Source Code
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These source-code files are part of a reconstructed copy of Comanche 72, the
first release of the Apollo Guidance Computer (AGC) Command Module (CM) software
for Apollo 13.
They have been adapted from sources files created from a listing of Comanche 55.
These source files were updated to match binary dumps of a set of Comanche 67 rope modules.
They were then further modified by applying known changes between Comanche 67 and Comanche 72.
A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used
to validate changes made to banks 05-13. The resulting code assembles to have identical
memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably
high confidence that the changes that have been made are correct. In places where
ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.
Since no contemporary listings of Comanche 72 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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016832,000002: ## Copyright: Public domain.
016833,000003: ## Filename: ANGLFIND.agc
016834,000004: ## Purpose: A section of Comanche revision 072.
016835,000005: ## It is part of the reconstructed source code for the first
016836,000006: ## release of the software for the Command Module's (CM) Apollo
016837,000007: ## Guidance Computer (AGC) for Apollo 13. No original listings
016838,000008: ## of this program are available; instead, this file was recreated
016839,000009: ## from a printout of Comanche 055, binary dumps of a set of
016840,000010: ## Comanche 067 rope modules, and changelogs between Comanche 067
016841,000011: ## and 072. It has been adapted such that the resulting bugger words
016842,000012: ## exactly match those specified for Comanche 072 in NASA drawing
016843,000013: ## 2021153G, which gives relatively high confidence that the
016844,000014: ## reconstruction is correct.
016845,000015: ## Assembler: yaYUL
016846,000016: ## Contact: Ron Burkey <info@sandroid.org>.
016847,000017: ## Website: www.ibiblio.org/apollo/index.html
016848,000018: ## Mod history: 2024-05-13 MAS Created from Comanche 067.
016849,000019:
016850,000020: 15,2000 BANK 15
016851,000021: 22,2000 SETLOC KALCMON1
016852,000022: 22,2000 BANK
016853,000023:
016854,000024: 22,2000 E6,1661 EBANK= BCDU
016855,000025:
016856,000026: 22,2000 COUNT 22/KALC
016857,000027:
016858,000028: 22,2000 06006 KALCMAN3 TC INTPRET
016859,000029: 22,2001 77634 RTB
016860,000030: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
016861,000031: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
016862,000032: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
016863,000033: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
016864,000034: 22,2006 03262 BCDU # (MIS)
016865,000035: 22,2007 77624 CALL
016866,000036: 22,2010 44405 CDUTODCM
016867,000037: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
016868,000038: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
016869,000039: 22,2013 01156 CPHI # (MFS)
016870,000040: 22,2014 77624 CALL
016871,000041: 22,2015 44405 CDUTODCM
016872,000042: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
016873,000043: 22,2017 03320 MIS
016874,000044: 22,2020 44334 TRANSPOS
016875,000045: 22,2021 77775 VLOAD
016876,000046: 22,2022 77626 STADR
016877,000047: 22,2023 50474 STOVL TMIS +12D
016878,000048: 22,2024 77626 STADR
016879,000049: 22,2025 50502 STOVL TMIS +6
016880,000050: 22,2026 77626 STADR
016881,000051: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
016882,000052: 22,2030 75160 AXC,1 AXC,2
016883,000053: 22,2031 03266 TMIS
016884,000054: 22,2032 03425 MFS
016885,000055: 22,2033 77624 CALL
016886,000056: 22,2034 44304 MXM3
016887,000057: 22,2035 45575 VLOAD STADR
016888,000058: 22,2036 50335 STOVL MFI +12D
016889,000059: 22,2037 77626 STADR
016890,000060: 22,2040 50343 STOVL MFI +6
016891,000061: 22,2041 77626 STADR
016892,000062: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
016893,000063: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
016894,000064: 22,2044 00023 18D
016895,000065: 22,2045 44343 TRNSPSPD
016896,000066: 22,2046 45575 VLOAD STADR
016897,000067: 22,2047 50474 STOVL TMFI +12D
016898,000068: 22,2050 77626 STADR
016899,000069: 22,2051 50502 STOVL TMFI +6
016900,000070: 22,2052 77626 STADR
016901,000071: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
016902,000072:
016903,000073: # CALCULATE COFSKEW AND MFISYM
016904,000074:
016905,000075: 22,2054 45345 DLOAD DSU
016906,000076: 22,2055 03271 TMFI +2
016907,000077: 22,2056 03430 MFI +2
016908,000078: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
016909,000079: 22,2060 03432 MFI +4
016910,000080: 22,2061 03273 TMFI +4
016911,000081: 22,2062 45325 PDDL DSU
016912,000082: 22,2063 03301 TMFI +10D
016913,000083: 22,2064 03440 MFI +10D
016914,000084: 22,2065 77666 VDEF
016915,000085: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
016916,000086:
016917,000087: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
016918,000088:
016919,000089: 22,2067 43345 DLOAD DAD
016920,000090: 22,2070 03426 MFI
016921,000091: 22,2071 03446 MFI +16D
016922,000092: 22,2072 43225 DSU DAD
016923,000093: 22,2073 15324 DP1/4TH
016924,000094: 22,2074 03436 MFI +8D
016925,000095: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
016926,000096: 22,2076 77726 ARCCOS
016927,000097: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
016928,000098: 22,2100 51025 DSU BPL
016929,000099: 22,2101 04367 MINANG
016930,000100: 22,2102 44111 CHECKMAX
016931,000101: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
016932,000102: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
016933,000103: 22,2105 45033 CS ONE # ABOUT COMMANDED ANGLES
016934,000104: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
016935,000105: 22,2107 03142 TC LOADCDUD # GOOD RETURN
016936,000106: 22,2110 12730 TCF NOGO
016937,000107:
016938,000108: 22,2111 45345 CHECKMAX DLOAD DSU
016939,000109: 22,2112 03365 AM
016940,000110: 22,2113 04370 MAXANG
016941,000111: 22,2114 77244 BPL VLOAD
016942,000112: 22,2115 44123 ALTCALC # UNIT
016943,000113: 22,2116 03311 COFSKEW # COFSKEW
016944,000114: 22,2117 77656 UNIT
016945,000115: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
016946,000116: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
016947,000117: 22,2122 44737 LOCSKIRT
016948,000118: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
016949,000119: 22,2124 03426 MFI
016950,000120: 22,2125 03267 TMFI
016951,000121: 22,2126 77762 VSR1
016952,000122: 22,2127 27267 STOVL MFISYM
016953,000123: 22,2130 03434 MFI +6
016954,000124: 22,2131 74455 VAD VSR1
016955,000125: 22,2132 03275 TMFI +6
016956,000126: 22,2133 27275 STOVL MFISYM +6
016957,000127: 22,2134 03442 MFI +12D
016958,000128: 22,2135 74455 VAD VSR1
016959,000129: 22,2136 03303 TMFI +12D
016960,000130: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
016961,000131:
016962,000132: # CALCULATE COF
016963,000133:
016964,000134: 22,2140 70545 DLOAD SR1
016965,000135: 22,2141 03317 CAM
016966,000136: 22,2142 45325 PDDL DSU # PD0 CAM $4
016967,000137: 22,2143 15332 DPHALF
016968,000138: 22,2144 03317 CAM
016969,000139: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
016970,000140: 22,2146 45712 SIGNMPAC
016971,000141: 22,2147 03307 MFISYM +16D
016972,000142: 22,2150 56225 DSU DDV
016973,000143: 22,2151 00001 0
016974,000144: 22,2152 00003 2
016975,000145: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
016976,000146: 22,2154 03277 MFISYM +8D # $ ROOT 2
016977,000147: 22,2155 56225 DSU DDV
016978,000148: 22,2156 00001 0
016979,000149: 22,2157 00003 2
016980,000150: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
016981,000151: 22,2161 03267 MFISYM
016982,000152: 22,2162 56225 DSU DDV
016983,000153: 22,2163 00001 0
016984,000154: 22,2164 00003 2
016985,000155: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
016986,000156: 22,2166 77656 UNIT
016987,000157: 22,2167 03343 STORE COF
016988,000158:
016989,000159: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
016990,000160:
016991,000161: 22,2170 45345 COFMAXGO DLOAD DSU
016992,000162: 22,2171 03343 COF
016993,000163: 22,2172 03345 COF +2
016994,000164: 22,2173 71240 BMN DLOAD # COFY G COFX
016995,000165: 22,2174 44203 COMP12
016996,000166: 22,2175 03343 COF
016997,000167: 22,2176 50025 DSU BMN
016998,000168: 22,2177 03347 COF +4
016999,000169: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017000,000170: 22,2201 77650 GOTO
017001,000171: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017002,000172: 22,2203 45345 COMP12 DLOAD DSU
017003,000173: 22,2204 03345 COF +2
017004,000174: 22,2205 03347 COF +4
017005,000175: 22,2206 77640 BMN
017006,000176: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017007,000177:
017008,000178: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017009,000179: 22,2211 03313 COFSKEW +2 # UY
017010,000180: 22,2212 44216 U2POS
017011,000181: 22,2213 57575 VLOAD VCOMP
017012,000182: 22,2214 03343 COF
017013,000183: 22,2215 03343 STORE COF
017014,000184: 22,2216 51145 U2POS DLOAD BPL
017015,000185: 22,2217 03271 MFISYM +2 # UX UY
017016,000186: 22,2220 44224 OKU21
017017,000187: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017018,000188: 22,2222 03343 COF
017019,000189: 22,2223 03343 STORE COF
017020,000190: 22,2224 51145 OKU21 DLOAD BPL
017021,000191: 22,2225 03301 MFISYM +10D # UY UZ
017022,000192: 22,2226 44737 LOCSKIRT
017023,000193: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017024,000194: 22,2230 03347 COF +4
017025,000195: 22,2231 03347 STORE COF +4
017026,000196: 22,2232 77650 GOTO
017027,000197: 22,2233 44737 LOCSKIRT
017028,000198: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017029,000199: 22,2235 03311 COFSKEW # UX
017030,000200: 22,2236 44242 U1POS
017031,000201: 22,2237 57575 VLOAD VCOMP
017032,000202: 22,2240 03343 COF
017033,000203: 22,2241 03343 STORE COF
017034,000204: 22,2242 51145 U1POS DLOAD BPL
017035,000205: 22,2243 03271 MFISYM +2 # UX UY
017036,000206: 22,2244 44250 OKU12
017037,000207: 22,2245 57545 DLOAD DCOMP
017038,000208: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017039,000209: 22,2247 03345 STORE COF +2
017040,000210: 22,2250 51145 OKU12 DLOAD BPL
017041,000211: 22,2251 03273 MFISYM +4 # UX UZ
017042,000212: 22,2252 44737 LOCSKIRT
017043,000213: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017044,000214: 22,2254 03347 COF +4
017045,000215: 22,2255 03347 STORE COF +4
017046,000216: 22,2256 77650 GOTO
017047,000217: 22,2257 44737 LOCSKIRT
017048,000218: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
017049,000219: 22,2261 03315 COFSKEW +4 # UZ
017050,000220: 22,2262 44266 U3POS
017051,000221: 22,2263 57575 VLOAD VCOMP
017052,000222: 22,2264 03343 COF
017053,000223: 22,2265 03343 STORE COF
017054,000224: 22,2266 51145 U3POS DLOAD BPL
017055,000225: 22,2267 03273 MFISYM +4 # UX UZ
017056,000226: 22,2270 44274 OKU31
017057,000227: 22,2271 57545 DLOAD DCOMP
017058,000228: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017059,000229: 22,2273 03343 STORE COF
017060,000230: 22,2274 51145 OKU31 DLOAD BPL
017061,000231: 22,2275 03301 MFISYM +10D # UY UZ
017062,000232: 22,2276 44737 LOCSKIRT
017063,000233: 22,2277 57545 DLOAD DCOMP
017064,000234: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017065,000235: 22,2301 03345 STORE COF +2
017066,000236: 22,2302 77650 GOTO
017067,000237: 22,2303 44737 LOCSKIRT
017068,000238:
017069,000239: # MATRIX OPERATIONS
017070,000240:
017071,000241: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017072,000242: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017073,000243: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017074,000244: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017075,000245: 22,2310 77770 6,2
017076,000246: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017077,000247: 22,2312 77776 0,2
017078,000248: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017079,000249: 22,2314 00001 0,1
017080,000250: 22,2315 77760 14D,2
017081,000251: 22,2316 64723 PDDL* PDDL*
017082,000252: 22,2317 77766 8D,2
017083,000253: 22,2320 77774 2,2
017084,000254: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017085,000255: 22,2322 00001 0,1
017086,000256: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017087,000257: 22,2324 77756 16D,2
017088,000258: 22,2325 77764 10D,2
017089,000259: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017090,000260: 22,2327 77772 4,2
017091,000261: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017092,000262: 22,2331 00001 0,1
017093,000263: 22,2332 77650 GOTO
017094,000264: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017095,000265:
017096,000266: # RETURN WITH M1XM2 IN PD LIST
017097,000267: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017098,000268: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017099,000269: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017100,000270: 22,2337 62713 PDVL* PDVL*
017101,000271: 22,2340 00007 6,1
017102,000272: 22,2341 00015 12D,1
017103,000273: 22,2342 77606 PUSH # MATRIX IN PD
017104,000274: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017105,000275: 22,2344 00003 2
017106,000276: 22,2345 00007 6
017107,000277: 22,2346 14003 STODL 2
017108,000278: 22,2347 77626 STADR
017109,000279: 22,2350 63770 STODL 6
017110,000280: 22,2351 00005 4
017111,000281: 22,2352 77725 PDDL
017112,000282: 22,2353 00015 12D
017113,000283: 22,2354 14005 STODL 4
017114,000284: 22,2355 77626 STADR
017115,000285: 22,2356 63762 STODL 12D
017116,000286: 22,2357 00013 10D
017117,000287: 22,2360 77725 PDDL
017118,000288: 22,2361 00017 14D
017119,000289: 22,2362 14013 STODL 10D
017120,000290: 22,2363 77626 STADR
017121,000291: 22,2364 77760 STORE 14D
017122,000292: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017123,000293: 22,2366 00013 MINANG DEC .00069375
017124,000294: 22,2367 17071 MAXANG DEC .472222
017125,000295:
017126,000296: # GIMBAL LOCK CONSTANTS
017127,000297:
017128,000298: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017129,000299: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017130,000300:
017131,000301: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017132,000302: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017133,000303: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017134,000304: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017135,000305: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017136,000306: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017137,000307: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017138,000308: 22,2377 30034 CA CDUZ
017139,000309: 22,2400 54156 TS MPAC +2
017140,000310: 22,2401 00006 EXTEND
017141,000311: 22,2402 30033 DCA CDUX
017142,000312: 22,2403 00003 RELINT
017143,000313: 22,2404 16445 TCF TLOAD +6
017144,000314: 16,2000 BANK 16
017145,000315: 22,2000 SETLOC KALCMON2
017146,000316: 22,2000 BANK
017147,000317:
017148,000318: 22,2405 COUNT* $$/KALC
017149,000319:
017150,000320: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017151,000321: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017152,000322: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017153,000323: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017154,000324: 22,2411 00010 STORE 7
017155,000325: 22,2412 77601 SETPD
017156,000326: 22,2413 00001 0
017157,000327: 22,2414 47133 LOOPSIN SLOAD* RTB
017158,000328: 22,2415 00013 10D,1
017159,000329: 22,2416 45513 CDULOGIC
017160,000330: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017161,000331: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017162,000332: 22,2421 00013 10D # 4 SIN(THETA)
017163,000333: 22,2422 41546 COS PUSH # 6 COS(THETA)
017164,000334: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017165,000335: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017166,000336: 22,2425 00007 6
017167,000337: 22,2426 72405 DMP SL1
017168,000338: 22,2427 00013 10D
017169,000339: 22,2430 10001 STORE 0,2
017170,000340: 22,2431 77745 DLOAD
017171,000341: 22,2432 00005 4
017172,000342: 22,2433 65205 DMP PDDL
017173,000343: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017174,000344: 22,2435 00007 6
017175,000345: 22,2436 41205 DMP DMP
017176,000346: 22,2437 00011 8D
017177,000347: 22,2440 00003 2
017178,000348: 22,2441 44352 SL1 BDSU
017179,000349: 22,2442 00015 12D
017180,000350: 22,2443 77752 SL1
017181,000351: 22,2444 10003 STORE 2,2
017182,000352: 22,2445 77745 DLOAD
017183,000353: 22,2446 00003 2
017184,000354: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017185,000355: 22,2450 00005 4
017186,000356: 22,2451 00007 6
017187,000357: 22,2452 41205 DMP DMP
017188,000358: 22,2453 00011 8D
017189,000359: 22,2454 00001 0
017190,000360: 22,2455 77752 SL1
017191,000361: 22,2456 72415 DAD SL1
017192,000362: 22,2457 00017 14D
017193,000363: 22,2460 10005 STORE 4,2
017194,000364: 22,2461 77745 DLOAD
017195,000365: 22,2462 00011 8D
017196,000366: 22,2463 10007 STORE 6,2
017197,000367: 22,2464 77745 DLOAD
017198,000368: 22,2465 00013 10D
017199,000369: 22,2466 72405 DMP SL1
017200,000370: 22,2467 00003 2
017201,000371: 22,2470 10011 STORE 8D,2
017202,000372: 22,2471 77745 DLOAD
017203,000373: 22,2472 00013 10D
017204,000374: 22,2473 57405 DMP DCOMP
017205,000375: 22,2474 00001 0
017206,000376: 22,2475 77752 SL1
017207,000377: 22,2476 10013 STORE 10D,2
017208,000378: 22,2477 77745 DLOAD
017209,000379: 22,2500 00005 4
017210,000380: 22,2501 57405 DMP DCOMP
017211,000381: 22,2502 00013 10D
017212,000382: 22,2503 77752 SL1
017213,000383: 22,2504 10015 STORE 12D,2
017214,000384: 22,2505 77745 DLOAD
017215,000385: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017216,000386: 22,2507 00011 8D
017217,000387: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017218,000388: 22,2511 00007 6
017219,000389: 22,2512 00001 0
017220,000390: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017221,000391: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017222,000392: 22,2515 67760 STORE 14D,2
017223,000393: 22,2516 77745 DLOAD
017224,000394: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017225,000395: 22,2520 00011 8D
017226,000396: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017227,000397: 22,2522 00007 6
017228,000398: 22,2523 00003 2
017229,000399: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017230,000400: 22,2525 77626 STADR
017231,000401: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017232,000402: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017233,000403: 22,2530 ENDDCM EQUALS
017234,000404:
017235,000405: 15,2000 BANK 15
017236,000406: 22,2000 SETLOC KALCMON1
017237,000407: 22,2000 BANK
017238,000408:
017239,000409: # CALCULATION OF THE MATRIX DEL......
017240,000410:
017241,000411: # * * --T *
017242,000412: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017243,000413:
017244,000414: # -
017245,000415: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017246,000416: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017247,000417: # -
017248,000418: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017249,000419:
017250,000420: 22,2530 COUNT 22/KALC
017251,000421:
017252,000422: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017253,000423: 22,2531 00001 0
017254,000424: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017255,000425: 22,2533 41546 COS PUSH # PD2 = COS(A)
017256,000426: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017257,000427: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017258,000428: 22,2536 15332 DPHALF
017259,000429: 22,2537 45712 SIGNMPAC
017260,000430:
017261,000431: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017262,000432:
017263,000433: 22,2540 77725 PDDL
017264,000434: 22,2541 03343 COF
017265,000435: 22,2542 41316 DSQ DMP
017266,000436: 22,2543 00005 4
017267,000437: 22,2544 52415 DAD SL3
017268,000438: 22,2545 00003 2
017269,000439: 22,2546 77604 BOVB
017270,000440: 22,2547 45712 SIGNMPAC
017271,000441: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017272,000442: 22,2551 03345 COF +2
017273,000443: 22,2552 41316 DSQ DMP
017274,000444: 22,2553 00005 4
017275,000445: 22,2554 52415 DAD SL3
017276,000446: 22,2555 00003 2
017277,000447: 22,2556 77604 BOVB
017278,000448: 22,2557 45712 SIGNMPAC
017279,000449: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017280,000450: 22,2561 03347 COF +4
017281,000451: 22,2562 41316 DSQ DMP
017282,000452: 22,2563 00005 4
017283,000453: 22,2564 52415 DAD SL3
017284,000454: 22,2565 00003 2
017285,000455: 22,2566 77604 BOVB
017286,000456: 22,2567 45712 SIGNMPAC
017287,000457: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017288,000458:
017289,000459: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017290,000460:
017291,000461: 22,2571 41345 DLOAD DMP
017292,000462: 22,2572 03343 COF
017293,000463: 22,2573 03345 COF +2
017294,000464: 22,2574 72405 DMP SL1
017295,000465: 22,2575 00005 4
017296,000466: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017297,000467: 22,2577 03347 COF +4
017298,000468: 22,2600 00001 0
017299,000469: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017300,000470: 22,2602 00007 6
017301,000471: 22,2603 41112 SL2 BOVB
017302,000472: 22,2604 45712 SIGNMPAC
017303,000473: 22,2605 17434 STODL DEL +6
017304,000474: 22,2606 62421 BDSU SL2
017305,000475: 22,2607 77604 BOVB
017306,000476: 22,2610 45712 SIGNMPAC
017307,000477: 22,2611 17430 STODL DEL +2
017308,000478: 22,2612 03343 COF
017309,000479: 22,2613 41205 DMP DMP
017310,000480: 22,2614 03347 COF +4
017311,000481: 22,2615 00005 4
017312,000482: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017313,000483: 22,2617 03345 COF +2
017314,000484: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017315,000485: 22,2621 00001 0
017316,000486: 22,2622 62415 DAD SL2
017317,000487: 22,2623 00007 6
017318,000488: 22,2624 77604 BOVB
017319,000489: 22,2625 45712 SIGNMPAC
017320,000490: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017321,000491: 22,2627 62421 BDSU SL2
017322,000492: 22,2630 77604 BOVB
017323,000493: 22,2631 45712 SIGNMPAC
017324,000494: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017325,000495: 22,2633 03345 COF +2
017326,000496: 22,2634 41205 DMP DMP
017327,000497: 22,2635 03347 COF +4
017328,000498: 22,2636 00005 4
017329,000499: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017330,000500: 22,2640 03343 COF
017331,000501: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017332,000502: 22,2642 00001 0
017333,000503: 22,2643 62415 DAD SL2
017334,000504: 22,2644 00007 6
017335,000505: 22,2645 77604 BOVB
017336,000506: 22,2646 45712 SIGNMPAC
017337,000507: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017338,000508: 22,2650 62421 BDSU SL2
017339,000509: 22,2651 77604 BOVB
017340,000510: 22,2652 45712 SIGNMPAC
017341,000511: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017342,000512: 22,2654 77616 RVQ
017343,000513:
017344,000514: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017345,000515: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017346,000516: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017347,000517: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017348,000518:
017349,000519: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017350,000520:
017351,000521: # C =COS(THETA)COS(PSI)
017352,000522: # 0
017353,000523:
017354,000524: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017355,000525: # 1
017356,000526:
017357,000527: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017358,000528: # 2
017359,000529:
017360,000530: # C =SIN(PSI)
017361,000531: # 3
017362,000532:
017363,000533: # C =COS(PSI)COS(PHI)
017364,000534: # 4
017365,000535:
017366,000536: # C =-COS(PSI)SIN(PHI)
017367,000537: # 5
017368,000538:
017369,000539: # C =-SIN(THETA)COS(PSI)
017370,000540: # 6
017371,000541:
017372,000542: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017373,000543: # 7
017374,000544: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017375,000545: # 8
017376,000546:
017377,000547: # WHERE PHI = OGA
017378,000548: # THETA = IGA
017379,000549: # PSI = MGA
017380,000550:
017381,000551: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017382,000552: 22,2656 00007 6,1
017383,000553: 22,2657 71406 PUSH COS # PD +0 PSI
017384,000554: 22,2660 41152 SL1 BOVB
017385,000555: 22,2661 45712 SIGNMPAC
017386,000556: 22,2662 00051 STORE S1
017387,000557: 22,2663 57543 DLOAD* DCOMP
017388,000558: 22,2664 00015 12D,1
017389,000559: 22,2665 67471 DDV ARCSIN
017390,000560: 22,2666 00051 S1
017391,000561: 22,2667 51123 PDDL* BPL # PD +2 THETA
017392,000562: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017393,000563: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017394,000564: 22,2672 57545 DLOAD DCOMP
017395,000565: 22,2673 43244 BPL DAD
017396,000566: 22,2674 44700 SUHALFA
017397,000567: 22,2675 15332 DPHALF
017398,000568: 22,2676 77650 GOTO
017399,000569: 22,2677 44702 CALCPHI
017400,000570: 22,2700 77625 SUHALFA DSU
017401,000571: 22,2701 15332 DPHALF
017402,000572: 22,2702 77606 CALCPHI PUSH
017403,000573: 22,2703 57543 OKTHETA DLOAD* DCOMP
017404,000574: 22,2704 00013 10D,1
017405,000575: 22,2705 67471 DDV ARCSIN
017406,000576: 22,2706 00051 S1
017407,000577: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017408,000578: 22,2710 00011 8D,1
017409,000579: 22,2711 44723 OKPHI
017410,000580: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017411,000581: 22,2713 43244 BPL DAD
017412,000582: 22,2714 44720 SUHALFAP
017413,000583: 22,2715 15332 DPHALF
017414,000584: 22,2716 77650 GOTO
017415,000585: 22,2717 44724 VECOFANG
017416,000586: 22,2720 52025 SUHALFAP DSU GOTO
017417,000587: 22,2721 15332 DPHALF
017418,000588: 22,2722 44724 VECOFANG
017419,000589: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017420,000590: 22,2724 43466 VECOFANG VDEF RVQ
017421,000591:
017422,000592: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017423,000593:
017424,000594: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017425,000595: 22,2726 04676 TC BANKCALL
017426,000596: 22,2727 40155 CADR ZEROEROR
017427,000597:
017428,000598: 22,2730 00004 NOGO INHINT
017429,000599: 22,2731 04526 TC STOPRATE
017430,000600:
017431,000601: # TERMINATE MANEUVER
017432,000602: 22,2732 35032 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017433,000603: 22,2733 05261 TC WAITLIST # GOODEND
017434,000604: 22,2734 E6,1661 EBANK= BCDU
017435,000605: 22,2734 02020 42066 2CADR ENDMANU
017436,000606:
017437,000607: 22,2736 15233 TCF ENDOFJOB
017438,000608:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc