Source Code

020172,000001: 020173,000002: 020174,000003: 020175,000004: 020176,000005: 020177,000006: 020178,000007: 020179,000008: 020180,000009: 020181,000010: 020182,000011: 020183,000012: 020184,000013: 020185,000014: 020186,000015: 020187,000016: 020188,000017: 020189,000018: 020190,000019: 020191,000020: 020192,000021: 020193,000022: 020194,000023: 020195,000024: 020196,000025: 020197,000026: 020198,000027: 020199,000028: 020200,000029: 020201,000030: 020202,000031: 020203,000032: 020204,000033: 020205,000034: 020206,000035: 020207,000036: 020208,000037: 020209,000038: 020210,000039: 020211,000040: 020212,000041: 020213,000042: 020214,000043: 020215,000044: 020216,000045: 020217,000046: 020218,000047: 020219,000048: 020220,000049: 020221,000050: 020222,000051: 020223,000052: 020224,000053: 020225,000054: 020226,000055: 020227,000056: 020228,000057: 020229,000058: 020230,000059: 020231,000060: 020232,000061: 020233,000062: 020234,000063: 020235,000064: 020236,000065: 020237,000066: 020238,000067: 020239,000068: 020240,000069: 020241,000070: 020242,000071: 020243,000072: 020244,000073: 020245,000074: 020246,000075: 020247,000076: 020248,000077: 020249,000078: 020250,000079: 020251,000080: 020252,000081: 020253,000082: 020254,000083: 020255,000084: 020256,000085: 020257,000086: 020258,000087: 020259,000088: 020260,000089: 020261,000090: 020262,000091: 020263,000092: 020264,000093: 020265,000094: 020266,000095: 020267,000096: 020268,000097: 020269,000098: 020270,000099: 020271,000100: 34,2000 020272,000101: 26,2000 020273,000102: 26,2000 020274,000103: 020275,000104: 26,2123 020276,000105: 020277,000106: 26,2123 < 020374,000203: 26,2240 020375,000204: 020376,000205: 26,2241 020377,000206: < 020715,000544: 26,2373 020716,000545: 26,2374 # Copyright: Public domain. # Filename: R60_R62.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Ron Burkey <info@sandroid.org>. # Website: www.ibiblio.org/apollo. # Pages: 472-485 # Mod history: 2009-05-17 RSB Adapted from the corresponding # Luminary131 file, using page # images from Luminary 1A. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # Notations on the hardcopy document read, in part: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 472 # MOD NO: 0 DATE: 1 MAY 1968 # MOD BY: DIGITAL DEVEL GROUP LOG SECTION R60,R62 # FUNCTIONAL DESCRIPTION: # CALLED AS A GENERAL SUBROUTINE TO MANEUVER THE LM TO A SPECIFIED # ATTITUDE. # 1. IF THE 3-AXIS FLAG IS NOT SET THE FINAL CDU ANGLES ARE # CALCULATED (VECPOINT). # 2. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # 3. REQUEST FLASHING DISPLAY V50 N18 PLEASE PERFORM AUTO MANEUVER. # 4. IF PRIORITY DISPLAY FLAG IS SET DO A PHASECHANGE. THEN AWAIT # ASTRONAUT RESPONSE. # 5. DISPLAY RESPONSE RETURNS. # A. ENTER -- RESET 3-AXIS FLAG AND RETURN TO CLIENT. # B. TERMINATE -- IF IN P00 GO TO STEP 5A. OTHERWISE CHECK IF R61 IS # THE CALLING PROGRAM. IF IN R61 AN EXIT IS MADE TO GOTOV56. IF # NOT IN R61 AN EXIT IS DONE VIA GOTOP00H. # C. PROCEED -- CONTINUE WITH PROGRAM AT STEP 6. # 6. IF THE 3-AXISFLAG IS NOT SET, THE FINAL CDU ANGLES ARE CALCULATED # (VECPOINT). # 7. THE FDAI BALL ANGLES (NOUN 18) ARE CALCULATED (BALLANGS). # 8. IF THE G+N SWITCH IS NOT SET GO BACK TO STEP 3. # # 9. IF THE AUTO SWITCH IS NOT SET GO BACK TO STEP 3. # 10. NON-FLASHING DISPLAY V06N18 (FDAI ANGLES). # 11. DO A PHASE-CHANGE. # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL # GIMBAL ANGLES (GOMANUR). # 13. AT END OF MANEUVER TO TO STEP 3. # IF SATISFACTORY MANEUVER STEP 5A EXITS R60. # FOR FURTHER ADJUSTMENT OF THE VEHICLE ATTITUDE ABOUT THE # DESIRED VECTOR, THE ROUTINE MAY BE PERFORMED AGAIN STARTING AT # Page 473 # STEP 5C. # CALLING SEQUENCE: TC BANKCALL # CADR R60LEM # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT) # 3AXISFLG. # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF24, LINUS, GODSPER, # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG # NORMAL EXIT MODES: CAE TEMPR60 (CALLER'S RETURN ADDRESS) # TC BANKJUMP # ALARMS: NONE # OUTPUT: NONE # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2 BANK 34 SETLOC MANUVER BANK 1164 EBANK= TEMPR60 COUNT* $$/R06 >020278,000107: 26,2123 04645 R60LEM TC MAKECADR 55164 TS TEMPR60 E4E">020281,000110: 26,2125 34746 REDOMANN CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12136 TCF TOBALL # YES 06037 TC INTPRET 77624 CALL 56040 VECPOINT # TO COMPUTE FINAL ANGLES 00322 STORE CPHI # STORE FINAL ANGLES -- CPHI, CTHETA, CPSI 77776 EXIT >020291,000120: 26,2136 04616 TOBALL TC BANKCALL 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI 1">020293,000122: 26,2140 32254 TOBALLA CAF V06N18 04616 TC BANKCALL 20710 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER 02242 TC R61TEST 02150 TC REDOMANC # PROCEED 02175 TC ENDMANU1 # ENTER I.E., FINISHED WITH R60 # Page 474 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS 05155 TC ENDOFJOB E43">020303,000132: 26,2150 34746 REDOMANC CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12161 TCF TOBALLC # YES 06037 TC INTPRET 77624 CALL 56040 VECPOINT # TO COMPUTE FINAL ANGLES 00322 STORE CPHI # STORE ANGLES 77776 EXIT 3">020313,000142: 26,2161 04616 TOBALLC TC BANKCALL 54266 CADR BALLANGS # TO CONVERT ANGLES TO FDAI 02255 TC G+N,AUTO # CHECK AUTO MODE 10000 CCS A 12140 TCF TOBALLA # NOT AUTO, GO REREQUEST AUTO MANEUVER. E56">020319,000148: 26,2166 32254 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER 04616 TC BANKCALL 20451 CADR GODSPR 02201 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS E56">020324,000153: 26,2172 04616 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU 17750 CADR GOMANUR 556">020327,000156: 26,2174 12140 ENDMANUV TCF TOBALLA # FINISHED MANEUVER. 531">020328,000157: 26,2175 05516 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG 00124 ADRES 3AXISFLG 31164 CAE TEMPR60 04640 TC BANKJUMP 553">020333,000162: 26,2201 40100 CHKLINUS CS FLAGWRD4 74740 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET? 10000 CCS A 00002 TC Q # NO -- EXIT 30002 CA Q 54156 TS MPAC +2 # SAVE RETURN 46245 CS THREE # OBTAIN LOCATION FOR RESTART 60133 AD BUF2 # HOLD Q OF LAST DISPLAY 55055 TS TBASE2 05353 TC PHASCHNG 00132 OCT 00132 34745 CAF BIT7 05464 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY 00156 TC MPAC +2 # Page 475 3">020351,000180: 26,2217 37714 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY 05146 TC PRIOCHNG 34747 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON. 70075 MASK FLAGWRD1 10000 CCS A 12237 TCF RER60 34745 CAF RNDVZBIT # IS IT P20? 70074 MASK FLAGWRD0 10000 CCS A 02234 TC +4 # YES 05353 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT 40112 OCT 40112 05155 TC ENDOFJOB 05353 TC PHASCHNG # SET 2.7 SPOT FOR P20 40072 OCT 40072 05155 TC ENDOFJOB /a>020373,000202: 26,2237 05504 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART 00077 ADRES PDSPFLAG 01055 TC TBASE2 4">020378,000207: 26,2242 31011 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89 00006 EXTEND 12175 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25) 74740 MASK PDSPFBIT 00006 EXTEND 16001 BZF GOTOP00H # NO 06022 TC GOTOV56 # YES 7">020388,000217: 26,2252 20100 BIT14+7 OCT 20100 >020389,000218: 26,2253 00203 OCT203 OCT 203 >020390,000219: 26,2254 01422 V06N18 VN 0618 # SUBROUTINE TO CHECK FOR G+N CONTROL, AUTO STABILIZATION # RETURNS WITH C(A) = + IF NOT SET FOR G+N, AUTO # RETURNS WITH C(A) = +0 IF SWITCHES ARE SET 44F">020397,000226: 26,2255 00006 G+N,AUTO EXTEND 00030 READ CHAN30 74742 MASK BIT10 10000 CCS A 00002 TC Q # NOT IN G+N C(A) = + # Page 476 44F">020403,000232: 26,2262 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE 00031 READ CHAN31 74736 MASK BIT14 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK # Page 477 # PROGRAM DESCRIPTION BALLANGS # MOD NO. LOG SECTION R60,R62 # WRITTEN BY RAMA M. AIYAWAR # FUNCTIONAL DESCRIPTION # COMPUTES LM FDAI BALL DISPLAY ANGLES # CALLING SEQUENCE # TC BALLANGS # NORMAL EXIT MODE # TC BALLEXIT # (SAVED Q) # ALARM OR EXIT MODE: NIL # SUBROUTINES CALLED # CD*TR*G # ARCTAN # INPUT # CPHI,CTHETA,CPSI ARE THE ANGLES CORRESPONDING TO AOG, AIG, AMG. THEY ARE # SP,2'S COMPLEMENT SCALED TO HALF REVOLUTION. # OUTPUT # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION # SP,2'S COMPEMENT. # THESE ANGLES WILL BE DISPLAYED AS DEGREES AND HUNDREDTHS, IN THE ORDER ROLL, PITCH, YAW, USING NOUNS 18 & 19. # ERASABLE INITIALIZATION REQUIRED # CPHI, CTHETA, CPSI EACH AN SP REGISTER # DEBRIS # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, AND MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR # EQUIVALENTLY, CDUX, CDUY, AND CDUZ. # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES. SETLOC BAWLANGS BANK COUNT* $$/BALL 753">020462,000291: 26,2266 04645 BALLANGS TC MAKECADR 55342 TS BALLEXIT 30321 CA CPHI # Page 478 54772 TS CDUSPOT +4 30322 CA CTHETA 54766 TS CDUSPOT 30323 CA CPSI 54770 TS CDUSPOT +2 06037 TC INTPRET 45001 SETPD CALL 00001 0D 47543 CD*TR*G 41345 DLOAD DMP 00743 SINCDUX # SIN (OGA) 00747 COSCDUZ # COS (MGA) 57552 SL1 DCOMP # SCALE 65336 ARCSIN PDDL # YAW = ARCSIN(-SXCZ) INTO 0 PD 00741 SINCDUZ 14023 STODL SINTH # (SINTH = 18D IN PD) 00747 COSCDUZ 72405 DMP SL1 # RESCALE 00751 COSCDUX 34021 STCALL COSTH # (COSTH = 16D IN PD) 26510 ARCTAN 41325 PDDL DMP # ROLL = ARCTAN(SZ/CZCX) INTO 2 PD 00741 SINCDUZ 00743 SINCDUX 41512 SL2 PUSH # SXSZ INTO 4 PD 65205 DMP PDDL # SXSZCY INTO 4 PD 00745 COSCDUY 65205 DMP PDDL # SXSZSY INTO 6 PD 00737 SINCDUY 00751 COSCDUX 72405 DMP SL1 # CXCY 00745 COSCDUY 45425 DSU STADR # PULL UP FORM 6 PD 63756 STODL COSTH # COSTH = CXCY - SXSZSY 00737 SINCDUY 72405 DMP SL1 00751 COSCDUX # CXSY 45415 DAD STADR # PULL UP FORM 4 PD 43754 STCALL SINTH # SINTH = CXSY + SXSZCY 26510 ARCTAN # RETURNS WITH D(MPAC) = PITCH 55525 PDDL VDEF # PITCH INTO 2 PD, ROLL INTO MPAC FROM 2 PD 77634 RTB # VDEF MAKES V(MPAC) = ROLL, PITCH, YAW 21620 V1STO2S 02345 STORE FDAIX # MODE IS TP 77776 EXIT C">020515,000344: 26,2346 31342 ENDBALL CA BALLEXIT # Page 479 04640 TC BANKJUMP # Page 480 # PROGRAM DESCRIPTION -- VECPOINT # THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION. THE AXIS # TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY # BEGINNING WITH THE LOCATION CALLED SCAXIS. THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES. # THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN # SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM. THE COMPONENTS OF THIS # VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES. WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL # ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM # IN T(MPAC) BEFORE RETURNING TO THE CALLER. # THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK. WHEN POINTING A VECTOR IN THE Y-Z PLANE, # THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS- # PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL # 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, # THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X) # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # STORED AS 2'S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER. # WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT # CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK. IN THIS CASE A PLATFORM REALIGNMENT WOULD BE # REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION. AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION # EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES. # CALLING SEQUENCE # 1) LOAD SCAXIS, POINTVSM # 2) CALL # VECPOINT # RETURNS WITH # 1) DESIRED OUTER GIMBAL ANGLE IN MPAC # 2) DESIRED INNER GIMBAL ANGLE IN MPAC +1 # 3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2 # ERASABLES USED -- # 1) SCAXIS 6 # 2) POINTVSM 6 # 3) MIS 18 # 4) DEL 18 # 5) COF 6 # 6) VECQTEMP 1 # 7) ALL OF VAC AREA 43 # TOTAL 99 SETLOC VECPT BANK # Page 481 COUNT* $$/VECPT EBANK= BCDU 1">020576,000405: 27,2032 40020 VECPNT1 STQ BOV # THIS ENTRY USES DESIRED CDUS 03325 VECQTEMP # NOT PRESENT -- ENTER WITH CDUD'S IN MPAC 56035 VECPNT2 2">020579,000408: 27,2035 52164 VECPNT2 AXC,2 GOTO 03246 MIS 56046 STORANG E54">020582,000411: 27,2040 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS 03325 VECQTEMP 56043 VECLEAR # AND CLEAR OVFIND 2">020585,000414: 27,2043 47164 VECLEAR AXC,2 RTB 03246 MIS # READ THE PRESENT CDU ANGLES AND 44403 READCDUK # STORE THEM IN PD25, 26, 27 7">020588,000417: 27,2046 34032 STORANG STCALL 25D 44410 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS) 61375 VLOAD VXM 03773 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO 03247 MIS # INITIAL S/C AXES (VF = POINTVSM) 77656 UNIT 00035 STORE 28D # PD 28 29 30 31 32 33 53435 VXV UNIT # TAKE THE CROSS PRODUCT VF X VI 03765 SCAXIS # WHERE VI = SCAXIS 57400 BOV VCOMP 56170 PICKAXIS 17271 STODL COF # CHECK MAGNITUDE 00045 36D # OF CROSS PRODUCT 50025 DSU BMN # VECTOR, IF LESS 14411 DPB-14 # THAN B-14 ASSUME 56170 PICKAXIS # UNIT OPERATION 50375 VLOAD DOT # INVALID. 03765 SCAXIS 00035 28D 65552 SL1 ARCCOS 458">020609,000438: 27,2072 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM 44527 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI 75160 AXC,1 AXC,2 03246 MIS # COMPUTE THE TRANSFORMATION FROM FINAL 02230 KEL # S/C AXES TO STABLE MEMBER AXES 77624 CALL # MFS = MIS MFI 44312 MXM3 # (IN PD LIST) 51545 DLOAD ABS 00007 6 # MFS6 = SIN(CPSI) $2 50025 DSU BMN 14376 SINGIMLC # = SIN(59 DEGS) $2 56160 FINDGIMB # /CPSI/ LESS THAN 59 DEGS. # Page 482 # I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING 03765 SCAXIS # THE THRUST AXIS 51025 DSU BPL 14400 SINVEC1 # SIN 49.4 DEGS $2 56160 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE 77626 STADR 50514 STOVL MIS +12D 77626 STADR # STORE MFS (IN PD LIST) IN MIS 50522 STOVL MIS +6 77626 STADR 50530 STOVL MIS 03255 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO 56125 IGSAMEX # FINAL X S/C AXIS 8">020641,000470: 27,2125 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE 03765 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION 56134 U=SCAXIS # ABOUT +- SCAXIS, I.E., IF (IG (SGN MFS3) # X SCAXIS . XF) LESS THAN 0, U = SCAXIS # OTHERWISE U = -SCAXIS. 57575 VLOAD VCOMP 03765 SCAXIS 37271 STCALL COF # ROTATE ABOUT -SCAXIS 56137 CHEKAXIS 953">020651,000480: 27,2134 77775 U=SCAXIS VLOAD 03765 SCAXIS 03271 STORE COF # ROTATE ABOUT + SCAXIS 953">020654,000483: 27,2137 51545 CHEKAXIS DLOAD ABS 03765 SCAXIS # SEE IF WE ARE POINTING THE AOT 51025 DSU BPL 14402 SINVEC2 # SIN 29.5 DEGS $2 56147 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER 14406 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE 56151 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 $360) 731">020663,000492: 27,2147 77745 PICKANG1 DLOAD 14404 VECANG1 # = 50 DEGS. $360 34E">020665,000494: 27,2151 77624 COMPMFSN CALL 44527 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK 03246 MIS 02230 KEL 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM 44312 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # Page 483 # GIMBAL LOCK D42">020675,000504: 27,2160 45160 FINDGIMB AXC,1 CALL 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM 44654 DCMTOCDU # THIS MATRIX 40234 RTB SETPD 21620 V1STO2S # CONVERT TO 2'S COMPLEMENT 00001 0 77650 GOTO 03325 VECQTEMP # RETURN TO CALLER 953">020684,000513: 27,2170 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF, VI 00035 28D 03765 SCAXIS 72240 BMN TLOAD 54350 ROT180 00032 25D 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU 03325 VECQTEMP # PRESENT CDU ANGLES BANK 35 SETLOC MANUVER1 BANK >020696,000525: 26,2350 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 180 DEG ROTATION 03255 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN 06520 HIDPHALF # INITIAL S/C AXES. 47256 UNIT VXV # FIND Y(SM) X X(I) 03765 SCAXIS # FIND UNIT(VI X UNIT(Y(SM) X X(I))) 40056 UNIT BOV # I.E., PICK A VECTOR IN THE PLANE OF X(I), 54372 PICKX # Y(SM) PERPENDICULAR TO VI 17271 STODL COF 00045 36D # CHECK MAGNITUDE 50025 DSU BMN # OF THIS VECTOR. 14411 DPB-14 # IF LESS THAN B-14, 54372 PICKX # PICK X-AXIS. 77775 VLOAD 03271 COF >020710,000539: 26,2366 17271 XROT STODL COF 06520 HIDPHALF 77650 GOTO 56072 COMPMATX /a>020714,000543: 26,2372 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE 06520 HIDPHALF 54366 XROT C43">020717,000546: 26,2375 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2 1">020719,000548: 26,2377 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2 2">020721,000550: 26,2401 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2 1">020723,000552: 26,2403 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360 # Page 484 2">020725,000554: 26,2405 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360 >020727,000556: 26,2407 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ************ >020728,000557: 26,2410 00001 DPB-14 OCT 00001 00000 OCT 00000 # Page 485 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) BANK 34 SETLOC R62 BANK EBANK= BCDU COUNT* $$/R62 0">020741,000570: 23,2103 23,2103 R62DISP EQUALS R62FLASH 348">020743,000572: 23,2103 35010 R62FLASH CAF V06N22 # FLASH V06N22 AND 04616 TC BANKCALL # ICDU ANGLES 20476 CADR GOFLASH 15472 TCF ENDEXT # TERMINATE 12111 TCF GOMOVE # PROCEED 12103 TCF R62FLASH # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT. >020752,000581: 23,2111 05504 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER 00124 ADRES 3AXISFLG 04616 TC BANKCALL 54123 CADR R60LEM 15472 TCF ENDEXT # END R62 Parent file is MAIN.agc