GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 (Apollo 15-17 Command Module) program listing from a private
collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Photography was by Ron Burkey, and transcription
was performed by a team of volunteers. Note that the page images
presented online are of reduced quality, and that additional images
may be available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision. |
017881,000002: ## Copyright: Public domain.
017882,000003: ## Filename: ANGLFIND.agc
017883,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
017884,000005: ## build 072. This is for the Command Module's (CM)
017885,000006: ## Apollo Guidance Computer (AGC), for
017886,000007: ## Apollo 15-17.
017887,000008: ## Assembler: yaYUL
017888,000009: ## Contact: Sergio Navarro <sergionavarrog@gmail.com>
017889,000010: ## Website: www.ibiblio.org/apollo/index.html
017890,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
017891,000012: ## Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
017892,000013: ## 2009-09-04 JL Fixed page number comment. Fixed bad octal number in NOGO.
017893,000014: ## Fixed typos. Added missing code at end.
017894,000015: ## 2010-02-20 RSB Un-##'d this header.
017895,000016: ## 2017-01-21 RSB Proofed comment text by diff'ing vs Comanche 55
017896,000017: ## and corrected errors found.
017897,000018: ## 2021-05-30 ABS ENDOCM -> ENDDCM
017898,000019:
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Page 403 |
017900,000021: 22,2000 SETLOC KALCMON1
017901,000022: 22,2000 BANK
017902,000023:
017903,000024: 22,2000 E6,1661 EBANK= BCDU
017904,000025:
017905,000026: 22,2000 COUNT* $$/KALC
017906,000027: 22,2000 06006 KALCMAN3 TC INTPRET
017907,000028: 22,2001 77634 +1 RTB
017908,000029: 22,2002 44370 READCDUK # PICK UP CURRENT CDU ANGLES
017909,000030: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017910,000031: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017911,000032: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017912,000033: 22,2006 03262 BCDU # (MIS)
017913,000034: 22,2007 77624 CALL
017914,000035: 22,2010 44377 CDUTODCM
017915,000036: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017916,000037: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017917,000038: 22,2013 01310 CPHI # (MFS)
017918,000039: 22,2014 77624 CALL
017919,000040: 22,2015 44377 CDUTODCM
017920,000041: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017921,000042: 22,2017 03320 MIS
017922,000043: 22,2020 44334 TRANSPOS
017923,000044: 22,2021 77775 VLOAD
017924,000045: 22,2022 77626 STADR
017925,000046: 22,2023 50474 STOVL TMIS +12D
017926,000047: 22,2024 77626 STADR
017927,000048: 22,2025 50502 STOVL TMIS +6
017928,000049: 22,2026 77626 STADR
017929,000050: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017930,000051: 22,2030 75160 AXC,1 AXC,2
017931,000052: 22,2031 03266 TMIS
017932,000053: 22,2032 03425 MFS
017933,000054: 22,2033 77624 CALL
017934,000055: 22,2034 44304 MXM3
017935,000056: 22,2035 45575 VLOAD STADR
017936,000057: 22,2036 50335 STOVL MFI +12D
017937,000058: 22,2037 77626 STADR
017938,000059: 22,2040 50343 STOVL MFI +6
017939,000060: 22,2041 77626 STADR
017940,000061: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017941,000062: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017942,000063: 22,2044 00023 18D
017943,000064: 22,2045 44343 TRNSPSPD
017944,000065: 22,2046 45575 VLOAD STADR
017945,000066: 22,2047 50474 STOVL TMFI +12D
017946,000067: 22,2050 77626 STADR
017947,000068: 22,2051 50502 STOVL TMFI +6
017948,000069: 22,2052 77626 STADR
017949,000070: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
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Page 404 |
017951,000072:
017952,000073: # CALCULATE COFSKEW AND MFISYM
017953,000074:
017954,000075: 22,2054 45345 DLOAD DSU
017955,000076: 22,2055 03271 TMFI +2
017956,000077: 22,2056 03430 MFI +2
017957,000078: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017958,000079: 22,2060 03432 MFI +4
017959,000080: 22,2061 03273 TMFI +4
017960,000081: 22,2062 45325 PDDL DSU
017961,000082: 22,2063 03301 TMFI +10D
017962,000083: 22,2064 03440 MFI +10D
017963,000084: 22,2065 77666 VDEF
017964,000085: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017965,000086:
017966,000087: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017967,000088:
017968,000089: 22,2067 43345 DLOAD DAD
017969,000090: 22,2070 03426 MFI
017970,000091: 22,2071 03446 MFI +16D
017971,000092: 22,2072 43225 DSU DAD
017972,000093: 22,2073 15326 DP1/4TH
017973,000094: 22,2074 03436 MFI +8D
017974,000095: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017975,000096: 22,2076 77726 ARCCOS
017976,000097: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017977,000098: 22,2100 51025 DSU BPL
017978,000099: 22,2101 04367 MINANG
017979,000100: 22,2102 44111 CHECKMAX
017980,000101: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017981,000102: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017982,000103: 22,2105 44770 CS ONE # ABOUT COMMANDED ANGLES
017983,000104: 22,2106 55340 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017984,000105: 22,2107 03163 TC LOADCDUD # GOOD RETURN
017985,000106: 22,2110 12723 TCF NOGO
017986,000107:
017987,000108: 22,2111 45345 CHECKMAX DLOAD DSU
017988,000109: 22,2112 03365 AM
017989,000110: 22,2113 04370 MAXANG
017990,000111: 22,2114 77244 BPL VLOAD
017991,000112: 22,2115 44123 ALTCALC # UNIT
017992,000113: 22,2116 03311 COFSKEW # COFSKEW
017993,000114: 22,2117 77656 UNIT
017994,000115: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017995,000116: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017996,000117: 22,2122 44745 LOCSKIRT
017997,000118: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017998,000119: 22,2124 03426 MFI
017999,000120: 22,2125 03267 TMFI
018000,000121: 22,2126 77762 VSR1
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Page 405 |
018002,000123: 22,2127 27267 STOVL MFISYM
018003,000124: 22,2130 03434 MFI +6
018004,000125: 22,2131 74455 VAD VSR1
018005,000126: 22,2132 03275 TMFI +6
018006,000127: 22,2133 27275 STOVL MFISYM +6
018007,000128: 22,2134 03442 MFI +12D
018008,000129: 22,2135 74455 VAD VSR1
018009,000130: 22,2136 03303 TMFI +12D
018010,000131: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
018011,000132:
018012,000133:
018013,000134: # CALCULATE COF
018014,000135:
018015,000136: 22,2140 70545 DLOAD SR1
018016,000137: 22,2141 03317 CAM
018017,000138: 22,2142 45325 PDDL DSU # PD0 CAM $4
018018,000139: 22,2143 15334 DPHALF
018019,000140: 22,2144 03317 CAM
018020,000141: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
018021,000142: 22,2146 45761 SIGNMPAC
018022,000143: 22,2147 03307 MFISYM +16D
018023,000144: 22,2150 56225 DSU DDV
018024,000145: 22,2151 00001 0
018025,000146: 22,2152 00003 2
018026,000147: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
018027,000148: 22,2154 03277 MFISYM +8D # $ ROOT 2
018028,000149: 22,2155 56225 DSU DDV
018029,000150: 22,2156 00001 0
018030,000151: 22,2157 00003 2
018031,000152: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
018032,000153: 22,2161 03267 MFISYM
018033,000154: 22,2162 56225 DSU DDV
018034,000155: 22,2163 00001 0
018035,000156: 22,2164 00003 2
018036,000157: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
018037,000158: 22,2166 77656 UNIT
018038,000159: 22,2167 03343 STORE COF
018039,000160:
018040,000161: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
018041,000162:
018042,000163: 22,2170 45345 COFMAXGO DLOAD DSU
018043,000164: 22,2171 03343 COF
018044,000165: 22,2172 03345 COF +2
018045,000166: 22,2173 71240 BMN DLOAD # COFY G COFX
018046,000167: 22,2174 44203 COMP12
018047,000168: 22,2175 03343 COF
018048,000169: 22,2176 50025 DSU BMN
018049,000170: 22,2177 03347 COF +4
018050,000171: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
018051,000172: 22,2201 77650 GOTO
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Page 406 |
018053,000174: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
018054,000175: 22,2203 45345 COMP12 DLOAD DSU
018055,000176: 22,2204 03345 COF +2
018056,000177: 22,2205 03347 COF +4
018057,000178: 22,2206 77640 BMN
018058,000179: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
018059,000180:
018060,000181: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
018061,000182: 22,2211 03313 COFSKEW +2 # UY
018062,000183: 22,2212 44216 U2POS
018063,000184: 22,2213 57575 VLOAD VCOMP
018064,000185: 22,2214 03343 COF
018065,000186: 22,2215 03343 STORE COF
018066,000187: 22,2216 51145 U2POS DLOAD BPL
018067,000188: 22,2217 03271 MFISYM +2 # UX UY
018068,000189: 22,2220 44224 OKU21
018069,000190: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
018070,000191: 22,2222 03343 COF
018071,000192: 22,2223 03343 STORE COF
018072,000193: 22,2224 51145 OKU21 DLOAD BPL
018073,000194: 22,2225 03301 MFISYM +10D # UY UZ
018074,000195: 22,2226 44745 LOCSKIRT
018075,000196: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018076,000197: 22,2230 03347 COF +4
018077,000198: 22,2231 03347 STORE COF +4
018078,000199: 22,2232 77650 GOTO
018079,000200: 22,2233 44745 LOCSKIRT
018080,000201: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
018081,000202: 22,2235 03311 COFSKEW # UX
018082,000203: 22,2236 44242 U1POS
018083,000204: 22,2237 57575 VLOAD VCOMP
018084,000205: 22,2240 03343 COF
018085,000206: 22,2241 03343 STORE COF
018086,000207: 22,2242 51145 U1POS DLOAD BPL
018087,000208: 22,2243 03271 MFISYM +2 # UX UY
018088,000209: 22,2244 44250 OKU12
018089,000210: 22,2245 57545 DLOAD DCOMP
018090,000211: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
018091,000212: 22,2247 03345 STORE COF +2
018092,000213: 22,2250 51145 OKU12 DLOAD BPL
018093,000214: 22,2251 03273 MFISYM +4 # UX UZ
018094,000215: 22,2252 44745 LOCSKIRT
018095,000216: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018096,000217: 22,2254 03347 COF +4
018097,000218: 22,2255 03347 STORE COF +4
018098,000219: 22,2256 77650 GOTO
018099,000220: 22,2257 44745 LOCSKIRT
018100,000221: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
018101,000222: 22,2261 03315 COFSKEW +4 # UZ
018102,000223: 22,2262 44266 U3POS
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Page 407 |
018104,000225: 22,2263 57575 VLOAD VCOMP
018105,000226: 22,2264 03343 COF
018106,000227: 22,2265 03343 STORE COF
018107,000228: 22,2266 51145 U3POS DLOAD BPL
018108,000229: 22,2267 03273 MFISYM +4 # UX UZ
018109,000230: 22,2270 44274 OKU31
018110,000231: 22,2271 57545 DLOAD DCOMP
018111,000232: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
018112,000233: 22,2273 03343 STORE COF
018113,000234: 22,2274 51145 OKU31 DLOAD BPL
018114,000235: 22,2275 03301 MFISYM +10D # UY UZ
018115,000236: 22,2276 44745 LOCSKIRT
018116,000237: 22,2277 57545 DLOAD DCOMP
018117,000238: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
018118,000239: 22,2301 03345 STORE COF +2
018119,000240: 22,2302 77650 GOTO
018120,000241: 22,2303 44745 LOCSKIRT
018121,000242:
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Page 408 |
018123,000244: # MATRIX OPERATIONS
018124,000245:
018125,000246: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
018126,000247: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
018127,000248: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
018128,000249: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
018129,000250: 22,2310 77770 6,2
018130,000251: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
018131,000252: 22,2312 77776 0,2
018132,000253: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
018133,000254: 22,2314 00001 0,1
018134,000255: 22,2315 77760 14D,2
018135,000256: 22,2316 64723 PDDL* PDDL*
018136,000257: 22,2317 77766 8D,2
018137,000258: 22,2320 77774 2,2
018138,000259: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
018139,000260: 22,2322 00001 0,1
018140,000261: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
018141,000262: 22,2324 77756 16D,2
018142,000263: 22,2325 77764 10D,2
018143,000264: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
018144,000265: 22,2327 77772 4,2
018145,000266: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
018146,000267: 22,2331 00001 0,1
018147,000268: 22,2332 77650 GOTO
018148,000269: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
018149,000270: # RETURN WITH M1XM2 IN PD LIST
018150,000271:
018151,000272: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
018152,000273: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
018153,000274: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
018154,000275: 22,2337 62713 PDVL* PDVL*
018155,000276: 22,2340 00007 6,1
018156,000277: 22,2341 00015 12D,1
018157,000278: 22,2342 77606 PUSH # MATRIX IN PD
018158,000279: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
018159,000280: 22,2344 00003 2
018160,000281: 22,2345 00007 6
018161,000282: 22,2346 14003 STODL 2
018162,000283: 22,2347 77626 STADR
018163,000284: 22,2350 63770 STODL 6
018164,000285: 22,2351 00005 4
018165,000286: 22,2352 77725 PDDL
018166,000287: 22,2353 00015 12D
018167,000288: 22,2354 14005 STODL 4
018168,000289: 22,2355 77626 STADR
018169,000290: 22,2356 63762 STODL 12D
018170,000291: 22,2357 00013 10D
018171,000292: 22,2360 77725 PDDL
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Page 409 |
018173,000294: 22,2361 00017 14D
018174,000295: 22,2362 14013 STODL 10D
018175,000296: 22,2363 77626 STADR
018176,000297: 22,2364 77760 STORE 14D
018177,000298: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
018178,000299: 22,2366 00013 MINANG DEC .00069375
018179,000300: 22,2367 17071 MAXANG DEC .472222
018180,000301: 22,2370 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018181,000302: 22,2371 30034 CA CDUZ
018182,000303: 22,2372 54156 TS MPAC +2
018183,000304: 22,2373 00006 EXTEND
018184,000305: 22,2374 30033 DCA CDUX
018185,000306: 22,2375 00003 RELINT
018186,000307: 22,2376 16445 TCF TLOAD +6
018187,000308: 22,2000 SETLOC KALCMON2
018188,000309: 22,2000 BANK
018189,000310:
018190,000311: 22,2377 COUNT* $$/KALC
018191,000312:
018192,000313: 22,2377 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
018193,000314: 22,2400 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
018194,000315: 22,2401 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018195,000316: 22,2402 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
018196,000317: 22,2403 00010 STORE 7
018197,000318: 22,2404 77601 SETPD
018198,000319: 22,2405 00001 0
018199,000320: 22,2406 47133 LOOPSIN SLOAD* RTB
018200,000321: 22,2407 00013 10D,1
018201,000322: 22,2410 51754 CDULOGIC
018202,000323: 22,2411 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
018203,000324: 22,2412 65356 SIN PDDL # 2 COS(PHI)
018204,000325: 22,2413 00013 10D # 4 SIN(THETA)
018205,000326: 22,2414 41546 COS PUSH # 6 COS(THETA)
018206,000327: 22,2415 71300 TIX,1 DLOAD # 8 SIN(PSI)
018207,000328: 22,2416 44406 LOOPSIN # 10 COS(PSI)
018208,000329: 22,2417 00007 6
018209,000330: 22,2420 72405 DMP SL1
018210,000331: 22,2421 00013 10D
018211,000332: 22,2422 10001 STORE 0,2
018212,000333: 22,2423 77745 DLOAD
018213,000334: 22,2424 00005 4
018214,000335: 22,2425 65205 DMP PDDL
018215,000336: 22,2426 00001 0 # (PD6 SIN(THETA)SIN(PHI))
018216,000337: 22,2427 00007 6
018217,000338: 22,2430 41205 DMP DMP
018218,000339: 22,2431 00011 8D
018219,000340: 22,2432 00003 2
018220,000341: 22,2433 44352 SL1 BDSU
018221,000342: 22,2434 00015 12D
018222,000343: 22,2435 77752 SL1
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Page 410 |
018224,000345: 22,2436 10003 STORE 2,2
018225,000346: 22,2437 77745 DLOAD
018226,000347: 22,2440 00003 2
018227,000348: 22,2441 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
018228,000349: 22,2442 00005 4
018229,000350: 22,2443 00007 6
018230,000351: 22,2444 41205 DMP DMP
018231,000352: 22,2445 00011 8D
018232,000353: 22,2446 00001 0
018233,000354: 22,2447 77752 SL1
018234,000355: 22,2450 72415 DAD SL1
018235,000356: 22,2451 00017 14D
018236,000357: 22,2452 10005 STORE 4,2
018237,000358: 22,2453 77745 DLOAD
018238,000359: 22,2454 00011 8D
018239,000360: 22,2455 10007 STORE 6,2
018240,000361: 22,2456 77745 DLOAD
018241,000362: 22,2457 00013 10D
018242,000363: 22,2460 72405 DMP SL1
018243,000364: 22,2461 00003 2
018244,000365: 22,2462 10011 STORE 8D,2
018245,000366: 22,2463 77745 DLOAD
018246,000367: 22,2464 00013 10D
018247,000368: 22,2465 57405 DMP DCOMP
018248,000369: 22,2466 00001 0
018249,000370: 22,2467 77752 SL1
018250,000371: 22,2470 10013 STORE 10D,2
018251,000372: 22,2471 77745 DLOAD
018252,000373: 22,2472 00005 4
018253,000374: 22,2473 57405 DMP DCOMP
018254,000375: 22,2474 00013 10D
018255,000376: 22,2475 77752 SL1
018256,000377: 22,2476 10015 STORE 12D,2
018257,000378: 22,2477 77745 DLOAD
018258,000379: 22,2500 72405 DMP SL1 # (PUSH UP 7)
018259,000380: 22,2501 00011 8D
018260,000381: 22,2502 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018261,000382: 22,2503 00007 6
018262,000383: 22,2504 00001 0
018263,000384: 22,2505 72415 DAD SL1 # (PUSH UP 7)
018264,000385: 22,2506 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
018265,000386: 22,2507 67760 STORE 14D,2
018266,000387: 22,2510 77745 DLOAD
018267,000388: 22,2511 72405 DMP SL1 # (PUSH UP 6)
018268,000389: 22,2512 00011 8D
018269,000390: 22,2513 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018270,000391: 22,2514 00007 6
018271,000392: 22,2515 00003 2
018272,000393: 22,2516 72425 DSU SL1 # (PUSH UP 6)
018273,000394: 22,2517 77626 STADR
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Page 411 |
018275,000396: 22,2520 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018276,000397: 22,2521 77616 RVQ # +COS(THETA)COS(PHI)
018277,000398: 22,2522 ENDDCM EQUALS
018278,000399:
018279,000400: 22,2000 SETLOC KALCMON1
018280,000401: 22,2000 BANK
018281,000402:
018282,000403: # CALCULATION OF THE MATRIX DEL......
018283,000404:
018284,000405: # * * --T *
018285,000406: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
018286,000407:
018287,000408: # -
018288,000409: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018289,000410: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
018290,000411: # -
018291,000412: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
018292,000413:
018293,000414: 22,2522 COUNT* $$/KALC
018294,000415: 22,2522 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
018295,000416: 22,2523 00001 0
018296,000417: 22,2524 65356 SIN PDDL # PD0 = SIN(A)
018297,000418: 22,2525 41546 COS PUSH # PD2 = COS(A)
018298,000419: 22,2526 65302 SR2 PDDL # PD2 = COS(A) $8
018299,000420: 22,2527 41021 BDSU BOVB # PD4 = 1-COS(A) $2
018300,000421: 22,2530 15334 DPHALF
018301,000422: 22,2531 45761 SIGNMPAC
018302,000423:
018303,000424: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
018304,000425:
018305,000426: 22,2532 77725 PDDL
018306,000427: 22,2533 03343 COF
018307,000428: 22,2534 41316 DSQ DMP
018308,000429: 22,2535 00005 4
018309,000430: 22,2536 52415 DAD SL3
018310,000431: 22,2537 00003 2
018311,000432: 22,2540 77604 BOVB
018312,000433: 22,2541 45761 SIGNMPAC
018313,000434: 22,2542 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
018314,000435: 22,2543 03345 COF +2
018315,000436: 22,2544 41316 DSQ DMP
018316,000437: 22,2545 00005 4
018317,000438: 22,2546 52415 DAD SL3
018318,000439: 22,2547 00003 2
018319,000440: 22,2550 77604 BOVB
018320,000441: 22,2551 45761 SIGNMPAC
018321,000442: 22,2552 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
018322,000443: 22,2553 03347 COF +4
018323,000444: 22,2554 41316 DSQ DMP
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Page 412 |
018325,000446: 22,2555 00005 4
018326,000447: 22,2556 52415 DAD SL3
018327,000448: 22,2557 00003 2
018328,000449: 22,2560 77604 BOVB
018329,000450: 22,2561 45761 SIGNMPAC
018330,000451: 22,2562 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
018331,000452:
018332,000453: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
018333,000454:
018334,000455: 22,2563 41345 DLOAD DMP
018335,000456: 22,2564 03343 COF
018336,000457: 22,2565 03345 COF +2
018337,000458: 22,2566 72405 DMP SL1
018338,000459: 22,2567 00005 4
018339,000460: 22,2570 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
018340,000461: 22,2571 03347 COF +4
018341,000462: 22,2572 00001 0
018342,000463: 22,2573 43206 PUSH DAD # D8 UZ SIN A $ 4
018343,000464: 22,2574 00007 6
018344,000465: 22,2575 41112 SL2 BOVB
018345,000466: 22,2576 45761 SIGNMPAC
018346,000467: 22,2577 17434 STODL DEL +6
018347,000468: 22,2600 62421 BDSU SL2
018348,000469: 22,2601 77604 BOVB
018349,000470: 22,2602 45761 SIGNMPAC
018350,000471: 22,2603 17430 STODL DEL +2
018351,000472: 22,2604 03343 COF
018352,000473: 22,2605 41205 DMP DMP
018353,000474: 22,2606 03347 COF +4
018354,000475: 22,2607 00005 4
018355,000476: 22,2610 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
018356,000477: 22,2611 03345 COF +2
018357,000478: 22,2612 41405 DMP PUSH # D8 UY SIN(A)
018358,000479: 22,2613 00001 0
018359,000480: 22,2614 62415 DAD SL2
018360,000481: 22,2615 00007 6
018361,000482: 22,2616 77604 BOVB
018362,000483: 22,2617 45761 SIGNMPAC
018363,000484: 22,2620 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
018364,000485: 22,2621 62421 BDSU SL2
018365,000486: 22,2622 77604 BOVB
018366,000487: 22,2623 45761 SIGNMPAC
018367,000488: 22,2624 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
018368,000489: 22,2625 03345 COF +2
018369,000490: 22,2626 41205 DMP DMP
018370,000491: 22,2627 03347 COF +4
018371,000492: 22,2630 00005 4
018372,000493: 22,2631 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
018373,000494: 22,2632 03343 COF
018374,000495: 22,2633 41405 DMP PUSH # D8 UX SIN(A)
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Page 413 |
018376,000497: 22,2634 00001 0
018377,000498: 22,2635 62415 DAD SL2
018378,000499: 22,2636 00007 6
018379,000500: 22,2637 77604 BOVB
018380,000501: 22,2640 45761 SIGNMPAC
018381,000502: 22,2641 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
018382,000503: 22,2642 62421 BDSU SL2
018383,000504: 22,2643 77604 BOVB
018384,000505: 22,2644 45761 SIGNMPAC
018385,000506: 22,2645 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
018386,000507: 22,2646 77616 RVQ
018387,000508:
018388,000509: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018389,000510: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018390,000511: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018391,000512: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018392,000513:
018393,000514: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018394,000515:
018395,000516: # C =COS(THETA)COS(PSI)
018396,000517: # 0
018397,000518: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
018398,000519: # 1
018399,000520: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
018400,000521: # 2
018401,000522: # C =SIN(PSI)
018402,000523: # 3
018403,000524: # C =COS(PSI)COS(PHI)
018404,000525: # 4
018405,000526: # C =-COS(PSI)SIN(PHI)
018406,000527: # 5
018407,000528: # C =-SIN(THETA)COS(PSI)
018408,000529: # 6
018409,000530: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
018410,000531: # 7
018411,000532: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
018412,000533: # 8
018413,000534:
018414,000535: # WHERE PHI = OGA
018415,000536: # THETA = IGA
018416,000537: # PSI = MGA
018417,000538:
018418,000539: 22,2647 67543 DCMTOCDU DLOAD* ARCSIN
018419,000540: 22,2650 00007 6,1
018420,000541: 22,2651 71406 PUSH COS # PD +0 PSI
018421,000542: 22,2652 41152 SL1 BOVB
018422,000543: 22,2653 45761 SIGNMPAC
018423,000544: 22,2654 00051 STORE S1
018424,000545: 22,2655 57543 DLOAD* DCOMP
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|
Page 414 |
018426,000547: 22,2656 00015 12D,1
018427,000548: 22,2657 67471 DDV ARCSIN
018428,000549: 22,2660 00051 S1
018429,000550: 22,2661 51123 PDDL* BPL # PD +2 THETA
018430,000551: 22,2662 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018431,000552: 22,2663 44675 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018432,000553: 22,2664 57545 DLOAD DCOMP
018433,000554: 22,2665 43244 BPL DAD
018434,000555: 22,2666 44672 SUHALFA
018435,000556: 22,2667 15334 DPHALF
018436,000557: 22,2670 77650 GOTO
018437,000558: 22,2671 44674 CALCPHI
018438,000559: 22,2672 77625 SUHALFA DSU
018439,000560: 22,2673 15334 DPHALF
018440,000561: 22,2674 77606 CALCPHI PUSH
018441,000562: 22,2675 57543 OKTHETA DLOAD* DCOMP
018442,000563: 22,2676 00013 10D,1
018443,000564: 22,2677 67471 DDV ARCSIN
018444,000565: 22,2700 00051 S1
018445,000566: 22,2701 51123 PDDL* BPL # PUSH DOWN PHI
018446,000567: 22,2702 00011 8D,1
018447,000568: 22,2703 44715 OKPHI
018448,000569: 22,2704 57545 DLOAD DCOMP # PUSH UP PHI
018449,000570: 22,2705 43244 BPL DAD
018450,000571: 22,2706 44712 SUHALFAP
018451,000572: 22,2707 15334 DPHALF
018452,000573: 22,2710 77650 GOTO
018453,000574: 22,2711 44716 VECOFANG
018454,000575: 22,2712 52025 SUHALFAP DSU GOTO
018455,000576: 22,2713 15334 DPHALF
018456,000577: 22,2714 44716 VECOFANG
018457,000578: 22,2715 77745 OKPHI DLOAD # PUSH UP PHI
018458,000579: 22,2716 43466 VECOFANG VDEF RVQ
018459,000580:
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Page 415 |
018461,000582: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018462,000583:
018463,000584: 22,2717 77776 NOGOM3 EXIT
018464,000585: 22,2720 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018465,000586: 22,2721 04636 TC BANKCALL
018466,000587: 22,2722 40203 CADR ZEROEROR
018467,000588:
018468,000589: 22,2723 00004 NOGO INHINT
018469,000590: 22,2724 04463 TC STOPRATE
018470,000591:
018471,000592: 22,2725 34767 CAF R67BIT
018472,000593: 22,2726 70104 MASK FLAGWRD8
018473,000594: 22,2727 00006 EXTEND
018474,000595: 22,2730 12740 BZF NOTR67ND
018475,000596:
018476,000597: 22,2731 35016 CAF 1SEC # WAITLIST TASK IN 1 SECON:
018477,000598: 22,2732 05233 TC WAITLIST # RETURN TO UPDTCALL
018478,000599: 22,2733 E6,1661 EBANK= BCDU
018479,000600: 22,2733 02320 74066 2CADR R67
018480,000601:
018481,000602: 22,2735 05402 TC PHASCHNG
018482,000603: 22,2736 00111 OCT 00111
018483,000604:
018484,000605: 22,2737 01,2025 1P11SPT2 = 1.11SPOT
018485,000606: 22,2737 05205 TC ENDOFJOB
018486,000607:
018487,000608: 22,2740 34767 NOTR67ND CAF TWO # RETURN VIA
018488,000609: 22,2741 05233 TC WAITLIST # GOODEND
018489,000610: 22,2742 E6,1661 EBANK= BCDU
018490,000611: 22,2742 02311 20066 2CADR ENDMANU
018491,000612:
018492,000613: 22,2744 15205 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc