The purpose of this work was to assist the recovery of a buried earth penetrator by locating the vertical projection of the penetator upon the surface within a horizontal radius error of one meter. The penetrator will carry a small coil which is driven by an alternating current to form a magnetic dipole. Five measurements of the magnetic field vector upon the surface of the earth are shown to be sufficient for determining not only the xyz-coordinates of the dipole, but also the orientation of the dipole axis. The theory, computation process, and field tests are comprehensively described. Results of 26 field tests with the dipole at 9 different combinations of location and orientation are given. Average radial and vertical location errors are 0.27 m and -0.05 m, respectively, while the mean errors in the tilt and orientation angles of the dipole axis are 3 degrees and 8 degrees, respectively. The results are applied to the design of a locating system for a Pershing II penetrator which contains a recessed, rear-mounted coil.