Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

053016,000002:                                                                                                  ## Copyright:   Public domain.
053017,000003:                                                                                                  ## Filename:    PLANETARY_INERTIAL_ORIENTATION.agc
053018,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
053019,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
053020,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
053021,000007:                                                                                                  ## Assembler:   yaYUL
053022,000008:                                                                                                  ## Reference:   Starts on p. 1213
053023,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
053024,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
053025,000011:                                                                                                  ## Mod history: 08/28/04 RSB.   Adapted from corresponding Luminary131 file.
053026,000012:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
053027,000013:                                                                                                  ##                              original harcopy, as opposed to the PDF page
053028,000014:                                                                                                  ##                              numbers in 1701.pdf.
053029,000015:                                                                                                  ##              2017-01-18 RSB  Cross-diff'd comment text (not whitespace)
053030,000016:                                                                                                  ##                              vs the already-proofed corresponding Colossus
053031,000017:                                                                                                  ##                              237 and Comanche 55 source-code files
053032,000018:                                                                                                  ##                              and corrected errors found.
053033,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
053034,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
053035,000021: 
053036,000022:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
053037,000023:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
053038,000024:                                                                                                  ## document read, in part:
053039,000025:                                                                                                  ##
053040,000026:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
053041,000027:                                                                                                  ##      2021111-041.  October 28, 1968.  
053042,000028:                                                                                                  ##
053043,000029:                                                                                                  ##      This AGC program shall also be referred to as
053044,000030:                                                                                                  ##                              Colossus 1A
053045,000031:                                                                                                  ##
053046,000032:                                                                                                  ##      Prepared by
053047,000033:                                                                                                  ##                      Massachusetts Institute of Technology
053048,000034:                                                                                                  ##                      75 Cambridge Parkway
053049,000035:                                                                                                  ##                      Cambridge, Massachusetts
053050,000036:                                                                                                  ##      under NASA contract NAS 9-4065.
053051,000037:                                                                                                  ##
053052,000038:                                                                                                  ## Refer directly to the online document mentioned above for further information.
053053,000039:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
053054,000040:                                                                                                  ##
053055,000041:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
053056,000042:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
053057,000043:                                                                                                  ## source file, and then is proofed to incorporate any changes.
053058,000044: 

Page 1213

053060,000046:                                                                                                  #  ..... RP-TO-R SUBROUTINE .....
053061,000047:                                                                                                  #  SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM, EITHER
053062,000048:                                                                                                  #  EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN THE BASIC REF. SYSTEM)
053063,000049:                                                                                                  #        R = MT(T) * (RP + LP X RP)      MT = M MATRIX TRANSPOSE
053064,000050: 
053065,000051:                                                                                                  #  CALLING SEQUENCE
053066,000052:                                                                                                  #        L       CALL
053067,000053:                                                                                                  #        L+1             RP-TO-R
053068,000054: 
053069,000055:                                                                                                  #  SUBROUTINES USED
053070,000056:                                                                                                  #        EARTHMX, MOONMX, EARTHL
053071,000057: 
053072,000058:                                                                                                  #        ITEMS AVAILABLE FROM LAUNCH DATA
053073,000059:                                                                                                  #                504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
053074,000060:                                                                                                  #                IN THE MOON-FIXED COORD. SYSTEM         RADIANS B0
053075,000061: 
053076,000062:                                                                                                  #        ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.)
053077,000063: 
053078,000064:                                                                                                  #  INPUT
053079,000065:                                                                                                  #        MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
053080,000066:                                                                                                  #        0-5D = RP VECTOR
053081,000067:                                                                                                  #        6-7D = TIME
053082,000068: 
053083,000069:                                                                                                  #  OUTPUT
053084,000070:                                                                                                  #        MPAC = R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
053085,000071: 
053086,000072: 26,2000                                           SETLOC   PLANTIN                               
053087,000073: 26,2000                                           BANK                                           
053088,000074: 
053089,000075: 26,3341                                           COUNT*   $$/LUROT                              
053090,000076: 
053091,000077: 26,3341           46020        RP-TO-R            STQ      BHIZ                                  
053092,000078: 26,3342           00050                                    RPREXIT                               
053093,000079: 26,3343           55356                                    RPTORA                                
053094,000080: 26,3344           77624                           CALL                                           #  COMPUTE M MATRIX FOR MOON
053095,000081: 26,3345           55416                                    MOONMX                                #  LP=LM FOR MOON        RADIANS B0
053096,000082: 26,3346           77775                           VLOAD                                          
053097,000083: 26,3347           02012                                    504LM                                 
053098,000084: 26,3350           53235        RPTORB             VXV      VAD                                   
053099,000085: 26,3351           00001                                    504RPR                                
053100,000086: 26,3352           00001                                    504RPR                                
053101,000087: 26,3353           52105                           VXM      GOTO                                  
053102,000088: 26,3354           00025                                    MMATRIX                               #  MPAC=R=MT(T)*(RP+LPXRP)
053103,000089: 26,3355           55404                                    RPRPXXXX                              #  RESET PUSHLOC TO 0 BEFORE EXITING
053104,000090: 26,3356           77624        RPTORA             CALL                                           #  EARTH COMPUTATIONS
053105,000091: 26,3357           55570                                    EARTHMX                               #  M MATRIX B-1
053106,000092: 26,3360           77624                           CALL                                           
053107,000093: 26,3361           55622                                    EARTHL                                #  L VECTOR RADIANS B0
053108,000094: 26,3362           76521                           MXV      VSL1                                  #  LP=M(T)*L     RAD B-0
053109,000095: 26,3363           00025                                    MMATRIX                               

Page 1214

053111,000097: 26,3364           77650                           GOTO                                           
053112,000098: 26,3365           55350                                    RPTORB                                
053113,000099: 

Page 1215

053115,000101:                                                                                                  #  ..... R-TO-RP SUBROUTINE .....
053116,000102:                                                                                                  #  SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP
053117,000103:                                                                                                  #  (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED
053118,000104:                                                                                                  #        RP = M(T) * (R - L X R)
053119,000105: 
053120,000106:                                                                                                  #  CALLING SEQUENCE
053121,000107:                                                                                                  #        L       CALL
053122,000108:                                                                                                  #        L+1             R-TO-RP
053123,000109: 
053124,000110:                                                                                                  #  SUBROUTINES USED
053125,000111:                                                                                                  #        EARTHMX, MOONMX, EARTHL
053126,000112: 
053127,000113:                                                                                                  #  INPUT
053128,000114:                                                                                                  #        MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
053129,000115:                                                                                                  #        0-5D = R VECTOR
053130,000116:                                                                                                  #        6-7D = TIME
053131,000117: 
053132,000118:                                                                                                  #        ITEMS AVAILABLE FROM LAUNCH DATA
053133,000119:                                                                                                  #                504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
053134,000120:                                                                                                  #                IN THE MOON-FIXED COORD. SYSTEM                 RADIANS B0
053135,000121: 
053136,000122:                                                                                                  #        ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.)
053137,000123: 
053138,000124:                                                                                                  #  OUTPUT
053139,000125:                                                                                                  #        MPAC = RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
053140,000126: 
053141,000127: 26,3366           46020        R-TO-RP            STQ      BHIZ                                  
053142,000128: 26,3367           00050                                    RPREXIT                               
053143,000129: 26,3370           55410                                    RTORPA                                
053144,000130: 26,3371           77624                           CALL                                           
053145,000131: 26,3372           55416                                    MOONMX                                
053146,000132: 26,3373           61375                           VLOAD    VXM                                   
053147,000133: 26,3374           02012                                    504LM                                 #  LP=LM
053148,000134: 26,3375           00025                                    MMATRIX                               
053149,000135: 26,3376           77772                           VSL1                                           #  L = MT(T)*LP          RADIANS B0
053150,000136: 26,3377           51235        RTORPB             VXV      BVSU                                  
053151,000137: 26,3400           00001                                    504RPR                                
053152,000138: 26,3401           00001                                    504RPR                                
053153,000139: 26,3402           77721                           MXV                                            #  M(T)*(R-LXR)          B-2
053154,000140: 26,3403           00025                                    MMATRIX                               
053155,000141: 26,3404           40372        RPRPXXXX           VSL1     SETPD                                 
053156,000142: 26,3405           00001                                    0D                                    
053157,000143: 26,3406           77650                           GOTO                                           
053158,000144: 26,3407           00050                                    RPREXIT                               
053159,000145: 26,3410           77624        RTORPA             CALL                                           #  EARTH COMPUTATIONS
053160,000146: 26,3411           55570                                    EARTHMX                               
053161,000147: 26,3412           77624                           CALL                                           
053162,000148: 26,3413           55622                                    EARTHL                                
053163,000149: 26,3414           77650                           GOTO                                           #  MPAC=L=(-AX,-AY,0)    RAD B-0
053164,000150: 26,3415           55377                                    RTORPB                                
053165,000151: 

Page 1216

053167,000153:                                                                                                  #  ..... MOONMX SUBROUTINE .....
053168,000154:                                                                                                  #  SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON
053169,000155: 
053170,000156:                                                                                                  #  CALLING SEQUENCE
053171,000157:                                                                                                  #        L       CALL
053172,000158:                                                                                                  #        L+1             MOONMX
053173,000159: 
053174,000160:                                                                                                  #  SUBROUTINES USED
053175,000161:                                                                                                  #        NEWANGLE
053176,000162: 
053177,000163:                                                                                                  #  INPUT
053178,000164:                                                                                                  #        6-7D = TIME
053179,000165: 
053180,000166:                                                                                                  #        ITEMS AVAILABLE FROM LAUNCH DATA
053181,000167:                                                                                                  #                BSUBO, BDOT
053182,000168:                                                                                                  #                TIMSUBO, NODIO, NODDOT, FSUBO, FDOT
053183,000169:                                                                                                  #                COSI = COS(I)   B-1
053184,000170:                                                                                                  #                SINI = SIN(I)   B-1
053185,000171:                                                                                                  #                I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE
053186,000172:                                                                                                  #                PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES)
053187,000173: 
053188,000174:                                                                                                  #  OUTPUT
053189,000175:                                                                                                  #        MMATRIX = 3X3 M MATRIX          B-1 (STORED IN VAC AREA)
053190,000176: 
053191,000177: 26,3416           40220        MOONMX             STQ      SETPD                                 
053192,000178: 26,3417           00051                                    EARTHMXX                              
053193,000179: 26,3420           00011                                    8D                                    
053194,000180: 26,3421           77770                           AXT,1                                          #  B REQUIRES SL 0, SL 5 IN NEWANGLE
053195,000181: 26,3422           00005                                    5                                     
053196,000182: 26,3423           65345                           DLOAD    PDDL                                  #  PD 10D        8-9D=BSUBO
053197,000183: 26,3424           15652                                    BSUBO                                 #                10-11D=BDOT
053198,000184: 26,3425           15644                                    BDOT                                  
053199,000185: 26,3426           45006                           PUSH     CALL                                  #  PD 12D
053200,000186: 26,3427           55543                                    NEWANGLE                              #  EXIT WITH PD 8D AND MPAC= B   REVS B0
053201,000187: 26,3430           71406                           PUSH     COS                                   #  PD 10D
053202,000188: 26,3431           14041                           STODL    COB                                   #  PD 8D         COS(B) B-1
053203,000189: 26,3432           77756                           SIN                                            #                SIN(B) B-1
053204,000190: 26,3433           14043                           STODL    SOB                                   #  SETUP INPUT FOR NEWANGLE
053205,000191: 26,3434           15650                                    FSUBO                                 #                        8-9D=FSUBO
053206,000192: 26,3435           41525                           PDDL     PUSH                                  #  PD 10D THEN 12D       10-11D=FDOT
053207,000193: 26,3436           15642                                    FDOT                                  
053208,000194: 26,3437           45170                           AXT,1    CALL                                  #  F REQUIRES SL 1, SL 6 IN NEWANGLE
053209,000195: 26,3440           00004                                    4                                     
053210,000196: 26,3441           55543                                    NEWANGLE                              #  EXIT WITH PD 8D AND MPAC= F REVS B0
053211,000197: 26,3442           14027                           STODL    AVECTR     +2                         #  SAVE F TEMP
053212,000198: 26,3443           15646                                    NODIO                                 #                        8-9D=NODIO
053213,000199: 26,3444           41525                           PDDL     PUSH                                  #  PD 10D THEN 12D       10-11D=NODDOT
053214,000200: 26,3445           15640                                    NODDOT                                #                        MPAC=T
053215,000201: 26,3446           45170                           AXT,1    CALL                                  #  NODE REQUIRES SL 0, SL 5 IN NEWANGLE
053216,000202: 26,3447           00005                                    5                                     
053217,000203: 26,3450           55543                                    NEWANGLE                              #  EXIT WITH PD 8D AND MPAC= NODI REVS B0

Page 1217

053219,000205: 26,3451           71406                           PUSH     COS                                   #  PD 10D        8-9D= NODI REVS B0
053220,000206: 26,3452           77606                           PUSH                                           #  PD 12D        10-11D= COS(NODI) B-1
053221,000207: 26,3453           00025                           STORE    AVECTR                                
053222,000208: 26,3454           76405                           DMP      SL1R                                  
053223,000209: 26,3455           00041                                    COB                                   #                        COS(NODI) B-1
053224,000210: 26,3456           14035                           STODL    BVECTR     +2                         #  PD 10D  20-25D=AVECTR=COB*SIN(NODI)
053225,000211: 26,3457           76405                           DMP      SL1R                                  #                        SOB*SIN(NODI)
053226,000212: 26,3460           00043                                    SOB                                   
053227,000213: 26,3461           14037                           STODL    BVECTR     +4                         #  PD 8D
053228,000214: 26,3462           41556                           SIN      PUSH                                  #  PD 10D                -SIN(NODI) B-1
053229,000215: 26,3463           77676                           DCOMP                                          #          26-31D=BVECTR=COB*COS(NODI)
053230,000216: 26,3464           14033                           STODL    BVECTR                                #  PD 8D                 SOB*COS(NODI)
053231,000217: 26,3465           00027                                    AVECTR     +2                         #  MOVE F FROM TEMP LOC. TO 504F
053232,000218: 26,3466           14007                           STODL    504F                                  
053233,000219: 26,3467           76405                           DMP      SL1R                                  
053234,000220: 26,3470           00041                                    COB                                   
053235,000221: 26,3471           14027                           STODL    AVECTR     +2                         
053236,000222: 26,3472           00011                                    SINNODI                               #  8-9D=SIN(NODI) B-1
053237,000223: 26,3473           76405                           DMP      SL1R                                  
053238,000224: 26,3474           00043                                    SOB                                   
053239,000225: 26,3475           14031                           STODL    AVECTR     +4                         #                        0
053240,000226: 26,3476           15332                                    HI6ZEROS                              #        8-13D= CVECTR=  -SOB B-1
053241,000227: 26,3477           57525                           PDDL     DCOMP                                 #  PD 10D                COB
053242,000228: 26,3500           00043                                    SOB                                   
053243,000229: 26,3501           63325                           PDDL     PDVL                                  #  PD 12D THEN PD 14D
053244,000230: 26,3502           00041                                    COB                                   
053245,000231: 26,3503           00033                                    BVECTR                                
053246,000232: 26,3504           63361                           VXSC     PDVL                                  #  PD 20D        BVECTR*SINI B-2
053247,000233: 26,3505           15636                                    SINI                                  
053248,000234: 26,3506           00011                                    CVECTR                                
053249,000235: 26,3507           53361                           VXSC     VAD                                   #  PD 14D        CVECTR*COSI B-2
053250,000236: 26,3510           15634                                    COSI                                  
053251,000237: 26,3511           77772                           VSL1                                           
053252,000238: 26,3512           24041                           STOVL    MMATRIX    +12D                       #  PD 8D  M2=BVECTR*SINI+CVECTR*COSI B-1
053253,000239: 26,3513           63361                           VXSC     PDVL                                  #  PD 14D
053254,000240: 26,3514           15636                                    SINI                                  #                CVECTR*SINI B-2
053255,000241: 26,3515           00033                                    BVECTR                                
053256,000242: 26,3516           52361                           VXSC     VSU                                   #  PD 8D         BVECTR*COSI B-2
053257,000243: 26,3517           15634                                    COSI                                  
053258,000244: 26,3520           65372                           VSL1     PDDL                                  #  PD 14D
053259,000245: 26,3521           00007                                    504F                                  #  8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1
053260,000246: 26,3522           74346                           COS      VXSC                                  
053261,000247: 26,3523           00011                                    DVECTR                                
053262,000248: 26,3524           73525                           PDDL     SIN                                   #  PD 20D  14-19D= DVECTR*COSF B-2
053263,000249: 26,3525           00007                                    504F                                  
053264,000250: 26,3526           52361                           VXSC     VSU                                   #  PD 14D        AVECTR*SINF B-2
053265,000251: 26,3527           00025                                    AVECTR                                
053266,000252: 26,3530           77772                           VSL1                                           
053267,000253: 26,3531           14033                           STODL    MMATRIX    +6                         #  M1= AVECTR*SINF-DVECTR*COSF B-1
053268,000254: 26,3532           00007                                    504F                                  

Page 1218

053270,000256: 26,3533           74356                           SIN      VXSC                                  #  PD 8D
053271,000257: 26,3534           71525                           PDDL     COS                                   #  PD 14D  8-13D=DVECTR*SINF B-2
053272,000258: 26,3535           00007                                    504F                                  
053273,000259: 26,3536           53361                           VXSC     VAD                                   #  PD 8D         AVECTR*COSF B-2
053274,000260: 26,3537           00025                                    AVECTR                                
053275,000261: 26,3540           57572                           VSL1     VCOMP                                 
053276,000262: 26,3541           34025                           STCALL   MMATRIX                               #  M0= -(AVECTR*COSF+DVECTR*SINF) B-1
053277,000263: 26,3542           00051                                    EARTHMXX                              
053278,000264: 
053279,000265:                                                                                                  #  COMPUTE X=X0+(XDOT)(T+T0)
053280,000266:                                                                                                  #  8-9D= XO (REVS B-0), PUSHLOC SET AT 12D
053281,000267:                                                                                                  #  10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT
053282,000268:                                                                                                  #                        AND B+27 FOR FDOT
053283,000269:                                                                                                  #  X1=DIFFERENCE IN 23 AND SCALING OF XDOT, =0 FOR WEARTH, 5 FOR NODDOT AND
053284,000270:                                                                                                  #                                        BDOT AND 4 FOR FDOT
053285,000271:                                                                                                  #  6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.)
053286,000272: 
053287,000273: 26,3543           54345        NEWANGLE           DLOAD    SR                                    #  ENTER PD 12D
053288,000274: 26,3544           00007                                    6D                                    
053289,000275: 26,3545           20617                                    14D                                   
053290,000276: 26,3546           72371                           TAD      TLOAD                                 #  CHANGE MODE TO TP
053291,000277: 26,3547           01707                                    TIMSUBO                               
053292,000278: 26,3550           00155                                    MPAC                                  
053293,000279: 26,3551           14017                           STODL    TIMSUBM                               #  T+T0 CSEC B-42
053294,000280: 26,3552           00020                                    TIMSUBM    +1                         
053295,000281: 26,3553           77605                           DMP                                            #  PD 10D        MULT BY XDOT IN 10-11D
053296,000282: 26,3554           43257                           SL*      DAD                                   #  PD 8D         ADD XO IN 8-9D AFTER SHIFTING
053297,000283: 26,3555           20206                                    5,1                                   #                SUCH THAT SCALING IS B-0
053298,000284: 26,3556           67206                           PUSH     SLOAD                                 #  PD 10D  SAVE PARTIAL (X0+XDOT*T) IN 8-9D
053299,000285: 26,3557           00017                                    TIMSUBM                               
053300,000286: 26,3560           41261                           SL       DMP                                   
053301,000287: 26,3561           20212                                    9D                                    
053302,000288: 26,3562           00013                                    10D                                   #  XDOT
053303,000289: 26,3563           43257                           SL*      DAD                                   #  PD 8D         SHIFT SUCH THAT THIS PART OF X
053304,000290: 26,3564           20213                                    10D,1                                 #                IS SCALED REVS/CSEC B-0
053305,000291: 26,3565           77600                           BOV                                            #  TURN OFF OVERFLOW IF SET BY SHIFT
053306,000292: 26,3566           55567                                    +1                                    #  INSTRUCTION BEFORE EXITING
053307,000293: 26,3567           77616                           RVQ                                            #  MPAC=X= X0+(XDOT)(T+T0)       REVS B0
053308,000294: 

Page 1219

053310,000296:                                                                                                  #  ..... EARTHMX SUBROUTINE .....
053311,000297:                                                                                                  #  SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH
053312,000298: 
053313,000299:                                                                                                  #  CALLING SEQUENCE
053314,000300:                                                                                                  #        L       CALL
053315,000301:                                                                                                  #        L+1             EARTHMX
053316,000302: 
053317,000303:                                                                                                  #  SUBROUTINES USED
053318,000304:                                                                                                  #        NEWANGLE
053319,000305: 
053320,000306:                                                                                                  #  INPUT
053321,000307:                                                                                                  #        INPUT AVAILABLE FROM LAUNCH DATA        AZO REVS B-0
053322,000308:                                                                                                  #                                                TEPHEM CSEC B-42
053323,000309:                                                                                                  #        6-7D= TIME CSEC B-28
053324,000310: 
053325,000311:                                                                                                  #  OUTPUT
053326,000312:                                                                                                  #        MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
053327,000313: 
053328,000314: 26,3570           40220        EARTHMX            STQ      SETPD                                 #  SET 8-9D=AZO
053329,000315: 26,3571           00051                                    EARTHMXX                              
053330,000316: 26,3572           00011                                    8D                                    #  10-11D=WEARTH
053331,000317: 26,3573           77770                           AXT,1                                          #  FOR SL 5, AND SL 10 IN NEWANGLE
053332,000318: 26,3574           00000                                    0                                     
053333,000319: 26,3575           65345                           DLOAD    PDDL                                  #  LEAVING PD SET AT 12D FOR NEWANGLE
053334,000320: 26,3576           01712                                    AZO                                   
053335,000321: 26,3577           15654                                    WEARTH                                
053336,000322: 26,3600           45006                           PUSH     CALL                                  
053337,000323: 26,3601           55543                                    NEWANGLE                              
053338,000324: 26,3602           41401                           SETPD    PUSH                                  #  18-19D=504AZ
053339,000325: 26,3603           00023                                    18D                                   #                         COS(AZ)   SIN(AZ)     0
053340,000326: 26,3604           65346                           COS      PDDL                                  #  20-37D=  MMATRIX=     -SIN(AZ)   COS(AZ)     0    B-1
053341,000327: 26,3605           00023                                    504AZ                                 #                            0         0        1
053342,000328: 26,3606           65356                           SIN      PDDL                                  
053343,000329: 26,3607           15332                                    HI6ZEROS                              
053344,000330: 26,3610           73525                           PDDL     SIN                                   
053345,000331: 26,3611           00023                                    504AZ                                 
053346,000332: 26,3612           65276                           DCOMP    PDDL                                  
053347,000333: 26,3613           00023                                    504AZ                                 
053348,000334: 26,3614           63346                           COS      PDVL                                  
053349,000335: 26,3615           15332                                    HI6ZEROS                              
053350,000336: 26,3616           41525                           PDDL     PUSH                                  
053351,000337: 26,3617           15330                                    HIDPHALF                              
053352,000338: 26,3620           77650                           GOTO                                           
053353,000339: 26,3621           00051                                    EARTHMXX                              
053354,000340: 

Page 1220

053356,000342:                                                                                                  #  ..... EARTHL SUBROUTINE .....
053357,000343:                                                                                                  #  SUBROUTINE TO COMPUTE L VECTOR FOR EARTH
053358,000344: 
053359,000345:                                                                                                  #  CALLING SEQUENCE
053360,000346:                                                                                                  #        L       CALL
053361,000347:                                                                                                  #        L+1             EARTHL
053362,000348: 
053363,000349:                                                                                                  #  INPUT
053364,000350:                                                                                                  #        AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE
053365,000351: 
053366,000352:                                                                                                  #  OUTPUT
053367,000353:                                                                                                  #                -AX
053368,000354:                                                                                                  #        MPAC=   -AY     RADIANS B-0
053369,000355:                                                                                                  #                  0
053370,000356: 
053371,000357: 26,3622           57545        EARTHL             DLOAD    DCOMP                                 
053372,000358: 26,3623           01716                                    AXO                                   
053373,000359: 26,3624           14017                           STODL    504LPL                                
053374,000360: 26,3625           01714                                    -AYO                                  
053375,000361: 26,3626           14021                           STODL    504LPL     +2                         
053376,000362: 26,3627           15332                                    HI6ZEROS                              
053377,000363: 26,3630           24023                           STOVL    504LPL     +4                         
053378,000364: 26,3631           00017                                    504LPL                                
053379,000365: 26,3632           77616                           RVQ                                            
053380,000366: 

Page 1221

053382,000368:                                                                                                  #  CONSTANTS AND ERASABLE ASSIGNMENTS
053383,000369: 
053384,000370: 26,3633  04,3453               1B1                =        DP1/2                                 #  1 SCALED B-1
053385,000371: 26,3633           17775 01734  COSI               2DEC     .99964115  B-1                        #  COS(1 DEG 32.1 MIN) B-1
053386,000372: 26,3635           00333 16153  SINI               2DEC     .02678760  B-1                        #  SIN(1 DEG 32.1 MIN) B-1
053387,000373: 26,3637  0000050               RPREXIT            =        S1                                    #  R-TO-RP AND RP-TO-R SUBR EXIT
053388,000374: 26,3637  0000051               EARTHMXX           =        S2                                    #  EARTHMX, MOONMX SUBR. EXITS
053389,000375: 26,3637                        504RPR             =        0D                                    #  6 REGS        R OR RP VECTOR
053390,000376: 26,3637                        SINNODI            =        8D                                    #  2             SIN(NODI)
053391,000377: 26,3637                        DVECTR             =        8D                                    #  6             D VECTOR MOON
053392,000378: 26,3637                        CVECTR             =        8D                                    #  6             C VECTR MOON
053393,000379: 26,3637                        504AZ              =        18D                                   #  2             AZ
053394,000380: 26,3637                        TIMSUBM            =        14D                                   #  3             TIME SUB M (MOON) T+T0 IN GETAZ
053395,000381: 26,3637                        504LPL             =        14D                                   #  6             L OR LP VECTOR
053396,000382: 26,3637                        AVECTR             =        20D                                   #  6             A VECTOR (MOON)
053397,000383: 26,3637                        BVECTR             =        26D                                   #  6             B VECTOR (MOON)
053398,000384: 26,3637                        MMATRIX            =        20D                                   #  18            M MATRIX
053399,000385: 26,3637                        COB                =        32D                                   #  2             COS(B) B-1
053400,000386: 26,3637                        SOB                =        34D                                   #  2             SIN(B) B-1
053401,000387: 26,3637                        504F               =        6D                                    #  2             F(MOON)
053402,000388: 
053403,000389: 26,3637           77665 42175  NODDOT             2DEC     -.457335143 E-2                        #  REVS/CSEC B+28=-1.07047016 E-6  RAD/SEC
053404,000390: 26,3641           22211 00265  FDOT               2DEC     .570862491                            #  REVS/CSEC B+27= 2.67240019 E-6  RAD/SEC
053405,000391: 26,3643           77777 77767  BDOT               2DEC     -3.07500412 E-8                        #  REVS/CSEC B+28=-7.19756666 E-14 RAD/SEC
053406,000392: 26,3645           41215 66331  NODIO              2DEC     -.960101269                            #  REVS B-0      =-6.03249419      RAD
053407,000393: 26,3647           15237 26751  FSUBO              2DEC     .415998375                            #  REVS B-0      = 2.61379488      RAD
053408,000394: 26,3651           02052 35713  BSUBO              2DEC     .0651205006                            #  REVS B=0      = 0.409164173     RAD
053409,000395: 26,3653           37116 32630  WEARTH             2DEC     .973561855                            #  REVS/CSEC B+23= 7.29211515 E-5  RAD/SEC
053410,000396: 

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