page 938

040272,000724: 14,3141           02715                                    STARAD     +6                         
040273,000725: 14,3142           02761                           STORE    STARSAV1                              
040274,000726: 14,3143           45145                           DLOAD    CALL                                  
040275,000727: 14,3144           03562                                    TSIGHT                                
040276,000728: 14,3145           32472                                    PLANET                                
040277,000729: 14,3146           03554                           STORE    PLANVEC                               
040278,000730: 14,3147           77731                           SSP                                            
040279,000731: 14,3150           02760                                    STARIND                               
040280,000732: 14,3151           00001                                    1                                     
040281,000733: 14,3152           77650                           GOTO                                           
040282,000734: 14,3153           31050                                    R51.3                                 
040283,000735: 14,3154           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6 MIN TO MARKING
040284,000736: 

Page 939

040286,000738:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
040287,000739: 
040288,000740: 14,3156           45020        GYCOARS            STQ      CALL                                  
040289,000741: 14,3157           02746                                    QMAJ                                  
040290,000742: 14,3160           47251                                    CALCGTA                               
040291,000743: 14,3161           43014                           CLEAR    CLEAR                                 
040292,000744: 14,3162           01260                                    DRIFTFLG                              
040293,000745: 14,3163           01662                                    REFSMFLG                              
040294,000746: 14,3164           77776                           EXIT                                           
040295,000747: 14,3165           33215                           CAF      V16N20                                #  MONITOR GIMBALS
040296,000748: 14,3166           04616                           TC       BANKCALL                              
040297,000749: 14,3167           20452                           CADR     GODSPR                                
040298,000750: 14,3170           33247                           CA       R55CDR                                
040299,000751: 14,3171           04616                           TC       BANKCALL                              
040300,000752: 14,3172           17314                           CADR     IMUPULSE                              
040301,000753: 14,3173           04616                           TC       BANKCALL                              
040302,000754: 14,3174           17707                           CADR     IMUSTALL                              
040303,000755: 14,3175           05701                           TC       CURTAINS                              
040304,000756: 14,3176           05353                           TC       PHASCHNG                              
040305,000757: 14,3177           04024                           OCT      04024                                 
040306,000758: 
040307,000759: 14,3200           06042                           TC       INTPRET                               
040308,000760: 14,3201           75160                           AXC,1    AXC,2                                 
040309,000761: 14,3202           03606                                    XSMD                                  
040310,000762: 14,3203           01733                                    REFSMMAT                              
040311,000763: 14,3204           77624                           CALL                                           #  STORE DESIRED REFSMMAT
040312,000764: 14,3205           31371                                    MATMOVE                               
040313,000765: 14,3206           43014                           CLEAR    SET                                   
040314,000766: 14,3207           01273                                    PFRATFLG                              
040315,000767: 14,3210           01462                                    REFSMFLG                              
040316,000768: 14,3211           77624                           CALL                                           
040317,000769: 14,3212           31603                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
040318,000770: 14,3213           77650                           GOTO                                           
040319,000771: 14,3214           31126                                    R51K                                  
040320,000772: 14,3215           04024        V16N20             VN       1620                                  
040321,000773: 

Page 940

040323,000775:                                                                                                  #  R55   GYROTORQUE
040324,000776:                                                                                                  #  FUNCTION - COMPUTE AND SEND GYRO PULSES
040325,000777:                                                                                                  #  CALLING SEQ - CALL R55
040326,000778:                                                                                                  #  INPUT - X,Y,ZDC - REFSMMAT WRT PRESENT STABLE MEMBER
040327,000779:                                                                                                  #  OUTPUT - GYRO PULSES
040328,000780:                                                                                                  #  SUBROUTINES - CALCGTA, GOFLASH, GODSPR, IMUFINE, IMUPULSE, GOPERF1
040329,000781: 
040330,000782: 14,3216                                           COUNT*   $$/R55                                
040331,000783: 14,3216           77620        R55                STQ                                            
040332,000784: 14,3217           02745                                    QMIN                                  
040333,000785: 14,3220           77624                           CALL                                           
040334,000786: 14,3221           47251                                    CALCGTA                               
040335,000787: 14,3222           77776        PULSEM             EXIT                                           
040336,000788: 14,3223           33246        R55.1              CAF      V06N93                                
040337,000789: 14,3224           04616                           TC       BANKCALL                              
040338,000790: 14,3225           20477                           CADR     GOFLASH                               
040339,000791: 14,3226           06001                           TC       GOTOPOOH                              
040340,000792: 14,3227           03231                           TC       R55.2                                 
040341,000793: 14,3230           03243                           TC       R55RET                                
040342,000794: 14,3231           05353        R55.2              TC       PHASCHNG                              
040343,000795: 14,3232           00214                           OCT      00214                                 
040344,000796: 14,3233           33247                           CA       R55CDR                                
040345,000797: 14,3234           04616                           TC       BANKCALL                              
040346,000798: 14,3235           17314                           CADR     IMUPULSE                              
040347,000799: 14,3236           04616                           TC       BANKCALL                              
040348,000800: 14,3237           17707                           CADR     IMUSTALL                              
040349,000801: 14,3240           05701                           TC       CURTAINS                              
040350,000802: 14,3241           05353                           TC       PHASCHNG                              
040351,000803: 14,3242           04024                           OCT      04024                                 
040352,000804: 
040353,000805: 14,3243           06042        R55RET             TC       INTPRET                               
040354,000806: 14,3244           77650                           GOTO                                           
040355,000807: 14,3245           02745                                    QMIN                                  
040356,000808: 14,3246           01535        V06N93             VN       0693                                  
040357,000809: 14,3247           02737        R55CDR             ECADR    OGC                                   
040358,000810: 14,3250  14,3250               R54                =        CHKSDATA                              
040359,000811: 
040360,000812:                                                                                                  #  ROUTINE NAME - CHKSDATA               DATE - JAN 9, 1967
040361,000813:                                                                                                  #  MOD NO - 0                            LOG SECTION - P51-P53
040362,000814:                                                                                                  #  MODIFICATION BY - LONSKE              ASSEMBLY -
040363,000815: 
040364,000816:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS.  WHEN A PAIR OF STAR SIGHTINGS ARE MADE
040365,000817:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
040366,000818:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE.  THE FOLLOWING COMPUTATIONS ARE PERFORMED_
040367,000819:                                                                                                  #        OS1     =       OBSERVED STAR 1 VECTOR
040368,000820:                                                                                                  #        OS2     =       OBSERVED STAR 2 VECTOR
040369,000821:                                                                                                  #        SS1     =       STORED STAR 1 VECTOR
040370,000822:                                                                                                  #        SS2     =       STORED STAR 2 VECTOR
040371,000823:                                                                                                  #         A1     =       ARCCOS(OS1 - OS2)
040372,000824:                                                                                                  #         A2     =       ARCCOS(SS1 - SS2)
040373,000825:                                                                                                  #          A     =       ABS(2(A1 - A2))

Page 941

040375,000827:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
040376,000828: 
040377,000829:                                                                                                  #  EXIT MODE     1. FREEFLAG SET IMPLIES ASTRONAUT WANTS TO PROCEED
040378,000830:                                                                                                  #                2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE             ERANCE)
040379,000831:                                                                                                  #  OUTPUT -      1. VERB 6,NOUN 3 - DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
040380,000832:                                                                                                  #                2. STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
040381,000833: 
040382,000834:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
040383,000835:                                                                                                  #                1. MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
040384,000836:                                                                                                  #                2. CATALOG VECTORS ARE STORED IN 6D AND 12D.
040385,000837: 
040386,000838:                                                                                                  #  DEBRIS -
040387,000839: 
040388,000840: 14,3250                                           COUNT*   $$/R54                                
040389,000841: 14,3250           43020        CHKSDATA           STQ      SET                                   
040390,000842: 14,3251           02745                                    QMIN                                  
040391,000843: 14,3252           00074                                    FREEFLAG                              
040392,000844: 14,3253           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE EPHEMERIS DATA
040393,000845: 14,3254           02706                                    STARAD                                
040394,000846: 
040395,000847: 14,3255           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
040396,000848: 14,3256           00001                                    0,1                                   
040397,000849: 14,3257           00007                                    6,1                                   
040398,000850: 14,3260           65552                           SL1      ACOS                                  
040399,000851: 14,3261           00025                           STORE    THETA                                 
040400,000852: 14,3262           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
040401,000853: 14,3263           00354                                    FREEFLAG                              
040402,000854: 14,3264           31274                                    CHKSD                                 
040403,000855: 14,3265           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
040404,000856: 14,3266           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
040405,000857: 14,3267           00006                                    6D                                    
040406,000858: 14,3270           00025                                    THETA                                 
040407,000859: 14,3271           00023                           STORE    18D                                   
040408,000860: 14,3272           77650                           GOTO                                           
040409,000861: 14,3273           31255                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
040410,000862: 14,3274           45345        CHKSD              DLOAD    DSU                                   
040411,000863: 14,3275           00025                                    THETA                                 
040412,000864: 14,3276           00023                                    18D                                   
040413,000865: 14,3277           77634                           RTB                                            #  COMPUTE POS DIFF
040414,000866: 14,3300           21613                                    SGNAGREE                              
040415,000867: 14,3301           01045                           STORE    NORMTEM1                              
040416,000868: 14,3302           77414                           SET      EXIT                                  
040417,000869: 14,3303           00074                                    FREEFLAG                              
040418,000870: 14,3304           33320                           CAF      VB6N5                                 
040419,000871: 14,3305           04616                           TC       BANKCALL                              
040420,000872: 14,3306           20477                           CADR     GOFLASH                               
040421,000873: 14,3307           16001                           TCF      GOTOPOOH                              
040422,000874: 14,3310           03315                           TC       CHKSDA                                #  PROCEED
040423,000875: 14,3311           06042                           TC       INTPRET                               
040424,000876: 14,3312           52014                           CLEAR    GOTO                                  
040425,000877: 14,3313           00274                                    FREEFLAG                              
040426,000878: 14,3314           02745                                    QMIN                                  
040427,000879: 14,3315           06042        CHKSDA             TC       INTPRET                               

Page 942

040429,000881: 14,3316           77650                           GOTO                                           
040430,000882: 14,3317           02745                                    QMIN                                  
040431,000883: 14,3320           01405        VB6N5              VN       605                                   
040432,000884: 
040433,000885:                                                                                                  #  NAME - CAL53A
040434,000886:                                                                                                  #  FUNCTION - COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
040435,000887:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
040436,000888:                                                                                                  #  INPUT - X,Y,ZSMD, CDUX,Y,Z
040437,000889:                                                                                                  #           DESIRED GIMBAL ANGLES - THETAD,+1,+2
040438,000890:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT

The printout appears to say "IMUGOARSE" in the line below, but many other AGC versions have an identical card reading "IMUCOARSE", so I believe there is a smudge on the paper that merely makes the 'C' appear to be a 'G' — RSB 2017.

040443,000895:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE, IMUFINE
040444,000896: 
040445,000897: 14,3321                                           COUNT*   $$/R50                                
040446,000898: 14,3321           77624        CAL53A             CALL                                           
040447,000899: 14,3322           31620                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
040448,000900: 14,3323           66234                           RTB      SSP                                   
040449,000901: 14,3324           31405                                    RDCDUS                                #  READ CDUS
040450,000902: 14,3325           00051                                    S1                                    
040451,000903: 14,3326           00001                                    1                                     
040452,000904: 14,3327           40370                           AXT,1    SETPD                                 
040453,000905: 14,3330           00003                                    3                                     
040454,000906: 14,3331           00005                                    4                                     
040455,000907: 14,3332           70543        CALOOP             DLOAD*   SR1                                   
040456,000908: 14,3333           00325                                    THETAD     +3D,1                      
040457,000909: 14,3334           70523                           PDDL*    SR1                                   
040458,000910: 14,3335           00005                                    4,1                                   
040459,000911: 14,3336           51425                           DSU      ABS                                   
040460,000912: 14,3337           45206                           PUSH     DSU                                   
040461,000913: 14,3340           31404                                    DEGREE1                               
040462,000914: 14,3341           71240                           BMN      DLOAD                                 
040463,000915: 14,3342           31360                                    CALOOP1                               
040464,000916: 14,3343           51025                           DSU      BPL                                   
040465,000917: 14,3344           31405                                    DEG359                                
040466,000918: 14,3345           31360                                    CALOOP1                               
040467,000919: 14,3346           77776                           EXIT                                           
040468,000920: 14,3347           05353                           TC       PHASCHNG                              
040469,000921: 14,3350           04024                           OCT      04024                                 
040470,000922: 
040471,000923: 14,3351           06042                           TC       INTPRET                               
040472,000924: 14,3352           77624        COARFINE           CALL                                           
040473,000925: 14,3353           31557                                    COARSE                                
040474,000926: 14,3354           77624                           CALL                                           
040475,000927: 14,3355           31603                                    NCOARSE                               
040476,000928: 14,3356           77650                           GOTO                                           
040477,000929: 14,3357           31362                                    FINEONLY                              
040478,000930: 14,3360           77700        CALOOP1            TIX,1                                          
040479,000931: 14,3361           31332                                    CALOOP                                
040480,000932: 14,3362           75160        FINEONLY           AXC,1    AXC,2                                 
040481,000933: 14,3363           02642                                    XSM                                   
040482,000934: 14,3364           01733                                    REFSMMAT                              
040483,000935: 14,3365           77624                           CALL                                           
040484,000936: 14,3366           31371                                    MATMOVE                               

Page 943

040486,000938: 14,3367           77650                           GOTO                                           
040487,000939: 14,3370           32161                                    COARSRET                              
040488,000940: 14,3371           77773        MATMOVE            VLOAD*                                         #  TRANSFER MATRIX
040489,000941: 14,3372           00001                                    0,1                                   
040490,000942: 14,3373           10001                           STORE    0,2                                   
040491,000943: 14,3374           77773                           VLOAD*                                         
040492,000944: 14,3375           00007                                    6D,1                                  
040493,000945: 14,3376           10007                           STORE    6D,2                                  
040494,000946: 14,3377           77773                           VLOAD*                                         
040495,000947: 14,3400           00015                                    12D,1                                 
040496,000948: 14,3401           10015                           STORE    12D,2                                 
040497,000949: 14,3402           77616                           RVQ                                            
040498,000950: 14,3403           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
040499,000951: 14,3404           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
040500,000952: 14,3405           00004        RDCDUS             INHINT                                         #  READ CDUS
040501,000953: 14,3406           30032                           CA       CDUX                                  
040502,000954: 14,3407           50120                           INDEX    FIXLOC                                
040503,000955: 14,3410           54001                           TS       1                                     
040504,000956: 14,3411           30033                           CA       CDUY                                  
040505,000957: 14,3412           50120                           INDEX    FIXLOC                                
040506,000958: 14,3413           54002                           TS       2                                     
040507,000959: 14,3414           30034                           CA       CDUZ                                  
040508,000960: 14,3415           50120                           INDEX    FIXLOC                                
040509,000961: 14,3416           54003                           TS       3                                     
040510,000962: 14,3417           00003                           RELINT                                         
040511,000963: 14,3420           06064                           TC       DANZIG                                #                                +
040512,000964: 14,3421                                           COUNT*   $$/INFLT                              
040513,000965: 

Page 944

040515,000967:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
040516,000968:                                                                                                  #  MOD. NO. 1    23 JAN 67                               LOG SECTION - P51-P53
040517,000969:                                                                                                  #  MOD BY STURLAUGSON                                    ASSEMBLY SUNDANCE REV56
040518,000970: 
040519,000971:                                                                                                  #  FUNCTIONAL DESCRIPTION
040520,000972:                                                                                                  #        DETERMINES THE INERTIAL ORIENTATION OF THE IMU.  THE PROGRAM IS SELECTED BY DSKY ENTRY.  THE SIGHTING
040521,000973:                                                                                                  #        (AOTMARK) ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA.  AOTMARK (R53) RETURNS THE STAR NUMBER AND THE
040522,000974:                                                                                                  #        STAR LOS VECTOR IN STARAD +6.  TWO STARS ARE THUS SIGHTED.  THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
040523,000975:                                                                                                  #        CHKSDATA (R54).  REFSMMAT IS THEN COMPUTED AT AXISGEN.
040524,000976: 
040525,000977:                                                                                                  #  CALLING SEQUENCE
040526,000978:                                                                                                  #        THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
040527,000979: 
040528,000980:                                                                                                  #  SUBROUTINES CALLED.
040529,000981:                                                                                                  #        GOPERF3
040530,000982:                                                                                                  #        GOPERF1
040531,000983:                                                                                                  #        GODSPR
040532,000984:                                                                                                  #        IMUCOARS
040533,000985:                                                                                                  #        IMUFIN20
040534,000986:                                                                                                  #        AOTMARK (R53)
040535,000987:                                                                                                  #        CHKSDATA (R54)
040536,000988:                                                                                                  #        MKRELEAS
040537,000989:                                                                                                  #        AXISGEN
040538,000990:                                                                                                  #        MATMOVE
040539,000991: 
040540,000992:                                                                                                  #  ALARMS
040541,000993:                                                                                                  #        NONE.
040542,000994: 
040543,000995:                                                                                                  #  ERASABLE INITIALIZATION
040544,000996:                                                                                                  #        IMU ZERO FLAG SHOULD BE SET.
040545,000997: 
040546,000998:                                                                                                  #  OUTPUT
040547,000999:                                                                                                  #        REFSMMAT
040548,001000:                                                                                                  #        REFSMFLG
040549,001001: 
040550,001002:                                                                                                  #  DEBRIS
040551,001003:                                                                                                  #        WORK AREA
040552,001004:                                                                                                  #        STARAD
040553,001005:                                                                                                  #        STARIND
040554,001006:                                                                                                  #        BESTI
040555,001007:                                                                                                  #        BESTJ
040556,001008: 
040557,001009: 14,3421                                           COUNT*   $$/P51                                

Page 945

040559,001011: 14,3421           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
040560,001012: 14,3422           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
040561,001013: 
040562,001014: 14,3423           34761                           CAF      OCT15                                 
040563,001015: 14,3424           04616                           TC       BANKCALL                              
040564,001016: 14,3425           20624                           CADR     GOPERF1                               
040565,001017: 14,3426           06001                           TC       GOTOPOOH                              #  TERM.
040566,001018: 14,3427           13453                           TCF      P51B                                  #  V33
040567,001019: 14,3430           05353                           TC       PHASCHNG                              
040568,001020: 14,3431           04024                           OCT      04024                                 
040569,001021: 
040570,001022: 14,3432           34755                           CAF      ZERO                                  
040571,001023: 14,3433           54321                           TS       THETAD                                #  ZERO THE GIMBALS
040572,001024: 14,3434           54322                           TS       THETAD     +1                         
040573,001025: 14,3435           54323                           TS       THETAD     +2                         
040574,001026: 14,3436           35010                           CAF      V06N22                                
040575,001027: 14,3437           04616                           TC       BANKCALL                              
040576,001028: 14,3440           20447                           CADR     GODSPRET                              
040577,001029: 14,3441           33556                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
040578,001030: 14,3442           04616                           TC       BANKCALL                              
040579,001031: 14,3443           20447                           CADR     GODSPRET                              
040580,001032: 14,3444           06042                           TC       INTPRET                               
040581,001033: 14,3445           77624                           CALL                                           
040582,001034: 14,3446           31557                                    COARSE                                
040583,001035: 14,3447           77776                           EXIT                                           
040584,001036: 14,3450           05353                           TC       PHASCHNG                              
040585,001037: 14,3451           04024                           OCT      04024                                 
040586,001038: 14,3452           13423                           TCF      P51        +2                         
040587,001039: 
040588,001040: 14,3453           05353        P51B               TC       PHASCHNG                              
040589,001041: 14,3454           00014                           OCT      00014                                 
040590,001042: 14,3455           06042                           TC       INTPRET                               
040591,001043: 14,3456           77624                           CALL                                           
040592,001044: 14,3457           31603                                    NCOARSE                               
040593,001045: 14,3460           40331                           SSP      SETPD                                 
040594,001046: 14,3461           02760                                    STARIND                               #  INDEX - STAR 1 OR 2
040595,001047: 14,3462           00000                                    0                                     
040596,001048: 14,3463           00001                                    0                                     
040597,001049: 14,3464           77776        P51C               EXIT                                           
040598,001050: 14,3465           05353                           TC       PHASCHNG                              
040599,001051: 14,3466           04024                           OCT      04024                                 
040600,001052: 
040601,001053: 14,3467           04616                           TC       BANKCALL                              
040602,001054: 14,3470           16000                           CADR     AOTMARK                               #  R53
040603,001055: 14,3471           04616                           TC       BANKCALL                              
040604,001056: 14,3472           17703                           CADR     AOTSTALL                              
040605,001057: 14,3473           05701                           TC       CURTAINS                              
040606,001058: 14,3474           11757                           CCS      STARIND                               
040607,001059: 14,3475           13503                           TCF      P51D       +1                         
040608,001060: 14,3476           06042                           TC       INTPRET                               

Page 946

040610,001062: 14,3477           77775                           VLOAD                                          
040611,001063: 14,3500           02715                                    STARAD     +6                         
040612,001064: 14,3501           02761                           STORE    STARSAV1                              
040613,001065: 14,3502           77776        P51D               EXIT                                           
040614,001066: 14,3503           05353                           TC       PHASCHNG                              
040615,001067: 14,3504           04024                           OCT      04024                                 
040616,001068: 
040617,001069: 14,3505           11757                           CCS      STARIND                               
040618,001070: 14,3506           13522                           TCF      P51E                                  
040619,001071: 14,3507           05353                           TC       PHASCHNG                              
040620,001072: 14,3510           04024                           OCT      04024                                 
040621,001073: 
040622,001074: 14,3511           06042                           TC       INTPRET                               
040623,001075: 14,3512           45145                           DLOAD    CALL                                  
040624,001076: 14,3513           03562                                    TSIGHT                                
040625,001077: 14,3514           32472                                    PLANET                                
040626,001078: 14,3515           03554                           STORE    PLANVEC                               
040627,001079: 14,3516           77776                           EXIT                                           
040628,001080: 14,3517           34753                           CAF      BIT1                                  
040629,001081: 14,3520           55757                           TS       STARIND                               
040630,001082: 14,3521           13465                           TCF      P51C       +1                         #  DO SECOND STAR
040631,001083: 14,3522           05353        P51E               TC       PHASCHNG                              
040632,001084: 14,3523           04024                           OCT      04024                                 
040633,001085: 
040634,001086: 14,3524           06042                           TC       INTPRET                               
040635,001087: 14,3525           45145                           DLOAD    CALL                                  
040636,001088: 14,3526           03562                                    TSIGHT                                
040637,001089: 14,3527           32472                                    PLANET                                
040638,001090: 14,3530           24015                           STOVL    12D                                   
040639,001091: 14,3531           03554                                    PLANVEC                               
040640,001092: 14,3532           24007                           STOVL    6D                                    
040641,001093: 14,3533           02761                                    STARSAV1                              
040642,001094: 14,3534           26707                           STOVL    STARAD                                
040643,001095: 14,3535           02767                                    STARSAV2                              
040644,001096: 14,3536           36715                           STCALL   STARAD     +6                         
040645,001097: 14,3537           31250                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
040646,001098: 14,3540           77414                           BON      EXIT                                  
040647,001099: 14,3541           00314                                    FREEFLAG                              
040648,001100: 14,3542           31544                                    P51G                                  
040649,001101: 14,3543           03423                           TC       P51        +2                         
040650,001102: 14,3544           77624        P51G               CALL                                           
040651,001103: 14,3545           47443                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
040652,001104: 14,3546           75160                           AXC,1    AXC,2                                 
040653,001105: 14,3547           02664                                    XDC                                   
040654,001106: 14,3550           01733                                    REFSMMAT                              
040655,001107: 14,3551           77624                           CALL                                           
040656,001108: 14,3552           31371                                    MATMOVE                               
040657,001109: 14,3553           77414                           SET      EXIT                                  
040658,001110: 14,3554           01462                                    REFSMFLG                              
040659,001111: 14,3555           06001                           TC       GOTOPOOH                              #  FINIS

Page 947

040661,001113: 14,3556           12200        V41K               VN       4100                                  
040662,001114: 14,3557           77776        COARSE             EXIT                                           
040663,001115: 14,3560           31301                 +1        CA       MODECADR                              #  SEE IF IMU DEVICE IS IN USE.
040664,001116: 14,3561           00006                           EXTEND                                         
040665,001117: 14,3562           13567                           BZF      DOCORS                                #  NOT IN USE, DO COARSE ALIGN
040666,001118: 14,3563           34777                           CAF      1SEC                                  #  IN USE, DELAY ONE SEC
040667,001119: 14,3564           04616                           TC       BANKCALL                              
040668,001120: 14,3565           01736                           CADR     DELAYJOB                              
040669,001121: 14,3566           13560                           TCF      COARSE     +1                         
040670,001122: 14,3567           04616        DOCORS             TC       BANKCALL                              
040671,001123: 14,3570           16771                           CADR     IMUCOARS                              
040672,001124: 14,3571           04616                           TC       BANKCALL                              
040673,001125: 14,3572           17707                           CADR     IMUSTALL                              
040674,001126: 14,3573           05701                           TC       CURTAINS                              
040675,001127: 14,3574           04616                           TC       BANKCALL                              
040676,001128: 14,3575           17201                           CADR     IMUFINE                               
040677,001129: 14,3576           04616                           TC       BANKCALL                              
040678,001130: 14,3577           17707                           CADR     IMUSTALL                              
040679,001131: 14,3600           05701                           TC       CURTAINS                              
040680,001132: 14,3601           06042                           TC       INTPRET                               
040681,001133: 14,3602           77616                           RVQ                                            
040682,001134: 14,3603           77776        NCOARSE            EXIT                                           
040683,001135: 14,3604           30025                           CA       TIME1                                 
040684,001136: 14,3605           55074                           TS       1/PIPADT                              
040685,001137: 14,3606           44755                           CS       ZERO                                  
040686,001138: 14,3607           54037                           TS       PIPAX                                 
040687,001139: 14,3610           54040                           TS       PIPAY                                 
040688,001140: 14,3611           54041                           TS       PIPAZ                                 
040689,001141: 14,3612           06042                           TC       INTPRET                               
040690,001142: 14,3613           77775                           VLOAD                                          
040691,001143: 14,3614           24007                                    ZEROVEC                               
040692,001144: 14,3615           01472                           STORE    GCOMP                                 
040693,001145: 14,3616           43414                           SET      RVQ                                   
040694,001146: 14,3617           01060                                    DRIFTFLG                              
040695,001147: 

Page 948

040697,001149:                                                                                                  #  NAME - S52.2
040698,001150:                                                                                                  #  FUNCTION - COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
040699,001151:                                                                                                  #  CALL - CALL S52.2
040700,001152:                                                                                                  #  INPUT - X,Y,ZSMD
040701,001153:                                                                                                  #  OUTPUT - OGC,IGC,MGC,THETAD,+1,+2
040702,001154:                                                                                                  #  SUBROUTINES - CDUTRIG, CALCSMSC, MATMOVE, CALCGA
040703,001155: 
040704,001156: 14,3620                                           COUNT*   $$/S52.1                              
040705,001157: 14,3620           45020        S52.2              STQ      CALL                                  
040706,001158: 14,3621           02746                                    QMAJ                                  
040707,001159: 14,3622           47541                                    CDUTRIG                               
040708,001160: 14,3623           77624                           CALL                                           
040709,001161: 14,3624           20030                                    CALCSMSC                              
040710,001162: 14,3625           66370                           AXT,1    SSP                                   
040711,001163: 14,3626           00022                                    18D                                   
040712,001164: 14,3627           00051                                    S1                                    
040713,001165: 14,3630           00006                                    6D                                    
040714,001166: 14,3631           61373        S52.2A             VLOAD*   VXM                                   
040715,001167: 14,3632           02707                                    XNB        +18D,1                     
040716,001168: 14,3633           01734                                    REFSMMAT                              
040717,001169: 14,3634           77656                           UNIT                                           
040718,001170: 14,3635           06707                           STORE    XNB        +18D,1                     
040719,001171: 14,3636           77700                           TIX,1                                          
040720,001172: 14,3637           31631                                    S52.2A                                
040721,001173: 14,3640           75160        S52.2.1            AXC,1    AXC,2                                 
040722,001174: 14,3641           03606                                    XSMD                                  
040723,001175: 14,3642           02642                                    XSM                                   
040724,001176: 14,3643           77624                           CALL                                           
040725,001177: 14,3644           31371                                    MATMOVE                               
040726,001178: 14,3645           77624                           CALL                                           
040727,001179: 14,3646           47355                                    CALCGA                                
040728,001180: 14,3647           77650                           GOTO                                           
040729,001181: 14,3650           02746                                    QMAJ                                  
040730,001182: 

Page 949

040732,001184:                                                                                                  #  NAME - S52.3
040733,001185:                                                                                                  #  FUNCTION      XSMD= UNIT  R
040734,001186:                                                                                                  #                YSMD= UNIT(V X R)
040735,001187:                                                                                                  #                ZSMD= UNIT(XSMD X YSMD)
040736,001188:                                                                                                  #  CALL  DLOAD   CALL
040737,001189:                                                                                                  #                        TALIGN
040738,001190:                                                                                                  #                        S52.3
040739,001191:                                                                                                  #  INPUT -       TIME OF ALIGNMENT IN MPAC
040740,001192:                                                                                                  #  OUTPUT -      X,Y,ZSMD
040741,001193:                                                                                                  #  SUBROUTINES - CSMCONIC
040742,001194: 
040743,001195: 14,3651                                           COUNT*   $$/S52.3                              
040744,001196: 14,3651           77620        S52.3              STQ                                            
040745,001197: 14,3652           02746                                    QMAJ                                  
040746,001198: 14,3653           34041                           STCALL   TDEC1                                 
040747,001199: 14,3654           27077                                    LEMCONIC                              
040748,001200: 14,3655           53575                           VLOAD    UNIT                                  
040749,001201: 14,3656           00001                                    RATT                                  
040750,001202: 14,3657           27607                           STOVL    XSMD                                  
040751,001203: 14,3660           00007                                    VATT                                  
040752,001204: 14,3661           53435                           VXV      UNIT                                  
040753,001205: 14,3662           00001                                    RATT                                  
040754,001206: 14,3663           27615                           STOVL    YSMD                                  
040755,001207: 14,3664           03607                                    XSMD                                  
040756,001208: 14,3665           53435                           VXV      UNIT                                  
040757,001209: 14,3666           03615                                    YSMD                                  
040758,001210: 14,3667           37623                           STCALL   ZSMD                                  
040759,001211: 14,3670           02746                                    QMAJ                                  
040760,001212: 

Page 950

040762,001214:                                                                                                  #  NAME - R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
040763,001215: 
040764,001216:                                                                                                  #  FUNCTION - POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
040765,001217:                                                                                                  #  STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
040766,001218: 
040767,001219:                                                                                                  #  CALLING - CALL R52
040768,001220: 
040769,001221:                                                                                                  #  INPUT - BESTI AND BESTJ (STAR CODES TIMES 6)
040770,001222: 
040771,001223:                                                                                                  #  OUTPUT - STAR CODE IN BITS 1-6, DETENT CODE IN BITS 7-9
040772,001224:                                                                                                  #  (NO CHECK IS MADE TO INSURE THE DETENT CODE TO BE VALID)
040773,001225:                                                                                                  #  POINTVSM-1/2 UNIT NAV STAR VEC IN SM
040774,001226:                                                                                                  #  SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
040775,001227: 
040776,001228:                                                                                                  #  SUBROUT - R60LEM
040777,001229: 
040778,001230: 14,3671                                           COUNT*   $$/R52                                
040779,001231: 14,3671           77420        R52                STQ      EXIT                                  
040780,001232: 14,3672           03665                                    SAVQR52                               
040781,001233: 14,3673           51757                           INDEX    STARIND                               
040782,001234: 14,3674           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
040783,001235: 14,3675           00006                           EXTEND                                         
040784,001236: 14,3676           73772                           MP       1/6TH                                 
040785,001237: 14,3677           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
040786,001238: 14,3700           54734                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
040787,001239: 
040788,001240: 14,3701           33773        R52A               CAF      V01N70                                
040789,001241: 14,3702           04616                           TC       BANKCALL                              
040790,001242: 14,3703           20477                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
040791,001243: 14,3704           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040792,001244: 14,3705           13707                           TCF      R52B                                  #  V33 - PROCEED TO ORIENT LEM
040793,001245: 14,3706           13701                           TCF      R52A                                  #  ENTER - SELECT NEW STARCODE - RECYCLE
040794,001246: 
040795,001247: 14,3707           05516        R52B               TC       DOWNFLAG                              
040796,001248: 14,3710           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
040797,001249: 14,3711           30734                           CA       STARCODE                              #  GRAB DETENT CODE
040798,001250: 14,3712           77747                           MASK     HIGH9                                 
040799,001251: 14,3713           00006                           EXTEND                                         
040800,001252: 14,3714           74743                           MP       BIT9                                  
040801,001253: 14,3715           54001                           TS       L                                     #  TEMP STORE DETENT
040802,001254: 
040803,001255: 14,3716           00006                           EXTEND                                         
040804,001256: 14,3717           63735                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
040805,001257: 
040806,001258: 14,3720           65650                           AD       NEG7                                  
040807,001259: 14,3721           00006                           EXTEND                                         
040808,001260: 14,3722           13735                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
040809,001261: 
040810,001262: 14,3723  E7,1551                                  EBANK=   XYMARK                                
040811,001263: 14,3723           35016                           CA       EBANK7                                
040812,001264: 14,3724           54003                           TS       EBANK                                 

Page 951

040814,001266: 14,3725           50001                           INDEX    L                                     
040815,001267: 14,3726           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
040816,001268: 14,3727           54001                           TS       L                                     
040817,001269: 14,3730  E5,1642                                  EBANK=   XSM                                   
040818,001270: 14,3730           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
040819,001271: 14,3731           54003                           TS       EBANK                                 
040820,001272: 14,3732           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
040821,001273: 14,3733           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
040822,001274: 14,3734           13745                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
040823,001275: 
040824,001276: 14,3735           33774        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
040825,001277: 14,3736           04616                           TC       BANKCALL                              
040826,001278: 14,3737           20477                           CADR     GOFLASH                               
040827,001279: 14,3740           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040828,001280: 14,3741           13743                           TCF      +2                                    #  PROCEED - CALC OPTIC AXIS
040829,001281: 14,3742           13735                           TCF      GETAZEL                               #  ENTER - RECYCLE
040830,001282: 
040831,001283: 14,3743           00006                           EXTEND                                         
040832,001284: 14,3744           31345                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
040833,001285: 14,3745           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
040834,001286: 14,3746           52011                           DXCH     8D                                    
040835,001287: 14,3747           06042                           TC       INTPRET                               
040836,001288: 14,3750           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
040837,001289: 14,3751           10522                                    OANB                                  #  SCAXIS IN NB COORDS
040838,001290: 14,3752           45034                           RTB      CALL                                  
040839,001291: 14,3753           21574                                    LOADTIME                              
040840,001292: 14,3754           32472                                    PLANET                                
040841,001293: 14,3755           53521                           MXV      UNIT                                  
040842,001294: 14,3756           01734                                    REFSMMAT                              
040843,001295: 14,3757           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
040844,001296: 
040845,001297: 14,3760           77776                           EXIT                                           
040846,001298: 14,3761           04616                           TC       BANKCALL                              
040847,001299: 14,3762           54123                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
040848,001300: 
040849,001301: 14,3763           37747                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
040850,001302: 14,3764           70734                           MASK     STARCODE                              
040851,001303: 14,3765           00006                           EXTEND                                         
040852,001304: 14,3766           13701                           BZF      R52A                                  
040853,001305: 
040854,001306: 14,3767           06042                           TC       INTPRET                               #  RETURN FROM KALCMANU
040855,001307: 14,3770           77650                           GOTO                                           
040856,001308: 14,3771           03665                                    SAVQR52                               #  RETURN TO CALLER
040857,001309: 
040858,001310: 14,3772           05253        1/6TH              DEC      .1666667                              
040859,001311: 14,3773           00306        V01N70             VN       0170                                  
040860,001312: 14,3774           01527        V06N87             VN       687                                   
040861,001313: 

Page 952

040863,001315:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
040864,001316: 
040865,001317: 15,2245                                           BANK     15                                    
040866,001318: 15,2000                                           SETLOC   P50S                                  
040867,001319: 15,2000                                           BANK                                           
040868,001320: 15,2245                                           COUNT*   $$/R59                                
040869,001321: 
040870,001322: 15,2245           40077        R59                CS       FLAGWRD3                              
040871,001323: 15,2246           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
040872,001324: 15,2247           10000                           CCS      A                                     
040873,001325: 15,2250           12455                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
040874,001326: 
040875,001327: 15,2251           32463                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
040876,001328: 15,2252           04616                           TC       BANKCALL                              
040877,001329: 15,2253           20477                           CADR     GOFLASH                               
040878,001330: 15,2254           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
040879,001331: 15,2255           12257                           TCF      R59A                                  #  V33 - PROCEED
040880,001332: 15,2256           12245                           TCF      R59                                   #  V32 - RECYCLE
040881,001333: 
040882,001334: 15,2257           47747        R59A               CS       HIGH9                                 #  GRAB STARCODE FOR INDEX
040883,001335: 15,2260           70734                           MASK     AOTCODE                               
040884,001336: 15,2261           00006                           EXTEND                                         
040885,001337: 15,2262           76245                           MP       REVCNT                                #  JUST 6
040886,001338: 15,2263           56001                           XCH      L                                     
040887,001339: 15,2264           51757                           INDEX    STARIND                               
040888,001340: 15,2265           55755                           TS       BESTI                                 
040889,001341: 15,2266           50120                           INDEX    FIXLOC                                
040890,001342: 15,2267           54046                           TS       X1                                    #  CODE X 6 FOR CATLOG STAR INDEX
040891,001343: 15,2270           00006                           EXTEND                                         
040892,001344: 15,2271           12455                           BZF      R59OUT                                #  BYPASS AQUISITION IF NOT CATLOG STAR
040893,001345: 15,2272           40000                           COM                                            
040894,001346: 15,2273           62557                           AD       DEC227                                
040895,001347: 15,2274           00006                           EXTEND                                         
040896,001348: 15,2275           62455                           BZMF     R59OUT                                
040897,001349: 
040898,001350: 15,2276           06042                           TC       INTPRET                               
040899,001351: 15,2277           64373                           VLOAD*   MXV                                   
040900,001352: 15,2300           30347                                    CATLOG,1                              #  GRAB STAR VECTOR
040901,001353: 15,2301           01734                                    REFSMMAT                              #  TRANSFORM TO SM
040902,001354: 15,2302           45056                           UNIT     CALL                                  
040903,001355: 15,2303           47650                                    CDU*SMNB                              
040904,001356: 15,2304           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
040905,001357: 15,2305           77776                           EXIT                                           
040906,001358: 
040907,001359: 15,2306           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
040908,001360: 15,2307           55241                           TS       POSCODE                               
040909,001361: 
040910,001362: 15,2310  E7,1551                                  EBANK=   XYMARK                                
040911,001363: 15,2310           35016        INCAZ              CA       EBANK7                                
040912,001364: 15,2311           54003                           TS       EBANK                                 
040913,001365: 

Page 953

040915,001367: 15,2312           51241                           INDEX    POSCODE                               
040916,001368: 15,2313           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
040917,001369: 15,2314           54001                           TS       L                                     
040918,001370: 
040919,001371: 15,2315  E5,1642                                  EBANK=   XSM                                   
040920,001372: 15,2315           35014                           CA       EBANK5                                
040921,001373: 15,2316           54003                           TS       EBANK                                 
040922,001374: 
040923,001375: 15,2317           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
040924,001376: 15,2320           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
040925,001377: 15,2321           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
040926,001378: 15,2322           50120                           INDEX    FIXLOC                                
040927,001379: 15,2323           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
040928,001380: 
040929,001381: 15,2324           06042                           TC       INTPRET                               
040930,001382: 15,2325           77624                           CALL                                           
040931,001383: 15,2326           10522                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
040932,001384: 15,2327           50375                           VLOAD    DOT                                   
040933,001385: 15,2330           02731                                    STAR                                  #  DOT STAR WITH OA
040934,001386: 15,2331           03765                                    SCAXIS                                
040935,001387: 15,2332           65552                           SL1      ARCCOS                                
040936,001388: 15,2333           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
040937,001389: 
040938,001390: 15,2334           51025                           DSU      BPL                                   
040939,001391: 15,2335           32466                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
040940,001392: 15,2336           32420                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
040941,001393: 15,2337           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
040942,001394: 15,2340           00031                                    24D                                   
040943,001395: 15,2341           32470                                    DEG.5                                 
040944,001396: 15,2342           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
040945,001397: 15,2343           32413                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
040946,001398: 15,2344           00031                                    24D                                   #  GET SPIRAL
040947,001399: 15,2345           42405                           DMP      SL4                                   
040948,001400: 15,2346           11220                                    3/4                                   #  12 SCALED AT 16
040949,001401: 15,2347           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
040950,001402: 
040951,001403: 15,2350           03765                                    SCAXIS                                #  OA
040952,001404: 15,2351           53435                           VXV      UNIT                                  
040953,001405: 15,2352           24005                                    XUNIT                                 
040954,001406: 15,2353           47206                           PUSH     VXV                                   #  OA X UNITX    PD 0-5
040955,001407: 15,2354           03765                                    SCAXIS                                
040956,001408: 15,2355           77676                           VCOMP                                          
040957,001409: 15,2356           63256                           UNIT     PDVL                                  #  UNIT(OA X (OA X UNITX))       PD 6-11
040958,001410: 15,2357           03765                                    SCAXIS                                
040959,001411: 15,2360           53435                           VXV      UNIT                                  
040960,001412: 15,2361           02731                                    STAR                                  
040961,001413: 15,2362           50206                           PUSH     DOT                                   #  1/2(OA X STAR)        PD 12-17
040962,001414: 15,2363           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX) FOR YROT
040963,001415: 15,2364           65552                           SL1      ARCCOS                                
040964,001416: 15,2365           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS

Page 954

040966,001418: 15,2366           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
040967,001419: 15,2367           71244                           BPL      DLOAD                                 #  IF THET NEG - GET 360-THET
040968,001420: 15,2370           32375                                    R59D                                  
040969,001421: 15,2371           32047                                    ABOUTONE                              
040970,001422: 15,2372           77625                           DSU                                            
040971,001423: 15,2373           00033                                    26D                                   
040972,001424: 15,2374           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
040973,001425: 
040974,001426: 15,2375           70535        R59D               SLOAD    SR1                                   
040975,001427: 15,2376           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
040976,001428: 15,2377           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
040977,001429: 15,2400           00033                                    26D                                   
040978,001430: 15,2401           77634                           RTB                                            
040979,001431: 15,2402           21615                                    1STO2S                                
040980,001432: 15,2403           15236                           STODL    CURSOR                                #  YROT IN 1/2 REVS
040981,001433: 15,2404           00031                                    24D                                   #  LOAD SROT IN REVS
040982,001434: 15,2405           77615                           DAD                                            #  12(SEP) + YROT
040983,001435: 15,2406           77634                           RTB                                            
040984,001436: 15,2407           21615                                    1STO2S                                
040985,001437: 15,2410           01240                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
040986,001438: 15,2411           77776                           EXIT                                           
040987,001439: 15,2412           12437                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
040988,001440: 
040989,001441: 15,2413           77776        ZSPCR              EXIT                                           
040990,001442: 15,2414           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS, ZERO CURSOR
040991,001443: 15,2415           55235                           TS       CURSOR                                #  AND SPIRAL ANGLES
040992,001444: 15,2416           55237                           TS       SPIRAL                                
040993,001445: 15,2417           12437                           TCF      79DISP                                
040994,001446: 
040995,001447: 15,2420           77776        NXAX               EXIT                                           
040996,001448: 15,2421           25241                           INCR     POSCODE                               
040997,001449: 15,2422           41241                           CS       POSCODE                               
040998,001450: 15,2423           64757                           AD       SEVEN                                 
040999,001451: 15,2424           00006                           EXTEND                                         
041000,001452: 15,2425           62427                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
041001,001453: 15,2426           12310                           TCF      INCAZ                                 
041002,001454: 
041003,001455: 15,2427           05567        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
041004,001456: 15,2430           00404                           OCT      404                                   
041005,001457: 15,2431           35006                           CAF      VB05N09                               #  DISPLAY ALARM
041006,001458: 15,2432           04616                           TC       BANKCALL                              
041007,001459: 15,2433           20477                           CADR     GOFLASH                               
041008,001460: 15,2434           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041009,001461: 15,2435           12455                           TCF      R59OUT                                #  VB33 - PROCEED, GO WITHOUT AQUIRE
041010,001462: 15,2436           12245                           TCF      R59                                   #  VB32 - RECYCLE AND TRY ANOTHER STAR
041011,001463: 
041012,001464: 15,2437           32464        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
041013,001465: 15,2440           04616                           TC       BANKCALL                              
041014,001466: 15,2441           20477                           CADR     GOFLASH                               
041015,001467: 15,2442           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE

Page 955

041017,001469: 15,2443           12445                           TCF      R59E                                  #  V33 - PROCEED TO MARK ROUTINE
041018,001470: 15,2444           12245                           TCF      R59                                   #  V32 - RECYCLE TO TOP OF R59 AGAIN
041019,001471: 
041020,001472: 15,2445           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
041021,001473: 15,2446           71241                           MASK     POSCODE                               
041022,001474: 15,2447           00006                           EXTEND                                         
041023,001475: 15,2450           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
041024,001476: 15,2451           47747                           CS       HIGH9                                 
041025,001477: 15,2452           70734                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
041026,001478: 15,2453           60001                           AD       L                                     
041027,001479: 15,2454           54734                           TS       AOTCODE                               #  STORE DETENT 7-9
041028,001480: 
041029,001481: 15,2455           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING
041030,001482: 15,2456           16000                           CADR     AOTMARK                               
041031,001483: 15,2457           04616                           TC       BANKCALL                              
041032,001484: 15,2460           17703                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
041033,001485: 15,2461           05701                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
041034,001486: 15,2462           13037                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
041035,001487: 
041036,001488: 15,2463           00306        V01N70*            VN       170                                   
041037,001489: 15,2464           01517        V06N79             VN       679                                   
041038,001490: 15,2465           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
041039,001491: 15,2467           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
041040,001492: 15,2471           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
041041,001493: 15,2472     1235               CURSOR             EQUALS   GDT/2                                 
041042,001494: 15,2472     1237               SPIRAL             EQUALS   GDT/2      +2                         
041043,001495: 15,2472     1241               POSCODE            EQUALS   GDT/2      +4                         
041044,001496: 

Page 956

041046,001498:                                                                                                  #  NAME -        PLANET
041047,001499:                                                                                                  #  FUNCTION -    TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
041048,001500:                                                                                                  #                BODY.  STARS ARE FETCHED FROM THE CATALOG, SUN, EARTH AND
041049,001501:                                                                                                  #                MOON ARE COMPUTED BY LOCSAM, PLANET VECTORS ARE ENTERED
041050,001502:                                                                                                  #                BY DSDY INPUT
041051,001503:                                                                                                  #  CALL -        CALL
041052,001504:                                                                                                  #                        PLANET
041053,001505:                                                                                                  #  INPUT -       TIME IN MPAC
041054,001506:                                                                                                  #  OUTPUT -      VECTOR IN MPAC
041055,001507:                                                                                                  #  SUBROUTINES - LOCSAM
041056,001508:                                                                                                  #  DEBRIS -      VAC, STARAD - STARAD +17
041057,001509: 
041058,001510: 15,2000                                           SETLOC   P50S                                  
041059,001511: 15,2000                                           BANK                                           
041060,001512: 15,2472                                           COUNT*   $$/P51                                
041061,001513: 
041062,001514: 15,2472           03562        PLANET             STORE    TSIGHT                                
041063,001515: 15,2473           77420                           STQ      EXIT                                  
041064,001516: 15,2474           02736                                    GCTR                                  
041065,001517: 15,2475           47747                           CS       HIGH9                                 
041066,001518: 15,2476           70734                           MASK     AOTCODE                               
041067,001519: 15,2477           00006                           EXTEND                                         
041068,001520: 15,2500           76245                           MP       REVCNT                                
041069,001521: 15,2501           56001                           XCH      L                                     
041070,001522: 15,2502           51757                           INDEX    STARIND                               
041071,001523: 15,2503           55755                           TS       BESTI                                 
041072,001524: 15,2504           10000                           CCS      A                                     
041073,001525: 15,2505           12521                           TCF      NOTPLAN                               
041074,001526: 15,2506           32560                           CAF      VNPLANV                               
041075,001527: 15,2507           04616                           TC       BANKCALL                              
041076,001528: 15,2510           20477                           CADR     GOFLASH                               
041077,001529: 15,2511           02506                           TC       -3                                    
041078,001530: 15,2512           02514                           TC       +2                                    
041079,001531: 15,2513           02506                           TC       -5                                    
041080,001532: 15,2514           06042                           TC       INTPRET                               
041081,001533: 15,2515           53575                           VLOAD    UNIT                                  
041082,001534: 15,2516           02707                                    STARAD                                
041083,001535: 15,2517           77650                           GOTO                                           
041084,001536: 15,2520           02736                                    GCTR                                  
041085,001537: 15,2521           40000        NOTPLAN            CS       A                                     
041086,001538: 15,2522           62557                           AD       DEC227                                
041087,001539: 15,2523           00006                           EXTEND                                         
041088,001540: 15,2524           62535                           BZMF     CALSAM1                               
041089,001541: 15,2525           51757                           INDEX    STARIND                               
041090,001542: 15,2526           31755                           CA       BESTI                                 
041091,001543: 15,2527           50120                           INDEX    FIXLOC                                
041092,001544: 15,2530           54046                           TS       X1                                    
041093,001545: 15,2531           06042                           TC       INTPRET                               
041094,001546: 15,2532           52173                           VLOAD*   GOTO                                  
041095,001547: 15,2533           30347                                    CATLOG,1                              

Page 957

041097,001549: 15,2534           02736                                    GCTR                                  
041098,001550: 15,2535           06042        CALSAM1            TC       INTPRET                               
041099,001551: 15,2536           45145        CALSAM             DLOAD    CALL                                  
041100,001552: 15,2537           03562                                    TSIGHT                                
041101,001553: 15,2540           30500                                    LOCSAM                                
041102,001554: 15,2541           77340                           LXC,1    VLOAD                                 
041103,001555: 15,2542           02757                                    STARIND                               
041104,001556: 15,2543           02707                                    VEARTH                                
041105,001557: 15,2544           24001                           STOVL    0D                                    
041106,001558: 15,2545           02715                                    VSUN                                  
041107,001559: 15,2546           26707                           STOVL    VEARTH                                
041108,001560: 15,2547           00001                                    0D                                    
041109,001561: 15,2550           02715                           STORE    VSUN                                  
041110,001562: 15,2551           70143                           DLOAD*   LXC,1                                 
041111,001563: 15,2552           02756                                    BESTI,1                               
041112,001564: 15,2553           00154                                    MPAC                                  
041113,001565: 15,2554           52173                           VLOAD*   GOTO                                  
041114,001566: 15,2555           02343                                    STARAD     -228D,1                    
041115,001567: 15,2556           02736                                    GCTR                                  
041116,001568: 15,2557           00343        DEC227             DEC      227        B-14                       
041117,001569: 15,2560           01530        VNPLANV            VN       0688                                  
041118,001570: 15,2561  37,3541               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
041119,001571: 

Page 958

041121,001573:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
041122,001574:                                                                                                  #  BY KEN VINCENT
041123,001575: 
041124,001576:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
041125,001577:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
041126,001578:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE.  IT WILL BE USED
041127,001579:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT.  THE GRAVITY VECTOR IS
041128,001580:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
041129,001581:                                                                                                  #  PARTICULAR ORIONTATIONS.  THE TWO READINGS ARE AVERAGED
041130,001582:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES.  THE TWO
041131,001583:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
041132,001584:                                                                                                  #  READINGS.
041133,001585: 
041134,001586:                                                                                                  #  CALL -
041135,001587:                                                                                                  #        TC      BANKCALL
041136,001588:                                                                                                  #        CADR    GVDETER
041137,001589: 
041138,001590:                                                                                                  #  INPUTS -
041139,001591:                                                                                                  #        PIPAS, CDUS
041140,001592: 
041141,001593:                                                                                                  #  OUTPUTS -
041142,001594:                                                                                                  #        STARSAV1 = UNIT GRAVITY
041143,001595:                                                                                                  #        GSAV     = DITTO
041144,001596:                                                                                                  #        GRAVBIT  = 1
041145,001597: 
041146,001598:                                                                                                  #  SUBROUTINES -
041147,001599:                                                                                                  #        PIPASR, IMUCOARS, IMUFINE, IMUSTALL, 1/PIPA, DELAYJOB, CDUTRIG,
041148,001600:                                                                                                  #        *NBSM*, *SNMB*, CALCGA, FOFLASH
041149,001601: 
041150,001602:                                                                                                  #  DEBRIS -
041151,001603:                                                                                                  #        VAC, SAC, STARAD, XSM, XNB, THETAD, DELV, COSCDU, SINCDU
041152,001604: 
041153,001605: 15,2561           32762        GVDETER            CAF      42DEG                                 
041154,001606: 15,2562           54321                           TS       THETAD                                
041155,001607: 15,2563           40000                           COM                                            
041156,001608: 15,2564           54322                           TS       THETAD     +1                         
041157,001609: 15,2565           32763                           CAF      35DEG                                 
041158,001610: 15,2566           54323                           TS       THETAD     +2                         
041159,001611: 15,2567           06042                           TC       INTPRET                               
041160,001612: 15,2570           45014                           CLEAR    CALL                                  
041161,001613: 15,2571           01662                                    REFSMFLG                              
041162,001614: 15,2572           32666                                    LUNG                                  
041163,001615: 
041164,001616:                                                                                                  #  FIND GIMBAL ANGLES WHICH ROTATE SM 180 DEG ABOUT G VEC
041165,001617: 
041166,001618:                                                                                                  #        DEFINE G COOR SYS
041167,001619:                                                                                                  #                      -
041168,001620:                                                                                                  #                      X          UNIT G     
041169,001621:                                                                                                  #                *     -                  -  
041170,001622:                                                                                                  #                M =   Y   =   UNITEZSM * X )
041171,001623:                                                                                                  #                      -             -    -   
041172,001624:                                                                                                  #                      Z       UNIT( X  * Y ) 
041173,001625: 
041174,001626:                                                                                                  #        THEN ROTATED SM WRT PRESENT IS
041175,001627: 
041176,001628:                                                                                                  #                             1,  0 , 0  
041177,001629:                                                                                                  #                 *      *T               *             *      *

Page 959

041179,001631:                                                                                                  #                XSM =   M    0, -1 , 0   M  =  2 (X X ) - 1/2 I  *
041180,001632:                                                                                                  #                                                   I J
041181,001633:                                                                                                  #                             0 , 0 ,-1  
041182,001634: 
041183,001635:                                                                                                  #        ALSO NB WRT PRES SM IS
041184,001636: 
041185,001637:                                                                                                  #                 *      *  *
041186,001638:                                                                                                  #                XNB = NBSM I
041187,001639: 
041188,001640:                                                                                                  #                                 *     *
041189,001641:                                                                                                  #        GIMBAL ANGLES = CALCGA( XSM , XNB )
041190,001642: 
041191,001643: 15,2000                                           SETLOC   P50S                                  
041192,001644: 15,2000                                           BANK                                           
041193,001645: 15,2573                                           COUNT*   $$/P57                                
041194,001646: 15,2573           66370                           AXT,1    SSP                                   #  X1=18
041195,001647: 15,2574           00022                                    18D                                   #  S1=6
041196,001648: 15,2575           00051                                    S1                                    #  X2, -2
041197,001649: 15,2576           00006                                    6D                                    
041198,001650: 15,2577           77744                           LXC,2                                          
041199,001651: 15,2600           00050                                    S1                                    
041200,001652: 15,2601           45173        GRAVEL             VLOAD*   CALL                                  
041201,001653: 15,2602           54000                                    XUNIT      -6,2                       
041202,001654: 15,2603           47675                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
041203,001655: 15,2604           06707                           STORE    XNB        +18D,1                     
041204,001656: 15,2605           77775                           VLOAD                                          
041205,001657: 15,2606           02731                                    STAR                                  
041206,001658: 15,2607           73744                           LXC,2    VXSC*                                 #  COMPLEMENT - UNITX ARE BACKWARD -
041207,001659: 15,2610           00047                                    X2                                    
041208,001660: 15,2611           75040                                    STAR       +6,2                       #  OUTER PRODUCT
041209,001661: 15,2612           71152                           VSL2     LXC,2                                 
041210,001662: 15,2613           00047                                    X2                                    
041211,001663: 15,2614           63047                           VSU*     INCR,2                                
041212,001664: 15,2615           54000                                    XUNIT      -6,2                       
041213,001665: 15,2616           00002                                    2D                                    
041214,001666: 15,2617           06665                           STORE    XSM        +18D,1                     
041215,001667: 15,2620           45100                           TIX,1    CALL                                  
041216,001668: 15,2621           32601                                    GRAVEL                                
041217,001669: 15,2622           47355                                    CALCGA                                
041218,001670: 15,2623           74575                           VLOAD    VSR1                                  
041219,001671: 15,2624           02715                                    GOUT                                  
041220,001672: 15,2625           36723                           STCALL   STARAD     +12D                       
041221,001673: 15,2626           32666                                    LUNG                                  
041222,001674: 15,2627           74575                           VLOAD    VSR1                                  
041223,001675: 15,2630           02715                                    GOUT                                  
041224,001676: 15,2631           53455                           VAD      UNIT                                  
041225,001677: 15,2632           02723                                    STARAD     +12D                       
041226,001678: 15,2633           02761                           STORE    STARSAV1                              
041227,001679: 15,2634           77641                           DOT                                            
041228,001680: 15,2635           02231                                    GSAV                                  
041229,001681: 15,2636           65552                           SL1      ACOS                                  

Page 960

041231,001683: 15,2637           01045                           STORE    DSPTEM1                               
041232,001684: 15,2640           77776                           EXIT                                           
041233,001685: 15,2641           05516                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
041234,001686: 15,2642           00014                           ADRES    FREEFLAG                              
041235,001687: 
041236,001688: 15,2643           32761                           CA       DISGRVER                              
041237,001689: 15,2644           04616                           TC       BANKCALL                              
041238,001690: 15,2645           20477                           CADR     GOFLASH                               
041239,001691: 15,2646           06001                           TC       GOTOPOOH                              
041240,001692: 15,2647           12652                           TCF      PROGRAV                               #  VB33 - PROCEED
041241,001693: 15,2650           05504                           TC       UPFLAG                                #  VB32 - RECYCLE - STORE GRAV AND DO IT AGAIN
041242,001694: 15,2651           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
041243,001695: 
041244,001696: 15,2652           05353        PROGRAV            TC       PHASCHNG                              
041245,001697: 15,2653           04024                           OCT      04024                                 
041246,001698: 
041247,001699: 15,2654           06042                           TC       INTPRET                               
041248,001700: 15,2655           77775                           VLOAD                                          
041249,001701: 15,2656           02761                                    STARSAV1                              
041250,001702: 15,2657           02231                           STORE    GSAV                                  
041251,001703: 15,2660           77776                           EXIT                                           
041252,001704: 15,2661           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
041253,001705: 15,2662           70074                           MASK     FLAGWRD0                              
041254,001706: 15,2663           10000                           CCS      A                                     
041255,001707: 15,2664           12561                           TCF      GVDETER                               #  SET
041256,001708: 15,2665           13536                           TCF      ATTCHK                                #  EXIT FROM GVDETER
041257,001709: 
041258,001710: 15,2666           77220        LUNG               STQ      VLOAD                                 
041259,001711: 15,2667           02745                                    QMIN                                  
041260,001712: 15,2670           24007                                    ZEROVEC                               
041261,001713: 15,2671           02707                           STORE    GACC                                  
041262,001714: 15,2672           77776                           EXIT                                           
041263,001715: 15,2673           05353                           TC       PHASCHNG                              
041264,001716: 15,2674           04024                           OCT      04024                                 
041265,001717: 
041266,001718: 15,2675           06042                           TC       INTPRET                               
041267,001719: 15,2676           77624                           CALL                                           
041268,001720: 15,2677           31557                                    COARSE                                
041269,001721: 15,2700           77776                           EXIT                                           
041270,001722: 15,2701           32760                           CA       T/2SEC                                
041271,001723: 15,2702           55736                           TS       GCTR                                  
041272,001724: 15,2703           37721                           CA       PRIO31                                
041273,001725: 15,2704           55074                           TS       1/PIPADT                              
041274,001726: 15,2705           04616                           TC       BANKCALL                              
041275,001727: 15,2706           15707                           CADR     GCOMPZER                              #  INITIALIZE COMPENSATION
041276,001728: 15,2707           05353                           TC       PHASCHNG                              
041277,001729: 15,2710           04024                           OCT      04024                                 
041278,001730: 
041279,001731: 15,2711           04616                           TC       BANKCALL                              #   DONT NEED TO INHINY  THIS USED TO
041280,001732: 15,2712           77541                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA

Page 961

041282,001734: 15,2713           06042                           TC       INTPRET                               
041283,001735: 15,2714           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
041284,001736: 15,2715           35000                           CAF      2SECS                                 
041285,001737: 15,2716           05173                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
041286,001738: 15,2717           02721                           ADRES    GRABGRAV                              
041287,001739: 
041288,001740: 15,2720           05155                           TC       ENDOFJOB                              
041289,001741: 
041290,001742: 15,2721           04674        GRABGRAV           TC       IBNKCALL                              
041291,001743: 15,2722           77541                           CADR     PIPSRINE                              
041292,001744: 15,2723           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
041293,001745: 15,2724           05105                           TC       FINDVAC                               
041294,001746: 15,2725  E5,1706                                  EBANK=   STARAD                                
041295,001747: 15,2725           02730 32065                     2CADR    ADDGRAV                               
041296,001748: 
041297,001749: 15,2727           05261                           TC       TASKOVER                              
041298,001750: 
041299,001751: 15,2730           04616        ADDGRAV            TC       BANKCALL                              
041300,001752: 15,2731           15271                           CADR     1/PIPA                                
041301,001753: 15,2732           25736                           INCR     GCTR                                  
041302,001754: 15,2733           06042                           TC       INTPRET                               
041303,001755: 15,2734           53375                           VLOAD    VAD                                   
041304,001756: 15,2735           00325                                    DELV                                  
041305,001757: 15,2736           02707                                    GACC                                  
041306,001758: 15,2737           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
041307,001759: 15,2740           50135                           SLOAD    BMN                                   
041308,001760: 15,2741           02737                                    GCTR                                  
041309,001761: 15,2742           32714                                    GREED                                 
041310,001762: 15,2743           53575                           VLOAD    UNIT                                  
041311,001763: 15,2744           02707                                    GACC                                  
041312,001764: 15,2745           36731                           STCALL   STAR                                  
041313,001765: 15,2746           47541                                    CDUTRIG                               #  TRANSFORM IN NB COOR AND STORE
041314,001766: 15,2747           77624                           CALL                                           #        IN OUTPUT
041315,001767: 15,2750           47673                                    *SMNB*                                
041316,001768: 15,2751           02715                           STORE    GOUT                                  
041317,001769: 15,2752           77776                           EXIT                                           
041318,001770: 15,2753           05353                           TC       PHASCHNG                              
041319,001771: 15,2754           04024                           OCT      04024                                 
041320,001772: 
041321,001773: 15,2755           06042        QMINEXIT           TC       INTPRET                               
041322,001774: 15,2756           77650                           GOTO                                           
041323,001775: 15,2757           02745                                    QMIN                                  
041324,001776: 15,2760           77753        T/2SEC             DEC      -20        B-14                       
041325,001777: 15,2761           01404        DISGRVER           VN       0604                                  
041326,001778: 15,2762           07357        42DEG              OCT      07357                                 
041327,001779: 15,2763           06211        35DEG              OCT      06211                                 
041328,001780: 

Page 962

041330,001782:                                                                                                  #  NAME   GYROTRIM
041331,001783: 
041332,001784:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
041333,001785:                                                                                                  #  TO ATTAIN A PRESCRIBED SET OF ANGLES.  THIS ROUTINE ASSUMES THE
041334,001786:                                                                                                  #  VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
041335,001787: 
041336,001788:                                                                                                  #  CALL          CALL
041337,001789:                                                                                                  #                        GYROTRIM
041338,001790: 
041339,001791:                                                                                                  #  INPUT         THETAD,+1,+2 = DESIRED CDU ANGLES
041340,001792:                                                                                                  #                CDUX,CDUY,CDUZ
041341,001793: 
041342,001794:                                                                                                  #  OUTPUT -      GYRO TORQUE PULSES
041343,001795: 
041344,001796:                                                                                                  #  SUBROUTINES-  TRG*NBSM, *NBSM*, CDUTRIG, AXISGEN, CALCGTA, IMUFINE
041345,001797:                                                                                                  #                IMPULSE, IMUSTALL
041346,001798:                                                                                                  #                 -         -        -       *          *    -
041347,001799:                                                                                                  #  DEBRIS -      CDUSPOT, SINCDU, COSCDU, STARAD, VAC, XDC, OGC
041348,001800: 
041349,001801: 15,2764                                           COUNT*   $$/P57                                
041350,001802: 15,2764           71220        GYROTRIM           STQ      DLOAD                                 
041351,001803: 15,2765           02745                                    QMIN                                  
041352,001804: 15,2766           00322                                    THETAD                                
041353,001805: 15,2767           65325                           PDDL     PDDL                                  
041354,001806: 15,2770           00324                                    THETAD     +2                         
041355,001807: 15,2771           00323                                    THETAD     +1                         
041356,001808: 15,2772           77666                           VDEF                                           
041357,001809: 15,2773           24766                           STOVL    CDUSPOT                               
041358,001810: 15,2774           24005                                    XUNIT                                 
041359,001811: 15,2775           77624                           CALL                                           
041360,001812: 15,2776           47666                                    TRG*NBSM                              
041361,001813: 15,2777           26707                           STOVL    STARAD                                
041362,001814: 15,3000           24003                                    YUNIT                                 
041363,001815: 15,3001           77624                           CALL                                           
041364,001816: 15,3002           47675                                    *NBSM*                                
041365,001817: 15,3003           36715                           STCALL   STARAD     +6                         
041366,001818: 15,3004           47541                                    CDUTRIG                               
041367,001819: 15,3005           77624                           CALL                                           
041368,001820: 15,3006           20030                                    CALCSMSC                              
041369,001821: 15,3007           77775                           VLOAD                                          
041370,001822: 15,3010           02665                                    XNB                                   
041371,001823: 15,3011           24007                           STOVL    6D                                    
041372,001824: 15,3012           02673                                    YNB                                   
041373,001825: 15,3013           34015                           STCALL   12D                                   
041374,001826: 15,3014           47443                                    AXISGEN                               
041375,001827: 15,3015           77624                           CALL                                           
041376,001828: 15,3016           47251                                    CALCGTA                               
041377,001829: 15,3017           77776        JUSTTRIM           EXIT                                           
041378,001830: 15,3020           33027                           CA       GYRCDR                                
041379,001831: 15,3021           04616                           TC       BANKCALL                              
041380,001832: 15,3022           17314                           CADR     IMUPULSE                              

Page 963

041382,001834: 15,3023           04616                           TC       BANKCALL                              
041383,001835: 15,3024           17707                           CADR     IMUSTALL                              
041384,001836: 15,3025           05701                           TC       CURTAINS                              
041385,001837: 15,3026           12755                           TCF      QMINEXIT                              
041386,001838: 
041387,001839: 15,3027           02737        GYRCDR             ECADR    OGC                                   
041388,001840: 

Page 964

041390,001842:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
041391,001843: 
041392,001844: 15,3030           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
041393,001845: 15,3031           13033                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
041394,001846: 15,3032           34753        1STAR              CAF      BIT1                                  
041395,001847: 15,3033           55757                           TS       STARIND                               
041396,001848: 
041397,001849: 15,3034           05353                           TC       PHASCHNG                              
041398,001850: 15,3035           04024                           OCT      04024                                 
041399,001851: 
041400,001852: 15,3036           12245                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
041401,001853: 
041402,001854: 15,3037           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
041403,001855: 15,3040           00006                           EXTEND                                         
041404,001856: 15,3041           13052                           BZF      ASTAR                                 #  1ST STAR MARKED
041405,001857: 
041406,001858: 15,3042           05353                           TC       PHASCHNG                              
041407,001859: 15,3043           04024                           OCT      04024                                 
041408,001860: 
041409,001861: 15,3044           06042                           TC       INTPRET                               
041410,001862: 15,3045           45145                           DLOAD    CALL                                  
041411,001863: 15,3046           03562                                    TSIGHT                                #  TIME OF 2ND MARK
041412,001864: 15,3047           32472                                    PLANET                                
041413,001865: 15,3050           37254                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
041414,001866: 15,3051           33064                                    SURFLINE                              
041415,001867: 
041416,001868: 15,3052           06042        ASTAR              TC       INTPRET                               
041417,001869: 15,3053           77775                           VLOAD                                          
041418,001870: 15,3054           02715                                    STARAD     +6                         
041419,001871: 15,3055           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
041420,001872: 15,3056           45145                           DLOAD    CALL                                  
041421,001873: 15,3057           03562                                    TSIGHT                                #  TIME OF 1ST MARK
041422,001874: 15,3060           32472                                    PLANET                                
041423,001875: 15,3061           03246                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
041424,001876: 15,3062           77776                           EXIT                                           
041425,001877: 15,3063           13032                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
041426,001878: 

Page 965

041428,001880:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
041429,001881: 
041430,001882: 15,3064           77131        SURFLINE           SSP      AXT,2                                 
041431,001883: 15,3065           00052                                    S2                                    
041432,001884: 15,3066           00006                                    6                                     
041433,001885: 15,3067           00014                                    12D                                   
041434,001886: 15,3070           64373        WRTDESIR           VLOAD*   MXV                                   
041435,001887: 15,3071           74515                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
041436,001888: 15,3072           03607                                    XSMD                                  
041437,001889: 15,3073           77656                           UNIT                                           
041438,001890: 15,3074           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
041439,001891: 15,3075           77773                           VLOAD*                                         
041440,001892: 15,3076           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
041441,001893: 15,3077           10023                           STORE    18D,2                                 
041442,001894: 15,3100           43104                           TIX,2    BON                                   
041443,001895: 15,3101           33070                                    WRTDESIR                              
041444,001896: 15,3102           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
041445,001897: 15,3103           33111                                    INITBY                                
041446,001898: 15,3104           77624        DOALIGN            CALL                                           
041447,001899: 15,3105           31250                                    R54                                   #  DO CHKSDATA
041448,001900: 15,3106           77614                           BOFF                                           
041449,001901: 15,3107           00354                                    FREEFLAG                              
041450,001902: 15,3110           33171                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
041451,001903: 15,3111           77624        INITBY             CALL                                           
041452,001904: 15,3112           47443                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES. XDC,YDC,ZDC
041453,001905: 15,3113           77624                           CALL                                           
041454,001906: 15,3114           47251                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
041455,001907: 15,3115           77776                           EXIT                                           
041456,001908: 15,3116           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
041457,001909: 15,3117           70104                           MASK     FLAGWRD8                              
041458,001910: 15,3120           10000                           CCS      A                                     
041459,001911: 15,3121           13130                           TCF      5DEGTEST                              
041460,001912: 15,3122           33276                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
041461,001913: 15,3123           04616                           TC       BANKCALL                              
041462,001914: 15,3124           20477                           CADR     GOFLASH                               
041463,001915: 15,3125           06001                           TC       GOTOPOOH                              #  V34 - TERMINATE
041464,001916: 15,3126           13130                           TCF      5DEGTEST                              #  VB33 - PROCEED TO COARSE OR FINE
041465,001917: 15,3127           13172                           TCF      P57POST    +1                         #  VB32 - RECYCLE, MAYBE RE-ALIGN
041466,001918: 
041467,001919: 15,3130           06042        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
041468,001920: 15,3131           40175                           VLOAD    BOV                                   
041469,001921: 15,3132           02740                                    OGC                                   
041470,001922: 15,3133           33134                                    SURFSUP                               
041471,001923: 15,3134           02750        SURFSUP            STORE    OGCT                                  
041472,001924: 15,3135           40141                           V/SC     BOV                                   
041473,001925: 15,3136           30602                                    5DEGREES                              
041474,001926: 15,3137           33237                                    COATRIM                               
041475,001927: 15,3140           52131                           SSP      GOTO                                  
041476,001928: 15,3141           02746                                    QMIN                                  
041477,001929: 15,3142           33144                                    SURFDISP                              

Page 966

041479,001931: 15,3143           33017                                    JUSTTRIM                              #  ANGLES LESS THAN 5DEG, DO GYRO TORQ
041480,001932: 
041481,001933: 15,3144           77776        SURFDISP           EXIT                                           
041482,001934: 15,3145           05353                           TC       PHASCHNG                              
041483,001935: 15,3146           04024                           OCT      04024                                 
041484,001936: 
041485,001937: 15,3147           06042                           TC       INTPRET                               
041486,001938: 15,3150           75160                           AXC,1    AXC,2                                 
041487,001939: 15,3151           03606                                    XSMD                                  
041488,001940: 15,3152           01733                                    REFSMMAT                              
041489,001941: 15,3153           45014                           SET      CALL                                  
041490,001942: 15,3154           01462                                    REFSMFLG                              
041491,001943: 15,3155           31371                                    MATMOVE                               
041492,001944: 15,3156           77776                           EXIT                                           
041493,001945: 15,3157           11144                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
041494,001946: 15,3160           13162                           TCF      B2F8                                  
041495,001947: 15,3161           13172                           TCF      P57POST    +1                         
041496,001948: 
041497,001949: 15,3162           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
041498,001950: 15,3163           70104                           MASK     FLAGWRD8                              
041499,001951: 15,3164           10000                           CCS      A                                     
041500,001952: 15,3165           13544                           TCF      P57JUMP                               #  ITS SET
041501,001953: 15,3166           06042                           TC       INTPRET                               
041502,001954: 15,3167           77624                           CALL                                           
041503,001955: 15,3170           33471                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
041504,001956: 15,3171           77776        P57POST            EXIT                                           
041505,001957: 15,3172           35741                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
041506,001958: 15,3173           04616                           TC       BANKCALL                              
041507,001959: 15,3174           20624                           CADR     GOPERF1                               
041508,001960: 15,3175           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041509,001961: 15,3176           13544                           TCF      P57JUMP                               #  VB33 - PROCEED TO RE-ALIGN
041510,001962: 15,3177           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
041511,001963: 15,3200           61144                           AD       OPTION2                               
041512,001964: 15,3201           00006                           EXTEND                                         
041513,001965: 15,3202           13204                           BZF      +2                                    #  YES - GO CALCULATE LANDING SITE
041514,001966: 15,3203           16001                           TCF      GOTOPOOH                              #  NO - EXIT P57
041515,001967: 15,3204           05353                           TC       PHASCHNG                              #  RESTART PLACE
041516,001968: 15,3205           04024                           OCT      04024                                 
041517,001969: 15,3206           06042                           TC       INTPRET                               
041518,001970: 15,3207           45175                           VLOAD    CALL                                  #  USE GNB
041519,001971: 15,3210           02231                                    GSAV                                  
041520,001972: 15,3211           47663                                    CDU*NBSM                              #  GO TO SM COORDS
041521,001973: 15,3212           43105                           VXM      SET                                   #        ON MOON SO SET LUNAFLAG
041522,001974: 15,3213           01734                                    REFSMMAT                              #        G(REF) = (REFSMMAT)T (NBSM)GNB
041523,001975: 15,3214           01463                                    LUNAFLAG                              
041524,001976: 15,3215           51515                           PDVL     ABVAL                                 
041525,001977: 15,3216           02023                                    RLS                                   
041526,001978: 15,3217           45561                           VXSC     STADR                                 
041527,001979: 15,3220           75745                           STORE    ALPHAV                                #  ALPHAV = RLSMAG * G(REF)
041528,001980: 15,3221           47014                           CLEAR    RTB                                   

Page 967

041530,001982: 15,3222           00662                                    ERADFLAG                              
041531,001983: 15,3223           21574                                    LOADTIME                              
041532,001984: 15,3224           77624                           CALL                                           
041533,001985: 15,3225           30440                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
041534,001986: 15,3226           01220                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
041535,001987: 15,3227           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT 0-5D IN PDLIST
041536,001988: 15,3230           01242                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
041537,001989: 15,3231           77606                           PUSH                                           #  TIME AT 6-7 IN PDLIST
041538,001990: 15,3232           35234                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
041539,001991: 15,3233           51700                                    R-TO-RP                               
041540,001992: 15,3234           02023                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
041541,001993: 15,3235           77776                           EXIT                                           
041542,001994: 15,3236           16001                           TCF      GOTOPOOH                              #  EXIT P57
041543,001995: 

Page 968

041545,001997:                                                                                                  #  COARSE AND FINE ALIGN IMU
041546,001998: 
041547,001999: 15,3237           75160        COATRIM            AXC,1    AXC,2                                 
041548,002000: 15,3240           02664                                    XDC                                   
041549,002001: 15,3241           02642                                    XSM                                   
041550,002002: 15,3242           77624                           CALL                                           
041551,002003: 15,3243           31371                                    MATMOVE                               
041552,002004: 15,3244           77624                           CALL                                           
041553,002005: 15,3245           47541                                    CDUTRIG                               
041554,002006: 15,3246           77624                           CALL                                           
041555,002007: 15,3247           20030                                    CALCSMSC                              
041556,002008: 15,3250           77624                           CALL                                           
041557,002009: 15,3251           47355                                    CALCGA                                
041558,002010: 15,3252           77414                           BOFF     EXIT                                  
041559,002011: 15,3253           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
041560,002012: 15,3254           33266                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
041561,002013: 15,3255           35010                           CAF      V06N22                                #  THAN 5 DEGREES
041562,002014: 15,3256           04616                           TC       BANKCALL                              
041563,002015: 15,3257           20477                           CADR     GOFLASH                               
041564,002016: 15,3260           06001                           TC       GOTOPOOH                              
041565,002017: 15,3261           13263                           TCF      +2                                    
041566,002018: 15,3262           13255                           TCF      -5                                    
041567,002019: 15,3263           05353                           TC       PHASCHNG                              
041568,002020: 15,3264           04024                           OCT      04024                                 
041569,002021: 
041570,002022: 15,3265           06042                           TC       INTPRET                               
041571,002023: 15,3266           77624        CORSIT             CALL                                           
041572,002024: 15,3267           31557                                    COARSE                                
041573,002025: 15,3270           77624                           CALL                                           
041574,002026: 15,3271           31603                                    NCOARSE                               
041575,002027: 15,3272           77624                           CALL                                           
041576,002028: 15,3273           32764                                    GYROTRIM                              
041577,002029: 15,3274           77650                           GOTO                                           
041578,002030: 15,3275           33144                                    SURFDISP                              
041579,002031: 15,3276           01535        DISPGYRO           VN       0693                                  
041580,002032: 

Page 969

041582,002034:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
041583,002035: 
041584,002036: 15,3277           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
041585,002037: 15,3300           33635                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
041586,002038: 
041587,002039: 15,3301           36250                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
041588,002040: 15,3302           55144                           TS       OPTION2                               
041589,002041: 15,3303           34753        P57OPT             CAF      BIT1                                  
041590,002042: 15,3304           04616                           TC       BANKCALL                              
041591,002043: 15,3305           20714                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
041592,002044: 15,3306           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
041593,002045: 15,3307           13314                           TCF      ALIGNOPT                              #  V33 PROCEED
041594,002046: 15,3310           13303                           TCF      P57OPT                                #  V32 RECYCLE
041595,002047: 
041596,002048: 15,3311           05353                           TC       PHASCHNG                              
041597,002049: 15,3312           00014                           OCT      00014                                 
041598,002050: 15,3313           05155                           TC       ENDOFJOB                              
041599,002051: 
041600,002052: 15,3314           31144        ALIGNOPT           CA       OPTION2                               
041601,002053: 15,3315           76250                           MASK     THREE                                 
041602,002054: 15,3316           50000                           INDEX    A                                     
041603,002055: 15,3317           13320                           TCF      +1                                    
041604,002056: 15,3320           13333                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
041605,002057: 15,3321           13374                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
041606,002058: 15,3322           13303                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
041607,002059: 15,3323           06042                           TC       INTPRET                               #  OPTION 3 REFSMMAT
041608,002060: 15,3324           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
041609,002061: 15,3325           01733                                    REFSMMAT                              
041610,002062: 15,3326           03606                                    XSMD                                  
041611,002063: 15,3327           77624                           CALL                                           
041612,002064: 15,3330           31371                                    MATMOVE                               
041613,002065: 15,3331           77650                           GOTO                                           
041614,002066: 15,3332           33373                                    PACKOPTN   -1                         
041615,002067: 
041616,002068: 15,3333           06042        TDISP              TC       INTPRET                               
041617,002069: 15,3334           77745                           DLOAD                                          
041618,002070: 15,3335           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
041619,002071: 15,3336           01045        P57A               STORE    DSPTEM1                               
041620,002072: 15,3337           77776                           EXIT                                           
041621,002073: 15,3340           32170        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
041622,002074: 15,3341           04616                           TC       BANKCALL                              
041623,002075: 15,3342           20477                           CADR     GOFLASH                               
041624,002076: 15,3343           16001                           TCF      GOTOPOOH                              #  V34 - TERMINATE
041625,002077: 15,3344           13346                           TCF      +2                                    
041626,002078: 15,3345           13340                           TCF      P57AA                                 #  VB32 - RECYCLE
041627,002079: 
041628,002080: 15,3346           06042                           TC       INTPRET                               
041629,002081: 15,3347           65234                           RTB      PDDL                                  
041630,002082: 15,3350           21574                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
041631,002083: 15,3351           01045                                    DSPTEM1                               

Page 970

041633,002085: 15,3352           65254                           BZE      PDDL                                  
041634,002086: 15,3353           33363                                    P57C                                  #  IF KEY IN TIME ZERO - TALIGN=CURRENT TIME
041635,002087: 15,3354           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
041636,002088: 15,3355           01045                                    DSPTEM1                               
041637,002089: 15,3356           33363                                    P57C                                  
041638,002090: 15,3357           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
041639,002091: 15,3360           74335                           STORE    TIG                                   #  STORE IT IN TIG
041640,002092: 15,3361           36775                           STCALL   TALIGN                                
041641,002093: 15,3362           33365                                    P57D                                  
041642,002094: 15,3363           45545        P57C               DLOAD    STADR                                 
041643,002095: 15,3364           75002                           STORE    TALIGN                                
041644,002096: 15,3365           34041        P57D               STCALL   TDEC1                                 
041645,002097: 15,3366           27056                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
041646,002098: 15,3367           53575                           VLOAD    UNIT                                  #  IN X,Y,ZSMD
041647,002099: 15,3370           00001                                    RATT                                  
041648,002100: 15,3371           37607                           STCALL   XSMD                                  
041649,002101: 15,3372           10757                                    LSORIENT                              
041650,002102: 15,3373           77776                           EXIT                                           
041651,002103: 15,3374           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
041652,002104: 15,3375           55144                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
041653,002105: 15,3376           55145                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
041654,002106: 15,3377           34737                           CAF      REFSMBIT                              
041655,002107: 15,3400           70077                           MASK     FLAGWRD3                              #  REFSMFLG
041656,002108: 15,3401           10000                           CCS      A                                     
041657,002109: 15,3402           34745                           CAF      BIT7                                  #  SET
041658,002110: 15,3403           27145                           ADS      OPTION1    +2                         #  CLEAR - JUST ZERO
041659,002111: 15,3404           34753                           CAF      ATTFLBIT                              
041660,002112: 15,3405           70102                           MASK     FLAGWRD6                              #  ATTFLG
041661,002113: 15,3406           10000                           CCS      A                                     
041662,002114: 15,3407           34750                           CAF      BIT4                                  #  SET
041663,002115: 15,3410           27145                           ADS      OPTION1    +2                         #  CLEAR - ZERO IN A
041664,002116: 15,3411           34750                           CAF      BIT4                                  
041665,002117: 15,3412           55143                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
041666,002118: 
041667,002119: 15,3413           33634        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
041668,002120: 15,3414           04616                           TC       BANKCALL                              
041669,002121: 15,3415           20477                           CADR     GOFLASH                               
041670,002122: 15,3416           16001                           TCF      GOTOPOOH                              #  VB34 - TERMINATE
041671,002123: 15,3417           13421                           TCF      +2                                    #  V33 - PROCEED
041672,002124: 15,3420           13413                           TCF      DSPOPTN                               #  V32 - RECYCLE
041673,002125: 
041674,002126: 15,3421           34737                           CAF      REFSMBIT                              
041675,002127: 15,3422           70077                           MASK     FLAGWRD3                              
041676,002128: 15,3423           10000                           CCS      A                                     
041677,002129: 15,3424           13524                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
041678,002130: 15,3425           34753                           CAF      ATTFLBIT                              #  CLEAR - CHECK ATTFLAG FOR STORED ATTITUDE.
041679,002131: 15,3426           70102                           MASK     FLAGWRD6                              
041680,002132: 15,3427           10000                           CCS      A                                     
041681,002133: 15,3430           13530                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
041682,002134: 15,3431           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 971

041684,002136: 15,3432           71144                           MASK     OPTION2                               
041685,002137: 15,3433           10000                           CCS      A                                     
041686,002138: 15,3434           13530                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
041687,002139: 15,3435           05567                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS - ALARM 701
041688,002140: 15,3436           00701                           OCT      701                                   
041689,002141: 15,3437           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
041690,002142: 15,3440           04616                           TC       BANKCALL                              
041691,002143: 15,3441           20477                           CADR     GOFLASH                               
041692,002144: 15,3442           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
041693,002145: 15,3443           13413                           TCF      DSPOPTN                               #  V33-PROCEED   ********TEMPORARY
041694,002146: 15,3444           13413                           TCF      DSPOPTN                               #  VB32-RECYCLE TO OPTION DISPLAY V 05N06
041695,002147: 

Page 972

041697,002149:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
041698,002150: 
041699,002151: 15,3445           40220        MFREF              STQ      SETPD                                 
041700,002152: 15,3446           02746                                    QMAJ                                  
041701,002153: 15,3447           00001                                    0                                     
041702,002154: 15,3450           77634                           RTB                                            
041703,002155: 15,3451           21574                                    LOADTIME                              
041704,002156: 15,3452           27562                           STOVL    TSIGHT                                
041705,002157: 15,3453           03246                                    VEC1                                  
041706,002158: 15,3454           41525                           PDDL     PUSH                                  
041707,002159: 15,3455           03562                                    TSIGHT                                
041708,002160: 15,3456           77624                           CALL                                           
041709,002161: 15,3457           55716                                    RP-TO-R                               
041710,002162: 15,3460           27246                           STOVL    VEC1                                  
041711,002163: 15,3461           03254                                    VEC2                                  
041712,002164: 15,3462           65201                           SETPD    PDDL                                  
041713,002165: 15,3463           00001                                    0                                     
041714,002166: 15,3464           03562                                    TSIGHT                                
041715,002167: 15,3465           45006                           PUSH     CALL                                  
041716,002168: 15,3466           55716                                    RP-TO-R                               
041717,002169: 15,3467           37254                           STCALL   VEC2                                  
041718,002170: 15,3470           02746                                    QMAJ                                  
041719,002171: 

Page 973

041721,002173:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
041722,002174:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
041723,002175: 
041724,002176: 15,3471           45020        REFMF              STQ      CALL                                  
041725,002177: 15,3472           02746                                    QMAJ                                  
041726,002178: 15,3473           47541                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
041727,002179: 15,3474           40234                           RTB      SETPD                                 
041728,002180: 15,3475           21574                                    LOADTIME                              
041729,002181: 15,3476           00001                                    0                                     
041730,002182: 15,3477           37562                           STCALL   TSIGHT                                
041731,002183: 15,3500           20030                                    CALCSMSC                              #  GET YNB IN SM
041732,002184: 15,3501           61375                           VLOAD    VXM                                   
041733,002185: 15,3502           02673                                    YNB                                   
041734,002186: 15,3503           01734                                    REFSMMAT                              #  YNB TO REF
041735,002187: 15,3504           65256                           UNIT     PDDL                                  
041736,002188: 15,3505           03562                                    TSIGHT                                
041737,002189: 15,3506           45006                           PUSH     CALL                                  
041738,002190: 15,3507           51700                                    R-TO-RP                               
041739,002191: 15,3510           26237                           STOVL    YNBSAV                                #  YNB TO MF
041740,002192: 15,3511           02701                                    ZNB                                   
041741,002193: 15,3512           53505                           VXM      UNIT                                  
041742,002194: 15,3513           01734                                    REFSMMAT                              #  ZNB TO REF
041743,002195: 15,3514           41525                           PDDL     PUSH                                  
041744,002196: 15,3515           03562                                    TSIGHT                                
041745,002197: 15,3516           77624                           CALL                                           
041746,002198: 15,3517           51700                                    R-TO-RP                               #  ZNB TO MF
041747,002199: 15,3520           02245                           STORE    ZNBSAV                                
041748,002200: 15,3521           77614                           SETGO                                          
041749,002201: 15,3522           03036                                    ATTFLAG                               
041750,002202: 15,3523           02746                                    QMAJ                                  
041751,002203: 

Page 974

041753,002205:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
041754,002206: 
041755,002207: 15,3524           06042        GETLMATT           TC       INTPRET                               
041756,002208: 15,3525           77624                           CALL                                           
041757,002209: 15,3526           33471                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV, ZNBSAV
041758,002210: 15,3527           77776                           EXIT                                           
041759,002211: 
041760,002212: 15,3530           05504        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
041761,002213: 15,3531           00205                           ADRES    INITALGN                              
041762,002214: 15,3532           34753                           CAF      BIT1                                  
041763,002215: 15,3533           71144                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
041764,002216: 15,3534           10000                           CCS      A                                     
041765,002217: 15,3535           12561                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
041766,002218: 
041767,002219: 15,3536           05353        ATTCHK             TC       PHASCHNG                              
041768,002220: 15,3537           04024                           OCT      04024                                 
041769,002221: 
041770,002222: 15,3540           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
041771,002223: 15,3541           70102                           MASK     FLAGWRD6                              
041772,002224: 15,3542           10000                           CCS      A                                     
041773,002225: 15,3543           13560                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
041774,002226: 15,3544           05353        P57JUMP            TC       PHASCHNG                              
041775,002227: 15,3545           04024                           OCT      04024                                 
041776,002228: 
041777,002229: 15,3546           05516                           TC       DOWNFLAG                              #  ATTFLG CLEAR - RESET INTALIGN FLAG
041778,002230: 15,3547           00205                           ADRES    INITALGN                              
041779,002231: 15,3550           36250                           CAF      THREE                                 
041780,002232: 15,3551           71144                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
041781,002233: 15,3552           50000                           INDEX    A                                     
041782,002234: 15,3553           13554                           TCF      +1                                    
041783,002235: 15,3554           13560                           TCF      P57OPT0                               #  OPTION IS 0
041784,002236: 15,3555           13601                           TCF      P57OPT1                               #  OPTION IS 1
041785,002237: 15,3556           13617                           TCF      P57OPT2                               #  OPTION IS 2
041786,002238: 15,3557           13620                           TCF      P57OPT3                               #  OPTION IS 3
041787,002239: 

Page 975

041789,002241:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
041790,002242: 
041791,002243: 15,3560           06042        P57OPT0            TC       INTPRET                               
041792,002244: 15,3561           77775                           VLOAD                                          
041793,002245: 15,3562           02237                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
041794,002246: 15,3563           27246                           STOVL    VEC1                                  
041795,002247: 15,3564           02245                                    ZNBSAV                                
041796,002248: 15,3565           37254                           STCALL   VEC2                                  
041797,002249: 15,3566           47541                                    CDUTRIG                               
041798,002250: 15,3567           77624                           CALL                                           
041799,002251: 15,3570           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
041800,002252: 15,3571           77775                           VLOAD                                          
041801,002253: 15,3572           02673                                    YNB                                   
041802,002254: 15,3573           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
041803,002255: 15,3574           02701                                    ZNB                                   
041804,002256: 15,3575           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
041805,002257: 15,3576           33445                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
041806,002258: 15,3577           77650                           GOTO                                           
041807,002259: 15,3600           33064                                    SURFLINE                              
041808,002260: 
041809,002261:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
041810,002262: 
041811,002263: 15,3601           06042        P57OPT1            TC       INTPRET                               
041812,002264: 15,3602           53575                           VLOAD    UNIT                                  
041813,002265: 15,3603           02023                                    RLS                                   #  LANDING SITE VEC
041814,002266: 15,3604           27246                           STOVL    VEC1                                  
041815,002267: 15,3605           02245                                    ZNBSAV                                #  Z ATTITUDE VEC
041816,002268: 15,3606           37254                           STCALL   VEC2                                  
041817,002269: 15,3607           47541                                    CDUTRIG                               
041818,002270: 15,3610           77624                           CALL                                           
041819,002271: 15,3611           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
041820,002272: 15,3612           45175                           VLOAD    CALL                                  
041821,002273: 15,3613           02231                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
041822,002274: 15,3614           47663                                    CDU*NBSM                              
041823,002275: 15,3615           77650                           GOTO                                           
041824,002276: 15,3616           33573                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
041825,002277: 

Page 976

041827,002279:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
041828,002280: 
041829,002281: 15,3617           13030        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
041830,002282: 
041831,002283:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
041832,002284: 
041833,002285: 15,3620           06042        P57OPT3            TC       INTPRET                               
041834,002286: 15,3621           53575                           VLOAD    UNIT                                  
041835,002287: 15,3622           02023                                    RLS                                   #  LANDING SITE VEC
041836,002288: 15,3623           03246                           STORE    VEC1                                  
041837,002289: 15,3624           27254                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
041838,002290: 15,3625           02231                                    GSAV                                  #  GRAVITY VEC NB
041839,002291: 15,3626           77624                           CALL                                           
041840,002292: 15,3627           47663                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
041841,002293: 15,3630           36761                           STCALL   STARSAV1                              
041842,002294: 15,3631           33445                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
041843,002295: 15,3632           77776                           EXIT                                           
041844,002296: 15,3633           13032                           TCF      1STAR                                 #  1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
041845,002297: 
041846,002298: 15,3634           01206        VB05N06            VN       506                                   
041847,002299: 

Page 977

041849,002301:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
041850,002302: 
041851,002303: 15,3635           41277        IMUCHK             CS       IMODES30                              
041852,002304: 15,3636           74743                           MASK     BIT9                                  
041853,002305: 15,3637           10000                           CCS      A                                     #  IS IMU ON
041854,002306: 15,3640           13644                           TCF      +4                                    #  YES
041855,002307: 
041856,002308: 15,3641           05567                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
041857,002309: 15,3642           00210                           OCT      210                                   
041858,002310: 15,3643           06001                           TC       GOTOPOOH                              
041859,002311: 
041860,002312: 15,3644           05504                           TC       UPFLAG                                
041861,002313: 15,3645           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
041862,002314: 
041863,002315: 15,3646           04631                           TC       SWRETURN                              
041864,002316: 
041865,002317: 04,2757                                           BANK     04                                    
041866,002318: 04,2000                                           SETLOC   AOTMARK2                              
041867,002319: 04,2000                                           BANK                                           
041868,002320: 04,2757                                           COUNT*   $$/P57                                
041869,002321: 
041870,002322: 04,2757           77220        LSORIENT           STQ      VLOAD                                 
041871,002323: 04,2760           02746                                    QMAJ                                  
041872,002324: 04,2761           01555                                    RRECTCSM                              
041873,002325: 04,2762           47235                           VXV      VXV                                   
041874,002326: 04,2763           01563                                    VRECTCSM                              
041875,002327: 04,2764           03607                                    XSMD                                  
041876,002328: 04,2765           77656                           UNIT                                           
041877,002329: 04,2766           03623                           STORE    ZSMD                                  
041878,002330: 04,2767           53435                           VXV      UNIT                                  
041879,002331: 04,2770           03607                                    XSMD                                  
041880,002332: 04,2771           37615                           STCALL   YSMD                                  
041881,002333: 04,2772           02746                                    QMAJ                                  
041882,002334: 

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