GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. 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:GAP: ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
017428,000002: ## Copyright: Public domain.
017429,000003: ## Filename: ANGLFIND.agc
017430,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
017431,000005: ## It is part of the source code for the Command Module's (CM)
017432,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
017433,000007: ## Assembler: yaYUL
017434,000008: ## Contact: Ron Burkey <info@sandroid.org>.
017435,000009: ## Website: www.ibiblio.org/apollo.
017436,000010: ## Pages: 399-411
017437,000011: ## Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file
017438,000012: ## of the same name, using Comanche055 page
017439,000013: ## images.
017440,000014: ## 2009-05-22 RSB In NOGOM2, TC ZEROEROR corrected to
017441,000015: ## CADR ZEROEROR.
017442,000016: ## 2017-01-07 RSB Fixed comment errors detected in cross-diff vs
017443,000017: ## Colossus 237 and Colossus 249.
017444,000018: ## 2021-05-30 ABS ENDOCM -> ENDDCM
017445,000019: ## ZEROERROR -> ZEROEROR
017446,000020: ##
017447,000021: ## This source code has been transcribed or otherwise adapted from digitized
017448,000022: ## images of a hardcopy from the MIT Museum. The digitization was performed
017449,000023: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
017450,000024: ## thanks to both. The images (with suitable reduction in storage size and
017451,000025: ## consequent reduction in image quality as well) are available online at
017452,000026: ## www.ibiblio.org/apollo. If for some reason you find that the images are
017453,000027: ## illegible, contact me at info@sandroid.org about getting access to the
017454,000028: ## (much) higher-quality images which Paul actually created.
017455,000029: ##
017456,000030: ## Notations on the hardcopy document read, in part:
017457,000031: ##
017458,000032: ## Assemble revision 055 of AGC program Comanche by NASA
017459,000033: ## 2021113-051. 10:28 APR. 1, 1969
017460,000034: ##
017461,000035: ## This AGC program shall also be referred to as
017462,000036: ## Colossus 2A
017463,000037:
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Page 399 |
017465,000039: 15,2000 BANK 15
017466,000040: 22,2000 SETLOC KALCMON1
017467,000041: 22,2000 BANK
017468,000042:
017469,000043: 22,2000 E6,1661 EBANK= BCDU
017470,000044:
017471,000045: 22,2000 COUNT 22/KALC
017472,000046:
017473,000047: 22,2000 06006 KALCMAN3 TC INTPRET
017474,000048: 22,2001 77634 RTB
017475,000049: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017476,000050: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017477,000051: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017478,000052: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017479,000053: 22,2006 03262 BCDU # (MIS)
017480,000054: 22,2007 77624 CALL
017481,000055: 22,2010 44405 CDUTODCM
017482,000056: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017483,000057: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017484,000058: 22,2013 01156 CPHI # (MFS)
017485,000059: 22,2014 77624 CALL
017486,000060: 22,2015 44405 CDUTODCM
017487,000061: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017488,000062: 22,2017 03320 MIS
017489,000063: 22,2020 44334 TRANSPOS
017490,000064: 22,2021 77775 VLOAD
017491,000065: 22,2022 77626 STADR
017492,000066: 22,2023 50474 STOVL TMIS +12D
017493,000067: 22,2024 77626 STADR
017494,000068: 22,2025 50502 STOVL TMIS +6
017495,000069: 22,2026 77626 STADR
017496,000070: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017497,000071: 22,2030 75160 AXC,1 AXC,2
017498,000072: 22,2031 03266 TMIS
017499,000073: 22,2032 03425 MFS
017500,000074: 22,2033 77624 CALL
017501,000075: 22,2034 44304 MXM3
017502,000076: 22,2035 45575 VLOAD STADR
017503,000077: 22,2036 50335 STOVL MFI +12D
017504,000078: 22,2037 77626 STADR
017505,000079: 22,2040 50343 STOVL MFI +6
017506,000080: 22,2041 77626 STADR
017507,000081: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017508,000082: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017509,000083: 22,2044 00023 18D
017510,000084: 22,2045 44343 TRNSPSPD
017511,000085: 22,2046 45575 VLOAD STADR
017512,000086: 22,2047 50474 STOVL TMFI +12D
017513,000087: 22,2050 77626 STADR
017514,000088: 22,2051 50502 STOVL TMFI +6
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Page 400 |
017516,000090: 22,2052 77626 STADR
017517,000091: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017518,000092:
017519,000093: # CALCULATE COFSKEW AND MFISYM
017520,000094:
017521,000095: 22,2054 45345 DLOAD DSU
017522,000096: 22,2055 03271 TMFI +2
017523,000097: 22,2056 03430 MFI +2
017524,000098: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017525,000099: 22,2060 03432 MFI +4
017526,000100: 22,2061 03273 TMFI +4
017527,000101: 22,2062 45325 PDDL DSU
017528,000102: 22,2063 03301 TMFI +10D
017529,000103: 22,2064 03440 MFI +10D
017530,000104: 22,2065 77666 VDEF
017531,000105: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017532,000106:
017533,000107: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017534,000108:
017535,000109: 22,2067 43345 DLOAD DAD
017536,000110: 22,2070 03426 MFI
017537,000111: 22,2071 03446 MFI +16D
017538,000112: 22,2072 43225 DSU DAD
017539,000113: 22,2073 15325 DP1/4TH
017540,000114: 22,2074 03436 MFI +8D
017541,000115: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017542,000116: 22,2076 77726 ARCCOS
017543,000117: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017544,000118: 22,2100 51025 DSU BPL
017545,000119: 22,2101 04367 MINANG
017546,000120: 22,2102 44111 CHECKMAX
017547,000121: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017548,000122: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017549,000123: 22,2105 45017 CS ONE # ABOUT COMMANDED ANGLES
017550,000124: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017551,000125: 22,2107 03142 TC LOADCDUD # GOOD RETURN
017552,000126: 22,2110 12730 TCF NOGO
017553,000127:
017554,000128: 22,2111 45345 CHECKMAX DLOAD DSU
017555,000129: 22,2112 03365 AM
017556,000130: 22,2113 04370 MAXANG
017557,000131: 22,2114 77244 BPL VLOAD
017558,000132: 22,2115 44123 ALTCALC # UNIT
017559,000133: 22,2116 03311 COFSKEW # COFSKEW
017560,000134: 22,2117 77656 UNIT
017561,000135: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017562,000136: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017563,000137: 22,2122 44737 LOCSKIRT
017564,000138: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017565,000139: 22,2124 03426 MFI
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Page 401 |
017567,000141: 22,2125 03267 TMFI
017568,000142: 22,2126 77762 VSR1
017569,000143: 22,2127 27267 STOVL MFISYM
017570,000144: 22,2130 03434 MFI +6
017571,000145: 22,2131 74455 VAD VSR1
017572,000146: 22,2132 03275 TMFI +6
017573,000147: 22,2133 27275 STOVL MFISYM +6
017574,000148: 22,2134 03442 MFI +12D
017575,000149: 22,2135 74455 VAD VSR1
017576,000150: 22,2136 03303 TMFI +12D
017577,000151: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017578,000152:
017579,000153: # CALCULATE COF
017580,000154:
017581,000155: 22,2140 70545 DLOAD SR1
017582,000156: 22,2141 03317 CAM
017583,000157: 22,2142 45325 PDDL DSU # PD0 CAM $4
017584,000158: 22,2143 15333 DPHALF
017585,000159: 22,2144 03317 CAM
017586,000160: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017587,000161: 22,2146 45712 SIGNMPAC
017588,000162: 22,2147 03307 MFISYM +16D
017589,000163: 22,2150 56225 DSU DDV
017590,000164: 22,2151 00001 0
017591,000165: 22,2152 00003 2
017592,000166: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017593,000167: 22,2154 03277 MFISYM +8D # $ ROOT 2
017594,000168: 22,2155 56225 DSU DDV
017595,000169: 22,2156 00001 0
017596,000170: 22,2157 00003 2
017597,000171: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017598,000172: 22,2161 03267 MFISYM
017599,000173: 22,2162 56225 DSU DDV
017600,000174: 22,2163 00001 0
017601,000175: 22,2164 00003 2
017602,000176: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017603,000177: 22,2166 77656 UNIT
017604,000178: 22,2167 03343 STORE COF
017605,000179:
017606,000180: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017607,000181:
017608,000182: 22,2170 45345 COFMAXGO DLOAD DSU
017609,000183: 22,2171 03343 COF
017610,000184: 22,2172 03345 COF +2
017611,000185: 22,2173 71240 BMN DLOAD # COFY G COFX
017612,000186: 22,2174 44203 COMP12
017613,000187: 22,2175 03343 COF
017614,000188: 22,2176 50025 DSU BMN
017615,000189: 22,2177 03347 COF +4
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Page 402 |
017617,000191: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017618,000192: 22,2201 77650 GOTO
017619,000193: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017620,000194: 22,2203 45345 COMP12 DLOAD DSU
017621,000195: 22,2204 03345 COF +2
017622,000196: 22,2205 03347 COF +4
017623,000197: 22,2206 77640 BMN
017624,000198: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017625,000199:
017626,000200: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017627,000201: 22,2211 03313 COFSKEW +2 # UY
017628,000202: 22,2212 44216 U2POS
017629,000203: 22,2213 57575 VLOAD VCOMP
017630,000204: 22,2214 03343 COF
017631,000205: 22,2215 03343 STORE COF
017632,000206: 22,2216 51145 U2POS DLOAD BPL
017633,000207: 22,2217 03271 MFISYM +2 # UX UY
017634,000208: 22,2220 44224 OKU21
017635,000209: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017636,000210: 22,2222 03343 COF
017637,000211: 22,2223 03343 STORE COF
017638,000212: 22,2224 51145 OKU21 DLOAD BPL
017639,000213: 22,2225 03301 MFISYM +10D # UY UZ
017640,000214: 22,2226 44737 LOCSKIRT
017641,000215: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017642,000216: 22,2230 03347 COF +4
017643,000217: 22,2231 03347 STORE COF +4
017644,000218: 22,2232 77650 GOTO
017645,000219: 22,2233 44737 LOCSKIRT
017646,000220: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017647,000221: 22,2235 03311 COFSKEW # UX
017648,000222: 22,2236 44242 U1POS
017649,000223: 22,2237 57575 VLOAD VCOMP
017650,000224: 22,2240 03343 COF
017651,000225: 22,2241 03343 STORE COF
017652,000226: 22,2242 51145 U1POS DLOAD BPL
017653,000227: 22,2243 03271 MFISYM +2 # UX UY
017654,000228: 22,2244 44250 OKU12
017655,000229: 22,2245 57545 DLOAD DCOMP
017656,000230: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017657,000231: 22,2247 03345 STORE COF +2
017658,000232: 22,2250 51145 OKU12 DLOAD BPL
017659,000233: 22,2251 03273 MFISYM +4 # UX UZ
017660,000234: 22,2252 44737 LOCSKIRT
017661,000235: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017662,000236: 22,2254 03347 COF +4
017663,000237: 22,2255 03347 STORE COF +4
017664,000238: 22,2256 77650 GOTO
017665,000239: 22,2257 44737 LOCSKIRT
017666,000240: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 403 |
017668,000242: 22,2261 03315 COFSKEW +4 # UZ
017669,000243: 22,2262 44266 U3POS
017670,000244: 22,2263 57575 VLOAD VCOMP
017671,000245: 22,2264 03343 COF
017672,000246: 22,2265 03343 STORE COF
017673,000247: 22,2266 51145 U3POS DLOAD BPL
017674,000248: 22,2267 03273 MFISYM +4 # UX UZ
017675,000249: 22,2270 44274 OKU31
017676,000250: 22,2271 57545 DLOAD DCOMP
017677,000251: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017678,000252: 22,2273 03343 STORE COF
017679,000253: 22,2274 51145 OKU31 DLOAD BPL
017680,000254: 22,2275 03301 MFISYM +10D # UY UZ
017681,000255: 22,2276 44737 LOCSKIRT
017682,000256: 22,2277 57545 DLOAD DCOMP
017683,000257: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017684,000258: 22,2301 03345 STORE COF +2
017685,000259: 22,2302 77650 GOTO
017686,000260: 22,2303 44737 LOCSKIRT
017687,000261:
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Page 404 |
017689,000263: # MATRIX OPERATIONS
017690,000264:
017691,000265: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017692,000266: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017693,000267: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017694,000268: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017695,000269: 22,2310 77770 6,2
017696,000270: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017697,000271: 22,2312 77776 0,2
017698,000272: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017699,000273: 22,2314 00001 0,1
017700,000274: 22,2315 77760 14D,2
017701,000275: 22,2316 64723 PDDL* PDDL*
017702,000276: 22,2317 77766 8D,2
017703,000277: 22,2320 77774 2,2
017704,000278: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017705,000279: 22,2322 00001 0,1
017706,000280: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017707,000281: 22,2324 77756 16D,2
017708,000282: 22,2325 77764 10D,2
017709,000283: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017710,000284: 22,2327 77772 4,2
017711,000285: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017712,000286: 22,2331 00001 0,1
017713,000287: 22,2332 77650 GOTO
017714,000288: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017715,000289:
017716,000290: # RETURN WITH M1XM2 IN PD LIST
017717,000291: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017718,000292: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017719,000293: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017720,000294: 22,2337 62713 PDVL* PDVL*
017721,000295: 22,2340 00007 6,1
017722,000296: 22,2341 00015 12D,1
017723,000297: 22,2342 77606 PUSH # MATRIX IN PD
017724,000298: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017725,000299: 22,2344 00003 2
017726,000300: 22,2345 00007 6
017727,000301: 22,2346 14003 STODL 2
017728,000302: 22,2347 77626 STADR
017729,000303: 22,2350 63770 STODL 6
017730,000304: 22,2351 00005 4
017731,000305: 22,2352 77725 PDDL
017732,000306: 22,2353 00015 12D
017733,000307: 22,2354 14005 STODL 4
017734,000308: 22,2355 77626 STADR
017735,000309: 22,2356 63762 STODL 12D
017736,000310: 22,2357 00013 10D
017737,000311: 22,2360 77725 PDDL
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Page 405 |
017739,000313: 22,2361 00017 14D
017740,000314: 22,2362 14013 STODL 10D
017741,000315: 22,2363 77626 STADR
017742,000316: 22,2364 77760 STORE 14D
017743,000317: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017744,000318: 22,2366 00013 MINANG DEC .00069375
017745,000319: 22,2367 17071 MAXANG DEC .472222
017746,000320:
017747,000321: # GIMBAL LOCK CONSTANTS
017748,000322:
017749,000323: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017750,000324: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017751,000325:
017752,000326: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017753,000327: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017754,000328: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017755,000329: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017756,000330: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017757,000331: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017758,000332: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017759,000333: 22,2377 30034 CA CDUZ
017760,000334: 22,2400 54156 TS MPAC +2
017761,000335: 22,2401 00006 EXTEND
017762,000336: 22,2402 30033 DCA CDUX
017763,000337: 22,2403 00003 RELINT
017764,000338: 22,2404 16445 TCF TLOAD +6
017765,000339: 16,2000 BANK 16
017766,000340: 22,2000 SETLOC KALCMON2
017767,000341: 22,2000 BANK
017768,000342:
017769,000343: 22,2405 COUNT* $$/KALC
017770,000344:
017771,000345: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017772,000346: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017773,000347: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017774,000348: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017775,000349: 22,2411 00010 STORE 7
017776,000350: 22,2412 77601 SETPD
017777,000351: 22,2413 00001 0
017778,000352: 22,2414 47133 LOOPSIN SLOAD* RTB
017779,000353: 22,2415 00013 10D,1
017780,000354: 22,2416 45513 CDULOGIC
017781,000355: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017782,000356: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017783,000357: 22,2421 00013 10D # 4 SIN(THETA)
017784,000358: 22,2422 41546 COS PUSH # 6 COS(THETA)
017785,000359: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017786,000360: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017787,000361: 22,2425 00007 6
017788,000362: 22,2426 72405 DMP SL1
017789,000363: 22,2427 00013 10D
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Page 406 |
017791,000365: 22,2430 10001 STORE 0,2
017792,000366: 22,2431 77745 DLOAD
017793,000367: 22,2432 00005 4
017794,000368: 22,2433 65205 DMP PDDL
017795,000369: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017796,000370: 22,2435 00007 6
017797,000371: 22,2436 41205 DMP DMP
017798,000372: 22,2437 00011 8D
017799,000373: 22,2440 00003 2
017800,000374: 22,2441 44352 SL1 BDSU
017801,000375: 22,2442 00015 12D
017802,000376: 22,2443 77752 SL1
017803,000377: 22,2444 10003 STORE 2,2
017804,000378: 22,2445 77745 DLOAD
017805,000379: 22,2446 00003 2
017806,000380: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017807,000381: 22,2450 00005 4
017808,000382: 22,2451 00007 6
017809,000383: 22,2452 41205 DMP DMP
017810,000384: 22,2453 00011 8D
017811,000385: 22,2454 00001 0
017812,000386: 22,2455 77752 SL1
017813,000387: 22,2456 72415 DAD SL1
017814,000388: 22,2457 00017 14D
017815,000389: 22,2460 10005 STORE 4,2
017816,000390: 22,2461 77745 DLOAD
017817,000391: 22,2462 00011 8D
017818,000392: 22,2463 10007 STORE 6,2
017819,000393: 22,2464 77745 DLOAD
017820,000394: 22,2465 00013 10D
017821,000395: 22,2466 72405 DMP SL1
017822,000396: 22,2467 00003 2
017823,000397: 22,2470 10011 STORE 8D,2
017824,000398: 22,2471 77745 DLOAD
017825,000399: 22,2472 00013 10D
017826,000400: 22,2473 57405 DMP DCOMP
017827,000401: 22,2474 00001 0
017828,000402: 22,2475 77752 SL1
017829,000403: 22,2476 10013 STORE 10D,2
017830,000404: 22,2477 77745 DLOAD
017831,000405: 22,2500 00005 4
017832,000406: 22,2501 57405 DMP DCOMP
017833,000407: 22,2502 00013 10D
017834,000408: 22,2503 77752 SL1
017835,000409: 22,2504 10015 STORE 12D,2
017836,000410: 22,2505 77745 DLOAD
017837,000411: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017838,000412: 22,2507 00011 8D
017839,000413: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017840,000414: 22,2511 00007 6
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|
Page 407 |
017842,000416: 22,2512 00001 0
017843,000417: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017844,000418: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017845,000419: 22,2515 67760 STORE 14D,2
017846,000420: 22,2516 77745 DLOAD
017847,000421: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017848,000422: 22,2520 00011 8D
017849,000423: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017850,000424: 22,2522 00007 6
017851,000425: 22,2523 00003 2
017852,000426: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017853,000427: 22,2525 77626 STADR
017854,000428: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017855,000429: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017856,000430: 22,2530 ENDDCM EQUALS
017857,000431:
017858,000432: 15,2000 BANK 15
017859,000433: 22,2000 SETLOC KALCMON1
017860,000434: 22,2000 BANK
017861,000435:
017862,000436: # CALCULATION OF THE MATRIX DEL......
017863,000437:
017864,000438: # * * --T *
017865,000439: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017866,000440:
017867,000441: # -
017868,000442: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017869,000443: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017870,000444: # -
017871,000445: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017872,000446:
017873,000447: 22,2530 COUNT 22/KALC
017874,000448:
017875,000449: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017876,000450: 22,2531 00001 0
017877,000451: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017878,000452: 22,2533 41546 COS PUSH # PD2 = COS(A)
017879,000453: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017880,000454: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017881,000455: 22,2536 15333 DPHALF
017882,000456: 22,2537 45712 SIGNMPAC
017883,000457:
017884,000458: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017885,000459:
017886,000460: 22,2540 77725 PDDL
017887,000461: 22,2541 03343 COF
017888,000462: 22,2542 41316 DSQ DMP
017889,000463: 22,2543 00005 4
017890,000464: 22,2544 52415 DAD SL3
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|
Page 408 |
017892,000466: 22,2545 00003 2
017893,000467: 22,2546 77604 BOVB
017894,000468: 22,2547 45712 SIGNMPAC
017895,000469: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017896,000470: 22,2551 03345 COF +2
017897,000471: 22,2552 41316 DSQ DMP
017898,000472: 22,2553 00005 4
017899,000473: 22,2554 52415 DAD SL3
017900,000474: 22,2555 00003 2
017901,000475: 22,2556 77604 BOVB
017902,000476: 22,2557 45712 SIGNMPAC
017903,000477: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017904,000478: 22,2561 03347 COF +4
017905,000479: 22,2562 41316 DSQ DMP
017906,000480: 22,2563 00005 4
017907,000481: 22,2564 52415 DAD SL3
017908,000482: 22,2565 00003 2
017909,000483: 22,2566 77604 BOVB
017910,000484: 22,2567 45712 SIGNMPAC
017911,000485: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017912,000486:
017913,000487: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017914,000488:
017915,000489: 22,2571 41345 DLOAD DMP
017916,000490: 22,2572 03343 COF
017917,000491: 22,2573 03345 COF +2
017918,000492: 22,2574 72405 DMP SL1
017919,000493: 22,2575 00005 4
017920,000494: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017921,000495: 22,2577 03347 COF +4
017922,000496: 22,2600 00001 0
017923,000497: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017924,000498: 22,2602 00007 6
017925,000499: 22,2603 41112 SL2 BOVB
017926,000500: 22,2604 45712 SIGNMPAC
017927,000501: 22,2605 17434 STODL DEL +6
017928,000502: 22,2606 62421 BDSU SL2
017929,000503: 22,2607 77604 BOVB
017930,000504: 22,2610 45712 SIGNMPAC
017931,000505: 22,2611 17430 STODL DEL +2
017932,000506: 22,2612 03343 COF
017933,000507: 22,2613 41205 DMP DMP
017934,000508: 22,2614 03347 COF +4
017935,000509: 22,2615 00005 4
017936,000510: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017937,000511: 22,2617 03345 COF +2
017938,000512: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017939,000513: 22,2621 00001 0
017940,000514: 22,2622 62415 DAD SL2
017941,000515: 22,2623 00007 6
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Page 409 |
017943,000517: 22,2624 77604 BOVB
017944,000518: 22,2625 45712 SIGNMPAC
017945,000519: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017946,000520: 22,2627 62421 BDSU SL2
017947,000521: 22,2630 77604 BOVB
017948,000522: 22,2631 45712 SIGNMPAC
017949,000523: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017950,000524: 22,2633 03345 COF +2
017951,000525: 22,2634 41205 DMP DMP
017952,000526: 22,2635 03347 COF +4
017953,000527: 22,2636 00005 4
017954,000528: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017955,000529: 22,2640 03343 COF
017956,000530: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017957,000531: 22,2642 00001 0
017958,000532: 22,2643 62415 DAD SL2
017959,000533: 22,2644 00007 6
017960,000534: 22,2645 77604 BOVB
017961,000535: 22,2646 45712 SIGNMPAC
017962,000536: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017963,000537: 22,2650 62421 BDSU SL2
017964,000538: 22,2651 77604 BOVB
017965,000539: 22,2652 45712 SIGNMPAC
017966,000540: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017967,000541: 22,2654 77616 RVQ
017968,000542:
017969,000543: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017970,000544: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017971,000545: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017972,000546: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017973,000547:
017974,000548: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017975,000549:
017976,000550: # C =COS(THETA)COS(PSI)
017977,000551: # 0
017978,000552:
017979,000553: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017980,000554: # 1
017981,000555:
017982,000556: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017983,000557: # 2
017984,000558:
017985,000559: # C =SIN(PSI)
017986,000560: # 3
017987,000561:
017988,000562: # C =COS(PSI)COS(PHI)
017989,000563: # 4
017990,000564:
017991,000565: # C =-COS(PSI)SIN(PHI)
017992,000566: # 5
017993,000567:
017994,000568: # C =-SIN(THETA)COS(PSI)
017995,000569: # 6
017996,000570:
017997,000571: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017998,000572: # 7
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|
Page 410 |
018000,000574: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
018001,000575: # 8
018002,000576:
018003,000577: # WHERE PHI = OGA
018004,000578: # THETA = IGA
018005,000579: # PSI = MGA
018006,000580:
018007,000581: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
018008,000582: 22,2656 00007 6,1
018009,000583: 22,2657 71406 PUSH COS # PD +0 PSI
018010,000584: 22,2660 41152 SL1 BOVB
018011,000585: 22,2661 45712 SIGNMPAC
018012,000586: 22,2662 00051 STORE S1
018013,000587: 22,2663 57543 DLOAD* DCOMP
018014,000588: 22,2664 00015 12D,1
018015,000589: 22,2665 67471 DDV ARCSIN
018016,000590: 22,2666 00051 S1
018017,000591: 22,2667 51123 PDDL* BPL # PD +2 THETA
018018,000592: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018019,000593: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018020,000594: 22,2672 57545 DLOAD DCOMP
018021,000595: 22,2673 43244 BPL DAD
018022,000596: 22,2674 44700 SUHALFA
018023,000597: 22,2675 15333 DPHALF
018024,000598: 22,2676 77650 GOTO
018025,000599: 22,2677 44702 CALCPHI
018026,000600: 22,2700 77625 SUHALFA DSU
018027,000601: 22,2701 15333 DPHALF
018028,000602: 22,2702 77606 CALCPHI PUSH
018029,000603: 22,2703 57543 OKTHETA DLOAD* DCOMP
018030,000604: 22,2704 00013 10D,1
018031,000605: 22,2705 67471 DDV ARCSIN
018032,000606: 22,2706 00051 S1
018033,000607: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
018034,000608: 22,2710 00011 8D,1
018035,000609: 22,2711 44723 OKPHI
018036,000610: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
018037,000611: 22,2713 43244 BPL DAD
018038,000612: 22,2714 44720 SUHALFAP
018039,000613: 22,2715 15333 DPHALF
018040,000614: 22,2716 77650 GOTO
018041,000615: 22,2717 44724 VECOFANG
018042,000616: 22,2720 52025 SUHALFAP DSU GOTO
018043,000617: 22,2721 15333 DPHALF
018044,000618: 22,2722 44724 VECOFANG
018045,000619: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
018046,000620: 22,2724 43466 VECOFANG VDEF RVQ
018047,000621:
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|
Page 411 |
018049,000623: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018050,000624:
018051,000625: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018052,000626: 22,2726 04662 TC BANKCALL
018053,000627: 22,2727 40155 CADR ZEROEROR
018054,000628:
018055,000629: 22,2730 00004 NOGO INHINT
018056,000630: 22,2731 04526 TC STOPRATE
018057,000631:
018058,000632: # TERMINATE MANEUVER
018059,000633: 22,2732 35016 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
018060,000634: 22,2733 05245 TC WAITLIST # GOODEND
018061,000635: 22,2734 E6,1661 EBANK= BCDU
018062,000636: 22,2734 02006 42066 2CADR ENDMANU
018063,000637:
018064,000638: 22,2736 15217 TCF ENDOFJOB
018065,000639:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc