Source Code
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These source-code files were transcribed from scans made from Don Eyles's personal
copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston
facility, and the scanning was sponsored by Mike Stewart. The code was transcribed
from these scans by a team of volunteers who are referenced in the program
comments. Comments from the original source code are in ALL-CAPS, whereas
comments added later in transcription are in Mixed-Case. In some cases, where
similar code blocks exist in previously-transcribed AGC programs (primarily
Luminary 99, from Apollo 11) those code blocks were used as a starting point and
then corrected to agree with the BURST120 scans. The full scans are available
at the Virtual AGC
project's collection at archive.org, while more-convenient reduced-size (but reduced-quality)
images are available at
the main Virtual AGC website. Report any errors noted by creating an
issue report at the Virtual AGC
project's GitHub repository. Notations on the program listing read, in part:YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 BY NASA 2021106-031 DEC 7, 1967 THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.Note that the date is the date of the printout, not the date of the program revision. |
014033,000002: ## Copyright: Public domain.
014034,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
014035,000004: ## Purpose: A module for revision 0 of BURST120 (Sunburst). It
014036,000005: ## is part of the source code for the Lunar Module's
014037,000006: ## (LM) Apollo Guidance Computer (AGC) for Apollo 5.
014038,000007: ## Assembler: yaYUL
014039,000008: ## Contact: Ron Burkey <info@sandroid.org>.
014040,000009: ## Website: www.ibiblio.org/apollo/index.html
014041,000010: ## Mod history: 2016-09-30 RSB Created draft version.
014042,000011: ## 2016-10-16 RSB Transcribed.
014043,000012: ## 2016-10-31 RSB Typos.
014044,000013: ## 2016-11-01 RSB More typos.
014045,000014: ## 2016-11-02 RSB More typos.
014046,000015: ## 2016-12-05 RSB Comment-proofing pass with octopus/ProoferComments completed;
014047,000016: ## changes made.
014048,000017: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
014049,000018: ## Luminary 99 vs Comanche 55.
014050,000019: ## 2021-05-30 ABS Aligned various IAWs to field boundaries.
014051,000020:
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Page 340 |
014053,000022: 15,2425 BANK 15
014054,000023: 15,2425 E5,1400 EBANK= XSM
014055,000024:
014056,000025:
014057,000026: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
014058,000027:
014059,000028: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
014060,000029: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
014061,000030:
014062,000031: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
014063,000032: # MGC, AND OGC RESPECTIVELY. ANGLES ARE SCALED PROPERLY FOR IMUPULSE.
014064,000033:
014065,000034:
014066,000035: 15,2425 71220 CALCGTA ITA DLOAD # PUSHDOWN 00,02,16D,18D,22D-26D,32D-36D
014067,000036: 15,2426 00051 S2 # XDC = (XD1 XD2 XD3)
014068,000037: 15,2427 02423 XDC # YDC = (YD1 YD2 YD3)
014069,000038: 15,2430 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
014070,000039: 15,2431 33105 ZERODP
014071,000040: 15,2432 02427 XDC +4
014072,000041: 15,2433 55476 DCOMP VDEF
014073,000042: 15,2434 77656 UNIT
014074,000043: 15,2435 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
014075,000044: 15,2436 00027 ZPRIME
014076,000045:
014077,000046: 15,2437 77742 SR1
014078,000047: 15,2440 14023 STODL SINTH # SIN(IGC) = ZP1
014079,000048: 15,2441 00033 ZPRIME +4
014080,000049: 15,2442 77742 SR1
014081,000050: 15,2443 34021 STCALL COSTH # COS(IGC) = ZP3
014082,000051: 15,2444 32476 ARCTRIG
014083,000052:
014084,000053: 15,2445 16503 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
014085,000054: 15,2446 02425 XDC +2
014086,000055: 15,2447 77742 SR1
014087,000056: 15,2450 14023 STODL SINTH # SIN(MGC) = XD2
014088,000057: 15,2451 00027 ZPRIME
014089,000058:
014090,000059: 15,2452 65205 DMP PDDL
014091,000060: 15,2453 02427 XDC +4 # PD00 = (ZP1)(XD3)
014092,000061: 15,2454 00033 ZPRIME +4
014093,000062:
014094,000063: 15,2455 45205 DMP DSU
014095,000064: 15,2456 02423 XDC # MPAC = (ZP3)(XD1)
014096,000065: 15,2457 77626 STADR
014097,000066: 15,2460 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
014098,000067: 15,2461 32476 ARCTRIG
014099,000068:
014100,000069: 15,2462 26505 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
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Page 341 |
014102,000071: 15,2463 00027 ZPRIME
014103,000072: 15,2464 77641 DOT
014104,000073: 15,2465 02437 ZDC
014105,000074: 15,2466 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
014106,000075: 15,2467 00027 ZPRIME
014107,000076: 15,2470 77641 DOT
014108,000077: 15,2471 02431 YDC
014109,000078: 15,2472 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
014110,000079: 15,2473 32476 ARCTRIG
014111,000080:
014112,000081: 15,2474 36501 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
014113,000082: 15,2475 00051 S2
014114,000083:
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Page 342 |
014116,000085: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
014117,000086:
014118,000087: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
014119,000088:
014120,000089: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
014121,000090: # AVAILABLE AT MPAC.
014122,000091:
014123,000092: 15,2476 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D,18D,20D,22D-26D
014124,000093: 15,2477 00023 SINTH
014125,000094: 15,2500 50025 DSU BMN
014126,000095: 15,2501 33073 QTSN45 # ABS(SIN/4) - SIN(45)/4
014127,000096: 15,2502 32511 TRIG1 # IF (-45,45) OR (135,-135)
014128,000097:
014129,000098:
014130,000099: 15,2503 72545 DLOAD SL1 # (45,135) OR (-135,-45)
014131,000100: 15,2504 00021 COSTH
014132,000101: 15,2505 75326 ACOS SIGN
014133,000102: 15,2506 00023 SINTH
014134,000103: 15,2507 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
014135,000104: 15,2510 77616 RVQ
014136,000105:
014137,000106:
014138,000107: 15,2511 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
014139,000108: 15,2512 00023 SINTH
014140,000109: 15,2513 77736 ASIN
014141,000110: 15,2514 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
014142,000111: 15,2515 00021 COSTH
014143,000112: 15,2516 77640 BMN
014144,000113: 15,2517 32522 TRIG2 # IF (135,-135)
014145,000114:
014146,000115: 15,2520 43545 DLOAD RVQ
014147,000116: 15,2521 00025 THETA # X = ARCSIN(SIN) (-45,45)
014148,000117:
014149,000118:
014150,000119: 15,2522 75345 TRIG2 DLOAD SIGN # (135,-135)
014151,000120: 15,2523 33075 HALFDP
014152,000121: 15,2524 00023 SINTH
014153,000122: 15,2525 77625 DSU
014154,000123: 15,2526 00025 THETA
014155,000124: 15,2527 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
014156,000125: 15,2530 77616 RVQ # (+) - (+) OR (-) - (-)
014157,000126:
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014159,000128: # SMNB TRANSFORMS A STAR DIRECTION FROM STABLE MEMBER TO NAVIGATION BASE COORDINATES.
014160,000129:
014161,000130: # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE
014162,000131: # VAC AREA. 2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
014163,000132: # USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
014164,000133: # YOUR JOB VAC AREA. 3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
014165,000134:
014166,000135: # THE OUTPUT IS THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT 32D OF THE VAC AREA. THE OUTPUT
014167,000136: # IS ALSO AVAILABLE AT MPAC.
014168,000137:
014169,000138:
014170,000139:
014171,000140: 15,2531 43020 SMNB ITA CLEAR # PUSHDOWN 00,02,04-10D,30D,32D-36D
014172,000141: 15,2532 00051 S2
014173,000142: 15,2533 00264 NBSMBIT # SET NBSMBIT = 0
014174,000143:
014175,000144: 15,2534 77170 SMNB1 AXT,1 AXT,2 # ROTATE X,Z, ABOUT Y
014176,000145: 15,2535 00004 4
014177,000146: 15,2536 00000 0
014178,000147: 15,2537 77624 CALL
014179,000148: 15,2540 32601 AXISROT
014180,000149:
014181,000150: 15,2541 77170 AXT,1 AXT,2 # ROTATE Y,X ABOUT Z
014182,000151: 15,2542 00002 2
014183,000152: 15,2543 00004 4
014184,000153: 15,2544 77624 CALL
014185,000154: 15,2545 32601 AXISROT
014186,000155:
014187,000156: 15,2546 77170 AXT,1 AXT,2 # ROTATE Z,Y ABOUT X
014188,000157: 15,2547 00000 0
014189,000158: 15,2550 00002 2
014190,000159: 15,2551 77624 CALL
014191,000160: 15,2552 32601 AXISROT
014192,000161:
014193,000162: 15,2553 77650 GOTO
014194,000163: 15,2554 00051 S2
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Page 344 |
014196,000165:
014197,000166: # NBSM TRANSFORMS A STAR DIRECTION FROM NAVIGATION BASE TO STABLE MEMBER COORDINATES.
014198,000167:
014199,000168: # THE INPUTS ARE 1) THE STAR VECTOR REFERRED TO NAVIGATION BASE COORDINATES STORED AT LOCATION 32D OF THE VAC
014200,000169: # AREA. 2) THE GIMBAL ANGLES (CDUY,CDUZ,CDUX) STORED AT ALTERNATING LOCATIONS RESPECTIVELY. THE ANGLES ARE
014201,000170: # USUALLY STORED AT LOCATIONS 2,4, AND 6 OF THE MARK VAC AREA. THEY CAN BE STORED AT LOCATIONS 20,22, AND 24 OF
014202,000171: # YOUR JOB VAC AREA. 3) THE BASE ADDRESS OF THE GIMBAL ANGLES STORED SP AT LOCATION S1 OF YOUR JOB VAC AREA.
014203,000172:
014204,000173: # THE OUTPUT IS THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT LOCATION 32D OF THE VAC
014205,000174: # AREA. THE OUTPUT IS ALSO AVAILABLE AT MPAC.
014206,000175:
014207,000176:
014208,000177:
014209,000178: 15,2555 43020 NBSM ITA SET # PUSHDOWN 00,02,04-10D,30D,32D-36D
014210,000179: 15,2556 00051 S2
014211,000180: 15,2557 00064 NBSMBIT # SET NBSMBIT = 1
014212,000181:
014213,000182: 15,2560 77170 NBSM2 AXT,1 AXT,2 # ROTATE Z,Y ABOUT X
014214,000183: 15,2561 00000 0
014215,000184: 15,2562 00002 2
014216,000185: 15,2563 77624 CALL
014217,000186: 15,2564 32601 AXISROT
014218,000187:
014219,000188: 15,2565 77170 AXT,1 AXT,2 # ROTATE Y,X ABOUT Z
014220,000189: 15,2566 00002 2
014221,000190: 15,2567 00004 4
014222,000191: 15,2570 77624 CALL
014223,000192: 15,2571 32601 AXISROT
014224,000193:
014225,000194: 15,2572 77170 AXT,1 AXT,2 # ROTATE X,Z, ABOUT Y
014226,000195: 15,2573 00004 4
014227,000196: 15,2574 00000 0
014228,000197: 15,2575 77624 CALL
014229,000198: 15,2576 32601 AXISROT
014230,000199:
014231,000200: 15,2577 77650 GOTO
014232,000201: 15,2600 00051 S2
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Page 345 |
014234,000203:
014235,000204: # AXISROT IS UTILIZED BY THE SMNB AND NBSM ROUTINES. SEE REMARKS ON THESE ROUTINES FOR INPUTS AND OUTPUTS.
014236,000205:
014237,000206:
014238,000207:
014239,000208: 15,2601 66660 AXISROT XSU,1 SLOAD*
014240,000209: 15,2602 00050 S1 # SMNB . NBSM
014241,000210: 15,2603 00005 4,1 # IG MG OG . OG MG IG
014242,000211: 15,2604 56034 RTB XAD,1
014243,000212: 15,2605 33457 CDULOGIC
014244,000213: 15,2606 00050 S1
014245,000214: 15,2607 00037 STORE 30D
014246,000215:
014247,000216: 15,2610 77746 ACCUROT COS
014248,000217: 15,2611 04011 STORE 8D,1 # COS(ANGLE)
014249,000218: 15,2612 73545 DLOAD SIN
014250,000219: 15,2613 00037 30D
014251,000220: 15,2614 04013 STORE 10D,1 # SIN(ANGLE)
014252,000221:
014253,000222: 15,2615 72403 DMP* SL1
014254,000223: 15,2616 77732 32D +4,2
014255,000224: 15,2617 40723 PDDL* DMP* # PD0
014256,000225: 15,2620 00011 8D,1 # S3SIN S1SIN S2SIN . S2SIN S1SIN S3SIN
014257,000226: 15,2621 77732 32D +4,2
014258,000227:
014259,000228: 15,2622 64752 SL1 PDDL* # PD2
014260,000229: 15,2623 00013 10D,1 # S3COS S1COS S2COS . S2COS S1COS S3COS
014261,000230:
014262,000231: 15,2624 72403 DMP* SL1 # MPAC
014263,000232: 15,2625 00045 32D +4,1 # S1SIN S2SIN S3SIN . S3SIN S2SIN S1SIN
014264,000233:
014265,000234: 15,2626 77614 BOFF
014266,000235: 15,2627 00344 NBSMBIT
014267,000236: 15,2630 32643 AXISROT1
014268,000237:
014269,000238: 15,2631 45421 BDSU STADR # . PD2 - MPAC
014270,000239: 15,2632 67732 STORE 32D +4,2 # . S2 S1 S3
014271,000240: 15,2633 77743 DLOAD*
014272,000241: 15,2634 00011 8D,1
014273,000242:
014274,000243: 15,2635 72403 DMP* SL1 # . MPAC
014275,000244: 15,2636 00045 32D +4,1 # . S3COS S2COS S1COS
014276,000245:
014277,000246: 15,2637 45415 DAD STADR # . PD0 + MPAC
014278,000247: 15,2640 73732 STORE 32D +4,1 # . S3 S2 S1
014279,000248: 15,2641 43575 VLOAD RVQ
014280,000249: 15,2642 00041 32D
014281,000250: 15,2643 45415 AXISROT1 DAD STADR # MPAC + PD2 .
014282,000251: 15,2644 67732 STORE 32D +4,2 # S3 S1 S2
014283,000252: 15,2645 77743 DLOAD*
014284,000253: 15,2646 00011 8D,1
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Page 346 |
014286,000255: 15,2647 72403 DMP* SL1 # MPAC .
014287,000256: 15,2650 00045 32D +4,1 # S1COS S2COS S3COS .
014288,000257:
014289,000258: 15,2651 45425 DSU STADR # MPAC - PD0 .
014290,000259: 15,2652 73732 STORE 32D +4,1 # S1 S2 S3
014291,000260: 15,2653 43575 VLOAD RVQ
014292,000261: 15,2654 00041 32D
014293,000262: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
014294,000263:
014295,000264: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
014296,000265: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
014297,000266: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
014298,000267:
014299,000268: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
014300,000269:
014301,000270:
014302,000271: 15,2655 47375 CALCGA VLOAD VXV # PUSHDONW 00-04,16D,18D
014303,000272: 15,2656 02423 XNB # XNB = OGA (OUTER GIMBAL AXIS)
014304,000273: 15,2657 02407 YSM # YSM = IGA (INNER GIMBAL AXIS)
014305,000274: 15,2660 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
014306,000275:
014307,000276: 15,2661 44041 DOT ITA
014308,000277: 15,2662 02437 ZNB
014309,000278: 15,2663 00051 S2
014310,000279: 15,2664 24021 STOVL COSTH # COS(OG) = MGA . ZNB
014311,000280: 15,2665 00001 0
014312,000281: 15,2666 77641 DOT
014313,000282: 15,2667 02431 YNB
014314,000283: 15,2670 34023 STCALL SINTH # SIN(OG) = MGA . YNB
014315,000284: 15,2671 32476 ARCTRIG
014316,000285: 15,2672 26501 STOVL OGC
014317,000286: 15,2673 00001 0
014318,000287:
014319,000288: 15,2674 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
014320,000289: 15,2675 02423 XNB
014321,000290: 15,2676 02407 YSM
014322,000291: 15,2677 77752 SL1
014323,000292: 15,2700 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
014324,000293: 15,2701 02407 YSM
014325,000294: 15,2702 77641 DOT
014326,000295: 15,2703 02423 XNB
014327,000296: 15,2704 34023 STCALL SINTH # SIN(MG) = IGA . OGA
014328,000297: 15,2705 32476 ARCTRIG
014329,000298: 15,2706 02505 STORE MGC
014330,000299:
014331,000300: 15,2707 45246 ABS DSU
014332,000301: 15,2710 33113 .166...
014333,000302: 15,2711 77644 BPL
014334,000303: 15,2712 32731 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
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Page 347 |
014336,000305:
014337,000306: 15,2713 50375 CALCGA1 VLOAD DOT
014338,000307: 15,2714 02415 ZSM
014339,000308: 15,2715 00001 0
014340,000309: 15,2716 24021 STOVL COSTH # COS(IG) = ZSM . MGA
014341,000310: 15,2717 02401 XSM
014342,000311: 15,2720 45441 DOT STADR
014343,000312: 15,2721 43754 STCALL SINTH # SIN(IG) = XSM . MGA
014344,000313: 15,2722 32476 ARCTRIG
014345,000314:
014346,000315: 15,2723 26503 STOVL IGC
014347,000316: 15,2724 02501 OGC
014348,000317: 15,2725 77634 RTB
014349,000318: 15,2726 33526 V1STO2S
014350,000319: 15,2727 34401 STCALL THETAD
014351,000320: 15,2730 00051 S2
014352,000321:
014353,000322: 15,2731 77776 GIMLOCK1 EXIT
014354,000323: 15,2732 06051 TC FLAG1UP # SET GIMBAL LOCK FLAG
014355,000324: 15,2733 00200 OCT 200
014356,000325: 15,2734 04755 TC ALARM
014357,000326: 15,2735 00401 OCT 00401
014358,000327: 15,2736 06112 TC INTPRET
014359,000328: 15,2737 77650 GOTO
014360,000329: 15,2740 32713 CALCGA1
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Page 348 |
014362,000331:
014363,000332: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
014364,000333:
014365,000334: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
014366,000335: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
014367,000336: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
014368,000337: # THE VAC AREA.
014369,000338:
014370,000339: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
014371,000340: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
014372,000341:
014373,000342:
014374,000343: 15,2741 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-22D,24D-28D,30D
014375,000344: 15,2742 02452 STARAD +6
014376,000345: 15,2743 00051 S1
014377,000346: 15,2744 02436 STARAD -6
014378,000347:
014379,000348: 15,2745 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
014380,000349: 15,2746 02461 STARAD +12D,1 # STARAD +00D UB = S1
014381,000350: 15,2747 02467 STARAD +18D,1
014382,000351: 15,2750 77656 UNIT # 12D VA = UNIT(S1 X S2)
014383,000352: 15,2751 06467 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
014384,000353: 15,2752 77773 VLOAD*
014385,000354: 15,2753 02461 STARAD +12D,1
014386,000355:
014387,000356: 15,2754 76433 VXV* VSL1
014388,000357: 15,2755 02467 STARAD +18D,1 # 18D WA = UA X VA
014389,000358: 15,2756 06475 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
014390,000359:
014391,000360: 15,2757 77700 TIX,1
014392,000361: 15,2760 32745 AXISGEN1
014393,000362:
014394,000363: 15,2761 66160 AXC,1 SXA,1
014395,000364: 15,2762 00006 6
014396,000365: 15,2763 00036 30D
014397,000366:
014398,000367: 15,2764 66370 AXT,1 SSP
014399,000368: 15,2765 00022 18D
014400,000369: 15,2766 00051 S1
014401,000370: 15,2767 00006 6
014402,000371:
014403,000372: 15,2770 66374 AXT,2 SSP
014404,000373: 15,2771 00006 6
014405,000374: 15,2772 00052 S2
014406,000375: 15,2773 00002 2
014407,000376:
014408,000377: 15,2774 76720 AXISGEN2 XCHX,1 VLOAD*
014409,000378: 15,2775 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
014410,000379: 15,2776 00001 0,1
014411,000380: 15,2777 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
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|
Page 349 |
014413,000382: 15,3000 75324 STARAD +6,2
014414,000383: 15,3001 00007 6,1
014415,000384: 15,3002 77757 VXSC*
014416,000385: 15,3003 75316 STARAD +12D,2
014417,000386: 15,3004 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
014418,000387: 15,3005 00015 12D,1
014419,000388:
014420,000389: 15,3006 53357 VXSC* VAD
014421,000390: 15,3007 75310 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
014422,000391: 15,3010 76455 VAD VSL1
014423,000392: 15,3011 00031 24D
014424,000393: 15,3012 77720 XCHX,1
014425,000394: 15,3013 00036 30D
014426,000395: 15,3014 06445 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
014427,000396:
014428,000397: 15,3015 77700 TIX,1
014429,000398: 15,3016 33017 AXISGEN3
014430,000399:
014431,000400: 15,3017 77704 AXISGEN3 TIX,2
014432,000401: 15,3020 32774 AXISGEN2
014433,000402:
014434,000403: 15,3021 77775 VLOAD
014435,000404: 15,3022 02423 XDC
014436,000405: 15,3023 26445 STOVL STARAD
014437,000406: 15,3024 02431 YDC
014438,000407: 15,3025 26453 STOVL STARAD +6
014439,000408: 15,3026 02437 ZDC
014440,000409: 15,3027 02461 STORE STARAD +12D
014441,000410:
014442,000411: 15,3030 77616 RVQ
014443,000412:
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|
Page 350 |
014445,000414:
014446,000415: # TRANSPSE COMPUTES THE TRANSPOSE OF A MATRIX (TRANSPOSE = INVERSE OF ORTHOGONAL TRANSFORMATION).
014447,000416:
014448,000417: # THE INPUT IS A MATRIX DEFINING COORDINATE SYSTEM A WITH RESPECT TO COORDINATE SYSTEM B STORED IN STARAD THRU
014449,000418: # STARAD +17D.
014450,000419:
014451,000420: # THE OUTPUT IS A MATRIX DEFINING COORDINATE SYSTEM B WITH RESPECT TO COORDINATE SYSTEM A STORED IN STARAD THRU
014452,000421: # STARAD +17D.
014453,000422:
014454,000423: 15,3031 53447 TRANSPSE DXCH STARAD +2 # PUSHDOWN NONE
014455,000424: 15,3032 53453 DXCH STARAD +6
014456,000425: 15,3033 53447 DXCH STARAD +2
014457,000426:
014458,000427: 15,3034 53451 DXCH STARAD +4
014459,000428: 15,3035 53461 DXCH STARAD +12D
014460,000429: 15,3036 53451 DXCH STARAD +4
014461,000430:
014462,000431: 15,3037 53457 DXCH STARAD +10D
014463,000432: 15,3040 53463 DXCH STARAD +14D
014464,000433: 15,3041 53457 DXCH STARAD +10D
014465,000434: 15,3042 16125 TCF DANZIG
014466,000435:
014467,000436:
014468,000437:
014469,000438: # SMD/EREF TRANSFORMS STABLE MEMBER DESIRED COORDINATES FROM STABLE MEMBER DESIRED (DESIRED = PRESENT HERE) TO
014470,000439: # EARTH REFERENCE COORDINATES TO ALIGN THE STABLE MEMBER TO SPECIFIED GIMBAL ANGLES.
014471,000440:
014472,000441: # THE INPUTS ARE 1) THE MATRIX DEFINING THE EARTH REFERENCE COORDINATE FRAME WITH RESPECT TO THE NAVIGATION BASE
014473,000442: # COORDINATE FRAME. 2) SAME AS 3) AND 3) OF SMNB.
014474,000443:
014475,000444: # THE OUTPUT IS THE DESIRED STABLE MEMBER COORDINATES WITH RESPECT TO THE EARTH REFERENCE COORDINATE FRAME. THE
014476,000445: # THREE UNIT VECTORS ARE STORED AT XSM, YSM, AND ZSM.
014477,000446:
014478,000447: 15,3043 77220 SMD/EREF ITA VLOAD # PUSHDOWN 00,02,04-10D,30D,32D-36D
014479,000448: 15,3044 00014 12D
014480,000449: 15,3045 33103 XUNIT
014481,000450: 15,3046 34041 STCALL 32D
014482,000451: 15,3047 32531 SMNB # STABLE MEMBER TO NAVIGATION BASE
014483,000452: 15,3050 76521 MXV VSL1
014484,000453: 15,3051 02445 STARAD # THEN TO EARTH REFERENCE
014485,000454: 15,3052 26401 STOVL XSM
014486,000455: 15,3053 33101 YUNIT
014487,000456:
014488,000457: 15,3054 34041 STCALL 32D
014489,000458: 15,3055 32531 SMNB # STABLE MEMBER TO NAVIGATION BASE
014490,000459: 15,3056 76521 MXV VSL1
014491,000460: 15,3057 02445 STARAD # THEN TO EARTH REFERENCE
014492,000461: 15,3060 26407 STOVL YSM
014493,000462: 15,3061 33077 ZUNIT
014494,000463:
014495,000464: 15,3062 34041 STCALL 32D
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|
Page 351 |
014497,000466: 15,3063 32531 SMNB # STABLE MEMBER TO NAVIGATION BASE
014498,000467: 15,3064 76521 MXV VSL1
014499,000468: 15,3065 02445 STARAD # THEN TO EARTH REFERENCE
014500,000469: 15,3066 36415 STCALL ZSM
014501,000470: 15,3067 00014 12D
014502,000471:
014503,000472: 15,3070 67777 77777 270DEG 2DEC -.25
014504,000473:
014505,000474: 15,3072 05520 26075 QTSN45 2DEC .1768
014506,000475:
014507,000476: 15,3074 20000 00000 HALFDP 2DEC .5
014508,000477:
014509,000478: 15,3076 00000 00000 ZUNIT 2DEC 0 B-28
014510,000479:
014511,000480: 15,3100 00000 00000 YUNIT 2DEC 0 B-28
014512,000481:
014513,000482: 15,3102 20000 00000 XUNIT 2DEC 0.5
014514,000483:
014515,000484: 15,3104 00000 00000 ZERODP 2DEC 0 B-28
014516,000485:
014517,000486: 15,3106 00000 00000 2DEC 0 B-28
014518,000487:
014519,000488: 15,3110 00000 00000 2DEC 0 B-28
014520,000489:
014521,000490: 15,3112 05252 25253 .166... 2DEC .1666666667
014522,000491:
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|
Page 352 |
014524,000493:
014525,000494: # AOTNB CONVERTS THE AOT RETICLE ROTATION ANGLE (YROT AND SROT) AND
014526,000495: # THE DETENT SETTING TO A HALF UNIT STAR VECTOR REFERRED TO THE
014527,000496: # NAVIGATION BASE FOR NON-FLIGHT ALIGNMENT MODES
014528,000497:
014529,000498: # THE INPUTS ARE
014530,000499:
014531,000500: # Y RET. LINE RATATION S(YROT) STORED IN LOC 3 OF THE MARK VAC AREA
014532,000501: # SPIRAL ROTATION ANGLE S(SROT) STORED IN LOC 5 OF MARC VAC AREA
014533,000502: # ANGLE OF CENTER OF FIELD OF VIEW S(ELV) STORED IN LOC 9 OF MARK VAC
014534,000503: # AOT ASZIMUTH ANGLE S(DET) STORED IN LOC 8 OF MARK VAC AREA
014535,000504: # THE COMPLEMENT OF BASE ADDRESS OF MARK VAC IS STORED AT X1
014536,000505: # COMPENSATION FOR FIELD OF VIEW TILT IN LOC 10D
014537,000506: # THE ABOVE STORAGE IS DONE BY AOTMARK
014538,000507:
014539,000508:
014540,000509: # THE OUTPUT IS A HALF UNIT STAR VECTOR IN NB COORDINATES STORED
014541,000510: # AT 32D AND AVAILABLE IN VAC ON RETURN TO THE CALLING PROGRAM
014542,000511:
014543,000512: 15,3114 66601 AOTNB SETPD SLOAD*
014544,000513: 15,3115 00001 0
014545,000514: 15,3116 00013 10D,1 # AOT FOV TILT COMPENSATION ANGLE
014546,000515: 15,3117 41542 SR1 PUSH # RESCALE TILT TO 2PI
014547,000516: 15,3120 47133 SLOAD* RTB
014548,000517: 15,3121 00004 3,1
014549,000518: 15,3122 33457 CDULOGIC
014550,000519: 15,3123 00017 STORE 14D # STORE UNCOMPENSATED YROT FOR S COMP
014551,000520: 15,3124 41415 DAD PUSH # YROT NOW CORRECTED FOR TILT
014552,000521: 15,3125 65346 COS PDDL # 1/2 COS(YROT) PD 0-1
014553,000522: 15,3126 41556 SIN PUSH # 1/2 SIN(YROT) PD 2-3
014554,000523: 15,3127 47133 SLOAD* RTB
014555,000524: 15,3130 00006 5,1
014556,000525: 15,3131 33457 CDULOGIC
014557,000526: 15,3132 00021 STORE 16D # STORE S IF S AND Y ARE ZERO, S=0
014558,000527: 15,3133 52054 BZE GOTO # S NOT ZERO
014559,000528: 15,3134 33136 SISZ # S=0
014560,000529: 15,3135 33146 SCOMP
014561,000530: 15,3136 53145 SISZ DLOAD BZE # IS Y ZERO
014562,000531: 15,3137 00017 14D
014563,000532: 15,3140 33143 YISZ # Y=0
014564,000533: 15,3141 77650 GOTO
014565,000534: 15,3142 33146 SCOMP
014566,000535: 15,3143 52145 YISZ DLOAD GOTO
014567,000536: 15,3144 33105 ZERODP
014568,000537: 15,3145 33153 SGOT
014569,000538: 15,3146 45345 SCOMP DLOAD DSU
014570,000539: 15,3147 00017 14D
014571,000540: 15,3150 00021 16D # Y-S
014572,000541: 15,3151 77621 BDSU
014573,000542: 15,3152 33240 NEARONE # S=360-(Y-S)
014574,000543: 15,3153 41405 SGOT DMP PUSH
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|
Page 353 |
014576,000545: 15,3154 33236 DP1/12
014577,000546: 15,3155 65346 COS PDDL
014578,000547: 15,3156 41556 SIN PUSH
014579,000548: 15,3157 72405 DMP SL1
014580,000549: 15,3160 00001 0
014581,000550: 15,3161 14001 STODL 0
014582,000551: 15,3162 00003 2
014583,000552: 15,3163 45405 DMP STADR
014584,000553: 15,3164 77774 STORE 2
014585,000554:
014586,000555: 15,3165 47133 SLOAD* RTB
014587,000556: 15,3166 00012 9D,1
014588,000557: 15,3167 33457 CDULOGIC
014589,000558: 15,3170 73406 PUSH SIN
014590,000559: 15,3171 71525 PDDL COS
014591,000560: 15,3172 41206 PUSH DMP
014592,000561: 15,3173 00001 0
014593,000562: 15,3174 41325 PDDL DMP
014594,000563: 15,3175 00005 4
014595,000564: 15,3176 00007 6
014596,000565: 15,3177 72415 DAD SL1
014597,000566: 15,3200 77626 STADR
014598,000567: 15,3201 63736 STODL 32D
014599,000568:
014600,000569: 15,3202 77605 DMP
014601,000570: 15,3203 00005 4
014602,000571: 15,3204 14005 STODL 4
014603,000572:
014604,000573: 15,3205 44205 DMP BDSU
014605,000574: 15,3206 00001 0
014606,000575: 15,3207 66606 PUSH SLOAD*
014607,000576: 15,3210 00011 8D,1
014608,000577: 15,3211 41434 RTB PUSH
014609,000578: 15,3212 33457 CDULOGIC
014610,000579: 15,3213 65346 COS PDDL
014611,000580: 15,3214 77756 SIN
014612,000581: 15,3215 00001 STORE 0
014613,000582:
014614,000583: 15,3216 65205 DMP PDDL
014615,000584: 15,3217 00005 4
014616,000585: 15,3220 00007 6
014617,000586: 15,3221 43205 DMP DAD
014618,000587: 15,3222 00003 2
014619,000588: 15,3223 77712 SL2
014620,000589: 15,3224 14043 STODL 34D
014621,000590:
014622,000591: 15,3225 45405 DMP STADR
014623,000592: 15,3226 63732 STODL 36D
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|
Page 354 |
014625,000594: 15,3227 77605 DMP
014626,000595: 15,3230 62421 BDSU SL2
014627,000596: 15,3231 00045 36D
014628,000597: 15,3232 24045 STOVL 36D
014629,000598: 15,3233 00041 32D
014630,000599: 15,3234 77616 RVQ
014631,000600:
014632,000601: 15,3235 02525 12525 DP1/12 2DEC .0833333333 # ; ;
014633,000602:
014634,000603: 15,3237 37777 37777 NEARONE 2DEC .999999999
014635,000604:
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|
Page 355 |
014637,000606:
014638,000607: # AOTSM CALCULATES A HALF UNIT STAR VECTOR IN STABLE MEMBER COORDINATES
014639,000608: # FROM TWO PLANES CONTAINING THE STAR REFERRED TO NB
014640,000609:
014641,000610: # THE INPUTS ARE
014642,000611:
014643,000612: # AOT AZIMUTH AND ELEVATION STORED IN 8D AND 9D RESP. OF VAC AREA
014644,000613: # CDUY, CDUZ AND CDUX FROM A YMARK STORED AT 3, 5, AND 7 OF VAC AREA
014645,000614: # CDUY, CDUZ AND CDUX FROM A XMARK STORED AT 2, 4, AND 6 OF VAC AREA
014646,000615: # COMPENSATION FOR FIELD OF VIEW STORED AT 10D OF VAC AREA
014647,000616: # THE BASE ADDRESS OF THE CDUS IS STORED AT LOCATION S1
014648,000617:
014649,000618: # THE OUTPUT IS A STAR VECTOR REFERRED TO STABLE MEMBER AT LOC 32D
014650,000619: # AND AVAILBLE IN MPAC
014651,000620:
014652,000621: 15,3241 40220 AOTSM STQ SETPD
014653,000622: 15,3242 00035 29D # SET UP RETURN
014654,000623: 15,3243 00001 0
014655,000624: 15,3244 66740 LXC,1 SLOAD*
014656,000625: 15,3245 00050 S1 # COMPLEMENT OF CDU ADR FOR XMARK
014657,000626: 15,3246 00011 8D,1 # LOAD APPARENT TILT ANGLE,ONES COMP
014658,000627: 15,3247 77742 SR1 # RESCALE TILT TO 2PI
014659,000628: 15,3250 71406 PUSH COS
014660,000629: 15,3251 73525 PDDL SIN # 1/2 COS(TA) 0-1
014661,000630: 15,3252 66606 PUSH SLOAD* # 1/2 SIN(TA) 2-3
014662,000631: 15,3253 00007 6,1 # LOAD AZIMUTH, 2S COMP
014663,000632: 15,3254 41434 RTB PUSH
014664,000633: 15,3255 33457 CDULOGIC
014665,000634: 15,3256 65346 COS PDDL # 1/2 COS(AZ) 4-5
014666,000635: 15,3257 41556 SIN PUSH # 1/2 SIN(AZ) 6-7
014667,000636: 15,3260 65205 DMP PDDL
014668,000637: 15,3261 00001 0
014669,000638: 15,3262 65205 DMP PDDL
014670,000639: 15,3263 00003 2
014671,000640: 15,3264 00005 4
014672,000641: 15,3265 65205 DMP PDDL
014673,000642: 15,3266 00001 0
014674,000643: 15,3267 00005 4
014675,000644: 15,3270 41405 DMP PUSH
014676,000645: 15,3271 47133 SLOAD* RTB
014677,000646: 15,3272 00010 7,1 # LOAD ELEVATION, 2S COMP
014678,000647: 15,3273 33457 CDULOGIC
014679,000648: 15,3274 73406 PUSH SIN
014680,000649: 15,3275 71525 PDDL COS # 1/2 SIN(ELV) 14-15
014681,000650: 15,3276 41206 PUSH DMP # 1/2 COS(ELV) 16-17
014682,000651: 15,3277 00001 0
014683,000652: 15,3300 77752 SL1
014684,000653: 15,3301 14041 STODL 32D # X COMPONENT OF X-PLANE VECTOR
014685,000654:
014686,000655: 15,3302 72405 DMP SL1 # UP 16-17
014687,000656: 15,3303 00003 2
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|
Page 356 |
014689,000658:
014690,000659: 15,3304 65276 DCOMP PDDL # X COMPONENT OF Y-PLANE VECTOR 16-17
014691,000660:
014692,000661: 15,3305 00017 14D
014693,000662: 15,3306 72405 DMP SL1
014694,000663: 15,3307 00007 6
014695,000664: 15,3310 72421 BDSU SL1
014696,000665: 15,3311 00015 12D
014697,000666: 15,3312 14043 STODL 34D # Y COMPONENT OF X-PLANE VEC
014698,000667:
014699,000668: 15,3313 00017 14D
014700,000669: 15,3314 72405 DMP SL1
014701,000670: 15,3315 00013 10D
014702,000671: 15,3316 72415 DAD SL1
014703,000672: 15,3317 00011 8D
014704,000673: 15,3320 77676 DCOMP
014705,000674: 15,3321 14045 STODL 36D # Z COMPONENT OF X-PLANE VECTOR
014706,000675:
014707,000676: 15,3322 00017 14D
014708,000677: 15,3323 72405 DMP SL1
014709,000678: 15,3324 00011 8D
014710,000679: 15,3325 72415 DAD SL1
014711,000680: 15,3326 00013 10D
014712,000681: 15,3327 41325 PDDL DMP # Y COMPONENT OF Y-PLANE VECTOR 18-19
014713,000682:
014714,000683: 15,3330 00017 14D
014715,000684: 15,3331 00015 12D
014716,000685: 15,3332 72425 DSU SL1
014717,000686: 15,3333 00007 6
014718,000687: 15,3334 34025 STCALL 20D # Z COMPONENT OF Y-PLANE VECTOR 20-21
014719,000688:
014720,000689: 15,3335 32555 NBSM # TRANSFORM TO SM
014721,000690: 15,3336 24013 STOVL 10D # STORE X-PLAVE VECTOR (SM)
014722,000691:
014723,000692: 15,3337 00021 16D # LOAD Y-PLANE VECTOR (NB)
014724,000693: 15,3340 62120 XCHX,1 INCR,1
014725,000694: 15,3341 00050 S1 # INCREMENT CDU BASE ADR TO YMARK CDUS
014726,000695: 15,3342 00001 1
014727,000696: 15,3343 77720 XCHX,1 # PUT IT BACK IN S1
014728,000697: 15,3344 00050 S1
014729,000698: 15,3345 34041 STCALL 32D
014730,000699: 15,3346 32555 NBSM # GET Y-PLANE IN SM
014731,000700: 15,3347 76435 VXV VSL1 # YP CROSS XP
014732,000701: 15,3350 00013 10D
014733,000702: 15,3351 53476 VCOMP UNIT # UNIT (XP CROSS YP)
014734,000703: 15,3352 00041 STORE 32D # STAR VECTOR IN SM COORDINATES
014735,000704: 15,3353 77650 GOTO
014736,000705: 15,3354 00035 29D # RETURN
014737,000706:
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|
Page 357 |
014739,000708:
014740,000709: # THE FOLLOWING ROUTINE TAKES A HALF UNIT TARGET VECTOR REFERRED TO NAV BASE COORDINATES AND FINDS BOTH
014741,000710: # GIMBAL ORIENTATIONS AT WHICH THE RR MIGHT SIGHT THE TARGET. THE GIMBAL ANGLES CORRESPONDING TO THE PRESENT MODE
014742,000711: # ARE LEFT IN MODEA AND THOSE WHICH WOULD BE USED AFTER A REMODE IN MODEB. THIS ROUTINE ASSUMES MODE 1 IS TRUNNION
014743,000712: # ANGLE LESS THAN 90 DEGS IN ABS VALUE WITH ARBITRARY SHAFT, WITH A CORRESPONDING DEFINITION FOR MODE 2. MODE
014744,000713: # SELECTION AND LIMIT CHECKING ARE DONE ELSEWHERE.
014745,000714:
014746,000715: # THE MODE 1 CONFIGURATION IS CALCULATED FROM THE VECTOR AND THEN MODE 2 IS FOUND USING THE RELATIONS
014747,000716:
014748,000717: # S(2) = 180 + S(1)
014749,000718: # T(2) = 180 - T(1)
014750,000719:
014751,000720: 15,3355 57545 RRANGLES DLOAD DCOMP # SINCE WE WILL FIND THE MODE 1 SHAFT
014752,000721: 15,3356 00043 34D # ANGLE LATER, WE CAN FIND THE MODE 1
014753,000722: 15,3357 67401 SETPD ASIN # TRUNNION BY SIMPLY TAKING THE ARCSIN OF
014754,000723: 15,3360 00001 0 # THE Y COMPONENT, THE ASIN GIVING AN
014755,000724: 15,3361 44206 PUSH BDSU # ANSWER WHOSE ABS VAL IS LESS THAN 90 DEG
014756,000725: 15,3362 33075 HALFDP
014757,000726: 15,3363 14005 STODL 4 # MODE 2 TRUNNION TO 4.
014758,000727:
014759,000728: 15,3364 33105 ZERODP
014760,000729: 15,3365 24043 STOVL 34D # UNIT THE PROJECTION OF THE VECTOR IN THE
014761,000730: 15,3366 00041 32D # X-Z PLANE.
014762,000731: 15,3367 41056 UNIT BOVB # CALL FOR S/C MANEUVER ON GIMBAL LOCK.
014763,000732: 15,3370 20347 DESRETRN +1
014764,000733: 15,3371 14041 STODL 32D # PROJECTION VECTOR.
014765,000734: 15,3372 00041 32D
014766,000735: 15,3373 44142 SR1 STQ
014767,000736: 15,3374 00051 S2
014768,000737: 15,3375 14023 STODL SINTH # USE ARCTRIG SINCE SHAFT COULD BE ARB.
014769,000738: 15,3376 00045 36D
014770,000739: 15,3377 77742 SR1
014771,000740: 15,3400 34021 STCALL COSTH
014772,000741: 15,3401 32476 ARCTRIG
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|
Page 358 |
014774,000743: 15,3402 43206 PUSH DAD # MODE 1 SHAFT TO 2.
014775,000744: 15,3403 33075 HALFDP # (OVERFLOW DOESNT MATTER SINCE SCALED REV
014776,000745: 15,3404 24007 STOVL 6
014777,000746: 15,3405 00005 4
014778,000747: 15,3406 77634 RTB # FIND MODE 2 CDU ANGLES.
014779,000748: 15,3407 33543 2V1STO2S
014780,000749: 15,3410 24425 STOVL MODEB
014781,000750: 15,3411 00001 0
014782,000751: 15,3412 77634 RTB # MODE 1 ANGLES TO MODE A.
014783,000752: 15,3413 33543 2V1STO2S
014784,000753: 15,3414 00423 STORE MODEA
014785,000754: 15,3415 77776 EXIT
014786,000755:
014787,000756: 15,3416 40412 CS RADMODES # SWAP MODEA AND MODEB IF RR IN MODE2.
014788,000757: 15,3417 77750 MASK BIT12
014789,000758: 15,3420 10000 CCS A
014790,000759: 15,3421 13425 TCF +4
014791,000760:
014792,000761: 15,3422 52423 DXCH MODEA
014793,000762: 15,3423 52425 DXCH MODEB
014794,000763: 15,3424 52423 DXCH MODEA
014795,000764:
014796,000765: 15,3425 06112 TC INTPRET
014797,000766: 15,3426 77650 GOTO
014798,000767: 15,3427 00051 S2
014799,000768:
|
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Page 359 |
014801,000770: # GIVEN RR TRUNION AND SHAFT (T,S) IN TANG,+1, FIND THE ASSOCIATED
014802,000771: # LINE OF SIGHT IN NAV BASE AXES. THE HALF UNIT VECTOR, .5(SIN(S)COS(T),
014803,000772: # -SIN(T),COS(S)COS(T)) IS LEFT IN MPAC AND 32D.
014804,000773:
014805,000774: 15,3430 47135 RRNB SLOAD RTB
014806,000775: 15,3431 00423 TANG
014807,000776: 15,3432 33457 CDULOGIC
014808,000777: 15,3433 41401 SETPD PUSH # TRUNNION ANGLE TO 0
014809,000778: 15,3434 00001 0
014810,000779: 15,3435 57556 SIN DCOMP
014811,000780: 15,3436 14043 STODL 34D # Y COMPONENT
014812,000781:
014813,000782: 15,3437 41546 COS PUSH # .5 COS(T) TO 0
014814,000783: 15,3440 47135 SLOAD RTB
014815,000784: 15,3441 00424 TANG +1
014816,000785: 15,3442 33457 CDULOGIC
014817,000786: 15,3443 71406 PUSH COS # SHAFT ANGLE TO 2
014818,000787: 15,3444 72405 DMP SL1
014819,000788: 15,3445 00001 0
014820,000789: 15,3446 14045 STODL 36D # Z COMPONENT
014821,000790:
014822,000791: 15,3447 41356 SIN DMP
014823,000792: 15,3450 77752 SL1
014824,000793: 15,3451 24041 STOVL 32D
014825,000794: 15,3452 00041 32D
014826,000795: 15,3453 77616 RVQ
014827,000796:
014828,000797:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc