Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

020177,000002:                                                                                                  ## Copyright:   Public domain.
020178,000003:                                                                                                  ## Filename:    R60_R62.agc
020179,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
020180,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
020181,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
020182,000007:                                                                                                  ## Assembler:   yaYUL
020183,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
020184,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
020185,000010:                                                                                                  ## Pages:       472-485
020186,000011:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
020187,000012:                                                                                                  ##                              Luminary131 file, using page 
020188,000013:                                                                                                  ##                              images from Luminary 1A.
020189,000014:                                                                                                  ##
020190,000015:                                                                                                  ## This source code has been transcribed or otherwise adapted from
020191,000016:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
020192,000017:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
020193,000018:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
020194,000019:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
020195,000020:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
020196,000021:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
020197,000022:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
020198,000023:                                                                                                  ## actually created.
020199,000024:                                                                                                  ##
020200,000025:                                                                                                  ## Notations on the hardcopy document read, in part:
020201,000026:                                                                                                  ##
020202,000027:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
020203,000028:                                                                                                  ##      16:27 JULY 14, 1969 
020204,000029: 

Page 472

020206,000031:                                                                                                  #  MOD NO: 0                             DATE: 1 MAY 1968
020207,000032:                                                                                                  #  MOD BY: DIGITAL DEVEL GROUP           LOG SECTION R60,R62
020208,000033: 
020209,000034:                                                                                                  #  FUNCTIONAL DESCRIPTION:
020210,000035: 
020211,000036:                                                                                                  #  CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED
020212,000037:                                                                                                  #  ATTITUDE.
020213,000038: 
020214,000039:                                                                                                  #  1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE
020215,000040:                                                                                                  #  CALCULATED (VECPOINT).
020216,000041: 
020217,000042:                                                                                                  #  2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020218,000043: 
020219,000044:                                                                                                  #  3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER.
020220,000045: 
020221,000046:                                                                                                  #  4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE.  THEN AWAIT
020222,000047:                                                                                                  #  ASTRONAUT RESPONSE.
020223,000048: 
020224,000049:                                                                                                  #  5. DISPLAY RESPONSE RETURNS.
020225,000050: 
020226,000051:                                                                                                  #        A.      ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT.
020227,000052: 
020228,000053:                                                                                                  #        B.      TERMINATE -- IF IN P00 GO TO STEP 5A.  OTHERWISE CHECK IF R61 IS
020229,000054:                                                                                                  #                THE CALLING PROGRAM.  IF IN R61 AN EXIT IS MADE TO GOTOV56.  IF
020230,000055:                                                                                                  #                NOT IN R61 AN EXIT IS DONE VIA GOTOP00H.
020231,000056: 
020232,000057:                                                                                                  #        C.      PROCEED -- CONTINUE WITH PROGRAM AT STEP 6.
020233,000058: 
020234,000059:                                                                                                  #  6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED
020235,000060:                                                                                                  #  (VECPOINT).
020236,000061: 
020237,000062:                                                                                                  #  7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS).
020238,000063: 
020239,000064:                                                                                                  #  8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3.
020240,000065:                                                                                                  #  
020241,000066:                                                                                                  #  9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3.
020242,000067: 
020243,000068:                                                                                                  #  10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES).
020244,000069: 
020245,000070:                                                                                                  #  11. DO A PHASE-CHANGE.
020246,000071: 
020247,000072:                                                                                                  #  12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL
020248,000073:                                                                                                  #  GIMBAL ANGLES (GOMANUR).
020249,000074: 
020250,000075:                                                                                                  #  13. AT END OF MANEUVER TO TO STEP 3.
020251,000076: 
020252,000077:                                                                                                  #        IF SATISFACTORY MANEUVER STEP 5A EXITS R60.
020253,000078:                                                                                                  #        FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE
020254,000079:                                                                                                  #        DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT

Page 473

020256,000081:                                                                                                  #        STEP 5C.
020257,000082: 
020258,000083:                                                                                                  #  CALLING SEQUENCE:     TC      BANKCALL
020259,000084:                                                                                                  #                        CADR    R60LEM
020260,000085: 
020261,000086:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:     SCAXIS, POINTVSM (FOR VECPOINT)
020262,000087:                                                                                                  #                                        3AXISFLG.
020263,000088: 
020264,000089:                                                                                                  #  SUBROUTINES CALLED:   VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER,
020265,000090:                                                                                                  #                        GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG
020266,000091: 
020267,000092:                                                                                                  #  NORMAL EXIT MODES:    CAE     TEMPR60         (CALLER'S RETURN ADDRESS)
020268,000093:                                                                                                  #                        TC      BANKJUMP
020269,000094: 
020270,000095:                                                                                                  #  ALARMS: NONE
020271,000096: 
020272,000097:                                                                                                  #  OUTPUT: NONE
020273,000098: 
020274,000099:                                                                                                  #  DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2
020275,000100: 
020276,000101: 34,2000                                           BANK     34                                    
020277,000102: 26,2000                                           SETLOC   MANUVER                               
020278,000103: 26,2000                                           BANK                                           
020279,000104: 
020280,000105: 26,2123     1164                                  EBANK=   TEMPR60                               
020281,000106: 
020282,000107: 26,2123                                           COUNT*   $$/R06                                
020283,000108: 26,2123           04645        R60LEM             TC       MAKECADR                              
020284,000109: 26,2124           55164                           TS       TEMPR60                               
020285,000110: 
020286,000111: 26,2125           34746        REDOMANN           CAF      3AXISBIT                              
020287,000112: 26,2126           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020288,000113: 26,2127           10000                           CCS      A                                     
020289,000114: 26,2130           12136                           TCF      TOBALL                                #  YES
020290,000115: 26,2131           06037                           TC       INTPRET                               
020291,000116: 26,2132           77624                           CALL                                           
020292,000117: 26,2133           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020293,000118: 26,2134           00322                           STORE    CPHI                                  #  STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
020294,000119: 26,2135           77776                           EXIT                                           
020295,000120: 
020296,000121: 26,2136           04616        TOBALL             TC       BANKCALL                              
020297,000122: 26,2137           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020298,000123: 26,2140           32254        TOBALLA            CAF      V06N18                                
020299,000124: 26,2141           04616                           TC       BANKCALL                              
020300,000125: 26,2142           20710                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
020301,000126: 26,2143           02242                           TC       R61TEST                               
020302,000127: 26,2144           02150                           TC       REDOMANC                              #  PROCEED
020303,000128: 26,2145           02175                           TC       ENDMANU1                              #  ENTER I.E., FINISHED WITH R60

Page 474

020305,000130: 26,2146           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020306,000131: 26,2147           05155                           TC       ENDOFJOB                              
020307,000132: 
020308,000133: 26,2150           34746        REDOMANC           CAF      3AXISBIT                              
020309,000134: 26,2151           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
020310,000135: 26,2152           10000                           CCS      A                                     
020311,000136: 26,2153           12161                           TCF      TOBALLC                               #  YES
020312,000137: 26,2154           06037                           TC       INTPRET                               
020313,000138: 26,2155           77624                           CALL                                           
020314,000139: 26,2156           56040                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
020315,000140: 26,2157           00322                           STORE    CPHI                                  #  STORE ANGLES
020316,000141: 26,2160           77776                           EXIT                                           
020317,000142: 
020318,000143: 26,2161           04616        TOBALLC            TC       BANKCALL                              
020319,000144: 26,2162           54266                           CADR     BALLANGS                              #  TO CONVERT ANGLES TO FDAI
020320,000145: 26,2163           02255                           TC       G+N,AUTO                              #  CHECK AUTO MODE
020321,000146: 26,2164           10000                           CCS      A                                     
020322,000147: 26,2165           12140                           TCF      TOBALLA                               #  NOT AUTO, GO REREQUEST AUTO MANEUVER.
020323,000148: 
020324,000149: 26,2166           32254        AUTOMANV           CAF      V06N18                                #  STATIC DISPLAY DURING AUTO MANEUVER
020325,000150: 26,2167           04616                           TC       BANKCALL                              
020326,000151: 26,2170           20451                           CADR     GODSPR                                
020327,000152: 26,2171           02201                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
020328,000153: 
020329,000154: 26,2172           04616        STARTMNV           TC       BANKCALL                              #  PERFORM MANEUVER VIA KALCMANU
020330,000155: 26,2173           17750                           CADR     GOMANUR                               
020331,000156: 
020332,000157: 26,2174           12140        ENDMANUV           TCF      TOBALLA                               #  FINISHED MANEUVER.
020333,000158: 26,2175           05516        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
020334,000159: 26,2176           00124                           ADRES    3AXISFLG                              
020335,000160: 26,2177           31164                           CAE      TEMPR60                               
020336,000161: 26,2200           04640                           TC       BANKJUMP                              
020337,000162: 
020338,000163: 26,2201           40100        CHKLINUS           CS       FLAGWRD4                              
020339,000164: 26,2202           74740                           MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET?
020340,000165: 26,2203           10000                           CCS      A                                     
020341,000166: 26,2204           00002                           TC       Q                                     #  NO -- EXIT
020342,000167: 26,2205           30002                           CA       Q                                     
020343,000168: 26,2206           54156                           TS       MPAC       +2                         #  SAVE RETURN
020344,000169: 26,2207           46245                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
020345,000170: 26,2210           60133                           AD       BUF2                                  #  HOLD Q OF LAST DISPLAY
020346,000171: 26,2211           55055                           TS       TBASE2                                
020347,000172: 
020348,000173: 26,2212           05353                           TC       PHASCHNG                              
020349,000174: 26,2213           00132                           OCT      00132                                 
020350,000175: 
020351,000176: 26,2214           34745                           CAF      BIT7                                  
020352,000177: 26,2215           05464                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY
020353,000178: 26,2216           00156                           TC       MPAC       +2                         
020354,000179: 

Page 475

020356,000181: 26,2217           37714        RELINUS            CAF      PRIO26                                #  RESTORE ORIGINAL PRIORITY
020357,000182: 26,2220           05146                           TC       PRIOCHNG                              
020358,000183: 
020359,000184: 26,2221           34747                           CAF      TRACKBIT                              #  DON'T CONTINUE R60 UNLESS TRACKFLAG ON.
020360,000185: 26,2222           70075                           MASK     FLAGWRD1                              
020361,000186: 26,2223           10000                           CCS      A                                     
020362,000187: 26,2224           12237                           TCF      RER60                                 
020363,000188: 
020364,000189: 26,2225           34745                           CAF      RNDVZBIT                              #  IS IT P20?
020365,000190: 26,2226           70074                           MASK     FLAGWRD0                              
020366,000191: 26,2227           10000                           CCS      A                                     
020367,000192: 26,2230           02234                           TC       +4                                    #  YES
020368,000193: 26,2231           05353                           TC       PHASCHNG                              #  NO, MUST BE P25, SET 2.11 SPOT
020369,000194: 26,2232           40112                           OCT      40112                                 
020370,000195: 
020371,000196: 26,2233           05155                           TC       ENDOFJOB                              
020372,000197: 
020373,000198: 26,2234           05353                           TC       PHASCHNG                              #  SET 2.7 SPOT FOR P20
020374,000199: 26,2235           40072                           OCT      40072                                 
020375,000200: 
020376,000201: 26,2236           05155                           TC       ENDOFJOB                              
020377,000202: 
020378,000203: 26,2237           05504        RER60              TC       UPFLAG                                #  SET PRIO DISPLAY FLAG AFTER RESTART
020379,000204: 26,2240           00077                           ADRES    PDSPFLAG                              
020380,000205: 
020381,000206: 26,2241           01055                           TC       TBASE2                                
020382,000207: 
020383,000208: 26,2242           31011        R61TEST            CA       MODREG                                #  IF WE ARE IN P00 IT MUST BE V49 OR V89
020384,000209: 26,2243           00006                           EXTEND                                         
020385,000210: 26,2244           12175                           BZF      ENDMANU1                              #  THUS WE GO TO ENDEXT VIA USER
020386,000211: 
020387,000212: 26,2245           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20 OR P25)
020388,000213: 26,2246           74740                           MASK     PDSPFBIT                              
020389,000214: 26,2247           00006                           EXTEND                                         
020390,000215: 26,2250           16001                           BZF      GOTOP00H                              #  NO
020391,000216: 26,2251           06022                           TC       GOTOV56                               #  YES
020392,000217: 
020393,000218: 26,2252           20100        BIT14+7            OCT      20100                                 
020394,000219: 26,2253           00203        OCT203             OCT      203                                   
020395,000220: 26,2254           01422        V06N18             VN       0618                                  
020396,000221: 
020397,000222:                                                                                                  #  SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION
020398,000223: 
020399,000224:                                                                                                  #  RETURNS WITH C(A) = +         IF NOT SET FOR G+N, AUTO
020400,000225:                                                                                                  #  RETURNS WITH C(A) = +0        IF SWITCHES ARE SET
020401,000226: 
020402,000227: 26,2255           00006        G+N,AUTO           EXTEND                                         
020403,000228: 26,2256           00030                           READ     CHAN30                                
020404,000229: 26,2257           74742                           MASK     BIT10                                 
020405,000230: 26,2260           10000                           CCS      A                                     
020406,000231: 26,2261           00002                           TC       Q                                     #  NOT IN G+N    C(A) = +

Page 476

020408,000233: 26,2262           00006        ISITAUTO           EXTEND                                         #  CHECK FOR AUTO MODE
020409,000234: 26,2263           00031                           READ     CHAN31                                
020410,000235: 26,2264           74736                           MASK     BIT14                                 
020411,000236: 26,2265           00002                           TC       Q                                     #  (+) = NOT IN AUTO, (+0) = AOK
020412,000237: 

Page 477

020414,000239:                                                                                                  #  PROGRAM DESCRIPTION BALLANGS
020415,000240:                                                                                                  #  MOD NO.                               LOG SECTION R60,R62
020416,000241: 
020417,000242:                                                                                                  #  WRITTEN BY RAMA M. AIYAWAR
020418,000243: 
020419,000244:                                                                                                  #  FUNCTIONAL DESCRIPTION
020420,000245: 
020421,000246:                                                                                                  #        COMPUTES LM FDAI BALL DISPLAY ANGLES
020422,000247: 
020423,000248:                                                                                                  #  CALLING SEQUENCE
020424,000249: 
020425,000250:                                                                                                  #        TC      BALLANGS
020426,000251: 
020427,000252:                                                                                                  #  NORMAL EXIT MODE
020428,000253: 
020429,000254:                                                                                                  #        TC      BALLEXIT        # (SAVED Q)
020430,000255: 
020431,000256:                                                                                                  #  ALARM OR EXIT MODE:   NIL
020432,000257: 
020433,000258:                                                                                                  #  SUBROUTINES CALLED
020434,000259: 
020435,000260:                                                                                                  #        CD*TR*G
020436,000261:                                                                                                  #        ARCTAN
020437,000262: 
020438,000263:                                                                                                  #  INPUT
020439,000264: 
020440,000265:                                                                                                  #        CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG.  THEY ARE
020441,000266:                                                                                                  #        SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION.
020442,000267: 
020443,000268:                                                                                                  #  OUTPUT
020444,000269: 
020445,000270:                                                                                                  #        FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION
020446,000271:                                                                                                  #        SP,2'S COMPEMENT.
020447,000272: 
020448,000273:                                                                                                  #        THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19.
020449,000274: 
020450,000275:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
020451,000276: 
020452,000277:                                                                                                  #        CPHI, CTHETA, CPSI      EACH AN SP REGISTER
020453,000278: 
020454,000279:                                                                                                  #  DEBRIS
020455,000280: 
020456,000281:                                                                                                  #        A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT
020457,000282: 
020458,000283:                                                                                                  #  NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR
020459,000284:                                                                                                  #                EQUIVALENTLY, CDUX, CDUY, AND CDUZ.
020460,000285: 
020461,000286:                                                                                                  #  NOTE:  ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES.
020462,000287: 
020463,000288: 26,2000                                           SETLOC   BAWLANGS                              
020464,000289: 26,2000                                           BANK                                           
020465,000290: 
020466,000291: 26,2266                                           COUNT*   $$/BALL                               
020467,000292: 26,2266           04645        BALLANGS           TC       MAKECADR                              
020468,000293: 26,2267           55342                           TS       BALLEXIT                              
020469,000294: 26,2270           30321                           CA       CPHI                                  

Page 478

020471,000296: 26,2271           54772                           TS       CDUSPOT    +4                         
020472,000297: 26,2272           30322                           CA       CTHETA                                
020473,000298: 26,2273           54766                           TS       CDUSPOT                               
020474,000299: 26,2274           30323                           CA       CPSI                                  
020475,000300: 26,2275           54770                           TS       CDUSPOT    +2                         
020476,000301: 
020477,000302: 26,2276           06037                           TC       INTPRET                               
020478,000303: 26,2277           45001                           SETPD    CALL                                  
020479,000304: 26,2300           00001                                    0D                                    
020480,000305: 26,2301           47543                                    CD*TR*G                               
020481,000306: 
020482,000307: 26,2302           41345                           DLOAD    DMP                                   
020483,000308: 26,2303           00743                                    SINCDUX                               #  SIN (OGA)
020484,000309: 26,2304           00747                                    COSCDUZ                               #  COS (MGA)
020485,000310: 
020486,000311: 26,2305           57552                           SL1      DCOMP                                 #  SCALE
020487,000312: 26,2306           65336                           ARCSIN   PDDL                                  #  YAW = ARCSIN(-SXCZ) INTO 0 PD
020488,000313: 26,2307           00741                                    SINCDUZ                               
020489,000314: 26,2310           14023                           STODL    SINTH                                 #  (SINTH = 18D IN PD)
020490,000315: 26,2311           00747                                    COSCDUZ                               
020491,000316: 26,2312           72405                           DMP      SL1                                   #  RESCALE
020492,000317: 26,2313           00751                                    COSCDUX                               
020493,000318: 26,2314           34021                           STCALL   COSTH                                 #  (COSTH = 16D IN PD)
020494,000319: 26,2315           26510                                    ARCTAN                                
020495,000320: 26,2316           41325                           PDDL     DMP                                   #  ROLL = ARCTAN(SZ/CZCX) INTO 2 PD
020496,000321: 26,2317           00741                                    SINCDUZ                               
020497,000322: 26,2320           00743                                    SINCDUX                               
020498,000323: 26,2321           41512                           SL2      PUSH                                  #  SXSZ INTO 4 PD
020499,000324: 26,2322           65205                           DMP      PDDL                                  #  SXSZCY INTO 4 PD
020500,000325: 26,2323           00745                                    COSCDUY                               
020501,000326: 26,2324           65205                           DMP      PDDL                                  #  SXSZSY INTO 6 PD
020502,000327: 26,2325           00737                                    SINCDUY                               
020503,000328: 26,2326           00751                                    COSCDUX                               
020504,000329: 26,2327           72405                           DMP      SL1                                   #  CXCY
020505,000330: 26,2330           00745                                    COSCDUY                               
020506,000331: 26,2331           45425                           DSU      STADR                                 #  PULL UP FORM 6 PD
020507,000332: 26,2332           63756                           STODL    COSTH                                 #  COSTH = CXCY - SXSZSY
020508,000333: 26,2333           00737                                    SINCDUY                               
020509,000334: 26,2334           72405                           DMP      SL1                                   
020510,000335: 26,2335           00751                                    COSCDUX                               #  CXSY
020511,000336: 26,2336           45415                           DAD      STADR                                 #  PULL UP FORM 4 PD
020512,000337: 26,2337           43754                           STCALL   SINTH                                 #  SINTH = CXSY + SXSZCY
020513,000338: 26,2340           26510                                    ARCTAN                                #  RETURNS WITH D(MPAC) = PITCH
020514,000339: 26,2341           55525                           PDDL     VDEF                                  #  PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD
020515,000340: 26,2342           77634                           RTB                                            #  VDEF MAKES V(MPAC) = ROLL, PITCH, YAW
020516,000341: 26,2343           21620                                    V1STO2S                               
020517,000342: 26,2344           02345                           STORE    FDAIX                                 #  MODE IS TP
020518,000343: 26,2345           77776                           EXIT                                           
020519,000344: 
020520,000345: 26,2346           31342        ENDBALL            CA       BALLEXIT                              
020521,000346: 

Page 479

020523,000348: 26,2347           04640                           TC       BANKJUMP                              
020524,000349: 

Page 480

020526,000351:                                                                                                  #  PROGRAM DESCRIPTION -- VECPOINT
020527,000352: 
020528,000353:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
020529,000354:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
020530,000355:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
020531,000356:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
020532,000357:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
020533,000358:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
020534,000359:                                                                                                  #  ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
020535,000360:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020536,000361: 
020537,000362:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
020538,000363:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
020539,000364:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
020540,000365:                                                                                                  #  LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
020541,000366:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
020542,000367:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
020543,000368:                                                                                                  #  STORED AS 2'S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
020544,000369: 
020545,000370:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
020546,000371:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
020547,000372:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
020548,000373:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
020549,000374: 
020550,000375:                                                                                                  #  CALLING SEQUENCE
020551,000376: 
020552,000377:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
020553,000378:                                                                                                  #        2)      CALL
020554,000379:                                                                                                  #                        VECPOINT
020555,000380: 
020556,000381:                                                                                                  #  RETURNS WITH
020557,000382: 
020558,000383:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
020559,000384:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
020560,000385:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
020561,000386: 
020562,000387:                                                                                                  #  ERASABLES USED --
020563,000388: 
020564,000389:                                                                                                  #        1)      SCAXIS          6
020565,000390:                                                                                                  #        2)      POINTVSM        6
020566,000391:                                                                                                  #        3)      MIS             18
020567,000392:                                                                                                  #        4)      DEL             18
020568,000393:                                                                                                  #        5)      COF             6
020569,000394:                                                                                                  #        6)      VECQTEMP        1
020570,000395:                                                                                                  #        7)      ALL OF VAC AREA 43
020571,000396: 
020572,000397:                                                                                                  #                        TOTAL   99
020573,000398: 
020574,000399: 27,2000                                           SETLOC   VECPT                                 
020575,000400: 27,2000                                           BANK                                           

Page 481

020577,000402: 27,2032                                           COUNT*   $$/VECPT                              
020578,000403: 
020579,000404: 27,2032  E6,1676                                  EBANK=   BCDU                                  
020580,000405: 
020581,000406: 27,2032           40020        VECPNT1            STQ      BOV                                   #  THIS ENTRY USES DESIRED CDUS
020582,000407: 27,2033           03325                                    VECQTEMP                              #  NOT PRESENT -- ENTER WITH CDUD'S IN MPAC
020583,000408: 27,2034           56035                                    VECPNT2                               
020584,000409: 27,2035           52164        VECPNT2            AXC,2    GOTO                                  
020585,000410: 27,2036           03246                                    MIS                                   
020586,000411: 27,2037           56046                                    STORANG                               
020587,000412: 27,2040           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
020588,000413: 27,2041           03325                                    VECQTEMP                              
020589,000414: 27,2042           56043                                    VECLEAR                               #  AND CLEAR OVFIND
020590,000415: 27,2043           47164        VECLEAR            AXC,2    RTB                                   
020591,000416: 27,2044           03246                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
020592,000417: 27,2045           44403                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
020593,000418: 27,2046           34032        STORANG            STCALL   25D                                   
020594,000419: 27,2047           44410                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
020595,000420: 27,2050           61375                           VLOAD    VXM                                   
020596,000421: 27,2051           03773                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
020597,000422: 27,2052           03247                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
020598,000423: 27,2053           77656                           UNIT                                           
020599,000424: 27,2054           00035                           STORE    28D                                   
020600,000425:                                                                                                  #  PD 28 29 30 31 32 33
020601,000426: 27,2055           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
020602,000427: 27,2056           03765                                    SCAXIS                                #  WHERE VI = SCAXIS
020603,000428: 27,2057           57400                           BOV      VCOMP                                 
020604,000429: 27,2060           56170                                    PICKAXIS                              
020605,000430: 27,2061           17271                           STODL    COF                                   #  CHECK MAGNITUDE
020606,000431: 27,2062           00045                                    36D                                   #  OF CROSS PRODUCT
020607,000432: 27,2063           50025                           DSU      BMN                                   #  VECTOR, IF LESS
020608,000433: 27,2064           14411                                    DPB-14                                #  THAN B-14 ASSUME
020609,000434: 27,2065           56170                                    PICKAXIS                              #  UNIT OPERATION
020610,000435: 27,2066           50375                           VLOAD    DOT                                   #  INVALID.
020611,000436: 27,2067           03765                                    SCAXIS                                
020612,000437: 27,2070           00035                                    28D                                   
020613,000438: 27,2071           65552                           SL1      ARCCOS                                
020614,000439: 27,2072           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
020615,000440: 27,2073           44527                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
020616,000441: 27,2074           75160                           AXC,1    AXC,2                                 
020617,000442: 27,2075           03246                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
020618,000443: 27,2076           02230                                    KEL                                   #  S/C AXES TO STABLE MEMBER AXES
020619,000444: 27,2077           77624                           CALL                                           #  MFS = MIS MFI
020620,000445: 27,2100           44312                                    MXM3                                  #  (IN PD LIST)
020621,000446: 
020622,000447: 27,2101           51545                           DLOAD    ABS                                   
020623,000448: 27,2102           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
020624,000449: 27,2103           50025                           DSU      BMN                                   
020625,000450: 27,2104           14376                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
020626,000451: 27,2105           56160                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS.

Page 482

020628,000453:                                                                                                  #  I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
020629,000454: 
020630,000455: 27,2106           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
020631,000456: 27,2107           03765                                    SCAXIS                                #  THE THRUST AXIS
020632,000457: 27,2110           51025                           DSU      BPL                                   
020633,000458: 27,2111           14400                                    SINVEC1                               #  SIN 49.4 DEGS                         $2
020634,000459: 27,2112           56160                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
020635,000460: 27,2113           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
020636,000461: 27,2114           77626                           STADR                                          
020637,000462: 27,2115           50514                           STOVL    MIS        +12D                       
020638,000463: 27,2116           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
020639,000464: 27,2117           50522                           STOVL    MIS        +6                         
020640,000465: 27,2120           77626                           STADR                                          
020641,000466: 27,2121           50530                           STOVL    MIS                                   
020642,000467: 27,2122           03255                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
020643,000468: 27,2123           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
020644,000469: 27,2124           56125                                    IGSAMEX                               #  FINAL X S/C AXIS
020645,000470: 
020646,000471: 27,2125           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
020647,000472: 27,2126           03765                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
020648,000473: 27,2127           56134                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E., IF  (IG (SGN MFS3)
020649,000474:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
020650,000475:                                                                                                  #  OTHERWISE U = -SCAXIS.
020651,000476: 
020652,000477: 27,2130           57575                           VLOAD    VCOMP                                 
020653,000478: 27,2131           03765                                    SCAXIS                                
020654,000479: 27,2132           37271                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
020655,000480: 27,2133           56137                                    CHEKAXIS                              
020656,000481: 27,2134           77775        U=SCAXIS           VLOAD                                          
020657,000482: 27,2135           03765                                    SCAXIS                                
020658,000483: 27,2136           03271                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
020659,000484: 27,2137           51545        CHEKAXIS           DLOAD    ABS                                   
020660,000485: 27,2140           03765                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
020661,000486: 27,2141           51025                           DSU      BPL                                   
020662,000487: 27,2142           14402                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
020663,000488: 27,2143           56147                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
020664,000489: 27,2144           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
020665,000490: 27,2145           14406                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
020666,000491: 27,2146           56151                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
020667,000492:                                                                                                  #  OF GIMBAL LOCK (VECANG2  $360)
020668,000493: 27,2147           77745        PICKANG1           DLOAD                                          
020669,000494: 27,2150           14404                                    VECANG1                               #  = 50 DEGS.                            $360
020670,000495: 27,2151           77624        COMPMFSN           CALL                                           
020671,000496: 27,2152           44527                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
020672,000497: 27,2153           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
020673,000498: 27,2154           03246                                    MIS                                   
020674,000499: 27,2155           02230                                    KEL                                   
020675,000500: 27,2156           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
020676,000501: 27,2157           44312                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
020677,000502:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID

Page 483

020679,000504:                                                                                                  #  GIMBAL LOCK
020680,000505: 27,2160           45160        FINDGIMB           AXC,1    CALL                                  
020681,000506: 27,2161           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
020682,000507: 27,2162           44654                                    DCMTOCDU                              #  THIS MATRIX
020683,000508: 27,2163           40234                           RTB      SETPD                                 
020684,000509: 27,2164           21620                                    V1STO2S                               #  CONVERT TO 2'S COMPLEMENT
020685,000510: 27,2165           00001                                    0                                     
020686,000511: 27,2166           77650                           GOTO                                           
020687,000512: 27,2167           03325                                    VECQTEMP                              #  RETURN TO CALLER
020688,000513: 
020689,000514: 27,2170           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF, VI
020690,000515: 27,2171           00035                                    28D                                   
020691,000516: 27,2172           03765                                    SCAXIS                                
020692,000517: 27,2173           72240                           BMN      TLOAD                                 
020693,000518: 27,2174           54350                                    ROT180                                
020694,000519: 27,2175           00032                                    25D                                   
020695,000520: 27,2176           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
020696,000521: 27,2177           03325                                    VECQTEMP                              #  PRESENT CDU ANGLES
020697,000522: 
020698,000523: 35,2000                                           BANK     35                                    
020699,000524: 26,2000                                           SETLOC   MANUVER1                              
020700,000525: 26,2000                                           BANK                                           
020701,000526: 26,2350           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
020702,000527: 26,2351           03255                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
020703,000528: 26,2352           06520                                    HIDPHALF                              #  INITIAL S/C AXES.
020704,000529: 26,2353           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
020705,000530: 26,2354           03765                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
020706,000531: 26,2355           40056                           UNIT     BOV                                   #  I.E., PICK A VECTOR IN THE PLANE OF X(I),
020707,000532: 26,2356           54372                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
020708,000533: 26,2357           17271                           STODL    COF                                   
020709,000534: 26,2360           00045                                    36D                                   #  CHECK MAGNITUDE
020710,000535: 26,2361           50025                           DSU      BMN                                   #  OF THIS VECTOR.
020711,000536: 26,2362           14411                                    DPB-14                                #  IF LESS THAN B-14,
020712,000537: 26,2363           54372                                    PICKX                                 #  PICK X-AXIS.
020713,000538: 26,2364           77775                           VLOAD                                          
020714,000539: 26,2365           03271                                    COF                                   
020715,000540: 26,2366           17271        XROT               STODL    COF                                   
020716,000541: 26,2367           06520                                    HIDPHALF                              
020717,000542: 26,2370           77650                           GOTO                                           
020718,000543: 26,2371           56072                                    COMPMATX                              
020719,000544: 26,2372           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
020720,000545: 26,2373           06520                                    HIDPHALF                              
020721,000546: 26,2374           54366                                    XROT                                  
020722,000547: 26,2375           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
020723,000548: 
020724,000549: 26,2377           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
020725,000550: 
020726,000551: 26,2401           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
020727,000552: 
020728,000553: 26,2403           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                          $360

Page 484

020730,000555: 26,2405           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                          $360
020731,000556: 
020732,000557: 26,2407           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)     ************
020733,000558: 26,2410           00001        DPB-14             OCT      00001                                 
020734,000559: 26,2411           00000                           OCT      00000                                 
020735,000560: 

Page 485

020737,000562:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
020738,000563: 
020739,000564: 34,2000                                           BANK     34                                    
020740,000565: 23,2000                                           SETLOC   R62                                   
020741,000566: 23,2000                                           BANK                                           
020742,000567: 23,2103  E6,1676                                  EBANK=   BCDU                                  
020743,000568: 
020744,000569: 23,2103                                           COUNT*   $$/R62                                
020745,000570: 
020746,000571: 23,2103  23,2103               R62DISP            EQUALS   R62FLASH                              
020747,000572: 
020748,000573: 23,2103           35010        R62FLASH           CAF      V06N22                                #  FLASH V06N22 AND
020749,000574: 23,2104           04616                           TC       BANKCALL                              #  ICDU ANGLES
020750,000575: 23,2105           20476                           CADR     GOFLASH                               
020751,000576: 23,2106           15472                           TCF      ENDEXT                                #  TERMINATE
020752,000577: 23,2107           12111                           TCF      GOMOVE                                #  PROCEED
020753,000578: 23,2110           12103                           TCF      R62FLASH                              #  ENTER
020754,000579: 
020755,000580:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
020756,000581:                                                                                                  #  POINT.
020757,000582: 23,2111           05504        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
020758,000583: 23,2112           00124                           ADRES    3AXISFLG                              
020759,000584: 
020760,000585: 23,2113           04616                           TC       BANKCALL                              
020761,000586: 23,2114           54123                           CADR     R60LEM                                
020762,000587: 23,2115           15472                           TCF      ENDEXT                                #  END R62
020763,000588: 

End of include-file R60_62.agc.  Parent file is MAIN.agc