Source Code

These source code files have been transcribed or otherwise adapted from digitized images of a hardcopy from the private collection of Don Eyles. The digitization was performed by archive.org, and transcription was performed by a team of volunteers. Note that the page images presented online are of reduced quality, and that the original high-quality images are available at archive.org. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

    473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP   NOV 10, 1966
Note that the date is the date of the printout, not the date of the program revision.

016661,000002:                                                                                                  ## Copyright:    Public domain.
016662,000003:                                                                                                  ## Filename:     INFLIGHT_ALIGNMENT_ROUTINES.agc
016663,000004:                                                                                                  ## Purpose:      Part of the source code for Aurora (revision 12).
016664,000005:                                                                                                  ## Assembler:    yaYUL
016665,000006:                                                                                                  ## Contact:      Ron Burkey <info@sandroid.org>.
016666,000007:                                                                                                  ## Website:      https://www.ibiblio.org/apollo.
016667,000008:                                                                                                  ## Pages:        404-424
016668,000009:                                                                                                  ## Mod history:  2016-09-20 JL   Created.
016669,000010:                                                                                                  ##               2016-10-15 MC   Completed.
016670,000011:                                                                                                  ##               2016-10-16 HG   Fix label AXISROT -> AXISROT1 (Duplicate label) 
016671,000012:                                                                                                  ##                               Fix operand RADMODE -> RADMODES
016672,000013:                                                                                                  ##               2016-10-18 HG   Add missing interpretive operand ZPRIME
016673,000014:                                                                                                  ##                                                                8D,1
016674,000015:                                                                                                  ##                               Fix opcode STODL -> STCALL
016675,000016:                                                                                                  ##               2016-10-23 RSB  All of the interpretive operands were 
016676,000017:                                                                                                  ##                               mis-aligned.  (Possibly the file had once been
016677,000018:                                                                                                  ##                               processed "yaYUL --format" was buggy with
016678,000019:                                                                                                  ##                               respect to interpretive-operand alignment.)
016679,000020:                                                                                                  ##               2016-12-08 RSB  Proofed comments with octopus/ProoferComments
016680,000021:                                                                                                  ##                               and fixed the errors found.
016681,000022: 
016682,000023:                                                                                                  ## This source code has been transcribed or otherwise adapted from
016683,000024:                                                                                                  ## digitized images of a hardcopy from the private collection of 
016684,000025:                                                                                                  ## Don Eyles.  The digitization was performed by archive.org.
016685,000026: 
016686,000027:                                                                                                  ## Notations on the hardcopy document read, in part:
016687,000028: 
016688,000029:                                                                                                  ##       473423A YUL SYSTEM FOR BLK2: REVISION 12 of PROGRAM AURORA BY DAP GROUP
016689,000030:                                                                                                  ##       NOV 10, 1966
016690,000031: 
016691,000032:                                                                                                  ##       [Note that this is the date the hardcopy was made, not the
016692,000033:                                                                                                  ##       date of the program revision or the assembly.]
016693,000034: 
016694,000035:                                                                                                  ## The scan images (with suitable reduction in storage size and consequent 
016695,000036:                                                                                                  ## reduction in image quality) are available online at 
016696,000037:                                                                                                  ##       https://www.ibiblio.org/apollo.  
016697,000038:                                                                                                  ## The original high-quality digital images are available at archive.org:
016698,000039:                                                                                                  ##       https://archive.org/details/aurora00dapg
016699,000040: 

Page 404

016701,000042: 
016702,000043: 15,2367                                           SETLOC   ENDDNTMS                              
016703,000044: 15,2367  E5,1400                                  EBANK=   XSM                                   
016704,000045: 
016705,000046: 
016706,000047: 
016707,000048:                                                                                                  #  CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
016708,000049: 
016709,000050:                                                                                                  #  THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
016710,000051:                                                                                                  #  HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
016711,000052: 
016712,000053:                                                                                                  #  THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
016713,000054:                                                                                                  #  MGC, AND OGC RESPECTIVELY. ANGLES ARE SCALED PROPERLY FOR IMUPULSE.
016714,000055: 
016715,000056: 
016716,000057: 
016717,000058: 15,2367           71230        CALCGTA            ITA      DLOAD                                 #  PUSHDOWN 00,02,16D,18D,22D-26D,32D-36D
016718,000059: 15,2370           00051                                    S2                                    #  XDC = (XD1 XD2 XD3)
016719,000060: 15,2371           01423                                    XDC                                   #  YDC = (YD1 YD2 YD3)
016720,000061: 15,2372           65325                           PDDL     PDDL                                  #  ZDC = (ZD1 ZD2 ZD3)
016721,000062: 15,2373           33042                                    ZERODP                                
016722,000063: 15,2374           01427                                    XDC        +4                         
016723,000064: 15,2375           55476                           DCOMP    VDEF                                  
016724,000065: 15,2376           77656                           UNIT                                           
016725,000066: 15,2377           06027                           STODL    ZPRIME                                #  ZP = UNIT(-XD3 O XD1) = (ZP1 ZP2 ZP3)
016726,000067: 15,2400           00027                                    ZPRIME                                
016727,000068: 
016728,000069: 15,2401           77742                           SR1                                            
016729,000070: 15,2402           06023                           STODL    SINTH                                 #  SIN(IGC) = ZP1
016730,000071: 15,2403           00033                                    ZPRIME     +4                         
016731,000072: 15,2404           77742                           SR1                                            
016732,000073: 15,2405           36021                           STCALL   COSTH                                 #  COS(IGC) = ZP3
016733,000074: 15,2406           32440                                    ARCTRIG                               
016734,000075: 
016735,000076: 15,2407           07503                           STODL    IGC                                   #  Y GYRO TORQUING ANGLE  FRACTION OF REV.
016736,000077: 15,2410           01425                                    XDC        +2                         
016737,000078: 15,2411           77742                           SR1                                            
016738,000079: 15,2412           06023                           STODL    SINTH                                 #  SIN(MGC) = XD2
016739,000080: 15,2413           00027                                    ZPRIME                                
016740,000081: 
016741,000082: 15,2414           65205                           DMP      PDDL                                  
016742,000083: 15,2415           01427                                    XDC        +4                         #  PD00 = (ZP1)(XD3)
016743,000084: 15,2416           00033                                    ZPRIME     +4                         
016744,000085: 
016745,000086: 15,2417           45205                           DMP      DSU                                   
016746,000087: 15,2420           01423                                    XDC                                   #  MPAC = (ZP3)(XD1)
016747,000088: 15,2421           77626                           STADR                                          
016748,000089: 15,2422           41756                           STCALL   COSTH                                 #  COS(MGC) = MPAC - PD00
016749,000090: 15,2423           32440                                    ARCTRIG                               
016750,000091: 
016751,000092: 15,2424           23505                           STOVL    MGC                                   #  Z GYRO TORQUING ANGLE  FRACTION OF REV.
016752,000093: 15,2425           00027                                    ZPRIME                                

Page 405

016754,000095: 15,2426           77641                           DOT                                            
016755,000096: 15,2427           01437                                    ZDC                                   
016756,000097: 15,2430           22021                           STOVL    COSTH                                 #  COS(OGC) = ZP . ZDC
016757,000098: 15,2431           00027                                    ZPRIME                                
016758,000099: 15,2432           77641                           DOT                                            
016759,000100: 15,2433           01431                                    YDC                                   
016760,000101: 15,2434           36023                           STCALL   SINTH                                 #  SIN(OGC) = ZP . YDC
016761,000102: 15,2435           32440                                    ARCTRIG                               
016762,000103: 
016763,000104: 15,2436           37501                           STCALL   OGC                                   #  X GYRO TORQUING ANGLE  FRACTION OF REV.
016764,000105: 15,2437           00051                                    S2                                    

Page 406

016766,000107: 
016767,000108:                                                                                                  #  ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
016768,000109: 
016769,000110:                                                                                                  #  THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
016770,000111: 
016771,000112:                                                                                                  #  THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
016772,000113:                                                                                                  #  AVAILABLE AT MPAC.
016773,000114: 
016774,000115: 
016775,000116: 
016776,000117: 15,2440           51545        ARCTRIG            DLOAD    ABS                                   #  PUSHDOWN 16D,18D,20D,22D-26D
016777,000118: 15,2441           00023                                    SINTH                                 
016778,000119: 15,2442           50025                           DSU      BMN                                   
016779,000120: 15,2443           33030                                    QTSN45                                #  ABS(SIN/4) - SIN(45)/4
016780,000121: 15,2444           32453                                    TRIG1                                 #  IF (-45,45) OR (135,-135)
016781,000122: 
016782,000123: 
016783,000124: 
016784,000125: 15,2445           72545                           DLOAD    SL1                                   #  (45,135) OR (-135,-45)
016785,000126: 15,2446           00021                                    COSTH                                 
016786,000127: 15,2447           75326                           ACOS     SIGN                                  
016787,000128: 15,2450           00023                                    SINTH                                 
016788,000129: 15,2451           00025                           STORE    THETA                                 #  X = ARCCOS(COS) WITH SIGN(SIN)
016789,000130: 15,2452           77616                           RVQ                                            
016790,000131: 
016791,000132: 
016792,000133: 
016793,000134: 15,2453           72545        TRIG1              DLOAD    SL1                                   #  (-45,45) OR (135,-135)
016794,000135: 15,2454           00023                                    SINTH                                 
016795,000136: 15,2455           77736                           ASIN                                           
016796,000137: 15,2456           06025                           STODL    THETA                                 #  X = ARCSIN(SIN) WITH SIGN(SIN)
016797,000138: 15,2457           00021                                    COSTH                                 
016798,000139: 15,2460           77640                           BMN                                            
016799,000140: 15,2461           32464                                    TRIG2                                 #  IF (135,-135)
016800,000141: 
016801,000142: 15,2462           43545                           DLOAD    RVQ                                   
016802,000143: 15,2463           00025                                    THETA                                 #  X = ARCSIN(SIN)   (-45,45)
016803,000144: 
016804,000145: 
016805,000146: 
016806,000147: 15,2464           75345        TRIG2              DLOAD    SIGN                                  #  (135,-135)
016807,000148: 15,2465           33032                                    HALFDP                                
016808,000149: 15,2466           00023                                    SINTH                                 
016809,000150: 15,2467           77625                           DSU                                            
016810,000151: 15,2470           00025                                    THETA                                 
016811,000152: 15,2471           00025                           STORE    THETA                                 #  X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
016812,000153: 15,2472           77616                           RVQ                                            #                   (+) - (+) OR (-) - (-)

Page 407

016814,000155: 
016815,000156:                                                                                                  #  SMNB TRANSFORMS A STAR DIRECTION FROM STABLE MEMBER TO NAVIGATION BASE COORDINATES.
016816,000157: 
016817,000158:                                                                                                  #  THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE
016818,000159:                                                                                                  #  VAC AREA. 2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
016819,000160:                                                                                                  #  USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
016820,000161:                                                                                                  #  YOUR JOB VAC AREA. 3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF yOUR JOB VAC AREA.
016821,000162: 
016822,000163:                                                                                                  #  THE OUTPUT IS THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT 32D OF THE VAC AREA. THE OUTPUT
016823,000164:                                                                                                  #  IS ALSO AVAILABLE AT MPAC.
016824,000165: 
016825,000166: 
016826,000167: 
016827,000168: 15,2473           43030        SMNB               ITA      CLEAR                                 #  PUSHDOWN 00,02,04-10D,30D,32D-36D
016828,000169: 15,2474           00051                                    S2                                    
016829,000170: 15,2475           00264                                    NBSMBIT                               #  SET NBSMBIT = 0
016830,000171: 
016831,000172: 15,2476           77170        SMNB1              AXT,1    AXT,2                                 #  ROTATE X,Z, ABOUT Y
016832,000173: 15,2477           00004                                    4                                     
016833,000174: 15,2500           00000                                    0                                     
016834,000175: 15,2501           77634                           CALL                                           
016835,000176: 15,2502           32543                                    AXISROT                               
016836,000177: 
016837,000178: 15,2503           77170                           AXT,1    AXT,2                                 #  ROTATE Y,X ABOUT Z
016838,000179: 15,2504           00002                                    2                                     
016839,000180: 15,2505           00004                                    4                                     
016840,000181: 15,2506           77634                           CALL                                           
016841,000182: 15,2507           32543                                    AXISROT                               
016842,000183: 
016843,000184: 15,2510           77170                           AXT,1    AXT,2                                 #  ROTATE Z,Y ABOUT X
016844,000185: 15,2511           00000                                    0                                     
016845,000186: 15,2512           00002                                    2                                     
016846,000187: 15,2513           77634                           CALL                                           
016847,000188: 15,2514           32543                                    AXISROT                               
016848,000189: 
016849,000190: 15,2515           77650                           GOTO                                           
016850,000191: 15,2516           00051                                    S2                                    

Page 408

016852,000193: 
016853,000194:                                                                                                  #  NBSM TRANSFORMS A STAR DIRECTION FROM NAVIGATION BASE TO STABLE MEMBER COORDINATES.
016854,000195: 
016855,000196:                                                                                                  #  THE INPUTS ARE  1) THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT LOCATION 32D OF THE VAC
016856,000197:                                                                                                  #  AREA.  2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE 
016857,000198:                                                                                                  #  USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
016858,000199:                                                                                                  #  YOUR JOB VAC AREA.  3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
016859,000200: 
016860,000201:                                                                                                  #  THE OUTPUT IS THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE VAC
016861,000202:                                                                                                  #  AREA. THE OUTPUT IS ALSO AVAILABLE AT MPAC.
016862,000203: 
016863,000204: 
016864,000205: 
016865,000206: 15,2517           43030        NBSM               ITA      SET                                   #  PUSHDOWN 00,02,04-10D,30D,32D-36D
016866,000207: 15,2520           00051                                    S2                                    
016867,000208: 15,2521           00064                                    NBSMBIT                               #  SET NBSMBIT = 1
016868,000209: 
016869,000210: 15,2522           77170        NBSM2              AXT,1    AXT,2                                 #  ROTATE Z,Y ABOUT X
016870,000211: 15,2523           00000                                    0                                     
016871,000212: 15,2524           00002                                    2                                     
016872,000213: 15,2525           77634                           CALL                                           
016873,000214: 15,2526           32543                                    AXISROT                               
016874,000215: 
016875,000216: 15,2527           77170                           AXT,1    AXT,2                                 #  ROTATE Y,X ABOUT Z
016876,000217: 15,2530           00002                                    2                                     
016877,000218: 15,2531           00004                                    4                                     
016878,000219: 15,2532           77634                           CALL                                           
016879,000220: 15,2533           32543                                    AXISROT                               
016880,000221: 
016881,000222: 15,2534           77170                           AXT,1    AXT,2                                 #  ROTATE X,Z, ABOUT Y
016882,000223: 15,2535           00004                                    4                                     
016883,000224: 15,2536           00000                                    0                                     
016884,000225: 15,2537           77634                           CALL                                           
016885,000226: 15,2540           32543                                    AXISROT                               
016886,000227: 
016887,000228: 15,2541           77650                           GOTO                                           
016888,000229: 15,2542           00051                                    S2                                    

Page 409

016890,000231: 
016891,000232:                                                                                                  #  AXISROT IS UTILIZED BY THE SMNB AND NBSM ROUTINES. SEE REMARKS ON THESE ROUTINES FOR INPUTS AND OUTPUTS.
016892,000233: 
016893,000234: 
016894,000235: 
016895,000236: 15,2543           66660        AXISROT            XSU,1    SLOAD*                                
016896,000237: 15,2544           00050                                    S1                                    #       SMNB         .       NBSM
016897,000238: 15,2545           00005                                    4,1                                   #  IG    MG    OG    .  OG    MG    IG
016898,000239: 15,2546           56024                           RTB      XAD,1                                 
016899,000240: 15,2547           33345                                    CDULOGIC                              
016900,000241: 15,2550           00050                                    S1                                    
016901,000242: 15,2551           00037                           STORE    30D                                   
016902,000243: 
016903,000244: 15,2552           77746        ACCUROT            COS                                            
016904,000245: 15,2553           10011                           STODL    8D,1                                  #               COS(ANGLE)
016905,000246: 15,2554           00037                                    30D                                   
016906,000247: 15,2555           77756                           SIN                                            
016907,000248: 15,2556           02013                           STORE    10D,1                                 #               SIN(ANGLE)
016908,000249: 
016909,000250: 15,2557           72403                           DMP*     SL1                                   
016910,000251: 15,2560           77732                                    32D        +4,2                       
016911,000252: 15,2561           40723                           PDDL*    DMP*                                  #                   PD0
016912,000253: 15,2562           00011                                    8D,1                                  #  S3SIN S1SIN S2SIN . S2SIN S1SIN S3SIN
016913,000254: 15,2563           77732                                    32D        +4,2                       
016914,000255: 
016915,000256: 15,2564           64752                           SL1      PDDL*                                 #                   PD2
016916,000257: 15,2565           00013                                    10D,1                                 #  S3COS S1COS S2COS . S2COS S1COS S3COS
016917,000258: 
016918,000259: 15,2566           72403                           DMP*     SL1                                   #                  MPAC
016919,000260: 15,2567           00045                                    32D        +4,1                       #  S1SIN S2SIN S3SIN . S3SIN S2SIN S1SIN
016920,000261: 
016921,000262: 15,2570           77614                           BOFF                                           
016922,000263: 15,2571           00344                                    NBSMBIT                               
016923,000264: 15,2572           32604                                    AXISROT1                              
016924,000265: 
016925,000266: 15,2573           45421                           BDSU     STADR                                 #                    .   PD2 - MPAC
016926,000267: 15,2574           57732                           STODL*   32D        +4,2                       #                    . S2    S1    S3
016927,000268: 15,2575           00011                                    8D,1                                  
016928,000269: 
016929,000270: 15,2576           72403                           DMP*     SL1                                   #                    .      MPAC
016930,000271: 15,2577           00045                                    32D        +4,1                       #                    . S3COS S2COS S1COS
016931,000272: 
016932,000273: 15,2600           45415                           DAD      STADR                                 #                    .   PD0 + MPAC
016933,000274: 15,2601           53732                           STOVL    32D        +4,1                       #                    . S3    S2    S1
016934,000275: 15,2602           00041                                    32D                                   
016935,000276: 15,2603           77616                           RVQ                                            
016936,000277: 
016937,000278: 15,2604           45415        AXISROT1           DAD      STADR                                 #    MPAC + PD2      .
016938,000279: 15,2605           57732                           STODL*   32D        +4,2                       #  S3    S1    S2    .
016939,000280: 15,2606           00011                                    8D,1                                  

Page 410

016941,000282: 15,2607           72403                           DMP*     SL1                                   #       MPAC         .
016942,000283: 15,2610           00045                                    32D        +4,1                       #  S1COS S2COS S3COS .
016943,000284: 
016944,000285: 15,2611           45425                           DSU      STADR                                 #    MPAC - PD0      .
016945,000286: 15,2612           53732                           STOVL    32D        +4,1                       #  S1    S2    S3    .
016946,000287: 15,2613           00041                                    32D                                   
016947,000288: 15,2614           77616                           RVQ                                            

Page 411

016949,000290: 
016950,000291:                                                                                                  #  CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
016951,000292: 
016952,000293:                                                                                                  #  THE INPUTS ARE  1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM.  THE THREE HALF-UNIT
016953,000294:                                                                                                  #  VECTORS ARE STORED AT XNB, YNB, AND ZNB.  2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
016954,000295:                                                                                                  #  COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
016955,000296: 
016956,000297:                                                                                                  #  THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
016957,000298: 
016958,000299: 15,2615           47375        CALCGA             VLOAD    VXV                                   #  PUSHDOWN 00-04,16D,18D
016959,000300: 15,2616           01423                                    XNB                                   #  XNB = OGA (OUTER GIMBAL AXIS)
016960,000301: 15,2617           01407                                    YSM                                   #  YSM = IGA (INNER GIMBAL AXIS)
016961,000302: 15,2620           41456                           UNIT     PUSH                                  #  PD0 = UNIT(OGA X IGA) = MGA
016962,000303: 
016963,000304: 15,2621           46041                           DOT      ITA                                   
016964,000305: 15,2622           01437                                    ZNB                                   
016965,000306: 15,2623           00051                                    S2                                    
016966,000307: 15,2624           22021                           STOVL    COSTH                                 #  COS(OG) = MGA . ZNB
016967,000308: 15,2625           00001                                    0                                     
016968,000309: 15,2626           77641                           DOT                                            
016969,000310: 15,2627           01431                                    YNB                                   
016970,000311: 15,2630           36023                           STCALL   SINTH                                 #  SIN(OG) = MGA . YNB
016971,000312: 15,2631           32440                                    ARCTRIG                               
016972,000313: 15,2632           23501                           STOVL    OGC                                   
016973,000314: 15,2633           00001                                    0                                     
016974,000315: 
016975,000316: 15,2634           50235                           VXV      DOT                                   #  PROVISION FOR MG ANGLE OF 90 DEGREES
016976,000317: 15,2635           01423                                    XNB                                   
016977,000318: 15,2636           01407                                    YSM                                   
016978,000319: 15,2637           77752                           SL1                                            
016979,000320: 15,2640           22021                           STOVL    COSTH                                 #  COS(MG) = IGA . (MGA X OGA)
016980,000321: 15,2641           01407                                    YSM                                   
016981,000322: 15,2642           77641                           DOT                                            
016982,000323: 15,2643           01423                                    XNB                                   
016983,000324: 15,2644           36023                           STCALL   SINTH                                 #  SIN(MG) = IGA . OGA
016984,000325: 15,2645           32440                                    ARCTRIG                               
016985,000326: 15,2646           01505                           STORE    MGC                                   
016986,000327: 
016987,000328: 15,2647           45246                           ABS      DSU                                   
016988,000329: 15,2650           33050                                    .166...                               
016989,000330: 15,2651           77644                           BPL                                            
016990,000331: 15,2652           32671                                    GIMLOCK1                              #  IF ANGLE GREATER THAN 60 DEGREES
016991,000332: 
016992,000333: 15,2653           50375        CALCGA1            VLOAD    DOT                                   
016993,000334: 15,2654           01415                                    ZSM                                   
016994,000335: 15,2655           00001                                    0                                     
016995,000336: 15,2656           22021                           STOVL    COSTH                                 #  COS(IG) = ZSM . MGA
016996,000337: 15,2657           01401                                    XSM                                   

Page 412

016998,000339: 15,2660           45441                           DOT      STADR                                 
016999,000340: 15,2661           41754                           STCALL   SINTH                                 #  SIN(IG) = XSM . MGA
017000,000341: 15,2662           32440                                    ARCTRIG                               
017001,000342: 
017002,000343: 15,2663           23503                           STOVL    IGC                                   
017003,000344: 15,2664           01501                                    OGC                                   
017004,000345: 15,2665           77624                           RTB                                            
017005,000346: 15,2666           33414                                    V1STO2S                               
017006,000347: 15,2667           36401                           STCALL   THETAD                                
017007,000348: 15,2670           00051                                    S2                                    
017008,000349: 
017009,000350: 15,2671           77776        GIMLOCK1           EXIT                                           
017010,000351: 15,2672           05413                           TC       ALARM                                 
017011,000352: 15,2673           00401                           OCT      00401                                 
017012,000353: 15,2674           06000                           TC       INTPRET                               
017013,000354: 15,2675           77650                           GOTO                                           
017014,000355: 15,2676           32653                                    CALCGA1                               

Page 413

017016,000357: 
017017,000358:                                                                                                  #  AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
017018,000359: 
017019,000360:                                                                                                  #  THE INPUTS ARE  1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD.  2) THE STAR2 VECTOR
017020,000361:                                                                                                  #  REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6.  3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
017021,000362:                                                                                                  #  AT LOCATION 6 OF THE VAC AREA.  4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
017022,000363:                                                                                                  #  THE VAC AREA.
017023,000364: 
017024,000365:                                                                                                  #  THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B.  THE THREE HALF-UNIT VECTORS ARE STORED
017025,000366:                                                                                                  #  AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
017026,000367: 
017027,000368: 15,2677           66370        AXISGEN            AXT,1    SSP                                   #  PUSHDOWN 00-22D,24D-28D,30D
017028,000369: 15,2700           01452                                    STARAD     +6                         
017029,000370: 15,2701           00051                                    S1                                    
017030,000371: 15,2702           01436                                    STARAD     -6                         
017031,000372: 
017032,000373: 15,2703           46773        AXISGEN1           VLOAD*   VXV*                                  #  06D   UA = S1
017033,000374: 15,2704           01461                                    STARAD     +12D,1                     #        STARAD +00D     UB = S1
017034,000375: 15,2705           01467                                    STARAD     +18D,1                     
017035,000376: 15,2706           77656                           UNIT                                           #  12D   VA = UNIT(S1 X S2)
017036,000377: 15,2707           33467                           STOVL*   STARAD     +18D,1                     #        STARAD +06D     VB = UNIT(S1 X S2)
017037,000378: 15,2710           01461                                    STARAD     +12D,1                     
017038,000379: 
017039,000380: 15,2711           76433                           VXV*     VSL1                                  
017040,000381: 15,2712           01467                                    STARAD     +18D,1                     #  18D   WA = UA X VA
017041,000382: 15,2713           03475                           STORE    STARAD     +24D,1                     #        STARAD +12D     WB = UB X VB
017042,000383: 
017043,000384: 15,2714           77700                           TIX,1                                          
017044,000385: 15,2715           32703                                    AXISGEN1                              
017045,000386: 
017046,000387: 15,2716           66160                           AXC,1    SXA,1                                 
017047,000388: 15,2717           00006                                    6                                     
017048,000389: 15,2720           00036                                    30D                                   
017049,000390: 
017050,000391: 15,2721           66370                           AXT,1    SSP                                   
017051,000392: 15,2722           00022                                    18D                                   
017052,000393: 15,2723           00051                                    S1                                    
017053,000394: 15,2724           00006                                    6                                     
017054,000395: 
017055,000396: 15,2725           66374                           AXT,2    SSP                                   
017056,000397: 15,2726           00006                                    6                                     
017057,000398: 15,2727           00052                                    S2                                    
017058,000399: 15,2730           00002                                    2                                     
017059,000400: 
017060,000401: 15,2731           76720        AXISGEN2           XCHX,1   VLOAD*                                
017061,000402: 15,2732           00036                                    30D                                   #  X1=-6 X2=+6   X1=-6 X2=+4     X1=-6 X2=+2
017062,000403: 15,2733           00001                                    0,1                                   
017063,000404: 15,2734           62757                           VXSC*    PDVL*                                 #  J=(UA)(UB1)   J=(UA)(UB2)     J=(UA)(UB3)
017064,000405: 15,2735           76324                                    STARAD     +6,2                       

Page 414

017066,000407: 15,2736           00007                                    6,1                                   
017067,000408: 15,2737           77757                           VXSC*                                          
017068,000409: 15,2740           76316                                    STARAD     +12D,2                     
017069,000410: 15,2741           30031                           STOVL*   24D                                   #  K=(VA)(VB1)   J=(VA)(VB2)     J=(VA)(VB3)
017070,000411: 15,2742           00015                                    12D,1                                 
017071,000412: 
017072,000413: 15,2743           53357                           VXSC*    VAD                                   
017073,000414: 15,2744           76310                                    STARAD     +18D,2                     #  L=(WA)(WB1)   J=(WA)(WB2)     J=(WA)(WB3)
017074,000415: 15,2745           76455                           VAD      VSL1                                  
017075,000416: 15,2746           00031                                    24D                                   
017076,000417: 15,2747           77720                           XCHX,1                                         
017077,000418: 15,2750           00036                                    30D                                   
017078,000419: 15,2751           03445                           STORE    XDC        +18D,1                     #  XDC = L+J+K   YDC = L+J+K     ZDC = L+J+K
017079,000420: 
017080,000421: 15,2752           77700                           TIX,1                                          
017081,000422: 15,2753           32754                                    AXISGEN3                              
017082,000423: 
017083,000424: 15,2754           77704        AXISGEN3           TIX,2                                          
017084,000425: 15,2755           32731                                    AXISGEN2                              
017085,000426: 
017086,000427: 15,2756           77775                           VLOAD                                          
017087,000428: 15,2757           01423                                    XDC                                   
017088,000429: 15,2760           23445                           STOVL    STARAD                                
017089,000430: 15,2761           01431                                    YDC                                   
017090,000431: 15,2762           23453                           STOVL    STARAD     +6                         
017091,000432: 15,2763           01437                                    ZDC                                   
017092,000433: 15,2764           01461                           STORE    STARAD     +12D                       
017093,000434: 
017094,000435: 15,2765           77616                           RVQ                                            
017095,000436: 

Page 415

017097,000438: 
017098,000439:                                                                                                  #  TRANSPSE COMPUTES THE TRANSPOSE OF A MATRIX (TRANSPOSE = INVERSE OF ORTHOGONAL TRANSFORMATION).
017099,000440: 
017100,000441:                                                                                                  #  THE INPUT IS A MATRIX DEFINING COORDINATE SYSTEM A WITH RESPECT TO COORDINATE SYSTEM B STORED IN STARAD THRU
017101,000442:                                                                                                  #  STARAD +17D.
017102,000443: 
017103,000444:                                                                                                  #  THE OUTPUT IS A MATRIX DEFINING COORDINATE SYSTEM B WITH RESPECT TO COORDINATE SYSTEM A STORED IN STARAD THRU
017104,000445:                                                                                                  #  STARAD +17D.
017105,000446: 
017106,000447: 15,2766           53447        TRANSPSE           DXCH     STARAD     +2                         #  PUSHDOWN NONE
017107,000448: 15,2767           53453                           DXCH     STARAD     +6                         
017108,000449: 15,2770           53447                           DXCH     STARAD     +2                         
017109,000450: 
017110,000451: 15,2771           53451                           DXCH     STARAD     +4                         
017111,000452: 15,2772           53461                           DXCH     STARAD     +12D                       
017112,000453: 15,2773           53451                           DXCH     STARAD     +4                         
017113,000454: 
017114,000455: 15,2774           53457                           DXCH     STARAD     +10D                       
017115,000456: 15,2775           53463                           DXCH     STARAD     +14D                       
017116,000457: 15,2776           53457                           DXCH     STARAD     +10D                       
017117,000458: 15,2777           16014                           TCF      DANZIG                                
017118,000459: 
017119,000460: 
017120,000461: 
017121,000462:                                                                                                  #  SMD/EREF TRANSFORMS STABLE MEMBER DESIRED COORDINATES FROM STABLE MEMBER DESIRED (DESIRED = PRESENT HERE) TO
017122,000463:                                                                                                  #  EARTH REFERENCE COORDINATES TO ALIGN THE STABLE MEMBER TO SPECIFIED GIMBAL ANGLES.
017123,000464: 
017124,000465:                                                                                                  #  THE INPUTS ARE 1) THE MATRIX DEFINING THE EARTH REFERENCE COORDINATE FRAME WITH RESPECT TO THE NAVIGATION BASE
017125,000466:                                                                                                  #  COORDINATE FRAME. 2) SAME AS 2) AND 3) OF SMNB.
017126,000467: 
017127,000468:                                                                                                  #  THE OUTPUT IS THE DESIRED STABLE MEMBER COORDINATES WITH RESPECT TO THE EARTH REFERENCE COORDINATE FRAME. THE
017128,000469:                                                                                                  #  THREE UNIT VECTORS ARE STORED AT XSM, YSM, AND ZSM.
017129,000470: 
017130,000471: 15,3000           77230        SMD/EREF           ITA      VLOAD                                 #  PUSHDOWN 00,02,04-10D,30D,32D-36D
017131,000472: 15,3001           00014                                    12D                                   
017132,000473: 15,3002           33040                                    XUNIT                                 
017133,000474: 15,3003           36041                           STCALL   32D                                   
017134,000475: 15,3004           32473                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
017135,000476: 15,3005           76521                           MXV      VSL1                                  
017136,000477: 15,3006           01445                                    STARAD                                #  THEN TO EARTH REFERENCE
017137,000478: 15,3007           23401                           STOVL    XSM                                   
017138,000479: 15,3010           33036                                    YUNIT                                 
017139,000480: 
017140,000481: 15,3011           36041                           STCALL   32D                                   
017141,000482: 15,3012           32473                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
017142,000483: 15,3013           76521                           MXV      VSL1                                  
017143,000484: 15,3014           01445                                    STARAD                                #  THEN TO EARTH REFERENCE
017144,000485: 15,3015           23407                           STOVL    YSM                                   
017145,000486: 15,3016           33034                                    ZUNIT                                 
017146,000487: 
017147,000488: 15,3017           36041                           STCALL   32D                                   

Page 416

017149,000490: 15,3020           32473                                    SMNB                                  #  STABLE MEMBER TO NAVIGATION BASE
017150,000491: 15,3021           76521                           MXV      VSL1                                  
017151,000492: 15,3022           01445                                    STARAD                                #  THEN TO EARTH REFERENCE
017152,000493: 15,3023           37415                           STCALL   ZSM                                   
017153,000494: 15,3024           00014                                    12D                                   
017154,000495: 
017155,000496: 15,3025           67777 77777  270DEG             2DEC     -.25                                  
017156,000497: 
017157,000498: 15,3027           05520 26075  QTSN45             2DEC     .1768                                 
017158,000499: 
017159,000500: 15,3031           20000 00000  HALFDP             2DEC     .5                                    
017160,000501: 
017161,000502: 15,3033           00000 00000  ZUNIT              2DEC     0          B-28                       
017162,000503: 
017163,000504: 15,3035           00000 00000  YUNIT              2DEC     0          B-28                       
017164,000505: 
017165,000506: 15,3037           20000 00000  XUNIT              2DEC     0.5                                   
017166,000507: 
017167,000508: 15,3041           00000 00000  ZERODP             2DEC     0          B-28                       
017168,000509: 
017169,000510: 15,3043           00000 00000                     2DEC     0          B-28                       
017170,000511: 
017171,000512: 15,3045           00000 00000                     2DEC     0          B-28                       
017172,000513: 
017173,000514: 15,3047           05252 25253  .166...            2DEC     .1666666667                            
017174,000515: 

Page 417

017176,000517: 
017177,000518:                                                                                                  #  AOTNB CONVERTS THE TWO RETICLE ROTATION ANGLES (YROT AND SROT) AND
017178,000519:                                                                                                  #  THE DETENT SETTING TO A HALF UNIT STAR VECTOR REFERRED TO THE
017179,000520:                                                                                                  #  NAVIGATION BASE.
017180,000521: 
017181,000522:                                                                                                  #  THE INPUTS ARE 
017182,000523: 
017183,000524:                                                                                                  #     Y RET. LINE RATATION S(YROT) STORED IN LOC 3 OF THE MARK VAC AREA
017184,000525:                                                                                                  #     SPIRAL ROTATION ANGLE S(SROT) STORED IN LOC 5 OF MARC VAC AREA
017185,000526:                                                                                                  #     ANGLE OF CENTER OF FIELD OF VIEW S(ELV) STORED IN LOC 9 OF MARK VAC
017186,000527:                                                                                                  #     AOT ASZIMUTH ANGLE S(DET) STORED IN LOC 8 OF MARK VAC AREA
017187,000528:                                                                                                  #     THE COMPLEMENT OF BASE ADDRESS OF MARK VAC IS STORED AT X1
017188,000529: 
017189,000530:                                                                                                  #  THE OUTPUT IS A HALF UNIT STAR VECTOR IN NB COORDINATES STORED
017190,000531:                                                                                                  #  AT 32D AND AVAILABLE IN VAC ON RETURN TO THE CALLING PROGRAM
017191,000532: 
017192,000533: 15,3051           66601        AOTNB              SETPD    SLOAD*                                
017193,000534: 15,3052           00001                                    0                                     
017194,000535: 15,3053           00004                                    3,1                                   
017195,000536: 15,3054           41424                           RTB      PUSH                                  
017196,000537: 15,3055           33345                                    CDULOGIC                              
017197,000538: 15,3056           00017                           STORE    14D                                   
017198,000539: 15,3057           65346                           COS      PDDL                                  
017199,000540: 15,3060           41556                           SIN      PUSH                                  
017200,000541: 15,3061           45133                           SLOAD*   RTB                                   
017201,000542: 15,3062           00006                                    5,1                                   
017202,000543: 15,3063           33345                                    CDULOGIC                              
017203,000544: 15,3064           00021                           STORE    16D                                   #  STORE S IF S AND Y ARE ZERO, S=0
017204,000545: 15,3065           52054                           BZE      GOTO                                  #  S NOT ZERO
017205,000546: 15,3066           33070                                    SISZ                                  #  S=0
017206,000547: 15,3067           33100                                    SCOMP                                 
017207,000548: 15,3070           53145        SISZ               DLOAD    BZE                                   #  IS Y ZERO
017208,000549: 15,3071           00017                                    14D                                   
017209,000550: 15,3072           33075                                    YISZ                                  #  Y=0
017210,000551: 15,3073           77650                           GOTO                                           
017211,000552: 15,3074           33100                                    SCOMP                                 
017212,000553: 15,3075           52145        YISZ               DLOAD    GOTO                                  
017213,000554: 15,3076           33042                                    ZERODP                                
017214,000555: 15,3077           33105                                    SGOT                                  
017215,000556: 15,3100           45345        SCOMP              DLOAD    DSU                                   
017216,000557: 15,3101           00017                                    14D                                   
017217,000558: 15,3102           00021                                    16D                                   #  Y=S
017218,000559: 15,3103           77621                           BDSU                                           
017219,000560: 15,3104           33172                                    NEARONE                               #  S=360-(Y-S)
017220,000561: 15,3105           41405        SGOT               DMP      PUSH                                  
017221,000562: 15,3106           33170                                    DP1/12                                
017222,000563: 15,3107           65346                           COS      PDDL                                  
017223,000564: 15,3110           41556                           SIN      PUSH                                  
017224,000565: 15,3111           72405                           DMP      SL1                                   
017225,000566: 15,3112           00001                                    0                                     
017226,000567: 15,3113           06001                           STODL    0                                     

Page 418

017228,000569: 15,3114           00003                                    2                                     
017229,000570: 15,3115           45405                           DMP      STADR                                 
017230,000571: 15,3116           77774                           STORE    2                                     
017231,000572: 
017232,000573: 15,3117           45133                           SLOAD*   RTB                                   
017233,000574: 15,3120           00012                                    9D,1                                  
017234,000575: 15,3121           33345                                    CDULOGIC                              
017235,000576: 15,3122           73406                           PUSH     SIN                                   
017236,000577: 15,3123           71525                           PDDL     COS                                   
017237,000578: 15,3124           41206                           PUSH     DMP                                   
017238,000579: 15,3125           00001                                    0                                     
017239,000580: 15,3126           41325                           PDDL     DMP                                   
017240,000581: 15,3127           00005                                    4                                     
017241,000582: 15,3130           00007                                    6                                     
017242,000583: 15,3131           72415                           DAD      SL1                                   
017243,000584: 15,3132           77626                           STADR                                          
017244,000585: 15,3133           71736                           STODL    32D                                   
017245,000586: 
017246,000587: 15,3134           77605                           DMP                                            
017247,000588: 15,3135           00005                                    4                                     
017248,000589: 15,3136           06005                           STODL    4                                     
017249,000590: 
017250,000591: 15,3137           44205                           DMP      BDSU                                  
017251,000592: 15,3140           00001                                    0                                     
017252,000593: 15,3141           66606                           PUSH     SLOAD*                                
017253,000594: 15,3142           00011                                    8D,1                                  
017254,000595: 15,3143           41424                           RTB      PUSH                                  
017255,000596: 15,3144           33345                                    CDULOGIC                              
017256,000597: 15,3145           65346                           COS      PDDL                                  
017257,000598: 15,3146           77756                           SIN                                            
017258,000599: 15,3147           00001                           STORE    0                                     
017259,000600: 
017260,000601: 15,3150           65205                           DMP      PDDL                                  
017261,000602: 15,3151           00005                                    4                                     
017262,000603: 15,3152           00007                                    6                                     
017263,000604: 15,3153           43205                           DMP      DAD                                   
017264,000605: 15,3154           00003                                    2                                     
017265,000606: 15,3155           77712                           SL2                                            
017266,000607: 15,3156           06043                           STODL    34D                                   
017267,000608: 
017268,000609: 15,3157           45405                           DMP      STADR                                 
017269,000610: 15,3160           71732                           STODL    36D                                   
017270,000611: 
017271,000612: 15,3161           77605                           DMP                                            
017272,000613: 15,3162           62421                           BDSU     SL2                                   
017273,000614: 15,3163           00045                                    36D                                   
017274,000615: 15,3164           22045                           STOVL    36D                                   
017275,000616: 15,3165           00041                                    32D                                   
017276,000617: 15,3166           77616                           RVQ                                            

Page 419

017278,000619: 15,3167           02525 12525  DP1/12             2DEC     .0833333333                            
017279,000620: 
017280,000621: 15,3171           37777 37777  NEARONE            2DEC     .999999999                            
017281,000622: 

Page 420

017283,000624: 
017284,000625:                                                                                                  #  AOTSM CALCULATES A HALF UNIT STAR VECTOR IN STABLE MEMBER COORDINATES
017285,000626:                                                                                                  #  FROM TWO PLANES CONTAINING THE STAR REFERRED TO NB
017286,000627: 
017287,000628:                                                                                                  #  THE INPUTS ARE
017288,000629: 
017289,000630:                                                                                                  #     AOT AZIMUTH AND ELEVATION STORED IN 8D AND 9D RESP. OF VAC AREA
017290,000631:                                                                                                  #     CDUY, CDUZ AND CDUX FROM A YMARK STORED AT 3, 5, AND 7 OF VAC AREA
017291,000632:                                                                                                  #     CDUY, CDUZ AND CDUX FROM A XMARK STORED AT 2, 4, AND 6 OF VAC AREA
017292,000633:                                                                                                  #  THE BASE ADDRESS OF THE CDUS IS STORED AT LOCATION S1
017293,000634: 
017294,000635:                                                                                                  #  THE OUTPUT IS A STAR VECTOR REFERRED TO STABLE MEMBER AT LOC 32D
017295,000636:                                                                                                  #  AND AVAILBLE IN MPAC
017296,000637: 
017297,000638: 
017298,000639: 15,3173           77630        AOTSM              ITA                                            
017299,000640: 15,3174           00035                                    29D                                   
017300,000641: 15,3175           70001                           SETPD    LXC,1                                 #  PUT BASE ADR OF VAC AREA IN X1
017301,000642: 15,3176           00015                                    12D                                   
017302,000643: 15,3177           00050                                    S1                                    
017303,000644: 15,3200           41545                           DLOAD    PUSH                                  #  ZERO 12 - 13
017304,000645: 15,3201           33042                                    ZERODP                                
017305,000646: 15,3202           45133                           SLOAD*   RTB                                   #  LOAD AZIMUTH ANGLE (D)
017306,000647: 15,3203           00007                                    6,1                                   
017307,000648: 15,3204           33345                                    CDULOGIC                              
017308,000649: 15,3205           71406                           PUSH     COS                                   
017309,000650: 15,3206           73525                           PDDL     SIN                                   #  1/2 COSD 14-15
017310,000651: 15,3207           41476                           DCOMP    PUSH                                  #  -1/2 SIND 16-17
017311,000652: 15,3210           45133                           SLOAD*   RTB                                   #  LOAD ELEVATION ANGLE (E)
017312,000653: 15,3211           00010                                    7,1                                   
017313,000654: 15,3212           33345                                    CDULOGIC                              
017314,000655: 15,3213           71406                           PUSH     COS                                   
017315,000656: 15,3214           06041                           STODL    32D                                   #  1/2COSE
017316,000657: 15,3215           41556                           SIN      PUSH                                  #  1/2 SINE 18-19
017317,000658: 15,3216           72405                           DMP      SL1                                   
017318,000659: 15,3217           00021                                    16D                                   
017319,000660: 15,3220           06043                           STODL    34D                                   #  -1/2 SINE SIND UP 18-19
017320,000661: 15,3221           57405                           DMP      DCOMP                                 
017321,000662: 15,3222           00017                                    14D                                   
017322,000663: 15,3223           77752                           SL1                                            
017323,000664: 15,3224           36045                           STCALL   36D                                   #  -1/2SINE COSD
017324,000665: 15,3225           32517                                    NBSM                                  #  GET X PLANE IN SM
017325,000666: 15,3226           45515                           PDVL     STADR                                 #  X PLANE IN SM IN 12-17
017326,000667: 15,3227           77736                           STORE    32D                                   #  Y PLANE IN NB
017327,000668: 15,3230           62120                           XCHX,1   INCR,1                                
017328,000669: 15,3231           00050                                    S1                                    #  ADD ONE TO BASE ADR OF VAC AREA
017329,000670: 15,3232           00001                                    1                                     
017330,000671: 15,3233           47120                           XCHX,1   CALL                                  
017331,000672: 15,3234           00050                                    S1                                    #  PUT NEW BASE ADR BACK IN S1
017332,000673: 15,3235           32517                                    NBSM                                  #  GET Y PLANE IN SM
017333,000674: 15,3236           76435                           VXV      VSL1                                  
017334,000675: 15,3237           77676                           VCOMP                                          

Page 421

017336,000677: 15,3240           00041                           STORE    32D                                   #  STORE STAR VEC REFERRED TO SM
017337,000678: 15,3241           77650                           GOTO                                           
017338,000679: 15,3242           00035                                    29D                                   
017339,000680: 

Page 422

017341,000682: 
017342,000683:                                                                                                  #           GIVEN RR TRUNION AND SHAFT (T,S) IN TANG,+1, FIND THE ASSOCIATED LINE OF SIGNT IN NAV BASE AXES.
017343,000684:                                                                                                  #  THE HALF UNIT VECTOR, .5( SIN(S)COS(T),-SIN(T),COS(S)COS(T) ) IS LEFT IN MPAC AND 32D.
017344,000685: 
017345,000686: 15,3243           45135        RRNB               SLOAD    RTB                                   
017346,000687: 15,3244           00424                                    TANG                                  
017347,000688: 15,3245           33345                                    CDULOGIC                              
017348,000689: 15,3246           41401                           SETPD    PUSH                                  #  TRUNNION ANGLE TO 0.
017349,000690: 15,3247           00001                                    0                                     
017350,000691: 15,3250           57556                           SIN      DCOMP                                 
017351,000692: 15,3251           06043                           STODL    34D                                   #  Y COMPONENT.
017352,000693: 
017353,000694: 15,3252           41546                           COS      PUSH                                  #  .5 COS(T) TO 0.
017354,000695: 15,3253           45135                           SLOAD    RTB                                   
017355,000696: 15,3254           00425                                    TANG       +1                         
017356,000697: 15,3255           33345                                    CDULOGIC                              
017357,000698: 15,3256           71406                           PUSH     COS                                   #  SHAFT ANGLE TO 2.
017358,000699: 15,3257           72405                           DMP      SL1                                   
017359,000700: 15,3260           00001                                    0                                     
017360,000701: 15,3261           06045                           STODL    36D                                   #  Z COMPONENT
017361,000702: 
017362,000703: 15,3262           41356                           SIN      DMP                                   
017363,000704: 15,3263           77752                           SL1                                            
017364,000705: 15,3264           22041                           STOVL    32D                                   
017365,000706: 15,3265           00041                                    32D                                   
017366,000707: 15,3266           77616                           RVQ                                            
017367,000708: 

Page 423

017369,000710: 
017370,000711:                                                                                                  #            THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
017371,000712:                                                                                                  #  GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
017372,000713:                                                                                                  #  ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
017373,000714:                                                                                                  #  ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
017374,000715:                                                                                                  #  SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
017375,000716: 
017376,000717:                                                                                                  #            THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
017377,000718: 
017378,000719:                                                                                                  #            S(2) = 180 + S(1)
017379,000720:                                                                                                  #            T(2) = 180 - T(1)
017380,000721: 
017381,000722: 15,3267           57545        RRANGLES           DLOAD    DCOMP                                 #  SINCE WE WILL FIND THE MODE 1 SHAFT
017382,000723: 15,3270           00043                                    34D                                   #  ANGLE LATER, WE CAN FIND THE MODE 1
017383,000724: 15,3271           67401                           SETPD    ASIN                                  #  TRUNNION BY SIMPLY TAKING THE ARCSIN OF
017384,000725: 15,3272           00001                                    0                                     #  THE Y COMPONENT, THE ASIN GIVING AN
017385,000726: 15,3273           44206                           PUSH     BDSU                                  #  ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
017386,000727: 15,3274           33032                                    HALFDP                                
017387,000728: 15,3275           06005                           STODL    4                                     #  MODE 2 TRUNNION TO 4.
017388,000729: 
017389,000730: 15,3276           33042                                    ZERODP                                
017390,000731: 15,3277           22043                           STOVL    34D                                   #  UNIT THE PROJECTION OF THE VECTOR IN THE
017391,000732: 15,3300           00041                                    32D                                   #  X-Z PLANE.
017392,000733: 15,3301           41056                           UNIT     BOVB                                  #  CALL FOR S/C MANEUVER ON GIMBAL LOCK.
017393,000734: 15,3302           20346                                    DESRETRN   +1                         
017394,000735: 15,3303           06041                           STODL    32D                                   #  PROJECTION VECTOR.
017395,000736: 15,3304           00041                                    32D                                   
017396,000737: 15,3305           46142                           SR1      STQ                                   
017397,000738: 15,3306           00051                                    S2                                    
017398,000739: 15,3307           06023                           STODL    SINTH                                 #  USE ARCTRIG SINCE SHAFT COULD BE ARB.
017399,000740: 15,3310           00045                                    36D                                   
017400,000741: 15,3311           77742                           SR1                                            
017401,000742: 15,3312           36021                           STCALL   COSTH                                 
017402,000743: 15,3313           32440                                    ARCTRIG                               

Page 424

017404,000745: 15,3314           43206                           PUSH     DAD                                   #  MODE 1 SHAFT TO 2.
017405,000746: 15,3315           33032                                    HALFDP                                #  (OVERFLOW DOESNT MATTER SINCE SCALED REV
017406,000747: 15,3316           22007                           STOVL    6                                     
017407,000748: 15,3317           00005                                    4                                     
017408,000749: 15,3320           77624                           RTB                                            #  FIND MODE 2 CDU ANGLES.
017409,000750: 15,3321           33431                                    2V1STO2S                              
017410,000751: 15,3322           22426                           STOVL    MODEB                                 
017411,000752: 15,3323           00001                                    0                                     
017412,000753: 15,3324           77624                           RTB                                            #  MODE 1 ANGLES TO MODE A.
017413,000754: 15,3325           33431                                    2V1STO2S                              
017414,000755: 15,3326           00424                           STORE    MODEA                                 
017415,000756: 15,3327           77776                           EXIT                                           
017416,000757: 
017417,000758: 15,3330           40413                           CS       RADMODES                              #  SWAP MODEA AND MODEB IF RR IN MODE2.
017418,000759: 15,3331           77644                           MASK     BIT12                                 
017419,000760: 15,3332           10000                           CCS      A                                     
017420,000761: 15,3333           13337                           TCF      +4                                    
017421,000762: 
017422,000763: 15,3334           52424                           DXCH     MODEA                                 
017423,000764: 15,3335           52426                           DXCH     MODEB                                 
017424,000765: 15,3336           52424                           DXCH     MODEA                                 
017425,000766: 
017426,000767: 15,3337           06000                           TC       INTPRET                               
017427,000768: 15,3340           77650                           GOTO                                           
017428,000769: 15,3341           00051                                    S2                                    
017429,000770: 
017430,000771: 15,3342                        ENDINFSS           EQUALS                                         

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