https://github.com/virtualagc/virtualagc
Revision 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC, committed by Ron Burkey on 20 October 2018, 17:47:00 UTC
the recently-added documents about YUL, was transcribed. Because the original program contained a deliberate error in YUL (as well as some constructs that have unintentionally become errors in yaYUL), I've provided it in two forms: TRIVIUM (which matches the original scan, to the extent feasible) and TRIVIUM-repaired (which has the deliberate and unintentional errors fixed, but otherwise retains the identical functionality of the original).
1 parent c6c292e
Tip revision: 4e5d304eb7cd5589b924ffb8b423b6f15511b35d authored by Ron Burkey on 20 October 2018, 17:47:00 UTC
The sample Block I AGC program TRIVIUM, found at the very end of one of
The sample Block I AGC program TRIVIUM, found at the very end of one of
Tip revision: 4e5d304
POWERED_FLIGHT_SUBROUTINES.agc
### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: POWERED_FLIGHT_SUBROUTINES.agc
## Purpose: Part of the source code for Solarium build 55. This
## is for the Command Module's (CM) Apollo Guidance
## Computer (AGC), for Apollo 6.
## Assembler: yaYUL --block1
## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
## Website: www.ibiblio.org/apollo/index.html
## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Solarium055/
## Mod history: 2009-09-27 JL Created.
## 2016-08-20 RSB Typos.
## 2016-08-21 RSB More typos.
## 2016-08-23 RSB More of the same.
## 2016-08-24 RSB And a few final ones!
## 2016-12-28 RSB Proofed comment text using octopus/ProoferComments,
## and fixed errors found.
## Page 628
# THIS ROUTINE ENTERED AT CDUTRIG READS PRESENT CDU REGISTERS AND STORES THEM SCALED AT ONE REVOLUTION AS A DP
# VECTOR IN CDUTEMP. IT COMPUTES SIN,COS(CDUX,Y,Z) AND STORES THEM IN SINCDU,+2,+4 AND COSCDU,+2,+4 RESPECTIVELY
# SCALED AT 2(+1). WHEN ENTERED AT THETRIG THE ROUTINE PERFORMS THE SAME FUNCTION WITH THE DESIRED CDU ANGLE REG-
# ISTERS THETAD,+1,+2. ENTER WITH C(X1) =6 FOR X,Y,Z ( =4 FOR Y,Z ONLY)
SETLOC 52000
CDUTRIG EXIT 0
INHINT
CS CDUX
TS CDUTEMP
CS CDUY
TS CDUTEMP +2
CS CDUZ
TS CDUTEMP +4
RELINT
TC JUMP3
THETRIG EXIT 0
INHINT
CS THETAD
TS CDUTEMP
CS THETAD +1
TS CDUTEMP +2
CS THETAD +2
TS CDUTEMP +4
RELINT
JUMP3 CS FLAGWRD2 # TEST IF CDUX FLAG SET
MASK BIT14 # (CDUXFLAG MASK)
CCS A
TC JUMP8 # IT IS NOT
CAF LOW11
MASK CDUTEMP
TS CYL
CS CYL
CS CYL
CS CYL
XCH CYL
XCH CDUTEMP
JUMP8 TC INTPRET
SINCOS AST,1 0
2
REPEAT1 SMOVE* 1
## Page 629
COMP RTB
CDUTEMP +6,1
CDULOGIC
STORE CDUTEMP +6,1
NOLOD 1
SIN
STORE SINCDU +6,1
COS* 0
CDUTEMP +6,1
STORE COSCDU +6,1
TIX,1 2
ABS TSLT # TEST IF COS(THETAD+2) LESS THAN COS(60)
BOV EXIT
REPEAT1
COSCDU +4
2
NOGIMLOC # IT IS NOT. NO NEED TO ALARM
TC ALARM
OCT 01407
TC INTPRET
NOGIMLOC ITCQ 0
HIGH11 OCT 77760
## Page 630
# THIS ROUTINE COMPUTES DESIRED CDU(GIMBAL) ANGLES GIVEN THE DESIRED NAV. BASE AXES IN XNB AS THREE HALF UNIT
# VECTORS IN STABLE MEMBER COORDINATES. THE DESIRED CDUX,Y,Z APPEAR IN MPAC, +1, +2 AT THE SAME SCALING AS CDUX,
# Y, Z WITH THE INTERPRETER SET TO THE TP MODE
CALCCDU ITA 1
ITC
S1
CALCGTA
TEST 1 # IF CDUXFLAG SET, RESCALE OGC TO 8 REVS
RTB
CDUXFLAG
GETOGC
CDUXFIX
GETOGC VMOVE 1
RTB ITCI
OGC
V1STO2S
S1
## Page 631
# THIS ROUTINE COMPUTES THE MATRIX WHICH TRANSFORMS FROM STABLE MEMBER COORDINATES TO NAV. BASE COORDINATES. IT
# REQUIRES SIN,COS(CDUX,Y,Z) IN SINCDU, +2, +4 AND COSCDU, +2, +4 RESPECTIVELY SCALED TO ONE HALF. THE MATRIX IS
# STORED IN X,Y,ZNB AS THREE HALF UNIT ROW VECTORS
CALCSMNB DMP 1
COMP
SINCDU +2
COSCDU +4
TSRT 0
SINCDU +4
1
DMP 1
VDEF VSLT
COSCDU +2
COSCDU +4
1
STORE XNB
DMP 1
TSLT
SINCDU
SINCDU +4
1
STORE 26D
NOLOD 1
DMP
SINCDU +2
DMP 1
DSU
COSCDU
COSCDU +2
DMP 1
COMP
SINCDU
COSCDU +4
DMP 0
COSCDU
SINCDU +2
DMP 2
DAD VDEF
VSLT
## Page 632
COSCDU +2
26D
-
1
STORE ZNB
NOLOD 1
VXV VSLT
XNB
1
STORE YNB
ITCQ 0
## Page 633
# ROUTINE CALCSCNB TRANSFORMS A MATRIX OF HALF UNIT VECTORS ALONG SPACECRAFT AXES, XSCD, INTO A MATRIX OF HALF
# UNIT VECTORS ALONG NAV. BASE AXES, XNB. ROUTINE CALCNBSC DOES THE INVERSE, STORING THE MATRIX OF UNIT VECTORS
# ALONG SPACECRAFT AXES IN XSC
CALCSCNB VXSC 0
XSCD
COS33
VXSC 1
BVSU
ZSCD
SIN33
STORE XNB
VMOVE 0
YSCD
STORE YNB
VXSC 0
XSCD
SIN33
VXSC 1
VAD
ZSCD
COS33
STORE ZNB
ITCQ 0
## Page 634
CALCNBSC VXSC 0
XNB
COS33
VXSC 1
VAD
ZNB
SIN33
STORE XSC
VMOVE 0
YNB
STORE YSC
VXSC 0
XNB
SIN33
VXSC 1
VSU
ZNB
COS33
STORE ZSC
ITCQ 0
SIN33 2DEC 0.544639000
COS33 2DEC 0.838670600
## Page 635
# THIS ROUTINE COMPUTES INCREMENTAL CHANGES IN CDU(GIMBAL) ANGLES FROM INCREMENTAL ANGULAR CHANGES ABOUT SM AXES.
# IT REQUIRES SM INCREMENTS AS A DP VECTOR IN VAC SCALED AT ONE REVOLUTION, SIN,COS(CDUX,Y,Z) IN SINCDU, +2, +4
# AND COSCDU, +2, +4 RESPECTIVELY SCALED TO ONE HALF. CDU INCREMENTS APPEAR IN THE VAC SCALED AT ONE REV.
SMCDURES DMP 0
32D
COSCDU +2
DMP 1
BDSU DDV
36D
SINCDU +2
-
COSCDU +4
STORE 22D
NOLOD 2
DMP TSLT
BDSU
SINCDU +4
1
34D
STORE 24D
DMP 0
32D
SINCDU +2
DMP 1
DAD TSLT
36D
COSCDU +2
-
1
STORE 26D
VMOVE 1
ITCQ
22D
## Page 636
# THIS ROUTINE COMPUTES INCREMENTAL ANGULAR CHANGES ABOUT NAV. BASE AXES FROM INCREMENTAL CDU ANGLE CHANGES. IT
# REQUIRES THE CDU INCREMENTS AS A DP VECTOR IN DCDU, +2, +4, SCALED AT ONE REVOLUTION. SIN,COS(CDUX,Y,Z) MUST BE
# IN SINCDU, +2, +4, AND COSCDU, +2, +4 RESPECTIVELY SCALED AT ONE HALF. INCREMENTAL NAV. BASE ANGLES APPEAR IN
# DNB, +2, +4 SCALED AT ONE REVOLUTION
CDUNBRES DMP 1
TSLT
COSCDU +4
DCDU +2
1
STORE 26D
NOLOD 1
DMP
SINCDU
DMP 1
DSU
COSCDU
DCDU +4
DMP 0
26D
COSCDU
DMP 1
DAD
SINCDU
DCDU +4
TSRT 0
DCDU
1
DMP 2
DAD VDEF
VSLT
SINCDU +4
DCDU +2
-
1
STORE DNB
ITCQ 0
## Page 637
# THIS ROUTINE COMPUTES INCREMENTAL CHANGES TO CDU ANGLES FROM INCREMENTAL ANGULAR CHANGES ABOUT NAV. BASE AXES.
# IT REQUIRES THE INCREMENTAL NAV. BASE ANGLES AS A DP VECTOR IN VAC SCALED AT 1 REVOLUTION. SIN,COS(CDUX,Y,Z)
# MUST BE IN SINCDU, COSCDU RESPECTIVELY SCALED AT 2(+1). IT LEAVES CDU INCREMENTS AS A DP VECTOR IN DCDU AT THE
# SAME SCALING
NBCDURES DMP 0
36D
SINCDU
DMP 1
DSU DDV
34D
COSCDU
-
COSCDU +4
STORE DCDU +2
NOLOD 2
DMP COMP
TSLT DAD
SINCDU +4
1
32D
STORE DCDU
DMP 0
34D
SINCDU
DMP 1
DAD TSLT
36D
COSCDU
-
1
STORE DCDU +4
ITCQ 0
## Page 638
# THIS ROUTINE RESOLVES THE SMALL ANGLE VECTOR STORED AS SM COMPONENTS IN VAC. SCALED TO ONE REVOLUTION, INTO
# COMMANDED CDU ANGLE CHANGES VAC, +2,+4, SCALED TO ONE REVOLUTION, THROUGH THE DESIRED CDU ANGLES DEFINED BY
# THETAD,+1,+2. THE ROUTINE THEN INCREMENTS THETAD,+1,+2 IN 2S COMP. AT CDUX,Y,Z SCALING
CDUDRIVE ITA 1
AXT,1 ITC
S2
4
THETRIG
CDUDRVE2 ITC 0
SMCDURES
TEST 1 # TEST IF CDUX FLAG SET
TSRT
CDUXFLAG
CDUDRVE1
32D
4
STORE 32D
CDUDRVE1 NOLOD 2 # RESCALE DCDU AND BRANCH TO
VSLT RTB # INCREMENT THETAD
ITCI
1
INCRCDUS
S2
## Page 639
# THE FOLLOWING SERIES OF CLOSED SUBROUTINES COMPUTE THE REQUIRED VELOCITY VR, SCALED TO 2(+8)M/CS, VELOCITY-TO-BE
# -GAINED VG, SCALED TO 2(+7)M/CS, AND THE MDOIFIED B-VECTOR CBDT, SCALED TO 2(+4)M/CS, FOR THE DIFFERENT PHASES
# OF POWERED FLIGHT.
CALCVGB VMOVE 0
VR
STORE CBDT # (CBDT USED HERE AS TEMP. STORAGE FOR VR)
ITA 1
LXA,1 ITCI
S2
XSHIFT
VRCADR
CALCCBDT NOLOD 1
VSU VSLT
CBDT # OLD VR
4 # D(VR) TO PD SCALED AT 2(+4) M/CS
VXSC 1
VAD VXSC
GRAVITY
DELTAT
-
CFACTOR # SCALED AT 2(+0)
STORE CBDT # SCALED AT 2(+4) M/CS
VSLT 1
VSU STZ
VR
1
VN
OVFIND # FIRST PASS THRU CALCVGB MAY OVERFLOW
STORE VG # SCALED AT 2(+7) M/CS
ITCI 0
S2
## Page 640
# THESE ROUTINES COMPUTE VR FOR THE TWO NOMINAL SPS BURNS OF FLIGHT 501
501SPS1 AXT,1 1 # C(X1) = +0 (SPS1)
AXT,2 ITC # C(X2) =+1 (SPS1)
0
1
+5
501SPS2 AXC,1 1 # C(X1) = -2 (SPS2)
AXC,2 # C(X2) =-1 (SPS2)
2
1
DMOVE* 6
DDV DSU
DSQ DSU*
ABS DMP
DDV* TSRT
SQRT SIGN
VXSC
SEMILAT,1 # SCALED AT 2(+27)M
RMAG # 2(+25)M
DP2(-2)
ESQ(VR),1 # SCALED AT 2(+4)
MUE # SCALED AT 2(+38) M(+3)/CS(+2)
SEMILAT,1
5
X2
UNITR # VRAD TO PD SCALED AT 2(+11) M/CS
DMOVE 2
DMP* DDV
SQRT
MUE(41)
SEMILAT,1
RMAGSQ # SCALED AT 2(+50)M(+2)
# VHOR MAG. TO PD SCALED AT 2(+9) M/CS
VXV 3
UNIT VXV
VXSC VAD
VSLT
UNITR
VIGNTION
UNITR
-
-
3
STORE VR
ITC 0
CALCCBDT
## Page 641
# THIS ROUTINE COMPUTES VG, CBDT, FOR LANDING AREA CONTROL DURING BOOST ABORTS ON FLIGHT 501
501ABORT VXV 1
VSLT
RN
VN
1 # 4 SCALED 2(+31) M(+2)/CS
NOLOD 1
UNIT
STORE UNITRXV # UNIT NORMAL TO PLANE, IP 2(+1)
DSU 1
TSRT
RINTALT
RMAG
2 # (RE - R) MAG SCALED 2(+27)
VXV 1
VSLT
UNITRXV # IP
UNITR # IR
1 # TIMES 2
STORE UNITHORZ # UNIT HORIZONTAL IN PLANE, IHP 2(+1)
NOLOD 1
DOT
VN # IHP.V SCALED 2(+8)
DOT 2
TSRT DDV
DMP
VN
UNITR # IR.V SCALED 2(+8)
3 # TIMES 2(-3)
- # DIVIDE BY IHP.V SCALED 2(+8)
RINTALT # RE COT(GAMMA) SCALED 2(+28)
VSQ 1
DDV
0 # H SCALED 2(+31)
MUE # H(SQ)/MUE = P SCALED 2(+24)
VSQ 1
TSRT DDV
VN # V(SQ) 2(+14)
4 # TIMES 2(-4)
MUE # V(SQ)/MUE SCALED 2(-20)
## Page 642
DDV 2
DSU DMP
BDSU
DP2(-4)
RMAG
-
RINTALT
DP2(-4) # (1+RE((V**2/2 MUE)-1/R)) SCALED 2(+4)
NOLOD 2
BMN SQRT
DMP TSLT
SMACHECK # SMA LESS THAN RE/2
V400
2 # VE TO PD SCALED 2(+7) M/CS
DSU 1
BPL
VCRIT # 22,000 FT/SEC SCALED 2(+7) M/CS
- # VE SCALED 2(+7) M/CS
GETRANGE # SET RANGE TO MINRANGE
DMP 2
DAD DMP
DAD TSLT
14D # VE SCALED 2(+7)
KRANGE2
KRANGE1
14D # VE SCALED 2(+7)
KRANGE0
4
STORE 20D # ENTRY RANGE ANGLE SCALED 2(+0) REVS.
GOTRANGE NOLOD 1
COS VXSC
RTATLANT # RADIAL COMP UNIT TARG VECT 2(+2)
SIN 1
TSLT
20D
1 # SINE OF RANGE ANGLE 2(+0)
VXV 1
UNIT
RTATLANT
UNITR
STORE 22D # -UNITN, -IN, DESIRED NORMAL SCALED 2(+1)
NOLOD 2
VXV VXSC
## Page 643
VAD VSLT
RTATLANT
-
-
1
STORE RTARG # UNIT TARGET VECTOR SCALED 2(+1)
DMP 5
DDV DSU
BMN SQRT
DMP BDSU
BDDV BOV
RTB TSRT
RINTALT # RE SCALED 2(+25)
-
- # P SCALED 2(+24)
DP2(-6)
GAMCHECK # COT(GAMMAE) SQ NEGATIVE
RMAG # R COT(GAMMAE) SCALED 2(+28)
- # RE COT(GAMMA) SCALED 2(+28)
- # (RE - R) SCALED 2(+27)
TANCHECK # TAN(THETAFF/2) EXCEEDS ----
FRESHPD # ZERO PD POINTER
7D # X = TAN(THETAFF/2) SCALED 2(+6)
NOLOD 1
DSQ DAD
DP2(-12) # DENOMINATOR SCALED 2(+12)
NOLOD 2
DSU COMP
DDV
DP2(-11) # 1 - X(SQ) SCALED 2(+12)
2 # COSEFF SCALED 2(+0)
DOT 2
TSLT DSU
BPL
UNITR
RTARG
2 # COS ANGLE R TO TARG 2(+0)
4 # COS FREE FALL ANGLE 2(+0)
PASTIT # FF ANGLE EXCEEDS ANGLE TO TARGET
TSRT 1
DDV VXSC
0
5
2 # SINEFF SCALED 2(+0)
UNITHORZ # IHP SINEFF SCALED 2(+1)
## Page 644
VXSC 1
VAD VSU
UNITR
4 # IR COSEFF 2(+1)
- # UNIT VECTOR ALONG ENTRY-POINT VECT 2(+1)
RTARG # MINUS UNIT TARGET VECTOR 2(+1)
NOLOD 1
ABVAL
STORE 2 # D SCALED 2(+2)
ABVAL 2
VXSC DOT
TSRT
VN
UNITHORZ
22D # -UNITN 2(+1)
1 # DELTA V NORMAL SCALED 2(+11)
ABVAL 2
BDSU TSLT
ABS
DIFFVECT # MAG OLD DIFFVECT 2(+2) AFTER ABVAL
2 # NEW MAG DIFFVECT 2(+2)
1 # DELD SCALED 2(+1)
NOLOD 0
STORE 0 # DELD TO PD 0 ALSO
DMP 3
TSRT DDV
DAD BDDV
BOV TSRT
DELTAT
2
13D
-
TGOBIAS # 5 SECS
- # ATTEMPT TO COMPUTE NEW ANORMAL 2(-12)
ANOVFLOW # IF OVF, ANORMAL = 8 FT/S/S SIGN DELTA V
3 # SCALE AN TRIAL BACK TO 2(-9)
STORE ANORMAL # ANORMAL SCALED 2(-9) M/CS(+2)
GO-ON NOLOD 1
VXSC
UNITRXV # ANORMAL ALONG IP SCALED 2(-8)
VXSC 1
ABVAL
DELV
## Page 645
KPIP
STORE 4 # MEASURED DELTA V SCALED 2(+5)
NOLOD 3
DDV DMP
TSLT VXSC
VAD UNIT
DELTAT
FULHAM # APPROX COS OF THRUST ONTO HORIZ PLANE
5
UNITHORZ # COEF OF SIN TERM OF IT SCALED 2(+1)
DDV 1
ASIN DAD
RVH # RADIUS TO VISUAL HORIZON SCALED 2(+26) M
RMAG # R SCALED 2(+25)
LOOKANG # PHI SCALED 2(+0) REV.
NOLOD 1
COS VXSC
UNITR # COS(PHI) IR SCALED 2(+2)
SIN 2
VXSC VSU
VSLT
18D # PHI
12D # SIN COEF SCALED 2(+1)
- # COS(PHI) SCALED 2(+2)
1 # UNIT FINAL, IT, SCALED 2(+1)
DMP 3
DDV TSLT
BOV TSRT
VXSC RTB
2 # D 2(+2)
4 # DELTA V 2(+5)
0 # DELTA D 2(+1)
1 # IS MAG VG GR THAN 2(+5) M/CS
FIXVG # IF YES, SET MAG VG TO 2(+5) M/CS
1 # IF NO, SCALE MAG VG BACK TO 2(+6)
- # IT 2(+1)
FRESHPD # ZERO PD POINTER
STORE VG # VG SCALED 2(+7) M/CS
PREXIT VMOVE 0
6
STORE DIFFVECT # SAVE NEW DIFFVECT SCALED 2(+1)
VMOVE 0
ZEROVEC
## Page 646
STORE CBDT # CBDT = 0 FOR 501 ABORTS
ITCI 0
S2 # RETURN
CHEKEXIT TC INTPRET # EXIT FOR VR CHECK FAILURES
RTB 1
ITC
FRESHPD # ZERO PD POINTER
VRFAIL
ANOVFLOW SIGN 0
ANPSEUDO # AN = 8 FT/S/S SIGNED WITH DELTA V
12D # DELTA V
STORE ANORMAL
ITC 0
GO-ON
FIXVG VMOVE 1
VXSC RTB
- # IT 2(+1)
DP2(-1)
FRESHPD # ZERO PD POINTER
STORE VG # MAG VG 2(+5) M/CS SCALED 2(+7)
ITC 0
PREXIT # GO CLOSE OUT 501 ABORT
GETRANGE DMOVE 0
MINRANGE
STORE 20D # FREEZE RANGE ANGLE AT MINRANGE
ITC 0
GOTRANGE # CONTINUE
PASTIT EXIT 0
TC ALARM
OCT 01403
TC CHEKEXIT
SMACHECK EXIT 0
TC ALARM
OCT 01404
TC CHEKEXIT
GAMCHECK EXIT 0
TC ALARM
OCT 01405
## Page 647
TC CHEKEXIT
TANCHECK EXIT 0
TC ALARM
OCT 01406
TC CHEKEXIT
RINTALT 2DEC 6500085 B-25 # 400K FT RADIUS
DP2(-4) 2DEC 0.0625
DP2(-6) 2DEC 0.015625
DP2(-11) 2DEC 0.000488281
DP2(-12) 2DEC 0.000244141
KRANGE0 2DEC 0.188045173 # 2(+4)
KRANGE1 2DEC -.713839193 # 2(+11)
KRANGE2 2DEC 0.681759381 # 2(+18)
MINRANGE 2DEC 0.019010080 # 6.8436288 DEG 2(+0) REVS.
V400 2DEC 0.865198746 # 110.7454396 2(+7) M/CS
TGOBIAS 2DEC 0.000059605 # 5 SECS 2(+23) CS
VCRIT 2DEC 0.523875000 # 22,000 FT/SEC 2(+7) M/CS
ANPSEUDO 2DEC 0.124846080 # 8 FT/S/S 2(-9) M/CS/CS
RE 2DEC 0.190084130 # 6.378165 E6 M 2(+25) M
RVH 2DEC 0.095042065 # 6.378165 E6 M 2(+26) M
FULHAM 2DEC 0.9397046 # COS 20 DEG.
## Page 648
# THESE ROUTINES COMPUTE VR TO ACHIEVE A CIRCULAR EARTH- OR MOON-CENTERED ORBIT
EARTHORB DMOVE 1
ITC
MUE
SQRTMU/R
LUNDEBST DMOVE 1
INCR,1
MUM
6D
SQRTMU/R NOLOD 2
DDV TSLT*
SQRT
RMAG
8D,1 # C(X1) =14-N (EARTH)
# =20-N (MOON)
VXV 1
UNIT VXSC
UNITR
UNITN
STORE VR # VR SCALED AT 2(+8)M/CS
ITC 0
CALCCBDT
## Page 649
# THIS ROUTINE COMPUTES VR TO ACHIEVE HYPERBOLIC VELOCITY VF FOR TRANSEARTH INJECTION
TRANSEAR DDV 1
TSLT*
MUM
RMAG
4,1
UNIT 0
VF # VF SCALED AT 2(+4)M/CS
STORE UNITF
NOLOD 4
DOT DAD
DMP TSLT
BDDV DAD
SQRT
UNITR
DP2(-2)
28D # (VF SQ)
3
-
DP2(-10)
STORE 26D # SCALED AT 2(+5)
NOLOD 1
DAD VXSC
DP2(-5)
UNITF
DSU 2
VXSC VAD
VXSC VSLT
26D
DP2(-5)
UNITR
-
30D # (VF)
2
STORE VR # VR SCALED AT 2(+8)M/CS
ITC 0
CALCCBDT
DP2(-5) 2DEC 0.03125
DP2(-10) 2DEC 0.000976563
## Page 650
# THIS ROUTINE COMPUTES VR TO ACHIEVE A TRANSLUNAR ELLIPSE DEFINED BY A TARGET VECTOR RTRNSLUN AND A SEMI MAJOR
# AXIS SMA
TRANSLUN TSLT 1
SQRT
MUE
1
DMOVE 1
TSRT*
30D # (RN)
10D,1 # RN RESCALED TO 2(+26)M
VMOVE 2
VSRT* BVSU
UNIT VSRT
RN
10D,1 # RTRNSLUN-RMAG SCALED AT 2(+25)M
RTRNSLUN
1
VSRT 1
BVSU
UNITR
1
STORE UNITD
NOLOD 1
VAD
UNITR
STORE UNITS
ABVAL 2
DAD DAD
TSRT
RTRNSLUN
30D # (C)
- # (RN)
1
STORE S # S SCALED AT 2(+26)M
NOLOD 1
DSU TSLC
30D # (C)
X2
STORE DN
NOLOD 1
## Page 651
TSRT* BDSU
6,2
SMA
DMP 3
BDDV INCR,2
TSLT* SQRT
SIGN VXSC
SMA
DN
-
16D
0,2
SGNTHETA
UNITS
TSRT 1
BDSU TSRT
S
6D
SMA
4
DMP 4
BDDV SQRT
TSRT VXSC
VAD VSLT
VXSC
SMA
S
-
6
UNITD
-
9D
STORE VR # VR SCALED AT 2(+8)M/CS
ITC 0
CALCCBDT
MUE 2DEC 0.145011008 # 3.98603223 E14 SCALED 2(+38)M(+3)/CS(+2)
MUM 2DEC 0.114151696 # 4.90277800 E08 SCALED 2(+32)M(+3)/CS(+2)
## Page 652
# THIS ROUTINE COMPUTES THE DESIRED THRUST DIRECTION AS A HALF UNIT VECTOR XSC. IT COMPUTES THE HALF UNIT VECTOR
# YSC ALONG RN*XSC (I.E. DEFINES A PITCH AXIS HORIZONTAL, YAW AXIS UP ROLL ATTITUDE) AND ZSC ALONG XSC*YSC. IT
# REQUIRES PRIOR PASSES THROUGH ROUTINES CALCRVG AND CALCVGB TO ESTABLISH UNITR, VG, AND CBDT. X1 MUST CONTAIN
# 0,2,4... TO LOAD THE APPROPRIATE INTEGRATED INITIAL THRUST ACCELERATION MAGNITUDE ATDT
CALCXSC UNIT 0
VG
STORE UNITVG
NOLOD 2
VPROJ VSLT
BVSU
CBDT # SCALED AT 2(+4)M/CS
2
CBDT
NOLOD 5
ABVAL DDV*
DSQ BDSU
SQRT DMP*
TSLT VXSC
VAD UNIT
ATDT,1 # SCALED AT 2(+5)M/CS
NEARONE
ATDT,1
2
UNITVG
STORE XSC
NOLOD 2
VXV UNIT
COMP
UNITR
STORE YSC
TEST 1
VMOVE COMP
SPS2FLAG
HEADWN2
YSC
STORE YSC
HEADWN2 NOLOD 2
VXV UNIT
COMP
XSC
STORE ZSC
## Page 653
ITCQ 0
## Page 654
# THIS ROUTINE RESOLVES THE VECTOR IN RTINIT THROUGH AN ANGULAR ROTATION WIE(DTEAROT) SCALED AT ONE REV-
# OLUTION ABOUT THE UNIT POLAR AXIS UMITW. IT REQUIRES DTEAROT SCALED AT 2(+28)CS. IT LEAVES THE RESOLVED
# VECTOR IN RT WITH EASTERLY AND NORMAL COMPONENTS IN RTEAST AND RTNORM RESPECTIVELY, AT THE SAME SCALING. FOR
# CONTINUOUS UPDATING ONLY ONE ENTRY AT EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2
EARROT1 VXV 1
VSLT
UNITW
RTINIT
2
STORE RTEAST
NOLOD 1
VXV VSLT
UNITW
1
STORE RTNORM
EARROT2 STZ 1 # BRANCH TO OVERADAY UNTIL DTEAROT
DDV BOV # LESS THAN ONE SIDEREAL DAY
OVFIND
DTEAROT
1/WIE # TIME FOR ONE SIDEREAL REVOLUTION
OVERADAY
STORE 30D
NOLOD 2
COS DSU
VXSC
DP2(-1)
RTNORM
SIN 2
VXSC VAD
VAD
30D
RTEAST
RTINIT
STORE RT
ITCQ 0
OVERADAY SIGN 1
BDSU
1/WIE
DTEAROT
DTEAROT
STORE DTEAROT
## Page 655
BPL 0 # GO BACK WITHOUT DISTURBING QPRET.
1/WIE # ANY POSITIVE CONSTANT WILL DO.
EARROT2
1/WIE 2DEC 0.032098629 # 8.61641000 E4 SECS SCALED AT 2(+28)CS
## Page 656
# CONVERSION CONSTANTS FOR FREE FALL INTEGRATION PROGRAM
SCLRAVMD 2DEC .512
SCLRMDAV 2DEC 1000 B-10
SCLTAVMD 2DEC 4.4384169 B-3
SCLVAVMD 2DEC .64876819
SCLVMDAV 2DEC .770691300
# POWERED FLIGHT CONSTANTS. DELCDU SCALED AT KE/2 REVS (KE =A/P GAIN=1.5) EVS (KE =A/P GAIN =1.5)
DELCDU 2DEC 0.00566 # ( =1.02 DEG)
2DEC 0.00462 # ( =0.83 DEG)
2DEC 0.00872 # ( =1.57 DEG)
MUE(41) 2DEC .145011008 B-3 # SCALED AT 2(+41)M(+3)/CS(+2)
## Page 657
# ROUTINE CALCMANU COMPUTES THE SEQUENCE OF MANUEVERS REQUIRED IN GOING FROM AN INITIAL ATTITUDE DEFINED BY THE
# EULER ANGLES IN THETAD,+1,+2 WHICH ARE THE PRESENT OUTER, MIDDLE, INNER GIMBAL ANGLES, TO AN ATTITUDE DEFINED
# BY THE MATRIX X,Y,ZSCD, THE DESIRED BODY AXES. CALCMANU WILL EXIT WITH A MANEUVER ANGLE IN THETAMAN SCALED AT
# 1 REV, AND THE HALF UNIT VECTOR IN WC. ROTATIONS ARE BASED ON A PITCH/YAW-THEN ROLL POLICY. IF THIS
# POLICY WOULD CAUSE GIMBAL LOCK, A ROLL-PITCH/YAW-ROLL IS ADOPTED. IN EXTREMELY RARE CASES, INVOLVING MANEU-
# VERS FROM ONE GIMBAL LOCK AREA TO THE OTHER, THE POLICY MAY BE PITCH/YAW-ROLL-PITCH/YAW-ROLL, OR EVEN ROLL-
# PITCH/YAW-ROLL-PITCH/YAW-ROLL. IN ALL CASES, IF THE MANEUVER IS A ROLL, ROLLFLAG WILL BE ON. IF THERE IS NO
# MANEUVER REQUIRED,(VEHICLE LESS THAN ABOUT 3 DEGS AWAY FROM DESIRED ATTITUDE), CALCFLAG WILL BEOFF.
# OTHERWISE, CALCFLAG IS ON. CALCMANU PRESUMES THAT INITIAL CONDITIONS AND FINAL CONDITIONS ARE NOT IN GIMBAL LOCK
SETLOC 54000
CALCMANU EXIT 0
TC FLAG2UP
OCT 12000 # SET BACKFLAG, CALCFLAG
TC FLAG2DWN
OCT 04600 # REMOVE ROLLFLAG ,NEGFLAG,BEGINFLG
TC INTPRET
AXT,1 1
ITA ITC
6
EXITCADR
THETRIG
ITC 0
CALCSMNB # COMPUTE X,Y,ZNB
ITC 0
CALCNBSC # COMPUTE X,Y,ZSC
AXT,2 1
RTB # SET X2 TO 0
0
FRESHPD # SET PD POINTER TO 0
DOT 2
ABS DSU
BPL
XSC
XSCD
COSSIX
180/ZERO
NOT179 VXV 1
UNIT
XSC
XSCD
STORE WC
## Page 658
ACCEPTWC ABS 1
DSU BPL
WC +2
COS27 # IF WC IS 27 OR LESS DEGS AWAY FROM
GETPTCH # +,- YSM, GIMBAL LOCK IS IMPOSSIBLE
VXV 1 # PITCH/YAW MAY CAUSE GIMBAL LOCK. VARIOUS
VXV UNIT # TESTS MUST BE MADE
WC
UNITY # MP IS POINT OF CLOSEST APPROACH TO +YSM
WC # MP TO PD AT 0
DMOVE 0
ZEROVEC
STORE 15D
NOLOD 1
VXV
XSCD # MP*XSCD TO PD AT 6
VXV 1
DOT BPL
0
XSC
- # BRANCH TO BEGINARC IF ARC FROM XSC TO
BEGINARC # XSCD DOES NOT INCLUDE MP OR -MP
VAD 1
DOT BPL
XSC
XSCD
0
PLUSPOLE
SWITCH 0
NEGFLAG # -MP IS ON ARC
PLUSPOLE ITC 0
NORMLIMS
ITC 0
FILENORM
180/ZERO DOT 1
BMN
XSC
XSCD
180CASE
NOLOD 1
## Page 659
DSU BMN
COS3
NOGIMTST
DOT 3
VXSC VSLT
VSU COMP
UNIT DOT
ZSCD
XSC
XSC
2
ZSCD
ZSC # COSROLL TO PD AT 0 SCALED AT 2(2)
NOLOD 1
DSU BPL
COSSIX
CALCSNAP
VXV 1 # ROLL IS REQUIRED
DOT
ZSC
ZSCD
XSC # XSC.(ZSC*ZSCD) TO PD AT 2
TSLT 1
ACOS SIGN
0
1
STORE THETAMAN
ABS 2
DSU BMN
ITC
XSC +2
COS63
NOTEST
ROLLTEST # SHORT ROLL MAY GO THROUGH GIMBAL LOCK
NOTEST SIGN 1 # ATTACH SIGN OF THETAMAN TO WC
VXSC
NEARONE
THETAMAN
XSC
STORE WC
ABS 0 # THETAMAN MUST BE +VE FOR MANUJOB
THETAMAN
STORE THETAMAN
## Page 660
EXIT 0
TC FLAG2UP
OCT 04000 # SET ROLLFLAG
TC INTPRET
ITCI 0
EXITCADR # EXIT ON THE ROLL WHEN PITCH/YAW IS OVER
CALCSNAP SWITCH 1 # WE ARE THERE
ITC
CALCFLAG # REMOVE CALCFLAG
CALCSCNB
ITC 0
CALCCDU # SET THETAD,S TO CORRECT VALUES
ITCI 0
EXITCADR # THIS IS THE LAST EXIT FROM CALCMANU
NORMLIMS ITA 2
RTB AXC,1 # SET PD TO 18
ABS ACOS
THETAMAN # (TEMPORARY STORAGE)
SETPD18
2 # -2 TO X1
2 # C TO 18
BACKLIM NOLOD 1
BDSU
30DEG # 30-C TO 20 AT 4PI
COS 0
20D # COS(30-C) TO PD AT 22
SIN 2
DDV DMP
ACOS TSRT
20D
-
1/TAN33 # (1/TAN33 SCALED AT 2(1) )
1 # OKA TO 22 AT 4PI
DMOVE 0
90DEG # 90 DEGREES TO 24
SMOVE 0
X1 # X1 TO 26
## Page 661
DMOVE 2
COMP SIGN
DAD COMP
90DEG # -180 IF X1=-2,0 IF X1=0, TO 24
DMOVE 1
TEST COMP
90DEG # 90DEG SCALED AT 4PI
NEGFLAG
POSPOLE
STORE 26D
# +90 IN MPAC IF FLAG=0
# -90 IN MPAC IF FLAG=1
POSPOLE NOLOD 1
SIGN
WC +2
# +90 IN 24 IF
# A) FLAG=0, WC +2 POS
# B) FLAG=1, WC +2 NEG
# -90 IN 24 IF
# A) FLAG=0, WC +2 NEG
# B) FLAG=1, WC +2 POS
NOLOD 1
DSU
24D # 180J-90SIGMIM TO 28
SMOVE 1
BZE
X1
CNEGLIMS # TO CNEGLIMS IF X1 IS ZERO
DSU 0
28D
22D
STORE 6 # NBL1 TO 6, SCALED AT 4PI
DAD 0
22D
STORE 7 # NEL1 TO 7
DSU 1
BPL
18D
3DEG
ENDNORMS
AXT,1 1
RTB COMP
## Page 662
0 # SET X1 TO 0
SETPD20
18D # COMPLEMENT C
STORE 18D
ITC 0
BACKLIM # BACKLIMITS EXIST IF C LESS THAN 3
CNEGLIMS DSU 0
28D
22D
STORE 8D # NBL0 TO 8
DAD 2
LXA,1 SXA,1
AXT,1
28D
22D
MPAC
9D # NEL0 TO 9, PROTECTING 10
0 # RESET X1 TO 0
ENDNORMS ITCI 0 # END OF NORMLIMS CALCULATIONS
THETAMAN # END OF NORMLIMS CALCS
FILENORM SMOVE 0
6D # 6 INTO 10 IF X1=0 ,OR
STORE 10D,1 # 6 INTO 12 IF X1=-2
SMOVE 1 # 7 INTO 11 IF X1=0 , OR
INCR,2 # 7 INTO 13 IF X1=-2
7
- 2 # MOVE LIMIT LIST POINTER BY -2 (TO -2)
STORE 11D,1
SMOVE 1
BMN SWITCH
X1
SET15D
BACKFLAG # SET BACKFLAG
SMOVE 0
8D
STORE 12D # 8 INTO 12 IF X1=0
SMOVE 0
9D
STORE 13D # 9 INTO 13 IF X1=0
SET15D DMOVE 1
## Page 663
TEST COMP
UNITX
NEGFLAG
PLUSMP
STORE 15D
PLUSMP NOLOD 0
STORE 15D
BEGINARC AXT,1 1
SWITCH # SET X1 TO 0
0
BEGINFLG # SET BEGINFLG
ENDCHEK RTB 1
EXIT
SETPD18
TC FLAG2DWN
OCT 00400 # REMOVE NEGFLAG
TC INTPRET
ABS* 1
BDSU BPL
XSC +2,1
COS63 # IS END CLOSE TO A POLE Q.
OVERYET # BRANCH TO OVERYET IF NOT
SETWARN TEST 1
SWITCH
BEGINFLG
DONTSET # SET ROLLFLAG IF BEGINNING OF ARC NEAR
ROLLFLAG # LOCK
DONTSET DMOVE* 1
BPL SWITCH
XSC +2,1
POSPOLE1 # IF XSC +2,1 NEG, SET NEGFLAG
NEGFLAG
POSPOLE1 SMOVE 2
TEST BMN
ITC
15D
NEGFLAG
NEAR+MP
OVERYET
F2
## Page 664
NEAR+MP NOLOD 1
BZE BPL
F2
OVERYET
F2 DOT 0
XSCD
0
DOT 2
DSU TEST
COMP
XSC
0
-
NEGFLAG
BEGIN1
STORE DTEMP1
BEGIN1 NOLOD 1
TEST COMP
BEGINFLG
BEGIN2
STORE DTEMP1
BEGIN2 NOLOD 1
BPL
OVERYET
F3 SMOVE 2 # SPLITMANU( IF IT HAPPENS) NEEDS TO KNOW
DSU TEST # WHICH LIMITS REFER TO THE BEGINNING OF
COMP
X2
DP2(-13)
BEGINFLG
F4
STORE S1
# IF S1=+,-2, THEN THE LIMITS ABOUT TO BE
# CALCULATED WILL END UP IN PD AT 0
# IF S1=+,-4, THE LIMITS WILL END UP AT
# 2,4 IN PD
# IF S1 IS NEG, THEN THE TAGGED LIMITS
# ARE THE ONES NOT TO USE IN SPLTMANU
# IF S1 IS POS, THE TAGGED LIMITS SHOULD
# BE USED
F4 NOLOD 0
STORE S1
DMOVE 1
## Page 665
TEST COMP
UNITX
BEGINFLG
F5
STORE DTEMP1
F5 NOLOD 1
TEST COMP
NEGFLAG
F6
STORE DTEMP1
F6 NOLOD 1
SIGN
WC +2
STORE DTEMP1
ABS* 0
XSC +2,1 # COSC TO 18 AT 2(1)
TSRT 2
DSU INCR,2
BMN
18D
1
COS3
- 2
SOMESUN
ITC 0
NORMLIMS
ITC 0
ALLSHADE
SOMESUN VMOVE* 3
VXV VXV*
UNIT COMP
TEST COMP
XSC,1
UNITY
XSC,1
NEGFLAG
POSP1
STORE 20D
POSP1 LXA,1 1
NOLOD
X1
## Page 666
ACOS 1
TSRT
18D
1 # C/2 TO 26 SCALED AT 2PI
NOLOD 1
DSU SIN
1.5DEG # SIN(C/2-1.5) TO 28
DSU 1
SIN DMP
31.5DEG
26D # SIN(C/2-1.5)SIN,31.5-C/2) TO 28
DAD 1
SIN
26D # SIN(C/2+1.5) TO PD AT 30
1.5DEG
DAD 2
SIN DMP
BDDV SQRT
26D
31.5DEG
STORE VACZ
DMOVE 0
NEARONE
STORE VACX
RTB 1 # PD SET TO AVOID CONFLICT WITH ARCTAN
RTB BDSU
SETPD6
ARCTAN
DP2(-2)
STORE 26D # SA AT 26 SCALED AT 4PI
DOT 0
WC
20D # TO PD TO SIGN AR IN NEXT EQUATION
VMOVE* 4
VXV UNIT
DOT COMP
TSLT ACOS
TSRT SIGN
XSC,1 # POINT.UNIT(WC*XSC,1)
WC
20D
1
## Page 667
1 # AR TO THETAMAN, SCALED AT 4PI
STORE THETAMAN
DSU 0
THETAMAN
26D
STORE 10D,2 # AR-SA
RTB 1
DAD
SETPD28
THETAMAN
STORE 11D,2 # AR+SA
VMOVE* 1
DOT ABS
XSC,1 # ABS(XSC,1.MP) TO 26 AT 2(2)
0
ABS 1
ACOS
2 # ACOS(ABS(MP.UNITY)) TO 28
NOLOD 2
DAD COS
DMP TSLT
30DEG
26D
1
STORE 16D # COSB TO 16 AT 2(2)
DSU 3
ABS COS
DMP TSLT
BDSU BPL
30DEG
-
-
1
C33
OVERYET # IF C33-COSA POS
ITC 0
NORMLIMS
DSU 1
BMN
C33
16D
ALLSHADE
## Page 668
DMOVE* 0
11D,2 # 11D,2 TO PD FOR PROTECTION
BPL 0
DTEMP1
11MANU
SMOVE 0
6 # NBL1 REPLACES AR-SA
STORE 10D,2
DMOVE 0
STORE 11D,2 # NOW REINSERT 11,2
ITC 0
OVERYET
11MANU SMOVE 0
7
STORE 11D,2
ITC 0
OVERYET
ALLSHADE BPL 1
LODON DMOVE
DTEMP1
12MANU
6
STORE 10D,2
SMOVE 0
9D
STORE 11D,2
ITC 0
OVERYET
12MANU SMOVE 0
8D
STORE 10D,2
SMOVE 0
7
STORE 11D,2
OVERYET SMOVE 1
DAD BZE
X2
DP2(-12)
## Page 669
FINISHUP
TEST 2 # ENDCHEK IS DONE TWICE, FOR THE
AXC,1 SWITCH # BEGINNING AND FOR THE END OF THE ARC
ITC
BEGINFLG
FINISHUP
18D # -18 TO X1
BEGINFLG # REMOVE BEGINFLG
ENDCHEK # GO BACK, GET LIMITS FOR END OF ARC
FINISHUP SMOVE 1
BZE
X2
GETPTCH # NO LIMITS DETECTED
RTB 1
VXV
SETPD20
XNB
XSC # XNB*XSC TO PD AT 20
VXV 1
DOT
WC
XSC
20D
STORE 18D # (WC*XSC).(XNB*XSC) TO 18
UNIT 3
DOT COMP
TSLT ACOS
SIGN TSRT
-
WC
1
-
1
STORE 12D,2 # SCALED AT 4PI
SMOVE 1
AXC,2 AXT,1
X2
0
0 # 0 INTO X2 AND X1
STORE 30D # SAVE X2
22MANU SMOVE* 1
DSU
13D,2
## Page 670
12D
23MANU NOLOD 1
DSU BPL
360DEG
23MANU
20MANU NOLOD 1
DAD BMN
360DEG
20MANU
STORE 0,1
LXA,1 1
INCR,2 INCR,1
X1
-1
-2
SMOVE 1
BDSU BMN
X2
30D
22MANU
DAD 1
BZE
30D
DP2(-13)
EZCASE
DSU 1
BMN
4
0
30MANU
DSU 1
BMN
2
0
31MANU
DSU 1
BMN
2
4
SPLITMNU
DSU 1
## Page 671
BMN
6
0
GETPTCH
TEST 2
TSRT DSU
ITC
BACKFLAG # (BACKFLAG DOWN MEANS DO BACKTEST
BACKTEST
0
1
6
40MANU
31MANU DSU 1
BMN
6
0
33MANU
333MANU TEST 2
DAD TSRT
DSU ITC
BACKFLAG
BACKTEST
0
2
1
6
40MANU
33MANU DSU 1
BMN ITC
6
2
333MANU
GETPTCH
30MANU DSU 1
BMN
2
0
35MANU
DSU 1
BMN
6
4
GETPTCH
## Page 672
38MANU TEST 2
TSRT DSU
ITC
BACKFLAG
BACKTEST
4
1
6
40MANU
35MANU DSU 1
BMN
2
4
36MANU
DSU 1
BMN
6
2
37MANU
DSU 1
BPL ITC
6
0
38MANU
GETPTCH
36MANU DSU 1
BMN
6
4
366MANU
368MANU TEST 2
DAD TSRT
DSU ITC
BACKFLAG
BACKTEST
4
2
1
6
40MANU
37MANU DSU 1
BMN ITC
6
4
## Page 673
GETPTCH
38MANU
366MANU DSU 1
BMN ITC
6
2
368MANU
GETPTCH
40MANU NOLOD 2 # ROLL IS IN MPAC,MPAC +1,SCALED AT 4PI
DSU BMN
DSU ITC
DP2(-2)
41MANU
DP2(-2)
42MANU
41MANU NOLOD 2
DAD BPL
DAD ITC
360DEG
43MANU
DP2(-2)
42MANU
43MANU NOLOD 1
DSU
DP2(-2)
42MANU NOLOD 1
TSLT
1
STORE THETAMAN # ROLL IN THETAMAN, SCALED AT 2PI
TEST 0
ROLLFLAG # IF ROLLFLAG ISNT ON
DONE # WE ARE DONE
ITC 0
ROLLTEST # SHORT WAY ROLL MAY HIT GIMBAL LOCK
ITC 0
DONE
ROLLTEST RTB 2
VXV VXV
UNIT
FRESHPD
XSC
## Page 674
XNB
XSC # TEMP1 TO DP AT 0
SIGN 2
VXSC VXV
VXV UNIT
NEARONE
XSC +2
XSC
UNITY
XSC
DOT 1
TSLT ACOS
0
6
1
STORE 16D
ABS 1
DSU BMN
THETAMAN
16D
ENDTST
VMOVE 2
VXV DOT
BMN
-
-
XSC
50MANU
DMOVE 1
BPL DAD
THETAMAN
ENDTST
NEARONE
STORE THETAMAN
ITCQ 0
50MANU DMOVE 1
BMN DSU
THETAMAN
ENDTST
NEARONE
STORE THETAMAN
ENDTST ITCQ 0
## Page 675
BACKTEST LXA,2 1
SWITCH
30D # RESET SAVED X2
BACKFLAG # TURN BACKFLAG ON (DONT DO AGAIN)
SMOVE 0
10D
STORE 12D
LXA,1 1
SXA,1 ITC
11D
13D
FINISHUP
EZCASE DSU 1
BMN
2
0
GETPTCH # NO ROLL REQ,D
TEST 2
TSRT DSU
ITC
BACKFLAG
BACKTEST
0
1
2
40MANU
180CASE NOLOD 1
DAD BPL
COSONE
NOT179
DOT 2
ABS DSU
BPL
XSC
UNITY
COSONE
ZEROWC
VXV 1
VXV UNIT
XSC
UNITY
XSC
STORE WC
## Page 676
ITC 0
ACCEPTWC
ZEROWC VMOVE 0
ZSC
STORE WC
ITC 0
ACCEPTWC
NOGIMTST VXV 1
UNIT
XSC
XSCD
STORE WC
ITC 0
GETPTCH
DONE1 ABS 1
DSU BMN
THETAMAN
1.5DEG
GETPTCH
SIGN 1
VXSC
NEARONE
THETAMAN
XSC
STORE WC
ABS 0
THETAMAN
STORE THETAMAN
EXIT 0
TC FLAG2UP
OCT 04000 # SET ROLLFLAG
TC INTPRET
ITCI 0 # EXIT FOR ROLL THAT AVOIDS GIMBAL LOCK IN
EXITCADR # SUBSEQUENT PITCH/YAW MANEUVER
SPLITMNU SMOVE 3
ABS DSU
BHIZ LODON
SMOVE BPL
## Page 677
S1
DP2(-13)
SPLIT1
S1
SPLIT3
SPLIT2 DSU 1
BMN
6
0
SPLIT5
TSRT 1
DSU ITC
0
1
6
40MANU
SPLIT3 DSU 1
BPL
6
4
SPLIT4
DSU 1
BPL
6
2
SPLIT5
SPLIT4 DAD 2
TSRT DSU
ITC
2
4
1
6
40MANU
SPLIT1 SMOVE 1
BPL ITC
S1
SPLIT2
SPLIT3
SPLIT5 ITC 0
CALCPTCH
DMOVE 1
## Page 678
TSRT
THETAMAN
1
STORE THETAMAN
ITC 0
GETPTCH2
GETPTCH ITC 0
CALCPTCH
GETPTCH2 EXIT 0
TC FLAG2DWN
OCT 04000 # REMOVE ROLLFLAG
TC INTPRET
ITCI 0
EXITCADR # EXIT FOR PITCH/YAW PORTION OF MANEUVER
CALCPTCH DOT 1
TSLT ACOS
XSC
XSCD
1
STORE THETAMAN
ITCQ 0
TC CCSHOLE
TC CCSHOLE
COS3 2DEC .249657385 # SCALED AT 2(4)
COS27 2DEC .445503260 # SCALED AT 2(1)
COS63 2DEC .226995250 # SCALED AT 2(1)
COS30 2DEC .433012700 # SCALED AT 2(1)
1/TAN33 2DEC .76993250 # SCALED AT 2(1)
1.5DEG 2DEC .004166666 # SCALED AT 2PI
31.5DEG 2DEC .0875 # SCALED AT 2PI
30DEG 2DEC .08333333 # SCALED AT 2PI
3DEG 2DEC .00833333 # SCALED AT 2PI
## Page 679
90DEG 2DEC 0.125 # SCALED AT 4PI
DP2(-2) 2DEC 0.25
SIN30 EQUALS DP2(-2)
DP2(-13) 2OCT 0000200000
C33 2DEC .209667643
UNITX 2DEC 0.5
ZEROVEC 2DEC 0.0
2DEC 0.0
UNITY 2DEC 0.0
2DEC 0.5
2DEC 0.0
SCNBMAT 2DEC 0.419335300
2DEC 0.0
2DEC -.272319500
2DEC 0.0
2DEC 0.5
2DEC 0.0
2DEC 0.272319500
2DEC 0.0
2DEC 0.419335300
DTH 2DEC 0.005555 # 2.0 DEG SCALED AT 2PI
2DEC 0.01 # 3.6 DEG
2DEC 0.020833 # 7.5 DEG
SETPD16 CAF SIXTN
AD FIXLOC
TS PUSHLOC
## Page 680
TC RE-ENTER
SETPD6 CAF SIX
TC SETPD16 +1
SETPD18 CAF EIGHTN
TC SETPD16 +1
SETPD28 CAF TWENTY8
TC SETPD16 +1
SETPD20 CAF TWENTY0
TC SETPD16 +1
COSONE 2DEC .2499625 # SCALED AT 2(4)
COSSIX 2DEC .2480300 # SCALED AT 2(4)
180DEG EQUALS UNITX # SCALED AT 2PI.
DP2(-1) EQUALS UNITX
360DEG EQUALS UNITX # SCALED AT 4PI.
CFACTOR EQUALS UNITX
DONE DOT 2
DAD BPL
LODON VXV
XSC
XSCD
COSSIX
DONE1
UNITY
XNB
SIGN 1
VXSC UNIT
NEARONE
XNB +2
STORE WC
DMOVE 1
TSRT
30DEG
1
STORE THETAMAN
ITC 0
GETPTCH2
R280K 2DEC 6.463509 E6 B-24
## Page 681
R400K 2DEC 6.500085 E6 B-24
DP.36 2DEC .36 B-6
Computing file changes ...
