ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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This is the source-code for the Apollo 9 Command Module's Guidance Computer.
These files were derived originally from the scan from MIT's Dibner Institute's
now-discontinued website titled "History of Recent Science and Technology", which
in turn was originally created by Gary Neff, though his high-quality scans were
unfortunately reduced in legibility when presented online.
The markings on the front of the
printout imply that it was the original AGC developer Norm Brodeur's copy.
A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original
AGC developer Fred Martin. The source code was transcribed from
those images by Ron Burkey. Note that the page images
presented online are of reduced quality, and that higher-quality 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:ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
017211,000002: ## Copyright: Public domain.
017212,000003: ## Filename: ANGLFIND.agc
017213,000004: ## Purpose: Part of the source code for Colossus, build 249.
017214,000005: ## It is part of the source code for the Command Module's (CM)
017215,000006: ## Apollo Guidance Computer (AGC), for Apollo 9.
017216,000007: ## Assembler: yaYUL
017217,000008: ## Reference: pp. 392-404.
017218,000009: ## Contact: Ron Burkey <info@sandroid.org>.
017219,000010: ## Website: www.ibiblio.org/apollo.
017220,000011: ## Mod history: 08/10/04 RSB. Began transcribing.
017221,000012: ## 2017-01-02 RSB Fixed a couple of comment errors, detected by
017222,000013: ## comparison to Colossus 237 and Comanche 55.
017223,000014: ## Lots more to come.
017224,000015: ## 2017-01-06 RSB Page numbers now agree with those on the
017225,000016: ## original harcopy, as opposed to the PDF page
017226,000017: ## numbers in 1701.pdf.
017227,000018: ## 2017-01-07 RSB Cross-diff'd comment text (not whitespace)
017228,000019: ## vs the already-proofed corresponding Colossus
017229,000020: ## 237 and Comanche 55 source-code files
017230,000021: ## and corrected all remaining errors found.
017231,000022: ## 2021-05-30 ABS CK* -> OK* for a number of symbols.
017232,000023: ## ENDOCM -> ENDDCM
017233,000024: ## ZEROERROR -> ZEROEROR
017234,000025: ##
017235,000026: ## The contents of the "Colossus249" files, in general, are transcribed
017236,000027: ## from a scanned copy of the program listing. Notations on this
017237,000028: ## document read, in part:
017238,000029: ##
017239,000030: ## Assemble revision 249 of AGC program Colossus by NASA
017240,000031: ## 2021111-041. October 28, 1968.
017241,000032: ##
017242,000033: ## This AGC program shall also be referred to as
017243,000034: ## Colossus 1A
017244,000035: ##
017245,000036: ## Prepared by
017246,000037: ## Massachusetts Institute of Technology
017247,000038: ## 75 Cambridge Parkway
017248,000039: ## Cambridge, Massachusetts
017249,000040: ## under NASA contract NAS 9-4065.
017250,000041: ##
017251,000042: ## Refer directly to the online document mentioned above for further information.
017252,000043: ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
017253,000044: ##
017254,000045: ## In some cases, where the source code for Luminary 131 overlaps that of
017255,000046: ## Colossus 249, this code is instead copied from the corresponding Luminary 131
017256,000047: ## source file, and then is proofed to incorporate any changes.
017257,000048:
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Page 392 |
017259,000050: 15,2000 BANK 15
017260,000051: 22,2000 SETLOC KALCMON1
017261,000052: 22,2000 BANK
017262,000053:
017263,000054: 22,2000 E6,1661 EBANK= BCDU
017264,000055:
017265,000056: 22,2000 COUNT 22/KALC
017266,000057:
017267,000058: 22,2000 06006 KALCMAN3 TC INTPRET
017268,000059: 22,2001 77634 RTB
017269,000060: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017270,000061: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017271,000062: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017272,000063: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017273,000064: 22,2006 03262 BCDU # (MIS)
017274,000065: 22,2007 77624 CALL
017275,000066: 22,2010 44405 CDUTODCM
017276,000067: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017277,000068: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017278,000069: 22,2013 01156 CPHI # (MFS)
017279,000070: 22,2014 77624 CALL
017280,000071: 22,2015 44405 CDUTODCM
017281,000072: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017282,000073: 22,2017 03320 MIS
017283,000074: 22,2020 44334 TRANSPOS
017284,000075: 22,2021 77775 VLOAD
017285,000076: 22,2022 77626 STADR
017286,000077: 22,2023 50474 STOVL TMIS +12D
017287,000078: 22,2024 77626 STADR
017288,000079: 22,2025 50502 STOVL TMIS +6
017289,000080: 22,2026 77626 STADR
017290,000081: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017291,000082: 22,2030 75160 AXC,1 AXC,2
017292,000083: 22,2031 03266 TMIS
017293,000084: 22,2032 03425 MFS
017294,000085: 22,2033 77624 CALL
017295,000086: 22,2034 44304 MXM3
017296,000087: 22,2035 45575 VLOAD STADR
017297,000088: 22,2036 50335 STOVL MFI +12D
017298,000089: 22,2037 77626 STADR
017299,000090: 22,2040 50343 STOVL MFI +6
017300,000091: 22,2041 77626 STADR
017301,000092: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017302,000093: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017303,000094: 22,2044 00023 18D
017304,000095: 22,2045 44343 TRNSPSPD
017305,000096: 22,2046 45575 VLOAD STADR
017306,000097: 22,2047 50474 STOVL TMFI +12D
017307,000098: 22,2050 77626 STADR
017308,000099: 22,2051 50502 STOVL TMFI +6
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Page 393 |
017310,000101: 22,2052 77626 STADR
017311,000102: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017312,000103:
017313,000104: # CALCULATE COFSKEW AND MFISYM
017314,000105:
017315,000106: 22,2054 45345 DLOAD DSU
017316,000107: 22,2055 03271 TMFI +2
017317,000108: 22,2056 03430 MFI +2
017318,000109: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017319,000110: 22,2060 03432 MFI +4
017320,000111: 22,2061 03273 TMFI +4
017321,000112: 22,2062 45325 PDDL DSU
017322,000113: 22,2063 03301 TMFI +10D
017323,000114: 22,2064 03440 MFI +10D
017324,000115: 22,2065 77666 VDEF
017325,000116: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017326,000117:
017327,000118: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017328,000119:
017329,000120: 22,2067 43345 DLOAD DAD
017330,000121: 22,2070 03426 MFI
017331,000122: 22,2071 03446 MFI +16D
017332,000123: 22,2072 43225 DSU DAD
017333,000124: 22,2073 15322 DP1/4TH
017334,000125: 22,2074 03436 MFI +8D
017335,000126: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017336,000127: 22,2076 77726 ARCCOS
017337,000128: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017338,000129: 22,2100 51025 DSU BPL
017339,000130: 22,2101 04367 MINANG
017340,000131: 22,2102 44111 CHECKMAX
017341,000132: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017342,000133: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017343,000134: 22,2105 44712 CS ONE # ABOUT COMMANDED ANGLES
017344,000135: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017345,000136: 22,2107 03301 TC LOADCDUD # GOOD RETURN
017346,000137: 22,2110 12727 TCF NOGO
017347,000138:
017348,000139: 22,2111 45345 CHECKMAX DLOAD DSU
017349,000140: 22,2112 03365 AM
017350,000141: 22,2113 04370 MAXANG
017351,000142: 22,2114 77244 BPL VLOAD
017352,000143: 22,2115 44123 ALTCALC # UNIT
017353,000144: 22,2116 03311 COFSKEW # COFSKEW
017354,000145: 22,2117 77656 UNIT
017355,000146: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017356,000147: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017357,000148: 22,2122 44736 LOCSKIRT
017358,000149: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017359,000150: 22,2124 03426 MFI
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Page 394 |
017361,000152: 22,2125 03267 TMFI
017362,000153: 22,2126 77762 VSR1
017363,000154: 22,2127 27267 STOVL MFISYM
017364,000155: 22,2130 03434 MFI +6
017365,000156: 22,2131 74455 VAD VSR1
017366,000157: 22,2132 03275 TMFI +6
017367,000158: 22,2133 27275 STOVL MFISYM +6
017368,000159: 22,2134 03442 MFI +12D
017369,000160: 22,2135 74455 VAD VSR1
017370,000161: 22,2136 03303 TMFI +12D
017371,000162: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017372,000163:
017373,000164: # CALCULATE COF
017374,000165:
017375,000166: 22,2140 70545 DLOAD SR1
017376,000167: 22,2141 03317 CAM
017377,000168: 22,2142 45325 PDDL DSU # PD0 CAM $4
017378,000169: 22,2143 15330 DPHALF
017379,000170: 22,2144 03317 CAM
017380,000171: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017381,000172: 22,2146 45707 SIGNMPAC
017382,000173: 22,2147 03307 MFISYM +16D
017383,000174: 22,2150 56225 DSU DDV
017384,000175: 22,2151 00001 0
017385,000176: 22,2152 00003 2
017386,000177: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017387,000178: 22,2154 03277 MFISYM +8D # $ ROOT 2
017388,000179: 22,2155 56225 DSU DDV
017389,000180: 22,2156 00001 0
017390,000181: 22,2157 00003 2
017391,000182: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017392,000183: 22,2161 03267 MFISYM
017393,000184: 22,2162 56225 DSU DDV
017394,000185: 22,2163 00001 0
017395,000186: 22,2164 00003 2
017396,000187: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017397,000188: 22,2166 77656 UNIT
017398,000189: 22,2167 03343 STORE COF
017399,000190:
017400,000191: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017401,000192:
017402,000193: 22,2170 45345 COFMAXGO DLOAD DSU
017403,000194: 22,2171 03343 COF
017404,000195: 22,2172 03345 COF +2
017405,000196: 22,2173 71240 BMN DLOAD # COFY G COFX
017406,000197: 22,2174 44203 COMP12
017407,000198: 22,2175 03343 COF
017408,000199: 22,2176 50025 DSU BMN
017409,000200: 22,2177 03347 COF +4
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Page 395 |
017411,000202: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017412,000203: 22,2201 77650 GOTO
017413,000204: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017414,000205: 22,2203 45345 COMP12 DLOAD DSU
017415,000206: 22,2204 03345 COF +2
017416,000207: 22,2205 03347 COF +4
017417,000208: 22,2206 77640 BMN
017418,000209: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017419,000210:
017420,000211: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017421,000212: 22,2211 03313 COFSKEW +2 # UY
017422,000213: 22,2212 44216 U2POS
017423,000214: 22,2213 57575 VLOAD VCOMP
017424,000215: 22,2214 03343 COF
017425,000216: 22,2215 03343 STORE COF
017426,000217: 22,2216 51145 U2POS DLOAD BPL
017427,000218: 22,2217 03271 MFISYM +2 # UX UY
017428,000219: 22,2220 44224 OKU21
017429,000220: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017430,000221: 22,2222 03343 COF
017431,000222: 22,2223 03343 STORE COF
017432,000223: 22,2224 51145 OKU21 DLOAD BPL
017433,000224: 22,2225 03301 MFISYM +10D # UY UZ
017434,000225: 22,2226 44736 LOCSKIRT
017435,000226: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017436,000227: 22,2230 03347 COF +4
017437,000228: 22,2231 03347 STORE COF +4
017438,000229: 22,2232 77650 GOTO
017439,000230: 22,2233 44736 LOCSKIRT
017440,000231: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017441,000232: 22,2235 03311 COFSKEW # UX
017442,000233: 22,2236 44242 U1POS
017443,000234: 22,2237 57575 VLOAD VCOMP
017444,000235: 22,2240 03343 COF
017445,000236: 22,2241 03343 STORE COF
017446,000237: 22,2242 51145 U1POS DLOAD BPL
017447,000238: 22,2243 03271 MFISYM +2 # UX UY
017448,000239: 22,2244 44250 OKU12
017449,000240: 22,2245 57545 DLOAD DCOMP
017450,000241: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017451,000242: 22,2247 03345 STORE COF +2
017452,000243: 22,2250 51145 OKU12 DLOAD BPL
017453,000244: 22,2251 03273 MFISYM +4 # UX UZ
017454,000245: 22,2252 44736 LOCSKIRT
017455,000246: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017456,000247: 22,2254 03347 COF +4
017457,000248: 22,2255 03347 STORE COF +4
017458,000249: 22,2256 77650 GOTO
017459,000250: 22,2257 44736 LOCSKIRT
017460,000251: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 396 |
017462,000253: 22,2261 03315 COFSKEW +4 # UZ
017463,000254: 22,2262 44266 U3POS
017464,000255: 22,2263 57575 VLOAD VCOMP
017465,000256: 22,2264 03343 COF
017466,000257: 22,2265 03343 STORE COF
017467,000258: 22,2266 51145 U3POS DLOAD BPL
017468,000259: 22,2267 03273 MFISYM +4 # UX UZ
017469,000260: 22,2270 44274 OKU31
017470,000261: 22,2271 57545 DLOAD DCOMP
017471,000262: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017472,000263: 22,2273 03343 STORE COF
017473,000264: 22,2274 51145 OKU31 DLOAD BPL
017474,000265: 22,2275 03301 MFISYM +10D # UY UZ
017475,000266: 22,2276 44736 LOCSKIRT
017476,000267: 22,2277 57545 DLOAD DCOMP
017477,000268: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017478,000269: 22,2301 03345 STORE COF +2
017479,000270: 22,2302 77650 GOTO
017480,000271: 22,2303 44736 LOCSKIRT
017481,000272:
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Page 397 |
017483,000274: # MATRIX OPERATIONS
017484,000275:
017485,000276: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017486,000277: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017487,000278: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017488,000279: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017489,000280: 22,2310 77770 6,2
017490,000281: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017491,000282: 22,2312 77776 0,2
017492,000283: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017493,000284: 22,2314 00001 0,1
017494,000285: 22,2315 77760 14D,2
017495,000286: 22,2316 64723 PDDL* PDDL*
017496,000287: 22,2317 77766 8D,2
017497,000288: 22,2320 77774 2,2
017498,000289: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017499,000290: 22,2322 00001 0,1
017500,000291: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017501,000292: 22,2324 77756 16D,2
017502,000293: 22,2325 77764 10D,2
017503,000294: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017504,000295: 22,2327 77772 4,2
017505,000296: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017506,000297: 22,2331 00001 0,1
017507,000298: 22,2332 77650 GOTO
017508,000299: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017509,000300: # RETURN WITH M1XM2 IN PD LIST
017510,000301: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017511,000302: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017512,000303: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017513,000304: 22,2337 62713 PDVL* PDVL*
017514,000305: 22,2340 00007 6,1
017515,000306: 22,2341 00015 12D,1
017516,000307: 22,2342 77606 PUSH # MATRIX IN PD
017517,000308: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017518,000309: 22,2344 00003 2
017519,000310: 22,2345 00007 6
017520,000311: 22,2346 14003 STODL 2
017521,000312: 22,2347 77626 STADR
017522,000313: 22,2350 63770 STODL 6
017523,000314: 22,2351 00005 4
017524,000315: 22,2352 77725 PDDL
017525,000316: 22,2353 00015 12D
017526,000317: 22,2354 14005 STODL 4
017527,000318: 22,2355 77626 STADR
017528,000319: 22,2356 63762 STODL 12D
017529,000320: 22,2357 00013 10D
017530,000321: 22,2360 77725 PDDL
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Page 398 |
017532,000323: 22,2361 00017 14D
017533,000324: 22,2362 14013 STODL 10D
017534,000325: 22,2363 77626 STADR
017535,000326: 22,2364 77760 STORE 14D
017536,000327: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017537,000328: 22,2366 00013 MINANG DEC .00069375
017538,000329: 22,2367 17071 MAXANG DEC .472222
017539,000330:
017540,000331: # GIMBAL LOCK CONSTANTS
017541,000332:
017542,000333: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017543,000334: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017544,000335:
017545,000336: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017546,000337: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017547,000338: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017548,000339: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017549,000340: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017550,000341: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017551,000342: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017552,000343: 22,2377 30034 CA CDUZ
017553,000344: 22,2400 54156 TS MPAC +2
017554,000345: 22,2401 00006 EXTEND
017555,000346: 22,2402 30033 DCA CDUX
017556,000347: 22,2403 00003 RELINT
017557,000348: 22,2404 16445 TCF TLOAD +6
017558,000349: 16,2000 BANK 16
017559,000350: 22,2000 SETLOC KALCMON2
017560,000351: 22,2000 BANK
017561,000352:
017562,000353: 22,2405 COUNT* $$/KALC
017563,000354:
017564,000355: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017565,000356: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017566,000357: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017567,000358: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017568,000359: 22,2411 00010 STORE 7
017569,000360: 22,2412 77601 SETPD
017570,000361: 22,2413 00001 0
017571,000362: 22,2414 47133 LOOPSIN SLOAD* RTB
017572,000363: 22,2415 00013 10D,1
017573,000364: 22,2416 45510 CDULOGIC
017574,000365: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017575,000366: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017576,000367: 22,2421 00013 10D # 4 SIN(THETA)
017577,000368: 22,2422 41546 COS PUSH # 6 COS(THETA)
017578,000369: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017579,000370: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017580,000371: 22,2425 00007 6
017581,000372: 22,2426 72405 DMP SL1
017582,000373: 22,2427 00013 10D
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Page 399 |
017584,000375: 22,2430 10001 STORE 0,2
017585,000376: 22,2431 77745 DLOAD
017586,000377: 22,2432 00005 4
017587,000378: 22,2433 65205 DMP PDDL
017588,000379: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017589,000380: 22,2435 00007 6
017590,000381: 22,2436 41205 DMP DMP
017591,000382: 22,2437 00011 8D
017592,000383: 22,2440 00003 2
017593,000384: 22,2441 44352 SL1 BDSU
017594,000385: 22,2442 00015 12D
017595,000386: 22,2443 77752 SL1
017596,000387: 22,2444 10003 STORE 2,2
017597,000388: 22,2445 77745 DLOAD
017598,000389: 22,2446 00003 2
017599,000390: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017600,000391: 22,2450 00005 4
017601,000392: 22,2451 00007 6
017602,000393: 22,2452 41205 DMP DMP
017603,000394: 22,2453 00011 8D
017604,000395: 22,2454 00001 0
017605,000396: 22,2455 77752 SL1
017606,000397: 22,2456 72415 DAD SL1
017607,000398: 22,2457 00017 14D
017608,000399: 22,2460 10005 STORE 4,2
017609,000400: 22,2461 77745 DLOAD
017610,000401: 22,2462 00011 8D
017611,000402: 22,2463 10007 STORE 6,2
017612,000403: 22,2464 77745 DLOAD
017613,000404: 22,2465 00013 10D
017614,000405: 22,2466 72405 DMP SL1
017615,000406: 22,2467 00003 2
017616,000407: 22,2470 10011 STORE 8D,2
017617,000408: 22,2471 77745 DLOAD
017618,000409: 22,2472 00013 10D
017619,000410: 22,2473 57405 DMP DCOMP
017620,000411: 22,2474 00001 0
017621,000412: 22,2475 77752 SL1
017622,000413: 22,2476 10013 STORE 10D,2
017623,000414: 22,2477 77745 DLOAD
017624,000415: 22,2500 00005 4
017625,000416: 22,2501 57405 DMP DCOMP
017626,000417: 22,2502 00013 10D
017627,000418: 22,2503 77752 SL1
017628,000419: 22,2504 10015 STORE 12D,2
017629,000420: 22,2505 77745 DLOAD
017630,000421: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017631,000422: 22,2507 00011 8D
017632,000423: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017633,000424: 22,2511 00007 6
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Page 400 |
017635,000426: 22,2512 00001 0
017636,000427: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017637,000428: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017638,000429: 22,2515 67760 STORE 14D,2
017639,000430: 22,2516 77745 DLOAD
017640,000431: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017641,000432: 22,2520 00011 8D
017642,000433: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017643,000434: 22,2522 00007 6
017644,000435: 22,2523 00003 2
017645,000436: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017646,000437: 22,2525 77626 STADR
017647,000438: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017648,000439: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017649,000440: 22,2530 ENDDCM EQUALS
017650,000441: 15,2000 BANK 15
017651,000442: 22,2000 SETLOC KALCMON1
017652,000443: 22,2000 BANK
017653,000444:
017654,000445: # CALCULATION OF THE MATRIX DEL......
017655,000446:
017656,000447: # * * --T *
017657,000448: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017658,000449:
017659,000450: # -
017660,000451: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017661,000452: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017662,000453: # -
017663,000454: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017664,000455:
017665,000456: 22,2530 COUNT 22/KALC
017666,000457:
017667,000458: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017668,000459: 22,2531 00001 0
017669,000460: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017670,000461: 22,2533 41546 COS PUSH # PD2 = COS(A)
017671,000462: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017672,000463: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017673,000464: 22,2536 15330 DPHALF
017674,000465: 22,2537 45707 SIGNMPAC
017675,000466:
017676,000467: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017677,000468:
017678,000469: 22,2540 77725 PDDL
017679,000470: 22,2541 03343 COF
017680,000471: 22,2542 41316 DSQ DMP
017681,000472: 22,2543 00005 4
017682,000473: 22,2544 52415 DAD SL3
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|
Page 401 |
017684,000475: 22,2545 00003 2
017685,000476: 22,2546 77604 BOVB
017686,000477: 22,2547 45707 SIGNMPAC
017687,000478: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017688,000479: 22,2551 03345 COF +2
017689,000480: 22,2552 41316 DSQ DMP
017690,000481: 22,2553 00005 4
017691,000482: 22,2554 52415 DAD SL3
017692,000483: 22,2555 00003 2
017693,000484: 22,2556 77604 BOVB
017694,000485: 22,2557 45707 SIGNMPAC
017695,000486: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017696,000487: 22,2561 03347 COF +4
017697,000488: 22,2562 41316 DSQ DMP
017698,000489: 22,2563 00005 4
017699,000490: 22,2564 52415 DAD SL3
017700,000491: 22,2565 00003 2
017701,000492: 22,2566 77604 BOVB
017702,000493: 22,2567 45707 SIGNMPAC
017703,000494: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017704,000495:
017705,000496: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017706,000497:
017707,000498: 22,2571 41345 DLOAD DMP
017708,000499: 22,2572 03343 COF
017709,000500: 22,2573 03345 COF +2
017710,000501: 22,2574 72405 DMP SL1
017711,000502: 22,2575 00005 4
017712,000503: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017713,000504: 22,2577 03347 COF +4
017714,000505: 22,2600 00001 0
017715,000506: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017716,000507: 22,2602 00007 6
017717,000508: 22,2603 41112 SL2 BOVB
017718,000509: 22,2604 45707 SIGNMPAC
017719,000510: 22,2605 17434 STODL DEL +6
017720,000511: 22,2606 62421 BDSU SL2
017721,000512: 22,2607 77604 BOVB
017722,000513: 22,2610 45707 SIGNMPAC
017723,000514: 22,2611 17430 STODL DEL +2
017724,000515: 22,2612 03343 COF
017725,000516: 22,2613 41205 DMP DMP
017726,000517: 22,2614 03347 COF +4
017727,000518: 22,2615 00005 4
017728,000519: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017729,000520: 22,2617 03345 COF +2
017730,000521: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017731,000522: 22,2621 00001 0
017732,000523: 22,2622 62415 DAD SL2
017733,000524: 22,2623 00007 6
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Page 402 |
017735,000526: 22,2624 77604 BOVB
017736,000527: 22,2625 45707 SIGNMPAC
017737,000528: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017738,000529: 22,2627 62421 BDSU SL2
017739,000530: 22,2630 77604 BOVB
017740,000531: 22,2631 45707 SIGNMPAC
017741,000532: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017742,000533: 22,2633 03345 COF +2
017743,000534: 22,2634 41205 DMP DMP
017744,000535: 22,2635 03347 COF +4
017745,000536: 22,2636 00005 4
017746,000537: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017747,000538: 22,2640 03343 COF
017748,000539: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017749,000540: 22,2642 00001 0
017750,000541: 22,2643 62415 DAD SL2
017751,000542: 22,2644 00007 6
017752,000543: 22,2645 77604 BOVB
017753,000544: 22,2646 45707 SIGNMPAC
017754,000545: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017755,000546: 22,2650 62421 BDSU SL2
017756,000547: 22,2651 77604 BOVB
017757,000548: 22,2652 45707 SIGNMPAC
017758,000549: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017759,000550: 22,2654 77616 RVQ
017760,000551:
017761,000552: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017762,000553: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017763,000554: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017764,000555: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017765,000556:
017766,000557: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017767,000558:
017768,000559: # C =COS(THETA)COS(PSI)
017769,000560: # 0
017770,000561:
017771,000562: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017772,000563: # 1
017773,000564:
017774,000565: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017775,000566: # 2
017776,000567:
017777,000568: # C =SIN(PSI)
017778,000569: # 3
017779,000570:
017780,000571: # C =COS(PSI)COS(PHI)
017781,000572: # 4
017782,000573:
017783,000574: # C =-COS(PSI)SIN(PHI)
017784,000575: # 5
017785,000576:
017786,000577: # C =-SIN(THETA)COS(PSI)
017787,000578: # 6
017788,000579:
017789,000580: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017790,000581: # 7
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Page 403 |
017792,000583: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017793,000584: # 8
017794,000585:
017795,000586: # WHERE PHI = OGA
017796,000587: # THETA = IGA
017797,000588: # PSI = MGA
017798,000589:
017799,000590: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017800,000591: 22,2656 00007 6,1
017801,000592: 22,2657 71406 PUSH COS # PD +0 PSI
017802,000593: 22,2660 41152 SL1 BOVB
017803,000594: 22,2661 45707 SIGNMPAC
017804,000595: 22,2662 00051 STORE S1
017805,000596: 22,2663 57543 DLOAD* DCOMP
017806,000597: 22,2664 00015 12D,1
017807,000598: 22,2665 67471 DDV ARCSIN
017808,000599: 22,2666 00051 S1
017809,000600: 22,2667 51123 PDDL* BPL # PD +2 THETA
017810,000601: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017811,000602: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017812,000603: 22,2672 57545 DLOAD DCOMP
017813,000604: 22,2673 43244 BPL DAD
017814,000605: 22,2674 44700 SUHALFA
017815,000606: 22,2675 15330 DPHALF
017816,000607: 22,2676 77650 GOTO
017817,000608: 22,2677 44702 CALCPHI
017818,000609: 22,2700 77625 SUHALFA DSU
017819,000610: 22,2701 15330 DPHALF
017820,000611: 22,2702 77606 CALCPHI PUSH
017821,000612: 22,2703 57543 OKTHETA DLOAD* DCOMP
017822,000613: 22,2704 00013 10D,1
017823,000614: 22,2705 67471 DDV ARCSIN
017824,000615: 22,2706 00051 S1
017825,000616: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017826,000617: 22,2710 00011 8D,1
017827,000618: 22,2711 44723 OKPHI
017828,000619: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017829,000620: 22,2713 43244 BPL DAD
017830,000621: 22,2714 44720 SUHALFAP
017831,000622: 22,2715 15330 DPHALF
017832,000623: 22,2716 77650 GOTO
017833,000624: 22,2717 44724 VECOFANG
017834,000625: 22,2720 52025 SUHALFAP DSU GOTO
017835,000626: 22,2721 15330 DPHALF
017836,000627: 22,2722 44724 VECOFANG
017837,000628: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017838,000629: 22,2724 43466 VECOFANG VDEF RVQ
017839,000630:
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|
Page 404 |
017841,000632: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017842,000633:
017843,000634: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017844,000635: 22,2726 03272 TC ZEROEROR
017845,000636:
017846,000637: 22,2727 00004 NOGO INHINT
017847,000638: 22,2730 03245 TC STOPRATE
017848,000639:
017849,000640: # TERMINATE MANEUVER
017850,000641: 22,2731 34711 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017851,000642: 22,2732 05140 TC WAITLIST # GOODEND
017852,000643: 22,2733 40,2000 SBANK= PINSUPER
017853,000644: 22,2733 E6,1661 EBANK= BCDU
017854,000645: 22,2733 03237 44106 2CADR ENDMANU
017855,000646:
017856,000647: 22,2735 15112 TCF ENDOFJOB
017857,000648:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc