Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note 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 transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
054222,000002: ## Copyright: Public domain.
054223,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
054224,000004: ## Purpose: A log section of Zerlina 56, the final revision of
054225,000005: ## Don Eyles's offline development program for the variable
054226,000006: ## guidance period servicer. It also includes a new P66 with LPD
054227,000007: ## (Landing Point Designator) capability, based on an idea of John
054228,000008: ## Young's. Neither of these advanced features were actually flown,
054229,000009: ## but Zerlina was also the birthplace of other big improvements to
054230,000010: ## Luminary including the terrain model and new (Luminary 1E)
054231,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
054232,000012: ## and revision 56 includes all changes up to and including Luminary
054233,000013: ## 183. It is therefore quite close to the Apollo 14 program,
054234,000014: ## Luminary 178, where not modified with new features.
054235,000015: ## Reference: pp. 1238-1247
054236,000016: ## Assembler: yaYUL
054237,000017: ## Contact: Ron Burkey <info@sandroid.org>.
054238,000018: ## Website: www.ibiblio.org/apollo/index.html
054239,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
054240,000020: ## 2017-08-29 RSB Transcribed.
054241,000021:
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Page 1238 |
054243,000023: 22,3745 BANK 22
054244,000024: 23,2000 SETLOC INFLIGHT
054245,000025: 23,2000 BANK
054246,000026:
054247,000027: 23,3245 E5,1642 EBANK= XSM
054248,000028:
054249,000029: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
054250,000030:
054251,000031: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
054252,000032: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
054253,000033:
054254,000034: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
054255,000035: # MGC, AND OGC RESPECTIVELY.
054256,000036:
054257,000037: 23,3245 COUNT* $$/INFLT
054258,000038: 23,3245 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03,16D-27D,34D-37D
054259,000039: 23,3246 00051 S2 # XDC = (XD1 XD2 XD3)
054260,000040: 23,3247 02665 XDC # YDC = (YD1 YD2 YD3)
054261,000041: 23,3250 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
054262,000042: 23,3251 06520 HI6ZEROS
054263,000043: 23,3252 02671 XDC +4
054264,000044: 23,3253 55476 DCOMP VDEF
054265,000045: 23,3254 77656 UNIT
054266,000046: 23,3255 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
054267,000047: 23,3256 00027 ZPRIME
054268,000048:
054269,000049: 23,3257 77742 SR1
054270,000050: 23,3260 14023 STODL SINTH # SIN(IGC) = ZP1
054271,000051: 23,3261 00033 ZPRIME +4
054272,000052: 23,3262 77742 SR1
054273,000053: 23,3263 34021 STCALL COSTH # COS(IGC) = ZP3
054274,000054: 23,3264 47316 ARCTRIG
054275,000055:
054276,000056: 23,3265 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
054277,000057: 23,3266 02667 XDC +2
054278,000058: 23,3267 77742 SR1
054279,000059: 23,3270 14023 STODL SINTH # SIN(MGC) = XD2
054280,000060: 23,3271 00027 ZPRIME
054281,000061:
054282,000062: 23,3272 65205 DMP PDDL
054283,000063: 23,3273 02671 XDC +4 # PD00 = (ZP1)(XD3)
054284,000064: 23,3274 00033 ZPRIME +4
054285,000065:
054286,000066: 23,3275 45205 DMP DSU
054287,000067: 23,3276 02665 XDC # MPAC = (ZP3)(XD1)
054288,000068: 23,3277 77626 STADR
054289,000069: 23,3300 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
054290,000070: 23,3301 47316 ARCTRIG
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Page 1239 |
054292,000072: 23,3302 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
054293,000073: 23,3303 00027 ZPRIME
054294,000074: 23,3304 77641 DOT
054295,000075: 23,3305 02701 ZDC
054296,000076: 23,3306 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
054297,000077: 23,3307 00027 ZPRIME
054298,000078: 23,3310 77641 DOT
054299,000079: 23,3311 02673 YDC
054300,000080: 23,3312 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
054301,000081: 23,3313 47316 ARCTRIG
054302,000082:
054303,000083: 23,3314 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
054304,000084: 23,3315 00051 S2
054305,000085:
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Page 1240 |
054307,000087: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
054308,000088:
054309,000089: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
054310,000090:
054311,000091: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
054312,000092: # AVAILABLE AT MPAC.
054313,000093:
054314,000094: 23,3316 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
054315,000095: 23,3317 00023 SINTH
054316,000096: 23,3320 50025 DSU BMN
054317,000097: 23,3321 07532 QTSN45 # ABS(SIN/4) - SIN(45)/4
054318,000098: 23,3322 47331 TRIG1 # IF (-45,45) OR (135,-135)
054319,000099:
054320,000100: 23,3323 72545 DLOAD SL1 # (45,135) OR (-135,-45)
054321,000101: 23,3324 00021 COSTH
054322,000102: 23,3325 75326 ACOS SIGN
054323,000103: 23,3326 00023 SINTH
054324,000104: 23,3327 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
054325,000105: 23,3330 77616 RVQ
054326,000106:
054327,000107: 23,3331 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
054328,000108: 23,3332 00023 SINTH
054329,000109: 23,3333 77736 ASIN
054330,000110: 23,3334 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
054331,000111: 23,3335 00021 COSTH
054332,000112: 23,3336 77640 BMN
054333,000113: 23,3337 47342 TRIG2 # IF (135,-135)
054334,000114:
054335,000115: 23,3340 43545 DLOAD RVQ
054336,000116: 23,3341 00025 THETA # X = ARCSIN(SIN) (-45,45)
054337,000117:
054338,000118: 23,3342 75345 TRIG2 DLOAD SIGN # (135,-135)
054339,000119: 23,3343 06516 HIDPHALF
054340,000120: 23,3344 00023 SINTH
054341,000121: 23,3345 77625 DSU
054342,000122: 23,3346 00025 THETA
054343,000123: 23,3347 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
054344,000124: 23,3350 77616 RVQ # (+) - (+) OR (-) - (-)
054345,000125:
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Page 1241 |
054347,000127: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
054348,000128: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
054349,000129: # FLIGHT SUBROUTINES.
054350,000130:
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Page 1242 |
054352,000132: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
054353,000133:
054354,000134: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
054355,000135: # VECTORS ARE STORED AT XNB,YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
054356,000136: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
054357,000137:
054358,000138: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
054359,000139:
054360,000140: 23,3351 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
054361,000141: 23,3352 00001 0
054362,000142: 23,3353 47375 VLOAD VXV
054363,000143: 23,3354 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
054364,000144: 23,3355 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
054365,000145: 23,3356 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
054366,000146:
054367,000147: 23,3357 44041 DOT ITA
054368,000148: 23,3360 02701 ZNB
054369,000149: 23,3361 00051 S2
054370,000150: 23,3362 24021 STOVL COSTH # COS(OG) = MGA . ZNB
054371,000151: 23,3363 00001 0
054372,000152: 23,3364 77641 DOT
054373,000153: 23,3365 02673 YNB
054374,000154: 23,3366 34023 STCALL SINTH # SIN(OG) = MGA . YNB
054375,000155: 23,3367 47316 ARCTRIG
054376,000156: 23,3370 26740 STOVL OGC
054377,000157: 23,3371 00001 0
054378,000158:
054379,000159: 23,3372 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
054380,000160: 23,3373 02665 XNB
054381,000161: 23,3374 02651 YSM
054382,000162: 23,3375 77752 SL1
054383,000163: 23,3376 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
054384,000164: 23,3377 02651 YSM
054385,000165: 23,3400 77641 DOT
054386,000166: 23,3401 02665 XNB
054387,000167: 23,3402 34023 STCALL SINTH # SIN(MG) = IGA . OGA
054388,000168: 23,3403 47316 ARCTRIG
054389,000169: 23,3404 02744 STORE MGC
054390,000170:
054391,000171: 23,3405 45246 ABS DSU
054392,000172: 23,3406 07534 .166...
054393,000173: 23,3407 77644 BPL
054394,000174: 23,3410 47427 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
054395,000175:
054396,000176: 23,3411 50375 CALCGA1 VLOAD DOT
054397,000177: 23,3412 02657 ZSM
054398,000178: 23,3413 00001 0
054399,000179: 23,3414 24021 STOVL COSTH # COS(IG) = ZSM . MGA
054400,000180: 23,3415 02643 XSM
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Page 1243 |
054402,000182: 23,3416 45441 DOT STADR
054403,000183: 23,3417 43754 STCALL SINTH # SIN(IG) = XSM . MGA
054404,000184: 23,3420 47316 ARCTRIG
054405,000185:
054406,000186: 23,3421 26742 STOVL IGC
054407,000187: 23,3422 02740 OGC
054408,000188: 23,3423 77634 RTB
054409,000189: 23,3424 21602 V1STO2S
054410,000190: 23,3425 34322 STCALL THETAD
054411,000191: 23,3426 00051 S2
054412,000192:
054413,000193: 23,3427 77776 GIMLOCK1 EXIT
054414,000194: 23,3430 05600 TC ALARM
054415,000195: 23,3431 00401 OCT 00401
054416,000196: 23,3432 05515 TC UPFLAG # GIMBAL LOCK HAS OCCURED
054417,000197: 23,3433 00056 ADRES GLOKFAIL
054418,000198:
054419,000199: 23,3434 06051 TC INTPRET
054420,000200: 23,3435 77650 GOTO
054421,000201: 23,3436 47411 CALCGA1
054422,000202:
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Page 1244 |
054424,000204: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
054425,000205:
054426,000206: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
054427,000207: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
054428,000208: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
054429,000209: # THE VAC AREA.
054430,000210:
054431,000211: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
054432,000212: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
054433,000213:
054434,000214: 23,3437 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D,34D-37D
054435,000215: 23,3440 02714 STARAD +6
054436,000216: 23,3441 00051 S1
054437,000217: 23,3442 02700 STARAD -6
054438,000218:
054439,000219: 23,3443 77601 SETPD
054440,000220: 23,3444 00001 0
054441,000221: 23,3445 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
054442,000222: 23,3446 02723 STARAD +12D,1 # STARAD +00D UB = S1
054443,000223: 23,3447 02731 STARAD +18D,1
054444,000224: 23,3450 77656 UNIT # 12D VA = UNIT(S1 X S2)
054445,000225: 23,3451 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
054446,000226: 23,3452 77773 VLOAD*
054447,000227: 23,3453 02723 STARAD +12D,1
054448,000228:
054449,000229: 23,3454 76433 VXV* VSL1
054450,000230: 23,3455 02731 STARAD +18D,1 # 18D WA = UA X VA
054451,000231: 23,3456 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
054452,000232:
054453,000233: 23,3457 77700 TIX,1
054454,000234: 23,3460 47445 AXISGEN1
054455,000235:
054456,000236: 23,3461 66160 AXC,1 SXA,1
054457,000237: 23,3462 00006 6
054458,000238: 23,3463 00036 30D
054459,000239:
054460,000240: 23,3464 66370 AXT,1 SSP
054461,000241: 23,3465 00022 18D
054462,000242: 23,3466 00051 S1
054463,000243: 23,3467 00006 6
054464,000244:
054465,000245: 23,3470 66374 AXT,2 SSP
054466,000246: 23,3471 00006 6
054467,000247: 23,3472 00052 S2
054468,000248: 23,3473 00002 2
054469,000249:
054470,000250: 23,3474 76720 AXISGEN2 XCHX,1 VLOAD*
054471,000251: 23,3475 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
054472,000252: 23,3476 00001 0,1
054473,000253:
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Page 1245 |
054475,000255: 23,3477 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
054476,000256: 23,3500 75062 STARAD +6,2
054477,000257: 23,3501 00007 6,1
054478,000258: 23,3502 77757 VXSC*
054479,000259: 23,3503 75054 STARAD +12D,2
054480,000260: 23,3504 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
054481,000261: 23,3505 00015 12D,1
054482,000262:
054483,000263: 23,3506 53357 VXSC* VAD
054484,000264: 23,3507 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
054485,000265: 23,3510 76455 VAD VSL1
054486,000266: 23,3511 00031 24D
054487,000267: 23,3512 53520 XCHX,1 UNIT
054488,000268: 23,3513 00036 30D
054489,000269: 23,3514 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
054490,000270:
054491,000271: 23,3515 77700 TIX,1
054492,000272: 23,3516 47517 AXISGEN3
054493,000273:
054494,000274: 23,3517 77704 AXISGEN3 TIX,2
054495,000275: 23,3520 47474 AXISGEN2
054496,000276:
054497,000277: 23,3521 77775 VLOAD
054498,000278: 23,3522 02665 XDC
054499,000279: 23,3523 26707 STOVL STARAD
054500,000280: 23,3524 02673 YDC
054501,000281: 23,3525 26715 STOVL STARAD +6
054502,000282: 23,3526 02701 ZDC
054503,000283: 23,3527 02723 STORE STARAD +12D
054504,000284:
054505,000285: 23,3530 77616 RVQ
054506,000286:
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Page 1246 |
054508,000288: 23,3531 05520 26075 QTSN45 2DEC .1768
054509,000289: 23,3533 05252 25253 .166... 2DEC .1666666667
054510,000290:
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Page 1247 There is no source code on this page of the original assembly listing. |
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc