Source Code

These source-code files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology". It is believed that the original listing was preserved by AGC developer Don Eyles, copied/reduced by AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig, scanned by Gary Neff, and then passed to the Dibner Institute where unfortunately the high-quality scans were reduced in legibility as part of the online-presentation process, and the original scans discarded. The source code was transcribed from those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not the discarded original high-quality scans, though with a few high-quality replacement scans provided directly by Gary Neff, are now available at the Virtual AGC project website. Report any conversion errors to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date of the printout, not the date of the program revision.

019976,000002:                                                                                                  ## Copyright:   Public domain.
019977,000003:                                                                                                  ## Filename:    R60_62.agc
019978,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
019979,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
019980,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
019981,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
019982,000008:                                                                                                  ##              that the code format has been changed to conform to the
019983,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the 
019984,000010:                                                                                                  ##              original YUL assembler.
019985,000011:                                                                                                  ## Reference:   pp. 481-494 of 1729.pdf.
019986,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
019987,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
019988,000014:                                                                                                  ## Mod history: 05/14/03 RSB.   Began transcribing.
019989,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
019990,000016: 

Page 481

019992,000018:                                                                                                  #  MOD NO: 0                             DATE: 1 MAY 1968
019993,000019:                                                                                                  #  MOD BY: DIGITAL DEVEL GROUP           LOG SECTION R60,R62
019994,000020: 
019995,000021:                                                                                                  #  FUNCTIONAL DESCRIPTION:
019996,000022: 
019997,000023:                                                                                                  #  CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
019998,000024:                                                                                                  #  ATTITUDE.
019999,000025: 
020000,000026:                                                                                                  #  1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020001,000027:                                                                                                  #  CALCULATED (VECPOINT).
020002,000028: 
020003,000029:                                                                                                  #  2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020004,000030: 
020005,000031:                                                                                                  #  3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020006,000032: 
020007,000033:                                                                                                  #  4. IF PRIORITY DISPLAY FLAG IS SET TO A PHASECHANGE.  THEN AWAIT
020008,000034:                                                                                                  #  ASTRONAUT RESPONSE.
020009,000035: 
020010,000036:                                                                                                  #  5. DISPLAY RESPONSE RETURNS.
020011,000037: 
020012,000038:                                                                                                  #        A.      ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020013,000039: 
020014,000040:                                                                                                  #        B.      TERMINATE -- IF IN P00 GO TO STEP 5A.  OTHERWISE CHECK IF R61 IS
020015,000041:                                                                                                  #                THE CALLING PROGRAM.  IF IN R61 AN EXIT IS MADE TO GOTOV56.  IF
020016,000042:                                                                                                  #                NOT IN R61 AND EXIT IS DONE VIA GOTOP00H.
020017,000043: 
020018,000044:                                                                                                  #        C.      PROCEED -- CONTINUE WITH PROGRAM AT STEP 6.
020019,000045: 
020020,000046:                                                                                                  #  6. IF THE 3-AXIS FLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020021,000047:                                                                                                  #  (VECPOINT).
020022,000048: 
020023,000049:                                                                                                  #  7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020024,000050: 
020025,000051:                                                                                                  #  8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020026,000052:                                                                                                  #  
020027,000053:                                                                                                  #  9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020028,000054: 
020029,000055:                                                                                                  #  10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES).
020030,000056: 
020031,000057:                                                                                                  #  11. DO A PHASE-CHANGE.
020032,000058: 
020033,000059:                                                                                                  #  12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020034,000060:                                                                                                  #  GIMBAL ANGLES (GOMANUR).
020035,000061: 
020036,000062:                                                                                                  #  13. AT END OF MANEUVER TO TO STEP 3.
020037,000063: 
020038,000064:                                                                                                  #        IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020039,000065:                                                                                                  #        FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020040,000066:                                                                                                  #        DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT

Page 482

020042,000068:                                                                                                  #        STEP 5C.
020043,000069: 
020044,000070:                                                                                                  #  CALLING SEQUENCE:     TC      BANKCALL
020045,000071:                                                                                                  #                        CADR    R60LEM
020046,000072: 
020047,000073:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:     SCAXIS, POINTVSM (FOR VECPOINT)
020048,000074:                                                                                                  #                                        3AXISFLG.
020049,000075: 
020050,000076:                                                                                                  #  SUBROUTINES CALLED:   VECPOINT, BALLANGS, GOPERF24, LINUS, GOSPER,
020051,000077:                                                                                                  #                        GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020052,000078: 
020053,000079:                                                                                                  #  NORMAL EXIT MODES:    CAE     TEMPR60         (CALLER'S RETURN ADDRESS)
020054,000080:                                                                                                  #                        TC      BANKJUMP
020055,000081: 
020056,000082:                                                                                                  #  ALARMS: NONE
020057,000083: 
020058,000084:                                                                                                  #  OUTPUT: NONE
020059,000085: 
020060,000086:                                                                                                  #  DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020061,000087: 
020062,000088: 34,2000                                           BANK     34                                    
020063,000089: 26,2000                                           SETLOC   MANUVER                               
020064,000090: 26,2000                                           BANK                                           
020065,000091: 
020066,000092: 26,2123     1163                                  EBANK=   TEMPR60                               
020067,000093: 
020068,000094: 26,2123                                           COUNT*   $$/R06                                
020069,000095: 26,2123           04645        R60LEM             TC       MAKECADR                              
020070,000096: 26,2124           55163                           TS       TEMPR60                               
020071,000097: 
020072,000098: 26,2125           34746        REDOMANN           CAF      3AXISBIT                              
020073,000099: 26,2126           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020074,000100: 26,2127           10000                           CCS      A                                     
020075,000101: 26,2130           12136                           TCF      TOBALL                                #  YES
020076,000102: 26,2131           06042                           TC       INTPRET                               
020077,000103: 26,2132           77624                           CALL                                           
020078,000104: 26,2133           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020079,000105: 26,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
020080,000106: 26,2135           77776                           EXIT                                           
020081,000107: 
020082,000108: 26,2136           05504        TOBALL             TC       UPFLAG                                #  INSURE THAT TOTAL ATTITUDE ERRORS ARE
020083,000109: 26,2137           00013                           ADRES    NEEDLFLG                              #  DISPLAYED ON FDAI ERROR NEEDLES
020084,000110: 26,2140           05516                           TC       DOWNFLAG                              
020085,000111: 26,2141           00000                           ADRES    NEED2FLG                              
020086,000112: 26,2142           04616                           TC       BANKCALL                              
020087,000113: 26,2143           54272                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020088,000114: 26,2144           32260        TOBALLA            CAF      V06N18                                
020089,000115: 26,2145           04616                           TC       BANKCALL                              

Page 483

020091,000117: 26,2146           20711                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
020092,000118: 26,2147           02246                           TC       R61TEST                               
020093,000119: 26,2150           02154                           TC       REDOMANC                              #  PROCEED
020094,000120: 26,2151           02201                           TC       ENDMANU1                              #  ENTER I.E., FINISHED WITH R60
020095,000121: 26,2152           02205                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020096,000122: 26,2153           05155                           TC       ENDOFJOB                              
020097,000123: 
020098,000124: 26,2154           34746        REDOMANC           CAF      3AXISBIT                              
020099,000125: 26,2155           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020100,000126: 26,2156           10000                           CCS      A                                     
020101,000127: 26,2157           12165                           TCF      TOBALLC                               #  YES
020102,000128: 26,2160           06042                           TC       INTPRET                               
020103,000129: 26,2161           77624                           CALL                                           
020104,000130: 26,2162           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020105,000131: 26,2163           00322                           STORE    CPHI                                  #  STORE ANGLES
020106,000132: 26,2164           77776                           EXIT                                           
020107,000133: 
020108,000134: 26,2165           04616        TOBALLC            TC       BANKCALL                              
020109,000135: 26,2166           54272                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020110,000136: 26,2167           02261                           TC       G+N,AUTO                              #  CHECK AUTO MODE
020111,000137: 26,2170           10000                           CCS      A                                     
020112,000138: 26,2171           12144                           TCF      TOBALLA                               #  NOT AUTO, GO REREQUEST AUTO MANEUVER.
020113,000139: 
020114,000140: 26,2172           32260        AUTOMANV           CAF      V06N18                                #  STATIC DISPLAY DURING AUTO MANEUVER
020115,000141: 26,2173           04616                           TC       BANKCALL                              
020116,000142: 26,2174           20452                           CADR     GODSPR                                
020117,000143: 26,2175           02205                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020118,000144: 
020119,000145: 26,2176           04616        STARTMNV           TC       BANKCALL                              #  PERFORM MANEUVER VIA KALCMANU
020120,000146: 26,2177           17741                           CADR     GOMANUR                               
020121,000147: 
020122,000148: 26,2200           12144        ENDMANUV           TCF      TOBALLA                               #  FINISHED MANEUVER.
020123,000149: 26,2201           05516        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
020124,000150: 26,2202           00124                           ADRES    3AXISFLG                              
020125,000151: 26,2203           31163                           CAE      TEMPR60                               
020126,000152: 26,2204           04640                           TC       BANKJUMP                              
020127,000153: 
020128,000154: 26,2205           40100        CHKLINUS           CS       FLAGWRD4                              
020129,000155: 26,2206           74740                           MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET?
020130,000156: 26,2207           10000                           CCS      A                                     
020131,000157: 26,2210           00002                           TC       Q                                     #  NO -- EXIT
020132,000158: 26,2211           30002                           CA       Q                                     
020133,000159: 26,2212           54156                           TS       MPAC       +2                         #  SAVE RETURN
020134,000160: 26,2213           46250                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
020135,000161: 26,2214           60133                           AD       BUF2                                  #  HOLD Q OF LAST DISPLAY
020136,000162: 26,2215           55054                           TS       TBASE2                                
020137,000163: 
020138,000164: 26,2216           05353                           TC       PHASCHNG                              
020139,000165: 26,2217           00132                           OCT      00132                                 

Page 484

020141,000167: 26,2220           34745                           CAF      BIT7                                  
020142,000168: 26,2221           05464                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY
020143,000169: 26,2222           00156                           TC       MPAC       +2                         
020144,000170: 
020145,000171: 26,2223           37717        RELINUS            CAF      PRIO26                                #  RESTORE ORIGINAL PRIORITY
020146,000172: 26,2224           05146                           TC       PRIOCHNG                              
020147,000173: 
020148,000174: 26,2225           34747                           CAF      TRACKBIT                              #  DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020149,000175: 26,2226           70075                           MASK     FLAGWRD1                              
020150,000176: 26,2227           10000                           CCS      A                                     
020151,000177: 26,2230           12243                           TCF      RER60                                 
020152,000178: 
020153,000179: 26,2231           34745                           CAF      RNDVZBIT                              #  IS IT P20?
020154,000180: 26,2232           70074                           MASK     FLAGWRD0                              
020155,000181: 26,2233           10000                           CCS      A                                     
020156,000182: 26,2234           02240                           TC       +4                                    #  YES
020157,000183: 26,2235           05353                           TC       PHASCHNG                              #  NO, MUST BE P25, SET 2.11 SPOT
020158,000184: 26,2236           40112                           OCT      40112                                 
020159,000185: 
020160,000186: 26,2237           05155                           TC       ENDOFJOB                              
020161,000187: 
020162,000188: 26,2240           05353                           TC       PHASCHNG                              #  SET 2.7 SPOT FOR P20
020163,000189: 26,2241           40072                           OCT      40072                                 
020164,000190: 
020165,000191: 26,2242           05155                           TC       ENDOFJOB                              
020166,000192: 
020167,000193: 26,2243           05504        RER60              TC       UPFLAG                                #  SET PRIO DISPLAY FLAG AFTER RESTART
020168,000194: 26,2244           00077                           ADRES    PDSPFLAG                              
020169,000195: 
020170,000196: 26,2245           01054                           TC       TBASE2                                
020171,000197: 
020172,000198: 26,2246           31010        R61TEST            CA       MODREG                                #  IF WE ARE IN P00 IT MUST BE V49 OR V89
020173,000199: 26,2247           00006                           EXTEND                                         
020174,000200: 26,2250           12201                           BZF      ENDMANU1                              #  THUS WE GO TO ENDEXT VIA USER
020175,000201: 
020176,000202: 26,2251           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20 OR garbled)
020177,000203: 26,2252           74740                           MASK     PDSPFBIT                              
020178,000204: 26,2253           00006                           EXTEND                                         
020179,000205: 26,2254           16001                           BZF      GOTOP00H                              #  NO
020180,000206: 26,2255           06025                           TC       GOTOV56                               #  YES
020181,000207: 
020182,000208: 26,2256           20100        BIT14+7            OCT      20100                                 
020183,000209: 26,2257           00203        OCT203             OCT      203                                   
020184,000210: 26,2260           01422        V06N18             VN       0618                                  
020185,000211: 
020186,000212:                                                                                                  #  SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020187,000213: 
020188,000214:                                                                                                  #  RETURNS WITH C(A) = +         IF NOT SET FOR G+N, AUTO
020189,000215:                                                                                                  #  RETURNS WITH C(A) = +0        IF SWITCHES ARE SET
020190,000216: 
020191,000217: 26,2261           00006        G+N,AUTO           EXTEND                                         

Page 485

020193,000219: 26,2262           00030                           READ     CHAN30                                
020194,000220: 26,2263           74742                           MASK     BIT10                                 
020195,000221: 26,2264           10000                           CCS      A                                     
020196,000222: 26,2265           00002                           TC       Q                                     #  NOT IN G+N    C(A) = -
020197,000223: 26,2266           00006        ISITAUTO           EXTEND                                         #  CHECK FOR AUTO MODE
020198,000224: 26,2267           00031                           READ     CHAN31                                
020199,000225: 26,2270           74736                           MASK     BIT14                                 
020200,000226: 26,2271           00002                           TC       Q                                     #  (+) = NOT IN AUTO, (+0) = AOK
020201,000227: 

Page 486

020203,000229:                                                                                                  #  PROGRAM DESCRIPTION BALLANGS
020204,000230:                                                                                                  #  MOD NO.                               LOG SECTION R60,R62
020205,000231:                                                                                                  #  WRITTEN BY RAMA M. AIYAWAR
020206,000232: 
020207,000233:                                                                                                  #  FUNCTIONAL DESCRIPTION
020208,000234: 
020209,000235:                                                                                                  #        COMPUTES LM FDAI BALL DISPLAY ANGLES
020210,000236: 
020211,000237:                                                                                                  #  CALLING SEQUENCE
020212,000238: 
020213,000239:                                                                                                  #        TC      BALLANGS
020214,000240: 
020215,000241:                                                                                                  #  NORMAL EXIT MODE
020216,000242: 
020217,000243:                                                                                                  #        TC      BALLEXIT        # (SAVED Q)
020218,000244: 
020219,000245:                                                                                                  #  ALARM OR EXIT MODE:   NIL
020220,000246: 
020221,000247:                                                                                                  #  SUBROUTINES CALLED
020222,000248: 
020223,000249:                                                                                                  #        CD*TR*G
020224,000250:                                                                                                  #        ARCTAN
020225,000251: 
020226,000252:                                                                                                  #  INPUT
020227,000253: 
020228,000254:                                                                                                  #        CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG.  THEY ARE
020229,000255:                                                                                                  #        SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION.
020230,000256: 
020231,000257:                                                                                                  #  OUTPUT
020232,000258: 
020233,000259:                                                                                                  #        FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020234,000260:                                                                                                  #        SP,2'S COMPEMENT.
020235,000261: 
020236,000262:                                                                                                  #        THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020237,000263: 
020238,000264:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020239,000265: 
020240,000266:                                                                                                  #        CPHI, CTHETA, CPSI      EACH AN SP REGISTER
020241,000267: 
020242,000268:                                                                                                  #  DEBRIS
020243,000269: 
020244,000270:                                                                                                  #        A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020245,000271: 
020246,000272:                                                                                                  #  NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020247,000273:                                                                                                  #                EQUIVALENTLY, CDUX, CDUY, AND CDUZ.
020248,000274: 
020249,000275:                                                                                                  #  NOTE:  ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020250,000276: 
020251,000277: 26,2000                                           SETLOC   BAWLANGS                              
020252,000278: 26,2000                                           BANK                                           
020253,000279: 
020254,000280: 26,2272                                           COUNT*   $$/BALL                               
020255,000281: 26,2272           04645        BALLANGS           TC       MAKECADR                              
020256,000282: 26,2273           55337                           TS       BALLEXIT                              
020257,000283: 26,2274           30321                           CA       CPHI                                  

Page 487

020259,000285: 26,2275           54771                           TS       CDUSPOT    +4                         
020260,000286: 26,2276           30322                           CA       CTHETA                                
020261,000287: 26,2277           54765                           TS       CDUSPOT                               
020262,000288: 26,2300           30323                           CA       CPSI                                  
020263,000289: 26,2301           54767                           TS       CDUSPOT    +2                         
020264,000290: 
020265,000291: 26,2302           06042                           TC       INTPRET                               
020266,000292: 26,2303           45001                           SETPD    CALL                                  
020267,000293: 26,2304           00001                                    0D                                    
020268,000294: 26,2305           47545                                    CD*TR*G                               
020269,000295: 
020270,000296: 26,2306           41345                           DLOAD    DMP                                   
020271,000297: 26,2307           00742                                    SINCDUX                               #  SIN (OGA)
020272,000298: 26,2310           00746                                    COSCDUZ                               #  COS (MGA)
020273,000299: 
020274,000300: 26,2311           57552                           SL1      DCOMP                                 #  SCALE
020275,000301: 26,2312           65336                           ARCSIN   PDDL                                  #  YAW = ARCSIN(-SXCZ) INTO 0 PD
020276,000302: 26,2313           00740                                    SINCDUZ                               
020277,000303: 26,2314           14023                           STODL    SINTH                                 #  (SINTH = 18D IN PD)
020278,000304: 26,2315           00746                                    COSCDUZ                               
020279,000305: 26,2316           72405                           DMP      SL1                                   #  RESCALE
020280,000306: 26,2317           00750                                    COSCDUX                               
020281,000307: 26,2320           34021                           STCALL   COSTH                                 #  (COSTH = 16D IN PD)
020282,000308: 26,2321           26506                                    ARCTAN                                
020283,000309: 26,2322           41325                           PDDL     DMP                                   #  ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020284,000310: 26,2323           00740                                    SINCDUZ                               
020285,000311: 26,2324           00742                                    SINCDUX                               
020286,000312: 26,2325           41512                           SL2      PUSH                                  #  SXSZ INTO 4 PD
020287,000313: 26,2326           65205                           DMP      PDDL                                  #  SXSZCY INTO 4 PD
020288,000314: 26,2327           00744                                    COSCDUY                               
020289,000315: 26,2330           65205                           DMP      PDDL                                  #  SXSZSY INTO 6 PD
020290,000316: 26,2331           00736                                    SINCDUY                               
020291,000317: 26,2332           00750                                    COSCDUX                               
020292,000318: 26,2333           72405                           DMP      SL1                                   #  CXCY
020293,000319: 26,2334           00744                                    COSCDUY                               
020294,000320: 26,2335           45425                           DSU      STADR                                 #  PULL UP FORM 6 PD
020295,000321: 26,2336           63756                           STODL    COSTH                                 #  COSTH = CXCY - SXSZSY
020296,000322: 26,2337           00736                                    SINCDUY                               
020297,000323: 26,2340           72405                           DMP      SL1                                   
020298,000324: 26,2341           00750                                    COSCDUX                               #  CXSY
020299,000325: 26,2342           45415                           DAD      STADR                                 #  PULL UP FORM 4 PD
020300,000326: 26,2343           43754                           STCALL   SINTH                                 #  SINTH = CXSY + SXSZCY
020301,000327: 26,2344           26506                                    ARCTAN                                #  RETURNS WITH D(MPAC) = PITCH
020302,000328: 26,2345           55525                           PDDL     VDEF                                  #  PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020303,000329: 26,2346           77634                           RTB                                            #  VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020304,000330: 26,2347           21621                                    V1STO2S                               
020305,000331: 26,2350           02345                           STORE    FDAIX                                 #  MODE IS TP
020306,000332: 26,2351           77776                           EXIT                                           
020307,000333: 
020308,000334: 26,2352           31337        ENDBALL            CA       BALLEXIT                              
020309,000335: 

Page 488

020311,000337: 26,2353           04640                           TC       BANKJUMP                              
020312,000338: 

Page 489

020314,000340:                                                                                                  #  PROGRAM DESCRIPTION -- VECPOINT
020315,000341: 
020316,000342:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
020317,000343:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020318,000344:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020319,000345:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020320,000346:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
020321,000347:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
020322,000348:                                                                                                  #  ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020323,000349:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020324,000350: 
020325,000351:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020326,000352:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
020327,000353:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020328,000354:                                                                                                  #  LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020329,000355:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
020330,000356:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020331,000357:                                                                                                  #  STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
020332,000358: 
020333,000359:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020334,000360:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020335,000361:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020336,000362:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020337,000363: 
020338,000364:                                                                                                  #  CALLING SEQUENCE
020339,000365: 
020340,000366:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
020341,000367:                                                                                                  #        2)      CALL
020342,000368:                                                                                                  #                        VECPOINT
020343,000369: 
020344,000370:                                                                                                  #  RETURNS WITH
020345,000371: 
020346,000372:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
020347,000373:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
020348,000374:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020349,000375: 
020350,000376:                                                                                                  #  ERASABLES USED --
020351,000377: 
020352,000378:                                                                                                  #        1)      SCAXIS          6
020353,000379:                                                                                                  #        2)      POINTVSM        6
020354,000380:                                                                                                  #        3)      MIS             18
020355,000381:                                                                                                  #        4)      DEL             18
020356,000382:                                                                                                  #        5)      COF             6
020357,000383:                                                                                                  #        6)      VECQTEMP        1
020358,000384:                                                                                                  #        7)      ALL OF VAC AREA 43
020359,000385: 
020360,000386:                                                                                                  #                        TOTAL   99
020361,000387: 
020362,000388: 27,2000                                           SETLOC   VECPT                                 
020363,000389: 27,2000                                           BANK                                           

Page 490

020365,000391: 27,2032                                           COUNT*   $$/VECPT                              
020366,000392: 
020367,000393: 27,2032  E6,1675                                  EBANK=   BCDU                                  
020368,000394: 
020369,000395: 27,2032           40020        VECPNT1            STQ      BOV                                   #  THIS ENTRY USES DESIRED CDUS
020370,000396: 27,2033           03324                                    VECQTEMP                              #  NOT PRESENT -- ENTER WITH CDUD'S IN MPAC
020371,000397: 27,2034           56035                                    VECPNT2                               
020372,000398: 27,2035           52164        VECPNT2            AXC,2    GOTO                                  
020373,000399: 27,2036           03245                                    MIS                                   
020374,000400: 27,2037           56046                                    STORANG                               
020375,000401: 27,2040           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
020376,000402: 27,2041           03324                                    VECQTEMP                              
020377,000403: 27,2042           56043                                    VECLEAR                               #  AND CLEAR OVFIND
020378,000404: 27,2043           47164        VECLEAR            AXC,2    RTB                                   
020379,000405: 27,2044           03245                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
020380,000406: 27,2045           44403                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
020381,000407: 27,2046           34032        STORANG            STCALL   25D                                   
020382,000408: 27,2047           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
020383,000409: 27,2050           61375                           VLOAD    VXM                                   
020384,000410: 27,2051           03773                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
020385,000411: 27,2052           03246                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
020386,000412: 27,2053           77656                           UNIT                                           
020387,000413: 27,2054           00035                           STORE    28D                                   
020388,000414:                                                                                                  #  PD 28 29 30 31 32 33
020389,000415: 27,2055           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
020390,000416: 27,2056           03765                                    SCAXIS                                #  WHERE VI = SCAXIS
020391,000417: 27,2057           57400                           BOV      VCOMP                                 
020392,000418: 27,2060           56170                                    PICKAXIS                              
020393,000419: 27,2061           17270                           STODL    COF                                   #  CHECK MAGNITUDE
020394,000420: 27,2062           00045                                    36D                                   #  OF CROSS PRODUCT
020395,000421: 27,2063           50025                           DSU      BMN                                   #  VECTOR, IF LESS
020396,000422: 27,2064           14415                                    DPB-14                                #  THAN B-14 ASSUME
020397,000423: 27,2065           56170                                    PICKAXIS                              #  UNIT OPERATION
020398,000424: 27,2066           50375                           VLOAD    DOT                                   #  INVALID.
020399,000425: 27,2067           03765                                    SCAXIS                                
020400,000426: 27,2070           00035                                    28D                                   
020401,000427: 27,2071           65552                           SL1      ARCCOS                                
020402,000428: 27,2072           77624        COMPMATX           CALL                                           #  NO COMPUTE THE TRANSFORMATION FROM
020403,000429: 27,2073           44527                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
020404,000430: 27,2074           75160                           AXC,1    AXC,2                                 
020405,000431: 27,2075           03245                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
020406,000432: 27,2076           02230                                    KEL                                   #  S/C AXES TO STABLE MEMBER AXES
020407,000433: 27,2077           77624                           CALL                                           #  MFS = MIS MFI
020408,000434: 27,2100           44312                                    MXM3                                  #  (IN PD LIST)
020409,000435: 
020410,000436: 27,2101           51545                           DLOAD    ABS                                   
020411,000437: 27,2102           00007                                    6                                     #  MFS6 = SIN(CPSI)
020412,000438: 27,2103           50025                           DSU      BMN                                   
020413,000439: 27,2104           14402                                    SINGIMLC                              #  = SIN(59 DEGS)
020414,000440: 27,2105           56160                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS.

Page 491

020416,000442:                                                                                                  #  I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
020417,000443: 
020418,000444: 27,2106           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
020419,000445: 27,2107           03765                                    SCAXIS                                #  THE THRUST AXIS
020420,000446: 27,2110           51025                           DSU      BPL                                   
020421,000447: 27,2111           14404                                    SINVEC1                               #  SIN 49.4 DEGS
020422,000448: 27,2112           56160                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
020423,000449: 27,2113           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
020424,000450: 27,2114           77626                           STADR                                          
020425,000451: 27,2115           50515                           STOVL    MIS        +12D                       
020426,000452: 27,2116           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
020427,000453: 27,2117           50523                           STOVL    MIS        +6                         
020428,000454: 27,2120           77626                           STADR                                          
020429,000455: 27,2121           50531                           STOVL    MIS                                   
020430,000456: 27,2122           03254                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
020431,000457: 27,2123           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
020432,000458: 27,2124           56125                                    IGSAMEX                               #  FINAL X S/C AXIS
020433,000459: 
020434,000460: 27,2125           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
020435,000461: 27,2126           03765                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
020436,000462: 27,2127           56134                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E., IF  (IG (SGN MFS3)
020437,000463:                                                                                                  #  X SCAXIS . XF) LESS THAN Q, U = SCAXIS
020438,000464:                                                                                                  #  OTHERWISE U = -SCAXIS.
020439,000465: 
020440,000466: 27,2130           57575                           VLOAD    VCOMP                                 
020441,000467: 27,2131           03765                                    SCAXIS                                
020442,000468: 27,2132           37270                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
020443,000469: 27,2133           56137                                    CHEKAXIS                              
020444,000470: 27,2134           77775        U=SCAXIS           VLOAD                                          
020445,000471: 27,2135           03765                                    SCAXIS                                
020446,000472: 27,2136           03270                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
020447,000473: 27,2137           51545        CHEKAXIS           DLOAD    ABS                                   
020448,000474: 27,2140           03765                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
020449,000475: 27,2141           51025                           DSU      BPL                                   
020450,000476: 27,2142           14406                                    SINVEC2                               #  SIN 29.5 DEGS
020451,000477: 27,2143           56147                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020452,000478: 27,2144           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
020453,000479: 27,2145           14412                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
020454,000480: 27,2146           56151                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
020455,000481:                                                                                                  #  OF GIMBAL LOCK (VECANG2 garbled)
020456,000482: 27,2147           77745        PICKANG1           DLOAD                                          
020457,000483: 27,2150           14410                                    VECANG1                               #  =.50 DEGS.
020458,000484: 27,2151           77624        COMPMFSN           CALL                                           
020459,000485: 27,2152           44527                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
020460,000486: 27,2153           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
020461,000487: 27,2154           03245                                    MIS                                   
020462,000488: 27,2155           02230                                    KEL                                   
020463,000489: 27,2156           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
020464,000490: 27,2157           44312                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
020465,000491:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID

Page 492

020467,000493:                                                                                                  #  GIMBAL LOCK
020468,000494: 27,2160           45160        FINDGIMB           AXC,1    CALL                                  
020469,000495: 27,2161           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
020470,000496: 27,2162           44654                                    DCMTOCDU                              #  THIS MATRIX
020471,000497: 27,2163           40234                           RTB      SETPD                                 
020472,000498: 27,2164           21621                                    V1STO2S                               #  CONVERT TO 2'S COMPLEMENT
020473,000499: 27,2165           00001                                    0                                     
020474,000500: 27,2166           77650                           GOTO                                           
020475,000501: 27,2167           03324                                    VECQTEMP                              #  RETURN TO CALLER
020476,000502: 
020477,000503: 27,2170           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF, VI
020478,000504: 27,2171           00035                                    28D                                   
020479,000505: 27,2172           03765                                    SCAXIS                                
020480,000506: 27,2173           72240                           BMN      TLOAD                                 
020481,000507: 27,2174           54354                                    ROT180                                
020482,000508: 27,2175           00032                                    25D                                   
020483,000509: 27,2176           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
020484,000510: 27,2177           03324                                    VECQTEMP                              #  PRESETN CDU ANGLES
020485,000511: 
020486,000512: 35,2000                                           BANK     35                                    
020487,000513: 26,2000                                           SETLOC   MANUVER1                              
020488,000514: 26,2000                                           BANK                                           
020489,000515: 26,2354           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
020490,000516: 26,2355           03254                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
020491,000517: 26,2356           06522                                    HIDPHALF                              #  INITIAL S/C AXES.
020492,000518: 26,2357           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
020493,000519: 26,2360           03765                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020494,000520: 26,2361           40056                           UNIT     BOV                                   #  I.E., PICK A VECTOR IN THE PLANE OF X(I),
020495,000521: 26,2362           54376                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
020496,000522: 26,2363           17270                           STODL    COF                                   
020497,000523: 26,2364           00045                                    36D                                   #  CHECK MAGNITUDE
020498,000524: 26,2365           50025                           DSU      BMN                                   #  OF THIS VECTOR.
020499,000525: 26,2366           14415                                    DPB-14                                #  IF LESS THAN B-14,
020500,000526: 26,2367           54376                                    PICKX                                 #  PICK X-AXIS.
020501,000527: 26,2370           77775                           VLOAD                                          
020502,000528: 26,2371           03270                                    COF                                   
020503,000529: 26,2372           17270        XROT               STODL    COF                                   
020504,000530: 26,2373           06522                                    HIDPHALF                              
020505,000531: 26,2374           77650                           GOTO                                           
020506,000532: 26,2375           56072                                    COMPMATX                              
020507,000533: 26,2376           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
020508,000534: 26,2377           06522                                    HIDPHALF                              
020509,000535: 26,2400           54372                                    XROT                                  
020510,000536: 26,2401           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)
020511,000537: 26,2403           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)
020512,000538: 26,2405           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)
020513,000539: 26,2407           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES

Page 493

020515,000541: 26,2411           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES
020516,000542: 
020517,000543: 26,2413           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)
020518,000544: 26,2414           00001        DPB-14             OCT      00001                                 
020519,000545: 26,2415           00000                           OCT      00000                                 
020520,000546: 

Page 494

020522,000548:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020523,000549: 
020524,000550: 34,2000                                           BANK     34                                    
020525,000551: 23,2000                                           SETLOC   R62                                   
020526,000552: 23,2000                                           BANK                                           
020527,000553: 23,2103  E6,1675                                  EBANK=   BCDU                                  
020528,000554: 
020529,000555: 23,2103                                           COUNT*   $$/R62                                
020530,000556: 
020531,000557: 23,2103  23,2103               R62DISP            EQUALS   R62FLASH                              
020532,000558: 
020533,000559: 23,2103           35010        R62FLASH           CAF      V06N22                                #  FLASH V06N22 AND
020534,000560: 23,2104           04616                           TC       BANKCALL                              #  ICDU ANGLES
020535,000561: 23,2105           20477                           CADR     GOFLASH                               
020536,000562: 23,2106           15472                           TCF      ENDEXT                                #  TERMINATE
020537,000563: 23,2107           12111                           TCF      GOMOVE                                #  PROCEED
020538,000564: 23,2110           12103                           TCF      R62FLASH                              #  ENTER
020539,000565: 
020540,000566:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020541,000567:                                                                                                  #  POINT.
020542,000568: 23,2111           05504        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
020543,000569: 23,2112           00124                           ADRES    3AXISFLG                              
020544,000570: 
020545,000571: 23,2113           04616                           TC       BANKCALL                              
020546,000572: 23,2114           54123                           CADR     R60LEM                                
020547,000573: 23,2115           15472                           TCF      ENDEXT                                #  END R62
020548,000574: 

End of include-file R60_62.agc.  Parent file is MAIN.agc