Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. 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:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	16:27 JULY 14,1969
Note that the date is the date of the printout, not the date of the program revision.

020311,000002:                                                                                                  ## Copyright:   Public domain.
020312,000003:                                                                                                  ## Filename:    R60_R62.agc
020313,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
020314,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
020315,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
020316,000007:                                                                                                  ## Assembler:   yaYUL
020317,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020318,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
020319,000010:                                                                                                  ## Pages:       472-485
020320,000011:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
020321,000012:                                                                                                  ##                              Luminary131 file, using page 
020322,000013:                                                                                                  ##                              images from Luminary 1A.
020323,000014:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
020324,000015:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
020325,000016:                                                                                                  ##                              and corrected the errors found.
020326,000017:                                                                                                  ##              2017-01-27 RSB  Back-ported a comment-text fix identified in Luminary 69.
020327,000018:                                                                                                  ##              2017-03-09 RSB  Comment text fixes noted in proofing Luminary 116.
020328,000019: 
020329,000020:                                                                                                  ## This source code has been transcribed or otherwise adapted from
020330,000021:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
020331,000022:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
020332,000023:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
020333,000024:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
020334,000025:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
020335,000026:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
020336,000027:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
020337,000028:                                                                                                  ## actually created.
020338,000029:                                                                                                  ##
020339,000030:                                                                                                  ## Notations on the hardcopy document read, in part:
020340,000031:                                                                                                  ##
020341,000032:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
020342,000033:                                                                                                  ##      16:27 JULY 14, 1969 
020343,000034: 

Page 472

020345,000036:                                                                                                  #  MOD NO: 0                             DATE: 1 MAY 1968
020346,000037:                                                                                                  #  MOD BY: DIGITAL DEVEL GROUP           LOG SECTION R60,R62
020347,000038: 
020348,000039:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020349,000040: 
020350,000041:                                                                                                  #  CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020351,000042:                                                                                                  #  ATTITUDE.
020352,000043: 
020353,000044:                                                                                                  #  1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020354,000045:                                                                                                  #  CALCULATED (VECPOINT).
020355,000046: 
020356,000047:                                                                                                  #  2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020357,000048: 
020358,000049:                                                                                                  #  3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020359,000050: 
020360,000051:                                                                                                  #  4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE.  THEN AWAIT
020361,000052:                                                                                                  #  ASTRONAUT RESPONSE.
020362,000053: 
020363,000054:                                                                                                  #  5. DISPLAY RESPONSE RETURNS:
020364,000055: 
020365,000056:                                                                                                  #        A.      ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020366,000057: 
020367,000058:                                                                                                  #        B.      TERMINATE - IF IN P00 GO TO STEP 5A.  OTHERWISE CHECK IF R61 IS
020368,000059:                                                                                                  #                THE CALLING PROGRAM.  IF IN R61 AN EXIT IS MADE TO GOTOV56.  IF
020369,000060:                                                                                                  #                NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020370,000061: 
020371,000062:                                                                                                  #        C.      PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020372,000063: 
020373,000064:                                                                                                  #  6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020374,000065:                                                                                                  #  (VECPOINT).
020375,000066: 
020376,000067:                                                                                                  #  7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020377,000068: 
020378,000069:                                                                                                  #  8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020379,000070:                                                                                                  #  
020380,000071:                                                                                                  #  9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020381,000072: 
020382,000073:                                                                                                  #  10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020383,000074: 
020384,000075:                                                                                                  #  11. DO A PHASECHANGE.
020385,000076: 
020386,000077:                                                                                                  #  12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020387,000078:                                                                                                  #  GIMBAL ANGLES (GOMANUR).
020388,000079: 
020389,000080:                                                                                                  #  13. AT END OF MANEUVER GO TO STEP 3.
020390,000081: 
020391,000082:                                                                                                  #        IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020392,000083:                                                                                                  #        FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020393,000084:                                                                                                  #        DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT

Page 473

020395,000086:                                                                                                  #        STEP 5C.
020396,000087: 
020397,000088:                                                                                                  #  CALLING SEQUENCE:     TC      BANKCALL
020398,000089:                                                                                                  #                        CADR    R60LEM
020399,000090: 
020400,000091:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:     SCAXIS, POINTVSM (FOR VECPOINT)
020401,000092:                                                                                                  #                                        3AXISFLG.
020402,000093: 
020403,000094:                                                                                                  #  SUBROUTINES CALLED:   VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020404,000095:                                                                                                  #                        GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020405,000096: 
020406,000097:                                                                                                  #  NORMAL EXIT MODES:    CAE     TEMPR60         (CALLERS RETURN ADDRESS)
020407,000098:                                                                                                  #                        TC      BANKJUMP
020408,000099: 
020409,000100:                                                                                                  #  ALARMS: NONE
020410,000101: 
020411,000102:                                                                                                  #  OUTPUT: NONE
020412,000103: 
020413,000104:                                                                                                  #  DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020414,000105: 
020415,000106: 34,2000                                           BANK     34                                    
020416,000107: 26,2000                                           SETLOC   MANUVER                               
020417,000108: 26,2000                                           BANK                                           
020418,000109: 
020419,000110: 26,2123     1164                                  EBANK=   TEMPR60                               
020420,000111: 
020421,000112: 26,2123                                           COUNT*   $$/R06                                
020422,000113: 26,2123           04645        R60LEM             TC       MAKECADR                              
020423,000114: 26,2124           55164                           TS       TEMPR60                               
020424,000115: 
020425,000116: 26,2125           34746        REDOMANN           CAF      3AXISBIT                              
020426,000117: 26,2126           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020427,000118: 26,2127           10000                           CCS      A                                     
020428,000119: 26,2130           12136                           TCF      TOBALL                                #  YES
020429,000120: 26,2131           06037                           TC       INTPRET                               
020430,000121: 26,2132           77624                           CALL                                           
020431,000122: 26,2133           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020432,000123: 26,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020433,000124: 26,2135           77776                           EXIT                                           
020434,000125: 
020435,000126: 26,2136           04616        TOBALL             TC       BANKCALL                              
020436,000127: 26,2137           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020437,000128: 26,2140           32254        TOBALLA            CAF      V06N18                                
020438,000129: 26,2141           04616                           TC       BANKCALL                              
020439,000130: 26,2142           20710                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
020440,000131: 26,2143           02242                           TC       R61TEST                               
020441,000132: 26,2144           02150                           TC       REDOMANC                              #  PROCEED
020442,000133: 26,2145           02175                           TC       ENDMANU1                              #  ENTER I.E. FINISHED WITH R60

Page 474

020444,000135: 26,2146           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020445,000136: 26,2147           05155                           TC       ENDOFJOB                              
020446,000137: 
020447,000138: 26,2150           34746        REDOMANC           CAF      3AXISBIT                              
020448,000139: 26,2151           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020449,000140: 26,2152           10000                           CCS      A                                     
020450,000141: 26,2153           12161                           TCF      TOBALLC                               #  YES
020451,000142: 26,2154           06037                           TC       INTPRET                               
020452,000143: 26,2155           77624                           CALL                                           
020453,000144: 26,2156           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020454,000145: 26,2157           00322                           STORE    CPHI                                  #  STORE ANGLES
020455,000146: 26,2160           77776                           EXIT                                           
020456,000147: 
020457,000148: 26,2161           04616        TOBALLC            TC       BANKCALL                              
020458,000149: 26,2162           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020459,000150: 26,2163           02255                           TC       G+N,AUTO                              #  CHECK AUTO MODE
020460,000151: 26,2164           10000                           CCS      A                                     
020461,000152: 26,2165           12140                           TCF      TOBALLA                               #  NOT AUTO, GO REREQUEST AUTO MANEUVER.
020462,000153: 
020463,000154: 26,2166           32254        AUTOMANV           CAF      V06N18                                #  STATIC DISPLAY DURING AUTO MANEUVER
020464,000155: 26,2167           04616                           TC       BANKCALL                              #                                        -
020465,000156: 26,2170           20451                           CADR     GODSPR                                #                                        -
020466,000157: 26,2171           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020467,000158: 
020468,000159: 26,2172           04616        STARTMNV           TC       BANKCALL                              #  PERFORM MANEUVER VIA KALCMANU
020469,000160: 26,2173           17750                           CADR     GOMANUR                               
020470,000161: 
020471,000162: 26,2174           12140        ENDMANUV           TCF      TOBALLA                               #  FINISHED MANEUVER.
020472,000163: 26,2175           05516        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
020473,000164: 26,2176           00124                           ADRES    3AXISFLG                              
020474,000165: 26,2177           31164                           CAE      TEMPR60                               #                                        -
020475,000166: 26,2200           04640                           TC       BANKJUMP                              #                                        -
020476,000167: 
020477,000168: 26,2201           40100        CHKLINUS           CS       FLAGWRD4                              
020478,000169: 26,2202           74740                           MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET?
020479,000170: 26,2203           10000                           CCS      A                                     #                                        -
020480,000171: 26,2204           00002                           TC       Q                                     #  NO - EXIT
020481,000172: 26,2205           30002                           CA       Q                                     
020482,000173: 26,2206           54156                           TS       MPAC       +2                         #  SAVE RETURN
020483,000174: 26,2207           46245                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
020484,000175: 26,2210           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPLAY
020485,000176: 26,2211           55055                           TS       TBASE2                                
020486,000177: 
020487,000178: 26,2212           05353                           TC       PHASCHNG                              
020488,000179: 26,2213           00132                           OCT      00132                                 
020489,000180: 
020490,000181: 26,2214           34745                           CAF      BIT7                                  
020491,000182: 26,2215           05464                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY      -
020492,000183: 26,2216           00156                           TC       MPAC       +2                         
020493,000184: 

Page 475

020495,000186: 26,2217           37714        RELINUS            CAF      PRIO26                                #  RESTORE ORIGINAL PRIORITY
020496,000187: 26,2220           05146                           TC       PRIOCHNG                              
020497,000188: 
020498,000189: 26,2221           34747                           CAF      TRACKBIT                              #  DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020499,000190: 26,2222           70075                           MASK     FLAGWRD1                              
020500,000191: 26,2223           10000                           CCS      A                                     
020501,000192: 26,2224           12237                           TCF      RER60                                 
020502,000193: 
020503,000194: 26,2225           34745                           CAF      RNDVZBIT                              #  IS IT P20?
020504,000195: 26,2226           70074                           MASK     FLAGWRD0                              
020505,000196: 26,2227           10000                           CCS      A                                     
020506,000197: 26,2230           02234                           TC       +4                                    #  YES
020507,000198: 26,2231           05353                           TC       PHASCHNG                              #  NO, MUST BE P25, SET 2.11 SPOT
020508,000199: 26,2232           40112                           OCT      40112                                 
020509,000200: 
020510,000201: 26,2233           05155                           TC       ENDOFJOB                              
020511,000202: 
020512,000203: 26,2234           05353                           TC       PHASCHNG                              #  SET 2.7 SPOT FOR P20
020513,000204: 26,2235           40072                           OCT      40072                                 
020514,000205: 
020515,000206: 26,2236           05155                           TC       ENDOFJOB                              
020516,000207: 
020517,000208: 26,2237           05504        RER60              TC       UPFLAG                                #  SET PRIO DISPLAY FLAG AFTER RESTART
020518,000209: 26,2240           00077                           ADRES    PDSPFLAG                              
020519,000210: 
020520,000211: 26,2241           01055                           TC       TBASE2                                
020521,000212: 
020522,000213: 26,2242           31011        R61TEST            CA       MODREG                                #  IF WE ARE IN P00 IT MUST BE V49 OR V89
020523,000214: 26,2243           00006                           EXTEND                                         
020524,000215: 26,2244           12175                           BZF      ENDMANU1                              #  THUS WE GO TO ENDEXT VIA USER
020525,000216: 
020526,000217: 26,2245           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20 OR P25)
020527,000218: 26,2246           74740                           MASK     PDSPFBIT                              
020528,000219: 26,2247           00006                           EXTEND                                         
020529,000220: 26,2250           16001                           BZF      GOTOPOOH                              #  NO
020530,000221: 26,2251           06022                           TC       GOTOV56                               #  YES
020531,000222: 
020532,000223: 26,2252           20100        BIT14+7            OCT      20100                                 #                                        -
020533,000224: 26,2253           00203        OCT203             OCT      203                                   
020534,000225: 26,2254           01422        V06N18             VN       0618                                  
020535,000226: 
020536,000227:                                                                                                  #  SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020537,000228: 
020538,000229:                                                                                                  #  RETURNS WITH C(A) = +         IF NOT SET FOR G+N, AUTO
020539,000230:                                                                                                  #  RETURNS WITH C(A) = +0        IF SWITCHES ARE SET
020540,000231: 
020541,000232: 26,2255           00006        G+N,AUTO           EXTEND                                         
020542,000233: 26,2256           00030                           READ     CHAN30                                
020543,000234: 26,2257           74742                           MASK     BIT10                                 
020544,000235: 26,2260           10000                           CCS      A                                     
020545,000236: 26,2261           00002                           TC       Q                                     #  NOT IN G+N    C(A) = +

Page 476

020547,000238: 26,2262           00006        ISITAUTO           EXTEND                                         #  CHECK FOR AUTO MODE
020548,000239: 26,2263           00031                           READ     CHAN31                                
020549,000240: 26,2264           74736                           MASK     BIT14                                 
020550,000241: 26,2265           00002                           TC       Q                                     #  (+) = NOT IN AUTO, (+0) = AOK
020551,000242: 

Page 477

020553,000244:                                                                                                  #  PROGRAM DESCRIPTION BALLANGS
020554,000245:                                                                                                  #  MOD NO.                               LOG SECTION R60,R62
020555,000246: 
020556,000247:                                                                                                  #  WRITTEN BY RAMA M. AIYAWAR
020557,000248: 
020558,000249:                                                                                                  #  FUNCTIONAL DESCRIPTION
020559,000250: 
020560,000251:                                                                                                  #        COMPUTES LM FDAI BALL DISPLAY ANGLES
020561,000252: 
020562,000253:                                                                                                  #  CALLING SEQUENCE
020563,000254: 
020564,000255:                                                                                                  #        TC      BALLANGS
020565,000256: 
020566,000257:                                                                                                  #  NORMAL EXIT MODE
020567,000258: 
020568,000259:                                                                                                  #        TC      BALLEXIT        (SAVED Q)
020569,000260: 
020570,000261:                                                                                                  #  ALARM OR EXIT MODE    NIL
020571,000262: 
020572,000263:                                                                                                  #  SUBROUTINES CALLED
020573,000264: 
020574,000265:                                                                                                  #        CD*TR*G
020575,000266:                                                                                                  #        ARCTAN
020576,000267: 
020577,000268:                                                                                                  #  INPUT
020578,000269: 
020579,000270:                                                                                                  #        CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG.  THEY ARE
020580,000271:                                                                                                  #        SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020581,000272: 
020582,000273:                                                                                                  #  OUTPUT
020583,000274: 
020584,000275:                                                                                                  #        FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020585,000276:                                                                                                  #        SP,2S COMPLIMENT.
020586,000277: 
020587,000278:                                                                                                  #        THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020588,000279: 
020589,000280:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020590,000281: 
020591,000282:                                                                                                  #        CPHI, CTHETA, CPSI      EACH A SP REGISTER
020592,000283: 
020593,000284:                                                                                                  #  DEBRIS
020594,000285: 
020595,000286:                                                                                                  #        A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020596,000287: 
020597,000288:                                                                                                  #  NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020598,000289:                                                                                                  #                EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020599,000290: 
020600,000291:                                                                                                  #  NOTE:  ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020601,000292: 
020602,000293: 26,2000                                           SETLOC   BAWLANGS                              
020603,000294: 26,2000                                           BANK                                           
020604,000295: 
020605,000296: 26,2266                                           COUNT*   $$/BALL                               
020606,000297: 26,2266           04645        BALLANGS           TC       MAKECADR                              
020607,000298: 26,2267           55342                           TS       BALLEXIT                              
020608,000299: 26,2270           30321                           CA       CPHI                                  

Page 478

020610,000301: 26,2271           54772                           TS       CDUSPOT    +4                         
020611,000302: 26,2272           30322                           CA       CTHETA                                
020612,000303: 26,2273           54766                           TS       CDUSPOT                               
020613,000304: 26,2274           30323                           CA       CPSI                                  
020614,000305: 26,2275           54770                           TS       CDUSPOT    +2                         
020615,000306: 
020616,000307: 26,2276           06037                           TC       INTPRET                               
020617,000308: 26,2277           45001                           SETPD    CALL                                  
020618,000309: 26,2300           00001                                    0D                                    
020619,000310: 26,2301           47543                                    CD*TR*G                               
020620,000311: 
020621,000312: 26,2302           41345                           DLOAD    DMP                                   
020622,000313: 26,2303           00743                                    SINCDUX                               #  SIN (OGA)
020623,000314: 26,2304           00747                                    COSCDUZ                               #  COS (MGA)
020624,000315: 
020625,000316: 26,2305           57552                           SL1      DCOMP                                 #  SCALE
020626,000317: 26,2306           65336                           ARCSIN   PDDL                                  #  YAW = ARCSIN(-SXCZ) INTO 0 PD
020627,000318: 26,2307           00741                                    SINCDUZ                               
020628,000319: 26,2310           14023                           STODL    SINTH                                 #  (SINTH = 18D IN PD)
020629,000320: 26,2311           00747                                    COSCDUZ                               
020630,000321: 26,2312           72405                           DMP      SL1                                   #  RESCALE
020631,000322: 26,2313           00751                                    COSCDUX                               
020632,000323: 26,2314           34021                           STCALL   COSTH                                 #  (COSTH = 16D IN PD)
020633,000324: 26,2315           26510                                    ARCTAN                                
020634,000325: 26,2316           41325                           PDDL     DMP                                   #  ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020635,000326: 26,2317           00741                                    SINCDUZ                               
020636,000327: 26,2320           00743                                    SINCDUX                               
020637,000328: 26,2321           41512                           SL2      PUSH                                  #  SXSZ INTO 4 PD
020638,000329: 26,2322           65205                           DMP      PDDL                                  #  SXSZCY INTO 4 PD
020639,000330: 26,2323           00745                                    COSCDUY                               
020640,000331: 26,2324           65205                           DMP      PDDL                                  #  SXSZSY INTO 6 PD
020641,000332: 26,2325           00737                                    SINCDUY                               
020642,000333: 26,2326           00751                                    COSCDUX                               
020643,000334: 26,2327           72405                           DMP      SL1                                   #  CXCY
020644,000335: 26,2330           00745                                    COSCDUY                               
020645,000336: 26,2331           45425                           DSU      STADR                                 #  PULL UP FROM 6 PD
020646,000337: 26,2332           63756                           STODL    COSTH                                 #  COSTH = CXCY - SXSZSY
020647,000338: 26,2333           00737                                    SINCDUY                               
020648,000339: 26,2334           72405                           DMP      SL1                                   
020649,000340: 26,2335           00751                                    COSCDUX                               #  CXSY
020650,000341: 26,2336           45415                           DAD      STADR                                 #  PULL UP FROM 4 PD
020651,000342: 26,2337           43754                           STCALL   SINTH                                 #  SINTH = CXSY + SXSZCY
020652,000343: 26,2340           26510                                    ARCTAN                                #  RETURNS WITH D(MPAC) = PITCH
020653,000344: 26,2341           55525                           PDDL     VDEF                                  #  PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020654,000345: 26,2342           77634                           RTB                                            #  VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020655,000346: 26,2343           21620                                    V1STO2S                               
020656,000347: 26,2344           02345                           STORE    FDAIX                                 #  MODE IS TP
020657,000348: 26,2345           77776                           EXIT                                           
020658,000349: 
020659,000350: 26,2346           31342        ENDBALL            CA       BALLEXIT                              
020660,000351: 

Page 479

020662,000353: 26,2347           04640                           TC       BANKJUMP                              
020663,000354: 

Page 480

020665,000356:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
020666,000357: 
020667,000358:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
020668,000359:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020669,000360:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020670,000361:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020671,000362:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
020672,000363:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020673,000364:                                                                                                  #  ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020674,000365:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020675,000366: 
020676,000367:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020677,000368:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020678,000369:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020679,000370:                                                                                                  #  LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020680,000371:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020681,000372:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020682,000373:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020683,000374: 
020684,000375:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020685,000376:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020686,000377:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020687,000378:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020688,000379: 
020689,000380:                                                                                                  #  CALLING SEQUENCE -
020690,000381: 
020691,000382:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
020692,000383:                                                                                                  #        2)      CALL
020693,000384:                                                                                                  #                        VECPOINT
020694,000385: 
020695,000386:                                                                                                  #  RETURNS WITH
020696,000387: 
020697,000388:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
020698,000389:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
020699,000390:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020700,000391: 
020701,000392:                                                                                                  #  ERASABLES USED -
020702,000393: 
020703,000394:                                                                                                  #        1)      SCAXIS          6
020704,000395:                                                                                                  #        2)      POINTVSM        6
020705,000396:                                                                                                  #        3)      MIS             18
020706,000397:                                                                                                  #        4)      DEL             18
020707,000398:                                                                                                  #        5)      COF             6
020708,000399:                                                                                                  #        6)      VECQTEMP        1
020709,000400:                                                                                                  #        7)      ALL OF VAC AREA 43
020710,000401: 
020711,000402:                                                                                                  #                        TOTAL   99
020712,000403: 
020713,000404: 27,2000                                           SETLOC   VECPT                                 
020714,000405: 27,2000                                           BANK                                           

Page 481

020716,000407: 27,2032                                           COUNT*   $$/VECPT                              
020717,000408: 
020718,000409: 27,2032  E6,1676                                  EBANK=   BCDU                                  
020719,000410: 
020720,000411: 27,2032           40020        VECPNT1            STQ      BOV                                   #  THIS ENTRY USES DESIRED CDUS
020721,000412: 27,2033           03325                                    VECQTEMP                              #  NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020722,000413: 27,2034           56035                                    VECPNT2                               
020723,000414: 27,2035           52164        VECPNT2            AXC,2    GOTO                                  
020724,000415: 27,2036           03246                                    MIS                                   
020725,000416: 27,2037           56046                                    STORANG                               
020726,000417: 27,2040           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
020727,000418: 27,2041           03325                                    VECQTEMP                              
020728,000419: 27,2042           56043                                    VECLEAR                               #  AND CLEAR OVFIND
020729,000420: 27,2043           47164        VECLEAR            AXC,2    RTB                                   
020730,000421: 27,2044           03246                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
020731,000422: 27,2045           44403                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
020732,000423: 27,2046           34032        STORANG            STCALL   25D                                   
020733,000424: 27,2047           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
020734,000425: 27,2050           61375                           VLOAD    VXM                                   
020735,000426: 27,2051           03773                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
020736,000427: 27,2052           03247                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
020737,000428: 27,2053           77656                           UNIT                                           
020738,000429: 27,2054           00035                           STORE    28D                                   
020739,000430:                                                                                                  #  PD 28 29 30 31 32 33
020740,000431: 27,2055           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
020741,000432: 27,2056           03765                                    SCAXIS                                #  WHERE VI = SCAXIS
020742,000433: 27,2057           57400                           BOV      VCOMP                                 
020743,000434: 27,2060           56170                                    PICKAXIS                              
020744,000435: 27,2061           17271                           STODL    COF                                   #  CHECK MAGNITUDE
020745,000436: 27,2062           00045                                    36D                                   #  OF CROSS PRODUCT
020746,000437: 27,2063           50025                           DSU      BMN                                   #  VECTOR, IF LESS
020747,000438: 27,2064           14411                                    DPB-14                                #  THAN B-14 ASSUME
020748,000439: 27,2065           56170                                    PICKAXIS                              #  UNIT OPERATION
020749,000440: 27,2066           50375                           VLOAD    DOT                                   #  INVALID.
020750,000441: 27,2067           03765                                    SCAXIS                                
020751,000442: 27,2070           00035                                    28D                                   
020752,000443: 27,2071           65552                           SL1      ARCCOS                                
020753,000444: 27,2072           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
020754,000445: 27,2073           44527                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
020755,000446: 27,2074           75160                           AXC,1    AXC,2                                 
020756,000447: 27,2075           03246                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
020757,000448: 27,2076           02230                                    KEL                                   #  S/C AXES TO STABLE MEMBER AXES
020758,000449: 27,2077           77624                           CALL                                           #  MFS = MIS MFI
020759,000450: 27,2100           44312                                    MXM3                                  #  (IN PD LIST)
020760,000451: 
020761,000452: 27,2101           51545                           DLOAD    ABS                                   
020762,000453: 27,2102           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
020763,000454: 27,2103           50025                           DSU      BMN                                   
020764,000455: 27,2104           14376                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
020765,000456: 27,2105           56160                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS

Page 482

020767,000458:                                                                                                  #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020768,000459: 
020769,000460: 27,2106           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
020770,000461: 27,2107           03765                                    SCAXIS                                #  THE THRUST AXIS
020771,000462: 27,2110           51025                           DSU      BPL                                   
020772,000463: 27,2111           14400                                    SINVEC1                               #  SIN 49.4 DEGS                         $2
020773,000464: 27,2112           56160                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
020774,000465: 27,2113           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
020775,000466: 27,2114           77626                           STADR                                          
020776,000467: 27,2115           50514                           STOVL    MIS        +12D                       
020777,000468: 27,2116           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
020778,000469: 27,2117           50522                           STOVL    MIS        +6                         
020779,000470: 27,2120           77626                           STADR                                          
020780,000471: 27,2121           50530                           STOVL    MIS                                   
020781,000472: 27,2122           03255                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
020782,000473: 27,2123           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
020783,000474: 27,2124           56125                                    IGSAMEX                               #  FINAL X S/C AXIS
020784,000475: 
020785,000476: 27,2125           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
020786,000477: 27,2126           03765                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
020787,000478: 27,2127           56134                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
020788,000479:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020789,000480:                                                                                                  #  OTHERWISE U = -SCAXIS
020790,000481: 
020791,000482: 27,2130           57575                           VLOAD    VCOMP                                 
020792,000483: 27,2131           03765                                    SCAXIS                                
020793,000484: 27,2132           37271                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
020794,000485: 27,2133           56137                                    CHEKAXIS                              
020795,000486: 27,2134           77775        U=SCAXIS           VLOAD                                          
020796,000487: 27,2135           03765                                    SCAXIS                                
020797,000488: 27,2136           03271                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
020798,000489: 27,2137           51545        CHEKAXIS           DLOAD    ABS                                   
020799,000490: 27,2140           03765                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
020800,000491: 27,2141           51025                           DSU      BPL                                   
020801,000492: 27,2142           14402                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
020802,000493: 27,2143           56147                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020803,000494: 27,2144           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
020804,000495: 27,2145           14406                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
020805,000496: 27,2146           56151                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
020806,000497:                                                                                                  #  OF GIMBAL LOCK (VECANG2  $360)
020807,000498: 27,2147           77745        PICKANG1           DLOAD                                          
020808,000499: 27,2150           14404                                    VECANG1                               #  = 50 DEGS                             $360
020809,000500: 27,2151           77624        COMPMFSN           CALL                                           
020810,000501: 27,2152           44527                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
020811,000502: 27,2153           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
020812,000503: 27,2154           03246                                    MIS                                   
020813,000504: 27,2155           02230                                    KEL                                   
020814,000505: 27,2156           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
020815,000506: 27,2157           44312                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
020816,000507:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID

Page 483

020818,000509:                                                                                                  #  GIMBAL LOCK
020819,000510: 27,2160           45160        FINDGIMB           AXC,1    CALL                                  
020820,000511: 27,2161           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
020821,000512: 27,2162           44654                                    DCMTOCDU                              #  THIS MATRIX
020822,000513: 27,2163           40234                           RTB      SETPD                                 
020823,000514: 27,2164           21620                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT
020824,000515: 27,2165           00001                                    0                                     
020825,000516: 27,2166           77650                           GOTO                                           
020826,000517: 27,2167           03325                                    VECQTEMP                              #  RETURN TO CALLER
020827,000518: 
020828,000519: 27,2170           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
020829,000520: 27,2171           00035                                    28D                                   
020830,000521: 27,2172           03765                                    SCAXIS                                
020831,000522: 27,2173           72240                           BMN      TLOAD                                 
020832,000523: 27,2174           54350                                    ROT180                                
020833,000524: 27,2175           00032                                    25D                                   
020834,000525: 27,2176           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
020835,000526: 27,2177           03325                                    VECQTEMP                              #  PRESENT CDU ANGLES
020836,000527: 
020837,000528: 35,2000                                           BANK     35                                    
020838,000529: 26,2000                                           SETLOC   MANUVER1                              
020839,000530: 26,2000                                           BANK                                           
020840,000531: 26,2350           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020841,000532: 26,2351           03255                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
020842,000533: 26,2352           06520                                    HIDPHALF                              #  INITIAL S/C AXES.
020843,000534: 26,2353           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
020844,000535: 26,2354           03765                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020845,000536: 26,2355           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
020846,000537: 26,2356           54372                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
020847,000538: 26,2357           17271                           STODL    COF                                   
020848,000539: 26,2360           00045                                    36D                                   #  CHECK MAGNITUDE
020849,000540: 26,2361           50025                           DSU      BMN                                   #  OF THIS VECTOR.
020850,000541: 26,2362           14411                                    DPB-14                                #  IF LESS THAN B-14,
020851,000542: 26,2363           54372                                    PICKX                                 #  PICK X-AXIS.
020852,000543: 26,2364           77775                           VLOAD                                          
020853,000544: 26,2365           03271                                    COF                                   
020854,000545: 26,2366           17271        XROT               STODL    COF                                   
020855,000546: 26,2367           06520                                    HIDPHALF                              
020856,000547: 26,2370           77650                           GOTO                                           
020857,000548: 26,2371           56072                                    COMPMATX                              
020858,000549: 26,2372           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
020859,000550: 26,2373           06520                                    HIDPHALF                              
020860,000551: 26,2374           54366                                    XROT                                  
020861,000552: 26,2375           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
020862,000553: 
020863,000554: 26,2377           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
020864,000555: 
020865,000556: 26,2401           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
020866,000557: 
020867,000558: 26,2403           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                          $360

Page 484

020869,000560: 26,2405           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                          $360
020870,000561: 
020871,000562: 26,2407           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)        *********
020872,000563: 26,2410           00001        DPB-14             OCT      00001                                 
020873,000564: 26,2411           00000                           OCT      00000                                 
020874,000565: 

Page 485

020876,000567:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020877,000568: 
020878,000569: 34,2000                                           BANK     34                                    
020879,000570: 23,2000                                           SETLOC   R62                                   
020880,000571: 23,2000                                           BANK                                           
020881,000572: 23,2103  E6,1676                                  EBANK=   BCDU                                  
020882,000573: 
020883,000574: 23,2103                                           COUNT*   $$/R62                                
020884,000575: 
020885,000576: 23,2103  23,2103               R62DISP            EQUALS   R62FLASH                              
020886,000577: 
020887,000578: 23,2103           35010        R62FLASH           CAF      V06N22                                #  FLASH V06N22 AND
020888,000579: 23,2104           04616                           TC       BANKCALL                              #  ICDU ANGLES
020889,000580: 23,2105           20476                           CADR     GOFLASH                               
020890,000581: 23,2106           15472                           TCF      ENDEXT                                #  TERMINATE
020891,000582: 23,2107           12111                           TCF      GOMOVE                                #  PROCEED
020892,000583: 23,2110           12103                           TCF      R62FLASH                              #  ENTER
020893,000584: 
020894,000585:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020895,000586:                                                                                                  #  POINT
020896,000587: 23,2111           05504        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
020897,000588: 23,2112           00124                           ADRES    3AXISFLG                              
020898,000589: 
020899,000590: 23,2113           04616                           TC       BANKCALL                              
020900,000591: 23,2114           54123                           CADR     R60LEM                                
020901,000592: 23,2115           15472                           TCF      ENDEXT                                #  END R62
020902,000593: 

End of include-file R60,R62.agc.  Parent file is MAIN.agc