Assembly listing generated by yaYUL

Source Code

These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of original core rope program modules, as follows:

B1 — Revision 292
B2 — Revision 302
B3 — Revision 302
B4 — Revision 302
B5 — Revision 292
B6 — Revision 306

This means that source code does not represent a specific historical revision of Sundance, but rather a mixture of the three released versions. Nonetheless, it is capable of flying the whole Apollo 9 mission. This source code matches the binary dumps, as closely as feasible, but 100% match is not possible, due mostly to changes in memory addresses at which code and variables were allocated in different revisions of Sundance. Refer to this list of explanations for each binary mismatch.

Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

018313,000002: 018314,000003: 018315,000004: 018316,000005: 018317,000006: 018318,000007: 018319,000008: 018320,000009: 018321,000010: 018322,000011: 018323,000012: 018324,000013: 018325,000014: 018326,000015: 018327,000016: 018328,000017: 018329,000018: 018330,000019: 018331,000020: 018332,000021: 018333,000022: 018334,000023: 018335,000024: 018336,000025: 018337,000026: 018338,000027: 018339,000028: 018340,000029: 018341,000030: 018342,000031: 018343,000032: 018344,000033: 018345,000034: 018346,000035: 018347,000036: 018348,000037: 018349,000038: 018350,000039: 018351,000040: 018352,000041: 018353,000042: 018354,000043: 018355,000044: 018356,000045: 018357,000046: 018358,000047: 018359,000048: 018360,000049: 018361,000050: 018362,000051: 018363,000052: 018364,000053: 018365,000054: 018366,000055: 018367,000056: 018368,000057: 018369,000058: 018370,000059: 018371,000060: 018372,000061: 018373,000062: 018374,000063: 018375,000064: 018376,000065: 018377,000066: 018378,000067: 018379,000068: 018380,000069: 018381,000070: 018382,000071: 018383,000072: 018384,000073: 018385,000074: 018386,000075: 018387,000076: 018388,000077: 018389,000078: 018390,000079: 018391,000080: 018392,000081: 018393,000082: 018394,000083: 018395,000084: 018396,000085: 018397,000086: 34,2000 018398,000087: 26,2000 018399,000088: 26,2000 018400,000089: 018401,000090: 26,2103 018402,000091: 018403,000092: 26,2103 < 018531,000220: 26,2253 018532,000221: 018533,000222: 26,2254 018534,000223: < 018846,000535: 26,2406 018847,000536: 26,2407 ## Copyright: Public domain. ## Filename: R60,R62.agc ## Purpose: A section of a reconstructed, mixed version of Sundance ## It is part of the reconstructed source code for the Lunar ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9. ## No original listings of this program are available; ## instead, this file was created via disassembly of dumps ## of various revisions of Sundance core rope modules. ## Assembler: yaYUL ## Contact: Ron Burkey <info@sandroid.org>. ## Website: www.ibiblio.org/apollo/index.html ## Mod history: 2020-06-17 MAS Created from Luminary 69. ## Sundance 302 # 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. NONFLASHING DISPLAY V06N18 (FDAI ANGLES). # 11. DO A PHASECHANGE. # 12. DO A MANEUVER CALCULATION AND ICDU DRIVE ROUTINE TO ACHIEVE FINAL # GIMBAL ANGLES (GOMANUR). # 13. AT END OF MANEUVER GO 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 # STEP 5C. # CALLING SEQUENCE: TC BANKCALL # CADR R60LEM # ERASABLE INITIALIZATION REQUIRED: SCAXIS, POINTVSM (FOR VECPOINT) # 3AXISFLG. # SUBROUTINES CALLED: VECPOINT, BALLANGS, GOPERF2R, LINUS, GODSPER, # GOMANUR, DOWNFLAG, PHASCHNG, UPFLAG # NORMAL EXIT MODES: CAE TEMPR60 (CALLERS RETURN ADDRESS) # TC BANKJUMP # ALARMS: NONE # OUTPUT: NONE # DEBRIS: CPHI, CTHETA, CPSI, 3AXISFLG, TBASE2 BANK 34 SETLOC MANUVER BANK 1176 EBANK= TEMPR60 COUNT* $$/R06 >018404,000093: 26,2103 04704 R60LEM TC MAKECADR 55176 TS TEMPR60 05575 TC DOWNFLAG 00055 ADRES AUTMANSW E4E">018410,000099: 26,2107 35021 REDOMANN CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12120 TCF TOBALL # YES 06014 TC INTPRET 77624 CALL 56000 VECPOINT # TO COMPUTE FINAL ANGLES 01207 STORE CPHI # STORE FINAL ANGLES - CPHI, CTHETA, CPSI 77776 EXIT >018420,000109: 26,2120 02302 TOBALL TC BALLANGS # TO CONVERT ANGLES TO FDAI 1">018421,000110: 26,2121 32267 TOBALLA CAF V06N18 04655 TC BANKCALL 20606 CADR GOPERF2R # DISPLAY PLEASE PERFORM AUTO MANEUVER 02255 TC R61TEST 02133 TC REDOMANC # PROCEED 02131 TC GOMANMNV # ENTER I.E. FINISHED WITH R60 02214 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS 05225 TC ENDOFJOB E56">018430,000119: 26,2131 05563 GOMANMNV TC UPFLAG 00055 ADRES AUTMANSW E43">018433,000122: 26,2133 35021 REDOMANC CAF 3AXISBIT 70101 MASK FLAGWRD5 # IS 3-AXIS FLAG SET 10000 CCS A 12144 TCF TOBALLC # YES 06014 TC INTPRET 77624 CALL 56000 VECPOINT # TO COMPUTE FINAL ANGLES 01207 STORE CPHI # STORE ANGLES 77776 EXIT 3">018443,000132: 26,2144 02302 TOBALLC TC BALLANGS # TO CONVERT ANGLES TO FDAI 02271 TC G+N,AUTO # CHECK AUTO MODE 10000 CCS A 02175 TC MANMANUV # NOT AUTO, GO PERFORM MANUAL MANEUVER. 30077 CA FLAGWRD3 75010 MASK AUTMNBIT 00006 EXTEND 12155 BZF AUTOMANV 02175 TC MANMANUV E56">018454,000143: 26,2155 32267 AUTOMANV CAF V06N18 # STATIC DISPLAY DURING AUTO MANEUVER 04655 TC BANKCALL # - 20364 CADR GODSPR # - 02214 TC CHKLINUS # TO CHECK FOR PRIORITY DISPLAYS 00004 INHINT 41102 CS DAPBOOLS 75016 MASK XOVINHIB 27102 ADS DAPBOOLS 00003 RELINT E56">018464,000153: 26,2166 04655 STARTMNV TC BANKCALL # PERFORM MANEUVER VIA KALCMANU 17656 CADR GOMANUR 00004 INHINT 45016 CS XOVINHIB 71102 MASK DAPBOOLS 55102 TS DAPBOOLS 00003 RELINT 556">018473,000162: 26,2175 32270 MANMANUV CAF V06N19 04655 TC BANKCALL 20606 CADR GOPERF2R 02255 TC R61TEST 12210 TCF ENDMANU1 02205 TC ENDMANUV 02214 TC CHKLINUS 05225 TC ENDOFJOB 556">018482,000171: 26,2205 05575 ENDMANUV TC DOWNFLAG # FINISHED MANEUVER. 00055 ADRES AUTMANSW 12133 TCF REDOMANC 531">018486,000175: 26,2210 05575 ENDMANU1 TC DOWNFLAG # RESET 3-AXIS FLAG 00124 ADRES 3AXISFLG 31176 CAE TEMPR60 # - 04677 TC BANKJUMP # - 553">018491,000180: 26,2214 40100 CHKLINUS CS FLAGWRD4 75013 MASK PDSPFBIT # IS PRIORITY DISPLAY FLAG SET? 10000 CCS A # - 00002 TC Q # NO - EXIT 30002 CA Q 54156 TS MPAC +2 # SAVE RETURN 46221 CS THREE # OBTAIN LOCATION FOR RESTART 60133 AD BUF2 # HOLDS Q OF LAST DISPLAY 55056 TS TBASE2 05413 TC PHASCHNG 00132 OCT 00132 32265 CAF BIT14+7 05553 TC LINUS # GO SET BITS FOR PRIORITY DISPLAY - 00156 TC MPAC +2 3">018508,000197: 26,2232 37666 RELINUS CAF PRIO26 # RESTORE ORIGINAL PRIORITY 05216 TC PRIOCHNG 35022 CAF TRACKBIT # DON'T CONTINUE R60 UNLESS TRACKFLAG ON. 70075 MASK FLAGWRD1 10000 CCS A 12252 TCF RER60 35020 CAF RNDVZBIT # IS IT P20? 70074 MASK FLAGWRD0 10000 CCS A 02247 TC +4 # YES 05413 TC PHASCHNG # NO, MUST BE P25, SET 2.11 SPOT 40112 OCT 40112 05225 TC ENDOFJOB 05413 TC PHASCHNG # SET 2.7 SPOT FOR P20 40072 OCT 40072 05225 TC ENDOFJOB /a>018530,000219: 26,2252 05563 RER60 TC UPFLAG # SET PRIO DISPLAY FLAG AFTER RESTART 00077 ADRES PDSPFLAG 01056 TC TBASE2 4">018535,000224: 26,2255 31012 R61TEST CA MODREG # IF WE ARE IN P00 IT MUST BE V49 OR V89 00006 EXTEND 12210 BZF ENDMANU1 # THUS WE GO TO ENDEXT VIA USER 30100 CA FLAGWRD4 # ARE WE IN R61 (P20 OR P25) 75013 MASK PDSPFBIT 00006 EXTEND 14106 BZF GOTOPOOH # NO 06000 TC GOTOV56 # YES 7">018545,000234: 26,2265 20100 BIT14+7 OCT 20100 # - >018546,000235: 26,2266 00203 OCT203 OCT 203 >018547,000236: 26,2267 01422 V06N18 VN 0618 >018548,000237: 26,2270 01423 V06N19 VN 0619 # 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">018555,000244: 26,2271 00006 G+N,AUTO EXTEND 00030 READ CHAN30 75015 MASK BIT10 10000 CCS A 00002 TC Q # NOT IN G+N C(A) = + 44F">018560,000249: 26,2276 00006 ISITAUTO EXTEND # CHECK FOR AUTO MODE 00031 READ CHAN31 75011 MASK BIT14 00002 TC Q # (+) = NOT IN AUTO, (+0) = AOK # 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,2S COMPLIMENT SCALED TO HALF REVOLUTION. # OUTPUT # FDAIX, FDAIY, FDAIZ ARE THE REQUIRED BALL ANGLES SCALED TO HALF REVOLUTION # SP,2S COMPLIMENT. # 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 A SP REGISTER # DEBRIS # A,L,Q,MPAC,SINCDU,COSCDU,PUSHLIST,BALLEXIT # NOMENCLATURE: CPHI, CTHETA, & CPSI REPRESENT THE OUTER, INNER, & MIDDLE GIMBAL ANGLES, RESPECTIVELY; OR # EQUIVALENTLY, CDUX, CDUY, & CDUZ. # NOTE: ARCTAN CHECKS FOR OVERFLOW AND SHOULD BE ABLE TO HANDLE ANY SINGULARITIES. SETLOC BAWLANGS BANK COUNT* $$/BALL 753">018610,000299: 26,2302 00006 BALLANGS EXTEND 23346 QXCH BALLEXIT 31206 CA CPHI 54772 TS CDUSPOT +4 31207 CA CTHETA 54766 TS CDUSPOT 31210 CA CPSI 54770 TS CDUSPOT +2 06014 TC INTPRET 45001 SETPD CALL 00001 0D 47255 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) 26464 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 FROM 6 PD 63756 STODL COSTH # COSTH = CXCY - SXSZSY 00737 SINCDUY 72405 DMP SL1 00751 COSCDUX # CXSY 45415 DAD STADR # PULL UP FROM 4 PD 43754 STCALL SINTH # SINTH = CXSY + SXSZCY 26464 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 21516 V1STO2S 03776 STORE FDAIX # MODE IS TP 77776 EXIT C">018662,000351: 26,2362 01346 ENDBALL TC BALLEXIT # 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 INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL # ANGLES (2S COMPLEMENT) CORESPONDING 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 GIMAL LOCK IS 35 DEGREES. IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X) # THE ADDITIONAL ROTATION IS 35 DEGREES. THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND # STORED AS 2S COMPLIMENT 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 COUNT* $$/VECPT EBANK= BCDU E54">018715,000404: 27,2000 40020 VECPOINT STQ BOV # SAVE RETURN ADDRESS 03322 VECQTEMP 56003 VECLEAR # AND CLEAR OVFIND 2">018718,000407: 27,2003 47164 VECLEAR AXC,2 RTB 03243 MIS # READ THE PRESENT CDU ANGLES AND 44377 READCDUK # STORE THEM IN PD25, 26, 27 34032 STCALL 25D 44404 CDUTODCM # S/C AXES TO STABLE MEMBER AXES (MIS) 61375 VLOAD VXM 01256 POINTVSM # RESOLVE THE POINTING DIRECTION VF INTO 03244 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 01250 SCAXIS # WHERE VI = SCAXIS 57400 BOV VCOMP 56130 PICKAXIS 17266 STODL COF # CHECK MAGNITUDE 00045 36D # OF CROSS PRODUCT 50025 DSU BMN # VECTOR, IF LESS 14424 DPB-14 # THAN B-14 ASSUME 56130 PICKAXIS # UNIT OPERATION 50375 VLOAD DOT # INVALID. 01250 SCAXIS 00035 28D 65552 SL1 ARCCOS 458">018742,000431: 27,2032 77624 COMPMATX CALL # NOW COMPUTE THE TRANSFORMATION FROM 44523 DELCOMP # FINAL S/C AXES TO INITIAL S/C AXES MFI 75160 AXC,1 AXC,2 03243 MIS # COMPUTE THE TRANSFORMATION FROM FINAL 02236 KEL # S/C AXES TO STABLE MEMBER AXES 77624 CALL # MFS = MIS MFI 44306 MXM3 # (IN PD LIST) 51545 DLOAD ABS 00007 6 # MFS6 = SIN(CPSI) $2 50025 DSU BMN 14411 SINGIMLC # = SIN(59 DEGS) $2 56120 FINDGIMB # /CPSI/ LESS THAN 59 DEGS # I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK 51545 DLOAD ABS # CHECK TO SEE IF WE ARE POINTING 01250 SCAXIS # THE THRUST AXIS 51025 DSU BPL 14413 SINVEC1 # SIN 49.4 DEGS $2 56120 FINDGIMB # IF SO, WE ARE TRYING TO POINT IT INTO 77775 VLOAD # GIMBAL LOCK, ABORT COULD GO HERE 77626 STADR 50517 STOVL MIS +12D 77626 STADR # STORE MFS (IN PD LIST) IN MIS 50525 STOVL MIS +6 77626 STADR 50533 STOVL MIS 03252 MIS +6 # INNER GIMBAL AXIS IN FINAL S/C AXES 57444 BPL VCOMP # LOCATE THE IG AXIS DIRECTION CLOSEST TO 56065 IGSAMEX # FINAL X S/C AXIS 8">018773,000462: 27,2065 50035 IGSAMEX VXV BMN # FIND THE SHORTEST WAY OF ROTATING THE 01250 SCAXIS # S/C OUT OF GIMBAL LOCK BY A ROTATION 56074 U=SCAXIS # ABOUT +- SCAXIS, I.E. IF (IG (SGN MFS3) # X SCAXIS . XF) LESS THAN 0, U = SCAXIS # OTHERWISE U = -SCAXIS 57575 VLOAD VCOMP 01250 SCAXIS 37266 STCALL COF # ROTATE ABOUT -SCAXIS 56077 CHEKAXIS 953">018783,000472: 27,2074 77775 U=SCAXIS VLOAD 01250 SCAXIS 03266 STORE COF # ROTATE ABOUT + SCAXIS 953">018786,000475: 27,2077 51545 CHEKAXIS DLOAD ABS 01250 SCAXIS # SEE IF WE ARE POINTING THE AOT 51025 DSU BPL 14415 SINVEC2 # SIN 29.5 DEGS $2 56107 PICKANG1 # IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS 52145 DLOAD GOTO # IF NOT, MUST BE POINTING THE TRANSPONDER 14421 VECANG2 # OR SOME VECTOR IN THE Y, OR Z PLANE 56111 COMPMFSN # IN THIS CASE ROTATE 35 DEGS TO GET OUT # OF GIMBAL LOCK (VECANG2 $360) 731">018795,000484: 27,2107 77745 PICKANG1 DLOAD 14417 VECANG1 # = 50 DEGS $360 34E">018797,000486: 27,2111 77624 COMPMFSN CALL 44523 DELCOMP # COMPUTE THE ROTATION ABOUT SCAXIS TO 75160 AXC,1 AXC,2 # BRING MFS OUT OF GIMBAL LOCK 03243 MIS 02236 KEL 77624 CALL # COMPUTE THE NEW TRANSFORMATION FROM 44306 MXM3 # DESIRED S/C AXES TO STABLE MEMBER AXES # WHICH WILL ALIGN VI WITH VF AND AVOID # GIMBAL LOCK D42">018806,000495: 27,2120 45160 FINDGIMB AXC,1 CALL 00000 0 # EXTRACT THE COMMANDED CDU ANGLES FROM 44650 DCMTOCDU # THIS MATRIX 40234 RTB SETPD 21516 V1STO2S # CONVERT TO 2:S COMPLEMENT 00001 0 77650 GOTO 03322 VECQTEMP # RETURN TO CALLER 953">018815,000504: 27,2130 50375 PICKAXIS VLOAD DOT # IF VF X VI = 0, FIND VF . VI 00035 28D 01250 SCAXIS 72240 BMN TLOAD 54363 ROT180 00032 25D 77650 GOTO # IF VF = VI, CDU DESIRED = PRESENT CDU 03322 VECQTEMP # PRESENT CDU ANGLES BANK 35 SETLOC MANUVER1 BANK >018827,000516: 26,2363 47375 ROT180 VLOAD VXV # IF VF, VI ANTIPARALLEL, 108 DEG ROTATION 03252 MIS +6 # IS REQUIRED. Y STABLE MEMBER AXIS IN 06231 HIDPHALF # INITIAL S/C AXES. 47256 UNIT VXV # FIND Y(SM) X X(I) 01250 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), 54405 PICKX # Y(SM) PERPENDICULAR TO VI 17266 STODL COF 00045 36D # CHECK MAGNITUDE 50025 DSU BMN # OF THIS VECTOR. 14424 DPB-14 # IF LESS THAN B-14, 54405 PICKX # PICK X-AXIS. 77775 VLOAD 03266 COF >018841,000530: 26,2401 17266 XROT STODL COF 06231 HIDPHALF 77650 GOTO 56032 COMPMATX /a>018845,000534: 26,2405 52175 PICKX VLOAD GOTO # PICK THE XAXIS IN THIS CASE 06231 HIDPHALF 54401 XROT C43">018848,000537: 26,2410 15555 35172 SINGIMLC 2DEC .4285836003 # = SIN(59) $2 1">018850,000539: 26,2412 14113 36326 SINVEC1 2DEC .3796356537 # = SIN(49.4) $2 2">018852,000541: 26,2414 07701 35703 SINVEC2 2DEC .2462117800 # = SIN(29.5) $2 1">018854,000543: 26,2416 04343 21616 VECANG1 2DEC .1388888889 # = 50 DEGREES $360 2">018856,000545: 26,2420 03070 34344 VECANG2 2DEC .09722222222 # = 35 DEGREES $360 >018858,000547: 26,2422 00000 1BITDP OCT 0 # KEEP THIS BEFORE DPB(-14) ********* >018859,000548: 26,2423 00001 DPB-14 OCT 00001 00000 OCT 00000 # ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49) BANK 34 SETLOC R62 BANK EBANK= BCDU COUNT* $$/R62 0">018871,000560: 23,2024 23,2024 R62DISP EQUALS R62FLASH 348">018873,000562: 23,2024 35060 R62FLASH CAF V06N22 # FLASH V06N22 AND 04655 TC BANKCALL # ICDU ANGLES 20406 CADR GOFLASH 15561 TCF ENDEXT # TERMINATE 12032 TCF GOMOVE # PROCEED 12024 TCF R62FLASH # ENTER # ASTRONAUT MAY LOAD NEW ICDUS AT THIS # POINT >018882,000571: 23,2032 05563 GOMOVE TC UPFLAG # SET FOR 3-AXIS MANEUVER 00124 ADRES 3AXISFLG 04655 TC BANKCALL 54103 CADR R60LEM 15561 TCF ENDEXT # END R62 Parent file is MAIN.agc