- B1 — Revision 292
- B2 — Revision 302
- B3 — Revision 302
- B4 — Revision 302
- B5 — Revision 292
- B6 — Revision 306
Source Code
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These source code files are an attempted reconstruction of Sundance revision 306, the Apollo 9
LM (Lunar Module) AGC (Apollo Guidance Computer) flight software, created from binary dumps of
original core rope program modules, as follows:
|
043957,000002: ## Copyright: Public domain.
043958,000003: ## Filename: PLANETARY_INERTIAL_ORIENTATION.agc
043959,000004: ## Purpose: A section of an attempt to reconstruct Sundance revision 306
043960,000005: ## as closely as possible with available information. Sundance
043961,000006: ## 306 is the source code for the Lunar Module's (LM) Apollo
043962,000007: ## Guidance Computer (AGC) for Apollo 9. This program was created
043963,000008: ## using the mixed-revision SundanceXXX as a starting point, and
043964,000009: ## pulling back features from Luminary 69 believed to have been
043965,000010: ## added based on memos, checklists, observed address changes,
043966,000011: ## or the Sundance GSOPs.
043967,000012: ## Assembler: yaYUL
043968,000013: ## Contact: Ron Burkey <info@sandroid.org>.
043969,000014: ## Website: www.ibiblio.org/apollo/index.html
043970,000015: ## Mod history: 2020-07-24 MAS Created from SundanceXXX.
043971,000016:
043972,000017:
043973,000018:
043974,000019: # ..... RP-TO-R SUBROUTINE .....
043975,000020: # SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM, EITHER
043976,000021: # EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN THE BASIC REF. SYSTEM)
043977,000022:
043978,000023: # R = MT(T)*(RP + LP X RP) MT = M MATRIX TRANSPOSE
043979,000024:
043980,000025: # CALLING SEQUENCE
043981,000026: # L CALL
043982,000027: # L+1 RP-TO-R
043983,000028:
043984,000029: # SUBROUTINES USED
043985,000030: # EARTHMX,MOONMX,EARTHL
043986,000031:
043987,000032: # ITEMS AVAILABLE FROM LAUNCH DATA
043988,000033: # 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED
043989,000034: # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
043990,000035:
043991,000036: # ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.)
043992,000037:
043993,000038: # INPUT
043994,000039: # MPAC= 0 FOR EARTH, NON-ZERO FOR MOON
043995,000040: # 0-5D= RP VECTOR
043996,000041: # 6-7D= TIME
043997,000042:
043998,000043: # OUTPUT
043999,000044: # MPAC = R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
044000,000045:
044001,000046: 24,2000 SETLOC PLANTIN
044002,000047: 24,2000 BANK
044003,000048:
044004,000049: 24,3222 COUNT* $$/LUROT
044005,000050:
044006,000051: 24,3222 46020 RP-TO-R STQ BHIZ
044007,000052: 24,3223 00050 RPREXIT
044008,000053: 24,3224 51237 RPTORA
044009,000054: 24,3225 77624 CALL # COMPUTE M MATRIX FOR MOON
044010,000055: 24,3226 51277 MOONMX # LP=LM FOR MOON RADIANS B0
044011,000056: 24,3227 77775 VLOAD
044012,000057: 24,3230 02011 504LM
044013,000058: 24,3231 53235 RPTORB VXV VAD
044014,000059: 24,3232 00001 504RPR
044015,000060: 24,3233 00001 504RPR
044016,000061: 24,3234 52105 VXM GOTO
044017,000062: 24,3235 00025 MMATRIX # MPAC=R=MT(T)*(RP+LPXRP)
044018,000063: 24,3236 51265 RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING
044019,000064: 24,3237 77624 RPTORA CALL # EARTH COMPUTATIONS
044020,000065: 24,3240 51451 EARTHMX # M MATRIX B-1
044021,000066: 24,3241 77624 CALL
044022,000067: 24,3242 51503 EARTHL # L VECTOR RADIANS B0
044023,000068: 24,3243 76521 MXV VSL1 # LP=M(T)*L RAD B-0
044024,000069: 24,3244 00025 MMATRIX
044025,000070: 24,3245 77650 GOTO
044026,000071: 24,3246 51231 RPTORB
044027,000072:
044028,000073: # ..... R-TO-RP SUBROUTINE .....
044029,000074: # SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP
044030,000075: # (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED
044031,000076:
044032,000077: # RP = M(T)*(R - L X R)
044033,000078:
044034,000079: # CALLING SEQUENCE
044035,000080: # L CALL
044036,000081: # L+1 R-TO-RP
044037,000082:
044038,000083: # SUBROUTINES USED
044039,000084: # EARTHMX,MOONMX,EARTHL
044040,000085:
044041,000086: # INPUT
044042,000087: # MPAC= 0 FOR EARTH,NON-ZERO FOR MOON
044043,000088: # 0-5D= R VECTOR
044044,000089: # 6-7D= TIME
044045,000090:
044046,000091: # ITEMS AVAILABLE FROM LAUNCH DATA
044047,000092: # 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL,EXPRESSED
044048,000093: # IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
044049,000094:
044050,000095: # ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.)
044051,000096:
044052,000097: # OUTPUT
044053,000098: # MPAC = RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
044054,000099:
044055,000100: 24,3247 46020 R-TO-RP STQ BHIZ
044056,000101: 24,3250 00050 RPREXIT
044057,000102: 24,3251 51271 RTORPA
044058,000103: 24,3252 77624 CALL
044059,000104: 24,3253 51277 MOONMX
044060,000105: 24,3254 61375 VLOAD VXM
044061,000106: 24,3255 02011 504LM # LP=LM
044062,000107: 24,3256 00025 MMATRIX
044063,000108: 24,3257 77772 VSL1 # L=MT(T)*LP RADIANS B0
044064,000109: 24,3260 51235 RTORPB VXV BVSU
044065,000110: 24,3261 00001 504RPR
044066,000111: 24,3262 00001 504RPR
044067,000112: 24,3263 77721 MXV # M(T)*(R-LXR) B-2
044068,000113: 24,3264 00025 MMATRIX
044069,000114: 24,3265 40372 RPRPXXXX VSL1 SETPD
044070,000115: 24,3266 00001 0D
044071,000116: 24,3267 77650 GOTO
044072,000117: 24,3270 00050 RPREXIT
044073,000118: 24,3271 77624 RTORPA CALL # EARTH COMPUTATIONS
044074,000119: 24,3272 51451 EARTHMX
044075,000120: 24,3273 77624 CALL
044076,000121: 24,3274 51503 EARTHL
044077,000122: 24,3275 77650 GOTO # MPAC=L=(-AX,-AY,0) RAD B-0
044078,000123: 24,3276 51260 RTORPB
044079,000124:
044080,000125: # ..... MOONMX SUBROUTINE .....
044081,000126: # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON
044082,000127:
044083,000128: # CALLING SEQUENCE
044084,000129: # L CALL
044085,000130: # L+1 MOONMX
044086,000131:
044087,000132: # SUBROUTINES USED
044088,000133: # NEWANGLE
044089,000134:
044090,000135: # INPUT
044091,000136: # 6-7D= TIME
044092,000137:
044093,000138: # ITEMS AVAILABLE FROM LAUNCH DATA
044094,000139: # BSUBO,BDOT
044095,000140: # TIMSUBO,NODIO,NODDOT,FSUBO,FDOT
044096,000141: # COSI= COS(I) B-1
044097,000142: # SINI= SIN(I) B-1
044098,000143: # I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE
044099,000144: # PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES)
044100,000145:
044101,000146: # OUTPUT
044102,000147: # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
044103,000148:
044104,000149: 24,3277 40220 MOONMX STQ SETPD
044105,000150: 24,3300 00051 EARTHMXX
044106,000151: 24,3301 00011 8D
044107,000152: 24,3302 77770 AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE
044108,000153: 24,3303 00005 5
044109,000154: 24,3304 65345 DLOAD PDDL # PD 10D 8-9D=BSUBO
044110,000155: 24,3305 11533 BSUBO # 10-11D=BDOT
044111,000156: 24,3306 11525 BDOT
044112,000157: 24,3307 45006 PUSH CALL # PD 12D
044113,000158: 24,3310 51424 NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0
044114,000159: 24,3311 71406 PUSH COS # PD 10D
044115,000160: 24,3312 14041 STODL COB # PD 8D COS(B) B-1
044116,000161: 24,3313 77756 SIN # SIN(B) B-1
044117,000162: 24,3314 14043 STODL SOB # SETUP INPUT FOR NEWANGLE
044118,000163: 24,3315 11531 FSUBO # 8-9D=FSUBO
044119,000164: 24,3316 41525 PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT
044120,000165: 24,3317 11523 FDOT
044121,000166: 24,3320 45170 AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE
044122,000167: 24,3321 00004 4
044123,000168: 24,3322 51424 NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0
044124,000169: 24,3323 14027 STODL AVECTR +2 # SAVE F TEMP
044125,000170: 24,3324 11527 NODIO # 8-9D=NODIO
044126,000171: 24,3325 41525 PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT
044127,000172: 24,3326 11521 NODDOT # MPAC=T
044128,000173: 24,3327 45170 AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE
044129,000174: 24,3330 00005 5
044130,000175: 24,3331 51424 NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0
044131,000176: 24,3332 71406 PUSH COS # PD 10D 8-9D= NODI REVS B0
044132,000177: 24,3333 77606 PUSH # PD 12D 10-11D= COS(NODI) B-1
044133,000178: 24,3334 00025 STORE AVECTR
044134,000179: 24,3335 76405 DMP SL1R
044135,000180: 24,3336 00041 COB # COS(NODI) B-1
044136,000181: 24,3337 14035 STODL BVECTR +2 # PD 10D 20-25D=AVECTR= COB*SIN(NODI)
044137,000182: 24,3340 76405 DMP SL1R # SOB*SIN(NODI)
044138,000183: 24,3341 00043 SOB
044139,000184: 24,3342 14037 STODL BVECTR +4 # PD 8D
044140,000185: 24,3343 41556 SIN PUSH # PD 10D -SIN(NODI) B-1
044141,000186: 24,3344 77676 DCOMP # 26-31D=BVECTR= COB*COS(NODI)
044142,000187: 24,3345 14033 STODL BVECTR # PD 8D SOB*COS(NODI)
044143,000188: 24,3346 00027 AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F
044144,000189: 24,3347 14007 STODL 504F
044145,000190: 24,3350 76405 DMP SL1R
044146,000191: 24,3351 00041 COB
044147,000192: 24,3352 14027 STODL AVECTR +2
044148,000193: 24,3353 00011 SINNODI # 8-9D=SIN(NODI) B-1
044149,000194: 24,3354 76405 DMP SL1R
044150,000195: 24,3355 00043 SOB
044151,000196: 24,3356 14031 STODL AVECTR +4 # 0
044152,000197: 24,3357 06233 HI6ZEROS # 8-13D= CVECTR= -SOB B-1
044153,000198: 24,3360 57525 PDDL DCOMP # PD 10D COB
044154,000199: 24,3361 00043 SOB
044155,000200: 24,3362 63325 PDDL PDVL # PD 12D THEN PD 14D
044156,000201: 24,3363 00041 COB
044157,000202: 24,3364 00033 BVECTR
044158,000203: 24,3365 63361 VXSC PDVL # PD 20D BVECTR*SINI B-2
044159,000204: 24,3366 11517 SINI
044160,000205: 24,3367 00011 CVECTR
044161,000206: 24,3370 53361 VXSC VAD # PD 14D CVECTR*COSI B-2
044162,000207: 24,3371 11515 COSI
044163,000208: 24,3372 77772 VSL1
044164,000209: 24,3373 24041 STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1
044165,000210: 24,3374 63361 VXSC PDVL # PD 14D
044166,000211: 24,3375 11517 SINI # CVECTR*SINI B-2
044167,000212: 24,3376 00033 BVECTR
044168,000213: 24,3377 52361 VXSC VSU # PD 8D BVECTR*COSI B-2
044169,000214: 24,3400 11515 COSI
044170,000215: 24,3401 65372 VSL1 PDDL # PD 14D
044171,000216: 24,3402 00007 504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1
044172,000217: 24,3403 74346 COS VXSC
044173,000218: 24,3404 00011 DVECTR
044174,000219: 24,3405 73525 PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2
044175,000220: 24,3406 00007 504F
044176,000221: 24,3407 52361 VXSC VSU # PD 14D AVECTR*SINF B-2
044177,000222: 24,3410 00025 AVECTR
044178,000223: 24,3411 77772 VSL1
044179,000224: 24,3412 14033 STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1
044180,000225: 24,3413 00007 504F
044181,000226: 24,3414 74356 SIN VXSC # PD 8D
044182,000227: 24,3415 71525 PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2
044183,000228: 24,3416 00007 504F
044184,000229: 24,3417 53361 VXSC VAD # PD 8D AVECTR*COSF B-2
044185,000230: 24,3420 00025 AVECTR
044186,000231: 24,3421 57572 VSL1 VCOMP
044187,000232: 24,3422 34025 STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1
044188,000233: 24,3423 00051 EARTHMXX
044189,000234:
044190,000235: # COMPUTE X=X0+(XDOT)(T+T0)
044191,000236: # 8-9D= XO (REVS B-0), PUSHLOC SET AT 12D
044192,000237: # 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT
044193,000238: # AND B+27 FOR FDOT
044194,000239: # X1=DIFFERENCE IN 23 AND SCALING OF XDOT,=0 FOR WEARTH,5 FOR NODDOT AND
044195,000240: # BDOT AND 4 FOR FDOT
044196,000241: # 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.)
044197,000242:
044198,000243: 24,3424 54345 NEWANGLE DLOAD SR # ENTER PD 12D
044199,000244: 24,3425 00007 6D
044200,000245: 24,3426 20617 14D
044201,000246: 24,3427 72371 TAD TLOAD # CHANGE MODE TO TP
044202,000247: 24,3430 01707 TIMSUBO
044203,000248: 24,3431 00155 MPAC
044204,000249: 24,3432 14017 STODL TIMSUBM # T+T0 CSEC B-42
044205,000250: 24,3433 00020 TIMSUBM +1
044206,000251: 24,3434 77605 DMP # PD 10D MULT BY XDOT IN 10-11D
044207,000252: 24,3435 43257 SL* DAD # PD 8D ADD XO IN 8-9D AFTER SHIFTING
044208,000253: 24,3436 20206 5,1 # SUCH THAT SCALING IS B-0
044209,000254: 24,3437 67206 PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D
044210,000255: 24,3440 00017 TIMSUBM
044211,000256: 24,3441 41261 SL DMP
044212,000257: 24,3442 20212 9D
044213,000258: 24,3443 00013 10D # XDOT
044214,000259: 24,3444 43257 SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X
044215,000260: 24,3445 20213 10D,1 # IS SCALED REVS/CSEC B-0
044216,000261: 24,3446 77600 BOV # TURN OFF OVERFLOW IF SET BY SHIFT
044217,000262: 24,3447 51450 +1 # INSTRUCTION BEFORE EXITING
044218,000263: 24,3450 77616 RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0
044219,000264:
044220,000265: # ..... EARTHMX SUBROUTINE .....
044221,000266: # SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH
044222,000267:
044223,000268: # CALLING SEQUENCE
044224,000269: # L CALL
044225,000270: # L+1 EARTHMX
044226,000271:
044227,000272: # SUBROUTINES USED
044228,000273: # NEWANGLE
044229,000274:
044230,000275: # INPUT
044231,000276: # INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0
044232,000277: # TEPHEM CSEC B-42
044233,000278: # 6-7D= TIME CSEC B-28
044234,000279:
044235,000280: # OUTPUT
044236,000281: # MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
044237,000282:
044238,000283: 24,3451 40220 EARTHMX STQ SETPD # SET 8-9D=AZO
044239,000284: 24,3452 00051 EARTHMXX
044240,000285: 24,3453 00011 8D # 10-11D=WEARTH
044241,000286: 24,3454 77770 AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE
044242,000287: 24,3455 00000 0
044243,000288: 24,3456 65345 DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE
044244,000289: 24,3457 01712 AZO
044245,000290: 24,3460 11535 WEARTH
044246,000291: 24,3461 45006 PUSH CALL
044247,000292: 24,3462 51424 NEWANGLE
044248,000293: 24,3463 41401 SETPD PUSH # 18-19D=504AZ
044249,000294: 24,3464 00023 18D # COS(AZ) SIN(AZ) 0
044250,000295: 24,3465 65346 COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1
044251,000296: 24,3466 00023 504AZ # 0 0 1
044252,000297: 24,3467 65356 SIN PDDL
044253,000298: 24,3470 06233 HI6ZEROS
044254,000299: 24,3471 73525 PDDL SIN
044255,000300: 24,3472 00023 504AZ
044256,000301: 24,3473 65276 DCOMP PDDL
044257,000302: 24,3474 00023 504AZ
044258,000303: 24,3475 63346 COS PDVL
044259,000304: 24,3476 06233 HI6ZEROS
044260,000305: 24,3477 41525 PDDL PUSH
044261,000306: 24,3500 06231 HIDPHALF
044262,000307: 24,3501 77650 GOTO
044263,000308: 24,3502 00051 EARTHMXX
044264,000309:
044265,000310: # ..... EARTHL SUBROUTINE .....
044266,000311: # SUBROUTINE TO COMPUTE L VECTOR FOR EARTH
044267,000312:
044268,000313: # CALLING SEQUENCE
044269,000314: # L CALL
044270,000315: # L+1 EARTHL
044271,000316:
044272,000317: # INPUT
044273,000318: # AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE
044274,000319:
044275,000320: # OUTPUT
044276,000321: # -AX
044277,000322: # MPAC= -AY RADIANS B-0
044278,000323: # 0
044279,000324:
044280,000325: 24,3503 57545 EARTHL DLOAD DCOMP
044281,000326: 24,3504 01716 AXO
044282,000327: 24,3505 14017 STODL 504LPL
044283,000328: 24,3506 01714 -AYO
044284,000329: 24,3507 14021 STODL 504LPL +2
044285,000330: 24,3510 06233 HI6ZEROS
044286,000331: 24,3511 24023 STOVL 504LPL +4
044287,000332: 24,3512 00017 504LPL
044288,000333: 24,3513 77616 RVQ
044289,000334:
044290,000335: # CONSTANTS AND ERASABLE ASSIGNMENTS
044291,000336:
044292,000337: 24,3514 17775 01734 COSI 2DEC .99964115 B-1 # COS(1 DEG 32.1 MIN) B-1
044293,000338: 24,3516 00333 16153 SINI 2DEC .02678760 B-1 # SIN(1 DEG 32.1 MIN) B-1
044294,000339: 24,3520 77665 42175 NODDOT 2DEC -.457335143 E-2 # REVS/CSEC B+28=-1.07047016 E-8 RAD/SEC
044295,000340: 24,3522 22211 00265 FDOT 2DEC .570862491 # REVS/CSEC B+27= 2.67240019 E-6 RAD/SEC
044296,000341:
044297,000342: 24,3524 77777 77767 BDOT 2DEC -3.07500412 E-8 # REVS/CSEC B+28=-7.19756666 E-14 RAD/SEC
044298,000343: 24,3526 41215 66331 NODIO 2DEC -.960101269 # REVS B-O = -6.03249419 RAD
044299,000344: 24,3530 15237 26751 FSUBO 2DEC .415998375 # REVS B-O = 2.61379488 RAD
044300,000345: 24,3532 02052 35713 BSUBO 2DEC .0651205006 # REVS B-O = 0.409164173 RAD
044301,000346: 24,3534 37116 32630 WEARTH 2DEC .973561855 # REVS/CSEC B+23=7.29211515 E-5 RAD/SEC
044302,000347:
044303,000348: 24,3536 11,2273 1B1 = DP1/2 # 1 SCALED B-1
044304,000349: 24,3536 0000050 RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT
044305,000350: 24,3536 0000051 EARTHMXX = S2 # EARTHMX,MOONMX SUBR. EXITS
044306,000351: 24,3536 504RPR = 0D # 6 REGS R OR RP VECTOR
044307,000352: 24,3536 SINNODI = 8D # 2 SIN(NODI)
044308,000353: 24,3536 DVECTR = 8D # 6 D VECTOR MOON
044309,000354: 24,3536 CVECTR = 8D # 6 C VECTR MOON
044310,000355: 24,3536 504AZ = 18D # 2 AZ
044311,000356: 24,3536 TIMSUBM = 14D # 3 TIME SUB M (MOON) T+T0 IN GETAZ
044312,000357: 24,3536 504LPL = 14D # 6 L OR LP VECTOR
044313,000358: 24,3536 AVECTR = 20D # 6 A VECTOR (MOON)
044314,000359: 24,3536 BVECTR = 26D # 6 B VECTOR (MOON)
044315,000360: 24,3536 MMATRIX = 20D # 18 M MATRIX
044316,000361: 24,3536 COB = 32D # 2 COS(B) B-1
044317,000362: 24,3536 SOB = 34D # 2 SIN(B) B-1
044318,000363: 24,3536 504F = 6D # 2 F(MOON)
044319,000364:
End of include-file PLANETARY_INERTIAL_ORIENTATION.agc. Parent file is MAIN.agc