Source Code

These source-code files are part of a reconstructed copy of Luminary 173, the second (unflown) release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with reconstructed source code for Luminary 178. Changes between revision 173 and 178 were backed out, as described by Luminary memo 167 (revision 1). 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 173 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.

014689,000002:                                                                                                  ## Copyright:   Public domain.
014690,000003:                                                                                                  ## Filename:    ATTITUDE_MANEUVER_ROUTINE.agc
014691,000004:                                                                                                  ## Purpose:     A section of Luminary revision 173.
014692,000005:                                                                                                  ##              It is part of the reconstructed source code for the second
014693,000006:                                                                                                  ##              (unflown) release of the flight software for the Lunar
014694,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 14.
014695,000008:                                                                                                  ##              The code has been recreated from a reconstructed copy of
014696,000009:                                                                                                  ##              Luminary 178, as well as Luminary memo 167 (revision 1).
014697,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
014698,000011:                                                                                                  ##              exactly match those specified for Luminary 173 in NASA
014699,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
014700,000013:                                                                                                  ##              that the reconstruction is correct.
014701,000014:                                                                                                  ## Reference:   pp. 347-368
014702,000015:                                                                                                  ## Assembler:   yaYUL
014703,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
014704,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
014705,000018:                                                                                                  ## Mod history: 2019-09-18 MAS  Created from Luminary 178.
014706,000019: 

Page 347

014708,000021:                                                                                                  #  BLOCK 2 LGC ATTITUDE MANEUVER ROUTINE-KALCMANU
014709,000022: 
014710,000023: 
014711,000024:                                                                                                  #  MOD 2           DATE 5/1/67     BY DON KEENE
014712,000025: 
014713,000026:                                                                                                  #  PROGRAM DESCRIPTION
014714,000027: 
014715,000028:                                                                                                  #       KALCMANU IS A ROUTINE WHICH GENERATES COMMANDS FOR THE LM DAP TO CHANGE THE ATTITUDE OF THE SPACECRAFT
014716,000029:                                                                                                  #  DURING FREE FALL.  IT IS DESIGNED TO MANEUVER THE SPACECRAFT FROM ITS INITIAL ORIENTATION TO SOME DESIRED
014717,000030:                                                                                                  #  ORIENTATION SPECIFIED BY THE PROGRAM WHICH CALLS KALCMANU, AVOIDING GIMBAL LOCK IN THE PROCESS.  IN THE
014718,000031:                                                                                                  #  MOD 2 VERSION, THIS DESIRED ATTITUDE IS SPECIFIED BY A SET OF THREE COMMANDED CDU ANGLES STORED AS 2S COMPLEMENT
014719,000032:                                                                                                  #  SINGLE PRECISION ANGLES IN THE THREE CONSECUTIVE LOCATIONS, CPHI, CTHETA, CPSI, WHERE
014720,000033: 
014721,000034:                                                                                                  #       CPHI = COMMANDED OUTER GIMBAL ANGLE
014722,000035:                                                                                                  #       CTHETA = COMMANDED INNER GIMBAL ANGLE
014723,000036:                                                                                                  #       CPSI = COMMANDED MIDDLE GIMBAL ANGLE
014724,000037: 
014725,000038:                                                                                                  #      WHEN POINTING A SPACECRAFT AXIS (E.I. X, Y, Z, THE AOT, THRUST AXIS, ETC) THE SUBROUTINE VECPOINT MAY BE
014726,000039:                                                                                                  #  USED TO GENERATE THIS SET OF DESIRED CDU ANGLES (SEE DESCRIPTION IN R60)   -
014727,000040:                                                                                                  #   WITH THIS INFORMATION KALCMANU DETERMINES THE DIRECTION OF THE SINGLE EQUIVALENT ROTATION (COF ALSO U) AND THE
014728,000041:                                                                                                  #  MAGNITUDE OF THE ROTATION (AM) TO BRING THE S/C FROM ITS INITIAL ORIENTATION TO ITS FINAL ORIENTATION.
014729,000042:                                                                                                  #  THIS DIRECTION REMAINS FIXED BOTH IN INERTIAL COORDINATES AND IN COMMANDED S/C AXES THROUGHOUT THE
014730,000043:                                                                                                  #                   -
014731,000044:                                                                                                  #  MANEUVER.  ONCE COF AND AM HAVE BEEN DETERMINED, KALCMANU THEN EXAMINES THE MANEUVER TO SEE IF IT WILL BRING
014732,000045:                                                                                                  #                                        -
014733,000046:                                                                                                  #  THE S/C THROUGH GIMBAL LOCK.  IF SO, COF AND AM ARE READJUSTED SO THAT THE S/C WILL JUST SKIM THE GIMBAL
014734,000047:                                                                                                  #  LOCK ZONE AND ALIGN THE X-AXIS.  IN GENERAL A FINAL YAW  ABOUT X WILL BE NECESSARY TO COMPLETE THE MANEUVER.
014735,000048:                                                                                                  #  NEEDLESS TO SAY, NEITHER THE INITIAL NOR THE FINAL ORIENTATION CAN BE IN GIMBAL LOCK.
014736,000049: 
014737,000050:                                                                                                  #       FOR PROPER ATTITUDE CONTROL THE DIGITAL AUTOPILOT MUST BE GIVEN AN ATTITUDE REFERENCE WHICH IT CAN TRACK.
014738,000051:                                                                                                  #  KALCMANU DOES THIS BY GENERATING A REFERENCE OF DESIRED GIMBAL ANGLES (CDUXD, CDUYD, CDUZD) WHICH ARE UPDATED
014739,000052:                                                                                                  #  EVERY ONE SECOND DURING THE MANEUVER.  TO ACHIEVE A SMOOTHER SEQUENCE OF COMMANDS BETWEEN SUCCESSIVE UPDATES,
014740,000053:                                                                                                  #  THE PROGRAM ALSO GENERATES A SET OF INCREMENTAL CDU ANGLES (DELDCDU) TO BE ADDED TO CDU DESIRED BY THE DIGITAL
014741,000054:                                                                                                  #  AUTOPILOT.  KALCMANU ALSO CALCULATES THE COMPONENT MANEUVER RATES (OMEGAPD, OMEGAQD, OMEGARD), WHICH CAN
014742,000055:                                                                                                  #                                       -
014743,000056:                                                                                                  #  BE DETERMINED SIMPLY BY MULTIPLYING COF BY SOME SCALAR (ARATE) CORRESPONDING TO THE DESIRED ROTATIONAL RATE.
014744,000057: 
014745,000058:                                                                                                  #       AUTOMATIC MANEUVERS ARE TIMED WITH THE HELP OF WAITLIST SO THAT AFTER A SPECIFIED INTERVAL THE Y AND Z
014746,000059:                                                                                                  #  DESIRED RATES ARE SET TO ZERO AND THE DESIRED CDU ANGLES (CDUYD, CDUZD) ARE SET EQUAL TO THE FINAL DESIRED CDU
014747,000060:                                                                                                  #  ANGLES (CTHETA, CPSI).  IF ANY YAW  REMAINS DUE TO GIMBAL LOCK AVOIDANCE, THE FINAL YAW  MANEUVER IS
014748,000061:                                                                                                  #  CALCULATED AND THE DESIRED YAW  RATE SET TO SOME FIXED VALUE (ROLLRATE = + OR - 2 DEGREES PER SEC).
014749,000062:                                                                                                  #  IN THIS CASE ONLY AN INCREMENTAL CDUX ANGLE (DELFROLL) IS SUPPLIED TO THE DAP.  AT THE END OF THE YAW
014750,000063:                                                                                                  #  MANEUVER OR IN THE EVENT THAT THERE WAS NO FINAL YAW,  CDUXD IS SET EQUAL TO CPHI AND THE X-AXIS DESIRED
014751,000064:                                                                                                  #  RATE SET TO ZERO.  THUS, UPON COMPLETION OF THE MANEUVER THE S/C WILL FINISH UP IN A LIMIT CYCLE ABOUT THE
014752,000065:                                                                                                  #  DESIRED FINAL GIMBAL ANGLES.
014753,000066: 
014754,000067: 
014755,000068:                                                                                                  #  PROGRAM LOGIC FLOW
014756,000069: 
014757,000070:                                                                                                  #       KALCMANU IS CALLED AS A HIGH PRIORITY JOB WITH ENTRY POINTS AT KALCMAN3 AND VECPOINT.  IT FIRST PICKS
014758,000071:                                                                                                  #  UP THE CURRENT CDU ANGLES TO BE USED AS THE BASIS FOR ALL COMPUTATIONS INVOLVING THE INITIAL S/C ORIENTATION.
014759,000072: 

Page 348

014761,000074:                                                                                                  #  IT THEN DETERMINES THE DIRECTION COSINE MATRICES RELATING BOTH THE INITIAL AND FINAL S/C ORIENTATION TO STABLE
014762,000075:                                                                                                  #                *    *                                                                               *
014763,000076:                                                                                                  #  MEMBER AXES (MIS, MFS).  IT ALSO COMPUTES THE MATRIX RELATING FINAL S/C AXES TO INITIAL S/C AXES (MFI).  THE
014764,000077:                                                                                                  #  ANGLE OF ROTATION (AM) IS THEN EXTRACTED FROM THIS MATRIX, AND TESTS ARE MADE TO DETERMINE IF
014765,000078: 
014766,000079:                                                                                                  #       A)  AM LESS THAN .25 DEGREES (MINANG)
014767,000080:                                                                                                  #       B)  AM GREATER THAN 170 DEGREES (MAXANG)
014768,000081: 
014769,000082:                                                                                                  #       IF AM LESS THAN .25 DEGREES, NO COMPLICATED AUTOMATIC MANEUVERING IS NECESSARY.  THEREFORE WE CAN SIMPLY
014770,000083:                                                                                                  #  SET CDU DESIRED EQUAL TO THE FINAL CDU DESIRED ANGLES AND TERMINATE THE JOB.
014771,000084: 
014772,000085:                                                                                                  #       IF AM IS GREATER THAN .25 DEGREES BUT LESS THAN 170 DEGREES, THE AXES OF THE SINGLE EQUIVALENT ROTATION
014773,000086:                                                                                                  #    -                                                       *
014774,000087:                                                                                                  #  (COF) IS EXTRACTED FROM THE SKEW SYMMETRIC COMPONENTS OF MFI.                            *     *
014775,000088:                                                                                                  #       IF AM GREATER THAN 170 DEGREES AN ALTERNATE METHOD EMPLOYING THE SYMMETRIC PART OF MFI (MFISYM) IS USED
014776,000089:                                                                                                  #                -
014777,000090:                                                                                                  #  TO DETERMINE COF.
014778,000091: 
014779,000092:                                                                                                  #       THE PROGRAM THEN CHECKS TO SEE IF THE MANEUVER AS COMPUTED WILL BRING THE S/C THROUGH GIMBAL LOCK.  IF
014780,000093:                                                                                                  #  SO, A NEW MANEUVER IS CALCULATED WHICH WILL JUST SKIM THE GIMBAL LOCK ZONE AND ALIGN THE S/C X-AXIS.  THIS
014781,000094:                                                                                                  #  METHOD ASSURES THAT THE ADDITIONAL MANEUVERING TO AVOID GIMBAL LOCK WILL BE KEPT TO A MINIMUM.  SINCE A FINAL
014782,000095:                                                                                                  #  P AXIS YAW WILL BE NECESSARY, A SWITCH IS RESET (STATE SWITCH 31) TO ALLOW FOR THE COMPUTATION OF THIS FINAL
014783,000096:                                                                                                  #  YAW.
014784,000097: 
014785,000098:                                                                                                  #       AS STATED PREVIOUSLY KALCMANU GENERATES A SEQUENCE OF DESIRED GIMBAL ANGLES WHICH ARE UPDATED EVERY
014786,000099:                                                                                                  #                                                                                               -
014787,000100:                                                                                                  #  SECOND.  THIS IS ACCOMPLISHED BY A SMALL ROTATION OF THE DESIRED S/C FRAME ABOUT THE VECTOR COF.  THE NEW
014788,000101:                                                                                                  #  DESIRED REFERENCE MATRIX IS THEN,
014789,000102: 
014790,000103:                                                                                                  #                   *              *         *
014791,000104:                                                                                                  #                  MIS       =    MIS       DEL
014792,000105:                                                                                                  #                     N+1             N
014793,000106:                                                                                                  #         *
014794,000107:                                                                                                  #  WHERE DEL IS THE MATRIX CORRESPONDING TO THIS SMALL ROTATION.  THE NEW CDU ANGLES CAN THEN BE EXTRACTED
014795,000108:                                                                                                  #        *
014796,000109:                                                                                                  #  FROM MIS.
014797,000110: 
014798,000111:                                                                                                  #       AT THE BEGINNING OF THE MANEUVER THE AUTOPILOT DESIRED RATES (OMEGAPD, OMEGAQD, OMEGARD) AND THE
014799,000112:                                                                                                  #  MANEUVER TIMINGS ARE ESTABLISHED.  ON THE FIRST PASS AND ON ALL SUBSEQUENT UPDATES THE CDU DESIRED
014800,000113:                                                                                                  #  ANGLES ARE LOADED WITH THE APPROPRIATE VALUES AND THE INCREMENTAL CDU ANGLES ARE COMPUTED.  THE AGC CLOCKS
014801,000114:                                                                                                  #  (TIME1 AND TIME2) ARE THAN CHECKED TO SEE IF THE MANEUVER WILL TERMINATE BEFORE THE NEXT UPDATE.  IF
014802,000115:                                                                                                  #  NOT, KALCMANU CALLS FOR ANOTHER UPDATE (RUN AS A JOB WITH PRIORITY TBD) IN ONE SECOND.  ANY DELAYS IN THIS
014803,000116:                                                                                                  #  CALLING SEQUENCE ARE AUTOMATICALLY COMPENSATED IN CALLING FOR THE NEXT UPDATE.
014804,000117: 
014805,000118:                                                                                                  #       IF IT IS FOUND THAT THE MANEUVER IS TO TERMINATE BEFORE THE NEXT UPDATE A ROUTINE IS CALLED (AS A WAIT-
014806,000119:                                                                                                  #  LIST TASK) TO STOP THE MANEUVER AT THE APPROPRIATE TIME AS EXPLAINED ABOVE.
014807,000120: 

Page 349

014809,000122:                                                                                                  #  CALLING SEQUENCE
014810,000123: 
014811,000124:                                                                                                  #       IN ORDER TO PERFORM A KALCMANU SUPERVISED MANEUVER, THE COMMANDED GIMBAL ANGLES MUST BE PRECOMPUTED AND
014812,000125:                                                                                                  #  STORED IN LOCATIONS CPHI, CTHETA, CPSI.  THE USER:S PROGRAM MUST THEN CLEAR STATE SWITCH NO 33 TO ALLOW THE
014813,000126:                                                                                                  #  ATTITUDE MANEUVER ROUTINE TO PERFORM ANY FINAL P-AXIS YAW INCURRED BY AVOIDING GIMBAL LOCK.  THE MANEUVER IS
014814,000127:                                                                                                  #  THEN INITIATED BY ESTABLISHING THE FOLLOWING EXECUTIVE JOB
014815,000128: 
014816,000129:                                                                                                  #                         *
014817,000130:                                                                                                  #       CAF     PRIO    XX
014818,000131:                                                                                                  #                       --
014819,000132:                                                                                                  #       INHINT
014820,000133:                                                                                                  #       TC         FINDVAC
014821,000134:                                                                                                  #       2CADR      KALCMAN3
014822,000135:                                                                                                  #       RELINT
014823,000136: 
014824,000137:                                                                                                  #  THE USER:S PROGRAM MAY EITHER CONTINUE OR WAIT FOR THE TERMINATION OF THE MANEUVER.  IF THE USER WISHES TO
014825,000138:                                                                                                  #  WAIT, HE MAY PUT HIS JOB TO SLEEP WITH THE FOLLOWING INSTRUCTIONS
014826,000139: 
014827,000140:                                                                                                  #       L          TC        BANKCALL
014828,000141:                                                                                                  #       L+1        CADR      ATTSTALL
014829,000142:                                                                                                  #       L+2        (BAD      RETURN)
014830,000143:                                                                                                  #       L+3        (GOOD     RETURN)
014831,000144: 
014832,000145:                                                                                                  #       UPON COMPLETION OF THE MANEUVER, THE PROGRAM WILL BE AWAKENED AT L+3 IF THE MANEUVER WAS COMPLETED
014833,000146:                                                                                                  #  SUCCESSFULLY, OR AT L+2 IF THE MANEUVER WAS ABORTED.  THIS ABORT WOULD OCCUR IF THE INITIAL OR FINAL ATTITUDE
014834,000147:                                                                                                  #  WAS IN GIMBAL LOCK.
014835,000148: 
014836,000149:                                                                                                  #  ***NOTA BENE***  IT IS ASSUMED THAT THE DESIRED MANEUVERING RATE (0.5, 2, 5, 10, DEG/SEC) HAS BEEN SELECTED BY
014837,000150:                                                                                                  #  KEYBOARD ENTRY PRIOR TO THE EXECUTION OF KALCMANU.
014838,000151:                                                                                                  #      IT IS ALSO ASSUMED THAT THE AUTOPILOT IS IN THE AUTO MODE.  IF THE MODE SWITCH IS CHANGED DURING THE
014839,000152:                                                                                                  #  MANEUVER, KALCMANU WILL TERMINATE VIA GOODEND WITHIN 1 SECOND SO THAT R60 MAY REQUEST A TRIM OF THE S/C ATTITUDE
014840,000153:                                                                                                  #  THIS IS THE ONLY MEANS FOR MANUALLY TERMINATING A KALCMANU SUPERVISED MANEUVER.
014841,000154:                                                                                                  #  SUBROUTINES
014842,000155: 
014843,000156:                                                                                                  #       KALCMANU USES A NUMBER OF INTERPRETIVE SUBROUTINES WHICH MAY BE OF GENERAL INTEREST.  SINCE THESE ROUTINES
014844,000157:                                                                                                  #  WERE PROGRAMMED EXCLUSIVELY FOR KALCMANU, THEY ARE NOT, AS YET, GENERALLY AVAILABLE FOR USE BY OTHER PROGRAMS.
014845,000158: 
014846,000159:                                                                                                  #       MXM3
014847,000160:                                                                                                  #       ----
014848,000161: 
014849,000162:                                                                                                  #       THIS SUBROUTINE MULTIPLIES TWO 3X3 MATRICES AND LEAVES THE RESULT IN THE FIRST 18 LOCATIONS OF THE PUSH
014850,000163:                                                                                                  #  DOWN LIST, I.E.,
014851,000164: 
014852,000165:                                                                                                  #                 (M    M    M )
014853,000166:                                                                                                  #                 (  0   1    2)
014854,000167:                                                                                                  #        *        (            )       *         *
014855,000168:                                                                                                  #        M    =   (M    M    M )  =    M1   X    M2
014856,000169:                                                                                                  #                 ( 3    4    5)
014857,000170:                                                                                                  #                 (            )
014858,000171:                                                                                                  #                 (M    M    M )
014859,000172: 

Page 350

014861,000174:                                                                                                  #                 ( 6    7    8)
014862,000175: 
014863,000176:                                                                                                  #                                                                                        *
014864,000177:                                                                                                  #       INDEX REGISTER X1 MUST BE LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M1, AND X2 MUST BE
014865,000178:                                                                                                  #                                                         *
014866,000179:                                                                                                  #  LOADED WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M2.   THE ROUTINE USES THE FIRST 20 LOCATIONS OF THE PUSH
014867,000180:                                                                                                  #  DOWN LIST.  THE FIRST ELEMENT OF THE MATRIX APPEARS IN PDO.  PUSH UP FOR M .
014868,000181:                                                                                                  #                                                                            8
014869,000182: 
014870,000183:                                                                                                  #       TRANSPOS
014871,000184:                                                                                                  #       --------
014872,000185: 
014873,000186:                                                                                                  #       THIS ROUTINE TRANSPOSES A 3X3 MATRIX AND LEAVES THE RESULT IN THE PUSH DOWN LIST, I.E.,
014874,000187: 
014875,000188:                                                                                                  #        *         * T
014876,000189:                                                                                                  #        M    =    M1
014877,000190: 
014878,000191:                                                                                                  #  INDEX REGISTER X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M1.  PUSH UP FOR THE FIRST AND SUB-
014879,000192:                                                                                                  #                        *
014880,000193:                                                                                                  #  SEQUENT COMPONENTS OF M.   THIS SUBROUTINE ALSO USES THE FIRST 20 LOCATIONS OF THE PUSH DOWN LIST.
014881,000194: 
014882,000195:                                                                                                  #       CDU TO DCM
014883,000196:                                                                                                  #       ----------
014884,000197: 
014885,000198:                                                                                                  #       THIS SUBROUTINE CONVERTS THREE CDU ANGLES IN T(MPAC) TO A DIRECTION COSINE MATRIX (SCALED BY 2) RELATING
014886,000199:                                                                                                  #  THE CORRESPONDING S/C ORIENTATIONS TO THE STABLE MEMBER FRAME.  THE FORMULAS FOR THIS CONVERSION ARE
014887,000200: 
014888,000201:                                                                                                  #        M    =    COSY  COSZ
014889,000202:                                                                                                  #         0
014890,000203: 
014891,000204:                                                                                                  #        M    =    -COSY  SINZ  COSX  +  SINY  SINX
014892,000205:                                                                                                  #         1
014893,000206: 
014894,000207:                                                                                                  #        M    =    COSY  SINZ  SINX  +  SINY  COSX
014895,000208:                                                                                                  #         2
014896,000209: 
014897,000210:                                                                                                  #        M    =    SINZ
014898,000211:                                                                                                  #         3
014899,000212: 
014900,000213:                                                                                                  #        M    =    COSZ  COSX
014901,000214:                                                                                                  #         4
014902,000215: 
014903,000216:                                                                                                  #        M    =    -COSZ  SINX
014904,000217:                                                                                                  #         5
014905,000218: 
014906,000219:                                                                                                  #        M    =    -SINY  COSZ
014907,000220:                                                                                                  #         6
014908,000221: 
014909,000222:                                                                                                  #        M    =    SINY  SINZ  COSX  +  COSY  SINX
014910,000223:                                                                                                  #         7
014911,000224: 

Page 351

014913,000226:                                                                                                  #        M    =    -SINY  SINZ  SINX  +  COSY  COSX
014914,000227:                                                                                                  #         8
014915,000228: 
014916,000229:                                                                                                  #  WHERE      X    =    OUTER GIMBAL ANGLE
014917,000230:                                                                                                  #             Y    =    INNER GIMBAL ANGLE
014918,000231:                                                                                                  #             Z    =    MIDDLE GIMBAL ANGLE
014919,000232: 
014920,000233:                                                                                                  #       THE INTERPRETATION OF THIS MATRIX IS AS FOLLOWS
014921,000234: 
014922,000235:                                                                                                  #       IF A , A , A  REPRESENT THE COMPONENTS OF A VECTOR IN S/C AXES THEN THE COMPONENTS OF THE SAME VECTOR IN
014923,000236:                                                                                                  #           X   Y   Z
014924,000237:                                                                                                  #  STABLE MEMBER AXES (B , B , B ) ARE
014925,000238:                                                                                                  #                       X   Y   Z
014926,000239: 
014927,000240:                                                                                                  #             (B )                (A )
014928,000241:                                                                                                  #             ( X)                ( X)
014929,000242:                                                                                                  #             (  )                (  )
014930,000243:                                                                                                  #             (  )           *    (  )
014931,000244:                                                                                                  #             (B )      =    M    (A )
014932,000245:                                                                                                  #             ( Y)                ( Y)
014933,000246:                                                                                                  #             (  )                (  )
014934,000247:                                                                                                  #             (B )                (A )
014935,000248:                                                                                                  #             ( Z)                ( Z)
014936,000249: 
014937,000250:                                                                                                  #      THE SUBROUTINE WILL STORE THIS MATRIX IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY AS SPECIFIED BY THE CALLING
014938,000251:                                                                                                  #                                                                                                              *
014939,000252:                                                                                                  #  PROGRAM.  TO DO THIS THE CALLING PROGRAM MUST FIRST LOAD X2 WITH THE COMPLEMENT OF THE STARTING ADDRESS FOR M.
014940,000253: 
014941,000254:                                                                                                  #       INTERNALLY, THE ROUTINE USES THE FIRST 16 LOCATIONS OF THE PUSH DOWN LIST, ALSO STEP REGISTER S1 AND INDEX
014942,000255:                                                                                                  #  REGISTER X2.
014943,000256: 
014944,000257: 
014945,000258:                                                                                                  #       DCM TO CDU
014946,000259:                                                                                                  #       ----------
014947,000260:                                                                                                  #                                                                            *
014948,000261:                                                                                                  #       THIS ROUTINE EXTRACTS THE CDU ANGLES FROM A DIRECTION COSINE MATRIX (M SCALED BY 2) RELATING S/C AXIS TO
014949,000262:                                                                                                  #                                                                                  *
014950,000263:                                                                                                  #  STABLE MEMBER AXES.  X1 MUST CONTAIN THE COMPLEMENT OF THE STARTING ADDRESS FOR M.  THE SUBROUTINE LEAVES THE
014951,000264:                                                                                                  #  CORRESPONDING GIMBAL ANGLES IN V(MPAC) AS DOUBLE PRECISION 1:S COMPLEMENT ANGLES SCALED BY 2PI.  THE FORMULAS
014952,000265:                                                                                                  #  FOR THIS CONVERSION ARE
014953,000266: 
014954,000267:                                                                                                  #        Z    =    ARCSIN (M  )
014955,000268:                                                                                                  #                           3
014956,000269: 
014957,000270:                                                                                                  #        Y    =    ARCSIN (-M /COSZ)
014958,000271:                                                                                                  #                            6
014959,000272: 
014960,000273:                                                                                                  #  IF M  IS NEGATIVE, Y IS REPLACED BY PI SGN Y - Y
014961,000274:                                                                                                  #      0
014962,000275: 

Page 352

014964,000277:                                                                                                  #        X    =    ARCSIN (-M /COSZ)
014965,000278:                                                                                                  #                            5
014966,000279: 
014967,000280:                                                                                                  #  IF M  IS NEGATIVE X IS REPLACED BY PI SGN X - X
014968,000281:                                                                                                  #      4
014969,000282: 
014970,000283:                                                                                                  #       THIS ROUTINE DOES NOT SET THE PUSH DOWN POINTER, BUT USES THE NEXT 8 LOCATIONS OF THE PUSH DOWN LIST AND
014971,000284:                                                                                                  #  RETURNS THE POINTER TO ITS ORIGINAL SETTING.  THIS PROCEDURE ALLOWS THE CALLER TO STORE THE MATRIX AT THE TOP OF
014972,000285:                                                                                                  #  THE PUSH DOWN LIST.
014973,000286: 
014974,000287: 
014975,000288:                                                                                                  #       DELCOMP
014976,000289:                                                                                                  #       -------
014977,000290: 
014978,000291:                                                                                                  #                                                           *
014979,000292:                                                                                                  #       THIS ROUTINE COMPUTES THE DIRECTION COSINE MATRIX (DEL) RELATING ON
014980,000293:                                                                                                  #                                                                           -
014981,000294:                                                                                                  #  IS ROTATED WITH RESPECT TO THE FIRST BY AN ANGLE, A, ABOUT A UNIT VECTOR, U.  THE FORMULA FOR THIS MATRIX IS
014982,000295: 
014983,000296:                                                                                                  #        *         *           --T           *
014984,000297:                                                                                                  #        DEL  =    I  COSA  +  UU (1-COSA) + V SINA
014985,000298:                                                                                                  #                                             X
014986,000299: 
014987,000300:                                                                                                  #  WHERE      *         (1    0    0)
014988,000301:                                                                                                  #             I    =    (0    1    0)
014989,000302:                                                                                                  #                       (0    0    1)
014990,000303: 
014991,000304: 
014992,000305:                                                                                                  #                          2
014993,000306:                                                                                                  #                       (U         U U       U  U )
014994,000307:                                                                                                  #                       ( X         X Y       X  Z)
014995,000308:                                                                                                  #                       (                         )
014996,000309:                                                                                                  #             --T       (            2            )
014997,000310:                                                                                                  #             UU   =    (U U       U         U U  )
014998,000311:                                                                                                  #                       ( Y X       Y         Y Z )
014999,000312:                                                                                                  #                       (                         )
015000,000313:                                                                                                  #                       (                      2  )
015001,000314:                                                                                                  #                       (U U       U U       U   )
015002,000315:                                                                                                  #                       ( Z X       Z Y       Z   )
015003,000316: 
015004,000317: 
015005,000318:                                                                                                  #                       (0         -U        U  )
015006,000319:                                                                                                  #                       (            Z        Y )
015007,000320:                                                                                                  #             *         (                       )
015008,000321:                                                                                                  #             V    =    (U         0         -U )
015009,000322:                                                                                                  #              X        ( Z                    X)
015010,000323:                                                                                                  #                       (                       )
015011,000324:                                                                                                  #                       (-U        U         0  )
015012,000325:                                                                                                  #                       (  Y        X           )
015013,000326: 

Page 353

015015,000328:                                                                                                  #             -
015016,000329:                                                                                                  #             U    =    UNIT ROTATION VECTOR RESOLVED INTO S/C AXES
015017,000330:                                                                                                  #             A    =    ROTATION ANGLE
015018,000331: 
015019,000332:                                                                                                  #                              *
015020,000333:                                                                                                  #       THE INTERPRETATION OF DEL IS AS FOLLOWS
015021,000334: 
015022,000335:                                                                                                  #       IF A , A , A  REPRESENT THE COMPONENT OF A VECTOR INTHE ROTATED FRAME, THEN THE COMPONENTS OF THE SAME
015023,000336:                                                                                                  #           X   Y   Z
015024,000337:                                                                                                  #  VECTOR IN THE ORIGINAL S/C AXES (B , B , B ) ARE
015025,000338:                                                                                                  #                                    X   Y   Z
015026,000339: 
015027,000340:                                                                                                  #              (B )                    (A )
015028,000341:                                                                                                  #              ( X)                    ( X)
015029,000342:                                                                                                  #              (  )           *        (  )
015030,000343:                                                                                                  #              (B )     =    DEL       (A )
015031,000344:                                                                                                  #              ( Y)                    ( Y)
015032,000345:                                                                                                  #              (  )                    (  )
015033,000346:                                                                                                  #              (B )                    (A )
015034,000347:                                                                                                  #              ( Z)                    ( Z)
015035,000348: 
015036,000349:                                                                                                  #       THE ROUTINE WILL STORE THIS MATRIX (SCALED UNITY) IN SEQUENTIAL LOCATIONS OF ERASABLE MEMORY BEGINNING WITH
015037,000350:                                                                                                  #                                                                                              -
015038,000351:                                                                                                  #  THE LOCATION CALLED DEL.  IN ORDER TO USE THE ROUTINE, THE CALLING PROGRAM MUST FIRST STORE U (A HALF UNIT
015039,000352:                                                                                                  #  DOUBLE PRECISION VECTOR) IN THE SET OF ERASABLE LOCATIONS BEGINNING WITH THE ADDRESS CALLED COF.  THE ANGLE, A,
015040,000353:                                                                                                  #  MUST THEN BE LOADED INTO D(MPAC).
015041,000354: 
015042,000355:                                                                                                  #       INTERNALLY, THE PROGRAM ALSO USES THE FIRST 10 LOCATIONS OF THE PUSH DOWN LIST.
015043,000356: 
015044,000357: 
015045,000358:                                                                                                  #       READCDUK
015046,000359:                                                                                                  #       --------
015047,000360: 
015048,000361:                                                                                                  #       THIS BASIC LANGUAGE SUBROUTINE LOADS T(MPAC) WITH THE THREE CDU ANGLES.
015049,000362: 
015050,000363: 
015051,000364:                                                                                                  #      SIGNMPAC
015052,000365:                                                                                                  #       --------
015053,000366: 
015054,000367:                                                                                                  #       THIS IS A BASIC LANGUAGE SUBROUTINE WHICH LIMITS THE MAGNITUDE OF D(MPAC) TO + OR - DPOSMAX ON OVERFLOW.
015055,000368: 
015056,000369: 
015057,000370:                                                                                                  #       PROGRAM STORAGE ALLOCATION
015058,000371: 
015059,000372:                                                                                                  #             1)   FIXED MEMORY                       1059 WORDS
015060,000373:                                                                                                  #             2)   ERASABLE MEMORY                      98
015061,000374:                                                                                                  #             3)   STATE SWITCHES                        3
015062,000375: 

Page 354

015064,000377:                                                                                                  #             4)   FLAGS                                 1
015065,000378: 
015066,000379:                                                                                                  #       JOB PRIORITIES
015067,000380: 
015068,000381:                                                                                                  #             1)   KALCMANU                            TBD
015069,000382:                                                                                                  #             2)   ONE SECOND UPDATE                   TBD
015070,000383: 
015071,000384: 
015072,000385:                                                                                                  #       SUMMARY OF STATE SWITCHES AND FLAGWORDS USED BY KALCMANU.
015073,000386: 
015074,000387: 
015075,000388:                                                                                                  #  STATE                FLAGWRD 2      SETTING             MEANING
015076,000389:                                                                                                  #  SWITCH NO.            BIT NO.
015077,000390: 
015078,000391:                                                                                                  #    *
015079,000392:                                                                                                  #  31                      14            0       MANEUVER WENT THROUGH GIMBAL LOCK
015080,000393:                                                                                                  #                                        1       MANEUVER DID NOT GO THROUGH GIMBAL LOCK
015081,000394: 
015082,000395:                                                                                                  #    *
015083,000396:                                                                                                  #  32                      13            0       CONTINUE UPDATE PROCESS
015084,000397:                                                                                                  #                                        1       START UPDATE PROCESS
015085,000398: 
015086,000399:                                                                                                  #  33                      12            0       PERFORM FINAL P-AXIS YAW IF REQUIRED
015087,000400:                                                                                                  #                                        1       IGNORE ANY FINAL P-AXIS YAW
015088,000401: 
015089,000402:                                                                                                  #  34                      11            0       SIGNAL END OF KALCMANU
015090,000403:                                                                                                  #                                        1       KALCMANU IN PROCESS       USER MUST SET SWITCH BEFORE INITIATING
015091,000404: 
015092,000405: 
015093,000406:                                                                                                  #          * INTERNAL TO KALCMANU
015094,000407: 
015095,000408: 
015096,000409:                                                                                                  #       SUGGESTIONS FOR PROGRAM INTEGRATION
015097,000410: 
015098,000411:                                                                                                  #       THE FOLLOWING VARIABLES SHOULD BE ASSIGNED TO UNSWITCH ERASABLE
015099,000412: 
015100,000413:                                                                                                  #                       CPHI
015101,000414:                                                                                                  #                       CTHETA
015102,000415:                                                                                                  #                       CPSI
015103,000416:                                                                                                  #                       POINTVSM  +5
015104,000417:                                                                                                  #                       SCAXIS    +5
015105,000418:                                                                                                  #                       DELDCDU
015106,000419:                                                                                                  #                       DELDCDU1
015107,000420:                                                                                                  #                       DELDCDU2
015108,000421:                                                                                                  #                       RATEINDX
015109,000422: 
015110,000423:                                                                                                  #       THE FOLLOWING SUBROUTINES MAY BE PUT IN A DIFFERENT BANK
015111,000424: 
015112,000425:                                                                                                  #                       MXM3

Page 355

015114,000427:                                                                                                  #                       TRANSPOS
015115,000428:                                                                                                  #                       SIGNMPAC
015116,000429:                                                                                                  #                       READCDUK
015117,000430:                                                                                                  #                       CDUTODCM
015118,000431: 

Page 356

015120,000433: 15,2050                                           BANK     15                                    
015121,000434: 22,2000                                           SETLOC   KALCMON1                              
015122,000435: 22,2000                                           BANK                                           
015123,000436: 
015124,000437: 22,2004  E6,1675                                  EBANK=   BCDU                                  
015125,000438: 
015126,000439:                                                                                                  #  THE THREE DESIRED CDU ANGLES MUST BE STORED AS SINGLE PRECISION TWOS COMPLEMENT ANGLES IN THE THREE SUCCESSIVE
015127,000440:                                                                                                  #  LOCATIONS, CPHI, CTHETA, CPSI.
015128,000441: 
015129,000442: 22,2004                                           COUNT*   $$/KALC                               
015130,000443: 22,2004           06042        KALCMAN3           TC       INTPRET                               #  PICK UP THE CURRENT CDU ANGLES AND
015131,000444: 22,2005           77634                           RTB                                            #    COMPUTE THE MATRIX FROM INITIAL S/C
015132,000445: 22,2006           44403                                    READCDUK                              #    AXES TO FINAL S/C AXES
015133,000446: 22,2007           03276                           STORE    BCDU                                  #  STORE INITIAL S/C ANGLES
015134,000447: 22,2010           51535                           SLOAD    ABS                                   #  CHECK THE MAGNITUDE OF THE DESIRED
015135,000448: 22,2011           00324                                    CPSI                                  #  MIDDLE GIMBAL ANGLE
015136,000449: 22,2012           51025                           DSU      BPL                                   
015137,000450: 22,2013           04403                                    LOCKANGL                              #  IF GREATER THAN 70 DEG ABORT MANEUVER
015138,000451: 22,2014           44724                                    TOOBADF                               
015139,000452: 22,2015           72364                           AXC,2    TLOAD                                 
015140,000453: 22,2016           03245                                    MIS                                   
015141,000454: 22,2017           03276                                    BCDU                                  
015142,000455: 22,2020           77624                           CALL                                           #  COMPUTE THE TRANSFORMATION FROM INITIAL
015143,000456: 22,2021           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES
015144,000457: 22,2022           72364                           AXC,2    TLOAD                                 
015145,000458: 22,2023           02230                                    MFS                                   #  PREPARE TO CALCULATE ARRAY MFS
015146,000459: 22,2024           00322                                    CPHI                                  
015147,000460: 22,2025           77624                           CALL                                           
015148,000461: 22,2026           44410                                    CDUTODCM                              
015149,000462: 22,2027           45160        SECAD              AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
015150,000463: 22,2030           03245                                    MIS                                   
015151,000464: 22,2031           44326                                    TRANSPOS                              
015152,000465: 22,2032           45575                           VLOAD    STADR                                 
015153,000466: 22,2033           50460                           STOVL    TMIS       +12D                       
015154,000467: 22,2034           77626                           STADR                                          
015155,000468: 22,2035           50466                           STOVL    TMIS       +6                         
015156,000469: 22,2036           77626                           STADR                                          
015157,000470: 22,2037           74474                           STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
015158,000471: 22,2040           75160                           AXC,1    AXC,2                                 
015159,000472: 22,2041           03302                                    TMIS                                  
015160,000473: 22,2042           02230                                    MFS                                   
015161,000474: 22,2043           77624                           CALL                                           
015162,000475: 22,2044           44312                                    MXM3                                  
015163,000476: 22,2045           45575                           VLOAD    STADR                                 
015164,000477: 22,2046           51532                           STOVL    MFI        +12D                       
015165,000478: 22,2047           77626                           STADR                                          
015166,000479: 22,2050           51540                           STOVL    MFI        +6                         
015167,000480: 22,2051           77626                           STADR                                          
015168,000481: 22,2052           75546                           STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
015169,000482: 22,2053           45001                           SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
015170,000483: 

Page 357

015172,000485: 22,2054           00023                                    18D                                   
015173,000486: 22,2055           44335                                    TRNSPSPD                              
015174,000487: 22,2056           45575                           VLOAD    STADR                                 
015175,000488: 22,2057           50460                           STOVL    TMFI       +12D                       
015176,000489: 22,2060           77626                           STADR                                          
015177,000490: 22,2061           50466                           STOVL    TMFI       +6                         
015178,000491: 22,2062           77626                           STADR                                          
015179,000492: 22,2063           74474                           STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
015180,000493: 
015181,000494:                                                                                                  #  CALCULATE COFSKEW AND MFISYM
015182,000495: 
015183,000496: 22,2064           45345                           DLOAD    DSU                                   
015184,000497: 22,2065           03305                                    TMFI       +2                         
015185,000498: 22,2066           02233                                    MFI        +2                         
015186,000499: 22,2067           45325                           PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
015187,000500: 22,2070           02235                                    MFI        +4                         
015188,000501: 22,2071           03307                                    TMFI       +4                         
015189,000502: 22,2072           45325                           PDDL     DSU                                   
015190,000503: 22,2073           03315                                    TMFI       +10D                       
015191,000504: 22,2074           02243                                    MFI        +10D                       
015192,000505: 22,2075           77666                           VDEF                                           
015193,000506: 22,2076           03325                           STORE    COFSKEW                               #  EQUALS MFISKEW
015194,000507: 
015195,000508:                                                                                                  #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
015196,000509: 
015197,000510: 22,2077           43345                           DLOAD    DAD                                   
015198,000511: 22,2100           02231                                    MFI                                   
015199,000512: 22,2101           02251                                    MFI        +16D                       
015200,000513: 22,2102           43225                           DSU      DAD                                   
015201,000514: 22,2103           06510                                    DP1/4TH                               
015202,000515: 22,2104           02241                                    MFI        +8D                        
015203,000516: 22,2105           03333                           STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
015204,000517: 22,2106           77726                           ARCCOS                                         
015205,000518: 22,2107           03335                           STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
015206,000519: 22,2110           51025                           DSU      BPL                                   
015207,000520: 22,2111           04363                                    MINANG                                
015208,000521: 22,2112           44117                                    CHECKMAX                              
015209,000522: 22,2113           77751                           TLOAD                                          #  MANEUVER LESS THAN .25 DEGREES
015210,000523: 22,2114           00322                                    CPHI                                  #  GO DIRECTLY INTO ATTITUDE HOLD
015211,000524: 22,2115           37235                           STCALL   CDUXD                                 #  ABOUT COMMANDED ANGLES
015212,000525: 22,2116           44742                                    TOOBADI                               #  STOP RATE AND EXIT
015213,000526: 
015214,000527: 22,2117           45345        CHECKMAX           DLOAD    DSU                                   
015215,000528: 22,2120           03335                                    AM                                    
015216,000529: 22,2121           04365                                    MAXANG                                
015217,000530: 22,2122           77244                           BPL      VLOAD                                 
015218,000531: 22,2123           44131                                    ALTCALC                               #  UNIT
015219,000532: 22,2124           03325                                    COFSKEW                               #  COFSKEW
015220,000533: 22,2125           77656                           UNIT                                           
015221,000534: 22,2126           03270                           STORE    COF                                   #  COF IS THE MANEUVER AXIS
015222,000535: 

Page 358

015224,000537: 22,2127           77650                           GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
015225,000538: 22,2130           44744                                    LOCSKIRT                              
015226,000539: 22,2131           53375        ALTCALC            VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
015227,000540: 22,2132           02231                                    MFI                                   
015228,000541: 22,2133           03303                                    TMFI                                  
015229,000542: 22,2134           77762                           VSR1                                           
015230,000543: 22,2135           27303                           STOVL    MFISYM                                
015231,000544: 22,2136           02237                                    MFI        +6                         
015232,000545: 22,2137           74455                           VAD      VSR1                                  
015233,000546: 22,2140           03311                                    TMFI       +6                         
015234,000547: 22,2141           27311                           STOVL    MFISYM     +6                         
015235,000548: 22,2142           02245                                    MFI        +12D                       
015236,000549: 22,2143           74455                           VAD      VSR1                                  
015237,000550: 22,2144           03317                                    TMFI       +12D                       
015238,000551: 22,2145           03317                           STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2   SCALED BY 4
015239,000552: 
015240,000553: 
015241,000554:                                                                                                  #  CALCULATE COF
015242,000555: 
015243,000556: 
015244,000557: 22,2146           70545                           DLOAD    SR1                                   
015245,000558: 22,2147           03333                                    CAM                                   
015246,000559: 22,2150           45325                           PDDL     DSU                                   #  PDO CAM                                $4
015247,000560: 22,2151           06516                                    DPHALF                                
015248,000561: 22,2152           03333                                    CAM                                   
015249,000562: 22,2153           65204                           BOVB     PDDL                                  #  PD2 1 - CAM                            $2
015250,000563: 22,2154           21713                                    SIGNMPAC                              
015251,000564: 22,2155           03323                                    MFISYM     +16D                       
015252,000565: 22,2156           56225                           DSU      DDV                                   
015253,000566: 22,2157           00001                                    0                                     
015254,000567: 22,2160           00003                                    2                                     
015255,000568: 22,2161           65366                           SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/1-CAM)
015256,000569: 22,2162           03313                                    MFISYM     +8D                        #                                 $ ROOT 2
015257,000570: 22,2163           56225                           DSU      DDV                                   
015258,000571: 22,2164           00001                                    0                                     
015259,000572: 22,2165           00003                                    2                                     
015260,000573: 22,2166           65366                           SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM)   $ROOT2
015261,000574: 22,2167           03303                                    MFISYM                                
015262,000575: 22,2170           56225                           DSU      DDV                                   
015263,000576: 22,2171           00001                                    0                                     
015264,000577: 22,2172           00003                                    2                                     
015265,000578: 22,2173           55566                           SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM)   $ROOT 2
015266,000579: 22,2174           77656                           UNIT                                           
015267,000580: 22,2175           03270                           STORE    COF                                   
015268,000581: 
015269,000582:                                                                                                  #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
015270,000583: 
015271,000584: 22,2176           45345        COFMAXGO           DLOAD    DSU                                   
015272,000585: 22,2177           03270                                    COF                                   
015273,000586: 22,2200           03272                                    COF        +2                         
015274,000587: 22,2201           71240                           BMN      DLOAD                                 #  COFY G COFX
015275,000588: 

Page 359

015277,000590: 22,2202           44211                                    COMP12                                
015278,000591: 22,2203           03270                                    COF                                   
015279,000592: 22,2204           50025                           DSU      BMN                                   
015280,000593: 22,2205           03274                                    COF        +4                         
015281,000594: 22,2206           44266                                    METHOD3                               #  COFZ G COFX OR COFY
015282,000595: 22,2207           77650                           GOTO                                           
015283,000596: 22,2210           44242                                    METHOD1                               #  COFX G COFY OR COFZ
015284,000597: 22,2211           45345        COMP12             DLOAD    DSU                                   
015285,000598: 22,2212           03272                                    COF        +2                         
015286,000599: 22,2213           03274                                    COF        +4                         
015287,000600: 22,2214           77640                           BMN                                            
015288,000601: 22,2215           44266                                    METHOD3                               #  COFZ G COFY OR COFX
015289,000602: 
015290,000603: 22,2216           51145        METHOD2            DLOAD    BPL                                   #  COFY MAX
015291,000604: 22,2217           03327                                    COFSKEW    +2                         #  UY
015292,000605: 22,2220           44224                                    U2POS                                 
015293,000606: 22,2221           57575                           VLOAD    VCOMP                                 
015294,000607: 22,2222           03270                                    COF                                   
015295,000608: 22,2223           03270                           STORE    COF                                   
015296,000609: 22,2224           51145        U2POS              DLOAD    BPL                                   
015297,000610: 22,2225           03305                                    MFISYM     +2                         #  UX UY
015298,000611: 22,2226           44232                                    OKU21                                 
015299,000612: 22,2227           57545                           DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
015300,000613: 22,2230           03270                                    COF                                   
015301,000614: 22,2231           03270                           STORE    COF                                   
015302,000615: 22,2232           51145        OKU21              DLOAD    BPL                                   
015303,000616: 22,2233           03315                                    MFISYM     +10D                       #  UY UZ
015304,000617: 22,2234           44744                                    LOCSKIRT                              
015305,000618: 22,2235           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
015306,000619: 22,2236           03274                                    COF        +4                         
015307,000620: 22,2237           03274                           STORE    COF        +4                         
015308,000621: 22,2240           77650                           GOTO                                           
015309,000622: 22,2241           44744                                    LOCSKIRT                              
015310,000623: 22,2242           51145        METHOD1            DLOAD    BPL                                   #  COFX MAX
015311,000624: 22,2243           03325                                    COFSKEW                               #  UX
015312,000625: 22,2244           44250                                    U1POS                                 
015313,000626: 22,2245           57575                           VLOAD    VCOMP                                 
015314,000627: 22,2246           03270                                    COF                                   
015315,000628: 22,2247           03270                           STORE    COF                                   
015316,000629: 22,2250           51145        U1POS              DLOAD    BPL                                   
015317,000630: 22,2251           03305                                    MFISYM     +2                         #  UX UY
015318,000631: 22,2252           44256                                    OKU12                                 
015319,000632: 22,2253           57545                           DLOAD    DCOMP                                 
015320,000633: 22,2254           03272                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UX
015321,000634: 22,2255           03272                           STORE    COF        +2                         
015322,000635: 22,2256           51145        OKU12              DLOAD    BPL                                   
015323,000636: 22,2257           03307                                    MFISYM     +4                         #  UX UZ
015324,000637: 22,2260           44744                                    LOCSKIRT                              
015325,000638: 22,2261           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
015326,000639: 22,2262           03274                                    COF        +4                         
015327,000640: 

Page 360

015329,000642: 22,2263           03274                           STORE    COF        +4                         
015330,000643: 22,2264           77650                           GOTO                                           
015331,000644: 22,2265           44744                                    LOCSKIRT                              
015332,000645: 22,2266           51145        METHOD3            DLOAD    BPL                                   #  COFZ MAX
015333,000646: 22,2267           03331                                    COFSKEW    +4                         #  UZ
015334,000647: 22,2270           44274                                    U3POS                                 
015335,000648: 22,2271           57575                           VLOAD    VCOMP                                 
015336,000649: 22,2272           03270                                    COF                                   
015337,000650: 22,2273           03270                           STORE    COF                                   
015338,000651: 22,2274           51145        U3POS              DLOAD    BPL                                   
015339,000652: 22,2275           03307                                    MFISYM     +4                         #  UX UZ
015340,000653: 22,2276           44302                                    OKU31                                 
015341,000654: 22,2277           57545                           DLOAD    DCOMP                                 
015342,000655: 22,2300           03270                                    COF                                   #  SIGN OF UX OPPOSITE TO UZ
015343,000656: 22,2301           03270                           STORE    COF                                   
015344,000657: 22,2302           51145        OKU31              DLOAD    BPL                                   
015345,000658: 22,2303           03315                                    MFISYM     +10D                       #  UY UZ
015346,000659: 22,2304           44744                                    LOCSKIRT                              
015347,000660: 22,2305           57545                           DLOAD    DCOMP                                 
015348,000661: 22,2306           03272                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
015349,000662: 22,2307           03272                           STORE    COF        +2                         
015350,000663: 22,2310           77650                           GOTO                                           
015351,000664: 22,2311           44744                                    LOCSKIRT                              

Page 361

015353,000666:                                                                                                  #  MATRIX OPERATIONS
015354,000667: 
015355,000668: 13,2207                                           BANK     13                                    
015356,000669: 22,2000                                           SETLOC   KALCMON2                              
015357,000670: 22,2000                                           BANK                                           
015358,000671: 
015359,000672: 22,2312  E6,1675                                  EBANK=   BCDU                                  
015360,000673: 
015361,000674: 22,2312           76601        MXM3               SETPD    VLOAD*                                #  MXM3 MULTIPLIES 2 3X3 MATRICES
015362,000675: 22,2313           00001                                    0                                     #  AND LEAVES RESULT IN PD LIST
015363,000676: 22,2314           00001                                    0,1                                   #  AND MPAC
015364,000677: 22,2315           62703                           VXM*     PDVL*                                 
015365,000678: 22,2316           77776                                    0,2                                   
015366,000679: 22,2317           00007                                    6,1                                   
015367,000680: 22,2320           62703                           VXM*     PDVL*                                 
015368,000681: 22,2321           77776                                    0,2                                   
015369,000682: 22,2322           00015                                    12D,1                                 
015370,000683: 22,2323           41503                           VXM*     PUSH                                  
015371,000684: 22,2324           77776                                    0,2                                   
015372,000685: 22,2325           77616                           RVQ                                            
015373,000686: 
015374,000687: 
015375,000688:                                                                                                  #  RETURN WITH M1XM2 IN PD LIST
015376,000689: 
015377,000690: 22,2326           76601        TRANSPOS           SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
015378,000691: 22,2327           00001                                    0                                     #   AND LEAVES RESULT IN PD LIST
015379,000692: 22,2330           00001                                    0,1                                   #  MATRIX ADDRESS IN XR1
015380,000693: 22,2331           62713                           PDVL*    PDVL*                                 
015381,000694: 22,2332           00007                                    6,1                                   
015382,000695: 22,2333           00015                                    12D,1                                 
015383,000696: 22,2334           77606                           PUSH                                           #  MATRIX IN PD
015384,000697: 22,2335           77776        TRNSPSPD           EXIT                                           #  ENTER WITH MATRIX AT 0 IN PD LIST
015385,000698: 22,2336           50120                           INDEX    FIXLOC                                
015386,000699: 22,2337           52013                           DXCH     12                                    
015387,000700: 22,2340           50120                           INDEX    FIXLOC                                
015388,000701: 22,2341           52017                           DXCH     16                                    
015389,000702: 22,2342           50120                           INDEX    FIXLOC                                
015390,000703: 22,2343           52013                           DXCH     12                                    
015391,000704: 22,2344           50120                           INDEX    FIXLOC                                
015392,000705: 22,2345           52015                           DXCH     14                                    
015393,000706: 22,2346           50120                           INDEX    FIXLOC                                
015394,000707: 22,2347           52005                           DXCH     4                                     
015395,000708: 22,2350           50120                           INDEX    FIXLOC                                
015396,000709: 22,2351           52015                           DXCH     14                                    
015397,000710: 22,2352           50120                           INDEX    FIXLOC                                
015398,000711: 22,2353           52003                           DXCH     2                                     
015399,000712: 22,2354           50120                           INDEX    FIXLOC                                
015400,000713: 22,2355           52007                           DXCH     6                                     
015401,000714: 22,2356           50120                           INDEX    FIXLOC                                
015402,000715: 22,2357           52003                           DXCH     2                                     
015403,000716: 

Page 362

015405,000718: 22,2360           06042                           TC       INTPRET                               
015406,000719: 22,2361           77616                           RVQ                                            
015407,000720: 
015408,000721: 15,2050                                           BANK     15                                    
015409,000722: 22,2000                                           SETLOC   KALCMON1                              
015410,000723: 22,2000                                           BANK                                           
015411,000724: 
015412,000725: 22,2362  E6,1675                                  EBANK=   BCDU                                  
015413,000726: 
015414,000727: 22,2362           00013 13563  MINANG             2DEC     0.00069375                            
015415,000728: 22,2364           17070 34343  MAXANG             2DEC     0.472222222                            
015416,000729:                                                                                                  #  GIMBAL LOCK CONSTANTS
015417,000730: 
015418,000731:                                                                                                  #  D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
015419,000732:                                                                                                  #           NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
015420,000733: 
015421,000734: 22,2366           15666 20443  SD                 2DEC     .433015                               #  = SIN(D)                        $2
015422,000735: 22,2370           33555 01106  K3S1               2DEC     .86603                                #  = SIN(D)                        $1
015423,000736: 22,2372           67777 77777  K4                 2DEC     -.25                                  #  = -COS(D)                       $2
015424,000737: 22,2374           04000 00000  K4SQ               2DEC     .125                                  #  = COS(D)COS(D)                  $2
015425,000738: 22,2376           00216 36323  SNGLCD             2DEC     .008725                               #  = SIN(NGL)COS(D)                $2
015426,000739: 22,2400           17773 00057  CNGL               2DEC     .499695                               #  COS(NGL)                        $2
015427,000740: 22,2402           14344        LOCKANGL           DEC      .388889                               #  = 70 DEGREES
015428,000741:                                                                                                  #  INTERPRETIVE SUBROUTINE TO READ THE CDU ANGLES
015429,000742: 
015430,000743: 22,2403           30034        READCDUK           CA       CDUZ                                  #  LOAD T(MPAC) WITH CDU ANGLES
015431,000744: 22,2404           54156                           TS       MPAC       +2                         
015432,000745: 22,2405           00006                           EXTEND                                         
015433,000746: 22,2406           30033                           DCA      CDUX                                  #  AND CHANGE MODE TO TRIPLE PRECISION
015434,000747: 22,2407           16501                           TCF      TLOAD      +6                         
015435,000748: 
015436,000749: 
015437,000750: 22,2410           66370        CDUTODCM           AXT,1    SSP                                   
015438,000751: 22,2411           00003                           OCT      3                                     
015439,000752: 22,2412           00051                                    S1                                    
015440,000753: 22,2413           00001                           OCT      1                                     #  SET XR1, S1, AND PD FOR LOOP
015441,000754: 22,2414           00010                           STORE    7                                     
015442,000755: 22,2415           77601                           SETPD                                          
015443,000756: 22,2416           00001                                    0                                     
015444,000757: 22,2417           47133        LOOPSIN            SLOAD*   RTB                                   
015445,000758: 22,2420           00013                                    10D,1                                 
015446,000759: 22,2421           21577                                    CDULOGIC                              
015447,000760: 

Page 363

015449,000762: 22,2422           00013                           STORE    10D                                   #  LOAD PD WITH  0 SIN(PHI)
015450,000763: 22,2423           65356                           SIN      PDDL                                  #                2 COS(PHI)
015451,000764: 22,2424           00013                                    10D                                   #                4 SIN(THETA)
015452,000765: 22,2425           41546                           COS      PUSH                                  #                6 COS(THETA)
015453,000766: 22,2426           71300                           TIX,1    DLOAD                                 #                8 SIN(PSI)
015454,000767: 22,2427           44417                                    LOOPSIN                               #               10 COS(PSI)
015455,000768: 22,2430           00007                                    6                                     
015456,000769: 22,2431           72405                           DMP      SL1                                   
015457,000770: 22,2432           00013                                    10D                                   
015458,000771: 22,2433           10001                           STORE    0,2                                   #  C0=COS(THETA)COS(PSI)
015459,000772: 22,2434           41345                           DLOAD    DMP                                   
015460,000773: 22,2435           00005                                    4                                     
015461,000774: 22,2436           00001                                    0                                     
015462,000775: 22,2437           41325                           PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI))
015463,000776: 22,2440           00007                                    6                                     
015464,000777: 22,2441           00011                                    8D                                    
015465,000778: 22,2442           72405                           DMP      SL1                                   
015466,000779: 22,2443           00003                                    2                                     
015467,000780: 22,2444           72421                           BDSU     SL1                                   
015468,000781: 22,2445           00015                                    12D                                   
015469,000782: 22,2446           10003                           STORE    2,2                                   #  C1=-COS(THETA)SIN(PSI)COS(PHI)
015470,000783: 22,2447           41345                           DLOAD    DMP                                   
015471,000784: 22,2450           00003                                    2                                     
015472,000785: 22,2451           00005                                    4                                     
015473,000786: 22,2452           41325                           PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
015474,000787: 22,2453           00007                                    6                                     
015475,000788: 22,2454           00011                                    8D                                    
015476,000789: 22,2455           72405                           DMP      SL1                                   
015477,000790: 22,2456           00001                                    0                                     
015478,000791: 22,2457           72415                           DAD      SL1                                   
015479,000792: 22,2460           00017                                    14D                                   
015480,000793: 22,2461           10005                           STORE    4,2                                   #  C2=COS(THETA)SIN(PSI)SIN(PHI)
015481,000794: 22,2462           77745                           DLOAD                                          
015482,000795: 22,2463           00011                                    8D                                    
015483,000796: 22,2464           10007                           STORE    6,2                                   #  C3=SIN(PSI)
015484,000797: 22,2465           77745                           DLOAD                                          
015485,000798: 22,2466           00013                                    10D                                   
015486,000799: 22,2467           72405                           DMP      SL1                                   
015487,000800: 22,2470           00003                                    2                                     
015488,000801: 22,2471           10011                           STORE    8D,2                                  #  C4=COS(PSI)COS(PHI)
015489,000802: 22,2472           41345                           DLOAD    DMP                                   
015490,000803: 22,2473           00013                                    10D                                   
015491,000804: 22,2474           00001                                    0                                     
015492,000805: 22,2475           72476                           DCOMP    SL1                                   
015493,000806: 22,2476           10013                           STORE    10D,2                                 #  C5=-COS(PSI)SIN(PHI)
015494,000807: 22,2477           41345                           DLOAD    DMP                                   
015495,000808: 22,2500           00005                                    4                                     
015496,000809: 22,2501           00013                                    10D                                   
015497,000810: 22,2502           72476                           DCOMP    SL1                                   
015498,000811: 22,2503           10015                           STORE    12D,2                                 #  C6=-SIN(THETA)COS(PSI)
015499,000812: 

Page 364

015501,000814: 22,2504           77745                           DLOAD                                          
015502,000815: 22,2505           72405                           DMP      SL1                                   #   (PUSH UP 7)
015503,000816: 22,2506           00011                                    8D                                    
015504,000817: 22,2507           41325                           PDDL     DMP                                   #   (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
015505,000818: 22,2510           00007                                    6                                     
015506,000819: 22,2511           00001                                    0                                     
015507,000820: 22,2512           72415                           DAD      SL1                                   #   (PUSH UP 7)
015508,000821: 22,2513           77626                           STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
015509,000822: 22,2514           67760                           STORE    14D,2                                 #   +COS(THETA)SIN(PHI)
015510,000823: 22,2515           77745                           DLOAD                                          
015511,000824: 22,2516           72405                           DMP      SL1                                   #   (PUSH UP 6)
015512,000825: 22,2517           00011                                    8D                                    
015513,000826: 22,2520           41325                           PDDL     DMP                                   #   (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
015514,000827: 22,2521           00007                                    6                                     
015515,000828: 22,2522           00003                                    2                                     
015516,000829: 22,2523           72425                           DSU      SL1                                   #   (PUSH UP 6)
015517,000830: 22,2524           77626                           STADR                                          
015518,000831: 22,2525           67756                           STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
015519,000832: 22,2526           77616                           RVQ                                            #   +COS(THETA)COS(PHI)
015520,000833: 
015521,000834:                                                                                                  #  CALCULATION OF THE MATRIX DEL......
015522,000835: 
015523,000836:                                                                                                  #           *      *               --T           *
015524,000837:                                                                                                  #           DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)         SCALED 1
015525,000838: 
015526,000839:                                                                                                  #                 -
015527,000840:                                                                                                  #           WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
015528,000841:                                                                                                  #           A IS THE ANGLE OF ROTATION (DP SCALED 2)
015529,000842:                                                                                                  #                                              -
015530,000843:                                                                                                  #           UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
015531,000844: 
015532,000845: 22,2527           41401        DELCOMP            SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
015533,000846: 22,2530           00001                                    0                                     
015534,000847: 22,2531           65356                           SIN      PDDL                                  #  PD0 = SIN(A)
015535,000848: 22,2532           41546                           COS      PUSH                                  #  PD2 = COS(A)
015536,000849: 22,2533           65302                           SR2      PDDL                                  #  PD2 = COS(A)                            $8
015537,000850: 22,2534           41021                           BDSU     BOVB                                  
015538,000851: 22,2535           06516                                    DPHALF                                
015539,000852: 22,2536           21713                                    SIGNMPAC                              
015540,000853: 22,2537           77725                           PDDL                                           #  PD4 = 1-COS(A)
015541,000854: 
015542,000855:                                                                                                  #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
015543,000856: 
015544,000857: 22,2540           03270                                    COF                                   
015545,000858: 22,2541           41316                           DSQ      DMP                                   
015546,000859: 22,2542           00005                                    4                                     
015547,000860: 22,2543           52415                           DAD      SL3                                   
015548,000861: 22,2544           00003                                    2                                     
015549,000862: 22,2545           77604                           BOVB                                           
015550,000863: 22,2546           21713                                    SIGNMPAC                              
015551,000864: 

Page 365

015553,000866: 22,2547           16231                           STODL    KEL                                   #  UX UX(1-COS(A)) +COS(A)                $1
015554,000867: 22,2550           03272                                    COF        +2                         
015555,000868: 22,2551           41316                           DSQ      DMP                                   
015556,000869: 22,2552           00005                                    4                                     
015557,000870: 22,2553           52415                           DAD      SL3                                   
015558,000871: 22,2554           00003                                    2                                     
015559,000872: 22,2555           77604                           BOVB                                           
015560,000873: 22,2556           21713                                    SIGNMPAC                              
015561,000874: 22,2557           16241                           STODL    KEL        +8D                        #  UY UY(1-COS(A)) +COS(A)                $1
015562,000875: 22,2560           03274                                    COF        +4                         
015563,000876: 22,2561           41316                           DSQ      DMP                                   
015564,000877: 22,2562           00005                                    4                                     
015565,000878: 22,2563           52415                           DAD      SL3                                   
015566,000879: 22,2564           00003                                    2                                     
015567,000880: 22,2565           77604                           BOVB                                           
015568,000881: 22,2566           21713                                    SIGNMPAC                              
015569,000882: 22,2567           02251                           STORE    KEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)                $1
015570,000883: 
015571,000884:                                                                                                  #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
015572,000885: 
015573,000886: 22,2570           41345                           DLOAD    DMP                                   
015574,000887: 22,2571           03270                                    COF                                   
015575,000888: 22,2572           03272                                    COF        +2                         
015576,000889: 22,2573           72405                           DMP      SL1                                   
015577,000890: 22,2574           00005                                    4                                     
015578,000891: 22,2575           41325                           PDDL     DMP                                   #  D6  UX UY (1-COS A)                 $ 4
015579,000892: 22,2576           03274                                    COF        +4                         
015580,000893: 22,2577           00001                                    0                                     
015581,000894: 22,2600           43206                           PUSH     DAD                                   #  D8  UZ SIN A                        $ 4
015582,000895: 22,2601           00007                                    6                                     
015583,000896: 22,2602           41112                           SL2      BOVB                                  
015584,000897: 22,2603           21713                                    SIGNMPAC                              
015585,000898: 22,2604           16237                           STODL    KEL        +6                         
015586,000899: 22,2605           62421                           BDSU     SL2                                   
015587,000900: 22,2606           77604                           BOVB                                           
015588,000901: 22,2607           21713                                    SIGNMPAC                              
015589,000902: 22,2610           16233                           STODL    KEL        +2                         
015590,000903: 22,2611           03270                                    COF                                   
015591,000904: 22,2612           41205                           DMP      DMP                                   
015592,000905: 22,2613           03274                                    COF        +4                         
015593,000906: 22,2614           00005                                    4                                     
015594,000907: 22,2615           65352                           SL1      PDDL                                  #  D6  UX UZ (1-COS A)                 $ 4
015595,000908: 22,2616           03272                                    COF        +2                         
015596,000909: 22,2617           41405                           DMP      PUSH                                  #  D8  UY SIN(A)
015597,000910: 22,2620           00001                                    0                                     
015598,000911: 22,2621           62415                           DAD      SL2                                   
015599,000912: 22,2622           00007                                    6                                     
015600,000913: 22,2623           77604                           BOVB                                           
015601,000914: 22,2624           21713                                    SIGNMPAC                              
015602,000915: 22,2625           16235                           STODL    KEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
015603,000916: 

Page 366

015605,000918: 22,2626           62421                           BDSU     SL2                                   
015606,000919: 22,2627           77604                           BOVB                                           
015607,000920: 22,2630           21713                                    SIGNMPAC                              
015608,000921: 22,2631           16245                           STODL    KEL        +12D                       #  UX UZ (1-COS(A))-UY SIN(A)
015609,000922: 22,2632           03272                                    COF        +2                         
015610,000923: 22,2633           41205                           DMP      DMP                                   
015611,000924: 22,2634           03274                                    COF        +4                         
015612,000925: 22,2635           00005                                    4                                     
015613,000926: 22,2636           65352                           SL1      PDDL                                  #  D6  UY UZ (1-COS(A))                $ 4
015614,000927: 22,2637           03270                                    COF                                   
015615,000928: 22,2640           41405                           DMP      PUSH                                  #  D8  UX SIN(A)
015616,000929: 22,2641           00001                                    0                                     
015617,000930: 22,2642           62415                           DAD      SL2                                   
015618,000931: 22,2643           00007                                    6                                     
015619,000932: 22,2644           77604                           BOVB                                           
015620,000933: 22,2645           21713                                    SIGNMPAC                              
015621,000934: 22,2646           16247                           STODL    KEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
015622,000935: 22,2647           62421                           BDSU     SL2                                   
015623,000936: 22,2650           77604                           BOVB                                           
015624,000937: 22,2651           21713                                    SIGNMPAC                              
015625,000938: 22,2652           02243                           STORE    KEL        +10D                       #  UY UZ (1-COS(A)) -UX SIN(A)
015626,000939: 22,2653           77616                           RVQ                                            
015627,000940: 
015628,000941: 
015629,000942:                                                                                                  #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
015630,000943:                                                                                                  #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
015631,000944:                                                                                                  #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
015632,000945:                                                                                                  #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
015633,000946: 
015634,000947:                                                                                                  #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
015635,000948: 
015636,000949:                                                                                                  #           C =COS(THETA)COS(PSI)
015637,000950:                                                                                                  #            0
015638,000951:                                                                                                  #           C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
015639,000952:                                                                                                  #            1
015640,000953:                                                                                                  #           C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
015641,000954:                                                                                                  #            2
015642,000955:                                                                                                  #           C =SIN(PSI)
015643,000956:                                                                                                  #            3
015644,000957:                                                                                                  #           C =COS(PSI)COS(PHI)
015645,000958:                                                                                                  #            4
015646,000959:                                                                                                  #           C =-COS(PSI)SIN(PHI)
015647,000960:                                                                                                  #            5
015648,000961:                                                                                                  #           C =-SIN(THETA)COS(PSI)
015649,000962:                                                                                                  #            6
015650,000963:                                                                                                  #           C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
015651,000964:                                                                                                  #            7
015652,000965:                                                                                                  #           C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
015653,000966:                                                                                                  #            8
015654,000967: 

Page 367

015656,000969: 
015657,000970:                                                                                                  #           WHERE PHI = OGA
015658,000971:                                                                                                  #                 THETA = IGA
015659,000972:                                                                                                  #                 PSI = MGA
015660,000973: 
015661,000974: 22,2654           67543        DCMTOCDU           DLOAD*   ARCSIN                                
015662,000975: 22,2655           00007                                    6,1                                   
015663,000976: 22,2656           71406                           PUSH     COS                                   #  PD +0   PSI
015664,000977: 22,2657           41152                           SL1      BOVB                                  
015665,000978: 22,2660           21713                                    SIGNMPAC                              
015666,000979: 22,2661           00051                           STORE    S1                                    
015667,000980: 22,2662           57543                           DLOAD*   DCOMP                                 
015668,000981: 22,2663           00015                                    12D,1                                 
015669,000982: 22,2664           67471                           DDV      ARCSIN                                
015670,000983: 22,2665           00051                                    S1                                    
015671,000984: 22,2666           51123                           PDDL*    BPL                                   #  PD +2  THETA
015672,000985: 22,2667           00001                                    0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
015673,000986: 22,2670           44702                                    OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
015674,000987: 22,2671           57545                           DLOAD    DCOMP                                 
015675,000988: 22,2672           43244                           BPL      DAD                                   
015676,000989: 22,2673           44677                                    SUHALFA                               
015677,000990: 22,2674           06516                                    DPHALF                                
015678,000991: 22,2675           77650                           GOTO                                           
015679,000992: 22,2676           44701                                    CALCPHI                               
015680,000993: 22,2677           77625        SUHALFA            DSU                                            
015681,000994: 22,2700           06516                                    DPHALF                                
015682,000995: 22,2701           77606        CALCPHI            PUSH                                           
015683,000996: 22,2702           57543        OKTHETA            DLOAD*   DCOMP                                 
015684,000997: 22,2703           00013                                    10D,1                                 
015685,000998: 22,2704           67471                           DDV      ARCSIN                                
015686,000999: 22,2705           00051                                    S1                                    
015687,001000: 22,2706           51123                           PDDL*    BPL                                   #  PUSH DOWN PHI
015688,001001: 22,2707           00011                                    8D,1                                  
015689,001002: 22,2710           44722                                    OKPHI                                 
015690,001003: 22,2711           57545                           DLOAD    DCOMP                                 #  PUSH UP PHI
015691,001004: 22,2712           43244                           BPL      DAD                                   
015692,001005: 22,2713           44717                                    SUHALFAP                              
015693,001006: 22,2714           06516                                    DPHALF                                
015694,001007: 22,2715           77650                           GOTO                                           
015695,001008: 22,2716           44723                                    VECOFANG                              
015696,001009: 22,2717           52025        SUHALFAP           DSU      GOTO                                  
015697,001010: 22,2720           06516                                    DPHALF                                
015698,001011: 22,2721           44723                                    VECOFANG                              
015699,001012: 22,2722           77745        OKPHI              DLOAD                                          #  PUSH UP PHI
015700,001013: 22,2723           43466        VECOFANG           VDEF     RVQ                                   
015701,001014: 

Page 368

015703,001016:                                                                                                  #  ROUTINES FOR TERMINATING THE AUTOMATIC MANEUVER AND RETURNING TO USER
015704,001017: 
015705,001018: 22,2724           77776        TOOBADF            EXIT                                           
015706,001019: 22,2725           05600                           TC       ALARM                                 
015707,001020: 22,2726           00401                           OCT      00401                                 
015708,001021: 
015709,001022: 22,2727           12732                           TCF      NOGO                                  #  DO NOT ZERO ATTITUDE ERRORS
015710,001023: 
015711,001024: 22,2730           04616                           TC       BANKCALL                              
015712,001025: 22,2731           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
015713,001026: 
015714,001027: 22,2732           04616        NOGO               TC       BANKCALL                              
015715,001028: 22,2733           40166                           CADR     STOPRATE                              #  STOP RATES
015716,001029: 
015717,001030: 22,2734           34752                           CAF      TWO                                   
015718,001031: 22,2735           00004                           INHINT                                         #  ALL RETURNS ARE NOW MADE VIA GOODEND
015719,001032: 22,2736           05214                           TC       WAITLIST                              
015720,001033: 22,2737  E6,1675                                  EBANK=   BCDU                                  
015721,001034: 22,2737           03234 44066                     2CADR    GOODMANU                              
015722,001035: 
015723,001036: 22,2741           15155                           TCF      ENDOFJOB                              
015724,001037: 
015725,001038: 22,2742           77776        TOOBADI            EXIT                                           
015726,001039: 22,2743           12732                           TCF      NOGO                                  

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