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. |
039335,000002: ## Copyright: Public domain.
039336,000003: ## Filename: CM_BODY_ATTITUDE.agc
039337,000004: ## Purpose: Part of the source code for Comanche, build 055. It
039338,000005: ## is part of the source code for the Command Module's
039339,000006: ## (CM) Apollo Guidance Computer (AGC), Apollo 11.
039340,000007: ## Assembler: yaYUL
039341,000008: ## Reference: pp. 883-889
039342,000009: ## Contact: Ron Burkey <info@sandroid.org>
039343,000010: ## Website: http://www.ibiblio.org/apollo.
039344,000011: ## Mod history: 2009-05-12 RSB Adapted from Colossus249 file of the same
039345,000012: ## name and Comanche 055 page images.
039346,000013: ## 2016-12-21 RSB Proofed comment text using octopus/ProoferComments
039347,000014: ## and corrected the errors found.
039348,000015: ##
039349,000016: ## The contents of the "Comanche055" files, in general, are transcribed
039350,000017: ## from scanned documents.
039351,000018: ##
039352,000019: ## Assemble revision 055 of AGC program Comanche by NASA
039353,000020: ## 2021113-051. April 1, 1969.
039354,000021: ##
039355,000022: ## This AGC program shall also be referred to as Colossus 2A
039356,000023: ##
039357,000024: ## Prepared by
039358,000025: ## Massachusetts Institute of Technology
039359,000026: ## 75 Cambridge Parkway
039360,000027: ## Cambridge, Massachusetts
039361,000028: ##
039362,000029: ## under NASA contract NAS 9-4065.
039363,000030: ##
039364,000031: ## Refer directly to the online document mentioned above for further
039365,000032: ## information. Please report any errors to info@sandroid.org.
039366,000033:
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Page 883 |
039368,000035: 35,3477 BANK 35
039369,000036:
039370,000037: 37,2000 SETLOC BODYATT
039371,000038: 37,2000 BANK
039372,000039:
039373,000040: 37,3470 COUNT 37/CMBAT
039374,000041:
039375,000042: # PDL 12D - 15D SAFE.
039376,000043:
039377,000044: # VALUES OF GIMBAL AND BODY ANGLES VALID AT PIP TIME ARE SAVED DURING READACCS.
039378,000045:
039379,000046: 37,3470 E7,1451 EBANK= RTINIT # LET INTERPRETER SET EB
039380,000047:
039381,000048: 37,3470 06006 CM/POSE TC INTPRET # COME HERE VIA AVEGEXIT.
039382,000049:
039383,000050: 37,3471 77201 SETPD VLOAD
039384,000051: 37,3472 00001 0
039385,000052: 37,3473 01177 VN # KVSCALE = (12800/ .3048) /2VS
039386,000053: 37,3474 63361 VXSC PDVL
039387,000054: 37,3475 37767 -KVSCALE # KVSCALE = .81491944
039388,000055: 37,3476 01714 UNITW # FULL UNIT VECTOR
039389,000056: 37,3477 74235 VXV VXSC # VREL = V - WE*R
039390,000057: 37,3500 01760 UNITR
039391,000058: 37,3501 15245 KWE
039392,000059: 37,3502 45455 VAD STADR
039393,000060: 37,3503 74251 STORE -VREL # SAVE FOR ENTRY GUIDANCE. REF COORDS
039394,000061:
039395,000062: 37,3504 72056 UNIT LXA,1
039396,000063: 37,3505 00044 36D # ABVAL( -VREL) TO X1
039397,000064: 37,3506 03542 STORE UXA/2 # -UVREL REF COORDS
039398,000065:
039399,000066: 37,3507 57435 VXV VCOMP
039400,000067: 37,3510 01760 UNITR # .5 UNIT REF COORDS
039401,000068: 37,3511 66256 UNIT SSP # THE FOLLOWING IS TO PROVIDE A STABLE
039402,000069: 37,3512 00051 S1 # UN FOR THE END OF THE TERMINAL PHASE.
039403,000070: 37,3513 00476 SPVQUIT DEC .019405 # 1000/ 2 VS
039404,000071: 37,3514 77300 TIX,1 VLOAD # IF V-VQUIT POS, BRANCH.
039405,000072: 37,3515 77517 CM/POSE2 # SAVE UYA IN OLDUYA
039406,000073: 37,3516 03534 OLDUYA # OTHERWISE CONTINUE TO USE OLDUYA.
039407,000074: 37,3517 03550 CM/POSE2 STORE UYA/2 # REF COORDS
039408,000075:
039409,000076: 37,3520 03534 STORE OLDUYA # RESTORE, OR SAVE AS CASE MAY BE.
039410,000077:
039411,000078: 37,3521 57435 VXV VCOMP
039412,000079: 37,3522 03542 UXA/2 # FINISH OBTAINING TRAJECTORY TRIAD.
039413,000080: 37,3523 77772 VSL1
039414,000081: 37,3524 03556 STORE UZA/2 # REF COORDS
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Page 884 |
039416,000083: 37,3525 77751 TLOAD # PICK UP CDUX, CDUY, CDUZ CORRESPONDING
039417,000084: 37,3526 03270 AOG/PIP # TO PIPUP TIME IN 2S,C AND SAVE.
039418,000085: 37,3527 14031 CM/TRIO STODL 24D
039419,000086: 37,3530 00032 25D # AIG/PIP
039420,000087:
039421,000088: 37,3531 41434 RTB PUSH # TO PDL0
039422,000089: 37,3532 45513 CDULOGIC
039423,000090: 37,3533 77746 COS
039424,000091: 37,3534 17564 STODL UBX/2 # CI /2
039425,000092: # AIG/PIP FROM PDL 0
039426,000093: 37,3535 57556 SIN DCOMP
039427,000094: 37,3536 17570 STODL UBX/2 +4 # -SI /2
039428,000095: 37,3537 00033 26D # AMG/PIP
039429,000096: 37,3540 41434 RTB PUSH # TO PDL 0
039430,000097: 37,3541 45513 CDULOGIC
039431,000098: 37,3542 65356 SIN PDDL # XCH PDL 0. SAVE SM /2
039432,000099: 37,3543 65346 COS PDDL # CM /2 TO PDL 2
039433,000100: 37,3544 00001 0 # SM /2
039434,000101: 37,3545 74276 DCOMP VXSC
039435,000102: 37,3546 03564 UBX/2
039436,000103: 37,3547 77772 VSL1 # NOISE WONT OVFL.
039437,000104: 37,3550 17572 STODL UBY/2 # =(-SMCI, NOISE, SMSI)/2
039438,000105: 37,3551 00003 2 # CM /2 REPLACES NOISE
039439,000106: 37,3552 17574 STODL UBY/2 +2 # UBY/2=(-SMCI, CM, SMSI)/2
039440,000107: 37,3553 00031 24D # AOG/PIP
039441,000108: 37,3554 41434 RTB PUSH # TO PDL 4
039442,000109: 37,3555 45513 CDULOGIC
039443,000110: 37,3556 65356 SIN PDDL # XCH PDL 4. SAVE SO /2
039444,000111: 37,3557 74346 COS VXSC # CO /2
039445,000112: 37,3560 03572 UBY/2
039446,000113: 37,3561 17572 STODL UBY/2 # UBY/2=(-COSMCI, COCM, COSMSI)/4
039447,000114: 37,3562 00005 4D # SO /2
039448,000115: 37,3563 57405 DMP DCOMP
039449,000116: 37,3564 03570 UBX/2 +4 # -SI /2
039450,000117: 37,3565 77615 DAD
039451,000118: 37,3566 03572 UBY/2 # INCREMENT BY (SOSI /4)
039452,000119: 37,3567 17572 STODL UBY/2
039453,000120: # SO /2 FROM PDL 4
039454,000121: 37,3570 43205 DMP DAD
039455,000122: 37,3571 03564 UBX/2 # CI /2
039456,000123: 37,3572 03576 UBY/2 +4
039457,000124: 37,3573 27576 STOVL UBY/2 +4 # YB/4 PLATFORM COORDS
039458,000125:
039459,000126: # YB = (-COSMCI + SOSI , COCM , COSMSI + SOCI )
039460,000127:
039461,000128: 37,3574 03572 UBY/2
039462,000129: 37,3575 72505 VXM VSL2
039463,000130: 37,3576 01736 REFSMMAT # .5 UNIT
039464,000131: 37,3577 17572 STODL UBY/2 # YB/2 DONE REF COORDS
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Page 885 |
039466,000133: # CM /2 FROM PDL 2
039467,000134: 37,3600 76561 VXSC VSL1
039468,000135: 37,3601 03564 UBX/2
039469,000136: 37,3602 17564 STODL UBX/2 # =( CMCI, NOISE, -CMSI)/2
039470,000137: 37,3603 77626 STADR # SM /2 FROM PDL 0
039471,000138: 37,3604 50211 STOVL UBX/2 +2 # SM /2 REPLACES NOISE
039472,000139: 37,3605 03564 UBX/2 # XB/2 PLATFORM COORDS
039473,000140:
039474,000141: # XB = ( CMCI , SM , -CMSI )
039475,000142:
039476,000143: 37,3606 76505 VXM VSL1
039477,000144: 37,3607 01736 REFSMMAT # .5 UNIT
039478,000145: 37,3610 03564 STORE UBX/2 # XB/2 DONE REF COORDS
039479,000146:
039480,000147: 37,3611 76435 VXV VSL1
039481,000148: 37,3612 03572 UBY/2
039482,000149: 37,3613 27600 STOVL UBZ/2 # ZB/2 DONE REF COORDS
039483,000150:
039484,000151: # EQUIVALENT TO
039485,000152: # ZB = ( SOSMCI + COSI , -SOCM , -SOSMSI + COCI )
039486,000153:
039487,000154: 37,3614 03542 UXA/2 # -UVREL/2 = -UVA/2
039488,000155: 37,3615 53435 VXV UNIT # GET UNIT(-UVREL*UBY)/2 = UL/2
039489,000156: 37,3616 03572 UBY/2 # YB/2
039490,000157: 37,3617 50206 PUSH DOT # UL/2 TO PDL 0,5
039491,000158: 37,3620 03556 UZA/2 # UNA/2
039492,000159: 37,3621 24021 STOVL COSTH # COS(ROLL)/4
039493,000160: 37,3622 00001 0 # UL/2
039494,000161:
039495,000162: 37,3623 77641 DOT
039496,000163: 37,3624 03550 UYA/2
039497,000164: 37,3625 34023 STCALL SINTH # -SIN(ROLL)/4
039498,000165: 37,3626 47256 ARCTRIG
039499,000166: 37,3627 24007 STOVL 6D # -(ROLL/180) /2
039500,000167: 37,3630 03572 UBY/2
039501,000168: 37,3631 72441 DOT SL1 # -UVA.UBY = -SIN(BETA)
039502,000169: 37,3632 03542 UXA/2 # -UVREL/2
039503,000170: 37,3633 77736 ARCSIN
039504,000171: 37,3634 24010 STOVL 7D # -(BETA/180) /2
039505,000172: 37,3635 03564 UBX/2 # XB/2
039506,000173: 37,3636 77641 DOT # UL.UBX = -SIN(ALFA)
039507,000174: 37,3637 00001 0 # UL/2
039508,000175: 37,3640 24023 STOVL SINTH # -SIN(ALFA)/4
039509,000176: 37,3641 77641 DOT # UL/2 FROM PDL 0
039510,000177: 37,3642 03600 UBZ/2
039511,000178: 37,3643 34021 STCALL COSTH # COS(ALFA)/4
039512,000179: 37,3644 47256 ARCTRIG
039513,000180: 37,3645 24011 STOVL 8D # -(ALFA/180) /2
039514,000181: 37,3646 01760 UNITR # UR/2 REF COORDS
039515,000182: 37,3647 72441 DOT SL1
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Page 886 |
039517,000184: 37,3650 03556 UZA/2 # MORE ACCURATE AT LARGE ARG.
039518,000185: 37,3651 77726 ARCCOS
039519,000186: 37,3652 00013 STORE 10D # (-GAMA/180)/2
039520,000187:
039521,000188: 37,3653 77551 TLOAD EXIT # ANGLES IN MPAC IN THE ORDER
039522,000189: # -( (ROLL, BETA, ALFA) /180)/2
039523,000190: 37,3654 00007 6D # THESE VALUES CORRECT AT PIPUP TIME.
039524,000191:
039525,000192: # SPACER
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Page 887 |
039527,000194: # BASIC SUBROUTINE TO UPDATE ATTITUDE ANGLES
039528,000195:
039529,000196: 37,3655 E6,1661 EBANK= AOG
039530,000197:
039531,000198: 37,3655 35057 CM/ATUP CA EBAOG
039532,000199: 37,3656 54003 TS EBANK
039533,000200: 37,3657 50120 CMTR1 INDEX FIXLOC
039534,000201: 37,3660 40012 CS 10D # (GAMA/180)/2
039535,000202: 37,3661 57722 XCH GAMA
039536,000203: 37,3662 54001 TS L
039537,000204:
039538,000205: 37,3663 00004 INHINT
039539,000206: # MUST REMAIN INHINTED UNTIL UPDATE OF BODY
039540,000207: # ANGLES, SO THAT GAMDIFSW IS VALID FIRST PASS
039541,000208: # INDICATOR.
039542,000209:
039543,000210: 37,3664 40102 CS CM/FLAGS
039544,000211: 37,3665 75005 MASK BIT11 # GAMDIFSW=94D BIT11 INITLY=0
039545,000212: 37,3666 00006 EXTEND # DONT CALC GAMA DOT UNTIL HAVE FORMD
039546,000213: # ONE DIFFERENCE.
039547,000214: 37,3667 13672 BZF DOGAMDOT # IS OK, GO ON.
039548,000215: 37,3670 26102 ADS CM/FLAGS # KNOW BIT IS 0
039549,000216: 37,3671 03705 TC NOGAMDOT # SET GAMDOT = 0
039550,000217:
039551,000218: 37,3672 40001 DOGAMDOT CS L
039552,000219: 37,3673 61722 AD GAMA # DEL GAMA/360= T GAMDOT/360
039553,000220: 37,3674 00006 EXTEND
039554,000221: 37,3675 73770 MP TCDU # TCDU = .1 SEC, T = 2 SEC.
039555,000222: 37,3676 55723 TS GAMDOT # GAMA DOT TCDU / 180
039556,000223:
039557,000224: 37,3677 00006 EXTEND # IGNORE GAMDOT IF LEQ .5 DEG/SEC
039558,000225: 37,3700 63702 BZMF +2
039559,000226: 37,3701 40000 COM
039560,000227: 37,3702 65022 AD FIVE
039561,000228: 37,3703 00006 EXTEND
039562,000229: 37,3704 63707 BZMF +3 # SET GAMDOT=+0 AS TAG IF TOO SMALL.
039563,000230:
039564,000231: 37,3705 35021 NOGAMDOT CA ZERO # COME HERE INHINTED.
039565,000232: 37,3706 55723 TS GAMDOT
039566,000233: # FOR NOW LEAVE IN 2S,C
039567,000234: # UPDATE ANGLES BY CORRECTING EUILER ANG
039568,000235: # FOR ACCRUED INCREMENT SINCE PIPUP
039569,000236: # R = R EUIL + R(NOW) - R(PIPUP)
039570,000237: 37,3707 40154 CS MPAC # GET (R EUL/180) /2
039571,000238: 37,3710 60000 DOUBLE # POSSIBLE OVERFLOW
039572,000239: 37,3711 03760 TC CORANGOV # CORRECT FOR OVFL IF ANY
039573,000240: 37,3712 00006 EXTEND
039574,000241: 37,3713 61672 SU ROLL/PIP # GET INCR SINCE PIPUP
039575,000242: 37,3714 61664 AD ROLL/180 # ONLY SINGLE OVFL POSSIBLE.
039576,000243: 37,3715 03760 TC CORANGOV # CORRECT FOR OVFL IF ANY
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Page 888 |
039578,000245: 37,3716 55770 TS TEMPROLL
039579,000246:
039580,000247: 37,3717 40156 CS MPAC +2 # GET (ALFA EUL/180) /2
039581,000248: 37,3720 60000 DOUBLE # SAME AS FOR ROLL. NEEDED FOR EXT ATM DAP
039582,000249: 37,3721 03760 TC CORANGOV # CORRECT FOR OVFL IF ANY
039583,000250: 37,3722 00006 EXTEND
039584,000251: 37,3723 61673 SU ALFA/PIP
039585,000252: 37,3724 61665 AD ALFA/180
039586,000253: 37,3725 03760 TC CORANGOV # CORRECT FOR OVFL IF ANY
039587,000254: 37,3726 55771 TS TEMPALFA
039588,000255:
039589,000256: 37,3727 40155 CS MPAC +1 # GET (BETA EUL/180) /2
039590,000257: 37,3730 60000 CMTR2 DOUBLE
039591,000258: 37,3731 00006 EXTEND
039592,000259: 37,3732 61674 SU BETA/PIP
039593,000260: 37,3733 61666 AD BETA/180
039594,000261: 37,3734 57772 XCH TEMPBETA # OVFL NOT EXPECTED.
039595,000262:
039596,000263: 37,3735 35051 CA EBANK3
039597,000264: 37,3736 54003 TS EBANK
039598,000265:
039599,000266: 37,3737 E3,1446 EBANK= PHSNAME5
039600,000267: 37,3737 00006 EXTEND
039601,000268: 37,3740 33772 DCA REPOSADR # THIS ASSUMES THAT THE TC PHASCHNG
039602,000269: 37,3741 53447 DXCH PHSNAME5 # IS NOT CHANGED IN OCT 10035
039603,000270: # SERVICER.
039604,000271:
039605,000272: 37,3742 35057 CA EBAOG
039606,000273: 37,3743 54003 TS EBANK
039607,000274:
039608,000275: 37,3744 E6,1661 EBANK= AOG
039609,000276: 37,3744 00006 REDOPOSE EXTEND # RE-STARTS COME HERE
039610,000277: 37,3745 31771 DCA TEMPROLL
039611,000278: 37,3746 53665 DXCH ROLL/180
039612,000279: 37,3747 31772 CA TEMPBETA
039613,000280: 37,3750 55666 TS BETA/180
039614,000281:
039615,000282: 37,3751 00003 RELINT
039616,000283:
039617,000284: 37,3752 06006 TC INTPRET # CANT TC DANZIG AFTER PHASCHNG.
039618,000285: 37,3753 51575 CM/POSE3 VLOAD ABVAL # RETURN FROM CM/ATUP. (RESTART)
039619,000286: 37,3754 01177 VN # 2(-7) M/CS
039620,000287: 37,3755 03723 STORE VMAGI # FOR DISPLAY ON CALL.
039621,000288:
039622,000289: 37,3756 77650 GOTO
039623,000290: 37,3757 03324 POSEXIT # ENDEXIT, STARTENT, OR SCALEPOP.
039624,000291:
039625,000292: 37,3760 54001 CORANGOV TS L
039626,000293: 37,3761 00002 TC Q
039627,000294: 37,3762 50000 INDEX A
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Page 889 |
039629,000296: 37,3763 35000 CA LIMITS
039630,000297: 37,3764 26001 ADS L
039631,000298: 37,3765 00002 TC Q # COSTS 2 MCT TO USE. SEE ANGOVCOR.
039632,000299:
039633,000300: 37,3766 45730 53410 -KVSCALE 2DEC -.81491944 # -12800/(2 VS .3048)
039634,000301:
039635,000302: 37,3770 03146 TCDU DEC .1 # TCDU = .1 SEC.
039636,000303:
039637,000304: 37,3771 E6,1661 EBANK= AOG
039638,000305: 37,3771 03744 76066 REPOSADR 2CADR REDOPOSE
039639,000306:
End of include-file CM_BODY_ATTITUDE.agc. Parent file is MAIN.agc