Source Code
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These source-code files are part of a reconstructed copy of Comanche 51, the
initial release (though not the final mission release) of the Apollo 11
Command Module (CM) Apollo Guidance Computer (AGC) software. The flown, final
release was Comanche 55. The reconstruction is believed to be exactly accurate,
but in the absence of an actual Apollo-era listing of Comanche 51, some
explanation of the reconstruction process is needed to insure confidence in
that accuracy.
The starting point was the source code of Comanche 55, whose original source code
is available. Comanche 55 source code was then modified by undoing changes known
to have been made between revisions 51 and 55. The most-significant steps involved
reverting changes related to the R-2 lunar potential model, the details of which
were known from the previous, separate, independent reconstruction of the Apollo 10
Lunar Module software Luminary 69/2. The now-reconstructed
Comanche 51 source code was verified by assembling it and checking that the assembled
code had the expected known-correct memory-bank checksums. Note that page numbers in
the reconstructed code match those on the Comanche 55 or Luminary 69 printouts, although
the source code would likely have different page numbers in a contemporary Comanche 51 listing.
Annotations that were not present in the contemporary source code have been added to
the reconstructed code to justify each change relative to Comanche 55. Here's a guide
to some of the Apollo documentation relevant to those annotations:
Among documentation not actually referenced in the annotations, there is
a short writeup about the reconstruction process in our software repository
that may be helpful in understanding it from a different perspective. There's also
a handy table
that lists what the number of memory-words should be for each routine in Comanche 51,
which could make a nice double-check; however, we've not performed that double-check ourselves.
Comments expected to have been present in 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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017066,000002: ## Copyright: Public domain.
017067,000003: ## Filename: ANGLFIND.agc
017068,000004: ## Purpose: A section of Comanche revision 051.
017069,000005: ## It is part of the reconstructed source code for the
017070,000006: ## original release of the flight software for the Command
017071,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
017072,000008: ## The code has been recreated from a copy of Comanche 055. It
017073,000009: ## has been adapted such that the resulting bugger words
017074,000010: ## exactly match those specified for Comanche 51 in NASA drawing
017075,000011: ## 2021153D, which gives relatively high confidence that the
017076,000012: ## reconstruction is correct.
017077,000013: ## Reference: pp. 399-411
017078,000014: ## Assembler: yaYUL
017079,000015: ## Contact: Ron Burkey <info@sandroid.org>.
017080,000016: ## Website: www.ibiblio.org/apollo/index.html
017081,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
017082,000018: ## 2021-05-30 ABS ENDOCM -> ENDDCM
017083,000019: ## ZEROERROR -> ZEROEROR
017084,000020:
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Page 399
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017086,000022: 15,2000 BANK 15
017087,000023: 22,2000 SETLOC KALCMON1
017088,000024: 22,2000 BANK
017089,000025:
017090,000026: 22,2000 E6,1661 EBANK= BCDU
017091,000027:
017092,000028: 22,2000 COUNT 22/KALC
017093,000029:
017094,000030: 22,2000 06006 KALCMAN3 TC INTPRET
017095,000031: 22,2001 77634 RTB
017096,000032: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017097,000033: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017098,000034: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017099,000035: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017100,000036: 22,2006 03262 BCDU # (MIS)
017101,000037: 22,2007 77624 CALL
017102,000038: 22,2010 44405 CDUTODCM
017103,000039: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017104,000040: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017105,000041: 22,2013 01156 CPHI # (MFS)
017106,000042: 22,2014 77624 CALL
017107,000043: 22,2015 44405 CDUTODCM
017108,000044: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017109,000045: 22,2017 03320 MIS
017110,000046: 22,2020 44334 TRANSPOS
017111,000047: 22,2021 77775 VLOAD
017112,000048: 22,2022 77626 STADR
017113,000049: 22,2023 50474 STOVL TMIS +12D
017114,000050: 22,2024 77626 STADR
017115,000051: 22,2025 50502 STOVL TMIS +6
017116,000052: 22,2026 77626 STADR
017117,000053: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017118,000054: 22,2030 75160 AXC,1 AXC,2
017119,000055: 22,2031 03266 TMIS
017120,000056: 22,2032 03425 MFS
017121,000057: 22,2033 77624 CALL
017122,000058: 22,2034 44304 MXM3
017123,000059: 22,2035 45575 VLOAD STADR
017124,000060: 22,2036 50335 STOVL MFI +12D
017125,000061: 22,2037 77626 STADR
017126,000062: 22,2040 50343 STOVL MFI +6
017127,000063: 22,2041 77626 STADR
017128,000064: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017129,000065: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017130,000066: 22,2044 00023 18D
017131,000067: 22,2045 44343 TRNSPSPD
017132,000068: 22,2046 45575 VLOAD STADR
017133,000069: 22,2047 50474 STOVL TMFI +12D
017134,000070: 22,2050 77626 STADR
017135,000071: 22,2051 50502 STOVL TMFI +6
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Page 400
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017137,000073: 22,2052 77626 STADR
017138,000074: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017139,000075:
017140,000076: # CALCULATE COFSKEW AND MFISYM
017141,000077:
017142,000078: 22,2054 45345 DLOAD DSU
017143,000079: 22,2055 03271 TMFI +2
017144,000080: 22,2056 03430 MFI +2
017145,000081: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017146,000082: 22,2060 03432 MFI +4
017147,000083: 22,2061 03273 TMFI +4
017148,000084: 22,2062 45325 PDDL DSU
017149,000085: 22,2063 03301 TMFI +10D
017150,000086: 22,2064 03440 MFI +10D
017151,000087: 22,2065 77666 VDEF
017152,000088: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017153,000089:
017154,000090: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017155,000091:
017156,000092: 22,2067 43345 DLOAD DAD
017157,000093: 22,2070 03426 MFI
017158,000094: 22,2071 03446 MFI +16D
017159,000095: 22,2072 43225 DSU DAD
017160,000096: 22,2073 15325 DP1/4TH
017161,000097: 22,2074 03436 MFI +8D
017162,000098: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017163,000099: 22,2076 77726 ARCCOS
017164,000100: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017165,000101: 22,2100 51025 DSU BPL
017166,000102: 22,2101 04367 MINANG
017167,000103: 22,2102 44111 CHECKMAX
017168,000104: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017169,000105: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017170,000106: 22,2105 45017 CS ONE # ABOUT COMMANDED ANGLES
017171,000107: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017172,000108: 22,2107 03142 TC LOADCDUD # GOOD RETURN
017173,000109: 22,2110 12730 TCF NOGO
017174,000110:
017175,000111: 22,2111 45345 CHECKMAX DLOAD DSU
017176,000112: 22,2112 03365 AM
017177,000113: 22,2113 04370 MAXANG
017178,000114: 22,2114 77244 BPL VLOAD
017179,000115: 22,2115 44123 ALTCALC # UNIT
017180,000116: 22,2116 03311 COFSKEW # COFSKEW
017181,000117: 22,2117 77656 UNIT
017182,000118: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017183,000119: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017184,000120: 22,2122 44737 LOCSKIRT
017185,000121: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017186,000122: 22,2124 03426 MFI
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Page 401
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017188,000124: 22,2125 03267 TMFI
017189,000125: 22,2126 77762 VSR1
017190,000126: 22,2127 27267 STOVL MFISYM
017191,000127: 22,2130 03434 MFI +6
017192,000128: 22,2131 74455 VAD VSR1
017193,000129: 22,2132 03275 TMFI +6
017194,000130: 22,2133 27275 STOVL MFISYM +6
017195,000131: 22,2134 03442 MFI +12D
017196,000132: 22,2135 74455 VAD VSR1
017197,000133: 22,2136 03303 TMFI +12D
017198,000134: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017199,000135:
017200,000136: # CALCULATE COF
017201,000137:
017202,000138: 22,2140 70545 DLOAD SR1
017203,000139: 22,2141 03317 CAM
017204,000140: 22,2142 45325 PDDL DSU # PD0 CAM $4
017205,000141: 22,2143 15333 DPHALF
017206,000142: 22,2144 03317 CAM
017207,000143: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017208,000144: 22,2146 45712 SIGNMPAC
017209,000145: 22,2147 03307 MFISYM +16D
017210,000146: 22,2150 56225 DSU DDV
017211,000147: 22,2151 00001 0
017212,000148: 22,2152 00003 2
017213,000149: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017214,000150: 22,2154 03277 MFISYM +8D # $ ROOT 2
017215,000151: 22,2155 56225 DSU DDV
017216,000152: 22,2156 00001 0
017217,000153: 22,2157 00003 2
017218,000154: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017219,000155: 22,2161 03267 MFISYM
017220,000156: 22,2162 56225 DSU DDV
017221,000157: 22,2163 00001 0
017222,000158: 22,2164 00003 2
017223,000159: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017224,000160: 22,2166 77656 UNIT
017225,000161: 22,2167 03343 STORE COF
017226,000162:
017227,000163: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017228,000164:
017229,000165: 22,2170 45345 COFMAXGO DLOAD DSU
017230,000166: 22,2171 03343 COF
017231,000167: 22,2172 03345 COF +2
017232,000168: 22,2173 71240 BMN DLOAD # COFY G COFX
017233,000169: 22,2174 44203 COMP12
017234,000170: 22,2175 03343 COF
017235,000171: 22,2176 50025 DSU BMN
017236,000172: 22,2177 03347 COF +4
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Page 402
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017238,000174: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017239,000175: 22,2201 77650 GOTO
017240,000176: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017241,000177: 22,2203 45345 COMP12 DLOAD DSU
017242,000178: 22,2204 03345 COF +2
017243,000179: 22,2205 03347 COF +4
017244,000180: 22,2206 77640 BMN
017245,000181: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017246,000182:
017247,000183: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017248,000184: 22,2211 03313 COFSKEW +2 # UY
017249,000185: 22,2212 44216 U2POS
017250,000186: 22,2213 57575 VLOAD VCOMP
017251,000187: 22,2214 03343 COF
017252,000188: 22,2215 03343 STORE COF
017253,000189: 22,2216 51145 U2POS DLOAD BPL
017254,000190: 22,2217 03271 MFISYM +2 # UX UY
017255,000191: 22,2220 44224 OKU21
017256,000192: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017257,000193: 22,2222 03343 COF
017258,000194: 22,2223 03343 STORE COF
017259,000195: 22,2224 51145 OKU21 DLOAD BPL
017260,000196: 22,2225 03301 MFISYM +10D # UY UZ
017261,000197: 22,2226 44737 LOCSKIRT
017262,000198: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017263,000199: 22,2230 03347 COF +4
017264,000200: 22,2231 03347 STORE COF +4
017265,000201: 22,2232 77650 GOTO
017266,000202: 22,2233 44737 LOCSKIRT
017267,000203: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017268,000204: 22,2235 03311 COFSKEW # UX
017269,000205: 22,2236 44242 U1POS
017270,000206: 22,2237 57575 VLOAD VCOMP
017271,000207: 22,2240 03343 COF
017272,000208: 22,2241 03343 STORE COF
017273,000209: 22,2242 51145 U1POS DLOAD BPL
017274,000210: 22,2243 03271 MFISYM +2 # UX UY
017275,000211: 22,2244 44250 OKU12
017276,000212: 22,2245 57545 DLOAD DCOMP
017277,000213: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017278,000214: 22,2247 03345 STORE COF +2
017279,000215: 22,2250 51145 OKU12 DLOAD BPL
017280,000216: 22,2251 03273 MFISYM +4 # UX UZ
017281,000217: 22,2252 44737 LOCSKIRT
017282,000218: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017283,000219: 22,2254 03347 COF +4
017284,000220: 22,2255 03347 STORE COF +4
017285,000221: 22,2256 77650 GOTO
017286,000222: 22,2257 44737 LOCSKIRT
017287,000223: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 403
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017289,000225: 22,2261 03315 COFSKEW +4 # UZ
017290,000226: 22,2262 44266 U3POS
017291,000227: 22,2263 57575 VLOAD VCOMP
017292,000228: 22,2264 03343 COF
017293,000229: 22,2265 03343 STORE COF
017294,000230: 22,2266 51145 U3POS DLOAD BPL
017295,000231: 22,2267 03273 MFISYM +4 # UX UZ
017296,000232: 22,2270 44274 OKU31
017297,000233: 22,2271 57545 DLOAD DCOMP
017298,000234: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017299,000235: 22,2273 03343 STORE COF
017300,000236: 22,2274 51145 OKU31 DLOAD BPL
017301,000237: 22,2275 03301 MFISYM +10D # UY UZ
017302,000238: 22,2276 44737 LOCSKIRT
017303,000239: 22,2277 57545 DLOAD DCOMP
017304,000240: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017305,000241: 22,2301 03345 STORE COF +2
017306,000242: 22,2302 77650 GOTO
017307,000243: 22,2303 44737 LOCSKIRT
017308,000244:
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Page 404
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017310,000246: # MATRIX OPERATIONS
017311,000247:
017312,000248: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017313,000249: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017314,000250: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017315,000251: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017316,000252: 22,2310 77770 6,2
017317,000253: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017318,000254: 22,2312 77776 0,2
017319,000255: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017320,000256: 22,2314 00001 0,1
017321,000257: 22,2315 77760 14D,2
017322,000258: 22,2316 64723 PDDL* PDDL*
017323,000259: 22,2317 77766 8D,2
017324,000260: 22,2320 77774 2,2
017325,000261: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017326,000262: 22,2322 00001 0,1
017327,000263: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017328,000264: 22,2324 77756 16D,2
017329,000265: 22,2325 77764 10D,2
017330,000266: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017331,000267: 22,2327 77772 4,2
017332,000268: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017333,000269: 22,2331 00001 0,1
017334,000270: 22,2332 77650 GOTO
017335,000271: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017336,000272:
017337,000273: # RETURN WITH M1XM2 IN PD LIST
017338,000274: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017339,000275: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017340,000276: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017341,000277: 22,2337 62713 PDVL* PDVL*
017342,000278: 22,2340 00007 6,1
017343,000279: 22,2341 00015 12D,1
017344,000280: 22,2342 77606 PUSH # MATRIX IN PD
017345,000281: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017346,000282: 22,2344 00003 2
017347,000283: 22,2345 00007 6
017348,000284: 22,2346 14003 STODL 2
017349,000285: 22,2347 77626 STADR
017350,000286: 22,2350 63770 STODL 6
017351,000287: 22,2351 00005 4
017352,000288: 22,2352 77725 PDDL
017353,000289: 22,2353 00015 12D
017354,000290: 22,2354 14005 STODL 4
017355,000291: 22,2355 77626 STADR
017356,000292: 22,2356 63762 STODL 12D
017357,000293: 22,2357 00013 10D
017358,000294: 22,2360 77725 PDDL
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Page 405
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017360,000296: 22,2361 00017 14D
017361,000297: 22,2362 14013 STODL 10D
017362,000298: 22,2363 77626 STADR
017363,000299: 22,2364 77760 STORE 14D
017364,000300: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017365,000301: 22,2366 00013 MINANG DEC .00069375
017366,000302: 22,2367 17071 MAXANG DEC .472222
017367,000303:
017368,000304: # GIMBAL LOCK CONSTANTS
017369,000305:
017370,000306: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017371,000307: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017372,000308:
017373,000309: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017374,000310: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017375,000311: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017376,000312: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017377,000313: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017378,000314: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017379,000315: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017380,000316: 22,2377 30034 CA CDUZ
017381,000317: 22,2400 54156 TS MPAC +2
017382,000318: 22,2401 00006 EXTEND
017383,000319: 22,2402 30033 DCA CDUX
017384,000320: 22,2403 00003 RELINT
017385,000321: 22,2404 16445 TCF TLOAD +6
017386,000322: 16,2000 BANK 16
017387,000323: 22,2000 SETLOC KALCMON2
017388,000324: 22,2000 BANK
017389,000325:
017390,000326: 22,2405 COUNT* $$/KALC
017391,000327:
017392,000328: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017393,000329: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017394,000330: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017395,000331: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017396,000332: 22,2411 00010 STORE 7
017397,000333: 22,2412 77601 SETPD
017398,000334: 22,2413 00001 0
017399,000335: 22,2414 47133 LOOPSIN SLOAD* RTB
017400,000336: 22,2415 00013 10D,1
017401,000337: 22,2416 45513 CDULOGIC
017402,000338: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017403,000339: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017404,000340: 22,2421 00013 10D # 4 SIN(THETA)
017405,000341: 22,2422 41546 COS PUSH # 6 COS(THETA)
017406,000342: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017407,000343: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017408,000344: 22,2425 00007 6
017409,000345: 22,2426 72405 DMP SL1
017410,000346: 22,2427 00013 10D
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Page 406
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017412,000348: 22,2430 10001 STORE 0,2
017413,000349: 22,2431 77745 DLOAD
017414,000350: 22,2432 00005 4
017415,000351: 22,2433 65205 DMP PDDL
017416,000352: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017417,000353: 22,2435 00007 6
017418,000354: 22,2436 41205 DMP DMP
017419,000355: 22,2437 00011 8D
017420,000356: 22,2440 00003 2
017421,000357: 22,2441 44352 SL1 BDSU
017422,000358: 22,2442 00015 12D
017423,000359: 22,2443 77752 SL1
017424,000360: 22,2444 10003 STORE 2,2
017425,000361: 22,2445 77745 DLOAD
017426,000362: 22,2446 00003 2
017427,000363: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017428,000364: 22,2450 00005 4
017429,000365: 22,2451 00007 6
017430,000366: 22,2452 41205 DMP DMP
017431,000367: 22,2453 00011 8D
017432,000368: 22,2454 00001 0
017433,000369: 22,2455 77752 SL1
017434,000370: 22,2456 72415 DAD SL1
017435,000371: 22,2457 00017 14D
017436,000372: 22,2460 10005 STORE 4,2
017437,000373: 22,2461 77745 DLOAD
017438,000374: 22,2462 00011 8D
017439,000375: 22,2463 10007 STORE 6,2
017440,000376: 22,2464 77745 DLOAD
017441,000377: 22,2465 00013 10D
017442,000378: 22,2466 72405 DMP SL1
017443,000379: 22,2467 00003 2
017444,000380: 22,2470 10011 STORE 8D,2
017445,000381: 22,2471 77745 DLOAD
017446,000382: 22,2472 00013 10D
017447,000383: 22,2473 57405 DMP DCOMP
017448,000384: 22,2474 00001 0
017449,000385: 22,2475 77752 SL1
017450,000386: 22,2476 10013 STORE 10D,2
017451,000387: 22,2477 77745 DLOAD
017452,000388: 22,2500 00005 4
017453,000389: 22,2501 57405 DMP DCOMP
017454,000390: 22,2502 00013 10D
017455,000391: 22,2503 77752 SL1
017456,000392: 22,2504 10015 STORE 12D,2
017457,000393: 22,2505 77745 DLOAD
017458,000394: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017459,000395: 22,2507 00011 8D
017460,000396: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017461,000397: 22,2511 00007 6
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017463,000399: 22,2512 00001 0
017464,000400: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017465,000401: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017466,000402: 22,2515 67760 STORE 14D,2
017467,000403: 22,2516 77745 DLOAD
017468,000404: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017469,000405: 22,2520 00011 8D
017470,000406: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017471,000407: 22,2522 00007 6
017472,000408: 22,2523 00003 2
017473,000409: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017474,000410: 22,2525 77626 STADR
017475,000411: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017476,000412: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017477,000413: 22,2530 ENDDCM EQUALS
017478,000414:
017479,000415: 15,2000 BANK 15
017480,000416: 22,2000 SETLOC KALCMON1
017481,000417: 22,2000 BANK
017482,000418:
017483,000419: # CALCULATION OF THE MATRIX DEL......
017484,000420:
017485,000421: # * * --T *
017486,000422: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017487,000423:
017488,000424: # -
017489,000425: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017490,000426: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017491,000427: # -
017492,000428: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017493,000429:
017494,000430: 22,2530 COUNT 22/KALC
017495,000431:
017496,000432: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017497,000433: 22,2531 00001 0
017498,000434: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017499,000435: 22,2533 41546 COS PUSH # PD2 = COS(A)
017500,000436: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017501,000437: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017502,000438: 22,2536 15333 DPHALF
017503,000439: 22,2537 45712 SIGNMPAC
017504,000440:
017505,000441: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017506,000442:
017507,000443: 22,2540 77725 PDDL
017508,000444: 22,2541 03343 COF
017509,000445: 22,2542 41316 DSQ DMP
017510,000446: 22,2543 00005 4
017511,000447: 22,2544 52415 DAD SL3
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Page 408
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017513,000449: 22,2545 00003 2
017514,000450: 22,2546 77604 BOVB
017515,000451: 22,2547 45712 SIGNMPAC
017516,000452: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017517,000453: 22,2551 03345 COF +2
017518,000454: 22,2552 41316 DSQ DMP
017519,000455: 22,2553 00005 4
017520,000456: 22,2554 52415 DAD SL3
017521,000457: 22,2555 00003 2
017522,000458: 22,2556 77604 BOVB
017523,000459: 22,2557 45712 SIGNMPAC
017524,000460: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017525,000461: 22,2561 03347 COF +4
017526,000462: 22,2562 41316 DSQ DMP
017527,000463: 22,2563 00005 4
017528,000464: 22,2564 52415 DAD SL3
017529,000465: 22,2565 00003 2
017530,000466: 22,2566 77604 BOVB
017531,000467: 22,2567 45712 SIGNMPAC
017532,000468: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017533,000469:
017534,000470: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017535,000471:
017536,000472: 22,2571 41345 DLOAD DMP
017537,000473: 22,2572 03343 COF
017538,000474: 22,2573 03345 COF +2
017539,000475: 22,2574 72405 DMP SL1
017540,000476: 22,2575 00005 4
017541,000477: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017542,000478: 22,2577 03347 COF +4
017543,000479: 22,2600 00001 0
017544,000480: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017545,000481: 22,2602 00007 6
017546,000482: 22,2603 41112 SL2 BOVB
017547,000483: 22,2604 45712 SIGNMPAC
017548,000484: 22,2605 17434 STODL DEL +6
017549,000485: 22,2606 62421 BDSU SL2
017550,000486: 22,2607 77604 BOVB
017551,000487: 22,2610 45712 SIGNMPAC
017552,000488: 22,2611 17430 STODL DEL +2
017553,000489: 22,2612 03343 COF
017554,000490: 22,2613 41205 DMP DMP
017555,000491: 22,2614 03347 COF +4
017556,000492: 22,2615 00005 4
017557,000493: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017558,000494: 22,2617 03345 COF +2
017559,000495: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017560,000496: 22,2621 00001 0
017561,000497: 22,2622 62415 DAD SL2
017562,000498: 22,2623 00007 6
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017564,000500: 22,2624 77604 BOVB
017565,000501: 22,2625 45712 SIGNMPAC
017566,000502: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017567,000503: 22,2627 62421 BDSU SL2
017568,000504: 22,2630 77604 BOVB
017569,000505: 22,2631 45712 SIGNMPAC
017570,000506: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017571,000507: 22,2633 03345 COF +2
017572,000508: 22,2634 41205 DMP DMP
017573,000509: 22,2635 03347 COF +4
017574,000510: 22,2636 00005 4
017575,000511: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017576,000512: 22,2640 03343 COF
017577,000513: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017578,000514: 22,2642 00001 0
017579,000515: 22,2643 62415 DAD SL2
017580,000516: 22,2644 00007 6
017581,000517: 22,2645 77604 BOVB
017582,000518: 22,2646 45712 SIGNMPAC
017583,000519: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017584,000520: 22,2650 62421 BDSU SL2
017585,000521: 22,2651 77604 BOVB
017586,000522: 22,2652 45712 SIGNMPAC
017587,000523: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017588,000524: 22,2654 77616 RVQ
017589,000525:
017590,000526: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017591,000527: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017592,000528: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017593,000529: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017594,000530:
017595,000531: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017596,000532:
017597,000533: # C =COS(THETA)COS(PSI)
017598,000534: # 0
017599,000535:
017600,000536: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017601,000537: # 1
017602,000538:
017603,000539: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017604,000540: # 2
017605,000541:
017606,000542: # C =SIN(PSI)
017607,000543: # 3
017608,000544:
017609,000545: # C =COS(PSI)COS(PHI)
017610,000546: # 4
017611,000547:
017612,000548: # C =-COS(PSI)SIN(PHI)
017613,000549: # 5
017614,000550:
017615,000551: # C =-SIN(THETA)COS(PSI)
017616,000552: # 6
017617,000553:
017618,000554: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017619,000555: # 7
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Page 410
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017621,000557: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017622,000558: # 8
017623,000559:
017624,000560: # WHERE PHI = OGA
017625,000561: # THETA = IGA
017626,000562: # PSI = MGA
017627,000563:
017628,000564: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017629,000565: 22,2656 00007 6,1
017630,000566: 22,2657 71406 PUSH COS # PD +0 PSI
017631,000567: 22,2660 41152 SL1 BOVB
017632,000568: 22,2661 45712 SIGNMPAC
017633,000569: 22,2662 00051 STORE S1
017634,000570: 22,2663 57543 DLOAD* DCOMP
017635,000571: 22,2664 00015 12D,1
017636,000572: 22,2665 67471 DDV ARCSIN
017637,000573: 22,2666 00051 S1
017638,000574: 22,2667 51123 PDDL* BPL # PD +2 THETA
017639,000575: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017640,000576: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017641,000577: 22,2672 57545 DLOAD DCOMP
017642,000578: 22,2673 43244 BPL DAD
017643,000579: 22,2674 44700 SUHALFA
017644,000580: 22,2675 15333 DPHALF
017645,000581: 22,2676 77650 GOTO
017646,000582: 22,2677 44702 CALCPHI
017647,000583: 22,2700 77625 SUHALFA DSU
017648,000584: 22,2701 15333 DPHALF
017649,000585: 22,2702 77606 CALCPHI PUSH
017650,000586: 22,2703 57543 OKTHETA DLOAD* DCOMP
017651,000587: 22,2704 00013 10D,1
017652,000588: 22,2705 67471 DDV ARCSIN
017653,000589: 22,2706 00051 S1
017654,000590: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017655,000591: 22,2710 00011 8D,1
017656,000592: 22,2711 44723 OKPHI
017657,000593: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017658,000594: 22,2713 43244 BPL DAD
017659,000595: 22,2714 44720 SUHALFAP
017660,000596: 22,2715 15333 DPHALF
017661,000597: 22,2716 77650 GOTO
017662,000598: 22,2717 44724 VECOFANG
017663,000599: 22,2720 52025 SUHALFAP DSU GOTO
017664,000600: 22,2721 15333 DPHALF
017665,000601: 22,2722 44724 VECOFANG
017666,000602: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017667,000603: 22,2724 43466 VECOFANG VDEF RVQ
017668,000604:
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Page 411
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017670,000606: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017671,000607:
017672,000608: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017673,000609: 22,2726 04662 TC BANKCALL
017674,000610: 22,2727 40155 CADR ZEROEROR
017675,000611:
017676,000612: 22,2730 00004 NOGO INHINT
017677,000613: 22,2731 04526 TC STOPRATE
017678,000614:
017679,000615: # TERMINATE MANEUVER
017680,000616: 22,2732 35016 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017681,000617: 22,2733 05245 TC WAITLIST # GOODEND
017682,000618: 22,2734 E6,1661 EBANK= BCDU
017683,000619: 22,2734 02006 42066 2CADR ENDMANU
017684,000620:
017685,000621: 22,2736 15217 TCF ENDOFJOB
017686,000622:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc