Source Code
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These source-code files are part of a reconstructed copy of Comanche 67, the
Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 12.
They have been adapted from sources files for Comanche 55, and updated via
disassembly of binary dumps of original core rope memory modules, part numbers
2003972-1081, 2003972-1091, 2003972-1111, 2003972-1121, 2003972-1131, and 2003972-1141.
Since only binary dumps (rather than listings) of Comanche 67 are available as source material,
all comments and labels are approximate.
They have been taken from other AGC programs where possible, or, in some places, written
from scratch to match what we believe would have been in the original listing.
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016680,000002: ## Copyright: Public domain.
016681,000003: ## Filename: ANGLFIND.agc
016682,000004: ## Purpose: A section of Comanche revision 067.
016683,000005: ## It is part of the reconstructed source code for the flight
016684,000006: ## software for the Command Module's (CM) Apollo Guidance Computer
016685,000007: ## (AGC) for Apollo 12. No original listings of this program are
016686,000008: ## available; instead, this file was created via dissassembly of
016687,000009: ## dumps of Comanche 067 core rope modules and comparison with
016688,000010: ## other AGC programs.
016689,000011: ## Assembler: yaYUL
016690,000012: ## Contact: Ron Burkey <info@sandroid.org>.
016691,000013: ## Website: www.ibiblio.org/apollo/index.html
016692,000014: ## Mod history: 2023-08-16 MAS Created from Comanche 055.
016693,000015:
016694,000016: 15,2000 BANK 15
016695,000017: 22,2000 SETLOC KALCMON1
016696,000018: 22,2000 BANK
016697,000019:
016698,000020: 22,2000 E6,1661 EBANK= BCDU
016699,000021:
016700,000022: 22,2000 COUNT 22/KALC
016701,000023:
016702,000024: 22,2000 06006 KALCMAN3 TC INTPRET
016703,000025: 22,2001 77634 RTB
016704,000026: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
016705,000027: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
016706,000028: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
016707,000029: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
016708,000030: 22,2006 03262 BCDU # (MIS)
016709,000031: 22,2007 77624 CALL
016710,000032: 22,2010 44405 CDUTODCM
016711,000033: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
016712,000034: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
016713,000035: 22,2013 01156 CPHI # (MFS)
016714,000036: 22,2014 77624 CALL
016715,000037: 22,2015 44405 CDUTODCM
016716,000038: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
016717,000039: 22,2017 03320 MIS
016718,000040: 22,2020 44334 TRANSPOS
016719,000041: 22,2021 77775 VLOAD
016720,000042: 22,2022 77626 STADR
016721,000043: 22,2023 50474 STOVL TMIS +12D
016722,000044: 22,2024 77626 STADR
016723,000045: 22,2025 50502 STOVL TMIS +6
016724,000046: 22,2026 77626 STADR
016725,000047: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
016726,000048: 22,2030 75160 AXC,1 AXC,2
016727,000049: 22,2031 03266 TMIS
016728,000050: 22,2032 03425 MFS
016729,000051: 22,2033 77624 CALL
016730,000052: 22,2034 44304 MXM3
016731,000053: 22,2035 45575 VLOAD STADR
016732,000054: 22,2036 50335 STOVL MFI +12D
016733,000055: 22,2037 77626 STADR
016734,000056: 22,2040 50343 STOVL MFI +6
016735,000057: 22,2041 77626 STADR
016736,000058: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
016737,000059: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
016738,000060: 22,2044 00023 18D
016739,000061: 22,2045 44343 TRNSPSPD
016740,000062: 22,2046 45575 VLOAD STADR
016741,000063: 22,2047 50474 STOVL TMFI +12D
016742,000064: 22,2050 77626 STADR
016743,000065: 22,2051 50502 STOVL TMFI +6
016744,000066: 22,2052 77626 STADR
016745,000067: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
016746,000068:
016747,000069: # CALCULATE COFSKEW AND MFISYM
016748,000070:
016749,000071: 22,2054 45345 DLOAD DSU
016750,000072: 22,2055 03271 TMFI +2
016751,000073: 22,2056 03430 MFI +2
016752,000074: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
016753,000075: 22,2060 03432 MFI +4
016754,000076: 22,2061 03273 TMFI +4
016755,000077: 22,2062 45325 PDDL DSU
016756,000078: 22,2063 03301 TMFI +10D
016757,000079: 22,2064 03440 MFI +10D
016758,000080: 22,2065 77666 VDEF
016759,000081: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
016760,000082:
016761,000083: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
016762,000084:
016763,000085: 22,2067 43345 DLOAD DAD
016764,000086: 22,2070 03426 MFI
016765,000087: 22,2071 03446 MFI +16D
016766,000088: 22,2072 43225 DSU DAD
016767,000089: 22,2073 15324 DP1/4TH
016768,000090: 22,2074 03436 MFI +8D
016769,000091: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
016770,000092: 22,2076 77726 ARCCOS
016771,000093: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
016772,000094: 22,2100 51025 DSU BPL
016773,000095: 22,2101 04367 MINANG
016774,000096: 22,2102 44111 CHECKMAX
016775,000097: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
016776,000098: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
016777,000099: 22,2105 45033 CS ONE # ABOUT COMMANDED ANGLES
016778,000100: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
016779,000101: 22,2107 03142 TC LOADCDUD # GOOD RETURN
016780,000102: 22,2110 12730 TCF NOGO
016781,000103:
016782,000104: 22,2111 45345 CHECKMAX DLOAD DSU
016783,000105: 22,2112 03365 AM
016784,000106: 22,2113 04370 MAXANG
016785,000107: 22,2114 77244 BPL VLOAD
016786,000108: 22,2115 44123 ALTCALC # UNIT
016787,000109: 22,2116 03311 COFSKEW # COFSKEW
016788,000110: 22,2117 77656 UNIT
016789,000111: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
016790,000112: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
016791,000113: 22,2122 44737 LOCSKIRT
016792,000114: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
016793,000115: 22,2124 03426 MFI
016794,000116: 22,2125 03267 TMFI
016795,000117: 22,2126 77762 VSR1
016796,000118: 22,2127 27267 STOVL MFISYM
016797,000119: 22,2130 03434 MFI +6
016798,000120: 22,2131 74455 VAD VSR1
016799,000121: 22,2132 03275 TMFI +6
016800,000122: 22,2133 27275 STOVL MFISYM +6
016801,000123: 22,2134 03442 MFI +12D
016802,000124: 22,2135 74455 VAD VSR1
016803,000125: 22,2136 03303 TMFI +12D
016804,000126: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
016805,000127:
016806,000128: # CALCULATE COF
016807,000129:
016808,000130: 22,2140 70545 DLOAD SR1
016809,000131: 22,2141 03317 CAM
016810,000132: 22,2142 45325 PDDL DSU # PD0 CAM $4
016811,000133: 22,2143 15332 DPHALF
016812,000134: 22,2144 03317 CAM
016813,000135: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
016814,000136: 22,2146 45712 SIGNMPAC
016815,000137: 22,2147 03307 MFISYM +16D
016816,000138: 22,2150 56225 DSU DDV
016817,000139: 22,2151 00001 0
016818,000140: 22,2152 00003 2
016819,000141: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
016820,000142: 22,2154 03277 MFISYM +8D # $ ROOT 2
016821,000143: 22,2155 56225 DSU DDV
016822,000144: 22,2156 00001 0
016823,000145: 22,2157 00003 2
016824,000146: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
016825,000147: 22,2161 03267 MFISYM
016826,000148: 22,2162 56225 DSU DDV
016827,000149: 22,2163 00001 0
016828,000150: 22,2164 00003 2
016829,000151: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
016830,000152: 22,2166 77656 UNIT
016831,000153: 22,2167 03343 STORE COF
016832,000154:
016833,000155: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
016834,000156:
016835,000157: 22,2170 45345 COFMAXGO DLOAD DSU
016836,000158: 22,2171 03343 COF
016837,000159: 22,2172 03345 COF +2
016838,000160: 22,2173 71240 BMN DLOAD # COFY G COFX
016839,000161: 22,2174 44203 COMP12
016840,000162: 22,2175 03343 COF
016841,000163: 22,2176 50025 DSU BMN
016842,000164: 22,2177 03347 COF +4
016843,000165: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
016844,000166: 22,2201 77650 GOTO
016845,000167: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
016846,000168: 22,2203 45345 COMP12 DLOAD DSU
016847,000169: 22,2204 03345 COF +2
016848,000170: 22,2205 03347 COF +4
016849,000171: 22,2206 77640 BMN
016850,000172: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
016851,000173:
016852,000174: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
016853,000175: 22,2211 03313 COFSKEW +2 # UY
016854,000176: 22,2212 44216 U2POS
016855,000177: 22,2213 57575 VLOAD VCOMP
016856,000178: 22,2214 03343 COF
016857,000179: 22,2215 03343 STORE COF
016858,000180: 22,2216 51145 U2POS DLOAD BPL
016859,000181: 22,2217 03271 MFISYM +2 # UX UY
016860,000182: 22,2220 44224 OKU21
016861,000183: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
016862,000184: 22,2222 03343 COF
016863,000185: 22,2223 03343 STORE COF
016864,000186: 22,2224 51145 OKU21 DLOAD BPL
016865,000187: 22,2225 03301 MFISYM +10D # UY UZ
016866,000188: 22,2226 44737 LOCSKIRT
016867,000189: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
016868,000190: 22,2230 03347 COF +4
016869,000191: 22,2231 03347 STORE COF +4
016870,000192: 22,2232 77650 GOTO
016871,000193: 22,2233 44737 LOCSKIRT
016872,000194: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
016873,000195: 22,2235 03311 COFSKEW # UX
016874,000196: 22,2236 44242 U1POS
016875,000197: 22,2237 57575 VLOAD VCOMP
016876,000198: 22,2240 03343 COF
016877,000199: 22,2241 03343 STORE COF
016878,000200: 22,2242 51145 U1POS DLOAD BPL
016879,000201: 22,2243 03271 MFISYM +2 # UX UY
016880,000202: 22,2244 44250 OKU12
016881,000203: 22,2245 57545 DLOAD DCOMP
016882,000204: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
016883,000205: 22,2247 03345 STORE COF +2
016884,000206: 22,2250 51145 OKU12 DLOAD BPL
016885,000207: 22,2251 03273 MFISYM +4 # UX UZ
016886,000208: 22,2252 44737 LOCSKIRT
016887,000209: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
016888,000210: 22,2254 03347 COF +4
016889,000211: 22,2255 03347 STORE COF +4
016890,000212: 22,2256 77650 GOTO
016891,000213: 22,2257 44737 LOCSKIRT
016892,000214: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
016893,000215: 22,2261 03315 COFSKEW +4 # UZ
016894,000216: 22,2262 44266 U3POS
016895,000217: 22,2263 57575 VLOAD VCOMP
016896,000218: 22,2264 03343 COF
016897,000219: 22,2265 03343 STORE COF
016898,000220: 22,2266 51145 U3POS DLOAD BPL
016899,000221: 22,2267 03273 MFISYM +4 # UX UZ
016900,000222: 22,2270 44274 OKU31
016901,000223: 22,2271 57545 DLOAD DCOMP
016902,000224: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
016903,000225: 22,2273 03343 STORE COF
016904,000226: 22,2274 51145 OKU31 DLOAD BPL
016905,000227: 22,2275 03301 MFISYM +10D # UY UZ
016906,000228: 22,2276 44737 LOCSKIRT
016907,000229: 22,2277 57545 DLOAD DCOMP
016908,000230: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
016909,000231: 22,2301 03345 STORE COF +2
016910,000232: 22,2302 77650 GOTO
016911,000233: 22,2303 44737 LOCSKIRT
016912,000234:
016913,000235: # MATRIX OPERATIONS
016914,000236:
016915,000237: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
016916,000238: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
016917,000239: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
016918,000240: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
016919,000241: 22,2310 77770 6,2
016920,000242: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
016921,000243: 22,2312 77776 0,2
016922,000244: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
016923,000245: 22,2314 00001 0,1
016924,000246: 22,2315 77760 14D,2
016925,000247: 22,2316 64723 PDDL* PDDL*
016926,000248: 22,2317 77766 8D,2
016927,000249: 22,2320 77774 2,2
016928,000250: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
016929,000251: 22,2322 00001 0,1
016930,000252: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
016931,000253: 22,2324 77756 16D,2
016932,000254: 22,2325 77764 10D,2
016933,000255: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
016934,000256: 22,2327 77772 4,2
016935,000257: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
016936,000258: 22,2331 00001 0,1
016937,000259: 22,2332 77650 GOTO
016938,000260: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
016939,000261:
016940,000262: # RETURN WITH M1XM2 IN PD LIST
016941,000263: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
016942,000264: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
016943,000265: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
016944,000266: 22,2337 62713 PDVL* PDVL*
016945,000267: 22,2340 00007 6,1
016946,000268: 22,2341 00015 12D,1
016947,000269: 22,2342 77606 PUSH # MATRIX IN PD
016948,000270: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
016949,000271: 22,2344 00003 2
016950,000272: 22,2345 00007 6
016951,000273: 22,2346 14003 STODL 2
016952,000274: 22,2347 77626 STADR
016953,000275: 22,2350 63770 STODL 6
016954,000276: 22,2351 00005 4
016955,000277: 22,2352 77725 PDDL
016956,000278: 22,2353 00015 12D
016957,000279: 22,2354 14005 STODL 4
016958,000280: 22,2355 77626 STADR
016959,000281: 22,2356 63762 STODL 12D
016960,000282: 22,2357 00013 10D
016961,000283: 22,2360 77725 PDDL
016962,000284: 22,2361 00017 14D
016963,000285: 22,2362 14013 STODL 10D
016964,000286: 22,2363 77626 STADR
016965,000287: 22,2364 77760 STORE 14D
016966,000288: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
016967,000289: 22,2366 00013 MINANG DEC .00069375
016968,000290: 22,2367 17071 MAXANG DEC .472222
016969,000291:
016970,000292: # GIMBAL LOCK CONSTANTS
016971,000293:
016972,000294: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
016973,000295: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
016974,000296:
016975,000297: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
016976,000298: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
016977,000299: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
016978,000300: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
016979,000301: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
016980,000302: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
016981,000303: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
016982,000304: 22,2377 30034 CA CDUZ
016983,000305: 22,2400 54156 TS MPAC +2
016984,000306: 22,2401 00006 EXTEND
016985,000307: 22,2402 30033 DCA CDUX
016986,000308: 22,2403 00003 RELINT
016987,000309: 22,2404 16445 TCF TLOAD +6
016988,000310: 16,2000 BANK 16
016989,000311: 22,2000 SETLOC KALCMON2
016990,000312: 22,2000 BANK
016991,000313:
016992,000314: 22,2405 COUNT* $$/KALC
016993,000315:
016994,000316: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
016995,000317: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
016996,000318: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
016997,000319: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
016998,000320: 22,2411 00010 STORE 7
016999,000321: 22,2412 77601 SETPD
017000,000322: 22,2413 00001 0
017001,000323: 22,2414 47133 LOOPSIN SLOAD* RTB
017002,000324: 22,2415 00013 10D,1
017003,000325: 22,2416 45513 CDULOGIC
017004,000326: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017005,000327: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017006,000328: 22,2421 00013 10D # 4 SIN(THETA)
017007,000329: 22,2422 41546 COS PUSH # 6 COS(THETA)
017008,000330: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017009,000331: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017010,000332: 22,2425 00007 6
017011,000333: 22,2426 72405 DMP SL1
017012,000334: 22,2427 00013 10D
017013,000335: 22,2430 10001 STORE 0,2
017014,000336: 22,2431 77745 DLOAD
017015,000337: 22,2432 00005 4
017016,000338: 22,2433 65205 DMP PDDL
017017,000339: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017018,000340: 22,2435 00007 6
017019,000341: 22,2436 41205 DMP DMP
017020,000342: 22,2437 00011 8D
017021,000343: 22,2440 00003 2
017022,000344: 22,2441 44352 SL1 BDSU
017023,000345: 22,2442 00015 12D
017024,000346: 22,2443 77752 SL1
017025,000347: 22,2444 10003 STORE 2,2
017026,000348: 22,2445 77745 DLOAD
017027,000349: 22,2446 00003 2
017028,000350: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017029,000351: 22,2450 00005 4
017030,000352: 22,2451 00007 6
017031,000353: 22,2452 41205 DMP DMP
017032,000354: 22,2453 00011 8D
017033,000355: 22,2454 00001 0
017034,000356: 22,2455 77752 SL1
017035,000357: 22,2456 72415 DAD SL1
017036,000358: 22,2457 00017 14D
017037,000359: 22,2460 10005 STORE 4,2
017038,000360: 22,2461 77745 DLOAD
017039,000361: 22,2462 00011 8D
017040,000362: 22,2463 10007 STORE 6,2
017041,000363: 22,2464 77745 DLOAD
017042,000364: 22,2465 00013 10D
017043,000365: 22,2466 72405 DMP SL1
017044,000366: 22,2467 00003 2
017045,000367: 22,2470 10011 STORE 8D,2
017046,000368: 22,2471 77745 DLOAD
017047,000369: 22,2472 00013 10D
017048,000370: 22,2473 57405 DMP DCOMP
017049,000371: 22,2474 00001 0
017050,000372: 22,2475 77752 SL1
017051,000373: 22,2476 10013 STORE 10D,2
017052,000374: 22,2477 77745 DLOAD
017053,000375: 22,2500 00005 4
017054,000376: 22,2501 57405 DMP DCOMP
017055,000377: 22,2502 00013 10D
017056,000378: 22,2503 77752 SL1
017057,000379: 22,2504 10015 STORE 12D,2
017058,000380: 22,2505 77745 DLOAD
017059,000381: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017060,000382: 22,2507 00011 8D
017061,000383: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017062,000384: 22,2511 00007 6
017063,000385: 22,2512 00001 0
017064,000386: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017065,000387: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017066,000388: 22,2515 67760 STORE 14D,2
017067,000389: 22,2516 77745 DLOAD
017068,000390: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017069,000391: 22,2520 00011 8D
017070,000392: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017071,000393: 22,2522 00007 6
017072,000394: 22,2523 00003 2
017073,000395: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017074,000396: 22,2525 77626 STADR
017075,000397: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017076,000398: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017077,000399: 22,2530 ENDDCM EQUALS
017078,000400:
017079,000401: 15,2000 BANK 15
017080,000402: 22,2000 SETLOC KALCMON1
017081,000403: 22,2000 BANK
017082,000404:
017083,000405: # CALCULATION OF THE MATRIX DEL......
017084,000406:
017085,000407: # * * --T *
017086,000408: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017087,000409:
017088,000410: # -
017089,000411: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017090,000412: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017091,000413: # -
017092,000414: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017093,000415:
017094,000416: 22,2530 COUNT 22/KALC
017095,000417:
017096,000418: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017097,000419: 22,2531 00001 0
017098,000420: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017099,000421: 22,2533 41546 COS PUSH # PD2 = COS(A)
017100,000422: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017101,000423: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017102,000424: 22,2536 15332 DPHALF
017103,000425: 22,2537 45712 SIGNMPAC
017104,000426:
017105,000427: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017106,000428:
017107,000429: 22,2540 77725 PDDL
017108,000430: 22,2541 03343 COF
017109,000431: 22,2542 41316 DSQ DMP
017110,000432: 22,2543 00005 4
017111,000433: 22,2544 52415 DAD SL3
017112,000434: 22,2545 00003 2
017113,000435: 22,2546 77604 BOVB
017114,000436: 22,2547 45712 SIGNMPAC
017115,000437: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017116,000438: 22,2551 03345 COF +2
017117,000439: 22,2552 41316 DSQ DMP
017118,000440: 22,2553 00005 4
017119,000441: 22,2554 52415 DAD SL3
017120,000442: 22,2555 00003 2
017121,000443: 22,2556 77604 BOVB
017122,000444: 22,2557 45712 SIGNMPAC
017123,000445: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017124,000446: 22,2561 03347 COF +4
017125,000447: 22,2562 41316 DSQ DMP
017126,000448: 22,2563 00005 4
017127,000449: 22,2564 52415 DAD SL3
017128,000450: 22,2565 00003 2
017129,000451: 22,2566 77604 BOVB
017130,000452: 22,2567 45712 SIGNMPAC
017131,000453: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017132,000454:
017133,000455: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017134,000456:
017135,000457: 22,2571 41345 DLOAD DMP
017136,000458: 22,2572 03343 COF
017137,000459: 22,2573 03345 COF +2
017138,000460: 22,2574 72405 DMP SL1
017139,000461: 22,2575 00005 4
017140,000462: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017141,000463: 22,2577 03347 COF +4
017142,000464: 22,2600 00001 0
017143,000465: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017144,000466: 22,2602 00007 6
017145,000467: 22,2603 41112 SL2 BOVB
017146,000468: 22,2604 45712 SIGNMPAC
017147,000469: 22,2605 17434 STODL DEL +6
017148,000470: 22,2606 62421 BDSU SL2
017149,000471: 22,2607 77604 BOVB
017150,000472: 22,2610 45712 SIGNMPAC
017151,000473: 22,2611 17430 STODL DEL +2
017152,000474: 22,2612 03343 COF
017153,000475: 22,2613 41205 DMP DMP
017154,000476: 22,2614 03347 COF +4
017155,000477: 22,2615 00005 4
017156,000478: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017157,000479: 22,2617 03345 COF +2
017158,000480: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017159,000481: 22,2621 00001 0
017160,000482: 22,2622 62415 DAD SL2
017161,000483: 22,2623 00007 6
017162,000484: 22,2624 77604 BOVB
017163,000485: 22,2625 45712 SIGNMPAC
017164,000486: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017165,000487: 22,2627 62421 BDSU SL2
017166,000488: 22,2630 77604 BOVB
017167,000489: 22,2631 45712 SIGNMPAC
017168,000490: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017169,000491: 22,2633 03345 COF +2
017170,000492: 22,2634 41205 DMP DMP
017171,000493: 22,2635 03347 COF +4
017172,000494: 22,2636 00005 4
017173,000495: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017174,000496: 22,2640 03343 COF
017175,000497: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017176,000498: 22,2642 00001 0
017177,000499: 22,2643 62415 DAD SL2
017178,000500: 22,2644 00007 6
017179,000501: 22,2645 77604 BOVB
017180,000502: 22,2646 45712 SIGNMPAC
017181,000503: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017182,000504: 22,2650 62421 BDSU SL2
017183,000505: 22,2651 77604 BOVB
017184,000506: 22,2652 45712 SIGNMPAC
017185,000507: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017186,000508: 22,2654 77616 RVQ
017187,000509:
017188,000510: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017189,000511: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017190,000512: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017191,000513: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017192,000514:
017193,000515: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017194,000516:
017195,000517: # C =COS(THETA)COS(PSI)
017196,000518: # 0
017197,000519:
017198,000520: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017199,000521: # 1
017200,000522:
017201,000523: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017202,000524: # 2
017203,000525:
017204,000526: # C =SIN(PSI)
017205,000527: # 3
017206,000528:
017207,000529: # C =COS(PSI)COS(PHI)
017208,000530: # 4
017209,000531:
017210,000532: # C =-COS(PSI)SIN(PHI)
017211,000533: # 5
017212,000534:
017213,000535: # C =-SIN(THETA)COS(PSI)
017214,000536: # 6
017215,000537:
017216,000538: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017217,000539: # 7
017218,000540: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017219,000541: # 8
017220,000542:
017221,000543: # WHERE PHI = OGA
017222,000544: # THETA = IGA
017223,000545: # PSI = MGA
017224,000546:
017225,000547: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017226,000548: 22,2656 00007 6,1
017227,000549: 22,2657 71406 PUSH COS # PD +0 PSI
017228,000550: 22,2660 41152 SL1 BOVB
017229,000551: 22,2661 45712 SIGNMPAC
017230,000552: 22,2662 00051 STORE S1
017231,000553: 22,2663 57543 DLOAD* DCOMP
017232,000554: 22,2664 00015 12D,1
017233,000555: 22,2665 67471 DDV ARCSIN
017234,000556: 22,2666 00051 S1
017235,000557: 22,2667 51123 PDDL* BPL # PD +2 THETA
017236,000558: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017237,000559: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017238,000560: 22,2672 57545 DLOAD DCOMP
017239,000561: 22,2673 43244 BPL DAD
017240,000562: 22,2674 44700 SUHALFA
017241,000563: 22,2675 15332 DPHALF
017242,000564: 22,2676 77650 GOTO
017243,000565: 22,2677 44702 CALCPHI
017244,000566: 22,2700 77625 SUHALFA DSU
017245,000567: 22,2701 15332 DPHALF
017246,000568: 22,2702 77606 CALCPHI PUSH
017247,000569: 22,2703 57543 OKTHETA DLOAD* DCOMP
017248,000570: 22,2704 00013 10D,1
017249,000571: 22,2705 67471 DDV ARCSIN
017250,000572: 22,2706 00051 S1
017251,000573: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017252,000574: 22,2710 00011 8D,1
017253,000575: 22,2711 44723 OKPHI
017254,000576: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017255,000577: 22,2713 43244 BPL DAD
017256,000578: 22,2714 44720 SUHALFAP
017257,000579: 22,2715 15332 DPHALF
017258,000580: 22,2716 77650 GOTO
017259,000581: 22,2717 44724 VECOFANG
017260,000582: 22,2720 52025 SUHALFAP DSU GOTO
017261,000583: 22,2721 15332 DPHALF
017262,000584: 22,2722 44724 VECOFANG
017263,000585: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017264,000586: 22,2724 43466 VECOFANG VDEF RVQ
017265,000587:
017266,000588: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017267,000589:
017268,000590: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017269,000591: 22,2726 04676 TC BANKCALL
017270,000592: 22,2727 40155 CADR ZEROEROR
017271,000593:
017272,000594: 22,2730 00004 NOGO INHINT
017273,000595: 22,2731 04526 TC STOPRATE
017274,000596:
017275,000597: # TERMINATE MANEUVER
017276,000598: 22,2732 35032 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017277,000599: 22,2733 05261 TC WAITLIST # GOODEND
017278,000600: 22,2734 E6,1661 EBANK= BCDU
017279,000601: 22,2734 02020 42066 2CADR ENDMANU
017280,000602:
017281,000603: 22,2736 15233 TCF ENDOFJOB
017282,000604:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc