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.

020309,000002:                                                                                                  ## Copyright:   Public domain.
020310,000003:                                                                                                  ## Filename:    R60_R62.agc
020311,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
020312,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
020313,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
020314,000007:                                                                                                  ## Assembler:   yaYUL
020315,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020316,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
020317,000010:                                                                                                  ## Pages:       472-485
020318,000011:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
020319,000012:                                                                                                  ##                              Luminary131 file, using page 
020320,000013:                                                                                                  ##                              images from Luminary 1A.
020321,000014:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
020322,000015:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
020323,000016:                                                                                                  ##                              and corrected the errors found.
020324,000017:                                                                                                  ##              2017-01-27 RSB  Back-ported a comment-text fix identified in Luminary 69.
020325,000018:                                                                                                  ##              2017-03-09 RSB  Comment text fixes noted in proofing Luminary 116.
020326,000019: 
020327,000020:                                                                                                  ## This source code has been transcribed or otherwise adapted from
020328,000021:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
020329,000022:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
020330,000023:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
020331,000024:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
020332,000025:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
020333,000026:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
020334,000027:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
020335,000028:                                                                                                  ## actually created.
020336,000029:                                                                                                  ##
020337,000030:                                                                                                  ## Notations on the hardcopy document read, in part:
020338,000031:                                                                                                  ##
020339,000032:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
020340,000033:                                                                                                  ##      16:27 JULY 14, 1969 
020341,000034: 

Page 472

020343,000036:                                                                                                  #  MOD NO: 0                             DATE: 1 MAY 1968
020344,000037:                                                                                                  #  MOD BY: DIGITAL DEVEL GROUP           LOG SECTION R60,R62
020345,000038: 
020346,000039:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020347,000040: 
020348,000041:                                                                                                  #  CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020349,000042:                                                                                                  #  ATTITUDE.
020350,000043: 
020351,000044:                                                                                                  #  1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020352,000045:                                                                                                  #  CALCULATED (VECPOINT).
020353,000046: 
020354,000047:                                                                                                  #  2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020355,000048: 
020356,000049:                                                                                                  #  3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020357,000050: 
020358,000051:                                                                                                  #  4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE.  THEN AWAIT
020359,000052:                                                                                                  #  ASTRONAUT RESPONSE.
020360,000053: 
020361,000054:                                                                                                  #  5. DISPLAY RESPONSE RETURNS:
020362,000055: 
020363,000056:                                                                                                  #        A.      ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020364,000057: 
020365,000058:                                                                                                  #        B.      TERMINATE - IF IN P00 GO TO STEP 5A.  OTHERWISE CHECK IF R61 IS
020366,000059:                                                                                                  #                THE CALLING PROGRAM.  IF IN R61 AN EXIT IS MADE TO GOTOV56.  IF
020367,000060:                                                                                                  #                NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020368,000061: 
020369,000062:                                                                                                  #        C.      PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020370,000063: 
020371,000064:                                                                                                  #  6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020372,000065:                                                                                                  #  (VECPOINT).
020373,000066: 
020374,000067:                                                                                                  #  7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020375,000068: 
020376,000069:                                                                                                  #  8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020377,000070:                                                                                                  #  
020378,000071:                                                                                                  #  9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020379,000072: 
020380,000073:                                                                                                  #  10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020381,000074: 
020382,000075:                                                                                                  #  11. DO A PHASECHANGE.
020383,000076: 
020384,000077:                                                                                                  #  12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020385,000078:                                                                                                  #  GIMBAL ANGLES (GOMANUR).
020386,000079: 
020387,000080:                                                                                                  #  13. AT END OF MANEUVER GO TO STEP 3.
020388,000081: 
020389,000082:                                                                                                  #        IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020390,000083:                                                                                                  #        FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020391,000084:                                                                                                  #        DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT

Page 473

020393,000086:                                                                                                  #        STEP 5C.
020394,000087: 
020395,000088:                                                                                                  #  CALLING SEQUENCE:     TC      BANKCALL
020396,000089:                                                                                                  #                        CADR    R60LEM
020397,000090: 
020398,000091:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:     SCAXIS, POINTVSM (FOR VECPOINT)
020399,000092:                                                                                                  #                                        3AXISFLG.
020400,000093: 
020401,000094:                                                                                                  #  SUBROUTINES CALLED:   VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020402,000095:                                                                                                  #                        GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020403,000096: 
020404,000097:                                                                                                  #  NORMAL EXIT MODES:    CAE     TEMPR60         (CALLERS RETURN ADDRESS)
020405,000098:                                                                                                  #                        TC      BANKJUMP
020406,000099: 
020407,000100:                                                                                                  #  ALARMS: NONE
020408,000101: 
020409,000102:                                                                                                  #  OUTPUT: NONE
020410,000103: 
020411,000104:                                                                                                  #  DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020412,000105: 
020413,000106: 34,2000                                           BANK     34                                    
020414,000107: 26,2000                                           SETLOC   MANUVER                               
020415,000108: 26,2000                                           BANK                                           
020416,000109: 
020417,000110: 26,2123     1164                                  EBANK=   TEMPR60                               
020418,000111: 
020419,000112: 26,2123                                           COUNT*   $$/R06                                
020420,000113: 26,2123           04645        R60LEM             TC       MAKECADR                              
020421,000114: 26,2124           55164                           TS       TEMPR60                               
020422,000115: 
020423,000116: 26,2125           34746        REDOMANN           CAF      3AXISBIT                              
020424,000117: 26,2126           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020425,000118: 26,2127           10000                           CCS      A                                     
020426,000119: 26,2130           12136                           TCF      TOBALL                                #  YES
020427,000120: 26,2131           06037                           TC       INTPRET                               
020428,000121: 26,2132           77624                           CALL                                           
020429,000122: 26,2133           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020430,000123: 26,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
020431,000124: 26,2135           77776                           EXIT                                           
020432,000125: 
020433,000126: 26,2136           04616        TOBALL             TC       BANKCALL                              
020434,000127: 26,2137           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020435,000128: 26,2140           32254        TOBALLA            CAF      V06N18                                
020436,000129: 26,2141           04616                           TC       BANKCALL                              
020437,000130: 26,2142           20710                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
020438,000131: 26,2143           02242                           TC       R61TEST                               
020439,000132: 26,2144           02150                           TC       REDOMANC                              #  PROCEED
020440,000133: 26,2145           02175                           TC       ENDMANU1                              #  ENTER I.E. FINISHED WITH R60

Page 474

020442,000135: 26,2146           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020443,000136: 26,2147           05155                           TC       ENDOFJOB                              
020444,000137: 
020445,000138: 26,2150           34746        REDOMANC           CAF      3AXISBIT                              
020446,000139: 26,2151           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020447,000140: 26,2152           10000                           CCS      A                                     
020448,000141: 26,2153           12161                           TCF      TOBALLC                               #  YES
020449,000142: 26,2154           06037                           TC       INTPRET                               
020450,000143: 26,2155           77624                           CALL                                           
020451,000144: 26,2156           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020452,000145: 26,2157           00322                           STORE    CPHI                                  #  STORE ANGLES
020453,000146: 26,2160           77776                           EXIT                                           
020454,000147: 
020455,000148: 26,2161           04616        TOBALLC            TC       BANKCALL                              
020456,000149: 26,2162           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020457,000150: 26,2163           02255                           TC       G+N,AUTO                              #  CHECK AUTO MODE
020458,000151: 26,2164           10000                           CCS      A                                     
020459,000152: 26,2165           12140                           TCF      TOBALLA                               #  NOT AUTO, GO REREQUEST AUTO MANEUVER.
020460,000153: 
020461,000154: 26,2166           32254        AUTOMANV           CAF      V06N18                                #  STATIC DISPLAY DURING AUTO MANEUVER
020462,000155: 26,2167           04616                           TC       BANKCALL                              #                                        -
020463,000156: 26,2170           20451                           CADR     GODSPR                                #                                        -
020464,000157: 26,2171           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020465,000158: 
020466,000159: 26,2172           04616        STARTMNV           TC       BANKCALL                              #  PERFORM MANEUVER VIA KALCMANU
020467,000160: 26,2173           17750                           CADR     GOMANUR                               
020468,000161: 
020469,000162: 26,2174           12140        ENDMANUV           TCF      TOBALLA                               #  FINISHED MANEUVER.
020470,000163: 26,2175           05516        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
020471,000164: 26,2176           00124                           ADRES    3AXISFLG                              
020472,000165: 26,2177           31164                           CAE      TEMPR60                               #                                        -
020473,000166: 26,2200           04640                           TC       BANKJUMP                              #                                        -
020474,000167: 
020475,000168: 26,2201           40100        CHKLINUS           CS       FLAGWRD4                              
020476,000169: 26,2202           74740                           MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET?
020477,000170: 26,2203           10000                           CCS      A                                     #                                        -
020478,000171: 26,2204           00002                           TC       Q                                     #  NO - EXIT
020479,000172: 26,2205           30002                           CA       Q                                     
020480,000173: 26,2206           54156                           TS       MPAC       +2                         #  SAVE RETURN
020481,000174: 26,2207           46245                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
020482,000175: 26,2210           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPLAY
020483,000176: 26,2211           55055                           TS       TBASE2                                
020484,000177: 
020485,000178: 26,2212           05353                           TC       PHASCHNG                              
020486,000179: 26,2213           00132                           OCT      00132                                 
020487,000180: 
020488,000181: 26,2214           34745                           CAF      BIT7                                  
020489,000182: 26,2215           05464                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY      -
020490,000183: 26,2216           00156                           TC       MPAC       +2                         
020491,000184: 

Page 475

020493,000186: 26,2217           37714        RELINUS            CAF      PRIO26                                #  RESTORE ORIGINAL PRIORITY
020494,000187: 26,2220           05146                           TC       PRIOCHNG                              
020495,000188: 
020496,000189: 26,2221           34747                           CAF      TRACKBIT                              #  DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020497,000190: 26,2222           70075                           MASK     FLAGWRD1                              
020498,000191: 26,2223           10000                           CCS      A                                     
020499,000192: 26,2224           12237                           TCF      RER60                                 
020500,000193: 
020501,000194: 26,2225           34745                           CAF      RNDVZBIT                              #  IS IT P20?
020502,000195: 26,2226           70074                           MASK     FLAGWRD0                              
020503,000196: 26,2227           10000                           CCS      A                                     
020504,000197: 26,2230           02234                           TC       +4                                    #  YES
020505,000198: 26,2231           05353                           TC       PHASCHNG                              #  NO, MUST BE P25, SET 2.11 SPOT
020506,000199: 26,2232           40112                           OCT      40112                                 
020507,000200: 
020508,000201: 26,2233           05155                           TC       ENDOFJOB                              
020509,000202: 
020510,000203: 26,2234           05353                           TC       PHASCHNG                              #  SET 2.7 SPOT FOR P20
020511,000204: 26,2235           40072                           OCT      40072                                 
020512,000205: 
020513,000206: 26,2236           05155                           TC       ENDOFJOB                              
020514,000207: 
020515,000208: 26,2237           05504        RER60              TC       UPFLAG                                #  SET PRIO DISPLAY FLAG AFTER RESTART
020516,000209: 26,2240           00077                           ADRES    PDSPFLAG                              
020517,000210: 
020518,000211: 26,2241           01055                           TC       TBASE2                                
020519,000212: 
020520,000213: 26,2242           31011        R61TEST            CA       MODREG                                #  IF WE ARE IN P00 IT MUST BE V49 OR V89
020521,000214: 26,2243           00006                           EXTEND                                         
020522,000215: 26,2244           12175                           BZF      ENDMANU1                              #  THUS WE GO TO ENDEXT VIA USER
020523,000216: 
020524,000217: 26,2245           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20 OR P25)
020525,000218: 26,2246           74740                           MASK     PDSPFBIT                              
020526,000219: 26,2247           00006                           EXTEND                                         
020527,000220: 26,2250           16001                           BZF      GOTOPOOH                              #  NO
020528,000221: 26,2251           06022                           TC       GOTOV56                               #  YES
020529,000222: 
020530,000223: 26,2252           20100        BIT14+7            OCT      20100                                 #                                        -
020531,000224: 26,2253           00203        OCT203             OCT      203                                   
020532,000225: 26,2254           01422        V06N18             VN       0618                                  
020533,000226: 
020534,000227:                                                                                                  #  SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020535,000228: 
020536,000229:                                                                                                  #  RETURNS WITH C(A) = +         IF NOT SET FOR G+N, AUTO
020537,000230:                                                                                                  #  RETURNS WITH C(A) = +0        IF SWITCHES ARE SET
020538,000231: 
020539,000232: 26,2255           00006        G+N,AUTO           EXTEND                                         
020540,000233: 26,2256           00030                           READ     CHAN30                                
020541,000234: 26,2257           74742                           MASK     BIT10                                 
020542,000235: 26,2260           10000                           CCS      A                                     
020543,000236: 26,2261           00002                           TC       Q                                     #  NOT IN G+N    C(A) = +

Page 476

020545,000238: 26,2262           00006        ISITAUTO           EXTEND                                         #  CHECK FOR AUTO MODE
020546,000239: 26,2263           00031                           READ     CHAN31                                
020547,000240: 26,2264           74736                           MASK     BIT14                                 
020548,000241: 26,2265           00002                           TC       Q                                     #  (+) = NOT IN AUTO, (+0) = AOK
020549,000242: 

Page 477

020551,000244:                                                                                                  #  PROGRAM DESCRIPTION BALLANGS
020552,000245:                                                                                                  #  MOD NO.                               LOG SECTION R60,R62
020553,000246: 
020554,000247:                                                                                                  #  WRITTEN BY RAMA M. AIYAWAR
020555,000248: 
020556,000249:                                                                                                  #  FUNCTIONAL DESCRIPTION
020557,000250: 
020558,000251:                                                                                                  #        COMPUTES LM FDAI BALL DISPLAY ANGLES
020559,000252: 
020560,000253:                                                                                                  #  CALLING SEQUENCE
020561,000254: 
020562,000255:                                                                                                  #        TC      BALLANGS
020563,000256: 
020564,000257:                                                                                                  #  NORMAL EXIT MODE
020565,000258: 
020566,000259:                                                                                                  #        TC      BALLEXIT        (SAVED Q)
020567,000260: 
020568,000261:                                                                                                  #  ALARM OR EXIT MODE    NIL
020569,000262: 
020570,000263:                                                                                                  #  SUBROUTINES CALLED
020571,000264: 
020572,000265:                                                                                                  #        CD*TR*G
020573,000266:                                                                                                  #        ARCTAN
020574,000267: 
020575,000268:                                                                                                  #  INPUT
020576,000269: 
020577,000270:                                                                                                  #        CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG.  THEY ARE
020578,000271:                                                                                                  #        SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
020579,000272: 
020580,000273:                                                                                                  #  OUTPUT
020581,000274: 
020582,000275:                                                                                                  #        FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020583,000276:                                                                                                  #        SP,2S COMPLIMENT.
020584,000277: 
020585,000278:                                                                                                  #        THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020586,000279: 
020587,000280:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020588,000281: 
020589,000282:                                                                                                  #        CPHI, CTHETA, CPSI      EACH A SP REGISTER
020590,000283: 
020591,000284:                                                                                                  #  DEBRIS
020592,000285: 
020593,000286:                                                                                                  #        A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020594,000287: 
020595,000288:                                                                                                  #  NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020596,000289:                                                                                                  #                EQUIVALENTLY, CDUX, CDUY, & CDUZ.
020597,000290: 
020598,000291:                                                                                                  #  NOTE:  ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020599,000292: 
020600,000293: 26,2000                                           SETLOC   BAWLANGS                              
020601,000294: 26,2000                                           BANK                                           
020602,000295: 
020603,000296: 26,2266                                           COUNT*   $$/BALL                               
020604,000297: 26,2266           04645        BALLANGS           TC       MAKECADR                              
020605,000298: 26,2267           55342                           TS       BALLEXIT                              
020606,000299: 26,2270           30321                           CA       CPHI                                  

Page 478

020608,000301: 26,2271           54772                           TS       CDUSPOT    +4                         
020609,000302: 26,2272           30322                           CA       CTHETA                                
020610,000303: 26,2273           54766                           TS       CDUSPOT                               
020611,000304: 26,2274           30323                           CA       CPSI                                  
020612,000305: 26,2275           54770                           TS       CDUSPOT    +2                         
020613,000306: 
020614,000307: 26,2276           06037                           TC       INTPRET                               
020615,000308: 26,2277           45001                           SETPD    CALL                                  
020616,000309: 26,2300           00001                                    0D                                    
020617,000310: 26,2301           47543                                    CD*TR*G                               
020618,000311: 
020619,000312: 26,2302           41345                           DLOAD    DMP                                   
020620,000313: 26,2303           00743                                    SINCDUX                               #  SIN (OGA)
020621,000314: 26,2304           00747                                    COSCDUZ                               #  COS (MGA)
020622,000315: 
020623,000316: 26,2305           57552                           SL1      DCOMP                                 #  SCALE
020624,000317: 26,2306           65336                           ARCSIN   PDDL                                  #  YAW = ARCSIN(-SXCZ) INTO 0 PD
020625,000318: 26,2307           00741                                    SINCDUZ                               
020626,000319: 26,2310           14023                           STODL    SINTH                                 #  (SINTH = 18D IN PD)
020627,000320: 26,2311           00747                                    COSCDUZ                               
020628,000321: 26,2312           72405                           DMP      SL1                                   #  RESCALE
020629,000322: 26,2313           00751                                    COSCDUX                               
020630,000323: 26,2314           34021                           STCALL   COSTH                                 #  (COSTH = 16D IN PD)
020631,000324: 26,2315           26510                                    ARCTAN                                
020632,000325: 26,2316           41325                           PDDL     DMP                                   #  ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020633,000326: 26,2317           00741                                    SINCDUZ                               
020634,000327: 26,2320           00743                                    SINCDUX                               
020635,000328: 26,2321           41512                           SL2      PUSH                                  #  SXSZ INTO 4 PD
020636,000329: 26,2322           65205                           DMP      PDDL                                  #  SXSZCY INTO 4 PD
020637,000330: 26,2323           00745                                    COSCDUY                               
020638,000331: 26,2324           65205                           DMP      PDDL                                  #  SXSZSY INTO 6 PD
020639,000332: 26,2325           00737                                    SINCDUY                               
020640,000333: 26,2326           00751                                    COSCDUX                               
020641,000334: 26,2327           72405                           DMP      SL1                                   #  CXCY
020642,000335: 26,2330           00745                                    COSCDUY                               
020643,000336: 26,2331           45425                           DSU      STADR                                 #  PULL UP FROM 6 PD
020644,000337: 26,2332           63756                           STODL    COSTH                                 #  COSTH = CXCY - SXSZSY
020645,000338: 26,2333           00737                                    SINCDUY                               
020646,000339: 26,2334           72405                           DMP      SL1                                   
020647,000340: 26,2335           00751                                    COSCDUX                               #  CXSY
020648,000341: 26,2336           45415                           DAD      STADR                                 #  PULL UP FROM 4 PD
020649,000342: 26,2337           43754                           STCALL   SINTH                                 #  SINTH = CXSY + SXSZCY
020650,000343: 26,2340           26510                                    ARCTAN                                #  RETURNS WITH D(MPAC) = PITCH
020651,000344: 26,2341           55525                           PDDL     VDEF                                  #  PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020652,000345: 26,2342           77634                           RTB                                            #  VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020653,000346: 26,2343           21620                                    V1STO2S                               
020654,000347: 26,2344           02345                           STORE    FDAIX                                 #  MODE IS TP
020655,000348: 26,2345           77776                           EXIT                                           
020656,000349: 
020657,000350: 26,2346           31342        ENDBALL            CA       BALLEXIT                              
020658,000351: 

Page 479

020660,000353: 26,2347           04640                           TC       BANKJUMP                              
020661,000354: 

Page 480

020663,000356:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
020664,000357: 
020665,000358:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
020666,000359:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020667,000360:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020668,000361:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020669,000362:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
020670,000363:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
020671,000364:                                                                                                  #  ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020672,000365:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020673,000366: 
020674,000367:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020675,000368:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020676,000369:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020677,000370:                                                                                                  #  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,
020678,000371:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
020679,000372:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020680,000373:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020681,000374: 
020682,000375:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020683,000376:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020684,000377:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020685,000378:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020686,000379: 
020687,000380:                                                                                                  #  CALLING SEQUENCE -
020688,000381: 
020689,000382:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
020690,000383:                                                                                                  #        2)      CALL
020691,000384:                                                                                                  #                        VECPOINT
020692,000385: 
020693,000386:                                                                                                  #  RETURNS WITH
020694,000387: 
020695,000388:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
020696,000389:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
020697,000390:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020698,000391: 
020699,000392:                                                                                                  #  ERASABLES USED -
020700,000393: 
020701,000394:                                                                                                  #        1)      SCAXIS          6
020702,000395:                                                                                                  #        2)      POINTVSM        6
020703,000396:                                                                                                  #        3)      MIS             18
020704,000397:                                                                                                  #        4)      DEL             18
020705,000398:                                                                                                  #        5)      COF             6
020706,000399:                                                                                                  #        6)      VECQTEMP        1
020707,000400:                                                                                                  #        7)      ALL OF VAC AREA 43
020708,000401: 
020709,000402:                                                                                                  #                        TOTAL   99
020710,000403: 
020711,000404: 27,2000                                           SETLOC   VECPT                                 
020712,000405: 27,2000                                           BANK                                           

Page 481

020714,000407: 27,2032                                           COUNT*   $$/VECPT                              
020715,000408: 
020716,000409: 27,2032  E6,1676                                  EBANK=   BCDU                                  
020717,000410: 
020718,000411: 27,2032           40020        VECPNT1            STQ      BOV                                   #  THIS ENTRY USES DESIRED CDUS
020719,000412: 27,2033           03325                                    VECQTEMP                              #  NOT PRESENT - ENTER WITH CDUD'S IN MPAC
020720,000413: 27,2034           56035                                    VECPNT2                               
020721,000414: 27,2035           52164        VECPNT2            AXC,2    GOTO                                  
020722,000415: 27,2036           03246                                    MIS                                   
020723,000416: 27,2037           56046                                    STORANG                               
020724,000417: 27,2040           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
020725,000418: 27,2041           03325                                    VECQTEMP                              
020726,000419: 27,2042           56043                                    VECLEAR                               #  AND CLEAR OVFIND
020727,000420: 27,2043           47164        VECLEAR            AXC,2    RTB                                   
020728,000421: 27,2044           03246                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
020729,000422: 27,2045           44403                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
020730,000423: 27,2046           34032        STORANG            STCALL   25D                                   
020731,000424: 27,2047           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
020732,000425: 27,2050           61375                           VLOAD    VXM                                   
020733,000426: 27,2051           03773                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
020734,000427: 27,2052           03247                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
020735,000428: 27,2053           77656                           UNIT                                           
020736,000429: 27,2054           00035                           STORE    28D                                   
020737,000430:                                                                                                  #  PD 28 29 30 31 32 33
020738,000431: 27,2055           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
020739,000432: 27,2056           03765                                    SCAXIS                                #  WHERE VI = SCAXIS
020740,000433: 27,2057           57400                           BOV      VCOMP                                 
020741,000434: 27,2060           56170                                    PICKAXIS                              
020742,000435: 27,2061           17271                           STODL    COF                                   #  CHECK MAGNITUDE
020743,000436: 27,2062           00045                                    36D                                   #  OF CROSS PRODUCT
020744,000437: 27,2063           50025                           DSU      BMN                                   #  VECTOR, IF LESS
020745,000438: 27,2064           14411                                    DPB-14                                #  THAN B-14 ASSUME
020746,000439: 27,2065           56170                                    PICKAXIS                              #  UNIT OPERATION
020747,000440: 27,2066           50375                           VLOAD    DOT                                   #  INVALID.
020748,000441: 27,2067           03765                                    SCAXIS                                
020749,000442: 27,2070           00035                                    28D                                   
020750,000443: 27,2071           65552                           SL1      ARCCOS                                
020751,000444: 27,2072           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
020752,000445: 27,2073           44527                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
020753,000446: 27,2074           75160                           AXC,1    AXC,2                                 
020754,000447: 27,2075           03246                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
020755,000448: 27,2076           02230                                    KEL                                   #  S/C AXES TO STABLE MEMBER AXES
020756,000449: 27,2077           77624                           CALL                                           #  MFS = MIS MFI
020757,000450: 27,2100           44312                                    MXM3                                  #  (IN PD LIST)
020758,000451: 
020759,000452: 27,2101           51545                           DLOAD    ABS                                   
020760,000453: 27,2102           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
020761,000454: 27,2103           50025                           DSU      BMN                                   
020762,000455: 27,2104           14376                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
020763,000456: 27,2105           56160                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS

Page 482

020765,000458:                                                                                                  #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
020766,000459: 
020767,000460: 27,2106           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
020768,000461: 27,2107           03765                                    SCAXIS                                #  THE THRUST AXIS
020769,000462: 27,2110           51025                           DSU      BPL                                   
020770,000463: 27,2111           14400                                    SINVEC1                               #  SIN 49.4 DEGS                         $2
020771,000464: 27,2112           56160                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
020772,000465: 27,2113           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
020773,000466: 27,2114           77626                           STADR                                          
020774,000467: 27,2115           50514                           STOVL    MIS        +12D                       
020775,000468: 27,2116           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
020776,000469: 27,2117           50522                           STOVL    MIS        +6                         
020777,000470: 27,2120           77626                           STADR                                          
020778,000471: 27,2121           50530                           STOVL    MIS                                   
020779,000472: 27,2122           03255                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
020780,000473: 27,2123           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
020781,000474: 27,2124           56125                                    IGSAMEX                               #  FINAL X S/C AXIS
020782,000475: 
020783,000476: 27,2125           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
020784,000477: 27,2126           03765                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
020785,000478: 27,2127           56134                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
020786,000479:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020787,000480:                                                                                                  #  OTHERWISE U = -SCAXIS
020788,000481: 
020789,000482: 27,2130           57575                           VLOAD    VCOMP                                 
020790,000483: 27,2131           03765                                    SCAXIS                                
020791,000484: 27,2132           37271                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
020792,000485: 27,2133           56137                                    CHEKAXIS                              
020793,000486: 27,2134           77775        U=SCAXIS           VLOAD                                          
020794,000487: 27,2135           03765                                    SCAXIS                                
020795,000488: 27,2136           03271                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
020796,000489: 27,2137           51545        CHEKAXIS           DLOAD    ABS                                   
020797,000490: 27,2140           03765                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
020798,000491: 27,2141           51025                           DSU      BPL                                   
020799,000492: 27,2142           14402                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
020800,000493: 27,2143           56147                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020801,000494: 27,2144           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
020802,000495: 27,2145           14406                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
020803,000496: 27,2146           56151                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
020804,000497:                                                                                                  #  OF GIMBAL LOCK (VECANG2  $360)
020805,000498: 27,2147           77745        PICKANG1           DLOAD                                          
020806,000499: 27,2150           14404                                    VECANG1                               #  = 50 DEGS                             $360
020807,000500: 27,2151           77624        COMPMFSN           CALL                                           
020808,000501: 27,2152           44527                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
020809,000502: 27,2153           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
020810,000503: 27,2154           03246                                    MIS                                   
020811,000504: 27,2155           02230                                    KEL                                   
020812,000505: 27,2156           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
020813,000506: 27,2157           44312                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
020814,000507:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID

Page 483

020816,000509:                                                                                                  #  GIMBAL LOCK
020817,000510: 27,2160           45160        FINDGIMB           AXC,1    CALL                                  
020818,000511: 27,2161           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
020819,000512: 27,2162           44654                                    DCMTOCDU                              #  THIS MATRIX
020820,000513: 27,2163           40234                           RTB      SETPD                                 
020821,000514: 27,2164           21620                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT
020822,000515: 27,2165           00001                                    0                                     
020823,000516: 27,2166           77650                           GOTO                                           
020824,000517: 27,2167           03325                                    VECQTEMP                              #  RETURN TO CALLER
020825,000518: 
020826,000519: 27,2170           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
020827,000520: 27,2171           00035                                    28D                                   
020828,000521: 27,2172           03765                                    SCAXIS                                
020829,000522: 27,2173           72240                           BMN      TLOAD                                 
020830,000523: 27,2174           54350                                    ROT180                                
020831,000524: 27,2175           00032                                    25D                                   
020832,000525: 27,2176           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
020833,000526: 27,2177           03325                                    VECQTEMP                              #  PRESENT CDU ANGLES
020834,000527: 
020835,000528: 35,2000                                           BANK     35                                    
020836,000529: 26,2000                                           SETLOC   MANUVER1                              
020837,000530: 26,2000                                           BANK                                           
020838,000531: 26,2350           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
020839,000532: 26,2351           03255                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
020840,000533: 26,2352           06520                                    HIDPHALF                              #  INITIAL S/C AXES.
020841,000534: 26,2353           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
020842,000535: 26,2354           03765                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020843,000536: 26,2355           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
020844,000537: 26,2356           54372                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
020845,000538: 26,2357           17271                           STODL    COF                                   
020846,000539: 26,2360           00045                                    36D                                   #  CHECK MAGNITUDE
020847,000540: 26,2361           50025                           DSU      BMN                                   #  OF THIS VECTOR.
020848,000541: 26,2362           14411                                    DPB-14                                #  IF LESS THAN B-14,
020849,000542: 26,2363           54372                                    PICKX                                 #  PICK X-AXIS.
020850,000543: 26,2364           77775                           VLOAD                                          
020851,000544: 26,2365           03271                                    COF                                   
020852,000545: 26,2366           17271        XROT               STODL    COF                                   
020853,000546: 26,2367           06520                                    HIDPHALF                              
020854,000547: 26,2370           77650                           GOTO                                           
020855,000548: 26,2371           56072                                    COMPMATX                              
020856,000549: 26,2372           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
020857,000550: 26,2373           06520                                    HIDPHALF                              
020858,000551: 26,2374           54366                                    XROT                                  
020859,000552: 26,2375           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
020860,000553: 
020861,000554: 26,2377           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
020862,000555: 
020863,000556: 26,2401           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
020864,000557: 
020865,000558: 26,2403           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                          $360

Page 484

020867,000560: 26,2405           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                          $360
020868,000561: 
020869,000562: 26,2407           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)        *********
020870,000563: 26,2410           00001        DPB-14             OCT      00001                                 
020871,000564: 26,2411           00000                           OCT      00000                                 
020872,000565: 

Page 485

020874,000567:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020875,000568: 
020876,000569: 34,2000                                           BANK     34                                    
020877,000570: 23,2000                                           SETLOC   R62                                   
020878,000571: 23,2000                                           BANK                                           
020879,000572: 23,2103  E6,1676                                  EBANK=   BCDU                                  
020880,000573: 
020881,000574: 23,2103                                           COUNT*   $$/R62                                
020882,000575: 
020883,000576: 23,2103  23,2103               R62DISP            EQUALS   R62FLASH                              
020884,000577: 
020885,000578: 23,2103           35010        R62FLASH           CAF      V06N22                                #  FLASH V06N22 AND
020886,000579: 23,2104           04616                           TC       BANKCALL                              #  ICDU ANGLES
020887,000580: 23,2105           20476                           CADR     GOFLASH                               
020888,000581: 23,2106           15472                           TCF      ENDEXT                                #  TERMINATE
020889,000582: 23,2107           12111                           TCF      GOMOVE                                #  PROCEED
020890,000583: 23,2110           12103                           TCF      R62FLASH                              #  ENTER
020891,000584: 
020892,000585:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020893,000586:                                                                                                  #  POINT
020894,000587: 23,2111           05504        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
020895,000588: 23,2112           00124                           ADRES    3AXISFLG                              
020896,000589: 
020897,000590: 23,2113           04616                           TC       BANKCALL                              
020898,000591: 23,2114           54123                           CADR     R60LEM                                
020899,000592: 23,2115           15472                           TCF      ENDEXT                                #  END R62
020900,000593: 

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