GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
|
|
These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are 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 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
056188,000002: ## Copyright: Public domain.
056189,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
056190,000004: ## Purpose: Part of the source code for Colossus build 237.
056191,000005: ## This is for the Command Module's (CM) Apollo Guidance
056192,000006: ## Computer (AGC), for Apollo 8.
056193,000007: ## Assembler: yaYUL
056194,000008: ## Contact: Jim Lawton <jim DOT lawton AT gmail DOT com>
056195,000009: ## Website: www.ibiblio.org/apollo/index.html
056196,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
056197,000011: ## Mod history: 2011-04-17 JL Adapted from corresponding Colossus 249 file.
056198,000012: ## 2017-01-01 RSB Proofed comment text using octopus/ProoferComments,
056199,000013: ## and fixed errors found.
056200,000014:
|
|
Page 1319 |
056202,000016: 22,3505 BANK 22
056203,000017: 23,2000 SETLOC INFLIGHT
056204,000018: 23,2000 BANK
056205,000019:
056206,000020: 23,3140 E5,1671 EBANK= XSM
056207,000021:
056208,000022:
056209,000023: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
056210,000024:
056211,000025: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
056212,000026: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
056213,000027:
056214,000028: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
056215,000029: # MGC, AND OGC RESPECTIVELY.
056216,000030:
056217,000031: 23,3140 COUNT 23/INFLT
056218,000032:
056219,000033: 23,3140 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
056220,000034: 23,3141 00051 S2 # XDC = (XD1 XD2 XD3)
056221,000035: 23,3142 02714 XDC # YDC = (YD1 YD2 YD3)
056222,000036: 23,3143 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
056223,000037: 23,3144 15332 HI6ZEROS
056224,000038: 23,3145 02720 XDC +4
056225,000039: 23,3146 55476 DCOMP VDEF
056226,000040: 23,3147 77656 UNIT
056227,000041: 23,3150 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
056228,000042: 23,3151 00027 ZPRIME
056229,000043:
056230,000044: 23,3152 77742 SR1
056231,000045: 23,3153 14023 STODL SINTH # SIN(IGC) = ZP1
056232,000046: 23,3154 00033 ZPRIME +4
056233,000047: 23,3155 77742 SR1
056234,000048: 23,3156 34021 STCALL COSTH # COS(IGC) = ZP3
056235,000049: 23,3157 47211 ARCTRIG
056236,000050:
056237,000051: 23,3160 16762 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
056238,000052: 23,3161 02716 XDC +2
056239,000053: 23,3162 77742 SR1
056240,000054: 23,3163 14023 STODL SINTH # SIN(MGC) = XD2
056241,000055: 23,3164 00027 ZPRIME
056242,000056:
056243,000057: 23,3165 65205 DMP PDDL
056244,000058: 23,3166 02720 XDC +4 # PD00 = (ZP1)(XD3)
056245,000059: 23,3167 00033 ZPRIME +4
056246,000060:
056247,000061: 23,3170 45205 DMP DSU
056248,000062: 23,3171 02714 XDC # MPAC = (ZP3)(XD1)
056249,000063: 23,3172 77626 STADR
056250,000064: 23,3173 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
056251,000065: 23,3174 47211 ARCTRIG
|
|
Page 1320 |
056253,000067: 23,3175 26764 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
056254,000068: 23,3176 00027 ZPRIME
056255,000069: 23,3177 77641 DOT
056256,000070: 23,3200 02730 ZDC
056257,000071: 23,3201 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
056258,000072: 23,3202 00027 ZPRIME
056259,000073: 23,3203 77641 DOT
056260,000074: 23,3204 02722 YDC
056261,000075: 23,3205 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
056262,000076: 23,3206 47211 ARCTRIG
056263,000077:
056264,000078: 23,3207 36760 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
056265,000079: 23,3210 00051 S2
056266,000080:
|
|
Page 1321 |
056268,000082: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
056269,000083:
056270,000084: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
056271,000085:
056272,000086: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
056273,000087: # AVAILABLE AT MPAC.
056274,000088:
056275,000089:
056276,000090: 23,3211 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
056277,000091: 23,3212 00023 SINTH
056278,000092: 23,3213 50025 DSU BMN
056279,000093: 23,3214 07427 QTSN45 # ABS(SIN/4) - SIN(45)/4
056280,000094: 23,3215 47224 TRIG1 # IF (-45,45) OR (135,-135)
056281,000095:
056282,000096:
056283,000097: 23,3216 72545 DLOAD SL1 # (45,135) OR (-135,-45)
056284,000098: 23,3217 00021 COSTH
056285,000099: 23,3220 75326 ACOS SIGN
056286,000100: 23,3221 00023 SINTH
056287,000101: 23,3222 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
056288,000102: 23,3223 77616 RVQ
056289,000103:
056290,000104:
056291,000105: 23,3224 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
056292,000106: 23,3225 00023 SINTH
056293,000107: 23,3226 77736 ASIN
056294,000108: 23,3227 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
056295,000109: 23,3230 00021 COSTH
056296,000110: 23,3231 77640 BMN
056297,000111: 23,3232 47235 TRIG2 # IF (135,-135)
056298,000112:
056299,000113: 23,3233 43545 DLOAD RVQ
056300,000114: 23,3234 00025 THETA # X = ARCSIN(SIN) (-45,45)
056301,000115:
056302,000116:
056303,000117: 23,3235 75345 TRIG2 DLOAD SIGN # (135,-135)
056304,000118: 23,3236 15330 HIDPHALF
056305,000119: 23,3237 00023 SINTH
056306,000120: 23,3240 77625 DSU
056307,000121: 23,3241 00025 THETA
056308,000122: 23,3242 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
056309,000123: 23,3243 77616 RVQ # (+) - (+) OR (-) - (-)
056310,000124:
|
|
Page 1322 |
056312,000126: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
056313,000127: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
056314,000128: # FLIGHT SUBROUTINES.
056315,000129:
|
|
Page 1323 |
056317,000131: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
056318,000132:
056319,000133: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
056320,000134: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
056321,000135: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
056322,000136:
056323,000137: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
056324,000138:
056325,000139: 23,3244 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
056326,000140: 23,3245 00001 0
056327,000141: 23,3246 47375 VLOAD VXV
056328,000142: 23,3247 02714 XNB # XNB = OGA (OUTER GIMBAL AXIS)
056329,000143: 23,3250 02700 YSM # YSM = IGA (INNER GIMBAL AXIS)
056330,000144: 23,3251 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
056331,000145:
056332,000146: 23,3252 44041 DOT ITA
056333,000147: 23,3253 02730 ZNB
056334,000148: 23,3254 00051 S2
056335,000149: 23,3255 24021 STOVL COSTH # COS(OG) = MGA . ZNB
056336,000150: 23,3256 00001 0
056337,000151: 23,3257 77641 DOT
056338,000152: 23,3260 02722 YNB
056339,000153: 23,3261 34023 STCALL SINTH # SIN(OG) = MGA . YNB
056340,000154: 23,3262 47211 ARCTRIG
056341,000155: 23,3263 26760 STOVL OGC
056342,000156: 23,3264 00001 0
056343,000157:
056344,000158: 23,3265 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
056345,000159: 23,3266 02714 XNB
056346,000160: 23,3267 02700 YSM
056347,000161: 23,3270 77752 SL1
056348,000162: 23,3271 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
056349,000163: 23,3272 02700 YSM
056350,000164: 23,3273 77641 DOT
056351,000165: 23,3274 02714 XNB
056352,000166: 23,3275 34023 STCALL SINTH # SIN(MG) = IGA . OGA
056353,000167: 23,3276 47211 ARCTRIG
056354,000168: 23,3277 02764 STORE MGC
056355,000169:
056356,000170: 23,3300 45246 ABS DSU
056357,000171: 23,3301 07431 .166...
056358,000172: 23,3302 77644 BPL
056359,000173: 23,3303 47324 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
056360,000174:
056361,000175: 23,3304 50375 CALCGA1 VLOAD DOT
056362,000176: 23,3305 02706 ZSM
056363,000177: 23,3306 00001 0
056364,000178: 23,3307 24021 STOVL COSTH # COS(IG) = ZSM . MGA
056365,000179: 23,3310 02672 XSM
|
|
Page 1324 |
056367,000181: 23,3311 45441 DOT STADR
056368,000182: 23,3312 43754 STCALL SINTH # SIN(IG) = XSM . MGA
056369,000183: 23,3313 47211 ARCTRIG
056370,000184:
056371,000185: 23,3314 26762 STOVL IGC
056372,000186: 23,3315 02760 OGC
056373,000187: 23,3316 43034 RTB BONCLR
056374,000188: 23,3317 45547 V1STO2S
056375,000189: 23,3320 00200 CPHIFLAG
056376,000190: 23,3321 00051 S2
056377,000191: 23,3322 35156 STCALL THETAD
056378,000192: 23,3323 00051 S2
056379,000193:
056380,000194: 23,3324 77776 GIMLOCK1 EXIT
056381,000195: 23,3325 05537 TC ALARM
056382,000196: 23,3326 00401 OCT 00401
056383,000197: 23,3327 05435 TC UPFLAG # GIMBAL LOCK HAS OCCURED
056384,000198: 23,3330 00056 ADRES GLOKFAIL
056385,000199:
056386,000200: 23,3331 06006 TC INTPRET
056387,000201: 23,3332 77650 GOTO
056388,000202: 23,3333 47304 CALCGA1
056389,000203:
|
|
Page 1325 |
056391,000205: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
056392,000206:
056393,000207: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
056394,000208: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
056395,000209: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
056396,000210: # THE VAC AREA.
056397,000211:
056398,000212: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
056399,000213: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
056400,000214:
056401,000215:
056402,000216: 23,3334 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
056403,000217: 23,3335 02743 STARAD +6
056404,000218: 23,3336 00051 S1
056405,000219: 23,3337 02727 STARAD -6
056406,000220:
056407,000221: 23,3340 77601 SETPD
056408,000222: 23,3341 00001 0
056409,000223: 23,3342 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
056410,000224: 23,3343 02752 STARAD +12D,1 # STARAD +00D UB = S1
056411,000225: 23,3344 02760 STARAD +18D,1
056412,000226: 23,3345 77656 UNIT # 12D VA = UNIT(S1 X S2)
056413,000227: 23,3346 06760 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
056414,000228: 23,3347 77773 VLOAD*
056415,000229: 23,3350 02752 STARAD +12D,1
056416,000230:
056417,000231: 23,3351 76433 VXV* VSL1
056418,000232: 23,3352 02760 STARAD +18D,1 # 18D WA = UA X VA
056419,000233: 23,3353 06766 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
056420,000234:
056421,000235: 23,3354 77700 TIX,1
056422,000236: 23,3355 47342 AXISGEN1
056423,000237:
056424,000238: 23,3356 66160 AXC,1 SXA,1
056425,000239: 23,3357 00006 6
056426,000240: 23,3360 00036 30D
056427,000241:
056428,000242: 23,3361 66370 AXT,1 SSP
056429,000243: 23,3362 00022 18D
056430,000244: 23,3363 00051 S1
056431,000245: 23,3364 00006 6
056432,000246:
056433,000247: 23,3365 66374 AXT,2 SSP
056434,000248: 23,3366 00006 6
056435,000249: 23,3367 00052 S2
056436,000250: 23,3370 00002 2
056437,000251:
056438,000252: 23,3371 76720 AXISGEN2 XCHX,1 VLOAD*
056439,000253: 23,3372 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
056440,000254: 23,3373 00001 0,1
|
|
Page 1326 |
056442,000256: 23,3374 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
056443,000257: 23,3375 75033 STARAD +6,2
056444,000258: 23,3376 00007 6,1
056445,000259: 23,3377 77757 VXSC*
056446,000260: 23,3400 75025 STARAD +12D,2
056447,000261: 23,3401 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
056448,000262: 23,3402 00015 12D,1
056449,000263:
056450,000264: 23,3403 53357 VXSC* VAD
056451,000265: 23,3404 75017 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
056452,000266: 23,3405 76455 VAD VSL1
056453,000267: 23,3406 00031 24D
056454,000268: 23,3407 53520 XCHX,1 UNIT
056455,000269: 23,3410 00036 30D
056456,000270: 23,3411 06736 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
056457,000271:
056458,000272: 23,3412 77700 TIX,1
056459,000273: 23,3413 47414 AXISGEN3
056460,000274:
056461,000275: 23,3414 77704 AXISGEN3 TIX,2
056462,000276: 23,3415 47371 AXISGEN2
056463,000277:
056464,000278: 23,3416 77775 VLOAD
056465,000279: 23,3417 02714 XDC
056466,000280: 23,3420 26736 STOVL STARAD
056467,000281: 23,3421 02722 YDC
056468,000282: 23,3422 26744 STOVL STARAD +6
056469,000283: 23,3423 02730 ZDC
056470,000284: 23,3424 02752 STORE STARAD +12D
056471,000285:
056472,000286: 23,3425 77616 RVQ
056473,000287:
|
|
Page 1327 |
056475,000289: 23,3426 05520 26075 QTSN45 2DEC .1768
056476,000290: 23,3430 05252 25253 .166... 2DEC .1666666667
056477,000291:
|
|
Page 1328 Empty page. |
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc