Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Linden Sims. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

041261,000002:                                                                                                  ## Copyright:   Public domain.
041262,000003:                                                                                                  ## Filename:    P51-P53.agc
041263,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
041264,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
041265,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
041266,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
041267,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
041268,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
041269,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
041270,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
041271,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
041272,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
041273,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
041274,000015:                                                                                                  ## Reference:   pp. 918-974
041275,000016:                                                                                                  ## Assembler:   yaYUL
041276,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
041277,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
041278,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
041279,000020:                                                                                                  ##              2017-08-22 MAS  Updated for Zerlina 56.
041280,000021: 

Page 918

041282,000023:                                                                                                  #  PROGRAM NAME- PROG52                                                                   DATE- JAN 9, 1967
041283,000024:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
041284,000025:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY- SUNDANCE REV 46
041285,000026: 
041286,000027:                                                                                                  #  FUNCTIONAL DESCRIPTION-
041287,000028: 
041288,000029:                                                                                                  #       ALIGNS THE IMU TO ONE OF THREE ORIENTATIONS SELECTED BY THE ASTRONAUT. THE PRESENT IMU ORIENTATION IS KNOWN
041289,000030:                                                                                                  #  AND IS STORED IN REFSMMAT. THE THREE POSSIBLE ORIENTATIONS MAY BE_
041290,000031: 
041291,000032:                                                                                                  #       (A) PREFERRED ORIENTATION
041292,000033: 
041293,000034:                                                                                                  #        AN OPTIMUM ORIENTATION FOR A PREVIOUSLY CALCULATED MANUEVER. THIS ORIENTATION MUST BE CALCULATED AND
041294,000035:                                                                                                  #       STORED BY A PREVIOUSLY SELECTED PROGRAM.
041295,000036: 
041296,000037:                                                                                                  #       (B) NOMINAL ORIENTATION
041297,000038: 
041298,000039:                                                                                                  #           X   =  UNIT ( R )
041299,000040:                                                                                                  #           -SM
041300,000041: 
041301,000042:                                                                                                  #           Y  =  UNIT (V X R)
041302,000043:                                                                                                  #            SM
041303,000044: 
041304,000045:                                                                                                  #           Z   =  UNIT (X   X  Y  )
041305,000046:                                                                                                  #            SM           SM     SM
041306,000047: 
041307,000048:                                                                                                  #           WHERE_
041308,000049:                                                                                                  #            R = THE GEOCENTRIC RADIUS VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041309,000050:                                                                                                  #            -
041310,000051: 
041311,000052:                                                                                                  #            V = THE INERTIAL VELOCITY VECTOR AT TIME T(ALIGN) SELECTED BY THE ASTRONAUT
041312,000053:                                                                                                  #            -
041313,000054: 
041314,000055:                                                                                                  #       (C) REFSMMAT ORIENTATION
041315,000056: 
041316,000057:                                                                                                  #           (D)  LANDING SITE - THIS IS NOT AVAILIBLE IN SUNDANCE
041317,000058: 
041318,000059:                                                                                                  #        THIS SELECTION CORRECTS THE PRESENT IMU ORIENTATION. THE PRESENT ORIENTATION DIFFERS FROM THAT TO WHICH IT
041319,000060:                                                                                                  #       WAS LAST ALIGNED ONLY DUE TO GYRO DRIFT(I.E. NEITHER GIMBAL LOCK NOR IMU POWER INTERRUPTION HAS OCCURED
041320,000061:                                                                                                  #       SINCE THE LAST ALIGNMENT).
041321,000062: 
041322,000063:                                                                                                  #       AFTER A IMU ORIENTATION HAS BEEN SELECTED ROUTINE S52.2 IS OPERATED TO COMPUTE THE GIMBAL ANGLES USING THE
041323,000064:                                                                                                  #  NEW ORIENTATION AND THE PRESENT VEHICLE ATTITUDE. CAL52A THEN USES THESE ANGLES, STORED IN THETAD,+1,+2, TO
041324,000065:                                                                                                  #  COARSE ALIGN THE IMU. THE STAR SELECTION ROUTINE, R56, IS THEN OPERATED. IF 2 STARS ARE NOT AVAILABLE AN ALARM
041325,000066:                                                                                                  #  IS FLASHED TO NOTIFY THE ASTRONAUT. AT THIS POINT THE ASTRONAUT WILL MANUEVER THE VEHICLE AND SELECT 2 STARS
041326,000067:                                                                                                  #  EITHER MANUALLY OR AUTOMATICALLY. AFTER 2 STARS HAVE BEEN SELECTED THE IMU IS FINE ALIGNED USING ROUTINE R51. IF
041327,000068:                                                                                                  #  THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING(INDICATED BY RNDVZFLG) P20 IS DISPLAYED. OTHERWISE P00 IS
041328,000069:                                                                                                  #  REQUESTED.
041329,000070: 
041330,000071:                                                                                                  #  CALLING SEQUENCE-

Page 919

041332,000073:                                                                                                  #       THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
041333,000074: 
041334,000075:                                                                                                  #  SUBROUTINES CALLED-
041335,000076: 
041336,000077:                                                                                                  #      1. FLAGDOWN      7. S52.2           13. NEWMODEX
041337,000078:                                                                                                  #      2. R02BOTH       8. CAL53A          14. PRIOLARM
041338,000079:                                                                                                  #      3. GOPERF4       9. FLAGUP
041339,000080:                                                                                                  #      4. MATMOVE      10. R56
041340,000081:                                                                                                  #      5. GOFLASH      11. R51
041341,000082:                                                                                                  #      6. S52.3        12. GOPERF3
041342,000083: 
041343,000084:                                                                                                  #  NORMAL EXIT MODES-
041344,000085: 
041345,000086:                                                                                                  #      EXITS TO ENDOFJOB
041346,000087: 
041347,000088:                                                                                                  #  ALARM OR ABORT EXIT MODES-
041348,000089: 
041349,000090:                                                                                                  #      NONE
041350,000091: 
041351,000092:                                                                                                  #  OUTPUT-
041352,000093: 
041353,000094:                                                                                                  #      THE FOLLOWING MAY BE FLASHED ON THE DSKY
041354,000095:                                                                                                  #         1. IMU ORIENTATION CODE
041355,000096:                                                                                                  #         2. ALARM CODE 215 -PREFERRED IMU ORIENTATION NOT SPECIFIED
041356,000097:                                                                                                  #         3. TIME OF NEXT IGNITION
041357,000098:                                                                                                  #         4. GIMBAL ANGLES
041358,000099:                                                                                                  #         5. ALARM CODE 405 -TWO STARS NOT AVAILABLE
041359,000100:                                                                                                  #         6. PLEASE PERFORM P00
041360,000101:                                                                                                  #      THE MODE DISPLAY MAY BE CHANGED TO 20
041361,000102: 
041362,000103:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED-
041363,000104: 
041364,000105:                                                                                                  #      PFRATFLG SHOULD BE SET IF A PREFERRED ORIENTATION HAS BEEN COMPUTED.IF IT HAS BEEN COMPUTED IT IS STORED IN
041365,000106:                                                                                                  #      XSMD,YSMD,ZSMD.
041366,000107:                                                                                                  #      RNDVZFLG INDICATES WHETHER THE RENDEZVOUS NAVIGATION PROCESS IS OPERATING.
041367,000108: 
041368,000109:                                                                                                  #  DEBRIS-
041369,000110: 
041370,000111:                                                                                                  #      WORK AREA
041371,000112: 33,3766                                           BANK     33                                    
041372,000113: 15,2000                                           SETLOC   P50S                                  
041373,000114: 15,2000                                           BANK                                           
041374,000115: 
041375,000116: 15,2067  E5,1755                                  EBANK=   BESTI                                 
041376,000117: 15,2067                                           COUNT*   $$/P52                                
041377,000118: 15,2067           04616        PROG52             TC       BANKCALL                              
041378,000119: 15,2070           11241                           CADR     R02BOTH                               #  IMU STATUS CHECK
041379,000120: 15,2071           34750                           CAF      PFRATBIT                              
041380,000121: 15,2072           70076                           MASK     FLAGWRD2                              #  IS PFRATFLG SET?
041381,000122: 15,2073           10000                           CCS      A                                     

Page 920

041383,000124: 15,2074           02077                           TC       P52A                                  #  YES
041384,000125: 15,2075           36257                           CAF      THREE                                 #  DISPLAY REFSMMAT OPTION 3
041385,000126: 15,2076           02100                           TC       P52A       +1                         
041386,000127: 15,2077           34753        P52A               CAF      BIT1                                  
041387,000128: 15,2100           55144                           TS       OPTION2                               
041388,000129: 15,2101           34753        P52B               CAF      BIT1                                  
041389,000130: 15,2102           04616                           TC       BANKCALL                              #  FLASH OPTION CODE AND ORIENTATION CODE
041390,000131: 15,2103           20714                           CADR     GOPERF4R                              #  FLASH V04N06
041391,000132: 15,2104           06001                           TC       GOTOPOOH                              
041392,000133: 15,2105           12112                           TCF      +5                                    #  V33-PROCEED
041393,000134: 15,2106           02101                           TC       P52B                                  #  NEW CODE - NEW ORIENTATION CODE INPUT
041394,000135: 15,2107           05364                           TC       PHASCHNG                              #  DISPLAY RETURN
041395,000136: 15,2110           00014                           OCT      00014                                 
041396,000137: 15,2111           05155                           TC       ENDOFJOB                              
041397,000138: 
041398,000139: 15,2112           31144                           CA       OPTION2                               
041399,000140: 15,2113           76257                           MASK     THREE                                 
041400,000141: 15,2114           50000                           INDEX    A                                     
041401,000142: 15,2115           02116                           TC       +1                                    
041402,000143: 15,2116           12124                           TCF      OPT4                                  #  OPTION 4 LANDING SITE
041403,000144: 15,2117           12176                           TCF      P52H                                  #  OPTION 1 PREFERRED
041404,000145: 15,2120           12131                           TCF      P52T                                  #  OPTION 2 NOMINAL
041405,000146: 15,2121           06051        P52E               TC       INTPRET                               #  OPTION 3 REFSMMAT
041406,000147: 15,2122           77650                           GOTO                                           
041407,000148: 15,2123           32207                                    P52F                                  #  GO DO R51
041408,000149: 
041409,000150: 15,2124           34741        OPT4               CAF      EBANK4                                #  SET EBANK TO USE TLAND
041410,000151: 15,2125           54003                           TS       EBANK                                 
041411,000152: 15,2126  E4,1426                                  EBANK=   TLAND                                 
041412,000153: 15,2126           00006                           EXTEND                                         
041413,000154: 15,2127           31427                           DCA      TLAND                                 #  IF OPTION 4 DISPLAY TLAND
041414,000155: 15,2130           12133                           TCF      P52T       +2                         
041415,000156: 
041416,000157: 15,2131           00006        P52T               EXTEND                                         
041417,000158: 15,2132           34755                           DCA      NEG0                                  
041418,000159: 15,2133           53045                           DXCH     DSPTEM1                               
041419,000160: 15,2134           35014                           CAF      EBANK5                                #  RESTORE EBANK AFTER USE OF TLAND
041420,000161: 15,2135           54003                           TS       EBANK                                 
041421,000162: 15,2136  E5,1774                                  EBANK=   TALIGN                                
041422,000163: 15,2136           32213                           CAF      V06N34*                               
041423,000164: 15,2137           04616                           TC       BANKCALL                              
041424,000165: 15,2140           20477                           CADR     GOFLASH                               
041425,000166: 15,2141           06001                           TC       GOTOPOOH                              
041426,000167: 15,2142           02144                           TC       +2                                    
041427,000168: 15,2143           02136                           TC       -5                                    
041428,000169: 15,2144           53045                           DXCH     DSPTEM1                               
041429,000170: 15,2145           00006                           EXTEND                                         
041430,000171: 15,2146           62150                           BZMF     +2                                    #  IF TIME ZERO OR NEG USE TIME2
041431,000172: 15,2147           12152                           TCF      +3                                    
041432,000173: 15,2150           00006                           EXTEND                                         

Page 921

041434,000175: 15,2151           30025                           DCA      TIME2                                 
041435,000176: 15,2152           53775                           DXCH     TALIGN                                
041436,000177: 15,2153           31144        P52V               CA       OPTION2                               
041437,000178: 15,2154           74752                           MASK     BIT2                                  
041438,000179: 15,2155           10000                           CCS      A                                     
041439,000180: 15,2156           02162                           TC       P52W                                  
041440,000181: 15,2157           06051                           TC       INTPRET                               #  OPTION 4 - GET LS ORIENTATION
041441,000182: 15,2160           77650                           GOTO                                           
041442,000183: 15,2161           32243                                    P52LS                                 
041443,000184: 

Page 922

041445,000186:                                                                                                  #  START ALIGNMENT 
041446,000187: 
041447,000188: 15,2162           06051        P52W               TC       INTPRET                               
041448,000189: 15,2163           45145                           DLOAD    CALL                                  #  PICK UP ALIGN TIME
041449,000190: 15,2164           02775                                    TALIGN                                #  COMPUTE NOMINAL IMU
041450,000191: 15,2165           31651                                    S52.3                                 #   ORIENTATION
041451,000192: 15,2166           77624        P52D               CALL                                           #  READ VEHICLE ATTITUDE AND
041452,000193: 15,2167           31620                                    S52.2                                 #   COMPUTE GIMBAL ANGLES
041453,000194: 15,2170           77776                           EXIT                                           
041454,000195: 15,2171           35010                           CAF      V06N22                                
041455,000196: 15,2172           04616                           TC       BANKCALL                              #  DISPLAY GIMBAL ANGLES
041456,000197: 15,2173           20477                           CADR     GOFLASH                               
041457,000198: 15,2174           06001                           TC       GOTOPOOH                              
041458,000199: 15,2175           12214                           TCF      COARSTYP                              #  V33-PROCEED, SEE IF GYRO TORQUE COARSE
041459,000200: 15,2176           06051        P52H               TC       INTPRET                               
041460,000201: 15,2177           77650                           GOTO                                           
041461,000202: 15,2200           32166                                    P52D                                  
041462,000203: 15,2201           06051        REGCOARS           TC       INTPRET                               
041463,000204: 15,2202           77624                           CALL                                           #  DO COARSE ALIGN
041464,000205: 15,2203           31321                                    CAL53A                                #   ROUTINE
041465,000206: 15,2204           43014        COARSRET           SET      CLEAR                                 
041466,000207: 15,2205           01462                                    REFSMFLG                              
041467,000208: 15,2206           01273                                    PFRATFLG                              
041468,000209: 15,2207           77624        P52F               CALL                                           
041469,000210: 15,2210           31007                                    R51                                   
041470,000211: 15,2211           77776        P52OUT             EXIT                                           
041471,000212: 15,2212           06001                           TC       GOTOPOOH                              
041472,000213: 15,2213     5006               VB05N09            =        V05N09                                
041473,000214: 15,2213           01442        V06N34*            VN       634                                   
041474,000215: 

Page 923

041476,000217:                                                                                                  #  CHECK FOR GRRO TORQUE COARSE ALIGNMENT
041477,000218: 15,2214           32242        COARSTYP           CAF      OCT13                                 
041478,000219: 15,2215           04616                           TC       BANKCALL                              #  DISPLAY V 50N25 WITH COARSE ALIGN OPTION
041479,000220: 15,2216           20624                           CADR     GOPERF1                               
041480,000221: 15,2217           16001                           TCF      GOTOPOOH                              #  V34-TERMIN&OE
041481,000222: 15,2220           12201                           TCF      REGCOARS                              #  V33-NORMAL COARSE
041482,000223: 15,2221           06051                           TC       INTPRET                               #  V32-GYRO TORQUE COARSE
041483,000224: 15,2222           64375                           VLOAD    MXV                                   
041484,000225: 15,2223           03607                                    XSMD                                  #  GET SM(DESIRED) WRT SM(PRESENT)
041485,000226: 15,2224           01732                                    REFSMMAT                              
041486,000227: 15,2225           77656                           UNIT                                           
041487,000228: 15,2226           26665                           STOVL    XDC                                   
041488,000229: 15,2227           03615                                    YSMD                                  
041489,000230: 15,2230           53521                           MXV      UNIT                                  
041490,000231: 15,2231           01732                                    REFSMMAT                              
041491,000232: 15,2232           26673                           STOVL    YDC                                   
041492,000233: 15,2233           03623                                    ZSMD                                  
041493,000234: 15,2234           53521                           MXV      UNIT                                  
041494,000235: 15,2235           01732                                    REFSMMAT                              
041495,000236: 15,2236           36701                           STCALL   ZDC                                   
041496,000237: 15,2237           31156                                    GYCOARS                               
041497,000238: 15,2240           77650                           GOTO                                           
041498,000239: 15,2241           32211                                    P52OUT                                
041499,000240: 15,2242           00013        OCT13              OCT      13                                    
041500,000241: 

Page 924

041502,000243:                                                                                                  #  COMPUTE LANDING ORIENTATION FOR OPTION 4
041503,000244: 15,2243           43014        P52LS              SET      CLEAR                                 #  GET LANDING SITE ORIENTATION
041504,000245: 15,2244           01463                                    LUNAFLAG                              
041505,000246: 15,2245           00662                                    ERADFLAG                              #  TO PICK UP RLS
041506,000247: 15,2246           77201                           SETPD    VLOAD                                 
041507,000248: 15,2247           00001                                    0                                     
041508,000249: 15,2250           02021                                    RLS                                   #  PICK UP LANDING SITE VEC IN MF
041509,000250: 15,2251           41525                           PDDL     PUSH                                  #  RLS PD 0-5
041510,000251: 15,2252           02775                                    TALIGN                                
041511,000252: 15,2253           36027                           STCALL   TLAND                                 #  JAM ALIGN TIME IN TLAND FOR OPTION 4
041512,000253: 
041513,000254: 15,2254           55720                                    RP-TO-R                               #  TRANS RLS TO REF
041514,000255: 15,2255           77742                           VSR2                                           
041515,000256: 15,2256           16032                           STODL    ALPHAV                                #  INPUT TO LAT-LONG
041516,000257: 15,2257           02775                                    TALIGN                                
041517,000258: 15,2260           77624                           CALL                                           
041518,000259: 15,2261           30440                                    N89DISP                               
041519,000260: 15,2262           53575                           VLOAD    UNIT                                  #  COMPUTE LANDING SITE ORIENT (XSMD)
041520,000261: 15,2263           02032                                    ALPHAV                                
041521,000262: 15,2264           37607                           STCALL   XSMD                                  
041522,000263: 15,2265           10765                                    LSORIENT                              
041523,000264: 15,2266           77650                           GOTO                                           
041524,000265: 15,2267           32166                                    P52D                                  #  NOW GO COMPUTE GIMBAL ANGLES
041525,000266: 

Page 925

041527,000268:                                                                                                  #  SUBROUTINE TO CALCULATE AND DISPLAY THE LUNAR LANDING SITE
041528,000269: 
041529,000270: 14,2000                                           SETLOC   P50S1                                 
041530,000271: 14,2000                                           BANK                                           
041531,000272: 14,2440  E5,1642                                  EBANK=   XSM                                   
041532,000273: 
041533,000274: 14,2440           77620        N89DISP            STQ                                            
041534,000275: 14,2441           02746                                    QMAJ                                  
041535,000276: 14,2442           35242                           STCALL   GDT/2      +4                         #  STORE TIME
041536,000277: 14,2443           26347                                    LAT-LONG                              
041537,000278: 14,2444           70545                           DLOAD    SR1                                   
041538,000279: 14,2445           01122                                    LONG                                  
041539,000280: 14,2446           16711                           STODL    LANDLONG                              
041540,000281: 14,2447           01124                                    ALT                                   
041541,000282: 14,2450           16713                           STODL    LANDALT                               
041542,000283: 14,2451           01120                                    LAT                                   
041543,000284: 14,2452           02707                           STORE    LANDLAT                               
041544,000285: 14,2453           77776                           EXIT                                           
041545,000286: 
041546,000287: 14,2454           32477        LSDISP             CAF      V06N89*                               #  DISPLAY LAT,LONG/2,ALT
041547,000288: 14,2455           04616                           TC       BANKCALL                              
041548,000289: 14,2456           20477                           CADR     GOFLASH                               
041549,000290: 14,2457           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE-EXIT P57
041550,000291: 14,2460           12462                           TCF      +2                                    #  V33-PROCEED- ACCEPT LS DATA
041551,000292: 14,2461           12454                           TCF      LSDISP                                #  V32 OR E- LOOK AGAIN AND/OR LOAD NEW LS
041552,000293: 
041553,000294: 14,2462           06051                           TC       INTPRET                               
041554,000295: 14,2463           72545                           DLOAD    SL1                                   
041555,000296: 14,2464           02711                                    LANDLONG                              
041556,000297: 14,2465           15122                           STODL    LONG                                  
041557,000298: 14,2466           02713                                    LANDALT                               
041558,000299: 14,2467           15124                           STODL    ALT                                   
041559,000300: 14,2470           02707                                    LANDLAT                               
041560,000301: 14,2471           15120                           STODL    LAT                                   
041561,000302: 14,2472           01242                                    GDT/2      +4                         #  PICK UP TIME
041562,000303: 14,2473           77624                           CALL                                           #  GET RLS BACK FROM LAT,LONG, ALT
041563,000304: 14,2474           26420                                    LALOTORV                              #  RLS B-29 IN MPAC AND ALPHAV
041564,000305: 14,2475           77650                           GOTO                                           
041565,000306: 14,2476           02746                                    QMAJ                                  
041566,000307: 14,2477           01531        V06N89*            VN       689                                   
041567,000308: 

Page 926

041569,000310:                                                                                                  #  NAME -S50 ALIAS  LOCSAM
041570,000311:                                                                                                  #  BY
041571,000312:                                                                                                  #  VINCENT
041572,000313:                                                                                                  #  FUNCTION - COMPUTE INPUTS FOR PICAPAR  AND PLANET
041573,000314: 
041574,000315:                                                                                                  #           DEFINE
041575,000316: 
041576,000317: 
041577,000318:                                                                                                  #           U    = UNIT( SUN WRT EARTH)
041578,000319:                                                                                                  #            ES
041579,000320: 
041580,000321:                                                                                                  #           U    =UNIT( MOON WRT EARTH)
041581,000322:                                                                                                  #            EM
041582,000323: 
041583,000324:                                                                                                  #           R    =POSITION VECTOR OF LEM
041584,000325:                                                                                                  #            L
041585,000326: 
041586,000327:                                                                                                  #           R    =MEAN DISTANCE (384402KM) BETWEEN EARTH AND MOON
041587,000328:                                                                                                  #            EM
041588,000329: 
041589,000330:                                                                                                  #           P    =RATIO   R   /(DISTANCE SUN TO EARTH)    >.00257125
041590,000331:                                                                                                  #                           EM
041591,000332: 
041592,000333:                                                                                                  #           R    =EQUATORIAL RADIUSS (6378.166KM) OF EARTH
041593,000334:                                                                                                  #            E
041594,000335: 
041595,000336:                                                                                                  #           LOCSAM  COMPUTES IN EARTH INFLUENCE
041596,000337: 
041597,000338:                                                                                                  #       VSUN   =   U
041598,000339:                                                                                                  #                   ES
041599,000340: 
041600,000341:                                                                                                  #      VEARTH  =   -UNIT( R  )
041601,000342:                                                                                                  #                          L
041602,000343: 
041603,000344:                                                                                                  #      VMOON   =    UNIT(R  .U   - R  )
041604,000345:                                                                                                  #                         EM  EM    L
041605,000346: 
041606,000347:                                                                                                  #      CSUN    =   COS 90
041607,000348: 
041608,000349:                                                                                                  #      CEARTH  =    COS(5 + ARCSIN(R /MAG(R )))
041609,000350:                                                                                                  #                                   E      L
041610,000351: 
041611,000352:                                                                                                  #      CMOON   =    COS 5
041612,000353: 
041613,000354: 
041614,000355:                                                                                                  #  INPUT -  TIME IN MPAC
041615,000356:                                                                                                  #  OUTPUT - LISTED ABOVE
041616,000357:                                                                                                  #  SUBROUTINES -LSPOS,LEMPREC
041617,000358:                                                                                                  #  DEBRIS - VAC AREA ,TSIGHT
041618,000359: 

Page 927

041620,000361: 14,2500                                           COUNT*   $$/LOSAM                              
041621,000362: 
041622,000363: 14,2500  14,2500               S50                =        LOCSAM                                
041623,000364: 14,2500           77620        LOCSAM             STQ                                            
041624,000365: 14,2501           02745                                    QMIN                                  
041625,000366: 14,2502           37562                           STCALL   TSIGHT                                
041626,000367: 14,2503           33660                                    LSPOS                                 
041627,000368: 14,2504           77745                           DLOAD                                          
041628,000369: 14,2505           03562                                    TSIGHT                                
041629,000370: 14,2506           34041                           STCALL   TDEC1                                 
041630,000371: 14,2507           27056                                    LEMPREC                               
041631,000372: 14,2510           61131                           SSP      TIX,2                                 
041632,000373: 14,2511           00052                                    S2                                    
041633,000374: 14,2512           00000                                    0                                     
041634,000375: 14,2513           30535                                    MOONCNTR                              
041635,000376: 14,2514           74375        EARTCNTR           VLOAD    VXSC                                  
041636,000377: 14,2515           02723                                    VMOON                                 
041637,000378: 14,2516           30001                                    RSUBEM                                
041638,000379: 14,2517           52372                           VSL1     VSU                                   
041639,000380: 14,2520           00001                                    RATT                                  
041640,000381: 14,2521           77656                           UNIT                                           
041641,000382: 14,2522           26723                           STOVL    VMOON                                 
041642,000383: 14,2523           00001                                    RATT                                  
041643,000384: 14,2524           57456                           UNIT     VCOMP                                 
041644,000385: 14,2525           16707                           STODL    VEARTH                                
041645,000386: 14,2526           30005                                    RSUBE                                 
041646,000387: 14,2527           77624                           CALL                                           
041647,000388: 14,2530           30567                                    OCCOS                                 
041648,000389: 14,2531           14017                           STODL    CEARTH                                
041649,000390: 14,2532           30576                                    CSS5                                  
041650,000391: 14,2533           34023                           STCALL   CMOON                                 
041651,000392: 14,2534           30562                                    ENDSAM                                
041652,000393: 14,2535           74375        MOONCNTR           VLOAD    VXSC                                  
041653,000394: 14,2536           02723                                    VMOON                                 
041654,000395: 14,2537           30007                                    ROE                                   
041655,000396: 14,2540           53445                           BVSU     UNIT                                  
041656,000397: 14,2541           02715                                    VSUN                                  
041657,000398: 14,2542           26715                           STOVL    VSUN                                  
041658,000399: 14,2543           02723                                    VMOON                                 
041659,000400: 14,2544           53361                           VXSC     VAD                                   
041660,000401: 14,2545           30001                                    RSUBEM                                
041661,000402: 14,2546           00001                                    RATT                                  
041662,000403: 14,2547           57456                           UNIT     VCOMP                                 
041663,000404: 14,2550           26707                           STOVL    VEARTH                                
041664,000405: 14,2551           00001                                    RATT                                  
041665,000406: 14,2552           57456                           UNIT     VCOMP                                 
041666,000407: 14,2553           16723                           STODL    VMOON                                 
041667,000408: 14,2554           30003                                    RSUBM                                 
041668,000409: 14,2555           77624                           CALL                                           
041669,000410: 14,2556           30567                                    OCCOS                                 

Page 928

041671,000412: 14,2557           14023                           STODL    CMOON                                 
041672,000413: 14,2560           30576                                    CSS5                                  
041673,000414: 14,2561           00017                           STORE    CEARTH                                
041674,000415: 14,2562           77745        ENDSAM             DLOAD                                          
041675,000416: 14,2563           30600                                    CSSUN                                 
041676,000417: 14,2564           00021                           STORE    CSUN                                  
041677,000418: 14,2565           77650                           GOTO                                           
041678,000419: 14,2566           02745                                    QMIN                                  
041679,000420: 14,2567           70471        OCCOS              DDV      SR1                                   
041680,000421: 14,2570           00045                                    36D                                   
041681,000422: 14,2571           43336                           ASIN     DAD                                   
041682,000423: 14,2572           30602                                    5DEGREES                              
041683,000424: 14,2573           70546                           COS      SR1                                   
041684,000425: 14,2574           77616                           RVQ                                            
041685,000426: 14,2575                        CEARTH             =        14D                                   
041686,000427: 14,2575                        CSUN               =        16D                                   
041687,000428: 14,2575                        CMOON              =        18D                                   
041688,000429: 14,2575           07760 14473  CSS5               2DEC     .2490475                              #  (COS 5)/4
041689,000430: 
041690,000431: 14,2577           04000 00000  CSSUN              2DEC     .125                                  #  (COS60)/4
041691,000432: 
041692,000433: 14,2601           00343 21616  5DEGREES           2DEC     .013888889                            #     SCALED IN REVS
041693,000434: 

Page 929

041695,000436:                                                                                                  #  PROGRAM NAME - R56              DATE  DEC 20 66
041696,000437:                                                                                                  #  MOD 1                           LOG SECTION P51-P53
041697,000438:                                                                                                  #                                  ASSEMBLY  SUNDISK  REV40
041698,000439:                                                                                                  #  BY KEN VINCENT
041699,000440: 
041700,000441:                                                                                                  #  FUNCTION
041701,000442:                                                                                                  #    THIS PROGRAM READ THE IMU-CDUS AND COMPUTES THE VEHICLE ORIENTATION
041702,000443:                                                                                                  #  WITH RESPECT TO INERTIAL SPACE. IT THEN COMPUTES THE SHAFT AXIS (SAX)
041703,000444:                                                                                                  #  WITH RESPECT TO REFERENCE INERTIAL. EACH STAR IN THE CATALOG IS TESTED
041704,000445:                                                                                                  #  TO DETERMINE IF IT IS OCCULTED BY EITHER THE EARTH,SUN OR MOON. IF A
041705,000446:                                                                                                  #  STAR IS NOT OCCULTED  THEN IT IS PAIRED WITH ALL STAR OF LOWER INDEX.
041706,000447:                                                                                                  #  THE PAIRED STAR  IS TESTED FOR OCCULTATION. PAIRS OF STARS THAT PASS
041707,000448:                                                                                                  #  THE OCCULTATION TESTS ARE TESTED FOR GOOD SEPARATION.A PAIR OF STARS
041708,000449:                                                                                                  #  HAVE GOOD SEPERATION IF THE ANGLE BETWEEN THEM IS LESS THAN 100 DEGREES
041709,000450:                                                                                                  #  AND MORE THAN 50 DEGREES. THOSE PAIRS WITH GOOD SEPARATION
041710,000451:                                                                                                  #  ARE THEN TESTED TO SEE IF THEY LIE IN CURRENT FIELD OF VIEW.(WITHIN
041711,000452:                                                                                                  #  50 DEGREESOF SAX).THE PAIR WITH MAX SEPARATION IS CHOSEN FROM
041712,000453:                                                                                                  #  THOSE WITH GOOD SEPARATION,AND     IN FIELD OF VIEW.
041713,000454: 
041714,000455:                                                                                                  #  CALLING SEQUENCE
041715,000456:                                                                                                  #  L        TC     BANKCALL
041716,000457:                                                                                                  #  L+1      CADR   R56
041717,000458:                                                                                                  #  L+2      ERROR RETURN - NO STARS IN FIELD OF VIEW
041718,000459:                                                                                                  #  L+3      NORMAL RETURN
041719,000460: 
041720,000461:                                                                                                  #  OUTPUT
041721,000462:                                                                                                  #  BESTI,BESTJ -SINGLE PREC,INTEGERS,STAR NUMBERS TIMES 6
041722,000463:                                                                                                  #  VFLAG - FLAG BIT  SET IMPLIES NO STARS IN FIELD OF VIEW
041723,000464: 
041724,000465:                                                                                                  #  INITIALIZATION
041725,000466:                                                                                                  #  1)A CALL TO LOCSAM MUST BE MADE
041726,000467: 
041727,000468:                                                                                                  #  DEBRIS
041728,000469:                                                                                                  #  WORK AREA
041729,000470:                                                                                                  #  X,Y,ZNB
041730,000471:                                                                                                  #  SINCDU,COSCDU
041731,000472:                                                                                                  #  STARAD - STAR +5
041732,000473: 
041733,000474: 14,2603  14,2603               R56                =        PICAPAR                               
041734,000475: 14,2603                                           COUNT*   $$/R56                                
041735,000476: 14,2603           04645        PICAPAR            TC       MAKECADR                              
041736,000477: 14,2604           55745                           TS       QMIN                                  
041737,000478: 14,2605           06051                           TC       INTPRET                               
041738,000479: 14,2606           77624                           CALL                                           
041739,000480: 14,2607           47535                                    CDUTRIG                               
041740,000481: 14,2610           77624                           CALL                                           
041741,000482: 14,2611           20030                                    CALCSMSC                              
041742,000483: 14,2612           77601                           SETPD                                          
041743,000484: 14,2613           00001                                    0                                     
041744,000485: 14,2614           71214                           SET      DLOAD                                 #  VFLAG = 1
041745,000486: 14,2615           01465                                    VFLAG                                 

Page 930

041747,000488: 14,2616           24007                                    DPZERO                                
041748,000489: 14,2617           26756                           STOVL    BESTI                                 
041749,000490: 14,2620           02665                                    XNB                                   
041750,000491: 14,2621           63361                           VXSC     PDVL                                  
041751,000492: 14,2622           24005                                    HALFDP                                
041752,000493: 14,2623           02701                                    ZNB                                   
041753,000494: 14,2624           74370                           AXT,1    VXSC                                  
041754,000495: 14,2625           00344                                    228D                                  #  X1 = 37 X 6 +6
041755,000496: 14,2626           24005                                    HALFDP                                
041756,000497: 14,2627           77655                           VAD                                            
041757,000498: 14,2630           53505                           VXM      UNIT                                  
041758,000499: 14,2631           01732                                    REFSMMAT                              
041759,000500: 14,2632           02731                           STORE    SAX                                   #  SAX = SHAFT AXIS
041760,000501: 14,2633           66331                           SSP      SSP                                   #  S1=S2=6
041761,000502: 14,2634           00051                                    S1                                    
041762,000503: 14,2635           00006                                    6                                     
041763,000504: 14,2636           00052                                    S2                                    
041764,000505: 14,2637           00006                                    6                                     
041765,000506: 14,2640           52100        PIC1               TIX,1    GOTO                                  #  MAJOR STAR
041766,000507: 14,2641           30643                                    PIC2                                  
041767,000508: 14,2642           30760                                    PICEND                                
041768,000509: 14,2643           50373        PIC2               VLOAD*   DOT                                   
041769,000510: 14,2644           30347                                    CATLOG,1                              
041770,000511: 14,2645           02731                                    SAX                                   
041771,000512: 14,2646           50025                           DSU      BMN                                   
041772,000513: 14,2647           30757                                    CSS33                                 
041773,000514: 14,2650           30640                                    PIC1                                  
041774,000515: 14,2651           77754                           LXA,2                                          
041775,000516: 14,2652           00046                                    X1                                    
041776,000517: 14,2653           52104        PIC3               TIX,2    GOTO                                  
041777,000518: 14,2654           30656                                    PIC4                                  
041778,000519: 14,2655           30640                                    PIC1                                  
041779,000520: 14,2656           50373        PIC4               VLOAD*   DOT                                   
041780,000521: 14,2657           47430                                    CATLOG,2                              
041781,000522: 14,2660           02731                                    SAX                                   
041782,000523: 14,2661           50025                           DSU      BMN                                   
041783,000524: 14,2662           30757                                    CSS33                                 
041784,000525: 14,2663           30653                                    PIC3                                  
041785,000526: 14,2664           47773                           VLOAD*   DOT*                                  
041786,000527: 14,2665           30347                                    CATLOG,1                              
041787,000528: 14,2666           47430                                    CATLOG,2                              
041788,000529: 14,2667           51025                           DSU      BPL                                   
041789,000530: 14,2670           30755                                    CSS40                                 
041790,000531: 14,2671           30653                                    PIC3                                  
041791,000532: 14,2672           45173                           VLOAD*   CALL                                  
041792,000533: 14,2673           30347                                    CATLOG,1                              
041793,000534: 14,2674           30732                                    OCCULT                                
041794,000535: 14,2675           77614                           BON                                            
041795,000536: 14,2676           01710                                    CULTFLAG                              
041796,000537: 14,2677           30640                                    PIC1                                  

Page 931

041798,000539: 14,2700           45173                           VLOAD*   CALL                                  
041799,000540: 14,2701           47430                                    CATLOG,2                              
041800,000541: 14,2702           30732                                    OCCULT                                
041801,000542: 14,2703           77614                           BON                                            
041802,000543: 14,2704           01710                                    CULTFLAG                              
041803,000544: 14,2705           30653                                    PIC3                                  
041804,000545: 14,2706           77614        STRATGY            BONCLR                                         
041805,000546: 14,2707           01605                                    VFLAG                                 
041806,000547: 14,2710           30725                                    NEWPAR                                
041807,000548: 14,2711           65120                           XCHX,1   XCHX,2                                
041808,000549: 14,2712           02755                                    BESTI                                 
041809,000550: 14,2713           02756                                    BESTJ                                 
041810,000551: 14,2714           47773        STRAT              VLOAD*   DOT*                                  
041811,000552: 14,2715           30347                                    CATLOG,1                              
041812,000553: 14,2716           47430                                    CATLOG,2                              
041813,000554: 14,2717           43006                           PUSH     BOFINV                                
041814,000555: 14,2720           01545                                    VFLAG                                 
041815,000556: 14,2721           30711                                    STRAT      -3                         
041816,000557: 14,2722           45345                           DLOAD    DSU                                   
041817,000558: 14,2723           77644                           BPL                                            
041818,000559: 14,2724           30653                                    PIC3                                  
041819,000560: 14,2725           67130        NEWPAR             SXA,1    SXA,2                                 
041820,000561: 14,2726           02755                                    BESTI                                 
041821,000562: 14,2727           02756                                    BESTJ                                 
041822,000563: 14,2730           77650                           GOTO                                           
041823,000564: 14,2731           30653                                    PIC3                                  
041824,000565: 14,2732           51321        OCCULT             MXV      BVSU                                  
041825,000566: 14,2733           02707                                    CULTRIX                               
041826,000567: 14,2734           00017                                    CSS                                   
041827,000568: 14,2735           77654                           BZE                                            
041828,000569: 14,2736           30751                                    CULTED                                
041829,000570: 14,2737           75240                           BMN      SIGN                                  
041830,000571: 14,2740           30751                                    CULTED                                
041831,000572: 14,2741           00160                                    MPAC       +3                         
041832,000573: 14,2742           75240                           BMN      SIGN                                  
041833,000574: 14,2743           30751                                    CULTED                                
041834,000575: 14,2744           00162                                    MPAC       +5                         
041835,000576: 14,2745           43040                           BMN      CLRGO                                 
041836,000577: 14,2746           30751                                    CULTED                                
041837,000578: 14,2747           01630                                    CULTFLAG                              
041838,000579: 14,2750           00052                                    QPRET                                 
041839,000580: 14,2751           77614        CULTED             SETGO                                          
041840,000581: 14,2752           01430                                    CULTFLAG                              
041841,000582: 14,2753           00052                                    QPRET                                 
041842,000583: 14,2754  0000016               CSS                =        CEARTH                                
041843,000584: 14,2754           05110 35052  CSS40              2DEC     .16070                                #  COS 50 /4
041844,000585: 
041845,000586: 14,2756           05110 35052  CSS33              2DEC     .16070                                #   COS 50 /4
041846,000587: 
041847,000588: 14,2760           77414        PICEND             BOFF     EXIT                                  

Page 932

041849,000590: 14,2761           01745                                    VFLAG                                 
041850,000591: 14,2762           30764                                    PICGXT                                
041851,000592: 14,2763           03005                           TC       PICBXT                                
041852,000593: 14,2764           73150        PICGXT             LXA,1    LXA,2                                 
041853,000594: 14,2765           02755                                    BESTI                                 
041854,000595: 14,2766           02756                                    BESTJ                                 
041855,000596: 14,2767           47775                           VLOAD    DOT*                                  
041856,000597: 14,2770           02731                                    SAX                                   
041857,000598: 14,2771           30347                                    CATLOG,1                              
041858,000599: 14,2772           47715                           PDVL     DOT*                                  
041859,000600: 14,2773           02731                                    SAX                                   
041860,000601: 14,2774           47430                                    CATLOG,2                              
041861,000602: 14,2775           77625                           DSU                                            
041862,000603: 14,2776           66044                           BPL      SXA,1                                 
041863,000604: 14,2777           31003                                    PICNSWP                               
041864,000605: 14,3000           02756                                    BESTJ                                 
041865,000606: 14,3001           77734                           SXA,2                                          
041866,000607: 14,3002           02755                                    BESTI                                 
041867,000608: 14,3003           77776        PICNSWP            EXIT                                           
041868,000609: 14,3004           25745                           INCR     QMIN                                  
041869,000610: 14,3005           31745        PICBXT             CA       QMIN                                  
041870,000611: 14,3006           04622                           TC       SWCALL                                
041871,000612: 14,3007                        VPD                =        0D                                    
041872,000613: 14,3007                        V0                 =        6D                                    
041873,000614: 14,3007                        V1                 =        12D                                   
041874,000615: 14,3007                        V2                 =        18D                                   
041875,000616: 14,3007                        V3                 =        24D                                   
041876,000617: 14,3007                        DP0                =        30D                                   
041877,000618: 14,3007                        DP1                =        32D                                   
041878,000619: 

Page 933

041880,000621:                                                                                                  #  NAME-R51  FINE ALIGN
041881,000622:                                                                                                  #  FUNCTION-TO ALIGN THE STABLE MEMBER TO REFSMMAT
041882,000623:                                                                                                  #  CALLING SEQ- CALL  R51
041883,000624:                                                                                                  #  INPUT -  REFSMMAT
041884,000625:                                                                                                  #  OUTPUT- GYRO TORQUE PULSES
041885,000626:                                                                                                  #  SUBROUTINES -LOCSAM,PICAPAR,R52,R53,R54,R55
041886,000627: 14,3007                                           COUNT*   $$/R51                                
041887,000628: 14,3007           77620        R51                STQ                                            
041888,000629: 14,3010           02746                                    QMAJ                                  
041889,000630: 14,3011           77776        R51.1              EXIT                                           
041890,000631: 14,3012           05364                           TC       PHASCHNG                              
041891,000632: 14,3013           04024                           OCT      04024                                 
041892,000633: 
041893,000634: 14,3014           34761        R51C               CAF      OCT15                                 
041894,000635: 14,3015           04616                           TC       BANKCALL                              
041895,000636: 14,3016           20624                           CADR     GOPERF1                               
041896,000637: 14,3017           06001                           TC       GOTOPOOH                              
041897,000638: 14,3020           03022                           TC       +2                                    #  V33E
041898,000639: 14,3021           03045                           TC       R51E                                  #  ENTER
041899,000640: 14,3022           06051                           TC       INTPRET                               
041900,000641: 14,3023           43234                           RTB      DAD                                   
041901,000642: 14,3024           21555                                    LOADTIME                              
041902,000643: 14,3025           31155                                    TSIGHT1                               
041903,000644: 14,3026           77624                           CALL                                           
041904,000645: 14,3027           30500                                    LOCSAM                                
041905,000646: 14,3030           77776                           EXIT                                           
041906,000647: 14,3031           04616                           TC       BANKCALL                              
041907,000648: 14,3032           30603                           CADR     R56                                   
041908,000649: 14,3033           03035                           TC       R51I                                  
041909,000650: 14,3034           03045        R51F               TC       R51E                                  
041910,000651: 14,3035           05600        R51I               TC       ALARM                                 
041911,000652: 14,3036           00405                           OCT      405                                   
041912,000653: 14,3037           35006                           CAF      VB05N09                               
041913,000654: 14,3040           04616                           TC       BANKCALL                              
041914,000655: 14,3041           20477                           CADR     GOFLASH                               
041915,000656: 14,3042           06001                           TC       GOTOPOOH                              
041916,000657: 14,3043           03045                           TC       R51E                                  
041917,000658: 14,3044           03014                           TC       R51C                                  
041918,000659: 14,3045           34755        R51E               CAF      ZERO                                  
041919,000660: 14,3046           55757                           TS       STARIND                               
041920,000661: 14,3047           06051        R51.2              TC       INTPRET                               
041921,000662: 14,3050           77776        R51.3              EXIT                                           
041922,000663: 14,3051           05364                           TC       PHASCHNG                              
041923,000664: 14,3052           04024                           OCT      04024                                 
041924,000665: 
041925,000666: 14,3053           06051                           TC       INTPRET                               
041926,000667: 14,3054           77624                           CALL                                           
041927,000668: 14,3055           31671                                    R52                                   #  AOP WILL MAKE CALLS TO SIGHTING
041928,000669: 14,3056           77776                           EXIT                                           
041929,000670: 14,3057           04616                           TC       BANKCALL                              

Page 934

041931,000672: 14,3060           16000                           CADR     AOTMARK                               
041932,000673: 14,3061           04616                           TC       BANKCALL                              
041933,000674: 14,3062           17711                           CADR     OPTSTALL                              
041934,000675: 14,3063           05712                           TC       CURTAINS                              
041935,000676: 14,3064           11757                           CCS      STARIND                               
041936,000677: 14,3065           13067                           TCF      +2                                    
041937,000678: 14,3066           03137                           TC       R51.4                                 
041938,000679: 14,3067           06051                           TC       INTPRET                               
041939,000680: 14,3070           77775                           VLOAD                                          
041940,000681: 14,3071           02715                                    STARAD     +6                         
041941,000682: 14,3072           02767                           STORE    STARSAV2                              
041942,000683: 14,3073           77776                           EXIT                                           
041943,000684: 14,3074           05364                           TC       PHASCHNG                              
041944,000685: 14,3075           04024                           OCT      04024                                 
041945,000686: 
041946,000687: 14,3076           06051                           TC       INTPRET                               
041947,000688: 14,3077           45145                           DLOAD    CALL                                  
041948,000689: 14,3100           03562                                    TSIGHT                                
041949,000690: 14,3101           32500                                    PLANET                                
041950,000691: 14,3102           53521                           MXV      UNIT                                  
041951,000692: 14,3103           01732                                    REFSMMAT                              
041952,000693: 14,3104           26715                           STOVL    STARAD     +6                         
041953,000694: 14,3105           03554                                    PLANVEC                               
041954,000695: 14,3106           53521                           MXV      UNIT                                  
041955,000696: 14,3107           01732                                    REFSMMAT                              
041956,000697: 14,3110           26707                           STOVL    STARAD                                
041957,000698: 14,3111           02761                                    STARSAV1                              
041958,000699: 14,3112           24007                           STOVL    6D                                    
041959,000700: 14,3113           02767                                    STARSAV2                              
041960,000701: 14,3114           34015                           STCALL   12D                                   
041961,000702: 14,3115           31250                                    R54                                   #  STAR DATA TEST
041962,000703: 14,3116           45014                           BOFF     CALL                                  
041963,000704: 14,3117           00354                                    FREEFLAG                              
041964,000705: 14,3120           31126                                    R51K                                  
041965,000706: 14,3121           47437                                    AXISGEN                               
041966,000707: 14,3122           77624                           CALL                                           
041967,000708: 14,3123           31216                                    R55                                   #  GYRO TORQUE
041968,000709: 14,3124           77614                           CLEAR                                          
041969,000710: 14,3125           01273                                    PFRATFLG                              
041970,000711: 14,3126           77776        R51K               EXIT                                           
041971,000712: 14,3127           35752        R51P63             CAF      OCT14                                 
041972,000713: 14,3130           04616                           TC       BANKCALL                              
041973,000714: 14,3131           20624                           CADR     GOPERF1                               
041974,000715: 14,3132           06001                           TC       GOTOPOOH                              
041975,000716: 14,3133           03014                           TC       R51C                                  
041976,000717: 14,3134           06051                           TC       INTPRET                               
041977,000718: 14,3135           77650                           GOTO                                           
041978,000719: 14,3136           02746                                    QMAJ                                  
041979,000720: 14,3137           06051        R51.4              TC       INTPRET                               
041980,000721: 14,3140           77775                           VLOAD                                          

Page 935

041982,000723: 14,3141           02715                                    STARAD     +6                         
041983,000724: 14,3142           02761                           STORE    STARSAV1                              
041984,000725: 14,3143           45145                           DLOAD    CALL                                  
041985,000726: 14,3144           03562                                    TSIGHT                                
041986,000727: 14,3145           32500                                    PLANET                                
041987,000728: 14,3146           03554                           STORE    PLANVEC                               
041988,000729: 14,3147           77731                           SSP                                            
041989,000730: 14,3150           02760                                    STARIND                               
041990,000731: 14,3151           00001                                    1                                     
041991,000732: 14,3152           77650                           GOTO                                           
041992,000733: 14,3153           31050                                    R51.3                                 
041993,000734: 14,3154           00002 06240  TSIGHT1            2DEC     36000      B-28                       #  6  MIN  TO  MARKING
041994,000735: 

Page 936

041996,000737:                                                                                                  #  GYRO TORQUE COARSE ALIGNMENT
041997,000738: 14,3156           45020        GYCOARS            STQ      CALL                                  
041998,000739: 14,3157           02746                                    QMAJ                                  
041999,000740: 14,3160           47245                                    CALCGTA                               
042000,000741: 14,3161           43014                           CLEAR    CLEAR                                 
042001,000742: 14,3162           01260                                    DRIFTFLG                              
042002,000743: 14,3163           01662                                    REFSMFLG                              
042003,000744: 14,3164           77776                           EXIT                                           
042004,000745: 14,3165           33215                           CAF      V16N20                                #  MONITOR GIMBALS
042005,000746: 14,3166           04616                           TC       BANKCALL                              
042006,000747: 14,3167           20452                           CADR     GODSPR                                
042007,000748: 14,3170           33247                           CA       R55CDR                                
042008,000749: 14,3171           04616                           TC       BANKCALL                              
042009,000750: 14,3172           17270                           CADR     IMUPULSE                              
042010,000751: 14,3173           04616                           TC       BANKCALL                              
042011,000752: 14,3174           17715                           CADR     IMUSTALL                              
042012,000753: 14,3175           05712                           TC       CURTAINS                              
042013,000754: 14,3176           05364                           TC       PHASCHNG                              
042014,000755: 14,3177           04024                           OCT      04024                                 
042015,000756: 
042016,000757: 14,3200           06051                           TC       INTPRET                               
042017,000758: 14,3201           75160                           AXC,1    AXC,2                                 
042018,000759: 14,3202           03606                                    XSMD                                  
042019,000760: 14,3203           01731                                    REFSMMAT                              
042020,000761: 14,3204           77624                           CALL                                           #  STORE DESIRED REFSMMAT
042021,000762: 14,3205           31371                                    MATMOVE                               
042022,000763: 14,3206           43014                           CLEAR    SET                                   
042023,000764: 14,3207           01273                                    PFRATFLG                              
042024,000765: 14,3210           01462                                    REFSMFLG                              
042025,000766: 14,3211           77624                           CALL                                           
042026,000767: 14,3212           31603                                    NCOARSE                               #  SET DRIFT AND INITIALIZE 1/PIPADT
042027,000768: 14,3213           77650                           GOTO                                           
042028,000769: 14,3214           31126                                    R51K                                  
042029,000770: 14,3215           04024        V16N20             VN       1620                                  
042030,000771: 

Page 937

042032,000773:                                                                                                  #  R55  GYRO TORQUE
042033,000774:                                                                                                  #  FUNCTION-COMPUTE AND SEND GYRO PULSES
042034,000775:                                                                                                  #  CALLING SEQ- CALL R55
042035,000776:                                                                                                  #  INPUT- X,Y,ZDC- REFSMMAT WRT PRESENT STABLE MEMBER
042036,000777:                                                                                                  #  OUTPUT- GYRO PULSES
042037,000778:                                                                                                  #  SUBROUTINES- CALCGTA,GOFLASH,GODSPR,IMUFINE,IMUPULSE,GOPERF1
042038,000779: 14,3216                                           COUNT*   $$/R55                                
042039,000780: 14,3216           77620        R55                STQ                                            
042040,000781: 14,3217           02745                                    QMIN                                  
042041,000782: 14,3220           77624                           CALL                                           
042042,000783: 14,3221           47245                                    CALCGTA                               
042043,000784: 14,3222           77776        PULSEM             EXIT                                           
042044,000785: 14,3223           33246        R55.1              CAF      V06N93                                
042045,000786: 14,3224           04616                           TC       BANKCALL                              
042046,000787: 14,3225           20477                           CADR     GOFLASH                               
042047,000788: 14,3226           06001                           TC       GOTOPOOH                              
042048,000789: 14,3227           03231                           TC       R55.2                                 
042049,000790: 14,3230           03243                           TC       R55RET                                
042050,000791: 14,3231           05364        R55.2              TC       PHASCHNG                              
042051,000792: 14,3232           00214                           OCT      00214                                 
042052,000793: 14,3233           33247                           CA       R55CDR                                
042053,000794: 14,3234           04616                           TC       BANKCALL                              
042054,000795: 14,3235           17270                           CADR     IMUPULSE                              
042055,000796: 14,3236           04616                           TC       BANKCALL                              
042056,000797: 14,3237           17715                           CADR     IMUSTALL                              
042057,000798: 14,3240           05712                           TC       CURTAINS                              
042058,000799: 14,3241           05364                           TC       PHASCHNG                              
042059,000800: 14,3242           04024                           OCT      04024                                 
042060,000801: 
042061,000802: 14,3243           06051        R55RET             TC       INTPRET                               
042062,000803: 14,3244           77650                           GOTO                                           
042063,000804: 14,3245           02745                                    QMIN                                  
042064,000805: 14,3246           01535        V06N93             VN       0693                                  
042065,000806: 14,3247           02737        R55CDR             ECADR    OGC                                   
042066,000807: 14,3250  14,3250               R54                =        CHKSDATA                              
042067,000808:                                                                                                  #  ROUTINE NAME- CHKSDATA                                                                 DATE- JAN 9, 1967
042068,000809:                                                                                                  #  MOD NO- 0                                                                              LOG SECTION- P51-P53
042069,000810:                                                                                                  #  MODIFICATION BY- LONSKE                                                                ASSEMBLY-
042070,000811: 
042071,000812:                                                                                                  #  FUNCTIONAL DESCRIPTION - CHECKS THE VALIDITY OF A PAIR OF STAR SIGHTINGS. WHEN A PAIR OF STAR SIGHTINGS ARE MADE
042072,000813:                                                                                                  #  BY THE ASTRONAUT THIS ROUTINE OPERATES AND CHECKS THE OBSERVED SIGHTINGS AGAINST STORED STAR VECTORS IN THE
042073,000814:                                                                                                  #  COMPUTER TO INSURE A PROPER SIGHTING WAS MADE. THE FOLLOWING COMPUTATIONS ARE PERFORMED_
042074,000815: 
042075,000816:                                                                                                  #                  OS1 = OBSERVED STAR 1 VECTOR
042076,000817:                                                                                                  #                  OS2 = OBSERVED STAR 2 VECTOR
042077,000818:                                                                                                  #                  SS1 = STORED STAR 1 VECTOR
042078,000819:                                                                                                  #                  SS2 = STORED STAR 2 VECTOR
042079,000820:                                                                                                  #                   A1 = ARCCOS(OS1 - OS2)
042080,000821:                                                                                                  #                   A2 = ARCCOS(SS1 - SS2)
042081,000822:                                                                                                  #                    A = ABS(2(A1 - A2))

Page 938

042083,000824:                                                                                                  #  THE ANGULAR DIFFERENCE IS DISPLAYED FOR ASTRONAUT ACCEPTENCE
042084,000825:                                                                                                  #  EXIT MODE 1. FREEFLAG SET  IMPLIES  ASTRONAUT WANTS TO PROCEED
042085,000826:                                                                                                  #            2. FREEFLAG RESET IMPLIES ASTRONAUT WANTS TO RECYCLE          ERANCE)
042086,000827:                                                                                                  #  OUTPUT - 1.VERB 6,NOUN 3- DISPLAYS ANGULAR DIFFERENCE BETWEEN 2 SETS OF STARS.
042087,000828:                                                                                                  #           2.STAR VECTORS FROM STAR CATALOG ARE LEFT IN 6D AND 12D.
042088,000829: 
042089,000830:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED -
042090,000831:                                                                                                  #           1.MARK VECTORS ARE STORED IN STARAD AND STARAD +6.
042091,000832:                                                                                                  #           2.CATALOG VECTORS ARE STORED IN 6D AND 12D.
042092,000833:                                                                                                  #  DEBRIS -
042093,000834: 14,3250                                           COUNT*   $$/R54                                
042094,000835: 14,3250           43020        CHKSDATA           STQ      SET                                   
042095,000836: 14,3251           02745                                    QMIN                                  
042096,000837: 14,3252           00074                                    FREEFLAG                              
042097,000838: 14,3253           77760        CHKSAB             AXC,1                                          #  SET X1 TO STORE  EPHEMERIS DATA
042098,000839: 14,3254           02706                                    STARAD                                
042099,000840: 
042100,000841: 14,3255           47773        CHKSB              VLOAD*   DOT*                                  #  CAL. ANGLE THETA
042101,000842: 14,3256           00001                                    0,1                                   
042102,000843: 14,3257           00007                                    6,1                                   
042103,000844: 14,3260           65552                           SL1      ACOS                                  
042104,000845: 14,3261           00025                           STORE    THETA                                 
042105,000846: 14,3262           43014                           BOFF     INVERT                                #  BRANCH TO CHKSD IF THIS IS 2ND PASS
042106,000847: 14,3263           00354                                    FREEFLAG                              
042107,000848: 14,3264           31274                                    CHKSD                                 
042108,000849: 14,3265           00174                                    FREEFLAG                              #  CLEAR FREEFLAG
042109,000850: 14,3266           71360                           AXC,1    DLOAD                                 #  SET X1 TO MARK ANGLES
042110,000851: 14,3267           00006                                    6D                                    
042111,000852: 14,3270           00025                                    THETA                                 
042112,000853: 14,3271           00023                           STORE    18D                                   
042113,000854: 14,3272           77650                           GOTO                                           
042114,000855: 14,3273           31255                                    CHKSB                                 #  RETURN TO CAL. 2ND ANGLE
042115,000856: 14,3274           45345        CHKSD              DLOAD    DSU                                   
042116,000857: 14,3275           00025                                    THETA                                 
042117,000858: 14,3276           00023                                    18D                                   
042118,000859: 14,3277           77634                           RTB                                            #  COMPUTE POS DIFF
042119,000860: 14,3300           21574                                    SGNAGREE                              
042120,000861: 14,3301           01045                           STORE    NORMTEM1                              
042121,000862: 14,3302           77414                           SET      EXIT                                  
042122,000863: 14,3303           00074                                    FREEFLAG                              
042123,000864: 14,3304           33320                           CAF      VB6N5                                 
042124,000865: 14,3305           04616                           TC       BANKCALL                              
042125,000866: 14,3306           20477                           CADR     GOFLASH                               
042126,000867: 14,3307           16001                           TCF      GOTOPOOH                              
042127,000868: 14,3310           03315                           TC       CHKSDA                                #  PROCEED
042128,000869: 14,3311           06051                           TC       INTPRET                               
042129,000870: 14,3312           52014                           CLEAR    GOTO                                  
042130,000871: 14,3313           00274                                    FREEFLAG                              
042131,000872: 14,3314           02745                                    QMIN                                  
042132,000873: 14,3315           06051        CHKSDA             TC       INTPRET                               

Page 939

042134,000875: 14,3316           77650                           GOTO                                           
042135,000876: 14,3317           02745                                    QMIN                                  
042136,000877: 14,3320           01405        VB6N5              VN       605                                   
042137,000878:                                                                                                  #  NAME - CAL53A
042138,000879:                                                                                                  #  FUNCTION -COMPUTE DESIRED GIMBAL ANGLES AND COARSE ALIGN IF NECESSARY
042139,000880:                                                                                                  #  CALLING SEQUENCE - CALL CAL53A
042140,000881:                                                                                                  #  INPUT - X,Y,ZSMD ,CDUX,Y,Z
042141,000882:                                                                                                  #          DESIRED GIMBAL ANGLES - THETAD,+1,+2
042142,000883:                                                                                                  #  OUTPUT - THE IMU COORDINATES ARE STORED IN REFSMMAT
042143,000884:                                                                                                  #  SUBROUTINES - S52.2, IMUCOARSE , IMUFINE
042144,000885: 14,3321                                           COUNT*   $$/R50                                
042145,000886: 14,3321           77624        CAL53A             CALL                                           
042146,000887: 14,3322           31620                                    S52.2                                 #  MAKE ONE FINAL COMP OF GIMBALE ANGLES
042147,000888: 14,3323           66234                           RTB      SSP                                   
042148,000889: 14,3324           31405                                    RDCDUS                                #  READ CDUS
042149,000890: 14,3325           00051                                    S1                                    
042150,000891: 14,3326           00001                                    1                                     
042151,000892: 14,3327           40370                           AXT,1    SETPD                                 
042152,000893: 14,3330           00003                                    3                                     
042153,000894: 14,3331           00005                                    4                                     
042154,000895: 14,3332           70543        CALOOP             DLOAD*   SR1                                   
042155,000896: 14,3333           00325                                    THETAD     +3D,1                      
042156,000897: 14,3334           70523                           PDDL*    SR1                                   
042157,000898: 14,3335           00005                                    4,1                                   
042158,000899: 14,3336           51425                           DSU      ABS                                   
042159,000900: 14,3337           45206                           PUSH     DSU                                   
042160,000901: 14,3340           31404                                    DEGREE1                               
042161,000902: 14,3341           71240                           BMN      DLOAD                                 
042162,000903: 14,3342           31360                                    CALOOP1                               
042163,000904: 14,3343           51025                           DSU      BPL                                   
042164,000905: 14,3344           31405                                    DEG359                                
042165,000906: 14,3345           31360                                    CALOOP1                               
042166,000907: 14,3346           77776                           EXIT                                           
042167,000908: 14,3347           05364                           TC       PHASCHNG                              
042168,000909: 14,3350           04024                           OCT      04024                                 
042169,000910: 
042170,000911: 14,3351           06051                           TC       INTPRET                               
042171,000912: 14,3352           77624        COARFINE           CALL                                           
042172,000913: 14,3353           31557                                    COARSE                                
042173,000914: 14,3354           77624                           CALL                                           
042174,000915: 14,3355           31603                                    NCOARSE                               
042175,000916: 14,3356           77650                           GOTO                                           
042176,000917: 14,3357           31362                                    FINEONLY                              
042177,000918: 14,3360           77700        CALOOP1            TIX,1                                          
042178,000919: 14,3361           31332                                    CALOOP                                
042179,000920: 14,3362           75160        FINEONLY           AXC,1    AXC,2                                 
042180,000921: 14,3363           02642                                    XSM                                   
042181,000922: 14,3364           01731                                    REFSMMAT                              
042182,000923: 14,3365           77624                           CALL                                           
042183,000924: 14,3366           31371                                    MATMOVE                               

Page 940

042185,000926: 14,3367           77650                           GOTO                                           
042186,000927: 14,3370           32204                                    COARSRET                              
042187,000928: 14,3371           77773        MATMOVE            VLOAD*                                         
042188,000929: 14,3372           00001                                    0,1                                   
042189,000930: 14,3373           10001                           STORE    0,2                                   
042190,000931: 14,3374           77773                           VLOAD*                                         
042191,000932: 14,3375           00007                                    6D,1                                  
042192,000933: 14,3376           10007                           STORE    6D,2                                  
042193,000934: 14,3377           77773                           VLOAD*                                         
042194,000935: 14,3400           00015                                    12D,1                                 
042195,000936: 14,3401           10015                           STORE    12D,2                                 
042196,000937: 14,3402           77616                           RVQ                                            
042197,000938: 14,3403           00056        DEGREE1            DEC      46         B-14                       #  1 DEG SCALED CDU/2
042198,000939: 14,3404           37722        DEG359             DEC      16338      B-14                       #  359 DEG SCALED CDU/2
042199,000940: 14,3405           00004        RDCDUS             INHINT                                         #  READ CDUS
042200,000941: 14,3406           30032                           CA       CDUX                                  
042201,000942: 14,3407           50120                           INDEX    FIXLOC                                
042202,000943: 14,3410           54001                           TS       1                                     
042203,000944: 14,3411           30033                           CA       CDUY                                  
042204,000945: 14,3412           50120                           INDEX    FIXLOC                                
042205,000946: 14,3413           54002                           TS       2                                     
042206,000947: 14,3414           30034                           CA       CDUZ                                  
042207,000948: 14,3415           50120                           INDEX    FIXLOC                                
042208,000949: 14,3416           54003                           TS       3                                     
042209,000950: 14,3417           00003                           RELINT                                         
042210,000951: 14,3420           06073                           TC       DANZIG                                #                                       +
042211,000952: 14,3421                                           COUNT*   $$/INFLT                              
042212,000953: 

Page 941

042214,000955:                                                                                                  #  NAME - P51 - IMU ORIENTATION DETERMINATION
042215,000956:                                                                                                  #           MOD.NO.1  23 JAN 67                                                             LOG SECTION - P51-P53
042216,000957:                                                                                                  #  MOD BY STURLAUGSON                                                                      ASSEMBLY SUNDANCE REV56
042217,000958: 
042218,000959:                                                                                                  #  FUNCTIONAL DESCRIPTION
042219,000960: 
042220,000961:                                                                                                  #       DETERMINES THE INERTIAL ORIENTATION OF THE IMU. THE PROGRAM IS SELECTED BY DSKY ENTRY. THE SIGHTING
042221,000962:                                                                                                  #  (AOTMARK)ROUTINE IS CALLED TO COLLECT AND PROCESS MARKED-STAR DATA. AOTMARK(R53) RETURNS THE STAR NUMBER AND THE
042222,000963:                                                                                                  #  STAR LOS VECTOR IN STARAD+6. TWO STARS ARE THUS SIGHTED. THE ANGLE BETWEEN THE TWO STARS IS THEN CHECKED AT
042223,000964:                                                                                                  #  CHKSDATA(R54). REFSMMAT IS THEN COMPUTED AT AXISGEN.
042224,000965: 
042225,000966:                                                                                                  #  CALLING SEQUENCE
042226,000967: 
042227,000968:                                                                                                  #    THE PROGRAM IS CALLED BY THE ASTRONAUT BY DSKY ENTRY.
042228,000969: 
042229,000970:                                                                                                  #  SUBROUTINES CALLED.
042230,000971: 
042231,000972:                                                                                                  #       GOPERF3
042232,000973:                                                                                                  #       GOPERF1
042233,000974:                                                                                                  #       GODSPR
042234,000975:                                                                                                  #       IMUCOARS
042235,000976:                                                                                                  #       IMUFIN20
042236,000977:                                                                                                  #       AOTMARK(R53)
042237,000978:                                                                                                  #       CHKSDATA(R54)
042238,000979:                                                                                                  #       MKRELEAS
042239,000980:                                                                                                  #       AXISGEN
042240,000981:                                                                                                  #       MATMOVE
042241,000982: 
042242,000983:                                                                                                  #  ALARMS
042243,000984: 
042244,000985:                                                                                                  #       NONE.
042245,000986: 
042246,000987:                                                                                                  #  ERASABLE INITIALIZATION
042247,000988: 
042248,000989:                                                                                                  #       IMU ZERO FLAG SHOULD BE SET.
042249,000990: 
042250,000991:                                                                                                  #  OUTPUT
042251,000992: 
042252,000993:                                                                                                  #       REFSMMAT
042253,000994:                                                                                                  #       REFSMFLG
042254,000995: 
042255,000996:                                                                                                  #  DEBRIS
042256,000997: 
042257,000998:                                                                                                  #       WORK AREA
042258,000999:                                                                                                  #       STARAD
042259,001000:                                                                                                  #       STARIND
042260,001001:                                                                                                  #       BESTI
042261,001002:                                                                                                  #       BESTJ
042262,001003: 
042263,001004: 14,3421                                           COUNT*   $$/P51                                

Page 942

042265,001006: 14,3421           04616        P51                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
042266,001007: 14,3422           33646                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH.
042267,001008: 
042268,001009: 14,3423           34761                           CAF      OCT15                                 
042269,001010: 14,3424           04616                           TC       BANKCALL                              
042270,001011: 14,3425           20624                           CADR     GOPERF1                               
042271,001012: 14,3426           06001                           TC       GOTOPOOH                              #  TERM.
042272,001013: 14,3427           13453                           TCF      P51B                                  #  V33
042273,001014: 14,3430           05364                           TC       PHASCHNG                              
042274,001015: 14,3431           04024                           OCT      04024                                 
042275,001016: 
042276,001017: 14,3432           34755                           CAF      ZERO                                  
042277,001018: 14,3433           54321                           TS       THETAD                                #  ZERO THE GIMBALS
042278,001019: 14,3434           54322                           TS       THETAD     +1                         
042279,001020: 14,3435           54323                           TS       THETAD     +2                         
042280,001021: 14,3436           35010                           CAF      V06N22                                
042281,001022: 14,3437           04616                           TC       BANKCALL                              
042282,001023: 14,3440           20447                           CADR     GODSPRET                              
042283,001024: 14,3441           33556                           CAF      V41K                                  #  NOW DISPLAY COARSE ALIGN VERB 41
042284,001025: 14,3442           04616                           TC       BANKCALL                              
042285,001026: 14,3443           20447                           CADR     GODSPRET                              
042286,001027: 14,3444           06051                           TC       INTPRET                               
042287,001028: 14,3445           77624                           CALL                                           
042288,001029: 14,3446           31557                                    COARSE                                
042289,001030: 14,3447           77776                           EXIT                                           
042290,001031: 14,3450           05364                           TC       PHASCHNG                              
042291,001032: 14,3451           04024                           OCT      04024                                 
042292,001033: 14,3452           13423                           TCF      P51        +2                         
042293,001034: 
042294,001035: 14,3453           05364        P51B               TC       PHASCHNG                              
042295,001036: 14,3454           00014                           OCT      00014                                 
042296,001037: 14,3455           06051                           TC       INTPRET                               
042297,001038: 14,3456           77624                           CALL                                           
042298,001039: 14,3457           31603                                    NCOARSE                               
042299,001040: 14,3460           40331                           SSP      SETPD                                 
042300,001041: 14,3461           02760                                    STARIND                               #  INDEX-STAR 1 OR 2
042301,001042: 14,3462           00000                                    0                                     
042302,001043: 14,3463           00001                                    0                                     
042303,001044: 14,3464           77776        P51C               EXIT                                           
042304,001045: 14,3465           05364                           TC       PHASCHNG                              
042305,001046: 14,3466           04024                           OCT      04024                                 
042306,001047: 
042307,001048: 14,3467           04616                           TC       BANKCALL                              
042308,001049: 14,3470           16000                           CADR     AOTMARK                               #  R53
042309,001050: 14,3471           04616                           TC       BANKCALL                              
042310,001051: 14,3472           17711                           CADR     AOTSTALL                              
042311,001052: 14,3473           05712                           TC       CURTAINS                              
042312,001053: 14,3474           11757                           CCS      STARIND                               
042313,001054: 14,3475           13503                           TCF      P51D       +1                         
042314,001055: 14,3476           06051                           TC       INTPRET                               

Page 943

042316,001057: 14,3477           77775                           VLOAD                                          
042317,001058: 14,3500           02715                                    STARAD     +6                         
042318,001059: 14,3501           02761                           STORE    STARSAV1                              
042319,001060: 14,3502           77776        P51D               EXIT                                           
042320,001061: 14,3503           05364                           TC       PHASCHNG                              
042321,001062: 14,3504           04024                           OCT      04024                                 
042322,001063: 
042323,001064: 14,3505           11757                           CCS      STARIND                               
042324,001065: 14,3506           13522                           TCF      P51E                                  
042325,001066: 14,3507           05364                           TC       PHASCHNG                              
042326,001067: 14,3510           04024                           OCT      04024                                 
042327,001068: 
042328,001069: 14,3511           06051                           TC       INTPRET                               
042329,001070: 14,3512           45145                           DLOAD    CALL                                  
042330,001071: 14,3513           03562                                    TSIGHT                                
042331,001072: 14,3514           32500                                    PLANET                                
042332,001073: 14,3515           03554                           STORE    PLANVEC                               
042333,001074: 14,3516           77776                           EXIT                                           
042334,001075: 14,3517           34753                           CAF      BIT1                                  
042335,001076: 14,3520           55757                           TS       STARIND                               
042336,001077: 14,3521           13465                           TCF      P51C       +1                         #  DO SECOND STAR
042337,001078: 14,3522           05364        P51E               TC       PHASCHNG                              
042338,001079: 14,3523           04024                           OCT      04024                                 
042339,001080: 
042340,001081: 14,3524           06051                           TC       INTPRET                               
042341,001082: 14,3525           45145                           DLOAD    CALL                                  
042342,001083: 14,3526           03562                                    TSIGHT                                
042343,001084: 14,3527           32500                                    PLANET                                
042344,001085: 14,3530           24015                           STOVL    12D                                   
042345,001086: 14,3531           03554                                    PLANVEC                               
042346,001087: 14,3532           24007                           STOVL    6D                                    
042347,001088: 14,3533           02761                                    STARSAV1                              
042348,001089: 14,3534           26707                           STOVL    STARAD                                
042349,001090: 14,3535           02767                                    STARSAV2                              
042350,001091: 14,3536           36715                           STCALL   STARAD     +6                         
042351,001092: 14,3537           31250                                    CHKSDATA                              #  CHECK STAR ANGLES IN STARAD AND
042352,001093: 14,3540           77414                           BON      EXIT                                  
042353,001094: 14,3541           00314                                    FREEFLAG                              
042354,001095: 14,3542           31544                                    P51G                                  
042355,001096: 14,3543           03423                           TC       P51        +2                         
042356,001097: 14,3544           77624        P51G               CALL                                           
042357,001098: 14,3545           47437                                    AXISGEN                               #  COME BACK WITH REFSMMAT IN XDC
042358,001099: 14,3546           75160                           AXC,1    AXC,2                                 
042359,001100: 14,3547           02664                                    XDC                                   
042360,001101: 14,3550           01731                                    REFSMMAT                              
042361,001102: 14,3551           77624                           CALL                                           
042362,001103: 14,3552           31371                                    MATMOVE                               
042363,001104: 14,3553           77414                           SET      EXIT                                  
042364,001105: 14,3554           01462                                    REFSMFLG                              
042365,001106: 14,3555           06001                           TC       GOTOPOOH                              #  FINIS

Page 944

042367,001108: 14,3556           12200        V41K               VN       4100                                  
042368,001109: 14,3557           77776        COARSE             EXIT                                           
042369,001110: 14,3560           31301                 +1        CA       MODECADR                              #  SEE IF IMU DEVICE IS IN USE.
042370,001111: 14,3561           00006                           EXTEND                                         
042371,001112: 14,3562           13567                           BZF      DOCORS                                #  NOT IN USE, DO COARSE ALIGN
042372,001113: 14,3563           34777                           CAF      1SEC                                  #  IN USE, DELAY ONE SEC
042373,001114: 14,3564           04616                           TC       BANKCALL                              
042374,001115: 14,3565           01736                           CADR     DELAYJOB                              
042375,001116: 14,3566           13560                           TCF      COARSE     +1                         
042376,001117: 14,3567           04616        DOCORS             TC       BANKCALL                              
042377,001118: 14,3570           16745                           CADR     IMUCOARS                              
042378,001119: 14,3571           04616                           TC       BANKCALL                              
042379,001120: 14,3572           17715                           CADR     IMUSTALL                              
042380,001121: 14,3573           05712                           TC       CURTAINS                              
042381,001122: 14,3574           04616                           TC       BANKCALL                              
042382,001123: 14,3575           17155                           CADR     IMUFINE                               
042383,001124: 14,3576           04616                           TC       BANKCALL                              
042384,001125: 14,3577           17715                           CADR     IMUSTALL                              
042385,001126: 14,3600           05712                           TC       CURTAINS                              
042386,001127: 14,3601           06051                           TC       INTPRET                               
042387,001128: 14,3602           77616                           RVQ                                            
042388,001129: 14,3603           77776        NCOARSE            EXIT                                           
042389,001130: 14,3604           30025                           CA       TIME1                                 
042390,001131: 14,3605           55074                           TS       1/PIPADT                              
042391,001132: 14,3606           44755                           CS       ZERO                                  
042392,001133: 14,3607           54037                           TS       PIPAX                                 
042393,001134: 14,3610           54040                           TS       PIPAY                                 
042394,001135: 14,3611           54041                           TS       PIPAZ                                 
042395,001136: 14,3612           06051                           TC       INTPRET                               
042396,001137: 14,3613           77775                           VLOAD                                          
042397,001138: 14,3614           24007                                    ZEROVEC                               
042398,001139: 14,3615           01472                           STORE    GCOMP                                 
042399,001140: 14,3616           43414                           SET      RVQ                                   
042400,001141: 14,3617           01060                                    DRIFTFLG                              
042401,001142: 

Page 945

042403,001144:                                                                                                  #  NAME-S52.2
042404,001145:                                                                                                  #  FUNCTION-COMPUTE GIMBAL ANGLES FOR DESIRED SM AND PRESENT VEHICLE
042405,001146:                                                                                                  #  CALL-  CALL  S52.2
042406,001147:                                                                                                  #  INPUT- X,Y,ZSMD
042407,001148:                                                                                                  #  OUTPUT- OGC,IGC,MGC,THETAD,+1,+2
042408,001149:                                                                                                  #  SUBROUTINES-CDUTRIG,CALCSMSC,MATMOVE,CALCGA
042409,001150: 14,3620                                           COUNT*   $$/S52.1                              
042410,001151: 14,3620           45020        S52.2              STQ      CALL                                  
042411,001152: 14,3621           02746                                    QMAJ                                  
042412,001153: 14,3622           47535                                    CDUTRIG                               
042413,001154: 14,3623           77624                           CALL                                           
042414,001155: 14,3624           20030                                    CALCSMSC                              
042415,001156: 14,3625           66370                           AXT,1    SSP                                   
042416,001157: 14,3626           00022                                    18D                                   
042417,001158: 14,3627           00051                                    S1                                    
042418,001159: 14,3630           00006                                    6D                                    
042419,001160: 14,3631           61373        S52.2A             VLOAD*   VXM                                   
042420,001161: 14,3632           02707                                    XNB        +18D,1                     
042421,001162: 14,3633           01732                                    REFSMMAT                              
042422,001163: 14,3634           77656                           UNIT                                           
042423,001164: 14,3635           06707                           STORE    XNB        +18D,1                     
042424,001165: 14,3636           77700                           TIX,1                                          
042425,001166: 14,3637           31631                                    S52.2A                                
042426,001167: 14,3640           75160        S52.2.1            AXC,1    AXC,2                                 
042427,001168: 14,3641           03606                                    XSMD                                  
042428,001169: 14,3642           02642                                    XSM                                   
042429,001170: 14,3643           77624                           CALL                                           
042430,001171: 14,3644           31371                                    MATMOVE                               
042431,001172: 14,3645           77624                           CALL                                           
042432,001173: 14,3646           47351                                    CALCGA                                
042433,001174: 14,3647           77650                           GOTO                                           
042434,001175: 14,3650           02746                                    QMAJ                                  
042435,001176: 

Page 946

042437,001178:                                                                                                  #  NAME-S52.3
042438,001179:                                                                                                  #  FUNCTION  XSMD= UNIT  R
042439,001180:                                                                                                  #            YSMD= UNIT(V X R)
042440,001181:                                                                                                  #            ZSMD= UNIT(XSMD X YSMD)
042441,001182:                                                                                                  #  CALL     DLOAD  CALL
042442,001183:                                                                                                  #                  TALIGN
042443,001184:                                                                                                  #                  S52.3
042444,001185:                                                                                                  #  INPUT-   TIME OF ALIGNMENT IN MPAC
042445,001186:                                                                                                  #  OUTPUT-  X,Y,ZSMD
042446,001187:                                                                                                  #  SUBROUTINES- CSMCONIC
042447,001188: 14,3651                                           COUNT*   $$/S52.3                              
042448,001189: 14,3651           77620        S52.3              STQ                                            
042449,001190: 14,3652           02746                                    QMAJ                                  
042450,001191: 14,3653           34041                           STCALL   TDEC1                                 
042451,001192: 14,3654           27077                                    LEMCONIC                              
042452,001193: 14,3655           53575                           VLOAD    UNIT                                  
042453,001194: 14,3656           00001                                    RATT                                  
042454,001195: 14,3657           27607                           STOVL    XSMD                                  
042455,001196: 14,3660           00007                                    VATT                                  
042456,001197: 14,3661           53435                           VXV      UNIT                                  
042457,001198: 14,3662           00001                                    RATT                                  
042458,001199: 14,3663           27615                           STOVL    YSMD                                  
042459,001200: 14,3664           03607                                    XSMD                                  
042460,001201: 14,3665           53435                           VXV      UNIT                                  
042461,001202: 14,3666           03615                                    YSMD                                  
042462,001203: 14,3667           37623                           STCALL   ZSMD                                  
042463,001204: 14,3670           02746                                    QMAJ                                  
042464,001205: 

Page 947

042466,001207:                                                                                                  #  NAME    -R52 (AUTOMATIC OPTICS POSITIONING ROUTINE)
042467,001208: 
042468,001209:                                                                                                  #  FUNCTION-POINT THE AOT OPTIC AXIS BY MANEUVERING THE LEM TO A NAVIGATION
042469,001210:                                                                                                  #           STAR SELECTED BY ALIGNMENT PROGRAMS OR DSKY INPUT
042470,001211: 
042471,001212:                                                                                                  #  CALLING -CALL R52
042472,001213: 
042473,001214:                                                                                                  #  INPUT   -BESTI AND BESTJ (STAR CODES TIMES 6)
042474,001215:                                                                                                  #  OUTPUT  -STAR CODE IN BITS1-6, DETENT CODE IN BITS 7-9
042475,001216:                                                                                                  #           (NO CHECK IS MADE TO INSURE THE DETENT  CODE TO BE VALID)
042476,001217:                                                                                                  #           POINTVSM-1/2 UNIT NAV STAR VEC IN SM
042477,001218:                                                                                                  #           SCAXIS-AOT OPTIC AXIS VEC IN NB X-Z PLANE
042478,001219: 
042479,001220:                                                                                                  #  SUBROUT -R60LEM
042480,001221: 
042481,001222: 14,3671                                           COUNT*   $$/R52                                
042482,001223: 14,3671           77420        R52                STQ      EXIT                                  
042483,001224: 14,3672           03665                                    SAVQR52                               
042484,001225: 14,3673           51757                           INDEX    STARIND                               
042485,001226: 14,3674           31755                           CA       BESTI                                 #  PICK UP STARCODE DETERMINED BY R56
042486,001227: 14,3675           00006                           EXTEND                                         
042487,001228: 14,3676           73772                           MP       1/6TH                                 
042488,001229: 14,3677           64744                           AD       BIT8                                  #  SET DETENT POSITION 2
042489,001230: 14,3700           54734                           TS       STARCODE                              #  SCALE AND STORE IN STARCODE
042490,001231: 
042491,001232: 14,3701           33773        R52A               CAF      V01N70                                
042492,001233: 14,3702           04616                           TC       BANKCALL                              
042493,001234: 14,3703           20477                           CADR     GOFLASH                               #  DISPLAY STARCODE AND WAIT FOR RESPONSE
042494,001235: 14,3704           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042495,001236: 14,3705           13707                           TCF      R52B                                  #  V33-PROCEED TO ORIENT LEM
042496,001237: 14,3706           13701                           TCF      R52A                                  #  ENTER-SELECT NEW STARCODE-RECYCLE
042497,001238: 
042498,001239: 14,3707           05527        R52B               TC       DOWNFLAG                              
042499,001240: 14,3710           00124                           ADRES    3AXISFLG                              #  BIT6 OF FLAGWRD5 ZERO TO ALLOW VECPOINT
042500,001241: 14,3711           30734                           CA       STARCODE                              #  GRAB DETENT CODE
042501,001242: 14,3712           77756                           MASK     HIGH9                                 
042502,001243: 14,3713           00006                           EXTEND                                         
042503,001244: 14,3714           74743                           MP       BIT9                                  
042504,001245: 14,3715           54001                           TS       L                                     #  TEMP STORE DETENT
042505,001246: 
042506,001247: 14,3716           00006                           EXTEND                                         
042507,001248: 14,3717           63735                           BZMF     GETAZEL                               #  CODE 0, COAS CALIBRATION
042508,001249: 
042509,001250: 14,3720           65661                           AD       NEG7                                  
042510,001251: 14,3721           00006                           EXTEND                                         
042511,001252: 14,3722           13735                           BZF      GETAZEL                               #  CODE 7, COAS SIGHTING
042512,001253: 
042513,001254: 14,3723  E7,1551                                  EBANK=   XYMARK                                
042514,001255: 14,3723           35016                           CA       EBANK7                                
042515,001256: 14,3724           54003                           TS       EBANK                                 
042516,001257: 

Page 948

042518,001259: 14,3725           50001                           INDEX    L                                     
042519,001260: 14,3726           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO DETENT
042520,001261: 14,3727           54001                           TS       L                                     
042521,001262: 14,3730  E5,1642                                  EBANK=   XSM                                   
042522,001263: 14,3730           35014                           CA       EBANK5                                #  CHANGE TO EBANK5 BUT DONT DISTURB L
042523,001264: 14,3731           54003                           TS       EBANK                                 
042524,001265: 14,3732           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
042525,001266: 14,3733           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
042526,001267: 14,3734           13745                           TCF      AZEL                                  #  GO COMP OPTIC AXIS
042527,001268: 
042528,001269: 14,3735           33774        GETAZEL            CAF      V06N87                                #  CODE 0 OR 7, GET AZ AND EL KEY IN
042529,001270: 14,3736           04616                           TC       BANKCALL                              
042530,001271: 14,3737           20477                           CADR     GOFLASH                               
042531,001272: 14,3740           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042532,001273: 14,3741           13743                           TCF      +2                                    #  PROCEED-CALC OPTIC AXIS
042533,001274: 14,3742           13735                           TCF      GETAZEL                               #  ENTER-RECYCLE
042534,001275: 
042535,001276: 14,3743           00006                           EXTEND                                         
042536,001277: 14,3744           31345                           DCA      AZ                                    #  PICK UP AZ AND EL IN SP 2S COMP
042537,001278: 14,3745           50120        AZEL               INDEX    FIXLOC                                #  JAM AZ AND EL IN 8 AND 9 OF VAC
042538,001279: 14,3746           52011                           DXCH     8D                                    
042539,001280: 14,3747           06051                           TC       INTPRET                               
042540,001281: 14,3750           77624                           CALL                                           #  GO COMPUTE OPTIC AXIS AND STORE IN
042541,001282: 14,3751           10530                                    OANB                                  #  SCAXIS IN NB COORDS
042542,001283: 14,3752           45034                           RTB      CALL                                  
042543,001284: 14,3753           21555                                    LOADTIME                              
042544,001285: 14,3754           32500                                    PLANET                                
042545,001286: 14,3755           53521                           MXV      UNIT                                  
042546,001287: 14,3756           01732                                    REFSMMAT                              
042547,001288: 14,3757           03773                           STORE    POINTVSM                              #  STORE FOR VECPOINT
042548,001289: 
042549,001290: 14,3760           77776                           EXIT                                           
042550,001291: 14,3761           04616                           TC       BANKCALL                              
042551,001292: 14,3762           54125                           CADR     R60LEM                                #  GO TORQUE LEM OPTIC AXIS TO STAR LOS
042552,001293: 
042553,001294: 14,3763           37756                           CAF      HIGH9                                 #  IF COAS CALIBRATION CODE 0, RECYCLE
042554,001295: 14,3764           70734                           MASK     STARCODE                              
042555,001296: 14,3765           00006                           EXTEND                                         
042556,001297: 14,3766           13701                           BZF      R52A                                  
042557,001298: 
042558,001299: 14,3767           06051                           TC       INTPRET                               #  RETURN FROM KALCMANU
042559,001300: 14,3770           77650                           GOTO                                           
042560,001301: 14,3771           03665                                    SAVQR52                               #  RETURN TO CALLER
042561,001302: 
042562,001303: 14,3772           05253        1/6TH              DEC      .1666667                              
042563,001304: 14,3773           00306        V01N70             VN       0170                                  
042564,001305: 14,3774           01527        V06N87             VN       687                                   
042565,001306: 

Page 949

042567,001308:                                                                                                  #  LUNAR SURFACE STAR AQUISITION
042568,001309: 
042569,001310: 15,2270                                           BANK     15                                    
042570,001311: 15,2000                                           SETLOC   P50S                                  
042571,001312: 15,2000                                           BANK                                           
042572,001313: 15,2270                                           COUNT*   $$/R59                                
042573,001314: 
042574,001315: 15,2270           40077        R59                CS       FLAGWRD3                              
042575,001316: 15,2271           74737                           MASK     REFSMBIT                              #  IF REFSMMAT FLAG CLEAR BYPASS STAR AQUIR
042576,001317: 15,2272           10000                           CCS      A                                     
042577,001318: 15,2273           12463                           TCF      R59OUT                                #  NO REFSMMAT GO TO AOTMARK
042578,001319: 
042579,001320: 15,2274           32471                           CAF      V01N70*                               #  SELECT STAR CODE FOR ACQUISITION
042580,001321: 15,2275           04616                           TC       BANKCALL                              
042581,001322: 15,2276           20477                           CADR     GOFLASH                               
042582,001323: 15,2277           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
042583,001324: 15,2300           12302                           TCF      R59A                                  #  V33-PROCEED
042584,001325: 15,2301           12270                           TCF      R59                                   #  V32-RECYCLE
042585,001326: 
042586,001327: 15,2302           06051        R59A               TC       INTPRET                               
042587,001328: 15,2303           45034                           RTB      CALL                                  
042588,001329: 15,2304           21555                                    LOADTIME                              
042589,001330: 15,2305           32500                                    PLANET                                #  GO GET CELESTRIAL BODY IN REF COORDS.
042590,001331: 15,2306           53521                           MXV      UNIT                                  
042591,001332: 15,2307           01732                                    REFSMMAT                              #  TRANSFORM TO NB COORDS.
042592,001333: 15,2310           77624                           CALL                                           
042593,001334: 15,2311           47653                                    CDU*SMNB                              
042594,001335: 15,2312           02731                           STORE    STAR                                  #  TEMP STORE STAR VEC(NB)
042595,001336: 15,2313           77776                           EXIT                                           
042596,001337: 
042597,001338: 15,2314           34753                           CAF      BIT1                                  #  INITIALIZE AZ POSITION CODE TO 1 (-60)
042598,001339: 15,2315           55241                           TS       POSCODE                               
042599,001340: 
042600,001341: 15,2316  E7,1551                                  EBANK=   XYMARK                                
042601,001342: 15,2316           35016        INCAZ              CA       EBANK7                                
042602,001343: 15,2317           54003                           TS       EBANK                                 
042603,001344: 
042604,001345: 15,2320           51241                           INDEX    POSCODE                               
042605,001346: 15,2321           31403                           CA       AOTAZ      -1                         #  PICK UP AZ CORRESPONDING TO POSCODE
042606,001347: 15,2322           54001                           TS       L                                     
042607,001348: 
042608,001349: 15,2323  E5,1642                                  EBANK=   XSM                                   
042609,001350: 15,2323           35014                           CA       EBANK5                                
042610,001351: 15,2324           54003                           TS       EBANK                                 
042611,001352: 
042612,001353: 15,2325           34737                           CA       BIT13                                 #  SET ELV TO 45 DEG
042613,001354: 15,2326           56001                           XCH      L                                     #  SET C(A)=AZ, C(L)=45 DEG
042614,001355: 15,2327           55745                           TS       QMIN                                  #  STORE QMIN=AZ FOR LATER
042615,001356: 15,2330           50120                           INDEX    FIXLOC                                
042616,001357: 15,2331           52011                           DXCH     8D                                    #  JAM AZ IN 8D, 45 DEG IN 9D FOR OANB
042617,001358: 

Page 950

042619,001360: 15,2332           06051                           TC       INTPRET                               
042620,001361: 15,2333           77624                           CALL                                           
042621,001362: 15,2334           10530                                    OANB                                  #  GO CALC OPTIC AXIS WRT NB
042622,001363: 15,2335           50375                           VLOAD    DOT                                   
042623,001364: 15,2336           02731                                    STAR                                  #  DOT STAR WITH OA
042624,001365: 15,2337           03765                                    SCAXIS                                
042625,001366: 15,2340           65552                           SL1      ARCCOS                                
042626,001367: 15,2341           00031                           STORE    24D                                   #  TEMP STORE ARCCOS(STAR.OPTAXIS)
042627,001368: 
042628,001369: 15,2342           51025                           DSU      BPL                                   
042629,001370: 15,2343           32474                                    DEG30                                 #  SEE IF STAR IN AOT FIELD-OF-VIEW
042630,001371: 15,2344           32426                                    NXAX                                  #  NOT IN FIELD - TRY NEXT POSITION
042631,001372: 15,2345           45345                           DLOAD    DSU                                   #  SEE IF STAR AT FIELD CENTER
042632,001373: 15,2346           00031                                    24D                                   
042633,001374: 15,2347           32476                                    DEG.5                                 
042634,001375: 15,2350           71240                           BMN      DLOAD                                 #  CALC SPIRAL AND CURSOR
042635,001376: 15,2351           32421                                    ZSPCR                                 #  GO ZERO CURSOR AND SPIRAL
042636,001377: 15,2352           00031                                    24D                                   #  GET SPIRAL
042637,001378: 15,2353           42405                           DMP      SL4                                   
042638,001379: 15,2354           11226                                    3/4                                   #  12 SCALED AT 16
042639,001380: 15,2355           24031                           STOVL    24D                                   #  12(ARCCOS(AO.STAR)) SCALED IN REVS
042640,001381: 
042641,001382: 15,2356           03765                                    SCAXIS                                #  OA
042642,001383: 15,2357           53435                           VXV      UNIT                                  
042643,001384: 15,2360           24005                                    XUNIT                                 
042644,001385: 15,2361           47206                           PUSH     VXV                                   #   OA X UNITX   PD 0-5
042645,001386: 15,2362           03765                                    SCAXIS                                
042646,001387: 15,2363           77676                           VCOMP                                          
042647,001388: 15,2364           63256                           UNIT     PDVL                                  #  UNIT(OA X(OA X UNITX))  PD 6-11
042648,001389: 15,2365           03765                                    SCAXIS                                
042649,001390: 15,2366           53435                           VXV      UNIT                                  
042650,001391: 15,2367           02731                                    STAR                                  
042651,001392: 15,2370           50206                           PUSH     DOT                                   #  1/2(OA X STAR)   PD 12-17
042652,001393: 15,2371           00001                                    0                                     #  DOT WITH 1/2(OA X UNITX)  FOR YROT
042653,001394: 15,2372           65552                           SL1      ARCCOS                                
042654,001395: 15,2373           24033                           STOVL    26D                                   #  STORE THET SCALED IN REVS
042655,001396: 
042656,001397: 15,2374           77641                           DOT                                            #  UP 12-17, UP 6-11 FOR C2
042657,001398: 15,2375           71244                           BPL      DLOAD                                 #  IF THET NEG-GET 360-THET
042658,001399: 15,2376           32403                                    R59D                                  
042659,001400: 15,2377           32047                                    ABOUTONE                              
042660,001401: 15,2400           77625                           DSU                                            
042661,001402: 15,2401           00033                                    26D                                   
042662,001403: 15,2402           00033                           STORE    26D                                   #  360-THET SCALED IN REVS
042663,001404: 
042664,001405: 15,2403           70535        R59D               SLOAD    SR1                                   
042665,001406: 15,2404           02746                                    QMIN                                  #  RESCALE AZ(N) TO REVS
042666,001407: 15,2405           41415                           DAD      PUSH                                  #  PUSH YROT + AZ(N) REVS
042667,001408: 15,2406           00033                                    26D                                   
042668,001409: 15,2407           77634                           RTB                                            

Page 951

042670,001411: 15,2410           21576                                    1STO2S                                
042671,001412: 15,2411           15236                           STODL    CURSOR                                #  YROT IN 1/2 REVS
042672,001413: 15,2412           00031                                    24D                                   #  LOAD SROT IN REVS
042673,001414: 15,2413           77615                           DAD                                            #  12(SEP) + YROT
042674,001415: 15,2414           77634                           RTB                                            
042675,001416: 15,2415           21576                                    1STO2S                                
042676,001417: 15,2416           01237                           STORE    SPIRAL                                #  SROT IN 1/2 REVS
042677,001418: 15,2417           77776                           EXIT                                           
042678,001419: 15,2420           12445                           TCF      79DISP                                #  GO DISPLAY CURSOR-SPIRAL-POS CODE
042679,001420: 
042680,001421: 15,2421           77776        ZSPCR              EXIT                                           
042681,001422: 15,2422           34755                           CAF      ZERO                                  #  STAR ALMOST OPTIC AXIS,ZERO CURSOR
042682,001423: 15,2423           55235                           TS       CURSOR                                #  AND SPIRAL ANGLES
042683,001424: 15,2424           55236                           TS       SPIRAL                                
042684,001425: 15,2425           12445                           TCF      79DISP                                
042685,001426: 
042686,001427: 15,2426           77776        NXAX               EXIT                                           
042687,001428: 15,2427           25241                           INCR     POSCODE                               
042688,001429: 15,2430           41241                           CS       POSCODE                               
042689,001430: 15,2431           64757                           AD       SEVEN                                 
042690,001431: 15,2432           00006                           EXTEND                                         
042691,001432: 15,2433           62435                           BZMF     R59ALM                                #  THIS STAR NOT AT ANY POSITION
042692,001433: 15,2434           12316                           TCF      INCAZ                                 
042693,001434: 
042694,001435: 15,2435           05600        R59ALM             TC       ALARM                                 #  THIS STAR CANT BE LOCATED IN AOT FIELD
042695,001436: 15,2436           00404                           OCT      404                                   
042696,001437: 15,2437           35006                           CAF      VB05N09                               #  DISPLAY ALARM
042697,001438: 15,2440           04616                           TC       BANKCALL                              
042698,001439: 15,2441           20477                           CADR     GOFLASH                               
042699,001440: 15,2442           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
042700,001441: 15,2443           12463                           TCF      R59OUT                                #  VB33-PROCEED, GO WITHOUT AQUIRE
042701,001442: 15,2444           12270                           TCF      R59                                   #  VB32-RECYCLE AND TRY ANOTHER STAR
042702,001443: 
042703,001444: 15,2445           32472        79DISP             CAF      V06N79                                #  DISPLAY CURSOR, SPIRAL AND POS CODE
042704,001445: 15,2446           04616                           TC       BANKCALL                              
042705,001446: 15,2447           20477                           CADR     GOFLASH                               
042706,001447: 15,2450           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
042707,001448: 15,2451           12453                           TCF      R59E                                  #  V33-PROCEED TO MARK ROUTINE
042708,001449: 15,2452           12270                           TCF      R59                                   #  V32-RECYCLE TO TOP OF R59 AGAIN
042709,001450: 
042710,001451: 15,2453           34757        R59E               CAF      SEVEN                                 #  GET DETENT CODE CORRESPONDING TO POSCODE
042711,001452: 15,2454           71241                           MASK     POSCODE                               
042712,001453: 15,2455           00006                           EXTEND                                         
042713,001454: 15,2456           74745                           MP       BIT7                                  #  DETENT CODE NOW IN L
042714,001455: 15,2457           47756                           CS       HIGH9                                 
042715,001456: 15,2460           70734                           MASK     AOTCODE                               #  ISOLATE STAR NO IN BIT 1-6
042716,001457: 15,2461           60001                           AD       L                                     
042717,001458: 15,2462           54734                           TS       AOTCODE                               #  STORE DETENT 7-9
042718,001459: 
042719,001460: 15,2463           04616        R59OUT             TC       BANKCALL                              #  GO TO AOTMARK FOR SIGHTING

Page 952

042721,001462: 15,2464           16000                           CADR     AOTMARK                               
042722,001463: 15,2465           04616                           TC       BANKCALL                              
042723,001464: 15,2466           17711                           CADR     AOTSTALL                              #  SLEEP TILL SIGHTING DONE
042724,001465: 15,2467           05712                           TC       CURTAINS                              #  BADEND RETURN FROM AOTMARK
042725,001466: 15,2470           13050                           TCF      R59RET                                #  RETURN TO 1 STAR OR 2STAR
042726,001467: 
042727,001468: 15,2471           00306        V01N70*            VN       170                                   
042728,001469: 15,2472           01517        V06N79             VN       679                                   
042729,001470: 15,2473           02525 12525  DEG30              2DEC     .083333333                            #  30 DEGRESS
042730,001471: 
042731,001472: 15,2475           00026 30131  DEG.5              2DEC     .00138888                             #  .5 DEGRESS SCALED IN REVS
042732,001473: 
042733,001474: 15,2477           12525        DEG60              OCT      12525                                 #  60 DEG CDU SCALING
042734,001475: 

Page 953

042736,001477:                                                                                                  #  NAME -   PLANET
042737,001478:                                                                                                  #  FUNCTION -TO PROVIDE THE REFERENCE VECTOR FOR THE SIGHTED CELESTIAL
042738,001479:                                                                                                  #            BODY. STARS ARE FETCHED FROM THE CATALOG,SUN,EARTH AND
042739,001480:                                                                                                  #            MOON ARE COMPUTED BY LOCSAM,PLANET VECTORS ARE ENTERED
042740,001481:                                                                                                  #            BY DSDY INPUT
042741,001482:                                                                                                  #  CALL  -  CALL
042742,001483:                                                                                                  #                  PLANET
042743,001484:                                                                                                  #  INPUT -  TIME IN MPAC
042744,001485:                                                                                                  #  OUTPUT - VECTOR  IN MPAC
042745,001486:                                                                                                  #  SUBROUTINES - LOCSAM
042746,001487:                                                                                                  #  DEBRIS - VAC ,STARAD - STARAD +17
042747,001488: 
042748,001489: 15,2000                                           SETLOC   P50S                                  
042749,001490: 15,2000                                           BANK                                           
042750,001491: 15,2500                                           COUNT*   $$/R58                                
042751,001492: 
042752,001493: 15,2500           03562        PLANET             STORE    TSIGHT                                
042753,001494: 15,2501           77420                           STQ      EXIT                                  
042754,001495: 15,2502           02736                                    GCTR                                  
042755,001496: 15,2503           47756                           CS       HIGH9                                 
042756,001497: 15,2504           70734                           MASK     AOTCODE                               
042757,001498: 15,2505           00006                           EXTEND                                         
042758,001499: 15,2506           76254                           MP       REVCNT                                
042759,001500: 15,2507           56001                           XCH      L                                     
042760,001501: 15,2510           51757                           INDEX    STARIND                               
042761,001502: 15,2511           55755                           TS       BESTI                                 
042762,001503: 15,2512           10000                           CCS      A                                     
042763,001504: 15,2513           12530                           TCF      NOTPLAN                               
042764,001505: 15,2514           32567                           CAF      VNPLANV                               
042765,001506: 15,2515           04616                           TC       BANKCALL                              
042766,001507: 15,2516           20477                           CADR     GOFLASH                               
042767,001508: 15,2517           02514                           TC       -3                                    
042768,001509: 15,2520           02522                           TC       +2                                    
042769,001510: 15,2521           02514                           TC       -5                                    
042770,001511: 15,2522           06051                           TC       INTPRET                               
042771,001512: 15,2523           74375                           VLOAD    VXSC                                  
042772,001513: 15,2524           02707                                    STARAD                                
042773,001514: 15,2525           32571                                    1/SQR3                                
042774,001515: 15,2526           52056                           UNIT     GOTO                                  
042775,001516: 15,2527           02736                                    GCTR                                  
042776,001517: 
042777,001518: 15,2530           40000        NOTPLAN            CS       A                                     
042778,001519: 15,2531           62566                           AD       DEC227                                
042779,001520: 15,2532           00006                           EXTEND                                         
042780,001521: 15,2533           62544                           BZMF     CALSAM1                               
042781,001522: 15,2534           51757                           INDEX    STARIND                               
042782,001523: 15,2535           31755                           CA       BESTI                                 
042783,001524: 15,2536           50120                           INDEX    FIXLOC                                
042784,001525: 15,2537           54046                           TS       X1                                    
042785,001526: 15,2540           06051                           TC       INTPRET                               

Page 954

042787,001528: 15,2541           52173                           VLOAD*   GOTO                                  
042788,001529: 15,2542           30347                                    CATLOG,1                              
042789,001530: 15,2543           02736                                    GCTR                                  
042790,001531: 15,2544           06051        CALSAM1            TC       INTPRET                               
042791,001532: 15,2545           45145        CALSAM             DLOAD    CALL                                  
042792,001533: 15,2546           03562                                    TSIGHT                                
042793,001534: 15,2547           30500                                    LOCSAM                                
042794,001535: 15,2550           77340                           LXC,1    VLOAD                                 
042795,001536: 15,2551           02757                                    STARIND                               
042796,001537: 15,2552           02707                                    VEARTH                                
042797,001538: 15,2553           24001                           STOVL    0D                                    
042798,001539: 15,2554           02715                                    VSUN                                  
042799,001540: 15,2555           26707                           STOVL    VEARTH                                
042800,001541: 15,2556           00001                                    0D                                    
042801,001542: 15,2557           02715                           STORE    VSUN                                  
042802,001543: 15,2560           70143                           DLOAD*   LXC,1                                 
042803,001544: 15,2561           02756                                    BESTI,1                               
042804,001545: 15,2562           00154                                    MPAC                                  
042805,001546: 15,2563           52173                           VLOAD*   GOTO                                  
042806,001547: 15,2564           02343                                    STARAD     -228D,1                    
042807,001548: 15,2565           02736                                    GCTR                                  
042808,001549: 15,2566           00343        DEC227             DEC      227        B-14                       
042809,001550: 15,2567           01530        VNPLANV            VN       0688                                  
042810,001551: 15,2570  34,3755               PIPSRINE           =        PIPASR     +3                         #  EBANK NOT 4 SO DONT LOAD PIPTIME1
042811,001552: 15,2570           22363 11623  1/SQR3             2DEC     .57735021                             
042812,001553: 

Page 955

042814,001555:                                                                                                  #  GRAVITY VECTOR DETERMINATION ROUTINE
042815,001556:                                                                                                  #  BY KEN VINCENT
042816,001557:                                                                                                  #  FOR DETAILED DESCRIPTION SEE 504GSOP 5.6.3.2.5
042817,001558:                                                                                                  #  THIS PROGRAM FINDS THE DIRECTION OF THE MOONS GRAVITY
042818,001559:                                                                                                  #  WHILE THE LM IS ON THE MOONS SURFACE. IT WILL BE USED
042819,001560:                                                                                                  #  FOR LUNAR SURFACE ALIGNMENT. THE GRAVITY VECTOR IS
042820,001561:                                                                                                  #  DETERMINED BY READING THE PIPAS WITH THE IMU AT TWO
042821,001562:                                                                                                  #  PARTICULAR ORIONTATIONS. THE TWO READINGS ARE AVERAGED
042822,001563:                                                                                                  #  AND UNITIZED AND TRANSFORMED TO NB COORDINATES. THE TWO
042823,001564:                                                                                                  #  ORIENTATION WERE CHOSEN TO REDUCE BIAS ERRORS IN THE
042824,001565:                                                                                                  #  READINGS.
042825,001566: 
042826,001567:                                                                                                  #  CALL-
042827,001568:                                                                                                  #           TC     BANKCALL
042828,001569:                                                                                                  #           CADR   GVDETER
042829,001570:                                                                                                  #  INPUTS-
042830,001571:                                                                                                  #           PIPAS,CDUS
042831,001572:                                                                                                  #  OUTPUTS-
042832,001573:                                                                                                  #           STARSAV1 = UNIT GRAVITY
042833,001574:                                                                                                  #           GSAV     =   DITTO
042834,001575:                                                                                                  #           GRAVBIT  = 1
042835,001576:                                                                                                  #  SUBROUTINES-
042836,001577:                                                                                                  #           PIPASR,IMUCOARS,IMUFINE,IMUSTALL,1/PIPA,DELAYJOB,CDUTRIG,
042837,001578:                                                                                                  #           *NBSM* ,*SNMB*, CALCGA,FOFLASH
042838,001579:                                                                                                  #  DEBRIS-
042839,001580:                                                                                                  #           VAC,SAC,STARAD,XSM,XNB,THETAD,DELV,COSCDU,SINCDU
042840,001581: 15,2572           32773        GVDETER            CAF      42DEG                                 
042841,001582: 15,2573           54321                           TS       THETAD                                
042842,001583: 15,2574           40000                           COM                                            
042843,001584: 15,2575           54322                           TS       THETAD     +1                         
042844,001585: 15,2576           32774                           CAF      35DEG                                 
042845,001586: 15,2577           54323                           TS       THETAD     +2                         
042846,001587: 15,2600           06051                           TC       INTPRET                               
042847,001588: 15,2601           45014                           CLEAR    CALL                                  
042848,001589: 15,2602           01662                                    REFSMFLG                              
042849,001590: 15,2603           32677                                    LUNG                                  
042850,001591:                                                                                                  #  FIND  GIMBAL ANGLES WHICH ROTATE SM 180DEG  ABOUT  G VEC
042851,001592: 
042852,001593:                                                                                                  #   DEFINE G COOR SYS
042853,001594:                                                                                                  #                       -
042854,001595:                                                                                                  #                       X    UNIT G    
042855,001596:                                                                                                  #                   *   -               -
042856,001597:                                                                                                  #                   M=  Y =  UNITEZSM * X )
042857,001598:                                                                                                  #                       -         -     -
042858,001599:                                                                                                  #                       Z    UNIT(X   * Y )
042859,001600:                                                                                                  #   THEN   ROTATED  SM WRT  PRESENT IS
042860,001601: 
042861,001602: 
042862,001603:                                                                                                  #                      1,  0 , 0  
042863,001604:                                                                                                  #            *      *T            *           *         *

Page 956

042865,001606:                                                                                                  #           XSM =   M  0, -1 , 0  M   = 2  (X X ) - 1/2 I  *
042866,001607:                                                                                                  #                                            I J
042867,001608:                                                                                                  #                      0,  0 ,-1
042868,001609: 
042869,001610:                                                                                                  #   ALSO   NB WRT PRES SM  IS
042870,001611: 
042871,001612:                                                                                                  #                 *      *   *
042872,001613:                                                                                                  #                XNB = NBSM  I
042873,001614:                                                                                                  #                             *     *
042874,001615:                                                                                                  #   GIMBAL ANGLES  = CALCGA( XSM , XNB )
042875,001616: 
042876,001617: 15,2000                                           SETLOC   P50S                                  
042877,001618: 15,2000                                           BANK                                           
042878,001619: 15,2604                                           COUNT*   $$/P57                                
042879,001620: 15,2604           66370                           AXT,1    SSP                                   #  X1=18
042880,001621: 15,2605           00022                                    18D                                   #  S1= 6
042881,001622: 15,2606           00051                                    S1                                    #  X2, -2
042882,001623: 15,2607           00006                                    6D                                    
042883,001624: 15,2610           77744                           LXC,2                                          
042884,001625: 15,2611           00050                                    S1                                    
042885,001626: 15,2612           45173        GRAVEL             VLOAD*   CALL                                  
042886,001627: 15,2613           54000                                    XUNIT      -6,2                       
042887,001628: 15,2614           47700                                    *NBSM*                                #  SIN AND COS COMPUTED IN LUNG
042888,001629: 15,2615           06707                           STORE    XNB        +18D,1                     
042889,001630: 15,2616           77775                           VLOAD                                          
042890,001631: 15,2617           02731                                    STAR                                  
042891,001632: 15,2620           73744                           LXC,2    VXSC*                                 #  COMPLEMENT- UNITX  ARE BACKWARD -
042892,001633: 15,2621           00047                                    X2                                    
042893,001634: 15,2622           75040                                    STAR       +6,2                       #  OUTER PRODUCT
042894,001635: 15,2623           71152                           VSL2     LXC,2                                 
042895,001636: 15,2624           00047                                    X2                                    
042896,001637: 15,2625           63047                           VSU*     INCR,2                                
042897,001638: 15,2626           54000                                    XUNIT      -6,2                       
042898,001639: 15,2627           00002                                    2D                                    
042899,001640: 15,2630           06665                           STORE    XSM        +18D,1                     
042900,001641: 15,2631           45100                           TIX,1    CALL                                  
042901,001642: 15,2632           32612                                    GRAVEL                                
042902,001643: 15,2633           47351                                    CALCGA                                
042903,001644: 15,2634           74575                           VLOAD    VSR1                                  
042904,001645: 15,2635           02715                                    GOUT                                  
042905,001646: 15,2636           36723                           STCALL   STARAD     +12D                       
042906,001647: 15,2637           32677                                    LUNG                                  
042907,001648: 15,2640           74575                           VLOAD    VSR1                                  
042908,001649: 15,2641           02715                                    GOUT                                  
042909,001650: 15,2642           53455                           VAD      UNIT                                  
042910,001651: 15,2643           02723                                    STARAD     +12D                       
042911,001652: 15,2644           02761                           STORE    STARSAV1                              
042912,001653: 15,2645           77641                           DOT                                            
042913,001654: 15,2646           02222                                    GSAV                                  
042914,001655: 15,2647           65552                           SL1      ACOS                                  

Page 957

042916,001657: 15,2650           01045                           STORE    DSPTEM1                               
042917,001658: 15,2651           77776                           EXIT                                           
042918,001659: 15,2652           05527                           TC       DOWNFLAG                              #  CLEAR FREEFLAG IN CASE OF RECYCLE
042919,001660: 15,2653           00014                           ADRES    FREEFLAG                              
042920,001661: 
042921,001662: 15,2654           32772                           CA       DISGRVER                              
042922,001663: 15,2655           04616                           TC       BANKCALL                              
042923,001664: 15,2656           20477                           CADR     GOFLASH                               
042924,001665: 15,2657           06001                           TC       GOTOPOOH                              
042925,001666: 15,2660           12663                           TCF      PROGRAV                               #  VB33-PROCEED
042926,001667: 15,2661           05515                           TC       UPFLAG                                #  VB32-RECYCLE-STORE GRAV AND DO IT AGAIN
042927,001668: 15,2662           00014                           ADRES    FREEFLAG                              #  AND SET FREEFLAG TO SHOW RECYCLE
042928,001669: 
042929,001670: 15,2663           05364        PROGRAV            TC       PHASCHNG                              
042930,001671: 15,2664           04024                           OCT      04024                                 
042931,001672: 
042932,001673: 15,2665           06051                           TC       INTPRET                               
042933,001674: 15,2666           77775                           VLOAD                                          
042934,001675: 15,2667           02761                                    STARSAV1                              
042935,001676: 15,2670           02222                           STORE    GSAV                                  
042936,001677: 15,2671           77776                           EXIT                                           
042937,001678: 15,2672           34751                           CAF      FREEFBIT                              #  IF FREEFLAG SET, RE-COMPUTE GRAVITY.
042938,001679: 15,2673           70074                           MASK     FLAGWRD0                              
042939,001680: 15,2674           10000                           CCS      A                                     
042940,001681: 15,2675           12572                           TCF      GVDETER                               #  SET
042941,001682: 15,2676           13547                           TCF      ATTCHK                                #  EXIT FROM GVDETER
042942,001683: 
042943,001684: 15,2677           77220        LUNG               STQ      VLOAD                                 
042944,001685: 15,2700           02745                                    QMIN                                  
042945,001686: 15,2701           24007                                    ZEROVEC                               
042946,001687: 15,2702           02707                           STORE    GACC                                  
042947,001688: 15,2703           77776                           EXIT                                           
042948,001689: 15,2704           05364                           TC       PHASCHNG                              
042949,001690: 15,2705           04024                           OCT      04024                                 
042950,001691: 
042951,001692: 15,2706           06051                           TC       INTPRET                               
042952,001693: 15,2707           77624                           CALL                                           
042953,001694: 15,2710           31557                                    COARSE                                
042954,001695: 15,2711           77776                           EXIT                                           
042955,001696: 15,2712           32771                           CA       T/2SEC                                
042956,001697: 15,2713           55736                           TS       GCTR                                  
042957,001698: 15,2714           37730                           CA       PRIO31                                
042958,001699: 15,2715           55074                           TS       1/PIPADT                              
042959,001700: 15,2716           04616                           TC       BANKCALL                              
042960,001701: 15,2717           15707                           CADR     GCOMPZER                              #  INITIALIZE  COMPENSATION
042961,001702: 15,2720           05364                           TC       PHASCHNG                              
042962,001703: 15,2721           04024                           OCT      04024                                 
042963,001704: 
042964,001705: 15,2722           04616                           TC       BANKCALL                              #   DONT NEED TO INHINY  THIS USED TO
042965,001706: 15,2723           71755                           CADR     PIPSRINE                              #  INITIALIZE PIPAS  DONT USE DATA

Page 958

042967,001708: 15,2724           06051                           TC       INTPRET                               
042968,001709: 15,2725           77776        GREED              EXIT                                           #  = MASK 7776 IN BASIC SO DONT CARE
042969,001710: 15,2726           35000                           CAF      2SECS                                 
042970,001711: 15,2727           05204                           TC       TWIDDLE                               #  SET UP 2 SEC TASK TO READ PIPAS
042971,001712: 15,2730           02732                           ADRES    GRABGRAV                              
042972,001713: 
042973,001714: 15,2731           05155                           TC       ENDOFJOB                              
042974,001715: 
042975,001716: 15,2732           04674        GRABGRAV           TC       IBNKCALL                              
042976,001717: 15,2733           71755                           CADR     PIPSRINE                              
042977,001718: 15,2734           35023                           CAF      PRIO13                                #  RE-ESTABLISH MAINLINE JOB
042978,001719: 15,2735           05105                           TC       FINDVAC                               
042979,001720: 15,2736  E5,1706                                  EBANK=   STARAD                                
042980,001721: 15,2736           02741 32065                     2CADR    ADDGRAV                               
042981,001722: 
042982,001723: 
042983,001724: 15,2740           05272                           TC       TASKOVER                              
042984,001725: 
042985,001726: 15,2741           04616        ADDGRAV            TC       BANKCALL                              
042986,001727: 15,2742           15271                           CADR     1/PIPA                                
042987,001728: 15,2743           25736                           INCR     GCTR                                  
042988,001729: 15,2744           06051                           TC       INTPRET                               
042989,001730: 15,2745           53375                           VLOAD    VAD                                   
042990,001731: 15,2746           00325                                    DELV                                  
042991,001732: 15,2747           02707                                    GACC                                  
042992,001733: 15,2750           02707                           STORE    GACC                                  #  ACCUMULATE G VECTOR
042993,001734: 15,2751           50135                           SLOAD    BMN                                   
042994,001735: 15,2752           02737                                    GCTR                                  
042995,001736: 15,2753           32725                                    GREED                                 
042996,001737: 15,2754           53575                           VLOAD    UNIT                                  
042997,001738: 15,2755           02707                                    GACC                                  
042998,001739: 15,2756           36731                           STCALL   STAR                                  
042999,001740: 15,2757           47535                                    CDUTRIG                               #  TRANSFORM  IN NB COOR  AND  STORE
043000,001741: 15,2760           77624                           CALL                                           #   IN OUTPUT
043001,001742: 15,2761           47676                                    *SMNB*                                
043002,001743: 15,2762           02715                           STORE    GOUT                                  
043003,001744: 15,2763           77776                           EXIT                                           
043004,001745: 15,2764           05364                           TC       PHASCHNG                              
043005,001746: 15,2765           04024                           OCT      04024                                 
043006,001747: 
043007,001748: 15,2766           06051        QMINEXIT           TC       INTPRET                               
043008,001749: 15,2767           77650                           GOTO                                           
043009,001750: 15,2770           02745                                    QMIN                                  
043010,001751: 15,2771           77753        T/2SEC             DEC      -20        B-14                       
043011,001752: 15,2772           01404        DISGRVER           VN       0604                                  
043012,001753: 15,2773           07357        42DEG              OCT      07357                                 
043013,001754: 15,2774           06211        35DEG              OCT      06211                                 
043014,001755: 

Page 959

043016,001757:                                                                                                  #  NAME  GYROTRIM
043017,001758: 
043018,001759:                                                                                                  #  THIS PROGRAM COMPUTES AND SENDS GYRO COMMANDS WHICH CAUSE THE CDUS
043019,001760:                                                                                                  #    TO ATTAIN A PRESCRIBED SET OF ANGLES. THIS ROUTINE ASSUMES THE
043020,001761:                                                                                                  #    VEHICLES ATTITUDE REMAINS STATIONARY DURING ITS OPERATION.
043021,001762: 
043022,001763:                                                                                                  #  CALL     CALL
043023,001764:                                                                                                  #                  GYROTRIM
043024,001765: 
043025,001766:                                                                                                  #  INPUT    THETAD,+1,+2 = DESIRED CDU ANGLES
043026,001767:                                                                                                  #           CDUX,CDUY,CDUZ
043027,001768: 
043028,001769:                                                                                                  #  OUTPUT - GYRO TORQUE PULSES
043029,001770: 
043030,001771:                                                                                                  #  SUBROUTINES- TRG*NBSM,*NBSM*,CDUTRIG,AXISGEN,CALCGTA,IMUFINE
043031,001772:                                                                                                  #               IMPULSE,IMUSTALL
043032,001773:                                                                                                  #             -         -        -        *           *     -
043033,001774:                                                                                                  #  DEBRIS -  CDUSPOT ,SINCDU ,COSCDU , STARAD ,VAC , XDC , OGC
043034,001775: 15,2775                                           COUNT*   $$/P57                                
043035,001776: 15,2775           71220        GYROTRIM           STQ      DLOAD                                 
043036,001777: 15,2776           02745                                    QMIN                                  
043037,001778: 15,2777           00322                                    THETAD                                
043038,001779: 15,3000           65325                           PDDL     PDDL                                  
043039,001780: 15,3001           00324                                    THETAD     +2                         
043040,001781: 15,3002           00323                                    THETAD     +1                         
043041,001782: 15,3003           77666                           VDEF                                           
043042,001783: 15,3004           24766                           STOVL    CDUSPOT                               
043043,001784: 15,3005           24005                                    XUNIT                                 
043044,001785: 15,3006           77624                           CALL                                           
043045,001786: 15,3007           47671                                    TRG*NBSM                              
043046,001787: 15,3010           26707                           STOVL    STARAD                                
043047,001788: 15,3011           24003                                    YUNIT                                 
043048,001789: 15,3012           77624                           CALL                                           
043049,001790: 15,3013           47700                                    *NBSM*                                
043050,001791: 15,3014           36715                           STCALL   STARAD     +6                         
043051,001792: 15,3015           47535                                    CDUTRIG                               
043052,001793: 15,3016           77624                           CALL                                           
043053,001794: 15,3017           20030                                    CALCSMSC                              
043054,001795: 15,3020           77775                           VLOAD                                          
043055,001796: 15,3021           02665                                    XNB                                   
043056,001797: 15,3022           24007                           STOVL    6D                                    
043057,001798: 15,3023           02673                                    YNB                                   
043058,001799: 15,3024           34015                           STCALL   12D                                   
043059,001800: 15,3025           47437                                    AXISGEN                               
043060,001801: 15,3026           77624                           CALL                                           
043061,001802: 15,3027           47245                                    CALCGTA                               
043062,001803: 15,3030           77776        JUSTTRIM           EXIT                                           
043063,001804: 15,3031           33040                           CA       GYRCDR                                
043064,001805: 15,3032           04616                           TC       BANKCALL                              
043065,001806: 15,3033           17270                           CADR     IMUPULSE                              

Page 960

043067,001808: 15,3034           04616                           TC       BANKCALL                              
043068,001809: 15,3035           17715                           CADR     IMUSTALL                              
043069,001810: 15,3036           05712                           TC       CURTAINS                              
043070,001811: 15,3037           12766                           TCF      QMINEXIT                              
043071,001812: 
043072,001813: 15,3040           02737        GYRCDR             ECADR    OGC                                   
043073,001814: 

Page 961

043075,001816:                                                                                                  #  PERFORM STAR AQUISITION AND STAR SIGHTINGS
043076,001817: 
043077,001818: 15,3041           34755        2STARS             CAF      ZERO                                  #  INITALIZE STARIND
043078,001819: 15,3042           13044                           TCF      +2                                    #  ZERO FOR 1ST STAR, ONE FOR 2ND STAR
043079,001820: 15,3043           34753        1STAR              CAF      BIT1                                  
043080,001821: 15,3044           55757                           TS       STARIND                               
043081,001822: 
043082,001823: 15,3045           05364                           TC       PHASCHNG                              
043083,001824: 15,3046           04024                           OCT      04024                                 
043084,001825: 
043085,001826: 15,3047           12270                           TCF      R59                                   #  GO DO STAR AQUIRE AND AOTMARK
043086,001827: 
043087,001828: 15,3050           31757        R59RET             CA       STARIND                               #  BACK FROM SURFACE MARKING
043088,001829: 15,3051           00006                           EXTEND                                         
043089,001830: 15,3052           13063                           BZF      ASTAR                                 #  1ST STAR MARKED
043090,001831: 
043091,001832: 15,3053           05364                           TC       PHASCHNG                              
043092,001833: 15,3054           04024                           OCT      04024                                 
043093,001834: 
043094,001835: 15,3055           06051                           TC       INTPRET                               
043095,001836: 15,3056           45145                           DLOAD    CALL                                  
043096,001837: 15,3057           03562                                    TSIGHT                                #  TIME OF 2ND MARK
043097,001838: 15,3060           32500                                    PLANET                                
043098,001839: 15,3061           37254                           STCALL   VEC2                                  #  STORE 2ND CATALOG VEC (REF)
043099,001840: 15,3062           33075                                    SURFLINE                              
043100,001841: 
043101,001842: 15,3063           06051        ASTAR              TC       INTPRET                               
043102,001843: 15,3064           77775                           VLOAD                                          
043103,001844: 15,3065           02715                                    STARAD     +6                         
043104,001845: 15,3066           02761                           STORE    STARSAV1                              #  1ST OBSERVED STAR (SM)
043105,001846: 15,3067           45145                           DLOAD    CALL                                  
043106,001847: 15,3070           03562                                    TSIGHT                                #  TIME OF 1ST MARK
043107,001848: 15,3071           32500                                    PLANET                                
043108,001849: 15,3072           03246                           STORE    VEC1                                  #  STORE 1ST CATALOG VEC (REF)
043109,001850: 15,3073           77776                           EXIT                                           
043110,001851: 15,3074           13043                           TCF      1STAR                                 #  GO GET 2ND STAR SIGHTING
043111,001852: 

Page 962

043113,001854:                                                                                                  #  DO FINE OR COARSE ALIGNMENT OF IMU
043114,001855: 
043115,001856: 15,3075           77131        SURFLINE           SSP      AXT,2                                 
043116,001857: 15,3076           00052                                    S2                                    
043117,001858: 15,3077           00006                                    6                                     
043118,001859: 15,3100           00014                                    12D                                   
043119,001860: 15,3101           64373        WRTDESIR           VLOAD*   MXV                                   
043120,001861: 15,3102           74515                                    VEC1       +12D,2                     #  PICK UP VEC IN REF, TRANS TO DESIRED SH
043121,001862: 15,3103           03607                                    XSMD                                  
043122,001863: 15,3104           77656                           UNIT                                           
043123,001864: 15,3105           12723                           STORE    STARAD     +12D,2                     #  VEC IN SM
043124,001865: 15,3106           77773                           VLOAD*                                         
043125,001866: 15,3107           75002                                    STARSAV1   +12D,2                     #  PICK UP VEC IN PRESENT SM
043126,001867: 15,3110           10023                           STORE    18D,2                                 
043127,001868: 15,3111           43104                           TIX,2    BON                                   
043128,001869: 15,3112           33101                                    WRTDESIR                              
043129,001870: 15,3113           04315                                    INITALGN                              #  IF INITIAL PASS (OPTION 0) BYPASS R54
043130,001871: 15,3114           33122                                    INITBY                                
043131,001872: 15,3115           77624        DOALIGN            CALL                                           
043132,001873: 15,3116           31250                                    R54                                   #  DO CHKSDATA
043133,001874: 15,3117           77614                           BOFF                                           
043134,001875: 15,3120           00354                                    FREEFLAG                              
043135,001876: 15,3121           33202                                    P57POST                               #  ASTRO DOES NOT LIKE DATA TEST RESULTS
043136,001877: 15,3122           77624        INITBY             CALL                                           
043137,001878: 15,3123           47437                                    AXISGEN                               #  GET DESIRED ORIENT WRT PRES.XDC,YDC,ZDC
043138,001879: 15,3124           77624                           CALL                                           
043139,001880: 15,3125           47245                                    CALCGTA                               #  GET GYRO TORQ ANGLES, OGC,IGC,MGC
043140,001881: 15,3126           77776                           EXIT                                           
043141,001882: 15,3127           34752                           CAF      INITABIT                              #  IF INITIAL PASS BYPASS NOUN 93 DISPLAY
043142,001883: 15,3130           70104                           MASK     FLAGWRD8                              
043143,001884: 15,3131           10000                           CCS      A                                     
043144,001885: 15,3132           13141                           TCF      5DEGTEST                              
043145,001886: 15,3133           33307                           CAF      DISPGYRO                              #  DISPLAY GYRO TORQ ANGLES V 06N93
043146,001887: 15,3134           04616                           TC       BANKCALL                              
043147,001888: 15,3135           20477                           CADR     GOFLASH                               
043148,001889: 15,3136           06001                           TC       GOTOPOOH                              #  V34-TERMINATE
043149,001890: 15,3137           13141                           TCF      5DEGTEST                              #  VB33-PROCEED TO COARSE OR FINE
043150,001891: 15,3140           13203                           TCF      P57POST    +1                         #  VB32-RECYCLE, MAYBE RE-ALIGN
043151,001892: 
043152,001893: 15,3141           06051        5DEGTEST           TC       INTPRET                               #  IF ANGLES GREATER THAN 5 DEGS, DO COARSE
043153,001894: 15,3142           40175                           VLOAD    BOV                                   
043154,001895: 15,3143           02740                                    OGC                                   
043155,001896: 15,3144           33145                                    SURFSUP                               
043156,001897: 15,3145           02750        SURFSUP            STORE    OGCT                                  
043157,001898: 15,3146           40141                           V/SC     BOV                                   
043158,001899: 15,3147           30602                                    5DEGREES                              
043159,001900: 15,3150           33250                                    COATRIM                               
043160,001901: 15,3151           52131                           SSP      GOTO                                  
043161,001902: 15,3152           02746                                    QMIN                                  
043162,001903: 15,3153           33155                                    SURFDISP                              

Page 963

043164,001905: 15,3154           33030                                    JUSTTRIM                              #  ANGLES LESS THAN 5DEG, DO GYRO TORQ
043165,001906: 
043166,001907: 15,3155           77776        SURFDISP           EXIT                                           
043167,001908: 15,3156           05364                           TC       PHASCHNG                              
043168,001909: 15,3157           04024                           OCT      04024                                 
043169,001910: 
043170,001911: 15,3160           06051                           TC       INTPRET                               
043171,001912: 15,3161           75160                           AXC,1    AXC,2                                 
043172,001913: 15,3162           03606                                    XSMD                                  
043173,001914: 15,3163           01731                                    REFSMMAT                              
043174,001915: 15,3164           45014                           SET      CALL                                  
043175,001916: 15,3165           01462                                    REFSMFLG                              
043176,001917: 15,3166           31371                                    MATMOVE                               
043177,001918: 15,3167           77776                           EXIT                                           
043178,001919: 15,3170           11144                           CCS      OPTION2                               #  IF OPTION ZERO DO FINISH
043179,001920: 15,3171           13173                           TCF      B2F8                                  
043180,001921: 15,3172           13203                           TCF      P57POST    +1                         
043181,001922: 
043182,001923: 15,3173           34752        B2F8               CAF      INITABIT                              #  IF INITIAL FLAG SET, RE-CYCLE.
043183,001924: 15,3174           70104                           MASK     FLAGWRD8                              
043184,001925: 15,3175           10000                           CCS      A                                     
043185,001926: 15,3176           13555                           TCF      P57JUMP                               #  ITS SET
043186,001927: 15,3177           06051                           TC       INTPRET                               
043187,001928: 15,3200           77624                           CALL                                           
043188,001929: 15,3201           33502                                    REFMF                                 #  GO GET ATTITUDE VEC IN MF(YNBSAV,XNBSAV)
043189,001930: 15,3202           77776        P57POST            EXIT                                           
043190,001931: 15,3203           35752                           CAF      OCT14                                 #  DISPLAY V50N25 CHK CODE 14
043191,001932: 15,3204           04616                           TC       BANKCALL                              
043192,001933: 15,3205           20624                           CADR     GOPERF1                               
043193,001934: 15,3206           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043194,001935: 15,3207           13555                           TCF      P57JUMP                               #  VB33-PROCEED TO RE-ALIGN
043195,001936: 15,3210           44752                           CS       BIT2                                  #  TEST TO SE IF ALIGNED BY OPTION 2
043196,001937: 15,3211           61144                           AD       OPTION2                               
043197,001938: 15,3212           00006                           EXTEND                                         
043198,001939: 15,3213           13215                           BZF      +2                                    #  YES-GO CALCULATE LANDING SITE
043199,001940: 15,3214           16001                           TCF      GOTOPOOH                              #  NO-EXIT P57
043200,001941: 15,3215           05364                           TC       PHASCHNG                              #  RESTART PLACE
043201,001942: 15,3216           04024                           OCT      04024                                 
043202,001943: 15,3217           06051                           TC       INTPRET                               
043203,001944: 15,3220           45175                           VLOAD    CALL                                  #  USE GNB
043204,001945: 15,3221           02222                                    GSAV                                  
043205,001946: 15,3222           47666                                    CDU*NBSM                              #  GO TO SM COORDS
043206,001947: 15,3223           43105                           VXM      SET                                   #           ON MOON SO SET LUNAFLAG
043207,001948: 15,3224           01732                                    REFSMMAT                              #           G(REF) = (REFSMMAT)T (NBSM)GNB
043208,001949: 15,3225           01463                                    LUNAFLAG                              
043209,001950: 15,3226           51515                           PDVL     ABVAL                                 
043210,001951: 15,3227           02021                                    RLS                                   
043211,001952: 15,3230           45561                           VXSC     STADR                                 
043212,001953: 15,3231           75745                           STORE    ALPHAV                                #           ALPHAV =  RLSMAG * G(REF)
043213,001954: 15,3232           47014                           CLEAR    RTB                                   

Page 964

043215,001956: 15,3233           00662                                    ERADFLAG                              
043216,001957: 15,3234           21555                                    LOADTIME                              
043217,001958: 15,3235           77624                           CALL                                           
043218,001959: 15,3236           30440                                    N89DISP                               #  SUBROUTINE TO CALC LS AND GIVE RLS BACK
043219,001960: 15,3237           01220                           STORE    RN                                    #  RN=RLS B-29 = LM POSITION
043220,001961: 15,3240           65352                           VSL2     PDDL                                  #  R-TO-RP GETS RLS B-27 AT  0-5D IN PDLIST
043221,001962: 15,3241           01242                                    GDT/2      +4                         #  TIME TEMP STORED IN N89DISP
043222,001963: 15,3242           77606                           PUSH                                           #  TIME AT  6-7 IN PDLIST
043223,001964: 15,3243           35234                           STCALL   PIPTIME                               #  PIPTIME = LM STATE TIME
043224,001965: 15,3244           51644                                    R-TO-RP                               
043225,001966: 15,3245           02021                           STORE    RLS                                   #  RLS IN MOON-FIXED COORDS
043226,001967: 15,3246           77776                           EXIT                                           
043227,001968: 15,3247           16001                           TCF      GOTOPOOH                              #  EXIT P57
043228,001969: 

Page 965

043230,001971:                                                                                                  #  COARSE AND FINE ALIGN IMU
043231,001972: 15,3250           75160        COATRIM            AXC,1    AXC,2                                 
043232,001973: 15,3251           02664                                    XDC                                   
043233,001974: 15,3252           02642                                    XSM                                   
043234,001975: 15,3253           77624                           CALL                                           
043235,001976: 15,3254           31371                                    MATMOVE                               
043236,001977: 15,3255           77624                           CALL                                           
043237,001978: 15,3256           47535                                    CDUTRIG                               
043238,001979: 15,3257           77624                           CALL                                           
043239,001980: 15,3260           20030                                    CALCSMSC                              
043240,001981: 15,3261           77624                           CALL                                           
043241,001982: 15,3262           47351                                    CALCGA                                
043242,001983: 15,3263           77414                           BOFF     EXIT                                  
043243,001984: 15,3264           04355                                    INITALGN                              #  IF INITIAL ALGNMENT DISPLAY FINAL
043244,001985: 15,3265           33277                                    CORSIT                                #  GIMBAL ANGLES IF COARSE ANGLES GREATER
043245,001986: 15,3266           35010                           CAF      V06N22                                #  THAN 5 DEGREES
043246,001987: 15,3267           04616                           TC       BANKCALL                              
043247,001988: 15,3270           20477                           CADR     GOFLASH                               
043248,001989: 15,3271           06001                           TC       GOTOPOOH                              
043249,001990: 15,3272           13274                           TCF      +2                                    
043250,001991: 15,3273           13266                           TCF      -5                                    
043251,001992: 15,3274           05364                           TC       PHASCHNG                              
043252,001993: 15,3275           04024                           OCT      04024                                 
043253,001994: 
043254,001995: 15,3276           06051                           TC       INTPRET                               
043255,001996: 15,3277           77624        CORSIT             CALL                                           
043256,001997: 15,3300           31557                                    COARSE                                
043257,001998: 15,3301           77624                           CALL                                           
043258,001999: 15,3302           31603                                    NCOARSE                               
043259,002000: 15,3303           77624                           CALL                                           
043260,002001: 15,3304           32775                                    GYROTRIM                              
043261,002002: 15,3305           77650                           GOTO                                           
043262,002003: 15,3306           33155                                    SURFDISP                              
043263,002004: 15,3307           01535        DISPGYRO           VN       0693                                  
043264,002005: 

Page 966

043266,002007:                                                                                                  #  LUNAR SURFACE IMU ALIGNMENT PROGRAM
043267,002008: 
043268,002009: 15,3310           04616        P57                TC       BANKCALL                              #  IS ISS ON - IF NOT, IMUCHK WILL SEND
043269,002010: 15,3311           33646                           CADR     IMUCHK                                #  ALARM CODE 210 AND EXIT VIA GOTOPOOH
043270,002011: 
043271,002012: 15,3312           36257                           CAF      THREE                                 #  JAM REFSMMAT OPTION 3 FOR INITIAL DISP.
043272,002013: 15,3313           55144                           TS       OPTION2                               
043273,002014: 15,3314           34753        P57OPT             CAF      BIT1                                  
043274,002015: 15,3315           04616                           TC       BANKCALL                              
043275,002016: 15,3316           20714                           CADR     GOPERF4R                              #  FLASH V04N06 FOR ALIGNMENT CODE
043276,002017: 15,3317           06001                           TC       GOTOPOOH                              #  V34 TERMINATE
043277,002018: 15,3320           13325                           TCF      ALIGNOPT                              #  V33 PROCEED
043278,002019: 15,3321           13314                           TCF      P57OPT                                #  V32 RECYCLE
043279,002020: 
043280,002021: 15,3322           05364                           TC       PHASCHNG                              
043281,002022: 15,3323           00014                           OCT      00014                                 
043282,002023: 15,3324           05155                           TC       ENDOFJOB                              
043283,002024: 
043284,002025: 15,3325           31144        ALIGNOPT           CA       OPTION2                               
043285,002026: 15,3326           76257                           MASK     THREE                                 
043286,002027: 15,3327           50000                           INDEX    A                                     
043287,002028: 15,3330           13331                           TCF      +1                                    
043288,002029: 15,3331           13344                           TCF      TDISP                                 #  OPTION 4 LS ORIENTATION
043289,002030: 15,3332           13405                           TCF      PACKOPTN                              #  OPTION 1 PREFERRED
043290,002031: 15,3333           13314                           TCF      P57OPT                                #  OPTION 2 INVALID IN P57, RECYCLE
043291,002032: 15,3334           06051                           TC       INTPRET                               #  OPTION 3 REFSMMAT
043292,002033: 15,3335           75160                           AXC,1    AXC,2                                 #  JAM REFSMMAT IN XSMD LOC
043293,002034: 15,3336           01731                                    REFSMMAT                              
043294,002035: 15,3337           03606                                    XSMD                                  
043295,002036: 15,3340           77624                           CALL                                           
043296,002037: 15,3341           31371                                    MATMOVE                               
043297,002038: 15,3342           77650                           GOTO                                           
043298,002039: 15,3343           33404                                    PACKOPTN   -1                         
043299,002040: 
043300,002041: 15,3344           06051        TDISP              TC       INTPRET                               
043301,002042: 15,3345           77745                           DLOAD                                          
043302,002043: 15,3346           03442                                    TIG                                   #  LOAD ASCENT TIME FOR DISPLAY
043303,002044: 15,3347           01045        P57A               STORE    DSPTEM1                               
043304,002045: 15,3350           77776                           EXIT                                           
043305,002046: 15,3351           32213        P57AA              CAF      V06N34*                               #  DISPLAY TALIGN, TALIGN : DSPTEM1
043306,002047: 15,3352           04616                           TC       BANKCALL                              
043307,002048: 15,3353           20477                           CADR     GOFLASH                               
043308,002049: 15,3354           16001                           TCF      GOTOPOOH                              #  V34-TERMINATE
043309,002050: 15,3355           13357                           TCF      +2                                    
043310,002051: 15,3356           13351                           TCF      P57AA                                 #  VB32-RECYCLE
043311,002052: 
043312,002053: 15,3357           06051                           TC       INTPRET                               
043313,002054: 15,3360           65234                           RTB      PDDL                                  
043314,002055: 15,3361           21555                                    LOADTIME                              #  PUSH CURRENT TIME AND PICK UP KEY IN
043315,002056: 15,3362           01045                                    DSPTEM1                               

Page 967

043317,002058: 15,3363           65254                           BZE      PDDL                                  
043318,002059: 15,3364           33374                                    P57C                                  #  IF KEY IN TIME ZERO-TALIGN=CURRENT TIME
043319,002060: 15,3365           51025                           DSU      BPL                                   #  NOT ZERO SO EXCHANGE PD WITH DSPTEM1
043320,002061: 15,3366           01045                                    DSPTEM1                               
043321,002062: 15,3367           33374                                    P57C                                  
043322,002063: 15,3370           45545                           DLOAD    STADR                                 #  IF KEYIN TIME GREATER THAN CURRENT TIME
043323,002064: 15,3371           74335                           STORE    TIG                                   #  STORE IT IN TIG
043324,002065: 15,3372           36775                           STCALL   TALIGN                                
043325,002066: 15,3373           33376                                    P57D                                  
043326,002067: 15,3374           45545        P57C               DLOAD    STADR                                 
043327,002068: 15,3375           75002                           STORE    TALIGN                                
043328,002069: 15,3376           34041        P57D               STCALL   TDEC1                                 
043329,002070: 15,3377           27056                                    LEMPREC                               #  COMPUTE DESIRED IMU ORIENTATION STORE
043330,002071: 15,3400           53575                           VLOAD    UNIT                                  #  IN  X,Y,ZSMD
043331,002072: 15,3401           00001                                    RATT                                  
043332,002073: 15,3402           37607                           STCALL   XSMD                                  
043333,002074: 15,3403           10765                                    LSORIENT                              
043334,002075: 15,3404           77776                           EXIT                                           
043335,002076: 15,3405           34755        PACKOPTN           CAF      ZERO                                  #  PACK FLAG BITS FOR OPTION DISPLAY
043336,002077: 15,3406           55144                           TS       OPTION1    +1                         #  JAM ZERO IN ALIGNMENT OPTION
043337,002078: 15,3407           55145                           TS       OPTION1    +2                         #  INITIALIZE FLAG BIT CONFIGURATION
043338,002079: 15,3410           34737                           CAF      REFSMBIT                              
043339,002080: 15,3411           70077                           MASK     FLAGWRD3                              #  REFSMFLG
043340,002081: 15,3412           10000                           CCS      A                                     
043341,002082: 15,3413           34745                           CAF      BIT7                                  #  SET
043342,002083: 15,3414           27145                           ADS      OPTION1    +2                         #  CLEAR-JUST ZERO
043343,002084: 15,3415           34753                           CAF      ATTFLBIT                              
043344,002085: 15,3416           70102                           MASK     FLAGWRD6                              #  ATTFLG
043345,002086: 15,3417           10000                           CCS      A                                     
043346,002087: 15,3420           34750                           CAF      BIT4                                  #  SET
043347,002088: 15,3421           27145                           ADS      OPTION1    +2                         #  CLEAR-ZERO IN A
043348,002089: 15,3422           34750                           CAF      BIT4                                  
043349,002090: 15,3423           55143                           TS       OPTION1                               #  JAM 00010 IN OPTION1 FOR CHECK LIST
043350,002091: 
043351,002092: 15,3424           33645        DSPOPTN            CAF      VB05N06                               #  DISPLAY OPTION CODE AND FLAG BITS
043352,002093: 15,3425           04616                           TC       BANKCALL                              
043353,002094: 15,3426           20477                           CADR     GOFLASH                               
043354,002095: 15,3427           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043355,002096: 15,3430           13432                           TCF      +2                                    #  V33-PROCEED
043356,002097: 15,3431           13424                           TCF      DSPOPTN                               #  V32-RECYCLE
043357,002098: 
043358,002099: 15,3432           34737                           CAF      REFSMBIT                              
043359,002100: 15,3433           70077                           MASK     FLAGWRD3                              
043360,002101: 15,3434           10000                           CCS      A                                     
043361,002102: 15,3435           13535                           TCF      GETLMATT                              #  SET, GO COMPUTE LM ATTITUDE
043362,002103: 15,3436           34753                           CAF      ATTFLBIT                              #  CLEAR-CHECK ATTFLAG FOR STORED ATTITUDE.
043363,002104: 15,3437           70102                           MASK     FLAGWRD6                              
043364,002105: 15,3440           10000                           CCS      A                                     
043365,002106: 15,3441           13541                           TCF      BYLMATT                               #  ALLFLG SET, CHK OPTION FOR GRAVITY COMP
043366,002107: 15,3442           34752                           CAF      BIT2                                  #  SEE IF OPTION 2 OR 3

Page 968

043368,002109: 15,3443           71144                           MASK     OPTION2                               
043369,002110: 15,3444           10000                           CCS      A                                     
043370,002111: 15,3445           13541                           TCF      BYLMATT                               #  OPTION 2 OR 3 BUT DONT HAVE ATTITUDE
043371,002112: 15,3446           05600                           TC       ALARM                                 #  OPTION INCONSISTANT WITH FLAGS-ALARM 701
043372,002113: 15,3447           00701                           OCT      701                                   
043373,002114: 15,3450           35006                           CAF      VB05N09                               #  DISPLAY ALARM FOR ACTION
043374,002115: 15,3451           04616                           TC       BANKCALL                              
043375,002116: 15,3452           20477                           CADR     GOFLASH                               
043376,002117: 15,3453           16001                           TCF      GOTOPOOH                              #  VB34-TERMINATE
043377,002118: 15,3454           13424                           TCF      DSPOPTN                               #  V33-PROCEED   ********TEMPORARY
043378,002119: 15,3455           13424                           TCF      DSPOPTN                               #  VB32-RECYCLE TO OPTION DISPLAY V 05N06
043379,002120: 

Page 969

043381,002122:                                                                                                  #  TRANSFORM VEC1,2 FROM MOON FIXED TO REF AND JAM BACK IN VEC1,2
043382,002123: 
043383,002124: 15,3456           40220        MFREF              STQ      SETPD                                 
043384,002125: 15,3457           02746                                    QMAJ                                  
043385,002126: 15,3460           00001                                    0                                     
043386,002127: 15,3461           77634                           RTB                                            
043387,002128: 15,3462           21555                                    LOADTIME                              
043388,002129: 15,3463           27562                           STOVL    TSIGHT                                
043389,002130: 15,3464           03246                                    VEC1                                  
043390,002131: 15,3465           41525                           PDDL     PUSH                                  
043391,002132: 15,3466           03562                                    TSIGHT                                
043392,002133: 15,3467           77624                           CALL                                           
043393,002134: 15,3470           55720                                    RP-TO-R                               
043394,002135: 15,3471           27246                           STOVL    VEC1                                  
043395,002136: 15,3472           03254                                    VEC2                                  
043396,002137: 15,3473           65201                           SETPD    PDDL                                  
043397,002138: 15,3474           00001                                    0                                     
043398,002139: 15,3475           03562                                    TSIGHT                                
043399,002140: 15,3476           45006                           PUSH     CALL                                  
043400,002141: 15,3477           55720                                    RP-TO-R                               
043401,002142: 15,3500           37254                           STCALL   VEC2                                  
043402,002143: 15,3501           02746                                    QMAJ                                  
043403,002144: 

Page 970

043405,002146:                                                                                                  #  COMPUTE LM ATTITUDE IN MOON FIXED COORDINATES USING REFSMMAT AND
043406,002147:                                                                                                  #  STORE IN YNBSAV AND ZNBSAV
043407,002148: 
043408,002149: 15,3502           45020        REFMF              STQ      CALL                                  
043409,002150: 15,3503           02746                                    QMAJ                                  
043410,002151: 15,3504           47535                                    CDUTRIG                               #  GET SIN AND COS OF CDUS
043411,002152: 15,3505           40234                           RTB      SETPD                                 
043412,002153: 15,3506           21555                                    LOADTIME                              
043413,002154: 15,3507           00001                                    0                                     
043414,002155: 15,3510           37562                           STCALL   TSIGHT                                
043415,002156: 15,3511           20030                                    CALCSMSC                              #  GET YNB IN SM
043416,002157: 15,3512           61375                           VLOAD    VXM                                   
043417,002158: 15,3513           02673                                    YNB                                   
043418,002159: 15,3514           01732                                    REFSMMAT                              #   YNB TO REF
043419,002160: 15,3515           65256                           UNIT     PDDL                                  
043420,002161: 15,3516           03562                                    TSIGHT                                
043421,002162: 15,3517           45006                           PUSH     CALL                                  
043422,002163: 15,3520           51644                                    R-TO-RP                               
043423,002164: 15,3521           26230                           STOVL    YNBSAV                                #  YNB TO MF
043424,002165: 15,3522           02701                                    ZNB                                   
043425,002166: 15,3523           53505                           VXM      UNIT                                  
043426,002167: 15,3524           01732                                    REFSMMAT                              #  ZNB TO REF
043427,002168: 15,3525           41525                           PDDL     PUSH                                  
043428,002169: 15,3526           03562                                    TSIGHT                                
043429,002170: 15,3527           77624                           CALL                                           
043430,002171: 15,3530           51644                                    R-TO-RP                               #  ZNB TO MF
043431,002172: 15,3531           02236                           STORE    ZNBSAV                                
043432,002173: 15,3532           77614                           SETGO                                          
043433,002174: 15,3533           03036                                    ATTFLAG                               
043434,002175: 15,3534           02746                                    QMAJ                                  
043435,002176: 

Page 971

043437,002178:                                                                                                  #  BRANCH TO ALIGNMENT OPTION
043438,002179: 
043439,002180: 15,3535           06051        GETLMATT           TC       INTPRET                               
043440,002181: 15,3536           77624                           CALL                                           
043441,002182: 15,3537           33502                                    REFMF                                 #  GO TRANSFORM TO MF IN YNBSAV,ZNBSAV
043442,002183: 15,3540           77776                           EXIT                                           
043443,002184: 
043444,002185: 15,3541           05515        BYLMATT            TC       UPFLAG                                #  SET INITIAL ALIGN FLAG
043445,002186: 15,3542           00205                           ADRES    INITALGN                              
043446,002187: 15,3543           34753                           CAF      BIT1                                  
043447,002188: 15,3544           71144                           MASK     OPTION2                               #  SEE IF OPTION 1 OR 3
043448,002189: 15,3545           10000                           CCS      A                                     
043449,002190: 15,3546           12572                           TCF      GVDETER                               #  OPTION 1 OR 2, GET GRAVITY
043450,002191: 
043451,002192: 15,3547           05364        ATTCHK             TC       PHASCHNG                              
043452,002193: 15,3550           04024                           OCT      04024                                 
043453,002194: 
043454,002195: 15,3551           34753                           CAF      ATTFLBIT                              #  NOT 1 OR 3, CHECK ATTFLAG
043455,002196: 15,3552           70102                           MASK     FLAGWRD6                              
043456,002197: 15,3553           10000                           CCS      A                                     
043457,002198: 15,3554           13571                           TCF      P57OPT0                               #  GET ALIGNMENT VECS FOR OPTION 0
043458,002199: 15,3555           05364        P57JUMP            TC       PHASCHNG                              
043459,002200: 15,3556           04024                           OCT      04024                                 
043460,002201: 
043461,002202: 15,3557           05527                           TC       DOWNFLAG                              #  ATTFLG CLEAR-RESET INTALIGN FLAG
043462,002203: 15,3560           00205                           ADRES    INITALGN                              
043463,002204: 15,3561           36257                           CAF      THREE                                 
043464,002205: 15,3562           71144                           MASK     OPTION2                               #  BRANCH ON OPTION CODE
043465,002206: 15,3563           50000                           INDEX    A                                     
043466,002207: 15,3564           13565                           TCF      +1                                    
043467,002208: 15,3565           13571                           TCF      P57OPT0                               #  OPTION IS 0
043468,002209: 15,3566           13612                           TCF      P57OPT1                               #  OPTION IS 1
043469,002210: 15,3567           13630                           TCF      P57OPT2                               #  OPTION IS 2
043470,002211: 15,3570           13631                           TCF      P57OPT3                               #  OPTION IS 3
043471,002212: 

Page 972

043473,002214:                                                                                                  #  OPTION 0, GET TWO ATTITUDE VECS
043474,002215: 
043475,002216: 15,3571           06051        P57OPT0            TC       INTPRET                               
043476,002217: 15,3572           77775                           VLOAD                                          
043477,002218: 15,3573           02230                                    YNBSAV                                #  Y AND Z ATTITUDE WILL BE PUT IN REF
043478,002219: 15,3574           27246                           STOVL    VEC1                                  
043479,002220: 15,3575           02236                                    ZNBSAV                                
043480,002221: 15,3576           37254                           STCALL   VEC2                                  
043481,002222: 15,3577           47535                                    CDUTRIG                               
043482,002223: 15,3600           77624                           CALL                                           
043483,002224: 15,3601           20030                                    CALCSMSC                              #  COMPUTE SC AXIS WRT PRESENT SM
043484,002225: 15,3602           77775                           VLOAD                                          
043485,002226: 15,3603           02673                                    YNB                                   
043486,002227: 15,3604           26761        SAMETYP            STOVL    STARSAV1                              #  Y SC AXIS WRT PRESENT SM
043487,002228: 15,3605           02701                                    ZNB                                   
043488,002229: 15,3606           36767                           STCALL   STARSAV2                              #  Z SC AXIS WRT PRESENT SM
043489,002230: 15,3607           33456                                    MFREF                                 #  TRANSFORM VEC1,2 FROM MF TO REF
043490,002231: 15,3610           77650                           GOTO                                           
043491,002232: 15,3611           33075                                    SURFLINE                              
043492,002233: 
043493,002234:                                                                                                  #  OPTION 1, GET LANDING SITE AND Z-ATTITUDE VEC
043494,002235: 
043495,002236: 15,3612           06051        P57OPT1            TC       INTPRET                               
043496,002237: 15,3613           53575                           VLOAD    UNIT                                  
043497,002238: 15,3614           02021                                    RLS                                   #  LANDING SITE VEC
043498,002239: 15,3615           27246                           STOVL    VEC1                                  
043499,002240: 15,3616           02236                                    ZNBSAV                                #  Z ATTITUDE VEC
043500,002241: 15,3617           37254                           STCALL   VEC2                                  
043501,002242: 15,3620           47535                                    CDUTRIG                               
043502,002243: 15,3621           77624                           CALL                                           
043503,002244: 15,3622           20030                                    CALCSMSC                              #  GET ZNB AXIS WRT PRES SM FOR STARSAV2
043504,002245: 15,3623           45175                           VLOAD    CALL                                  
043505,002246: 15,3624           02222                                    GSAV                                  #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043506,002247: 15,3625           47666                                    CDU*NBSM                              
043507,002248: 15,3626           77650                           GOTO                                           
043508,002249: 15,3627           33604                                    SAMETYP                               #  NOW DO SAME AS OPTION 0
043509,002250: 

Page 973

043511,002252:                                                                                                  #  OPTION 2, GET TWO STAR SIGHTINGS
043512,002253: 
043513,002254: 15,3630           13041        P57OPT2            TCF      2STARS                                #  DO SIGHTING ON 2 STARS
043514,002255: 
043515,002256:                                                                                                  #  OPTION 3, GET LANDING SITE VEC AND ONE STAR SIGHTING
043516,002257: 
043517,002258: 15,3631           06051        P57OPT3            TC       INTPRET                               
043518,002259: 15,3632           53575                           VLOAD    UNIT                                  
043519,002260: 15,3633           02021                                    RLS                                   #  LANDING SITE VEC
043520,002261: 15,3634           03246                           STORE    VEC1                                  
043521,002262: 15,3635           27254                           STOVL    VEC2                                  #  DUMMY VEC2 FOR 2ND CATALOG STAR
043522,002263: 15,3636           02222                                    GSAV                                  #  GRAVITY VEC NB
043523,002264: 15,3637           77624                           CALL                                           
043524,002265: 15,3640           47666                                    CDU*NBSM                              #  TRANS GSAV FROM NB TO SM FOR STARSAV1
043525,002266: 15,3641           36761                           STCALL   STARSAV1                              
043526,002267: 15,3642           33456                                    MFREF                                 #  STARSAV2 IS STORED AS 2ND OBSERVED STAR
043527,002268: 15,3643           77776                           EXIT                                           
043528,002269: 15,3644           13043                           TCF      1STAR                                 #  1STAR GET VEC2,STARSAV2,GOES TO SURFLINE
043529,002270: 
043530,002271: 15,3645           01206        VB05N06            VN       506                                   
043531,002272: 

Page 974

043533,002274:                                                                                                  #  CHECK IMODES30 TO VARIFY IMU IS ON
043534,002275: 
043535,002276: 15,3646           41277        IMUCHK             CS       IMODES30                              
043536,002277: 15,3647           74743                           MASK     BIT9                                  
043537,002278: 15,3650           10000                           CCS      A                                     #  IS IMU ON
043538,002279: 15,3651           13655                           TCF      +4                                    #  YES
043539,002280: 
043540,002281: 15,3652           05600                           TC       ALARM                                 #  NO, SEND ALARM AND EXIT
043541,002282: 15,3653           00210                           OCT      210                                   
043542,002283: 15,3654           06001                           TC       GOTOPOOH                              
043543,002284: 
043544,002285: 15,3655           05515                           TC       UPFLAG                                
043545,002286: 15,3656           00007                           ADRES    IMUSE                                 #  SET IMUSE FLAG
043546,002287: 
043547,002288: 15,3657           04631                           TC       SWRETURN                              
043548,002289: 
043549,002290: 04,2765                                           BANK     04                                    
043550,002291: 04,2000                                           SETLOC   AOTMARK2                              
043551,002292: 04,2000                                           BANK                                           
043552,002293: 04,2765                                           COUNT*   $$/P57                                
043553,002294: 
043554,002295: 04,2765           77220        LSORIENT           STQ      VLOAD                                 
043555,002296: 04,2766           02746                                    QMAJ                                  
043556,002297: 04,2767           01555                                    RRECTCSM                              
043557,002298: 04,2770           47235                           VXV      VXV                                   
043558,002299: 04,2771           01563                                    VRECTCSM                              
043559,002300: 04,2772           03607                                    XSMD                                  
043560,002301: 04,2773           77656                           UNIT                                           
043561,002302: 04,2774           03623                           STORE    ZSMD                                  
043562,002303: 04,2775           53435                           VXV      UNIT                                  
043563,002304: 04,2776           03607                                    XSMD                                  
043564,002305: 04,2777           37615                           STCALL   YSMD                                  
043565,002306: 04,3000           02746                                    QMAJ                                  

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