Explaining Masten Aerospace Reentry Dynamics to the First Apollo LM Pilot

Masten engineer Joseph Oberholtzer fields some tough questions from Rusty Schweickart (Apollo 9), on reentry dynamics, IMU and differential-corrections to GPS with the reentry test model, and the goal of landing it in the basket on the right (so the landing gear remains on the ground, and the capsule lands in the self-aligning receptacle).

The white torpedo above is a reentry test vehicle, dropped from a plane. And the 3d-printed model is tested in a swimming pool (they found an unintended side-slip mode that way).