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
|
|
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. |
059090,000002: ## Copyright: Public domain.
059091,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
059092,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
059093,000005: ## It is part of the source code for the Command Module's (CM)
059094,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
059095,000007: ## Assembler: yaYUL
059096,000008: ## Contact: Ron Burkey <info@sandroid.org>.
059097,000009: ## Website: www.ibiblio.org/apollo.
059098,000010: ## Pages: 1355-1364
059099,000011: ## Mod history: 2009-05-14 RSB Adapted from the Colossus249/ file of the
059100,000012: ## same name, using Comanche055 page images.
059101,000013: ## 2016-12-22 RSB Proofed comment text using octopus/ProoferComments
059102,000014: ## and corrected the errors found.
059103,000015: ##
059104,000016: ## This source code has been transcribed or otherwise adapted from digitized
059105,000017: ## images of a hardcopy from the MIT Museum. The digitization was performed
059106,000018: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
059107,000019: ## thanks to both. The images (with suitable reduction in storage size and
059108,000020: ## consequent reduction in image quality as well) are available online at
059109,000021: ## www.ibiblio.org/apollo. If for some reason you find that the images are
059110,000022: ## illegible, contact me at info@sandroid.org about getting access to the
059111,000023: ## (much) higher-quality images which Paul actually created.
059112,000024: ##
059113,000025: ## Notations on the hardcopy document read, in part:
059114,000026: ##
059115,000027: ## Assemble revision 055 of AGC program Comanche by NASA
059116,000028: ## 2021113-051. 10:28 APR. 1, 1969
059117,000029: ##
059118,000030: ## This AGC program shall also be referred to as
059119,000031: ## Colossus 2A
059120,000032:
|
|
Page 1355 |
059122,000034: 22,3510 BANK 22
059123,000035: 23,2000 SETLOC INFLIGHT
059124,000036: 23,2000 BANK
059125,000037:
059126,000038: 23,3205 E5,1671 EBANK= XSM
059127,000039:
059128,000040: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
059129,000041:
059130,000042: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
059131,000043: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
059132,000044:
059133,000045: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
059134,000046: # MGC, AND OGC RESPECTIVELY.
059135,000047:
059136,000048: 23,3205 COUNT 23/INFLT
059137,000049:
059138,000050: 23,3205 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
059139,000051: 23,3206 00051 S2 # XDC = (XD1 XD2 XD3)
059140,000052: 23,3207 02714 XDC # YDC = (YD1 YD2 YD3)
059141,000053: 23,3210 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
059142,000054: 23,3211 15335 HI6ZEROS
059143,000055: 23,3212 02720 XDC +4
059144,000056: 23,3213 55476 DCOMP VDEF
059145,000057: 23,3214 77656 UNIT
059146,000058: 23,3215 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
059147,000059: 23,3216 00027 ZPRIME
059148,000060:
059149,000061: 23,3217 77742 SR1
059150,000062: 23,3220 14023 STODL SINTH # SIN(IGC) = ZP1
059151,000063: 23,3221 00033 ZPRIME +4
059152,000064: 23,3222 77742 SR1
059153,000065: 23,3223 34021 STCALL COSTH # COS(IGC) = ZP3
059154,000066: 23,3224 47256 ARCTRIG
059155,000067:
059156,000068: 23,3225 16762 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
059157,000069: 23,3226 02716 XDC +2
059158,000070: 23,3227 77742 SR1
059159,000071: 23,3230 14023 STODL SINTH # SIN(MGC) = XD2
059160,000072: 23,3231 00027 ZPRIME
059161,000073:
059162,000074: 23,3232 65205 DMP PDDL
059163,000075: 23,3233 02720 XDC +4 # PD00 = (ZP1)(XD3)
059164,000076: 23,3234 00033 ZPRIME +4
059165,000077:
059166,000078: 23,3235 45205 DMP DSU
059167,000079: 23,3236 02714 XDC # MPAC = (ZP3)(XD1)
059168,000080: 23,3237 77626 STADR
059169,000081: 23,3240 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
059170,000082: 23,3241 47256 ARCTRIG
|
|
Page 1356 |
059172,000084: 23,3242 26764 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
059173,000085: 23,3243 00027 ZPRIME
059174,000086: 23,3244 77641 DOT
059175,000087: 23,3245 02730 ZDC
059176,000088: 23,3246 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
059177,000089: 23,3247 00027 ZPRIME
059178,000090: 23,3250 77641 DOT
059179,000091: 23,3251 02722 YDC
059180,000092: 23,3252 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
059181,000093: 23,3253 47256 ARCTRIG
059182,000094:
059183,000095: 23,3254 36760 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
059184,000096: 23,3255 00051 S2
059185,000097:
|
|
Page 1357 |
059187,000099: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
059188,000100:
059189,000101: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
059190,000102:
059191,000103: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
059192,000104: # AVAILABLE AT MPAC.
059193,000105:
059194,000106: 23,3256 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
059195,000107: 23,3257 00023 SINTH
059196,000108: 23,3260 50025 DSU BMN
059197,000109: 23,3261 07474 QTSN45 # ABS(SIN/4) - SIN(45)/4
059198,000110: 23,3262 47271 TRIG1 # IF (-45,45) OR (135,-135)
059199,000111:
059200,000112: 23,3263 72545 DLOAD SL1 # (45,135) OR (-135,-45)
059201,000113: 23,3264 00021 COSTH
059202,000114: 23,3265 75326 ACOS SIGN
059203,000115: 23,3266 00023 SINTH
059204,000116: 23,3267 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
059205,000117: 23,3270 77616 RVQ
059206,000118:
059207,000119: 23,3271 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
059208,000120: 23,3272 00023 SINTH
059209,000121: 23,3273 77736 ASIN
059210,000122: 23,3274 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
059211,000123: 23,3275 00021 COSTH
059212,000124: 23,3276 77640 BMN
059213,000125: 23,3277 47302 TRIG2 # IF (135,-135)
059214,000126:
059215,000127: 23,3300 43545 DLOAD RVQ
059216,000128: 23,3301 00025 THETA # X = ARCSIN(SIN) (-45,45)
059217,000129:
059218,000130: 23,3302 75345 TRIG2 DLOAD SIGN # (135,-135)
059219,000131: 23,3303 15333 HIDPHALF
059220,000132: 23,3304 00023 SINTH
059221,000133: 23,3305 77625 DSU
059222,000134: 23,3306 00025 THETA
059223,000135: 23,3307 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
059224,000136: 23,3310 77616 RVQ # (+) - (+) OR (-) - (-)
059225,000137:
|
|
Page 1358 |
059227,000139: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
059228,000140: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
059229,000141: # FLIGHT SUBROUTINES.
059230,000142:
|
|
Page 1359 |
059232,000144: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
059233,000145:
059234,000146: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
059235,000147: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
059236,000148: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
059237,000149:
059238,000150: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
059239,000151:
059240,000152: 23,3311 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
059241,000153: 23,3312 00001 0
059242,000154: 23,3313 47375 VLOAD VXV
059243,000155: 23,3314 02714 XNB # XNB = OGA (OUTER GIMBAL AXIS)
059244,000156: 23,3315 02700 YSM # YSM = IGA (INNER GIMBAL AXIS)
059245,000157: 23,3316 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
059246,000158:
059247,000159: 23,3317 44041 DOT ITA
059248,000160: 23,3320 02730 ZNB
059249,000161: 23,3321 00051 S2
059250,000162: 23,3322 24021 STOVL COSTH # COS(OG) = MGA . ZNB
059251,000163: 23,3323 00001 0
059252,000164: 23,3324 77641 DOT
059253,000165: 23,3325 02722 YNB
059254,000166: 23,3326 34023 STCALL SINTH # SIN(OG) = MGA . YNB
059255,000167: 23,3327 47256 ARCTRIG
059256,000168: 23,3330 26760 STOVL OGC
059257,000169: 23,3331 00001 0
059258,000170:
059259,000171: 23,3332 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
059260,000172: 23,3333 02714 XNB
059261,000173: 23,3334 02700 YSM
059262,000174: 23,3335 77752 SL1
059263,000175: 23,3336 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
059264,000176: 23,3337 02700 YSM
059265,000177: 23,3340 77641 DOT
059266,000178: 23,3341 02714 XNB
059267,000179: 23,3342 34023 STCALL SINTH # SIN(MG) = IGA . OGA
059268,000180: 23,3343 47256 ARCTRIG
059269,000181: 23,3344 02764 STORE MGC
059270,000182:
059271,000183: 23,3345 45246 ABS DSU
059272,000184: 23,3346 07476 .166...
059273,000185: 23,3347 77644 BPL
059274,000186: 23,3350 47371 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
059275,000187:
059276,000188: 23,3351 50375 CALCGA1 VLOAD DOT
059277,000189: 23,3352 02706 ZSM
059278,000190: 23,3353 00001 0
059279,000191: 23,3354 24021 STOVL COSTH # COS(IG) = ZSM . MGA
059280,000192: 23,3355 02672 XSM
|
|
Page 1360 |
059282,000194: 23,3356 45441 DOT STADR
059283,000195: 23,3357 43754 STCALL SINTH # SIN(IG) = XSM . MGA
059284,000196: 23,3360 47256 ARCTRIG
059285,000197:
059286,000198: 23,3361 26762 STOVL IGC
059287,000199: 23,3362 02760 OGC
059288,000200: 23,3363 43034 RTB BONCLR
059289,000201: 23,3364 45552 V1STO2S
059290,000202: 23,3365 00200 CPHIFLAG
059291,000203: 23,3366 00051 S2
059292,000204: 23,3367 35156 STCALL THETAD
059293,000205: 23,3370 00051 S2
059294,000206:
059295,000207: 23,3371 77776 GIMLOCK1 EXIT
059296,000208: 23,3372 05650 TC ALARM
059297,000209: 23,3373 00401 OCT 00401
059298,000210: 23,3374 05546 TC UPFLAG # GIMBAL LOCK HAS OCCURED
059299,000211: 23,3375 00056 ADRES GLOKFAIL
059300,000212:
059301,000213: 23,3376 06006 TC INTPRET
059302,000214: 23,3377 77650 GOTO
059303,000215: 23,3400 47351 CALCGA1
059304,000216:
|
|
Page 1361 |
059306,000218: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
059307,000219:
059308,000220: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
059309,000221: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
059310,000222: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
059311,000223: # THE VAC AREA.
059312,000224:
059313,000225: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
059314,000226: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
059315,000227:
059316,000228: 23,3401 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
059317,000229: 23,3402 02743 STARAD +6
059318,000230: 23,3403 00051 S1
059319,000231: 23,3404 02727 STARAD -6
059320,000232:
059321,000233: 23,3405 77601 SETPD
059322,000234: 23,3406 00001 0
059323,000235: 23,3407 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
059324,000236: 23,3410 02752 STARAD +12D,1 # STARAD +00D UB = S1
059325,000237: 23,3411 02760 STARAD +18D,1
059326,000238: 23,3412 77656 UNIT # 12D VA = UNIT(S1 X S2)
059327,000239: 23,3413 06760 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
059328,000240: 23,3414 77773 VLOAD*
059329,000241: 23,3415 02752 STARAD +12D,1
059330,000242:
059331,000243: 23,3416 76433 VXV* VSL1
059332,000244: 23,3417 02760 STARAD +18D,1 # 18D WA = UA X VA
059333,000245: 23,3420 06766 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
059334,000246:
059335,000247: 23,3421 77700 TIX,1
059336,000248: 23,3422 47407 AXISGEN1
059337,000249:
059338,000250: 23,3423 66160 AXC,1 SXA,1
059339,000251: 23,3424 00006 6
059340,000252: 23,3425 00036 30D
059341,000253:
059342,000254: 23,3426 66370 AXT,1 SSP
059343,000255: 23,3427 00022 18D
059344,000256: 23,3430 00051 S1
059345,000257: 23,3431 00006 6
059346,000258:
059347,000259: 23,3432 66374 AXT,2 SSP
059348,000260: 23,3433 00006 6
059349,000261: 23,3434 00052 S2
059350,000262: 23,3435 00002 2
059351,000263:
059352,000264: 23,3436 76720 AXISGEN2 XCHX,1 VLOAD*
059353,000265: 23,3437 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
059354,000266: 23,3440 00001 0,1
059355,000267:
|
|
Page 1362 |
059357,000269: 23,3441 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
059358,000270: 23,3442 75033 STARAD +6,2
059359,000271: 23,3443 00007 6,1
059360,000272: 23,3444 77757 VXSC*
059361,000273: 23,3445 75025 STARAD +12D,2
059362,000274: 23,3446 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
059363,000275: 23,3447 00015 12D,1
059364,000276:
059365,000277: 23,3450 53357 VXSC* VAD
059366,000278: 23,3451 75017 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
059367,000279: 23,3452 76455 VAD VSL1
059368,000280: 23,3453 00031 24D
059369,000281: 23,3454 53520 XCHX,1 UNIT
059370,000282: 23,3455 00036 30D
059371,000283: 23,3456 06736 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
059372,000284:
059373,000285: 23,3457 77700 TIX,1
059374,000286: 23,3460 47461 AXISGEN3
059375,000287:
059376,000288: 23,3461 77704 AXISGEN3 TIX,2
059377,000289: 23,3462 47436 AXISGEN2
059378,000290:
059379,000291: 23,3463 77775 VLOAD
059380,000292: 23,3464 02714 XDC
059381,000293: 23,3465 26736 STOVL STARAD
059382,000294: 23,3466 02722 YDC
059383,000295: 23,3467 26744 STOVL STARAD +6
059384,000296: 23,3470 02730 ZDC
059385,000297: 23,3471 02752 STORE STARAD +12D
059386,000298:
059387,000299: 23,3472 77616 RVQ
059388,000300:
|
|
Page 1363 |
059390,000302: 23,3473 05520 26075 QTSN45 2DEC .1768
059391,000303: 23,3475 05252 25253 .166... 2DEC .1666666667
059392,000304:
|
|
Page 1364 This page is empty. |
059395,000307:
059396,000308:
059397,000309:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc