Source Code

These source-code files are part of a reconstructed copy of Luminary 163, the first (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 173. Changes between revision 163 and 173 were backed out, as described by Luminary memos 157 and 158. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152N. Note that page numbers in the reconstructed code match those for the baseline log section mentioned in each file's changelog; the page numbers for a real Luminary 163 listing would be different.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

020842,000002:                                                                                                  ## Copyright:   Public domain.
020843,000003:                                                                                                  ## Filename:    R60,R62.agc
020844,000004:                                                                                                  ## Purpose:     A section of Luminary revision 163.
020845,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
020846,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
020847,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
020848,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
020849,000009:                                                                                                  ##              Luminary 173, as well as Luminary memos 157 amd 158.
020850,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
020851,000011:                                                                                                  ##              exactly match those specified for Luminary 163 in NASA
020852,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
020853,000013:                                                                                                  ##              that the reconstruction is correct.
020854,000014:                                                                                                  ## Reference:   pp. 480-493
020855,000015:                                                                                                  ## Assembler:   yaYUL
020856,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020857,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
020858,000018:                                                                                                  ## Mod history: 2019-08-21 MAS  Created from Luminary 173.
020859,000019: 

Page 480

020861,000021:                                                                                                  #  MOD NO: 0                        DATE: 1 MAY 1968
020862,000022: 
020863,000023:                                                                                                  #  MOD BY: DIGITAL DEVEL GROUP      LOG SECTION R60,R62
020864,000024: 
020865,000025:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020866,000026: 
020867,000027:                                                                                                  #  CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020868,000028:                                                                                                  #  ATTITUDE.
020869,000029: 
020870,000030:                                                                                                  #  1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020871,000031:                                                                                                  #  CALCULATED (VECPOINT).
020872,000032: 
020873,000033:                                                                                                  #  2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020874,000034: 
020875,000035:                                                                                                  #  3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020876,000036: 
020877,000037:                                                                                                  #  4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT
020878,000038:                                                                                                  #  ASTRONAUT RESPONSE.
020879,000039: 
020880,000040:                                                                                                  #  5. DISPLAY RESPONSE RETURNS:
020881,000041: 
020882,000042:                                                                                                  #      A. ENTER - RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020883,000043: 
020884,000044:                                                                                                  #      B. TERMINATE - IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS
020885,000045:                                                                                                  #         THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF
020886,000046:                                                                                                  #         NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020887,000047: 
020888,000048:                                                                                                  #      C. PROCEED - CONTINUE WITH PROGRAM AT STEP 6.
020889,000049: 
020890,000050:                                                                                                  #  6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020891,000051:                                                                                                  #     (VECPOINT).
020892,000052: 
020893,000053:                                                                                                  #  7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020894,000054: 
020895,000055:                                                                                                  #  8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020896,000056: 
020897,000057:                                                                                                  #  9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020898,000058: 
020899,000059:                                                                                                  #  10. NONFLASHING DISPLAY V06N18 (FDAI ANGLES).
020900,000060: 
020901,000061:                                                                                                  #  11. DO A PHASECHANGE.
020902,000062: 
020903,000063:                                                                                                  #  12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020904,000064: 
020905,000065:                                                                                                  #      GIMBAL ANGLES (GOMANUR).
020906,000066:                                                                                                  #  13. AT END OF MANEUVER GO TO STEP 3.
020907,000067: 
020908,000068:                                                                                                  #           IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020909,000069:                                                                                                  #           FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020910,000070:                                                                                                  #           DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT

Page 481

020912,000072:                                                                                                  #           STEP 5C.
020913,000073: 
020914,000074:                                                                                                  #  CALLING SEQUENCE:  TC BANKCALL
020915,000075:                                                                                                  #                     CADR R60LEM
020916,000076: 
020917,000077:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED : SCAXIS, POINTVSM (FOR VECPOINT)
020918,000078:                                                                                                  #                                     3AXISFLG.
020919,000079: 
020920,000080:                                                                                                  #  SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER,
020921,000081:                                                                                                  #                     GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020922,000082: 
020923,000083:                                                                                                  #  NORMAL EXIT MODES: CAE TEMPR60   (CALLERS RETURN ADDRESS)
020924,000084:                                                                                                  #                     TC  BANKJUMP
020925,000085: 
020926,000086:                                                                                                  #  ALARMS: NONE
020927,000087: 
020928,000088:                                                                                                  #  OUTPUT: NONE
020929,000089: 
020930,000090:                                                                                                  #  DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020931,000091: 
020932,000092: 
020933,000093: 34,2000                                           BANK     34                                    
020934,000094: 26,2000                                           SETLOC   MANUVER                               
020935,000095: 26,2000                                           BANK                                           
020936,000096: 
020937,000097: 26,2125     1163                                  EBANK=   TEMPR60                               
020938,000098: 
020939,000099: 26,2125                                           COUNT*   $$/R06                                
020940,000100: 26,2125           04645        R60LEM             TC       MAKECADR                              
020941,000101: 26,2126           55163                           TS       TEMPR60                               
020942,000102: 
020943,000103: 26,2127           34746        REDOMANN           CAF      3AXISBIT                              
020944,000104: 26,2130           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020945,000105: 26,2131           10000                           CCS      A                                     
020946,000106: 26,2132           12140                           TCF      TOBALL                                #  YES
020947,000107: 26,2133           06042                           TC       INTPRET                               
020948,000108: 26,2134           77624                           CALL                                           
020949,000109: 26,2135           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020950,000110: 26,2136           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
020951,000111: 26,2137           77776                           EXIT                                           
020952,000112: 
020953,000113: 26,2140           05515        TOBALL             TC       UPFLAG                                #  INSURE THAT TOTAL ATTITUDE ERRORS ARE
020954,000114: 26,2141           00013                           ADRES    NEEDLFLG                              #  DISPLAYED ON FDAI ERROR NEEDLES
020955,000115: 26,2142           05527                           TC       DOWNFLAG                              
020956,000116: 26,2143           00000                           ADRES    NEED2FLG                              
020957,000117: 26,2144           04616                           TC       BANKCALL                              
020958,000118: 26,2145           54274                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020959,000119: 26,2146           32262        TOBALLA            CAF      V06N18                                
020960,000120: 26,2147           04616                           TC       BANKCALL                              

Page 482

020962,000122: 26,2150           20711                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
020963,000123: 26,2151           02250                           TC       R61TEST                               
020964,000124: 26,2152           02156                           TC       REDOMANC                              #  PROCEED
020965,000125: 26,2153           02203                           TC       ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
020966,000126: 26,2154           02207                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020967,000127: 26,2155           05155                           TC       ENDOFJOB                              
020968,000128: 
020969,000129: 26,2156           34746        REDOMANC           CAF      3AXISBIT                              
020970,000130: 26,2157           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020971,000131: 26,2160           10000                           CCS      A                                     
020972,000132: 26,2161           12167                           TCF      TOBALLC                               #  YES
020973,000133: 26,2162           06042                           TC       INTPRET                               
020974,000134: 26,2163           77624                           CALL                                           
020975,000135: 26,2164           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020976,000136: 26,2165           00322                           STORE    CPHI                                  #  STORE ANGLES
020977,000137: 26,2166           77776                           EXIT                                           
020978,000138: 
020979,000139: 26,2167           04616        TOBALLC            TC       BANKCALL                              
020980,000140: 26,2170           54274                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020981,000141: 26,2171           02263                           TC       G+N,AUTO                              #  CHECK AUTO MODE
020982,000142: 26,2172           10000                           CCS      A                                     
020983,000143: 26,2173           12146                           TCF      TOBALLA                               #  NOT AUTO, GO REREQUEST AUTO MANEUVER.
020984,000144: 
020985,000145: 26,2174           32262        AUTOMANV           CAF      V06N18                                #  STATIC DISPLAY DURING AUTO MANEUVER
020986,000146: 26,2175           04616                           TC       BANKCALL                              #                                       -
020987,000147: 26,2176           20452                           CADR     GODSPR                                #                                       -
020988,000148: 26,2177           02207                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020989,000149: 
020990,000150: 26,2200           04616        STARTMNV           TC       BANKCALL                              #  PERFORM MANEUVER VIA KALCMANU
020991,000151: 26,2201           17754                           CADR     GOMANUR                               
020992,000152: 
020993,000153: 26,2202           12146        ENDMANUV           TCF      TOBALLA                               #  FINISHED MANEUVER.
020994,000154: 26,2203           05527        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
020995,000155: 26,2204           00124                           ADRES    3AXISFLG                              
020996,000156: 26,2205           31163                           CAE      TEMPR60                               #                                       -
020997,000157: 26,2206           04640                           TC       BANKJUMP                              #                                       -
020998,000158: 
020999,000159: 26,2207           40100        CHKLINUS           CS       FLAGWRD4                              
021000,000160: 26,2210           74740                           MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET?
021001,000161: 26,2211           10000                           CCS      A                                     #                                       -
021002,000162: 26,2212           00002                           TC       Q                                     #  NO - EXIT
021003,000163: 26,2213           30002                           CA       Q                                     
021004,000164: 26,2214           54156                           TS       MPAC       +2                         #  SAVE RETURN
021005,000165: 26,2215           46250                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
021006,000166: 26,2216           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPLAY
021007,000167: 26,2217           55054                           TS       TBASE2                                
021008,000168: 
021009,000169: 26,2220           05364                           TC       PHASCHNG                              
021010,000170: 26,2221           00132                           OCT      00132                                 
021011,000171: 

Page 483

021013,000173: 26,2222           34745                           CAF      BIT7                                  
021014,000174: 26,2223           05475                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY     -
021015,000175: 26,2224           00156                           TC       MPAC       +2                         
021016,000176: 
021017,000177: 26,2225           37717        RELINUS            CAF      PRIO26                                #  RESTORE ORIGINAL PRIORITY
021018,000178: 26,2226           05146                           TC       PRIOCHNG                              
021019,000179: 
021020,000180: 26,2227           34747                           CAF      TRACKBIT                              #  DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
021021,000181: 26,2230           70075                           MASK     FLAGWRD1                              
021022,000182: 26,2231           10000                           CCS      A                                     
021023,000183: 26,2232           12245                           TCF      RER60                                 
021024,000184: 
021025,000185: 26,2233           34745                           CAF      RNDVZBIT                              #  IS IT P20?
021026,000186: 26,2234           70074                           MASK     FLAGWRD0                              
021027,000187: 26,2235           10000                           CCS      A                                     
021028,000188: 26,2236           02242                           TC       +4                                    #  YES
021029,000189: 26,2237           05364                           TC       PHASCHNG                              #  NO, MUST BE P25, SET 2.11 SPOT
021030,000190: 26,2240           40112                           OCT      40112                                 
021031,000191: 
021032,000192: 26,2241           05155                           TC       ENDOFJOB                              
021033,000193: 
021034,000194: 26,2242           05364                           TC       PHASCHNG                              #  SET 2.7 SPOT FOR P20
021035,000195: 26,2243           40072                           OCT      40072                                 
021036,000196: 
021037,000197: 26,2244           05155                           TC       ENDOFJOB                              
021038,000198: 
021039,000199: 26,2245           05515        RER60              TC       UPFLAG                                #  SET PRIO DISPLAY FLAG AFTER RESTART
021040,000200: 26,2246           00077                           ADRES    PDSPFLAG                              
021041,000201: 
021042,000202: 26,2247           01054                           TC       TBASE2                                
021043,000203: 
021044,000204: 26,2250           31010        R61TEST            CA       MODREG                                #  IF WE ARE IN P00 IT MUST BE V49 OR V89
021045,000205: 26,2251           00006                           EXTEND                                         
021046,000206: 26,2252           12203                           BZF      ENDMANU1                              #  THUS WE GO TO ENDEXT VIA USER
021047,000207: 
021048,000208: 26,2253           30100                           CA       FLAGWRD4                              #  ARE WE IN R61  (P20 OR P25)
021049,000209: 26,2254           74740                           MASK     PDSPFBIT                              
021050,000210: 26,2255           00006                           EXTEND                                         
021051,000211: 26,2256           16001                           BZF      GOTOPOOH                              #  NO
021052,000212: 26,2257           06025                           TC       GOTOV56                               #  YES
021053,000213: 
021054,000214: 26,2260           20100        BIT14+7            OCT      20100                                 #                                       -
021055,000215: 26,2261           00203        OCT203             OCT      203                                   
021056,000216: 26,2262           01422        V06N18             VN       0618                                  
021057,000217:                                                                                                  #           SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
021058,000218: 
021059,000219:                                                                                                  #           RETURNS WITH C(A) = +  IF NOT SET FOR G+N, AUTO
021060,000220:                                                                                                  #           RETURNS WITH C(A) = +0 IF SWITCHES ARE SET
021061,000221: 
021062,000222: 26,2263           00006        G+N,AUTO           EXTEND                                         

Page 484

021064,000224: 26,2264           00030                           READ     CHAN30                                
021065,000225: 26,2265           74742                           MASK     BIT10                                 
021066,000226: 26,2266           10000                           CCS      A                                     
021067,000227: 26,2267           00002                           TC       Q                                     #  NOT IN G+N  C(A) = +
021068,000228: 26,2270           00006        ISITAUTO           EXTEND                                         #  CHECK FOR AUTO MODE
021069,000229: 26,2271           00031                           READ     CHAN31                                
021070,000230: 26,2272           74736                           MASK     BIT14                                 
021071,000231: 26,2273           00002                           TC       Q                                     #  (+) = NOT IN AUTO, (+0) = AOK
021072,000232: 

Page 485

021074,000234:                                                                                                  #  PROGRAM DESCRIPTION BALLANGS
021075,000235:                                                                                                  #  MOD NO.         LOG SECTION  R60,R62
021076,000236: 
021077,000237:                                                                                                  #  WRITTEN BY RAMA M.AIYAWAR
021078,000238:                                                                                                  #  FUNCTIONAL DESCRIPTION
021079,000239: 
021080,000240:                                                                                                  #  COMPUTES LM FDAI BALL DISPLAY ANGLES
021081,000241:                                                                                                  #  CALLING SEQUENCE
021082,000242: 
021083,000243:                                                                                                  #           TC     BALLANGS
021084,000244:                                                                                                  #  NORMAL EXIT MODE
021085,000245: 
021086,000246:                                                                                                  #           TC     BALLEXIT        (SAVED Q)
021087,000247: 
021088,000248:                                                                                                  #  ALARM OR EXIT MODE  NIL
021089,000249:                                                                                                  #  SUBROUTINES CALLED
021090,000250:                                                                                                  #           CD*TR*G
021091,000251:                                                                                                  #           ARCTAN
021092,000252: 
021093,000253:                                                                                                  #  INPUT
021094,000254: 
021095,000255:                                                                                                  #  CPHI,CTHETA,CPSI  ARE  THE ANGLES CORRESPONDING TO AOG,AIG,AMG. THEY ARE
021096,000256:                                                                                                  #  SP,2S COMPLIMENT SCALED TO HALF REVOLUTION.
021097,000257:                                                                                                  #  OUTPUT
021098,000258: 
021099,000259:                                                                                                  #  FDAIX,FDAIY,FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
021100,000260:                                                                                                  #  SP,2S COMPLIMENT.
021101,000261:                                                                                                  #  THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
021102,000262: 
021103,000263:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
021104,000264: 
021105,000265:                                                                                                  #  CPHI,CTHETA,CPSI EACH A SP REGISTER
021106,000266:                                                                                                  #  DEBRIS
021107,000267: 
021108,000268:                                                                                                  #  A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
021109,000269: 
021110,000270: 
021111,000271:                                                                                                  #  NOMENCLATURE:  CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
021112,000272:                                                                                                  #  EQUIVALENTLY, CDUX, CDUY, & CDUZ.
021113,000273: 
021114,000274:                                                                                                  #  NOTE:  ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
021115,000275: 
021116,000276: 26,2000                                           SETLOC   BAWLANGS                              
021117,000277: 26,2000                                           BANK                                           
021118,000278: 
021119,000279: 26,2274                                           COUNT*   $$/BALL                               
021120,000280: 26,2274           04645        BALLANGS           TC       MAKECADR                              
021121,000281: 26,2275           55337                           TS       BALLEXIT                              
021122,000282: 26,2276           30321                           CA       CPHI                                  

Page 486

021124,000284: 26,2277           54771                           TS       CDUSPOT    +4                         
021125,000285: 26,2300           30322                           CA       CTHETA                                
021126,000286: 26,2301           54765                           TS       CDUSPOT                               
021127,000287: 26,2302           30323                           CA       CPSI                                  
021128,000288: 26,2303           54767                           TS       CDUSPOT    +2                         
021129,000289: 
021130,000290: 26,2304           06042                           TC       INTPRET                               
021131,000291: 26,2305           45001                           SETPD    CALL                                  
021132,000292: 26,2306           00001                                    0D                                    
021133,000293: 26,2307           47541                                    CD*TR*G                               
021134,000294: 
021135,000295: 26,2310           41345                           DLOAD    DMP                                   
021136,000296: 26,2311           00742                                    SINCDUX                               #  SIN (OGA)
021137,000297: 26,2312           00746                                    COSCDUZ                               #  COS (MGA)
021138,000298: 
021139,000299: 26,2313           57552                           SL1      DCOMP                                 #  SCALE
021140,000300: 26,2314           65336                           ARCSIN   PDDL                                  #  YAW = ARCSIN(-SXCZ) INTO 0 PD
021141,000301: 26,2315           00740                                    SINCDUZ                               
021142,000302: 26,2316           14023                           STODL    SINTH                                 #  (SINTH = 18D IN PD)
021143,000303: 26,2317           00746                                    COSCDUZ                               
021144,000304: 26,2320           72405                           DMP      SL1                                   #  RESCALE
021145,000305: 26,2321           00750                                    COSCDUX                               
021146,000306: 26,2322           34021                           STCALL   COSTH                                 #  (COSTH = 16D IN PD)
021147,000307: 26,2323           26506                                    ARCTAN                                
021148,000308: 26,2324           41325                           PDDL     DMP                                   #  ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
021149,000309: 26,2325           00740                                    SINCDUZ                               
021150,000310: 26,2326           00742                                    SINCDUX                               
021151,000311: 26,2327           41512                           SL2      PUSH                                  #  SXSZ INTO 4 PD
021152,000312: 26,2330           65205                           DMP      PDDL                                  #  SXSZCY INTO 4 PD
021153,000313: 26,2331           00744                                    COSCDUY                               
021154,000314: 26,2332           65205                           DMP      PDDL                                  #  SXSZSY INTO 6 PD
021155,000315: 26,2333           00736                                    SINCDUY                               
021156,000316: 26,2334           00750                                    COSCDUX                               
021157,000317: 26,2335           72405                           DMP      SL1                                   #  CXCY
021158,000318: 26,2336           00744                                    COSCDUY                               
021159,000319: 26,2337           45425                           DSU      STADR                                 #  PULL UP FROM 6 PD
021160,000320: 26,2340           63756                           STODL    COSTH                                 #  COSTH = CXCY - SXSZSY
021161,000321: 26,2341           00736                                    SINCDUY                               
021162,000322: 26,2342           72405                           DMP      SL1                                   
021163,000323: 26,2343           00750                                    COSCDUX                               #  CXSY
021164,000324: 26,2344           45415                           DAD      STADR                                 #  PULL UP FROM 4 PD
021165,000325: 26,2345           43754                           STCALL   SINTH                                 #  SINTH = CXSY + SXSZCY
021166,000326: 26,2346           26506                                    ARCTAN                                #  RETURNS WITH D(MPAC) = PITCH
021167,000327: 26,2347           55525                           PDDL     VDEF                                  #  PITCH INTO 2 PD, ROLL INTO MPAC FROM 2PD
021168,000328: 26,2350           77634                           RTB                                            #  VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
021169,000329: 26,2351           21621                                    V1STO2S                               
021170,000330: 26,2352           02345                           STORE    FDAIX                                 #  MODE IS TP
021171,000331: 26,2353           77776                           EXIT                                           
021172,000332: 
021173,000333: 26,2354           31337        ENDBALL            CA       BALLEXIT                              

Page 487

021175,000335: 26,2355           04640                           TC       BANKJUMP                              
021176,000336: 

Page 488

021178,000338:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
021179,000339: 
021180,000340: 
021181,000341:                                                                                                  #           THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
021182,000342:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
021183,000343:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
021184,000344:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
021185,000345:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
021186,000346:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
021187,000347:                                                                                                  #  ANGLES (2S COMPLEMENT) CORESPONDING TO THE CROSS-PRODUCT ROTATION BETWE EN SCAXIS AND POINTVSM AND STORES THEM
021188,000348:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021189,000349:                                                                                                  #           THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
021190,000350:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
021191,000351:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
021192,000352:                                                                                                  #  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,
021193,000353:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
021194,000354:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
021195,000355:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
021196,000356:                                                                                                  #           WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
021197,000357:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
021198,000358:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
021199,000359:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
021200,000360: 
021201,000361:                                                                                                  #           CALLING SEQUENCE -
021202,000362:                                                                                                  #               1) LOAD SCAXIS, POINTVSM
021203,000363:                                                                                                  #               2) CALL
021204,000364:                                                                                                  #                       VECPOINT
021205,000365: 
021206,000366:                                                                                                  #           RETURNS WITH
021207,000367: 
021208,000368:                                                                                                  #               1) DESIRED OUTER  GIMBAL ANGLE IN MPAC
021209,000369:                                                                                                  #               2) DESIRED INNER  GIMBAL ANGLE IN MPAC +1
021210,000370:                                                                                                  #               3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
021211,000371: 
021212,000372: 
021213,000373:                                                                                                  #           ERASABLES USED -
021214,000374: 
021215,000375:                                                                                                  #               1) SCAXIS           6
021216,000376:                                                                                                  #               2) POINTVSM         6
021217,000377:                                                                                                  #               3) MIS             18
021218,000378:                                                                                                  #               4) DEL             18
021219,000379:                                                                                                  #               5) COF              6
021220,000380:                                                                                                  #               6) VECQTEMP         1
021221,000381:                                                                                                  #               7) ALL OF VAC AREA 43
021222,000382: 
021223,000383:                                                                                                  #                        TOTAL     99
021224,000384: 
021225,000385: 27,2000                                           SETLOC   VECPT                                 
021226,000386: 27,2000                                           BANK                                           

Page 489

021228,000388: 27,2032                                           COUNT*   $$/VECPT                              
021229,000389: 
021230,000390: 27,2032  E6,1675                                  EBANK=   BCDU                                  
021231,000391: 
021232,000392: 27,2032           40020        VECPNT1            STQ      BOV                                   #  THIS ENTRY USES DESIRED CDUS
021233,000393: 27,2033           03324                                    VECQTEMP                              #  NOT PRESENT-ENTER WITH CDUD'S IN MPAC
021234,000394: 27,2034           56035                                    VECPNT2                               
021235,000395: 27,2035           52164        VECPNT2            AXC,2    GOTO                                  
021236,000396: 27,2036           03245                                    MIS                                   
021237,000397: 27,2037           56046                                    STORANG                               
021238,000398: 27,2040           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
021239,000399: 27,2041           03324                                    VECQTEMP                              
021240,000400: 27,2042           56043                                    VECLEAR                               #  AND CLEAR OVFIND
021241,000401: 27,2043           47164        VECLEAR            AXC,2    RTB                                   
021242,000402: 27,2044           03245                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
021243,000403: 27,2045           44403                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
021244,000404: 27,2046           34032        STORANG            STCALL   25D                                   
021245,000405: 27,2047           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
021246,000406: 27,2050           61375                           VLOAD    VXM                                   
021247,000407: 27,2051           03773                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
021248,000408: 27,2052           03246                                    MIS                                   #  INITIAL S/C AXES ( VF = POINTVSM)
021249,000409: 27,2053           77656                           UNIT                                           
021250,000410: 27,2054           00035                           STORE    28D                                   
021251,000411:                                                                                                  #  PD 28 29 30 31 32 33
021252,000412: 27,2055           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
021253,000413: 27,2056           03765                                    SCAXIS                                #  WHERE VI = SCAXIS
021254,000414: 27,2057           57400                           BOV      VCOMP                                 
021255,000415: 27,2060           56170                                    PICKAXIS                              
021256,000416: 27,2061           17270                           STODL    COF                                   #  CHECK MAGNITUDE
021257,000417: 27,2062           00045                                    36D                                   #  OF CROSS PRODUCT
021258,000418: 27,2063           50025                           DSU      BMN                                   #  VECTOR, IF LESS
021259,000419: 27,2064           14417                                    DPB-14                                #  THAN B-14 ASSUME
021260,000420: 27,2065           56170                                    PICKAXIS                              #  UNIT OPERATION
021261,000421: 27,2066           50375                           VLOAD    DOT                                   #           INVALID.
021262,000422: 27,2067           03765                                    SCAXIS                                
021263,000423: 27,2070           00035                                    28D                                   
021264,000424: 27,2071           65552                           SL1      ARCCOS                                
021265,000425: 27,2072           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
021266,000426: 27,2073           44527                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES  MFI
021267,000427: 27,2074           75160                           AXC,1    AXC,2                                 
021268,000428: 27,2075           03245                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
021269,000429: 27,2076           02230                                    KEL                                   #  S/C AXES TO STABLE MEMBER AXES
021270,000430: 27,2077           77624                           CALL                                           #  MFS = MIS MFI
021271,000431: 27,2100           44312                                    MXM3                                  #  (IN PD LIST)
021272,000432: 
021273,000433: 27,2101           51545                           DLOAD    ABS                                   
021274,000434: 27,2102           00007                                    6                                     #  MFS6 = SIN(CPSI)                    $2
021275,000435: 27,2103           50025                           DSU      BMN                                   
021276,000436: 27,2104           14404                                    SINGIMLC                              #  = SIN(59 DEGS)                      $2
021277,000437: 27,2105           56160                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS

Page 490

021279,000439:                                                                                                  #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
021280,000440: 
021281,000441: 27,2106           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
021282,000442: 27,2107           03765                                    SCAXIS                                #  THE THRUST AXIS
021283,000443: 27,2110           51025                           DSU      BPL                                   
021284,000444: 27,2111           14406                                    SINVEC1                               #  SIN 49.4 DEGS                        $2
021285,000445: 27,2112           56160                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
021286,000446: 27,2113           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
021287,000447: 27,2114           77626                           STADR                                          
021288,000448: 27,2115           50515                           STOVL    MIS        +12D                       
021289,000449: 27,2116           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
021290,000450: 27,2117           50523                           STOVL    MIS        +6                         
021291,000451: 27,2120           77626                           STADR                                          
021292,000452: 27,2121           50531                           STOVL    MIS                                   
021293,000453: 27,2122           03254                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
021294,000454: 27,2123           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
021295,000455: 27,2124           56125                                    IGSAMEX                               #  FINAL X S/C AXIS
021296,000456: 
021297,000457: 27,2125           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE
021298,000458: 27,2126           03765                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION
021299,000459: 27,2127           56134                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
021300,000460:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
021301,000461:                                                                                                  #  OTHERWISE U = -SCAXIS
021302,000462: 
021303,000463: 27,2130           57575                           VLOAD    VCOMP                                 
021304,000464: 27,2131           03765                                    SCAXIS                                
021305,000465: 27,2132           37270                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
021306,000466: 27,2133           56137                                    CHEKAXIS                              
021307,000467: 27,2134           77775        U=SCAXIS           VLOAD                                          
021308,000468: 27,2135           03765                                    SCAXIS                                
021309,000469: 27,2136           03270                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
021310,000470: 27,2137           51545        CHEKAXIS           DLOAD    ABS                                   
021311,000471: 27,2140           03765                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
021312,000472: 27,2141           51025                           DSU      BPL                                   
021313,000473: 27,2142           14410                                    SINVEC2                               #  SIN 29.5 DEGS                        $2
021314,000474: 27,2143           56147                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
021315,000475: 27,2144           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
021316,000476: 27,2145           14414                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
021317,000477: 27,2146           56151                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
021318,000478:                                                                                                  #  OF GIMBAL LOCK (VECANG2  $360)
021319,000479: 27,2147           77745        PICKANG1           DLOAD                                          
021320,000480: 27,2150           14412                                    VECANG1                               #  = 50 DEGS                          $ 360
021321,000481: 27,2151           77624        COMPMFSN           CALL                                           
021322,000482: 27,2152           44527                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
021323,000483: 27,2153           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
021324,000484: 27,2154           03245                                    MIS                                   
021325,000485: 27,2155           02230                                    KEL                                   
021326,000486: 27,2156           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
021327,000487: 27,2157           44312                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
021328,000488:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID

Page 491

021330,000490:                                                                                                  #  GIMBAL LOCK
021331,000491: 27,2160           45160        FINDGIMB           AXC,1    CALL                                  
021332,000492: 27,2161           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
021333,000493: 27,2162           44654                                    DCMTOCDU                              #  THIS MATRIX
021334,000494: 27,2163           40234                           RTB      SETPD                                 
021335,000495: 27,2164           21621                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT
021336,000496: 27,2165           00001                                    0                                     
021337,000497: 27,2166           77650                           GOTO                                           
021338,000498: 27,2167           03324                                    VECQTEMP                              #  RETURN TO CALLER
021339,000499: 
021340,000500: 27,2170           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0,  FIND VF . VI
021341,000501: 27,2171           00035                                    28D                                   
021342,000502: 27,2172           03765                                    SCAXIS                                
021343,000503: 27,2173           72240                           BMN      TLOAD                                 
021344,000504: 27,2174           54356                                    ROT180                                
021345,000505: 27,2175           00032                                    25D                                   
021346,000506: 27,2176           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
021347,000507: 27,2177           03324                                    VECQTEMP                              #  PRESENT CDU ANGLES
021348,000508: 
021349,000509: 35,2000                                           BANK     35                                    
021350,000510: 26,2000                                           SETLOC   MANUVER1                              
021351,000511: 26,2000                                           BANK                                           
021352,000512: 26,2356           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 108 DEG ROTATION
021353,000513: 26,2357           03254                                    MIS        +6                         #  IS REQUIRED. Y STABLE MEMBER AXIS IN
021354,000514: 26,2360           06516                                    HIDPHALF                              #  INITIAL S/C AXES.
021355,000515: 26,2361           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
021356,000516: 26,2362           03765                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
021357,000517: 26,2363           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
021358,000518: 26,2364           54400                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
021359,000519: 26,2365           17270                           STODL    COF                                   
021360,000520: 26,2366           00045                                    36D                                   #  CHECK MAGNITUDE
021361,000521: 26,2367           50025                           DSU      BMN                                   #  OF THIS VECTOR.
021362,000522: 26,2370           14417                                    DPB-14                                #  IF LESS THAN B-14,
021363,000523: 26,2371           54400                                    PICKX                                 #  PICK X-AXIS.
021364,000524: 26,2372           77775                           VLOAD                                          
021365,000525: 26,2373           03270                                    COF                                   
021366,000526: 26,2374           17270        XROT               STODL    COF                                   
021367,000527: 26,2375           06516                                    HIDPHALF                              
021368,000528: 26,2376           77650                           GOTO                                           
021369,000529: 26,2377           56072                                    COMPMATX                              
021370,000530: 26,2400           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
021371,000531: 26,2401           06516                                    HIDPHALF                              
021372,000532: 26,2402           54374                                    XROT                                  
021373,000533: 26,2403           15555 35172  SINGIMLC           2DEC     .4285836003                            #  =SIN(59)                $2
021374,000534: 
021375,000535: 26,2405           14113 36326  SINVEC1            2DEC     .3796356537                            #  =SIN(49.4)              $2
021376,000536: 
021377,000537: 26,2407           07701 35703  SINVEC2            2DEC     .2462117800                            #  =SIN(29.5)              $2
021378,000538: 
021379,000539: 26,2411           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                       $360
021380,000540: 

Page 492

021382,000542: 26,2413           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                       $360
021383,000543: 
021384,000544: 26,2415           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)     *********
021385,000545: 26,2416           00001        DPB-14             OCT      00001                                 
021386,000546: 26,2417           00000                           OCT      00000                                 
021387,000547: 

Page 493

021389,000549:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
021390,000550: 
021391,000551: 
021392,000552: 34,2000                                           BANK     34                                    
021393,000553: 23,2000                                           SETLOC   R62                                   
021394,000554: 23,2000                                           BANK                                           
021395,000555: 23,2103  E6,1675                                  EBANK=   BCDU                                  
021396,000556: 
021397,000557: 23,2103                                           COUNT*   $$/R62                                
021398,000558: 
021399,000559: 23,2103  23,2103               R62DISP            EQUALS   R62FLASH                              
021400,000560: 
021401,000561: 23,2103           35010        R62FLASH           CAF      V06N22                                #  FLASH V06N22 AND
021402,000562: 23,2104           04616                           TC       BANKCALL                              #  ICDU ANGLES
021403,000563: 23,2105           20477                           CADR     GOFLASH                               
021404,000564: 23,2106           15503                           TCF      ENDEXT                                #  TERMINATE
021405,000565: 23,2107           12111                           TCF      GOMOVE                                #  PROCEED
021406,000566: 23,2110           12103                           TCF      R62FLASH                              #  ENTER
021407,000567: 
021408,000568:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
021409,000569:                                                                                                  #  POINT
021410,000570: 23,2111           05515        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
021411,000571: 23,2112           00124                           ADRES    3AXISFLG                              
021412,000572: 
021413,000573: 23,2113           04616                           TC       BANKCALL                              
021414,000574: 23,2114           54125                           CADR     R60LEM                                
021415,000575: 23,2115           15503                           TCF      ENDEXT                                #  END R62
021416,000576: 

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