Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional 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 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
017142,000002: ## Copyright: Public domain.
017143,000003: ## Filename: ANGLFIND.agc
017144,000004: ## Purpose: Part of the source code for Colossus build 237.
017145,000005: ## This is for the Command Module's (CM) Apollo Guidance
017146,000006: ## Computer (AGC), for Apollo 8.
017147,000007: ## Assembler: yaYUL
017148,000008: ## Contact: Onno Hommes <ohommes@alumni.cmu.edu>
017149,000009: ## Website: www.ibiblio.org/apollo/index.html
017150,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017151,000011: ## Mod history: 2010-05-30 OH Adapted from corresponding Colossus 249 file.
017152,000012: ## 2010-12-04 JL Remove Colossus 249 header comments. Change
017153,000013: ## to double-hash page numbers.
017154,000014: ## 2011-01-27 JL Minor fixes.
017155,000015: ## 2016-08-14 RSB Added SBANK for addressing discrepancies.
017156,000016: ## 2016-12-30 RSB Proofed comment text using octopus/ProoferComments,
017157,000017: ## and corrected errors found.
017158,000018: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
017159,000019:
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Page 390 |
017161,000021: 15,2000 BANK 15
017162,000022: 22,2000 SETLOC KALCMON1
017163,000023: 22,2000 BANK
017164,000024:
017165,000025: 22,2000 E6,1661 EBANK= BCDU
017166,000026:
017167,000027: 22,2000 COUNT 22/KALC
017168,000028:
017169,000029: 22,2000 06006 KALCMAN3 TC INTPRET
017170,000030: 22,2001 77634 RTB
017171,000031: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017172,000032: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017173,000033: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017174,000034: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017175,000035: 22,2006 03262 BCDU # (MIS)
017176,000036: 22,2007 77624 CALL
017177,000037: 22,2010 44405 CDUTODCM
017178,000038: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017179,000039: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017180,000040: 22,2013 01156 CPHI # (MFS)
017181,000041: 22,2014 77624 CALL
017182,000042: 22,2015 44405 CDUTODCM
017183,000043: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017184,000044: 22,2017 03320 MIS
017185,000045: 22,2020 44334 TRANSPOS
017186,000046: 22,2021 77775 VLOAD
017187,000047: 22,2022 77626 STADR
017188,000048: 22,2023 50474 STOVL TMIS +12D
017189,000049: 22,2024 77626 STADR
017190,000050: 22,2025 50502 STOVL TMIS +6
017191,000051: 22,2026 77626 STADR
017192,000052: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017193,000053: 22,2030 75160 AXC,1 AXC,2
017194,000054: 22,2031 03266 TMIS
017195,000055: 22,2032 03425 MFS
017196,000056: 22,2033 77624 CALL
017197,000057: 22,2034 44304 MXM3
017198,000058: 22,2035 45575 VLOAD STADR
017199,000059: 22,2036 50335 STOVL MFI +12D
017200,000060: 22,2037 77626 STADR
017201,000061: 22,2040 50343 STOVL MFI +6
017202,000062: 22,2041 77626 STADR
017203,000063: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017204,000064: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017205,000065: 22,2044 00023 18D
017206,000066: 22,2045 44343 TRNSPSPD
017207,000067: 22,2046 45575 VLOAD STADR
017208,000068: 22,2047 50474 STOVL TMFI +12D
017209,000069: 22,2050 77626 STADR
017210,000070: 22,2051 50502 STOVL TMFI +6
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Page 391 |
017212,000072: 22,2052 77626 STADR
017213,000073: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017214,000074:
017215,000075: # CALCULATE COFSKEW AND MFISYM
017216,000076:
017217,000077: 22,2054 45345 DLOAD DSU
017218,000078: 22,2055 03271 TMFI +2
017219,000079: 22,2056 03430 MFI +2
017220,000080: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017221,000081: 22,2060 03432 MFI +4
017222,000082: 22,2061 03273 TMFI +4
017223,000083: 22,2062 45325 PDDL DSU
017224,000084: 22,2063 03301 TMFI +10D
017225,000085: 22,2064 03440 MFI +10D
017226,000086: 22,2065 77666 VDEF
017227,000087: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017228,000088:
017229,000089: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017230,000090:
017231,000091: 22,2067 43345 DLOAD DAD
017232,000092: 22,2070 03426 MFI
017233,000093: 22,2071 03446 MFI +16D
017234,000094: 22,2072 43225 DSU DAD
017235,000095: 22,2073 15322 DP1/4TH
017236,000096: 22,2074 03436 MFI +8D
017237,000097: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017238,000098: 22,2076 77726 ARCCOS
017239,000099: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017240,000100: 22,2100 51025 DSU BPL
017241,000101: 22,2101 04367 MINANG
017242,000102: 22,2102 44111 CHECKMAX
017243,000103: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017244,000104: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017245,000105: 22,2105 44712 CS ONE # ABOUT COMMANDED ANGLES
017246,000106: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017247,000107: 22,2107 03301 TC LOADCDUD # GOOD RETURN
017248,000108: 22,2110 12727 TCF NOGO
017249,000109:
017250,000110: 22,2111 45345 CHECKMAX DLOAD DSU
017251,000111: 22,2112 03365 AM
017252,000112: 22,2113 04370 MAXANG
017253,000113: 22,2114 77244 BPL VLOAD
017254,000114: 22,2115 44123 ALTCALC # UNIT
017255,000115: 22,2116 03311 COFSKEW # COFSKEW
017256,000116: 22,2117 77656 UNIT
017257,000117: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017258,000118: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017259,000119: 22,2122 44736 LOCSKIRT
017260,000120: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017261,000121: 22,2124 03426 MFI
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Page 392 |
017263,000123: 22,2125 03267 TMFI
017264,000124: 22,2126 77762 VSR1
017265,000125: 22,2127 27267 STOVL MFISYM
017266,000126: 22,2130 03434 MFI +6
017267,000127: 22,2131 74455 VAD VSR1
017268,000128: 22,2132 03275 TMFI +6
017269,000129: 22,2133 27275 STOVL MFISYM +6
017270,000130: 22,2134 03442 MFI +12D
017271,000131: 22,2135 74455 VAD VSR1
017272,000132: 22,2136 03303 TMFI +12D
017273,000133: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017274,000134:
017275,000135:
017276,000136: # CALCULATE COF
017277,000137:
017278,000138: 22,2140 70545 DLOAD SR1
017279,000139: 22,2141 03317 CAM
017280,000140: 22,2142 45325 PDDL DSU # PD0 CAM $4
017281,000141: 22,2143 15330 DPHALF
017282,000142: 22,2144 03317 CAM
017283,000143: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017284,000144: 22,2146 45707 SIGNMPAC
017285,000145: 22,2147 03307 MFISYM +16D
017286,000146: 22,2150 56225 DSU DDV
017287,000147: 22,2151 00001 0
017288,000148: 22,2152 00003 2
017289,000149: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017290,000150: 22,2154 03277 MFISYM +8D # $ ROOT 2
017291,000151: 22,2155 56225 DSU DDV
017292,000152: 22,2156 00001 0
017293,000153: 22,2157 00003 2
017294,000154: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017295,000155: 22,2161 03267 MFISYM
017296,000156: 22,2162 56225 DSU DDV
017297,000157: 22,2163 00001 0
017298,000158: 22,2164 00003 2
017299,000159: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017300,000160: 22,2166 77656 UNIT
017301,000161: 22,2167 03343 STORE COF
017302,000162:
017303,000163: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017304,000164:
017305,000165: 22,2170 45345 COFMAXGO DLOAD DSU
017306,000166: 22,2171 03343 COF
017307,000167: 22,2172 03345 COF +2
017308,000168: 22,2173 71240 BMN DLOAD # COFY G COFX
017309,000169: 22,2174 44203 COMP12
017310,000170: 22,2175 03343 COF
017311,000171: 22,2176 50025 DSU BMN
017312,000172: 22,2177 03347 COF +4
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Page 393 |
017314,000174: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017315,000175: 22,2201 77650 GOTO
017316,000176: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017317,000177: 22,2203 45345 COMP12 DLOAD DSU
017318,000178: 22,2204 03345 COF +2
017319,000179: 22,2205 03347 COF +4
017320,000180: 22,2206 77640 BMN
017321,000181: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017322,000182:
017323,000183: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017324,000184: 22,2211 03313 COFSKEW +2 # UY
017325,000185: 22,2212 44216 U2POS
017326,000186: 22,2213 57575 VLOAD VCOMP
017327,000187: 22,2214 03343 COF
017328,000188: 22,2215 03343 STORE COF
017329,000189: 22,2216 51145 U2POS DLOAD BPL
017330,000190: 22,2217 03271 MFISYM +2 # UX UY
017331,000191: 22,2220 44224 OKU21
017332,000192: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017333,000193: 22,2222 03343 COF
017334,000194: 22,2223 03343 STORE COF
017335,000195: 22,2224 51145 OKU21 DLOAD BPL
017336,000196: 22,2225 03301 MFISYM +10D # UY UZ
017337,000197: 22,2226 44736 LOCSKIRT
017338,000198: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017339,000199: 22,2230 03347 COF +4
017340,000200: 22,2231 03347 STORE COF +4
017341,000201: 22,2232 77650 GOTO
017342,000202: 22,2233 44736 LOCSKIRT
017343,000203: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017344,000204: 22,2235 03311 COFSKEW # UX
017345,000205: 22,2236 44242 U1POS
017346,000206: 22,2237 57575 VLOAD VCOMP
017347,000207: 22,2240 03343 COF
017348,000208: 22,2241 03343 STORE COF
017349,000209: 22,2242 51145 U1POS DLOAD BPL
017350,000210: 22,2243 03271 MFISYM +2 # UX UY
017351,000211: 22,2244 44250 OKU12
017352,000212: 22,2245 57545 DLOAD DCOMP
017353,000213: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017354,000214: 22,2247 03345 STORE COF +2
017355,000215: 22,2250 51145 OKU12 DLOAD BPL
017356,000216: 22,2251 03273 MFISYM +4 # UX UZ
017357,000217: 22,2252 44736 LOCSKIRT
017358,000218: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017359,000219: 22,2254 03347 COF +4
017360,000220: 22,2255 03347 STORE COF +4
017361,000221: 22,2256 77650 GOTO
017362,000222: 22,2257 44736 LOCSKIRT
017363,000223: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 394 |
017365,000225: 22,2261 03315 COFSKEW +4 # UZ
017366,000226: 22,2262 44266 U3POS
017367,000227: 22,2263 57575 VLOAD VCOMP
017368,000228: 22,2264 03343 COF
017369,000229: 22,2265 03343 STORE COF
017370,000230: 22,2266 51145 U3POS DLOAD BPL
017371,000231: 22,2267 03273 MFISYM +4 # UX UZ
017372,000232: 22,2270 44274 OKU31
017373,000233: 22,2271 57545 DLOAD DCOMP
017374,000234: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017375,000235: 22,2273 03343 STORE COF
017376,000236: 22,2274 51145 OKU31 DLOAD BPL
017377,000237: 22,2275 03301 MFISYM +10D # UY UZ
017378,000238: 22,2276 44736 LOCSKIRT
017379,000239: 22,2277 57545 DLOAD DCOMP
017380,000240: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017381,000241: 22,2301 03345 STORE COF +2
017382,000242: 22,2302 77650 GOTO
017383,000243: 22,2303 44736 LOCSKIRT
017384,000244:
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Page 395 |
017386,000246:
017387,000247: # MATRIX OPERATIONS
017388,000248:
017389,000249: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017390,000250: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017391,000251: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017392,000252: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017393,000253: 22,2310 77770 6,2
017394,000254: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017395,000255: 22,2312 77776 0,2
017396,000256: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017397,000257: 22,2314 00001 0,1
017398,000258: 22,2315 77760 14D,2
017399,000259: 22,2316 64723 PDDL* PDDL*
017400,000260: 22,2317 77766 8D,2
017401,000261: 22,2320 77774 2,2
017402,000262: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017403,000263: 22,2322 00001 0,1
017404,000264: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017405,000265: 22,2324 77756 16D,2
017406,000266: 22,2325 77764 10D,2
017407,000267: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017408,000268: 22,2327 77772 4,2
017409,000269: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017410,000270: 22,2331 00001 0,1
017411,000271: 22,2332 77650 GOTO
017412,000272: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017413,000273: # RETURN WITH M1XM2 IN PD LIST
017414,000274:
017415,000275: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017416,000276: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017417,000277: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017418,000278: 22,2337 62713 PDVL* PDVL*
017419,000279: 22,2340 00007 6,1
017420,000280: 22,2341 00015 12D,1
017421,000281: 22,2342 77606 PUSH # MATRIX IN PD
017422,000282: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017423,000283: 22,2344 00003 2
017424,000284: 22,2345 00007 6
017425,000285: 22,2346 14003 STODL 2
017426,000286: 22,2347 77626 STADR
017427,000287: 22,2350 63770 STODL 6
017428,000288: 22,2351 00005 4
017429,000289: 22,2352 77725 PDDL
017430,000290: 22,2353 00015 12D
017431,000291: 22,2354 14005 STODL 4
017432,000292: 22,2355 77626 STADR
017433,000293: 22,2356 63762 STODL 12D
017434,000294: 22,2357 00013 10D
017435,000295: 22,2360 77725 PDDL
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Page 396 |
017437,000297: 22,2361 00017 14D
017438,000298: 22,2362 14013 STODL 10D
017439,000299: 22,2363 77626 STADR
017440,000300: 22,2364 77760 STORE 14D
017441,000301: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017442,000302: 22,2366 00013 MINANG DEC .00069375
017443,000303: 22,2367 17071 MAXANG DEC .472222
017444,000304: # GIMBAL LOCK CONSTANTS
017445,000305: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017446,000306: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017447,000307:
017448,000308: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017449,000309: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017450,000310: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017451,000311: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017452,000312: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017453,000313: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017454,000314: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017455,000315: 22,2377 30034 CA CDUZ
017456,000316: 22,2400 54156 TS MPAC +2
017457,000317: 22,2401 00006 EXTEND
017458,000318: 22,2402 30033 DCA CDUX
017459,000319: 22,2403 00003 RELINT
017460,000320: 22,2404 16445 TCF TLOAD +6
017461,000321: 16,2000 BANK 16
017462,000322: 22,2000 SETLOC KALCMON2
017463,000323: 22,2000 BANK
017464,000324:
017465,000325: 22,2405 COUNT* $$/KALC
017466,000326:
017467,000327: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017468,000328: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017469,000329: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017470,000330: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017471,000331: 22,2411 00010 STORE 7
017472,000332: 22,2412 77601 SETPD
017473,000333: 22,2413 00001 0
017474,000334: 22,2414 47133 LOOPSIN SLOAD* RTB
017475,000335: 22,2415 00013 10D,1
017476,000336: 22,2416 45510 CDULOGIC
017477,000337: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017478,000338: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017479,000339: 22,2421 00013 10D # 4 SIN(THETA)
017480,000340: 22,2422 41546 COS PUSH # 6 COS(THETA)
017481,000341: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017482,000342: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017483,000343: 22,2425 00007 6
017484,000344: 22,2426 72405 DMP SL1
017485,000345: 22,2427 00013 10D
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Page 397 |
017487,000347: 22,2430 10001 STORE 0,2
017488,000348: 22,2431 77745 DLOAD
017489,000349: 22,2432 00005 4
017490,000350: 22,2433 65205 DMP PDDL
017491,000351: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017492,000352: 22,2435 00007 6
017493,000353: 22,2436 41205 DMP DMP
017494,000354: 22,2437 00011 8D
017495,000355: 22,2440 00003 2
017496,000356: 22,2441 44352 SL1 BDSU
017497,000357: 22,2442 00015 12D
017498,000358: 22,2443 77752 SL1
017499,000359: 22,2444 10003 STORE 2,2
017500,000360: 22,2445 77745 DLOAD
017501,000361: 22,2446 00003 2
017502,000362: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017503,000363: 22,2450 00005 4
017504,000364: 22,2451 00007 6
017505,000365: 22,2452 41205 DMP DMP
017506,000366: 22,2453 00011 8D
017507,000367: 22,2454 00001 0
017508,000368: 22,2455 77752 SL1
017509,000369: 22,2456 72415 DAD SL1
017510,000370: 22,2457 00017 14D
017511,000371: 22,2460 10005 STORE 4,2
017512,000372: 22,2461 77745 DLOAD
017513,000373: 22,2462 00011 8D
017514,000374: 22,2463 10007 STORE 6,2
017515,000375: 22,2464 77745 DLOAD
017516,000376: 22,2465 00013 10D
017517,000377: 22,2466 72405 DMP SL1
017518,000378: 22,2467 00003 2
017519,000379: 22,2470 10011 STORE 8D,2
017520,000380: 22,2471 77745 DLOAD
017521,000381: 22,2472 00013 10D
017522,000382: 22,2473 57405 DMP DCOMP
017523,000383: 22,2474 00001 0
017524,000384: 22,2475 77752 SL1
017525,000385: 22,2476 10013 STORE 10D,2
017526,000386: 22,2477 77745 DLOAD
017527,000387: 22,2500 00005 4
017528,000388: 22,2501 57405 DMP DCOMP
017529,000389: 22,2502 00013 10D
017530,000390: 22,2503 77752 SL1
017531,000391: 22,2504 10015 STORE 12D,2
017532,000392: 22,2505 77745 DLOAD
017533,000393: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017534,000394: 22,2507 00011 8D
017535,000395: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
017536,000396: 22,2511 00007 6
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Page 398 |
017538,000398: 22,2512 00001 0
017539,000399: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017540,000400: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017541,000401: 22,2515 67760 STORE 14D,2
017542,000402: 22,2516 77745 DLOAD
017543,000403: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017544,000404: 22,2520 00011 8D
017545,000405: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
017546,000406: 22,2522 00007 6
017547,000407: 22,2523 00003 2
017548,000408: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017549,000409: 22,2525 77626 STADR
017550,000410: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017551,000411: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017552,000412: 22,2530 ENDDCM EQUALS
017553,000413:
017554,000414:
017555,000415: 15,2000 BANK 15
017556,000416: 22,2000 SETLOC KALCMON1
017557,000417: 22,2000 BANK
017558,000418:
017559,000419: # CALCULATION OF THE MATRIX DEL......
017560,000420:
017561,000421: # * * --T *
017562,000422: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017563,000423:
017564,000424: # -
017565,000425: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017566,000426: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017567,000427: # -
017568,000428: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017569,000429:
017570,000430: 22,2530 COUNT 22/KALC
017571,000431:
017572,000432: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017573,000433: 22,2531 00001 0
017574,000434: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017575,000435: 22,2533 41546 COS PUSH # PD2 = COS(A)
017576,000436: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017577,000437: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017578,000438: 22,2536 15330 DPHALF
017579,000439: 22,2537 45707 SIGNMPAC
017580,000440:
017581,000441: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017582,000442:
017583,000443: 22,2540 77725 PDDL
017584,000444: 22,2541 03343 COF
017585,000445: 22,2542 41316 DSQ DMP
017586,000446: 22,2543 00005 4
017587,000447: 22,2544 52415 DAD SL3
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Page 399 |
017589,000449: 22,2545 00003 2
017590,000450: 22,2546 77604 BOVB
017591,000451: 22,2547 45707 SIGNMPAC
017592,000452: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017593,000453: 22,2551 03345 COF +2
017594,000454: 22,2552 41316 DSQ DMP
017595,000455: 22,2553 00005 4
017596,000456: 22,2554 52415 DAD SL3
017597,000457: 22,2555 00003 2
017598,000458: 22,2556 77604 BOVB
017599,000459: 22,2557 45707 SIGNMPAC
017600,000460: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017601,000461: 22,2561 03347 COF +4
017602,000462: 22,2562 41316 DSQ DMP
017603,000463: 22,2563 00005 4
017604,000464: 22,2564 52415 DAD SL3
017605,000465: 22,2565 00003 2
017606,000466: 22,2566 77604 BOVB
017607,000467: 22,2567 45707 SIGNMPAC
017608,000468: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017609,000469:
017610,000470: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017611,000471:
017612,000472: 22,2571 41345 DLOAD DMP
017613,000473: 22,2572 03343 COF
017614,000474: 22,2573 03345 COF +2
017615,000475: 22,2574 72405 DMP SL1
017616,000476: 22,2575 00005 4
017617,000477: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017618,000478: 22,2577 03347 COF +4
017619,000479: 22,2600 00001 0
017620,000480: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017621,000481: 22,2602 00007 6
017622,000482: 22,2603 41112 SL2 BOVB
017623,000483: 22,2604 45707 SIGNMPAC
017624,000484: 22,2605 17434 STODL DEL +6
017625,000485: 22,2606 62421 BDSU SL2
017626,000486: 22,2607 77604 BOVB
017627,000487: 22,2610 45707 SIGNMPAC
017628,000488: 22,2611 17430 STODL DEL +2
017629,000489: 22,2612 03343 COF
017630,000490: 22,2613 41205 DMP DMP
017631,000491: 22,2614 03347 COF +4
017632,000492: 22,2615 00005 4
017633,000493: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017634,000494: 22,2617 03345 COF +2
017635,000495: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017636,000496: 22,2621 00001 0
017637,000497: 22,2622 62415 DAD SL2
017638,000498: 22,2623 00007 6
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Page 400 |
017640,000500: 22,2624 77604 BOVB
017641,000501: 22,2625 45707 SIGNMPAC
017642,000502: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017643,000503: 22,2627 62421 BDSU SL2
017644,000504: 22,2630 77604 BOVB
017645,000505: 22,2631 45707 SIGNMPAC
017646,000506: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017647,000507: 22,2633 03345 COF +2
017648,000508: 22,2634 41205 DMP DMP
017649,000509: 22,2635 03347 COF +4
017650,000510: 22,2636 00005 4
017651,000511: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017652,000512: 22,2640 03343 COF
017653,000513: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017654,000514: 22,2642 00001 0
017655,000515: 22,2643 62415 DAD SL2
017656,000516: 22,2644 00007 6
017657,000517: 22,2645 77604 BOVB
017658,000518: 22,2646 45707 SIGNMPAC
017659,000519: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017660,000520: 22,2650 62421 BDSU SL2
017661,000521: 22,2651 77604 BOVB
017662,000522: 22,2652 45707 SIGNMPAC
017663,000523: 22,2653 03440 STORE DEL +10D # UY UZ (1-COS(A)) -UX SIN(A)
017664,000524: 22,2654 77616 RVQ
017665,000525:
017666,000526:
017667,000527: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017668,000528: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017669,000529: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017670,000530: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017671,000531:
017672,000532: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
017673,000533:
017674,000534: # C =COS(THETA)COS(PSI)
017675,000535: # 0
017676,000536: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017677,000537: # 1
017678,000538: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
017679,000539: # 2
017680,000540: # C =SIN(PSI)
017681,000541: # 3
017682,000542: # C =COS(PSI)COS(PHI)
017683,000543: # 4
017684,000544: # C =-COS(PSI)SIN(PHI)
017685,000545: # 5
017686,000546: # C =-SIN(THETA)COS(PSI)
017687,000547: # 6
017688,000548: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017689,000549: # 7
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Page 401 |
017691,000551: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017692,000552: # 8
017693,000553:
017694,000554: # WHERE PHI = OGA
017695,000555: # THETA = IGA
017696,000556: # PSI = MGA
017697,000557:
017698,000558: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017699,000559: 22,2656 00007 6,1
017700,000560: 22,2657 71406 PUSH COS # PD +0 PSI
017701,000561: 22,2660 41152 SL1 BOVB
017702,000562: 22,2661 45707 SIGNMPAC
017703,000563: 22,2662 00051 STORE S1
017704,000564: 22,2663 57543 DLOAD* DCOMP
017705,000565: 22,2664 00015 12D,1
017706,000566: 22,2665 67471 DDV ARCSIN
017707,000567: 22,2666 00051 S1
017708,000568: 22,2667 51123 PDDL* BPL # PD +2 THETA
017709,000569: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017710,000570: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017711,000571: 22,2672 57545 DLOAD DCOMP
017712,000572: 22,2673 43244 BPL DAD
017713,000573: 22,2674 44700 SUHALFA
017714,000574: 22,2675 15330 DPHALF
017715,000575: 22,2676 77650 GOTO
017716,000576: 22,2677 44702 CALCPHI
017717,000577: 22,2700 77625 SUHALFA DSU
017718,000578: 22,2701 15330 DPHALF
017719,000579: 22,2702 77606 CALCPHI PUSH
017720,000580: 22,2703 57543 OKTHETA DLOAD* DCOMP
017721,000581: 22,2704 00013 10D,1
017722,000582: 22,2705 67471 DDV ARCSIN
017723,000583: 22,2706 00051 S1
017724,000584: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017725,000585: 22,2710 00011 8D,1
017726,000586: 22,2711 44723 OKPHI
017727,000587: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017728,000588: 22,2713 43244 BPL DAD
017729,000589: 22,2714 44720 SUHALFAP
017730,000590: 22,2715 15330 DPHALF
017731,000591: 22,2716 77650 GOTO
017732,000592: 22,2717 44724 VECOFANG
017733,000593: 22,2720 52025 SUHALFAP DSU GOTO
017734,000594: 22,2721 15330 DPHALF
017735,000595: 22,2722 44724 VECOFANG
017736,000596: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017737,000597: 22,2724 43466 VECOFANG VDEF RVQ
017738,000598:
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Page 402 |
017740,000600: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017741,000601:
017742,000602: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017743,000603: 22,2726 03272 TC ZEROEROR
017744,000604:
017745,000605: 22,2727 00004 NOGO INHINT
017746,000606: 22,2730 03245 TC STOPRATE
017747,000607:
017748,000608: # TERMINATE MANEUVER
017749,000609: 22,2731 34711 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017750,000610: 22,2732 05140 TC WAITLIST # GOODEND
017751,000611: 22,2733 E6,1661 EBANK= BCDU
017752,000612: 22,2733 03237 44106 2CADR ENDMANU
017753,000613: 22,2735 15112 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc