Source Code
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These source-code files are part of a reconstructed copy of Artemis 071, the
first release of the Apollo 15 through 17 Command Module (CM) Apollo Guidance
Computer (AGC) software.
The reconstruction began with source code of Artemis 072 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes between the two versions. The reconstruction was verified by matching
memory-bank checksums to those listed in drawing 2021154-. Note that page
numbers in the reconstructed code match those on the Artemis 072 printout,
although the changed code would likely have changed page numbers for a real
Artemis 071 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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017788,000002: ## Copyright: Public domain.
017789,000003: ## Filename: ANGLFIND.agc
017790,000004: ## Purpose: A section of Artemis revision 071.
017791,000005: ## It is part of the reconstructed source code for the first
017792,000006: ## release of the flight software for the Command Module's
017793,000007: ## (CM) Apollo Guidance Computer (AGC) for Apollo 15 through
017794,000008: ## 17. The code has been recreated from a copy of Artemis 072.
017795,000009: ## It has been adapted such that the resulting bugger words
017796,000010: ## exactly match those specified for Artemis 071 in NASA
017797,000011: ## drawing 2021154-, which gives relatively high confidence
017798,000012: ## that the reconstruction is correct.
017799,000013: ## Reference: 403
017800,000014: ## Assembler: yaYUL
017801,000015: ## Contact: Ron Burkey <info@sandroid.org>.
017802,000016: ## Website: www.ibiblio.org/apollo/index.html
017803,000017: ## Mod history: 2019-08-14 MAS Created from Artemis 072.
017804,000018: ## 2021-05-30 ABS ENDOCM -> ENDDCM
017805,000019:
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Page 403
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017807,000021: 22,2000 SETLOC KALCMON1
017808,000022: 22,2000 BANK
017809,000023:
017810,000024: 22,2000 E6,1661 EBANK= BCDU
017811,000025:
017812,000026: 22,2000 COUNT* $$/KALC
017813,000027: 22,2000 06006 KALCMAN3 TC INTPRET
017814,000028: 22,2001 77634 +1 RTB
017815,000029: 22,2002 44370 READCDUK # PICK UP CURRENT CDU ANGLES
017816,000030: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017817,000031: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017818,000032: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017819,000033: 22,2006 03262 BCDU # (MIS)
017820,000034: 22,2007 77624 CALL
017821,000035: 22,2010 44377 CDUTODCM
017822,000036: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017823,000037: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017824,000038: 22,2013 01310 CPHI # (MFS)
017825,000039: 22,2014 77624 CALL
017826,000040: 22,2015 44377 CDUTODCM
017827,000041: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017828,000042: 22,2017 03320 MIS
017829,000043: 22,2020 44334 TRANSPOS
017830,000044: 22,2021 77775 VLOAD
017831,000045: 22,2022 77626 STADR
017832,000046: 22,2023 50474 STOVL TMIS +12D
017833,000047: 22,2024 77626 STADR
017834,000048: 22,2025 50502 STOVL TMIS +6
017835,000049: 22,2026 77626 STADR
017836,000050: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017837,000051: 22,2030 75160 AXC,1 AXC,2
017838,000052: 22,2031 03266 TMIS
017839,000053: 22,2032 03425 MFS
017840,000054: 22,2033 77624 CALL
017841,000055: 22,2034 44304 MXM3
017842,000056: 22,2035 45575 VLOAD STADR
017843,000057: 22,2036 50335 STOVL MFI +12D
017844,000058: 22,2037 77626 STADR
017845,000059: 22,2040 50343 STOVL MFI +6
017846,000060: 22,2041 77626 STADR
017847,000061: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017848,000062: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017849,000063: 22,2044 00023 18D
017850,000064: 22,2045 44343 TRNSPSPD
017851,000065: 22,2046 45575 VLOAD STADR
017852,000066: 22,2047 50474 STOVL TMFI +12D
017853,000067: 22,2050 77626 STADR
017854,000068: 22,2051 50502 STOVL TMFI +6
017855,000069: 22,2052 77626 STADR
017856,000070: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
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Page 404
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017858,000072:
017859,000073: # CALCULATE COFSKEW AND MFISYM
017860,000074:
017861,000075: 22,2054 45345 DLOAD DSU
017862,000076: 22,2055 03271 TMFI +2
017863,000077: 22,2056 03430 MFI +2
017864,000078: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017865,000079: 22,2060 03432 MFI +4
017866,000080: 22,2061 03273 TMFI +4
017867,000081: 22,2062 45325 PDDL DSU
017868,000082: 22,2063 03301 TMFI +10D
017869,000083: 22,2064 03440 MFI +10D
017870,000084: 22,2065 77666 VDEF
017871,000085: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017872,000086:
017873,000087: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017874,000088:
017875,000089: 22,2067 43345 DLOAD DAD
017876,000090: 22,2070 03426 MFI
017877,000091: 22,2071 03446 MFI +16D
017878,000092: 22,2072 43225 DSU DAD
017879,000093: 22,2073 15326 DP1/4TH
017880,000094: 22,2074 03436 MFI +8D
017881,000095: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017882,000096: 22,2076 77726 ARCCOS
017883,000097: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017884,000098: 22,2100 51025 DSU BPL
017885,000099: 22,2101 04367 MINANG
017886,000100: 22,2102 44111 CHECKMAX
017887,000101: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017888,000102: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017889,000103: 22,2105 44770 CS ONE # ABOUT COMMANDED ANGLES
017890,000104: 22,2106 55340 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017891,000105: 22,2107 03163 TC LOADCDUD # GOOD RETURN
017892,000106: 22,2110 12723 TCF NOGO
017893,000107:
017894,000108: 22,2111 45345 CHECKMAX DLOAD DSU
017895,000109: 22,2112 03365 AM
017896,000110: 22,2113 04370 MAXANG
017897,000111: 22,2114 77244 BPL VLOAD
017898,000112: 22,2115 44123 ALTCALC # UNIT
017899,000113: 22,2116 03311 COFSKEW # COFSKEW
017900,000114: 22,2117 77656 UNIT
017901,000115: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017902,000116: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017903,000117: 22,2122 44745 LOCSKIRT
017904,000118: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017905,000119: 22,2124 03426 MFI
017906,000120: 22,2125 03267 TMFI
017907,000121: 22,2126 77762 VSR1
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Page 405
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017909,000123: 22,2127 27267 STOVL MFISYM
017910,000124: 22,2130 03434 MFI +6
017911,000125: 22,2131 74455 VAD VSR1
017912,000126: 22,2132 03275 TMFI +6
017913,000127: 22,2133 27275 STOVL MFISYM +6
017914,000128: 22,2134 03442 MFI +12D
017915,000129: 22,2135 74455 VAD VSR1
017916,000130: 22,2136 03303 TMFI +12D
017917,000131: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017918,000132:
017919,000133:
017920,000134: # CALCULATE COF
017921,000135:
017922,000136: 22,2140 70545 DLOAD SR1
017923,000137: 22,2141 03317 CAM
017924,000138: 22,2142 45325 PDDL DSU # PD0 CAM $4
017925,000139: 22,2143 15334 DPHALF
017926,000140: 22,2144 03317 CAM
017927,000141: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017928,000142: 22,2146 45761 SIGNMPAC
017929,000143: 22,2147 03307 MFISYM +16D
017930,000144: 22,2150 56225 DSU DDV
017931,000145: 22,2151 00001 0
017932,000146: 22,2152 00003 2
017933,000147: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017934,000148: 22,2154 03277 MFISYM +8D # $ ROOT 2
017935,000149: 22,2155 56225 DSU DDV
017936,000150: 22,2156 00001 0
017937,000151: 22,2157 00003 2
017938,000152: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017939,000153: 22,2161 03267 MFISYM
017940,000154: 22,2162 56225 DSU DDV
017941,000155: 22,2163 00001 0
017942,000156: 22,2164 00003 2
017943,000157: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017944,000158: 22,2166 77656 UNIT
017945,000159: 22,2167 03343 STORE COF
017946,000160:
017947,000161: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017948,000162:
017949,000163: 22,2170 45345 COFMAXGO DLOAD DSU
017950,000164: 22,2171 03343 COF
017951,000165: 22,2172 03345 COF +2
017952,000166: 22,2173 71240 BMN DLOAD # COFY G COFX
017953,000167: 22,2174 44203 COMP12
017954,000168: 22,2175 03343 COF
017955,000169: 22,2176 50025 DSU BMN
017956,000170: 22,2177 03347 COF +4
017957,000171: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017958,000172: 22,2201 77650 GOTO
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Page 406
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017960,000174: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017961,000175: 22,2203 45345 COMP12 DLOAD DSU
017962,000176: 22,2204 03345 COF +2
017963,000177: 22,2205 03347 COF +4
017964,000178: 22,2206 77640 BMN
017965,000179: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017966,000180:
017967,000181: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017968,000182: 22,2211 03313 COFSKEW +2 # UY
017969,000183: 22,2212 44216 U2POS
017970,000184: 22,2213 57575 VLOAD VCOMP
017971,000185: 22,2214 03343 COF
017972,000186: 22,2215 03343 STORE COF
017973,000187: 22,2216 51145 U2POS DLOAD BPL
017974,000188: 22,2217 03271 MFISYM +2 # UX UY
017975,000189: 22,2220 44224 OKU21
017976,000190: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017977,000191: 22,2222 03343 COF
017978,000192: 22,2223 03343 STORE COF
017979,000193: 22,2224 51145 OKU21 DLOAD BPL
017980,000194: 22,2225 03301 MFISYM +10D # UY UZ
017981,000195: 22,2226 44745 LOCSKIRT
017982,000196: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017983,000197: 22,2230 03347 COF +4
017984,000198: 22,2231 03347 STORE COF +4
017985,000199: 22,2232 77650 GOTO
017986,000200: 22,2233 44745 LOCSKIRT
017987,000201: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017988,000202: 22,2235 03311 COFSKEW # UX
017989,000203: 22,2236 44242 U1POS
017990,000204: 22,2237 57575 VLOAD VCOMP
017991,000205: 22,2240 03343 COF
017992,000206: 22,2241 03343 STORE COF
017993,000207: 22,2242 51145 U1POS DLOAD BPL
017994,000208: 22,2243 03271 MFISYM +2 # UX UY
017995,000209: 22,2244 44250 OKU12
017996,000210: 22,2245 57545 DLOAD DCOMP
017997,000211: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017998,000212: 22,2247 03345 STORE COF +2
017999,000213: 22,2250 51145 OKU12 DLOAD BPL
018000,000214: 22,2251 03273 MFISYM +4 # UX UZ
018001,000215: 22,2252 44745 LOCSKIRT
018002,000216: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018003,000217: 22,2254 03347 COF +4
018004,000218: 22,2255 03347 STORE COF +4
018005,000219: 22,2256 77650 GOTO
018006,000220: 22,2257 44745 LOCSKIRT
018007,000221: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
018008,000222: 22,2261 03315 COFSKEW +4 # UZ
018009,000223: 22,2262 44266 U3POS
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Page 407
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018011,000225: 22,2263 57575 VLOAD VCOMP
018012,000226: 22,2264 03343 COF
018013,000227: 22,2265 03343 STORE COF
018014,000228: 22,2266 51145 U3POS DLOAD BPL
018015,000229: 22,2267 03273 MFISYM +4 # UX UZ
018016,000230: 22,2270 44274 OKU31
018017,000231: 22,2271 57545 DLOAD DCOMP
018018,000232: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
018019,000233: 22,2273 03343 STORE COF
018020,000234: 22,2274 51145 OKU31 DLOAD BPL
018021,000235: 22,2275 03301 MFISYM +10D # UY UZ
018022,000236: 22,2276 44745 LOCSKIRT
018023,000237: 22,2277 57545 DLOAD DCOMP
018024,000238: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
018025,000239: 22,2301 03345 STORE COF +2
018026,000240: 22,2302 77650 GOTO
018027,000241: 22,2303 44745 LOCSKIRT
018028,000242:
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Page 408
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018030,000244: # MATRIX OPERATIONS
018031,000245:
018032,000246: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
018033,000247: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
018034,000248: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
018035,000249: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
018036,000250: 22,2310 77770 6,2
018037,000251: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
018038,000252: 22,2312 77776 0,2
018039,000253: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
018040,000254: 22,2314 00001 0,1
018041,000255: 22,2315 77760 14D,2
018042,000256: 22,2316 64723 PDDL* PDDL*
018043,000257: 22,2317 77766 8D,2
018044,000258: 22,2320 77774 2,2
018045,000259: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
018046,000260: 22,2322 00001 0,1
018047,000261: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
018048,000262: 22,2324 77756 16D,2
018049,000263: 22,2325 77764 10D,2
018050,000264: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
018051,000265: 22,2327 77772 4,2
018052,000266: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
018053,000267: 22,2331 00001 0,1
018054,000268: 22,2332 77650 GOTO
018055,000269: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
018056,000270: # RETURN WITH M1XM2 IN PD LIST
018057,000271:
018058,000272: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
018059,000273: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
018060,000274: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
018061,000275: 22,2337 62713 PDVL* PDVL*
018062,000276: 22,2340 00007 6,1
018063,000277: 22,2341 00015 12D,1
018064,000278: 22,2342 77606 PUSH # MATRIX IN PD
018065,000279: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
018066,000280: 22,2344 00003 2
018067,000281: 22,2345 00007 6
018068,000282: 22,2346 14003 STODL 2
018069,000283: 22,2347 77626 STADR
018070,000284: 22,2350 63770 STODL 6
018071,000285: 22,2351 00005 4
018072,000286: 22,2352 77725 PDDL
018073,000287: 22,2353 00015 12D
018074,000288: 22,2354 14005 STODL 4
018075,000289: 22,2355 77626 STADR
018076,000290: 22,2356 63762 STODL 12D
018077,000291: 22,2357 00013 10D
018078,000292: 22,2360 77725 PDDL
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Page 409
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018080,000294: 22,2361 00017 14D
018081,000295: 22,2362 14013 STODL 10D
018082,000296: 22,2363 77626 STADR
018083,000297: 22,2364 77760 STORE 14D
018084,000298: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
018085,000299: 22,2366 00013 MINANG DEC .00069375
018086,000300: 22,2367 17071 MAXANG DEC .472222
018087,000301: 22,2370 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018088,000302: 22,2371 30034 CA CDUZ
018089,000303: 22,2372 54156 TS MPAC +2
018090,000304: 22,2373 00006 EXTEND
018091,000305: 22,2374 30033 DCA CDUX
018092,000306: 22,2375 00003 RELINT
018093,000307: 22,2376 16445 TCF TLOAD +6
018094,000308: 22,2000 SETLOC KALCMON2
018095,000309: 22,2000 BANK
018096,000310:
018097,000311: 22,2377 COUNT* $$/KALC
018098,000312:
018099,000313: 22,2377 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
018100,000314: 22,2400 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
018101,000315: 22,2401 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018102,000316: 22,2402 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
018103,000317: 22,2403 00010 STORE 7
018104,000318: 22,2404 77601 SETPD
018105,000319: 22,2405 00001 0
018106,000320: 22,2406 47133 LOOPSIN SLOAD* RTB
018107,000321: 22,2407 00013 10D,1
018108,000322: 22,2410 51754 CDULOGIC
018109,000323: 22,2411 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
018110,000324: 22,2412 65356 SIN PDDL # 2 COS(PHI)
018111,000325: 22,2413 00013 10D # 4 SIN(THETA)
018112,000326: 22,2414 41546 COS PUSH # 6 COS(THETA)
018113,000327: 22,2415 71300 TIX,1 DLOAD # 8 SIN(PSI)
018114,000328: 22,2416 44406 LOOPSIN # 10 COS(PSI)
018115,000329: 22,2417 00007 6
018116,000330: 22,2420 72405 DMP SL1
018117,000331: 22,2421 00013 10D
018118,000332: 22,2422 10001 STORE 0,2
018119,000333: 22,2423 77745 DLOAD
018120,000334: 22,2424 00005 4
018121,000335: 22,2425 65205 DMP PDDL
018122,000336: 22,2426 00001 0 # (PD6 SIN(THETA)SIN(PHI))
018123,000337: 22,2427 00007 6
018124,000338: 22,2430 41205 DMP DMP
018125,000339: 22,2431 00011 8D
018126,000340: 22,2432 00003 2
018127,000341: 22,2433 44352 SL1 BDSU
018128,000342: 22,2434 00015 12D
018129,000343: 22,2435 77752 SL1
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Page 410
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018131,000345: 22,2436 10003 STORE 2,2
018132,000346: 22,2437 77745 DLOAD
018133,000347: 22,2440 00003 2
018134,000348: 22,2441 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
018135,000349: 22,2442 00005 4
018136,000350: 22,2443 00007 6
018137,000351: 22,2444 41205 DMP DMP
018138,000352: 22,2445 00011 8D
018139,000353: 22,2446 00001 0
018140,000354: 22,2447 77752 SL1
018141,000355: 22,2450 72415 DAD SL1
018142,000356: 22,2451 00017 14D
018143,000357: 22,2452 10005 STORE 4,2
018144,000358: 22,2453 77745 DLOAD
018145,000359: 22,2454 00011 8D
018146,000360: 22,2455 10007 STORE 6,2
018147,000361: 22,2456 77745 DLOAD
018148,000362: 22,2457 00013 10D
018149,000363: 22,2460 72405 DMP SL1
018150,000364: 22,2461 00003 2
018151,000365: 22,2462 10011 STORE 8D,2
018152,000366: 22,2463 77745 DLOAD
018153,000367: 22,2464 00013 10D
018154,000368: 22,2465 57405 DMP DCOMP
018155,000369: 22,2466 00001 0
018156,000370: 22,2467 77752 SL1
018157,000371: 22,2470 10013 STORE 10D,2
018158,000372: 22,2471 77745 DLOAD
018159,000373: 22,2472 00005 4
018160,000374: 22,2473 57405 DMP DCOMP
018161,000375: 22,2474 00013 10D
018162,000376: 22,2475 77752 SL1
018163,000377: 22,2476 10015 STORE 12D,2
018164,000378: 22,2477 77745 DLOAD
018165,000379: 22,2500 72405 DMP SL1 # (PUSH UP 7)
018166,000380: 22,2501 00011 8D
018167,000381: 22,2502 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018168,000382: 22,2503 00007 6
018169,000383: 22,2504 00001 0
018170,000384: 22,2505 72415 DAD SL1 # (PUSH UP 7)
018171,000385: 22,2506 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
018172,000386: 22,2507 67760 STORE 14D,2
018173,000387: 22,2510 77745 DLOAD
018174,000388: 22,2511 72405 DMP SL1 # (PUSH UP 6)
018175,000389: 22,2512 00011 8D
018176,000390: 22,2513 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018177,000391: 22,2514 00007 6
018178,000392: 22,2515 00003 2
018179,000393: 22,2516 72425 DSU SL1 # (PUSH UP 6)
018180,000394: 22,2517 77626 STADR
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Page 411
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018182,000396: 22,2520 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018183,000397: 22,2521 77616 RVQ # +COS(THETA)COS(PHI)
018184,000398: 22,2522 ENDDCM EQUALS
018185,000399:
018186,000400: 22,2000 SETLOC KALCMON1
018187,000401: 22,2000 BANK
018188,000402:
018189,000403: # CALCULATION OF THE MATRIX DEL......
018190,000404:
018191,000405: # * * --T *
018192,000406: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
018193,000407:
018194,000408: # -
018195,000409: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018196,000410: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
018197,000411: # -
018198,000412: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
018199,000413:
018200,000414: 22,2522 COUNT* $$/KALC
018201,000415: 22,2522 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
018202,000416: 22,2523 00001 0
018203,000417: 22,2524 65356 SIN PDDL # PD0 = SIN(A)
018204,000418: 22,2525 41546 COS PUSH # PD2 = COS(A)
018205,000419: 22,2526 65302 SR2 PDDL # PD2 = COS(A) $8
018206,000420: 22,2527 41021 BDSU BOVB # PD4 = 1-COS(A) $2
018207,000421: 22,2530 15334 DPHALF
018208,000422: 22,2531 45761 SIGNMPAC
018209,000423:
018210,000424: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
018211,000425:
018212,000426: 22,2532 77725 PDDL
018213,000427: 22,2533 03343 COF
018214,000428: 22,2534 41316 DSQ DMP
018215,000429: 22,2535 00005 4
018216,000430: 22,2536 52415 DAD SL3
018217,000431: 22,2537 00003 2
018218,000432: 22,2540 77604 BOVB
018219,000433: 22,2541 45761 SIGNMPAC
018220,000434: 22,2542 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
018221,000435: 22,2543 03345 COF +2
018222,000436: 22,2544 41316 DSQ DMP
018223,000437: 22,2545 00005 4
018224,000438: 22,2546 52415 DAD SL3
018225,000439: 22,2547 00003 2
018226,000440: 22,2550 77604 BOVB
018227,000441: 22,2551 45761 SIGNMPAC
018228,000442: 22,2552 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
018229,000443: 22,2553 03347 COF +4
018230,000444: 22,2554 41316 DSQ DMP
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Page 412
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018232,000446: 22,2555 00005 4
018233,000447: 22,2556 52415 DAD SL3
018234,000448: 22,2557 00003 2
018235,000449: 22,2560 77604 BOVB
018236,000450: 22,2561 45761 SIGNMPAC
018237,000451: 22,2562 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
018238,000452:
018239,000453: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
018240,000454:
018241,000455: 22,2563 41345 DLOAD DMP
018242,000456: 22,2564 03343 COF
018243,000457: 22,2565 03345 COF +2
018244,000458: 22,2566 72405 DMP SL1
018245,000459: 22,2567 00005 4
018246,000460: 22,2570 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
018247,000461: 22,2571 03347 COF +4
018248,000462: 22,2572 00001 0
018249,000463: 22,2573 43206 PUSH DAD # D8 UZ SIN A $ 4
018250,000464: 22,2574 00007 6
018251,000465: 22,2575 41112 SL2 BOVB
018252,000466: 22,2576 45761 SIGNMPAC
018253,000467: 22,2577 17434 STODL DEL +6
018254,000468: 22,2600 62421 BDSU SL2
018255,000469: 22,2601 77604 BOVB
018256,000470: 22,2602 45761 SIGNMPAC
018257,000471: 22,2603 17430 STODL DEL +2
018258,000472: 22,2604 03343 COF
018259,000473: 22,2605 41205 DMP DMP
018260,000474: 22,2606 03347 COF +4
018261,000475: 22,2607 00005 4
018262,000476: 22,2610 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
018263,000477: 22,2611 03345 COF +2
018264,000478: 22,2612 41405 DMP PUSH # D8 UY SIN(A)
018265,000479: 22,2613 00001 0
018266,000480: 22,2614 62415 DAD SL2
018267,000481: 22,2615 00007 6
018268,000482: 22,2616 77604 BOVB
018269,000483: 22,2617 45761 SIGNMPAC
018270,000484: 22,2620 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
018271,000485: 22,2621 62421 BDSU SL2
018272,000486: 22,2622 77604 BOVB
018273,000487: 22,2623 45761 SIGNMPAC
018274,000488: 22,2624 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
018275,000489: 22,2625 03345 COF +2
018276,000490: 22,2626 41205 DMP DMP
018277,000491: 22,2627 03347 COF +4
018278,000492: 22,2630 00005 4
018279,000493: 22,2631 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
018280,000494: 22,2632 03343 COF
018281,000495: 22,2633 41405 DMP PUSH # D8 UX SIN(A)
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Page 413
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018283,000497: 22,2634 00001 0
018284,000498: 22,2635 62415 DAD SL2
018285,000499: 22,2636 00007 6
018286,000500: 22,2637 77604 BOVB
018287,000501: 22,2640 45761 SIGNMPAC
018288,000502: 22,2641 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
018289,000503: 22,2642 62421 BDSU SL2
018290,000504: 22,2643 77604 BOVB
018291,000505: 22,2644 45761 SIGNMPAC
018292,000506: 22,2645 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
018293,000507: 22,2646 77616 RVQ
018294,000508:
018295,000509: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018296,000510: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018297,000511: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018298,000512: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018299,000513:
018300,000514: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018301,000515:
018302,000516: # C =COS(THETA)COS(PSI)
018303,000517: # 0
018304,000518: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
018305,000519: # 1
018306,000520: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
018307,000521: # 2
018308,000522: # C =SIN(PSI)
018309,000523: # 3
018310,000524: # C =COS(PSI)COS(PHI)
018311,000525: # 4
018312,000526: # C =-COS(PSI)SIN(PHI)
018313,000527: # 5
018314,000528: # C =-SIN(THETA)COS(PSI)
018315,000529: # 6
018316,000530: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
018317,000531: # 7
018318,000532: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
018319,000533: # 8
018320,000534:
018321,000535: # WHERE PHI = OGA
018322,000536: # THETA = IGA
018323,000537: # PSI = MGA
018324,000538:
018325,000539: 22,2647 67543 DCMTOCDU DLOAD* ARCSIN
018326,000540: 22,2650 00007 6,1
018327,000541: 22,2651 71406 PUSH COS # PD +0 PSI
018328,000542: 22,2652 41152 SL1 BOVB
018329,000543: 22,2653 45761 SIGNMPAC
018330,000544: 22,2654 00051 STORE S1
018331,000545: 22,2655 57543 DLOAD* DCOMP
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Page 414
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018333,000547: 22,2656 00015 12D,1
018334,000548: 22,2657 67471 DDV ARCSIN
018335,000549: 22,2660 00051 S1
018336,000550: 22,2661 51123 PDDL* BPL # PD +2 THETA
018337,000551: 22,2662 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018338,000552: 22,2663 44675 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018339,000553: 22,2664 57545 DLOAD DCOMP
018340,000554: 22,2665 43244 BPL DAD
018341,000555: 22,2666 44672 SUHALFA
018342,000556: 22,2667 15334 DPHALF
018343,000557: 22,2670 77650 GOTO
018344,000558: 22,2671 44674 CALCPHI
018345,000559: 22,2672 77625 SUHALFA DSU
018346,000560: 22,2673 15334 DPHALF
018347,000561: 22,2674 77606 CALCPHI PUSH
018348,000562: 22,2675 57543 OKTHETA DLOAD* DCOMP
018349,000563: 22,2676 00013 10D,1
018350,000564: 22,2677 67471 DDV ARCSIN
018351,000565: 22,2700 00051 S1
018352,000566: 22,2701 51123 PDDL* BPL # PUSH DOWN PHI
018353,000567: 22,2702 00011 8D,1
018354,000568: 22,2703 44715 OKPHI
018355,000569: 22,2704 57545 DLOAD DCOMP # PUSH UP PHI
018356,000570: 22,2705 43244 BPL DAD
018357,000571: 22,2706 44712 SUHALFAP
018358,000572: 22,2707 15334 DPHALF
018359,000573: 22,2710 77650 GOTO
018360,000574: 22,2711 44716 VECOFANG
018361,000575: 22,2712 52025 SUHALFAP DSU GOTO
018362,000576: 22,2713 15334 DPHALF
018363,000577: 22,2714 44716 VECOFANG
018364,000578: 22,2715 77745 OKPHI DLOAD # PUSH UP PHI
018365,000579: 22,2716 43466 VECOFANG VDEF RVQ
018366,000580:
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Page 415
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018368,000582: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018369,000583:
018370,000584: 22,2717 77776 NOGOM3 EXIT
018371,000585: 22,2720 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018372,000586: 22,2721 04636 TC BANKCALL
018373,000587: 22,2722 40203 CADR ZEROEROR
018374,000588:
018375,000589: 22,2723 00004 NOGO INHINT
018376,000590: 22,2724 04463 TC STOPRATE
018377,000591:
018378,000592: 22,2725 34767 CAF R67BIT
018379,000593: 22,2726 70104 MASK FLAGWRD8
018380,000594: 22,2727 00006 EXTEND
018381,000595: 22,2730 12740 BZF NOTR67ND
018382,000596:
018383,000597: 22,2731 35016 CAF 1SEC # WAITLIST TASK IN 1 SECON:
018384,000598: 22,2732 05233 TC WAITLIST # RETURN TO UPDTCALL
018385,000599: 22,2733 E6,1661 EBANK= BCDU
018386,000600: 22,2733 02320 74066 2CADR R67
018387,000601:
018388,000602: 22,2735 05402 TC PHASCHNG
018389,000603: 22,2736 00111 OCT 00111
018390,000604:
018391,000605: 22,2737 01,2025 1P11SPT2 = 1.11SPOT
018392,000606: 22,2737 05205 TC ENDOFJOB
018393,000607:
018394,000608: 22,2740 34767 NOTR67ND CAF TWO # RETURN VIA
018395,000609: 22,2741 05233 TC WAITLIST # GOODEND
018396,000610: 22,2742 E6,1661 EBANK= BCDU
018397,000611: 22,2742 02311 20066 2CADR ENDMANU
018398,000612:
018399,000613: 22,2744 15205 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc