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. |
058179,000002: ## Copyright: Public domain.
058180,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
058181,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
058182,000005: ## build 072. This is for the Command Module's (CM)
058183,000006: ## Apollo Guidance Computer (AGC), for
058184,000007: ## Apollo 15-17.
058185,000008: ## Assembler: yaYUL
058186,000009: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
058187,000010: ## Website: www.ibiblio.org/apollo/index.html
058188,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
058189,000012: ## Mod history: 2009-08-20 JL Adapted from corresponding Comanche 055 file.
058190,000013: ## 2010-02-20 RSB Un-##'d this header.
058191,000014: ## 2017-02-05 RSB Proofed comment text by diff'ing vs Comanche 55
058192,000015: ## and corrected errors found.
058193,000016:
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Page 1354 |
058195,000018:
058196,000019: 23,2000 SETLOC INFLIGHT
058197,000020: 23,2000 BANK
058198,000021:
058199,000022: 23,3240 E5,1671 EBANK= XSM
058200,000023:
058201,000024: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
058202,000025:
058203,000026: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
058204,000027: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
058205,000028:
058206,000029: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
058207,000030: # MGC, AND OGC RESPECTIVELY.
058208,000031:
058209,000032: 23,3240 COUNT* $$/INFLT
058210,000033: 23,3240 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
058211,000034: 23,3241 00051 S2 # XDC = (XD1 XD2 XD3)
058212,000035: 23,3242 02714 XDC # YDC = (YD1 YD2 YD3)
058213,000036: 23,3243 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
058214,000037: 23,3244 15336 HI6ZEROS
058215,000038: 23,3245 02720 XDC +4
058216,000039: 23,3246 55476 DCOMP VDEF
058217,000040: 23,3247 77656 UNIT
058218,000041: 23,3250 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
058219,000042: 23,3251 00027 ZPRIME
058220,000043:
058221,000044: 23,3252 77742 SR1
058222,000045: 23,3253 14023 STODL SINTH # SIN(IGC) = ZP1
058223,000046: 23,3254 00033 ZPRIME +4
058224,000047: 23,3255 77742 SR1
058225,000048: 23,3256 34021 STCALL COSTH # COS(IGC) = ZP3
058226,000049: 23,3257 47311 ARCTRIG
058227,000050:
058228,000051: 23,3260 16762 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
058229,000052: 23,3261 02716 XDC +2
058230,000053: 23,3262 77742 SR1
058231,000054: 23,3263 14023 STODL SINTH # SIN(MGC) = XD2
058232,000055: 23,3264 00027 ZPRIME
058233,000056:
058234,000057: 23,3265 65205 DMP PDDL
058235,000058: 23,3266 02720 XDC +4 # PD00 = (ZP1)(XD3)
058236,000059: 23,3267 00033 ZPRIME +4
058237,000060:
058238,000061: 23,3270 45205 DMP DSU
058239,000062: 23,3271 02714 XDC # MPAC = (ZP3)(XD1)
058240,000063: 23,3272 77626 STADR
058241,000064: 23,3273 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
058242,000065: 23,3274 47311 ARCTRIG
058243,000066: 23,3275 26764 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
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Page 1355 |
058245,000068: 23,3276 00027 ZPRIME
058246,000069: 23,3277 77641 DOT
058247,000070: 23,3300 02730 ZDC
058248,000071: 23,3301 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
058249,000072: 23,3302 00027 ZPRIME
058250,000073: 23,3303 77641 DOT
058251,000074: 23,3304 02722 YDC
058252,000075: 23,3305 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
058253,000076: 23,3306 47311 ARCTRIG
058254,000077:
058255,000078: 23,3307 36760 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
058256,000079: 23,3310 00051 S2
058257,000080:
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Page 1356 |
058259,000082:
058260,000083: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
058261,000084:
058262,000085: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
058263,000086:
058264,000087: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
058265,000088: # AVAILABLE AT MPAC.
058266,000089:
058267,000090: 23,3311 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
058268,000091: 23,3312 00023 SINTH
058269,000092: 23,3313 50025 DSU BMN
058270,000093: 23,3314 07525 QTSN45 # ABS(SIN/4) - SIN(45)/4
058271,000094: 23,3315 47324 TRIG1 # IF (-45,45) OR (135,-135)
058272,000095:
058273,000096: 23,3316 72545 DLOAD SL1 # (45,135) OR (-135,-45)
058274,000097: 23,3317 00021 COSTH
058275,000098: 23,3320 75326 ACOS SIGN
058276,000099: 23,3321 00023 SINTH
058277,000100: 23,3322 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
058278,000101: 23,3323 77616 RVQ
058279,000102:
058280,000103: 23,3324 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
058281,000104: 23,3325 00023 SINTH
058282,000105: 23,3326 77736 ASIN
058283,000106: 23,3327 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
058284,000107: 23,3330 00021 COSTH
058285,000108: 23,3331 77640 BMN
058286,000109: 23,3332 47335 TRIG2 # IF (135,-135)
058287,000110:
058288,000111: 23,3333 43545 DLOAD RVQ
058289,000112: 23,3334 00025 THETA # X = ARCSIN(SIN) (-45,45)
058290,000113:
058291,000114: 23,3335 75345 TRIG2 DLOAD SIGN # (135,-135)
058292,000115: 23,3336 15334 HIDPHALF
058293,000116: 23,3337 00023 SINTH
058294,000117: 23,3340 77625 DSU
058295,000118: 23,3341 00025 THETA
058296,000119: 23,3342 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
058297,000120: 23,3343 77616 RVQ # (+) - (+) OR (-) - (-)
058298,000121:
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Page 1357 |
058300,000123: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
058301,000124: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
058302,000125: # FLIGHT SUBROUTINES.
058303,000126:
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Page 1358 |
058305,000128: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
058306,000129:
058307,000130: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
058308,000131: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
058309,000132: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
058310,000133:
058311,000134: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
058312,000135:
058313,000136: 23,3344 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
058314,000137: 23,3345 00001 0
058315,000138: 23,3346 47375 VLOAD VXV
058316,000139: 23,3347 02714 XNB # XNB = OGA (OUTER GIMBAL AXIS)
058317,000140: 23,3350 02700 YSM # YSM = IGA (INNER GIMBAL AXIS)
058318,000141: 23,3351 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
058319,000142:
058320,000143: 23,3352 44041 DOT ITA
058321,000144: 23,3353 02730 ZNB
058322,000145: 23,3354 00051 S2
058323,000146: 23,3355 24021 STOVL COSTH # COS(OG) = MGA . ZNB
058324,000147: 23,3356 00001 0
058325,000148: 23,3357 77641 DOT
058326,000149: 23,3360 02722 YNB
058327,000150: 23,3361 34023 STCALL SINTH # SIN(OG) = MGA . YNB
058328,000151: 23,3362 47311 ARCTRIG
058329,000152: 23,3363 26760 STOVL OGC
058330,000153: 23,3364 00001 0
058331,000154:
058332,000155: 23,3365 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
058333,000156: 23,3366 02714 XNB
058334,000157: 23,3367 02700 YSM
058335,000158: 23,3370 77752 SL1
058336,000159: 23,3371 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
058337,000160: 23,3372 02700 YSM
058338,000161: 23,3373 77641 DOT
058339,000162: 23,3374 02714 XNB
058340,000163: 23,3375 34023 STCALL SINTH # SIN(MG) = IGA . OGA
058341,000164: 23,3376 47311 ARCTRIG
058342,000165: 23,3377 02764 STORE MGC
058343,000166:
058344,000167: 23,3400 45246 ABS DSU
058345,000168: 23,3401 07527 .166...
058346,000169: 23,3402 77644 BPL
058347,000170: 23,3403 47422 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
058348,000171:
058349,000172: 23,3404 50375 CALCGA1 VLOAD DOT
058350,000173: 23,3405 02706 ZSM
058351,000174: 23,3406 00001 0
058352,000175: 23,3407 24021 STOVL COSTH # COS(IG) = ZSM . MGA
058353,000176: 23,3410 02672 XSM
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Page 1359 |
058355,000178: 23,3411 45441 DOT STADR
058356,000179: 23,3412 43754 STCALL SINTH # SIN(IG) = XSM . MGA
058357,000180: 23,3413 47311 ARCTRIG
058358,000181:
058359,000182: 23,3414 26762 STOVL IGC
058360,000183: 23,3415 02760 OGC
058361,000184: 23,3416 77634 RTB
058362,000185: 23,3417 45644 V1STO2S
058363,000186: 23,3420 35310 STCALL THETAD
058364,000187: 23,3421 00051 S2
058365,000188:
058366,000189: 23,3422 77776 GIMLOCK1 EXIT
058367,000190: 23,3423 05671 TC ALARM
058368,000191: 23,3424 00401 OCT 00401
058369,000192: 23,3425 05547 TC UPFLAG # GIMBAL LOCK HAS OCCURED
058370,000193: 23,3426 00056 ADRES GLOKFAIL
058371,000194:
058372,000195: 23,3427 06006 TC INTPRET
058373,000196: 23,3430 77650 GOTO
058374,000197: 23,3431 47404 CALCGA1
058375,000198:
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Page 1360 |
058377,000200:
058378,000201: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
058379,000202:
058380,000203: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
058381,000204: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
058382,000205: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
058383,000206: # THE VAC AREA.
058384,000207:
058385,000208: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
058386,000209: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
058387,000210:
058388,000211: 23,3432 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
058389,000212: 23,3433 02743 STARAD +6
058390,000213: 23,3434 00051 S1
058391,000214: 23,3435 02727 STARAD -6
058392,000215:
058393,000216: 23,3436 77601 SETPD
058394,000217: 23,3437 00001 0
058395,000218: 23,3440 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
058396,000219: 23,3441 02752 STARAD +12D,1 # STARAD +00D UB = S1
058397,000220: 23,3442 02760 STARAD +18D,1
058398,000221: 23,3443 77656 UNIT # 12D VA = UNIT(S1 X S2)
058399,000222: 23,3444 06760 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
058400,000223: 23,3445 77773 VLOAD*
058401,000224: 23,3446 02752 STARAD +12D,1
058402,000225:
058403,000226: 23,3447 76433 VXV* VSL1
058404,000227: 23,3450 02760 STARAD +18D,1 # 18D WA = UA X VA
058405,000228: 23,3451 06766 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
058406,000229:
058407,000230: 23,3452 77700 TIX,1
058408,000231: 23,3453 47440 AXISGEN1
058409,000232:
058410,000233: 23,3454 66160 AXC,1 SXA,1
058411,000234: 23,3455 00006 6
058412,000235: 23,3456 00036 30D
058413,000236:
058414,000237: 23,3457 66370 AXT,1 SSP
058415,000238: 23,3460 00022 18D
058416,000239: 23,3461 00051 S1
058417,000240: 23,3462 00006 6
058418,000241:
058419,000242: 23,3463 66374 AXT,2 SSP
058420,000243: 23,3464 00006 6
058421,000244: 23,3465 00052 S2
058422,000245: 23,3466 00002 2
058423,000246:
058424,000247: 23,3467 76720 AXISGEN2 XCHX,1 VLOAD*
058425,000248: 23,3470 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
058426,000249: 23,3471 00001 0,1
058427,000250:
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Page 1361 |
058429,000252: 23,3472 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
058430,000253: 23,3473 75033 STARAD +6,2
058431,000254: 23,3474 00007 6,1
058432,000255: 23,3475 77757 VXSC*
058433,000256: 23,3476 75025 STARAD +12D,2
058434,000257: 23,3477 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
058435,000258: 23,3500 00015 12D,1
058436,000259:
058437,000260: 23,3501 53357 VXSC* VAD
058438,000261: 23,3502 75017 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
058439,000262: 23,3503 76455 VAD VSL1
058440,000263: 23,3504 00031 24D
058441,000264: 23,3505 53520 XCHX,1 UNIT
058442,000265: 23,3506 00036 30D
058443,000266: 23,3507 06736 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
058444,000267:
058445,000268: 23,3510 77700 TIX,1
058446,000269: 23,3511 47512 AXISGEN3
058447,000270:
058448,000271: 23,3512 77704 AXISGEN3 TIX,2
058449,000272: 23,3513 47467 AXISGEN2
058450,000273:
058451,000274: 23,3514 77775 VLOAD
058452,000275: 23,3515 02714 XDC
058453,000276: 23,3516 26736 STOVL STARAD
058454,000277: 23,3517 02722 YDC
058455,000278: 23,3520 26744 STOVL STARAD +6
058456,000279: 23,3521 02730 ZDC
058457,000280: 23,3522 02752 STORE STARAD +12D
058458,000281:
058459,000282: 23,3523 77616 RVQ
058460,000283:
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Page 1362 |
058462,000285: 23,3524 05520 26075 QTSN45 2DEC .1768
058463,000286: 23,3526 05252 25253 .166... 2DEC .1666666667
058464,000287:
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Page 1363 Empty page |
058467,000290:
058468,000291:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc