Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

014050,000002:                                                                                                  ## Copyright:   Public domain.
014051,000003:                                                                                                  ## Filename:    INFLIGHT_ALIGNMENT_ROUTINES.agc
014052,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
014053,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
014054,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
014055,000007:                                                                                                  ## Assembler:   yaYUL
014056,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
014057,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
014058,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
014059,000011:                                                                                                  ##              2016-10-16 RSB  Transcribed.
014060,000012:                                                                                                  ##              2016-10-31 RSB  Typos.
014061,000013:                                                                                                  ##              2016-11-01 RSB  More typos.
014062,000014:                                                                                                  ##              2016-11-02 RSB  More typos.
014063,000015:                                                                                                  ##              2016-12-05 RSB  Comment-proofing pass with octopus/ProoferComments completed;
014064,000016:                                                                                                  ##                              changes made.
014065,000017:                                                                                                  ##              2017-03-17 RSB  Comment-text fixes identified in diff'ing
014066,000018:                                                                                                  ##                              Luminary 99 vs Comanche 55.
014067,000019: 

Page 340

014069,000021: 15,2425                                           BANK     15                                    
014070,000022: 15,2425  E5,1400                                  EBANK=   XSM                                   
014071,000023: 
014072,000024: 
014073,000025:                                                                                                  #  CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
014074,000026: 
014075,000027:                                                                                                  #  THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES.  THE THREE
014076,000028:                                                                                                  #  HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
014077,000029: 
014078,000030:                                                                                                  #  THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
014079,000031:                                                                                                  #  MGC, AND OGC RESPECTIVELY. ANGLES ARE SCALED PROPERLY FOR IMUPULSE.
014080,000032: 
014081,000033: 
014082,000034: 15,2425           71220        CALCGTA            ITA      DLOAD                                 #  PUSHDOWN 00,02,16D,18D,22D-26D,32D-36D
014083,000035: 15,2426           00051                                    S2                                    #  XDC = (XD1 XD2 XD3)
014084,000036: 15,2427           02423                                    XDC                                   #  YDC = (YD1 YD2 YD3)
014085,000037: 15,2430           65325                           PDDL     PDDL                                  #  ZDC = (ZD1 ZD2 ZD3)
014086,000038: 15,2431           33105                                    ZERODP                                
014087,000039: 15,2432           02427                                    XDC        +4                         
014088,000040: 15,2433           55476                           DCOMP    VDEF                                  
014089,000041: 15,2434           77656                           UNIT                                           
014090,000042: 15,2435           14027                           STODL    ZPRIME                                #  ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
014091,000043: 15,2436           00027                                    ZPRIME                                
014092,000044: 
014093,000045: 15,2437           77742                           SR1                                            
014094,000046: 15,2440           14023                           STODL    SINTH                                 #  SIN(IGC) = ZP1
014095,000047: 15,2441           00033                                    ZPRIME     +4                         
014096,000048: 15,2442           77742                           SR1                                            
014097,000049: 15,2443           34021                           STCALL   COSTH                                 #  COS(IGC) = ZP3
014098,000050: 15,2444           32476                                    ARCTRIG                               
014099,000051: 
014100,000052: 15,2445           16503                           STODL    IGC                                   #  Y GYRO TORQUING ANGLE   FRACTION OF REV.
014101,000053: 15,2446           02425                                    XDC        +2                         
014102,000054: 15,2447           77742                           SR1                                            
014103,000055: 15,2450           14023                           STODL    SINTH                                 #  SIN(MGC) = XD2
014104,000056: 15,2451           00027                                    ZPRIME                                
014105,000057: 
014106,000058: 15,2452           65205                           DMP      PDDL                                  
014107,000059: 15,2453           02427                                    XDC        +4                         #  PD00 = (ZP1)(XD3)
014108,000060: 15,2454           00033                                    ZPRIME     +4                         
014109,000061: 
014110,000062: 15,2455           45205                           DMP      DSU                                   
014111,000063: 15,2456           02423                                    XDC                                   #  MPAC = (ZP3)(XD1)
014112,000064: 15,2457           77626                           STADR                                          
014113,000065: 15,2460           43756                           STCALL   COSTH                                 #  COS(MGC) = MPAC - PD00
014114,000066: 15,2461           32476                                    ARCTRIG                               
014115,000067: 
014116,000068: 15,2462           26505                           STOVL    MGC                                   #  Z GYRO TORQUING ANGLE   FRACTION OF REV.

Page 341

014118,000070: 15,2463           00027                                    ZPRIME                                
014119,000071: 15,2464           77641                           DOT                                            
014120,000072: 15,2465           02437                                    ZDC                                   
014121,000073: 15,2466           24021                           STOVL    COSTH                                 #  COS(OGC) = ZP . ZDC
014122,000074: 15,2467           00027                                    ZPRIME                                
014123,000075: 15,2470           77641                           DOT                                            
014124,000076: 15,2471           02431                                    YDC                                   
014125,000077: 15,2472           34023                           STCALL   SINTH                                 #  SIN(OGC) = ZP . YDC
014126,000078: 15,2473           32476                                    ARCTRIG                               
014127,000079: 
014128,000080: 15,2474           36501                           STCALL   OGC                                   #  X GYRO TORQUING ANGLE   FRACTION OF REV.
014129,000081: 15,2475           00051                                    S2                                    
014130,000082: 

Page 342

014132,000084:                                                                                                  #  ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
014133,000085: 
014134,000086:                                                                                                  #  THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
014135,000087: 
014136,000088:                                                                                                  #  THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
014137,000089:                                                                                                  #  AVAILABLE AT MPAC.
014138,000090: 
014139,000091: 15,2476           51545        ARCTRIG            DLOAD    ABS                                   #  PUSHDOWN  16D,18D,20D,22D-26D
014140,000092: 15,2477           00023                                    SINTH                                 
014141,000093: 15,2500           50025                           DSU      BMN                                   
014142,000094: 15,2501           33073                                    QTSN45                                #  ABS(SIN/4) - SIN(45)/4
014143,000095: 15,2502           32511                                    TRIG1                                 #  IF (-45,45) OR (135,-135)
014144,000096: 
014145,000097: 
014146,000098: 15,2503           72545                           DLOAD    SL1                                   #  (45,135) OR (-135,-45)
014147,000099: 15,2504           00021                                    COSTH                                 
014148,000100: 15,2505           75326                           ACOS     SIGN                                  
014149,000101: 15,2506           00023                                    SINTH                                 
014150,000102: 15,2507           00025                           STORE    THETA                                 #  X = ARCCOS(COS) WITH SIGN(SIN)
014151,000103: 15,2510           77616                           RVQ                                            
014152,000104: 
014153,000105: 
014154,000106: 15,2511           72545        TRIG1              DLOAD    SL1                                   #  (-45,45) OR (135,-135)
014155,000107: 15,2512           00023                                    SINTH                                 
014156,000108: 15,2513           77736                           ASIN                                           
014157,000109: 15,2514           14025                           STODL    THETA                                 #  X = ARCSIN(SIN) WITH SIGN(SIN)
014158,000110: 15,2515           00021                                    COSTH                                 
014159,000111: 15,2516           77640                           BMN                                            
014160,000112: 15,2517           32522                                    TRIG2                                 #  IF (135,-135)
014161,000113: 
014162,000114: 15,2520           43545                           DLOAD    RVQ                                   
014163,000115: 15,2521           00025                                    THETA                                 #  X = ARCSIN(SIN)   (-45,45)
014164,000116: 
014165,000117: 
014166,000118: 15,2522           75345        TRIG2              DLOAD    SIGN                                  #  (135,-135)
014167,000119: 15,2523           33075                                    HALFDP                                
014168,000120: 15,2524           00023                                    SINTH                                 
014169,000121: 15,2525           77625                           DSU                                            
014170,000122: 15,2526           00025                                    THETA                                 
014171,000123: 15,2527           00025                           STORE    THETA                                 #  X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
014172,000124: 15,2530           77616                           RVQ                                            #                   (+) - (+) OR (-) - (-)
014173,000125: 

Page 343

014175,000127:                                                                                                  #  SMNB TRANSFORMS A STAR DIRECTION FROM STABLE MEMBER TO NAVIGATION BASE COORDINATES.
014176,000128: 
014177,000129:                                                                                                  #  THE INPUTS ARE  1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE
014178,000130:                                                                                                  #  VAC AREA.  2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
014179,000131:                                                                                                  #  USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
014180,000132:                                                                                                  #  YOUR JOB VAC AREA.  3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
014181,000133: 
014182,000134:                                                                                                  #  THE OUTPUT IS THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT 32D OF THE VAC AREA. THE OUTPUT
014183,000135:                                                                                                  #  IS ALSO AVAILABLE AT MPAC.
014184,000136: 
014185,000137: 
014186,000138: 
014187,000139: 15,2531           43020        SMNB               ITA      CLEAR                                 #  PUSHDOWN 00,02,04-10D,30D,32D-36D
014188,000140: 15,2532           00051                                    S2                                    
014189,000141: 15,2533           00264                                    NBSMBIT                               #  SET NBSMBIT = 0
014190,000142: 
014191,000143: 15,2534           77170        SMNB1              AXT,1    AXT,2                                 #  ROTATE X,Z, ABOUT Y
014192,000144: 15,2535           00004                                    4                                     
014193,000145: 15,2536           00000                                    0                                     
014194,000146: 15,2537           77624                           CALL                                           
014195,000147: 15,2540           32601                                    AXISROT                               
014196,000148: 
014197,000149: 15,2541           77170                           AXT,1    AXT,2                                 #  ROTATE Y,X ABOUT Z
014198,000150: 15,2542           00002                                    2                                     
014199,000151: 15,2543           00004                                    4                                     
014200,000152: 15,2544           77624                           CALL                                           
014201,000153: 15,2545           32601                                    AXISROT                               
014202,000154: 
014203,000155: 15,2546           77170                           AXT,1    AXT,2                                 #  ROTATE Z,Y ABOUT X
014204,000156: 15,2547           00000                                    0                                     
014205,000157: 15,2550           00002                                    2                                     
014206,000158: 15,2551           77624                           CALL                                           
014207,000159: 15,2552           32601                                    AXISROT                               
014208,000160: 
014209,000161: 15,2553           77650                           GOTO                                           
014210,000162: 15,2554           00051                                    S2                                    

Page 344

014212,000164: 
014213,000165:                                                                                                  #  NBSM TRANSFORMS A STAR DIRECTION FROM NAVIGATION BASE TO STABLE MEMBER COORDINATES.
014214,000166: 
014215,000167:                                                                                                  #  THE INPUTS ARE  1) THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT LOCATION 32D OF THE VAC
014216,000168:                                                                                                  #  AREA.  2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE 
014217,000169:                                                                                                  #  USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
014218,000170:                                                                                                  #  YOUR JOB VAC AREA.  3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
014219,000171: 
014220,000172:                                                                                                  #  THE OUTPUT IS THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE VAC
014221,000173:                                                                                                  #  AREA. THE OUTPUT IS ALSO AVAILABLE AT MPAC.
014222,000174: 
014223,000175: 
014224,000176: 
014225,000177: 15,2555           43020        NBSM               ITA      SET                                   #  PUSHDOWN 00,02,04-10D,30D,32D-36D
014226,000178: 15,2556           00051                                    S2                                    
014227,000179: 15,2557           00064                                    NBSMBIT                               #  SET NBSMBIT = 1
014228,000180: 
014229,000181: 15,2560           77170        NBSM2              AXT,1    AXT,2                                 #  ROTATE Z,Y ABOUT X
014230,000182: 15,2561           00000                                    0                                     
014231,000183: 15,2562           00002                                    2                                     
014232,000184: 15,2563           77624                           CALL                                           
014233,000185: 15,2564           32601                                    AXISROT                               
014234,000186: 
014235,000187: 15,2565           77170                           AXT,1    AXT,2                                 #  ROTATE Y,X ABOUT Z
014236,000188: 15,2566           00002                                    2                                     
014237,000189: 15,2567           00004                                    4                                     
014238,000190: 15,2570           77624                           CALL                                           
014239,000191: 15,2571           32601                                    AXISROT                               
014240,000192: 
014241,000193: 15,2572           77170                           AXT,1    AXT,2                                 #  ROTATE X,Z, ABOUT Y
014242,000194: 15,2573           00004                                    4                                     
014243,000195: 15,2574           00000                                    0                                     
014244,000196: 15,2575           77624                           CALL                                           
014245,000197: 15,2576           32601                                    AXISROT                               
014246,000198: 
014247,000199: 15,2577           77650                           GOTO                                           
014248,000200: 15,2600           00051                                    S2                                    

Page 345

014250,000202: 
014251,000203:                                                                                                  #  AXISROT IS UTILIZED BY THE SMNB AND NBSM ROUTINES. SEE REMARKS ON THESE ROUTINES FOR INPUTS AND OUTPUTS.
014252,000204: 
014253,000205: 
014254,000206: 
014255,000207: 15,2601           66660        AXISROT            XSU,1    SLOAD*                                
014256,000208: 15,2602           00050                                    S1                                    #       SMNB         .       NBSM
014257,000209: 15,2603           00005                                    4,1                                   #  IG    MG    OG    .  OG    MG    IG
014258,000210: 15,2604           56034                           RTB      XAD,1                                 
014259,000211: 15,2605           33457                                    CDULOGIC                              
014260,000212: 15,2606           00050                                    S1                                    
014261,000213: 15,2607           00037                           STORE    30D                                   
014262,000214: 
014263,000215: 15,2610           77746        ACCUROT            COS                                            
014264,000216: 15,2611           04011                           STORE    8D,1                                  #               COS(ANGLE)
014265,000217: 15,2612           73545                           DLOAD    SIN                                   
014266,000218: 15,2613           00037                                    30D                                   
014267,000219: 15,2614           04013                           STORE    10D,1                                 #               SIN(ANGLE)
014268,000220: 
014269,000221: 15,2615           72403                           DMP*     SL1                                   
014270,000222: 15,2616           77732                                    32D        +4,2                       
014271,000223: 15,2617           40723                           PDDL*    DMP*                                  #                   PD0
014272,000224: 15,2620           00011                                    8D,1                                  #  S3SIN S1SIN S2SIN . S2SIN S1SIN S3SIN
014273,000225: 15,2621           77732                                    32D        +4,2                       
014274,000226: 
014275,000227: 15,2622           64752                           SL1      PDDL*                                 #                   PD2
014276,000228: 15,2623           00013                                    10D,1                                 #  S3COS S1COS S2COS . S2COS S1COS S3COS
014277,000229: 
014278,000230: 15,2624           72403                           DMP*     SL1                                   #                  MPAC
014279,000231: 15,2625           00045                                    32D        +4,1                       #  S1SIN S2SIN S3SIN . S3SIN S2SIN S1SIN
014280,000232: 
014281,000233: 15,2626           77614                           BOFF                                           
014282,000234: 15,2627           00344                                    NBSMBIT                               
014283,000235: 15,2630           32643                                    AXISROT1                              
014284,000236: 
014285,000237: 15,2631           45421                           BDSU     STADR                                 #                    .   PD2 - MPAC
014286,000238: 15,2632           67732                           STORE    32D        +4,2                       #                    . S2    S1    S3
014287,000239: 15,2633           77743                           DLOAD*                                         
014288,000240: 15,2634           00011                                    8D,1                                  
014289,000241: 
014290,000242: 15,2635           72403                           DMP*     SL1                                   #                    .      MPAC
014291,000243: 15,2636           00045                                    32D        +4,1                       #                    . S3COS S2COS S1COS
014292,000244: 
014293,000245: 15,2637           45415                           DAD      STADR                                 #                    .   PD0 + MPAC
014294,000246: 15,2640           73732                           STORE    32D        +4,1                       #                    . S3    S2    S1
014295,000247: 15,2641           43575                           VLOAD    RVQ                                   
014296,000248: 15,2642           00041                                    32D                                   
014297,000249: 15,2643           45415        AXISROT1           DAD      STADR                                 #    MPAC + PD2      .
014298,000250: 15,2644           67732                           STORE    32D        +4,2                       #  S3    S1    S2
014299,000251: 15,2645           77743                           DLOAD*                                         
014300,000252: 15,2646           00011                                    8D,1                                  

Page 346

014302,000254: 15,2647           72403                           DMP*     SL1                                   #       MPAC         .
014303,000255: 15,2650           00045                                    32D        +4,1                       #  S1COS S2COS S3COS .
014304,000256: 
014305,000257: 15,2651           45425                           DSU      STADR                                 #    MPAC - PD0      .
014306,000258: 15,2652           73732                           STORE    32D        +4,1                       #  S1    S2    S3
014307,000259: 15,2653           43575                           VLOAD    RVQ                                   
014308,000260: 15,2654           00041                                    32D                                   
014309,000261:                                                                                                  #  CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
014310,000262: 
014311,000263:                                                                                                  #  THE INPUTS ARE  1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
014312,000264:                                                                                                  #  VECTORS ARE STORED AT XNB,YNB, AND ZNB.  2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
014313,000265:                                                                                                  #  COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
014314,000266: 
014315,000267:                                                                                                  #  THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
014316,000268: 
014317,000269: 
014318,000270: 15,2655           47375        CALCGA             VLOAD    VXV                                   #  PUSHDONW 00-04,16D,18D
014319,000271: 15,2656           02423                                    XNB                                   #  XNB = OGA (OUTER GIMBAL AXIS)
014320,000272: 15,2657           02407                                    YSM                                   #  YSM = IGA (INNER GIMBAL AXIS)
014321,000273: 15,2660           41456                           UNIT     PUSH                                  #  PD0 = UNIT(OGA X IGA) = MGA
014322,000274: 
014323,000275: 15,2661           44041                           DOT      ITA                                   
014324,000276: 15,2662           02437                                    ZNB                                   
014325,000277: 15,2663           00051                                    S2                                    
014326,000278: 15,2664           24021                           STOVL    COSTH                                 #  COS(OG) = MGA . ZNB
014327,000279: 15,2665           00001                                    0                                     
014328,000280: 15,2666           77641                           DOT                                            
014329,000281: 15,2667           02431                                    YNB                                   
014330,000282: 15,2670           34023                           STCALL   SINTH                                 #  SIN(OG) = MGA . YNB
014331,000283: 15,2671           32476                                    ARCTRIG                               
014332,000284: 15,2672           26501                           STOVL    OGC                                   
014333,000285: 15,2673           00001                                    0                                     
014334,000286: 
014335,000287: 15,2674           50235                           VXV      DOT                                   #  PROVISION FOR MG ANGLE OF 90 DEGREES
014336,000288: 15,2675           02423                                    XNB                                   
014337,000289: 15,2676           02407                                    YSM                                   
014338,000290: 15,2677           77752                           SL1                                            
014339,000291: 15,2700           24021                           STOVL    COSTH                                 #  COS(MG) = IGA . (MGA X OGA)
014340,000292: 15,2701           02407                                    YSM                                   
014341,000293: 15,2702           77641                           DOT                                            
014342,000294: 15,2703           02423                                    XNB                                   
014343,000295: 15,2704           34023                           STCALL   SINTH                                 #  SIN(MG) = IGA . OGA
014344,000296: 15,2705           32476                                    ARCTRIG                               
014345,000297: 15,2706           02505                           STORE    MGC                                   
014346,000298: 
014347,000299: 15,2707           45246                           ABS      DSU                                   
014348,000300: 15,2710           33113                                    .166...                               
014349,000301: 15,2711           77644                           BPL                                            
014350,000302: 15,2712           32731                                    GIMLOCK1                              #  IF ANGLE GREATER THAN 60 DEGREES

Page 347

014352,000304: 
014353,000305: 15,2713           50375        CALCGA1            VLOAD    DOT                                   
014354,000306: 15,2714           02415                                    ZSM                                   
014355,000307: 15,2715           00001                                    0                                     
014356,000308: 15,2716           24021                           STOVL    COSTH                                 #  COS(IG) = ZSM . MGA
014357,000309: 15,2717           02401                                    XSM                                   
014358,000310: 15,2720           45441                           DOT      STADR                                 
014359,000311: 15,2721           43754                           STCALL   SINTH                                 #  SIN(IG) = XSM . MGA
014360,000312: 15,2722           32476                                    ARCTRIG                               
014361,000313: 
014362,000314: 15,2723           26503                           STOVL    IGC                                   
014363,000315: 15,2724           02501                                    OGC                                   
014364,000316: 15,2725           77634                           RTB                                            
014365,000317: 15,2726           33526                                    V1STO2S                               
014366,000318: 15,2727           34401                           STCALL   THETAD                                
014367,000319: 15,2730           00051                                    S2                                    
014368,000320: 
014369,000321: 15,2731           77776        GIMLOCK1           EXIT                                           
014370,000322: 15,2732           06051                           TC       FLAG1UP                               #  SET GIMBAL LOCK FLAG
014371,000323: 15,2733           00200                           OCT      200                                   
014372,000324: 15,2734           04755                           TC       ALARM                                 
014373,000325: 15,2735           00401                           OCT      00401                                 
014374,000326: 15,2736           06112                           TC       INTPRET                               
014375,000327: 15,2737           77650                           GOTO                                           
014376,000328: 15,2740           32713                                    CALCGA1                               

Page 348

014378,000330: 
014379,000331:                                                                                                  #  AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
014380,000332: 
014381,000333:                                                                                                  #  THE INPUTS ARE  1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD.  2) THE STAR2 VECTOR
014382,000334:                                                                                                  #  REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6.  3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
014383,000335:                                                                                                  #  AT LOCATION 6 OF THE VAC AREA.  4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
014384,000336:                                                                                                  #  THE VAC AREA.
014385,000337: 
014386,000338:                                                                                                  #  THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
014387,000339:                                                                                                  #  AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
014388,000340: 
014389,000341: 
014390,000342: 15,2741           66370        AXISGEN            AXT,1    SSP                                   #  PUSHDOWN 00-22D,24D-28D,30D
014391,000343: 15,2742           02452                                    STARAD     +6                         
014392,000344: 15,2743           00051                                    S1                                    
014393,000345: 15,2744           02436                                    STARAD     -6                         
014394,000346: 
014395,000347: 15,2745           46773        AXISGEN1           VLOAD*   VXV*                                  #  06D   UA = S1
014396,000348: 15,2746           02461                                    STARAD     +12D,1                     #        STARAD +00D     UB = S1
014397,000349: 15,2747           02467                                    STARAD     +18D,1                     
014398,000350: 15,2750           77656                           UNIT                                           #  12D   VA = UNIT(S1 X S2)
014399,000351: 15,2751           06467                           STORE    STARAD     +18D,1                     #        STARAD +06D     VB = UNIT(S1 X S2)
014400,000352: 15,2752           77773                           VLOAD*                                         
014401,000353: 15,2753           02461                                    STARAD     +12D,1                     
014402,000354: 
014403,000355: 15,2754           76433                           VXV*     VSL1                                  
014404,000356: 15,2755           02467                                    STARAD     +18D,1                     #  18D   WA = UA X VA
014405,000357: 15,2756           06475                           STORE    STARAD     +24D,1                     #        STARAD +12D     WB = UB X VB
014406,000358: 
014407,000359: 15,2757           77700                           TIX,1                                          
014408,000360: 15,2760           32745                                    AXISGEN1                              
014409,000361: 
014410,000362: 15,2761           66160                           AXC,1    SXA,1                                 
014411,000363: 15,2762           00006                                    6                                     
014412,000364: 15,2763           00036                                    30D                                   
014413,000365: 
014414,000366: 15,2764           66370                           AXT,1    SSP                                   
014415,000367: 15,2765           00022                                    18D                                   
014416,000368: 15,2766           00051                                    S1                                    
014417,000369: 15,2767           00006                                    6                                     
014418,000370: 
014419,000371: 15,2770           66374                           AXT,2    SSP                                   
014420,000372: 15,2771           00006                                    6                                     
014421,000373: 15,2772           00052                                    S2                                    
014422,000374: 15,2773           00002                                    2                                     
014423,000375: 
014424,000376: 15,2774           76720        AXISGEN2           XCHX,1   VLOAD*                                
014425,000377: 15,2775           00036                                    30D                                   #  X1=-6 X2=+6   X1=-6 X2=+4     X1=-6 X2=+2
014426,000378: 15,2776           00001                                    0,1                                   
014427,000379: 15,2777           62757                           VXSC*    PDVL*                                 #  J=(UA)(UB1)   J=(UA)(UB2)     J=(UA)(UB3)

Page 349

014429,000381: 15,3000           75324                                    STARAD     +6,2                       
014430,000382: 15,3001           00007                                    6,1                                   
014431,000383: 15,3002           77757                           VXSC*                                          
014432,000384: 15,3003           75316                                    STARAD     +12D,2                     
014433,000385: 15,3004           30031                           STOVL*   24D                                   #  K=(VA)(VB1)   J=(VA)(VB2)     J=(VA)(VB3)
014434,000386: 15,3005           00015                                    12D,1                                 
014435,000387: 
014436,000388: 15,3006           53357                           VXSC*    VAD                                   
014437,000389: 15,3007           75310                                    STARAD     +18D,2                     #  L=(WA)(WB1)   J=(WA)(WB2)     J=(WA)(WB3)
014438,000390: 15,3010           76455                           VAD      VSL1                                  
014439,000391: 15,3011           00031                                    24D                                   
014440,000392: 15,3012           77720                           XCHX,1                                         
014441,000393: 15,3013           00036                                    30D                                   
014442,000394: 15,3014           06445                           STORE    XDC        +18D,1                     #  XDC = L+J+K   YDC = L+J+K     ZDC = L+J+K
014443,000395: 
014444,000396: 15,3015           77700                           TIX,1                                          
014445,000397: 15,3016           33017                                    AXISGEN3                              
014446,000398: 
014447,000399: 15,3017           77704        AXISGEN3           TIX,2                                          
014448,000400: 15,3020           32774                                    AXISGEN2                              
014449,000401: 
014450,000402: 15,3021           77775                           VLOAD                                          
014451,000403: 15,3022           02423                                    XDC                                   
014452,000404: 15,3023           26445                           STOVL    STARAD                                
014453,000405: 15,3024           02431                                    YDC                                   
014454,000406: 15,3025           26453                           STOVL    STARAD     +6                         
014455,000407: 15,3026           02437                                    ZDC                                   
014456,000408: 15,3027           02461                           STORE    STARAD     +12D                       
014457,000409: 
014458,000410: 15,3030           77616                           RVQ                                            
014459,000411: 

Page 350

014461,000413: 
014462,000414:                                                                                                  #  TRANSPSE COMPUTES THE TRANSPOSE OF A MATRIX (TRANSPOSE = INVERSE OF ORTHOGONAL TRANSFORMATION).
014463,000415: 
014464,000416:                                                                                                  #  THE INPUT IS A MATRIX DEFINING COORDINATE SYSTEM A WITH RESPECT TO COORDINATE SYSTEM B STORED IN STARAD THRU
014465,000417:                                                                                                  #  STARAD +17D.
014466,000418: 
014467,000419:                                                                                                  #  THE OUTPUT IS A MATRIX DEFINING COORDINATE SYSTEM B WITH RESPECT TO COORDINATE SYSTEM A STORED IN STARAD THRU
014468,000420:                                                                                                  #  STARAD +17D.
014469,000421: 
014470,000422: 15,3031           53447        TRANSPSE           DXCH     STARAD     +2                         #  PUSHDOWN NONE
014471,000423: 15,3032           53453                           DXCH     STARAD     +6                         
014472,000424: 15,3033           53447                           DXCH     STARAD     +2                         
014473,000425: 
014474,000426: 15,3034           53451                           DXCH     STARAD     +4                         
014475,000427: 15,3035           53461                           DXCH     STARAD     +12D                       
014476,000428: 15,3036           53451                           DXCH     STARAD     +4                         
014477,000429: 
014478,000430: 15,3037           53457                           DXCH     STARAD     +10D                       
014479,000431: 15,3040           53463                           DXCH     STARAD     +14D                       
014480,000432: 15,3041           53457                           DXCH     STARAD     +10D                       
014481,000433: 15,3042           16125                           TCF      DANZIG                                
014482,000434: 
014483,000435: 
014484,000436: 
014485,000437:                                                                                                  #  SMD/EREF TRANSFORMS STABLE MEMBER DESIRED COORDINATES FROM STABLE MEMBER DESIRED (DESIRED = PRESENT HERE) TO
014486,000438:                                                                                                  #  EARTH REFERENCE COORDINATES TO ALIGN THE STABLE MEMBER TO SPECIFIED GIMBAL ANGLES.
014487,000439: 
014488,000440:                                                                                                  #  THE INPUTS ARE 1) THE MATRIX DEFINING THE EARTH REFERENCE COORDINATE FRAME WITH RESPECT TO THE NAVIGATION BASE
014489,000441:                                                                                                  #  COORDINATE FRAME. 2) SAME AS 3) AND 3) OF SMNB.
014490,000442: 
014491,000443:                                                                                                  #  THE OUTPUT IS THE DESIRED STABLE MEMBER COORDINATES WITH RESPECT TO THE EARTH REFERENCE COORDINATE FRAME. THE
014492,000444:                                                                                                  #  THREE UNIT VECTORS ARE STORED AT XSM, YSM, AND ZSM.
014493,000445: 
014494,000446: 15,3043           77220        SMD/EREF           ITA      VLOAD                                 #  PUSHDOWN 00,02,04-10D,30D,32D-36D
014495,000447: 15,3044           00014                                    12D                                   
014496,000448: 15,3045           33103                                    XUNIT                                 
014497,000449: 15,3046           34041                           STCALL   32D                                   
014498,000450: 15,3047           32531                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
014499,000451: 15,3050           76521                           MXV      VSL1                                  
014500,000452: 15,3051           02445                                    STARAD                                #  THEN TO EARTH REFERENCE
014501,000453: 15,3052           26401                           STOVL    XSM                                   
014502,000454: 15,3053           33101                                    YUNIT                                 
014503,000455: 
014504,000456: 15,3054           34041                           STCALL   32D                                   
014505,000457: 15,3055           32531                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
014506,000458: 15,3056           76521                           MXV      VSL1                                  
014507,000459: 15,3057           02445                                    STARAD                                #  THEN TO EARTH REFERENCE
014508,000460: 15,3060           26407                           STOVL    YSM                                   
014509,000461: 15,3061           33077                                    ZUNIT                                 
014510,000462: 
014511,000463: 15,3062           34041                           STCALL   32D                                   

Page 351

014513,000465: 15,3063           32531                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
014514,000466: 15,3064           76521                           MXV      VSL1                                  
014515,000467: 15,3065           02445                                    STARAD                                #  THEN TO EARTH REFERENCE
014516,000468: 15,3066           36415                           STCALL   ZSM                                   
014517,000469: 15,3067           00014                                    12D                                   
014518,000470: 
014519,000471: 15,3070           67777 77777  270DEG             2DEC     -.25                                  
014520,000472: 
014521,000473: 15,3072           05520 26075  QTSN45             2DEC     .1768                                 
014522,000474: 
014523,000475: 15,3074           20000 00000  HALFDP             2DEC     .5                                    
014524,000476: 
014525,000477: 15,3076           00000 00000  ZUNIT              2DEC     0          B-28                       
014526,000478: 
014527,000479: 15,3100           00000 00000  YUNIT              2DEC     0          B-28                       
014528,000480: 
014529,000481: 15,3102           20000 00000  XUNIT              2DEC     0.5                                   
014530,000482: 
014531,000483: 15,3104           00000 00000  ZERODP             2DEC     0          B-28                       
014532,000484: 
014533,000485: 15,3106           00000 00000                     2DEC     0          B-28                       
014534,000486: 
014535,000487: 15,3110           00000 00000                     2DEC     0          B-28                       
014536,000488: 
014537,000489: 15,3112           05252 25253  .166...            2DEC     .1666666667                            
014538,000490: 

Page 352

014540,000492: 
014541,000493:                                                                                                  #  AOTNB CONVERTS THE AOT RETICLE ROTATION ANGLE (YROT AND SROT) AND
014542,000494:                                                                                                  #  THE DETENT SETTING TO A HALF UNIT STAR VECTOR REFERRED TO THE
014543,000495:                                                                                                  #  NAVIGATION BASE FOR NON-FLIGHT ALIGNMENT MODES
014544,000496: 
014545,000497:                                                                                                  #  THE INPUTS ARE 
014546,000498: 
014547,000499:                                                                                                  #     Y RET. LINE RATATION S(YROT) STORED IN LOC 3 OF THE MARK VAC AREA
014548,000500:                                                                                                  #     SPIRAL ROTATION ANGLE S(SROT) STORED IN LOC 5 OF MARC VAC AREA
014549,000501:                                                                                                  #     ANGLE OF CENTER OF FIELD OF VIEW S(ELV) STORED IN LOC 9 OF MARK VAC
014550,000502:                                                                                                  #     AOT ASZIMUTH ANGLE S(DET) STORED IN LOC 8 OF MARK VAC AREA
014551,000503:                                                                                                  #     THE COMPLEMENT OF BASE ADDRESS OF MARK VAC IS STORED AT X1
014552,000504:                                                                                                  #     COMPENSATION FOR FIELD OF VIEW TILT IN LOC 10D
014553,000505:                                                                                                  #  THE ABOVE STORAGE IS DONE BY AOTMARK
014554,000506: 
014555,000507: 
014556,000508:                                                                                                  #  THE OUTPUT IS A HALF UNIT STAR VECTOR IN NB COORDINATES STORED
014557,000509:                                                                                                  #  AT 32D AND AVAILABLE IN VAC ON RETURN TO THE CALLING PROGRAM
014558,000510: 
014559,000511: 15,3114           66601        AOTNB              SETPD    SLOAD*                                
014560,000512: 15,3115           00001                                    0                                     
014561,000513: 15,3116           00013                                    10D,1                                 #  AOT FOV TILT COMPENSATION ANGLE
014562,000514: 15,3117           41542                           SR1      PUSH                                  #  RESCALE TILT TO 2PI                                     
014563,000515: 15,3120           47133                           SLOAD*   RTB                                   
014564,000516: 15,3121           00004                                    3,1                                   
014565,000517: 15,3122           33457                                    CDULOGIC                              
014566,000518: 15,3123           00017                           STORE    14D                                   #  STORE UNCOMPENSATED YROT FOR S COMP
014567,000519: 15,3124           41415                           DAD      PUSH                                  #  YROT NOW CORRECTED FOR TILT
014568,000520: 15,3125           65346                           COS      PDDL                                  #  1/2 COS(YROT) PD 0-1
014569,000521: 15,3126           41556                           SIN      PUSH                                  #  1/2 SIN(YROT) PD 2-3
014570,000522: 15,3127           47133                           SLOAD*   RTB                                   
014571,000523: 15,3130           00006                                    5,1                                   
014572,000524: 15,3131           33457                                    CDULOGIC                              
014573,000525: 15,3132           00021                           STORE    16D                                   #  STORE S IF S AND Y ARE ZERO, S=0
014574,000526: 15,3133           52054                           BZE      GOTO                                  #  S NOT ZERO
014575,000527: 15,3134           33136                                    SISZ                                  #  S=0
014576,000528: 15,3135           33146                                    SCOMP                                 
014577,000529: 15,3136           53145        SISZ               DLOAD    BZE                                   #  IS Y ZERO
014578,000530: 15,3137           00017                                    14D                                   
014579,000531: 15,3140           33143                                    YISZ                                  #  Y=0
014580,000532: 15,3141           77650                           GOTO                                           
014581,000533: 15,3142           33146                                    SCOMP                                 
014582,000534: 15,3143           52145        YISZ               DLOAD    GOTO                                  
014583,000535: 15,3144           33105                                    ZERODP                                
014584,000536: 15,3145           33153                                    SGOT                                  
014585,000537: 15,3146           45345        SCOMP              DLOAD    DSU                                   
014586,000538: 15,3147           00017                                    14D                                   
014587,000539: 15,3150           00021                                    16D                                   #  Y-S
014588,000540: 15,3151           77621                           BDSU                                           
014589,000541: 15,3152           33240                                    NEARONE                               #  S=360-(Y-S)
014590,000542: 15,3153           41405        SGOT               DMP      PUSH                                  

Page 353

014592,000544: 15,3154           33236                                    DP1/12                                
014593,000545: 15,3155           65346                           COS      PDDL                                  
014594,000546: 15,3156           41556                           SIN      PUSH                                  
014595,000547: 15,3157           72405                           DMP      SL1                                   
014596,000548: 15,3160           00001                                    0                                     
014597,000549: 15,3161           14001                           STODL    0                                     
014598,000550: 15,3162           00003                                    2                                     
014599,000551: 15,3163           45405                           DMP      STADR                                 
014600,000552: 15,3164           77774                           STORE    2                                     
014601,000553: 
014602,000554: 15,3165           47133                           SLOAD*   RTB                                   
014603,000555: 15,3166           00012                                    9D,1                                  
014604,000556: 15,3167           33457                                    CDULOGIC                              
014605,000557: 15,3170           73406                           PUSH     SIN                                   
014606,000558: 15,3171           71525                           PDDL     COS                                   
014607,000559: 15,3172           41206                           PUSH     DMP                                   
014608,000560: 15,3173           00001                                    0                                     
014609,000561: 15,3174           41325                           PDDL     DMP                                   
014610,000562: 15,3175           00005                                    4                                     
014611,000563: 15,3176           00007                                    6                                     
014612,000564: 15,3177           72415                           DAD      SL1                                   
014613,000565: 15,3200           77626                           STADR                                          
014614,000566: 15,3201           63736                           STODL    32D                                   
014615,000567: 
014616,000568: 15,3202           77605                           DMP                                            
014617,000569: 15,3203           00005                                    4                                     
014618,000570: 15,3204           14005                           STODL    4                                     
014619,000571: 
014620,000572: 15,3205           44205                           DMP      BDSU                                  
014621,000573: 15,3206           00001                                    0                                     
014622,000574: 15,3207           66606                           PUSH     SLOAD*                                
014623,000575: 15,3210           00011                                    8D,1                                  
014624,000576: 15,3211           41434                           RTB      PUSH                                  
014625,000577: 15,3212           33457                                    CDULOGIC                              
014626,000578: 15,3213           65346                           COS      PDDL                                  
014627,000579: 15,3214           77756                           SIN                                            
014628,000580: 15,3215           00001                           STORE    0                                     
014629,000581: 
014630,000582: 15,3216           65205                           DMP      PDDL                                  
014631,000583: 15,3217           00005                                    4                                     
014632,000584: 15,3220           00007                                    6                                     
014633,000585: 15,3221           43205                           DMP      DAD                                   
014634,000586: 15,3222           00003                                    2                                     
014635,000587: 15,3223           77712                           SL2                                            
014636,000588: 15,3224           14043                           STODL    34D                                   
014637,000589: 
014638,000590: 15,3225           45405                           DMP      STADR                                 
014639,000591: 15,3226           63732                           STODL    36D                                   

Page 354

014641,000593: 15,3227           77605                           DMP                                            
014642,000594: 15,3230           62421                           BDSU     SL2                                   
014643,000595: 15,3231           00045                                    36D                                   
014644,000596: 15,3232           24045                           STOVL    36D                                   
014645,000597: 15,3233           00041                                    32D                                   
014646,000598: 15,3234           77616                           RVQ                                            
014647,000599: 
014648,000600: 15,3235           02525 12525  DP1/12             2DEC     .0833333333                            #  ; ;          
014649,000601: 
014650,000602: 15,3237           37777 37777  NEARONE            2DEC     .999999999                            
014651,000603: 

Page 355

014653,000605: 
014654,000606:                                                                                                  #  AOTSM CALCULATES A HALF UNIT STAR VECTOR IN STABLE MEMBER COORDINATES
014655,000607:                                                                                                  #  FROM TWO PLANES CONTAINING THE STAR REFERRED TO NB
014656,000608: 
014657,000609:                                                                                                  #  THE INPUTS ARE
014658,000610: 
014659,000611:                                                                                                  #     AOT AZIMUTH AND ELEVATION STORED IN 8D AND 9D RESP. OF VAC AREA
014660,000612:                                                                                                  #     CDUY, CDUZ AND CDUX FROM A YMARK STORED AT 3, 5, AND 7 OF VAC AREA
014661,000613:                                                                                                  #     CDUY, CDUZ AND CDUX FROM A XMARK STORED AT 2, 4, AND 6 OF VAC AREA
014662,000614:                                                                                                  #     COMPENSATION FOR FIELD OF VIEW STORED AT 10D OF VAC AREA
014663,000615:                                                                                                  #  THE BASE ADDRESS OF THE CDUS IS STORED AT LOCATION S1
014664,000616: 
014665,000617:                                                                                                  #  THE OUTPUT IS A STAR VECTOR REFERRED TO STABLE MEMBER AT LOC 32D
014666,000618:                                                                                                  #  AND AVAILBLE IN MPAC
014667,000619: 
014668,000620: 15,3241           40220        AOTSM              STQ      SETPD                                 
014669,000621: 15,3242           00035                                    29D                                   #  SET UP RETURN
014670,000622: 15,3243           00001                                    0                                     
014671,000623: 15,3244           66740                           LXC,1    SLOAD*                                
014672,000624: 15,3245           00050                                    S1                                    #  COMPLEMENT OF CDU ADR FOR XMARK
014673,000625: 15,3246           00011                                    8D,1                                  #  LOAD APPARENT TILT ANGLE,ONES COMP
014674,000626: 15,3247           77742                           SR1                                            #  RESCALE TILT TO 2PI
014675,000627: 15,3250           71406                           PUSH     COS                                   
014676,000628: 15,3251           73525                           PDDL     SIN                                   #  1/2 COS(TA)  0-1
014677,000629: 15,3252           66606                           PUSH     SLOAD*                                #  1/2 SIN(TA)  2-3
014678,000630: 15,3253           00007                                    6,1                                   #  LOAD AZIMUTH, 2S COMP
014679,000631: 15,3254           41434                           RTB      PUSH                                  
014680,000632: 15,3255           33457                                    CDULOGIC                              
014681,000633: 15,3256           65346                           COS      PDDL                                  #  1/2 COS(AZ)  4-5
014682,000634: 15,3257           41556                           SIN      PUSH                                  #  1/2 SIN(AZ)  6-7
014683,000635: 15,3260           65205                           DMP      PDDL                                  
014684,000636: 15,3261           00001                                    0                                     
014685,000637: 15,3262           65205                           DMP      PDDL                                  
014686,000638: 15,3263           00003                                    2                                     
014687,000639: 15,3264           00005                                    4                                     
014688,000640: 15,3265           65205                           DMP      PDDL                                  
014689,000641: 15,3266           00001                                    0                                     
014690,000642: 15,3267           00005                                    4                                     
014691,000643: 15,3270           41405                           DMP      PUSH                                  
014692,000644: 15,3271           47133                           SLOAD*   RTB                                   
014693,000645: 15,3272           00010                                    7,1                                   #  LOAD ELEVATION, 2S COMP
014694,000646: 15,3273           33457                                    CDULOGIC                              
014695,000647: 15,3274           73406                           PUSH     SIN                                   
014696,000648: 15,3275           71525                           PDDL     COS                                   #  1/2 SIN(ELV)  14-15
014697,000649: 15,3276           41206                           PUSH     DMP                                   #  1/2 COS(ELV)  16-17
014698,000650: 15,3277           00001                                    0                                     
014699,000651: 15,3300           77752                           SL1                                            
014700,000652: 15,3301           14041                           STODL    32D                                   #  X COMPONENT OF X-PLANE VECTOR
014701,000653: 
014702,000654: 15,3302           72405                           DMP      SL1                                   #  UP 16-17
014703,000655: 15,3303           00003                                    2                                     

Page 356

014705,000657: 
014706,000658: 15,3304           65276                           DCOMP    PDDL                                  #  X COMPONENT OF Y-PLANE VECTOR 16-17
014707,000659: 
014708,000660: 15,3305           00017                                    14D                                   
014709,000661: 15,3306           72405                           DMP      SL1                                   
014710,000662: 15,3307           00007                                    6                                     
014711,000663: 15,3310           72421                           BDSU     SL1                                   
014712,000664: 15,3311           00015                                    12D                                   
014713,000665: 15,3312           14043                           STODL    34D                                   #  Y COMPONENT OF X-PLANE VEC   
014714,000666: 
014715,000667: 15,3313           00017                                    14D                                   
014716,000668: 15,3314           72405                           DMP      SL1                                   
014717,000669: 15,3315           00013                                    10D                                   
014718,000670: 15,3316           72415                           DAD      SL1                                   
014719,000671: 15,3317           00011                                    8D                                    
014720,000672: 15,3320           77676                           DCOMP                                          
014721,000673: 15,3321           14045                           STODL    36D                                   #  Z COMPONENT OF X-PLANE VECTOR
014722,000674: 
014723,000675: 15,3322           00017                                    14D                                   
014724,000676: 15,3323           72405                           DMP      SL1                                   
014725,000677: 15,3324           00011                                    8D                                    
014726,000678: 15,3325           72415                           DAD      SL1                                   
014727,000679: 15,3326           00013                                    10D                                   
014728,000680: 15,3327           41325                           PDDL     DMP                                   #  Y COMPONENT OF Y-PLANE VECTOR 18-19
014729,000681: 
014730,000682: 15,3330           00017                                    14D                                   
014731,000683: 15,3331           00015                                    12D                                   
014732,000684: 15,3332           72425                           DSU      SL1                                   
014733,000685: 15,3333           00007                                    6                                     
014734,000686: 15,3334           34025                           STCALL   20D                                   #  Z COMPONENT OF Y-PLANE VECTOR 20-21
014735,000687: 
014736,000688: 15,3335           32555                                    NBSM                                  #  TRANSFORM TO SM
014737,000689: 15,3336           24013                           STOVL    10D                                   #  STORE X-PLAVE VECTOR (SM)
014738,000690: 
014739,000691: 15,3337           00021                                    16D                                   #  LOAD Y-PLANE VECTOR (NB)
014740,000692: 15,3340           62120                           XCHX,1   INCR,1                                
014741,000693: 15,3341           00050                                    S1                                    #  INCREMENT CDU BASE ADR TO YMARK CDUS
014742,000694: 15,3342           00001                                    1                                     
014743,000695: 15,3343           77720                           XCHX,1                                         #  PUT IT BACK IN S1
014744,000696: 15,3344           00050                                    S1                                    
014745,000697: 15,3345           34041                           STCALL   32D                                   
014746,000698: 15,3346           32555                                    NBSM                                  #  GET Y-PLANE IN SM
014747,000699: 15,3347           76435                           VXV      VSL1                                  #  YP CROSS XP
014748,000700: 15,3350           00013                                    10D                                   
014749,000701: 15,3351           53476                           VCOMP    UNIT                                  #  UNIT (XP CROSS YP)
014750,000702: 15,3352           00041                           STORE    32D                                   #  STAR VECTOR IN SM COORDINATES
014751,000703: 15,3353           77650                           GOTO                                           
014752,000704: 15,3354           00035                                    29D                                   #  RETURN
014753,000705: 

Page 357

014755,000707: 
014756,000708:                                                                                                  #           THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
014757,000709:                                                                                                  #  GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
014758,000710:                                                                                                  #  ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
014759,000711:                                                                                                  #  ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
014760,000712:                                                                                                  #  SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
014761,000713: 
014762,000714:                                                                                                  #            THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
014763,000715: 
014764,000716:                                                                                                  #            S(2) = 180 + S(1)
014765,000717:                                                                                                  #            T(2) = 180 - T(1)
014766,000718: 
014767,000719: 15,3355           57545        RRANGLES           DLOAD    DCOMP                                 #  SINCE WE WILL FIND THE MODE 1 SHAFT
014768,000720: 15,3356           00043                                    34D                                   #  ANGLE LATER, WE CAN FIND THE MODE 1
014769,000721: 15,3357           67401                           SETPD    ASIN                                  #  TRUNNION BY SIMPLY TAKING THE ARCSIN OF
014770,000722: 15,3360           00001                                    0                                     #  THE Y COMPONENT, THE ASIN GIVING AN
014771,000723: 15,3361           44206                           PUSH     BDSU                                  #  ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
014772,000724: 15,3362           33075                                    HALFDP                                
014773,000725: 15,3363           14005                           STODL    4                                     #  MODE 2 TRUNNION TO 4.
014774,000726: 
014775,000727: 15,3364           33105                                    ZERODP                                
014776,000728: 15,3365           24043                           STOVL    34D                                   #  UNIT THE PROJECTION OF THE VECTOR IN THE
014777,000729: 15,3366           00041                                    32D                                   #  X-Z PLANE.
014778,000730: 15,3367           41056                           UNIT     BOVB                                  #  CALL FOR S/C MANEUVER ON GIMBAL LOCK.
014779,000731: 15,3370           20347                                    DESRETRN   +1                         
014780,000732: 15,3371           14041                           STODL    32D                                   #  PROJECTION VECTOR.
014781,000733: 15,3372           00041                                    32D                                   
014782,000734: 15,3373           44142                           SR1      STQ                                   
014783,000735: 15,3374           00051                                    S2                                    
014784,000736: 15,3375           14023                           STODL    SINTH                                 #  USE ARCTRIG SINCE SHAFT COULD BE ARB.
014785,000737: 15,3376           00045                                    36D                                   
014786,000738: 15,3377           77742                           SR1                                            
014787,000739: 15,3400           34021                           STCALL   COSTH                                 
014788,000740: 15,3401           32476                                    ARCTRIG                               

Page 358

014790,000742: 15,3402           43206                           PUSH     DAD                                   #  MODE 1 SHAFT TO 2.
014791,000743: 15,3403           33075                                    HALFDP                                #  (OVERFLOW DOESNT MATTER SINCE SCALED REV
014792,000744: 15,3404           24007                           STOVL    6                                     
014793,000745: 15,3405           00005                                    4                                     
014794,000746: 15,3406           77634                           RTB                                            #  FIND MODE 2 CDU ANGLES.
014795,000747: 15,3407           33543                                    2V1STO2S                              
014796,000748: 15,3410           24425                           STOVL    MODEB                                 
014797,000749: 15,3411           00001                                    0                                     
014798,000750: 15,3412           77634                           RTB                                            #  MODE 1 ANGLES TO MODE A.
014799,000751: 15,3413           33543                                    2V1STO2S                              
014800,000752: 15,3414           00423                           STORE    MODEA                                 
014801,000753: 15,3415           77776                           EXIT                                           
014802,000754: 
014803,000755: 15,3416           40412                           CS       RADMODES                              #  SWAP MODEA AND MODEB IF RR IN MODE2.
014804,000756: 15,3417           77750                           MASK     BIT12                                 
014805,000757: 15,3420           10000                           CCS      A                                     
014806,000758: 15,3421           13425                           TCF      +4                                    
014807,000759: 
014808,000760: 15,3422           52423                           DXCH     MODEA                                 
014809,000761: 15,3423           52425                           DXCH     MODEB                                 
014810,000762: 15,3424           52423                           DXCH     MODEA                                 
014811,000763: 
014812,000764: 15,3425           06112                           TC       INTPRET                               
014813,000765: 15,3426           77650                           GOTO                                           
014814,000766: 15,3427           00051                                    S2                                    
014815,000767: 

Page 359

014817,000769:                                                                                                  #     GIVEN RR TRUNION AND SHAFT (T,S) IN TANG,+1, FIND THE ASSOCIATED
014818,000770:                                                                                                  #  LINE OF SIGHT IN NAV BASE AXES.  THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
014819,000771:                                                                                                  #  -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
014820,000772: 
014821,000773: 15,3430           47135        RRNB               SLOAD    RTB                                   
014822,000774: 15,3431           00423                                    TANG                                  
014823,000775: 15,3432           33457                                    CDULOGIC                              
014824,000776: 15,3433           41401                           SETPD    PUSH                                  #  TRUNNION ANGLE TO 0
014825,000777: 15,3434           00001                                    0                                     
014826,000778: 15,3435           57556                           SIN      DCOMP                                 
014827,000779: 15,3436           14043                           STODL    34D                                   #  Y COMPONENT
014828,000780: 
014829,000781: 15,3437           41546                           COS      PUSH                                  #  .5 COS(T) TO 0
014830,000782: 15,3440           47135                           SLOAD    RTB                                   
014831,000783: 15,3441           00424                                    TANG       +1                         
014832,000784: 15,3442           33457                                    CDULOGIC                              
014833,000785: 15,3443           71406                           PUSH     COS                                   #  SHAFT ANGLE TO 2
014834,000786: 15,3444           72405                           DMP      SL1                                   
014835,000787: 15,3445           00001                                    0                                     
014836,000788: 15,3446           14045                           STODL    36D                                   #  Z COMPONENT
014837,000789: 
014838,000790: 15,3447           41356                           SIN      DMP                                   
014839,000791: 15,3450           77752                           SL1                                            
014840,000792: 15,3451           24041                           STOVL    32D                                   
014841,000793: 15,3452           00041                                    32D                                   
014842,000794: 15,3453           77616                           RVQ                                            
014843,000795: 
014844,000796: 

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