Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality 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 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051 10:28 APR. 1,1969Note that the date is the date of the printout, not the date of the program revision. |
017421,000002: ## Copyright: Public domain.
017422,000003: ## Filename: ANGLFIND.agc
017423,000004: ## Purpose: Part of the source code for Colossus 2A, AKA Comanche 055.
017424,000005: ## It is part of the source code for the Command Module's (CM)
017425,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
017426,000007: ## Assembler: yaYUL
017427,000008: ## Contact: Ron Burkey <info@sandroid.org>.
017428,000009: ## Website: www.ibiblio.org/apollo.
017429,000010: ## Pages: 399-411
017430,000011: ## Mod history: 2009-05-09 RSB Adapted from the Colossus249/ file
017431,000012: ## of the same name, using Comanche055 page
017432,000013: ## images.
017433,000014: ## 2009-05-22 RSB In NOGOM2, TC ZEROEROR corrected to
017434,000015: ## CADR ZEROEROR.
017435,000016: ## 2017-01-07 RSB Fixed comment errors detected in cross-diff vs
017436,000017: ## Colossus 237 and Colossus 249.
017437,000018: ##
017438,000019: ## This source code has been transcribed or otherwise adapted from digitized
017439,000020: ## images of a hardcopy from the MIT Museum. The digitization was performed
017440,000021: ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum. Many
017441,000022: ## thanks to both. The images (with suitable reduction in storage size and
017442,000023: ## consequent reduction in image quality as well) are available online at
017443,000024: ## www.ibiblio.org/apollo. If for some reason you find that the images are
017444,000025: ## illegible, contact me at info@sandroid.org about getting access to the
017445,000026: ## (much) higher-quality images which Paul actually created.
017446,000027: ##
017447,000028: ## Notations on the hardcopy document read, in part:
017448,000029: ##
017449,000030: ## Assemble revision 055 of AGC program Comanche by NASA
017450,000031: ## 2021113-051. 10:28 APR. 1, 1969
017451,000032: ##
017452,000033: ## This AGC program shall also be referred to as
017453,000034: ## Colossus 2A
017454,000035:
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Page 399 |
017456,000037: 15,2000 BANK 15
017457,000038: 22,2000 SETLOC KALCMON1
017458,000039: 22,2000 BANK
017459,000040:
017460,000041: 22,2000 E6,1661 EBANK= BCDU
017461,000042:
017462,000043: 22,2000 COUNT 22/KALC
017463,000044:
017464,000045: 22,2000 06006 KALCMAN3 TC INTPRET
017465,000046: 22,2001 77634 RTB
017466,000047: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017467,000048: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017468,000049: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017469,000050: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017470,000051: 22,2006 03262 BCDU # (MIS)
017471,000052: 22,2007 77624 CALL
017472,000053: 22,2010 44405 CDUTODCM
017473,000054: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017474,000055: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017475,000056: 22,2013 01156 CPHI # (MFS)
017476,000057: 22,2014 77624 CALL
017477,000058: 22,2015 44405 CDUTODCM
017478,000059: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017479,000060: 22,2017 03320 MIS
017480,000061: 22,2020 44334 TRANSPOS
017481,000062: 22,2021 77775 VLOAD
017482,000063: 22,2022 77626 STADR
017483,000064: 22,2023 50474 STOVL TMIS +12D
017484,000065: 22,2024 77626 STADR
017485,000066: 22,2025 50502 STOVL TMIS +6
017486,000067: 22,2026 77626 STADR
017487,000068: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017488,000069: 22,2030 75160 AXC,1 AXC,2
017489,000070: 22,2031 03266 TMIS
017490,000071: 22,2032 03425 MFS
017491,000072: 22,2033 77624 CALL
017492,000073: 22,2034 44304 MXM3
017493,000074: 22,2035 45575 VLOAD STADR
017494,000075: 22,2036 50335 STOVL MFI +12D
017495,000076: 22,2037 77626 STADR
017496,000077: 22,2040 50343 STOVL MFI +6
017497,000078: 22,2041 77626 STADR
017498,000079: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017499,000080: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017500,000081: 22,2044 00023 18D
017501,000082: 22,2045 44343 TRNSPSPD
017502,000083: 22,2046 45575 VLOAD STADR
017503,000084: 22,2047 50474 STOVL TMFI +12D
017504,000085: 22,2050 77626 STADR
017505,000086: 22,2051 50502 STOVL TMFI +6
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Page 400 |
017507,000088: 22,2052 77626 STADR
017508,000089: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017509,000090:
017510,000091: # CALCULATE COFSKEW AND MFISYM
017511,000092:
017512,000093: 22,2054 45345 DLOAD DSU
017513,000094: 22,2055 03271 TMFI +2
017514,000095: 22,2056 03430 MFI +2
017515,000096: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017516,000097: 22,2060 03432 MFI +4
017517,000098: 22,2061 03273 TMFI +4
017518,000099: 22,2062 45325 PDDL DSU
017519,000100: 22,2063 03301 TMFI +10D
017520,000101: 22,2064 03440 MFI +10D
017521,000102: 22,2065 77666 VDEF
017522,000103: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017523,000104:
017524,000105: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017525,000106:
017526,000107: 22,2067 43345 DLOAD DAD
017527,000108: 22,2070 03426 MFI
017528,000109: 22,2071 03446 MFI +16D
017529,000110: 22,2072 43225 DSU DAD
017530,000111: 22,2073 15325 DP1/4TH
017531,000112: 22,2074 03436 MFI +8D
017532,000113: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017533,000114: 22,2076 77726 ARCCOS
017534,000115: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017535,000116: 22,2100 51025 DSU BPL
017536,000117: 22,2101 04367 MINANG
017537,000118: 22,2102 44111 CHECKMAX
017538,000119: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017539,000120: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017540,000121: 22,2105 45017 CS ONE # ABOUT COMMANDED ANGLES
017541,000122: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017542,000123: 22,2107 03142 TC LOADCDUD # GOOD RETURN
017543,000124: 22,2110 12730 TCF NOGO
017544,000125:
017545,000126: 22,2111 45345 CHECKMAX DLOAD DSU
017546,000127: 22,2112 03365 AM
017547,000128: 22,2113 04370 MAXANG
017548,000129: 22,2114 77244 BPL VLOAD
017549,000130: 22,2115 44123 ALTCALC # UNIT
017550,000131: 22,2116 03311 COFSKEW # COFSKEW
017551,000132: 22,2117 77656 UNIT
017552,000133: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017553,000134: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017554,000135: 22,2122 44737 LOCSKIRT
017555,000136: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017556,000137: 22,2124 03426 MFI
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Page 401 |
017558,000139: 22,2125 03267 TMFI
017559,000140: 22,2126 77762 VSR1
017560,000141: 22,2127 27267 STOVL MFISYM
017561,000142: 22,2130 03434 MFI +6
017562,000143: 22,2131 74455 VAD VSR1
017563,000144: 22,2132 03275 TMFI +6
017564,000145: 22,2133 27275 STOVL MFISYM +6
017565,000146: 22,2134 03442 MFI +12D
017566,000147: 22,2135 74455 VAD VSR1
017567,000148: 22,2136 03303 TMFI +12D
017568,000149: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017569,000150:
017570,000151: # CALCULATE COF
017571,000152:
017572,000153: 22,2140 70545 DLOAD SR1
017573,000154: 22,2141 03317 CAM
017574,000155: 22,2142 45325 PDDL DSU # PD0 CAM $4
017575,000156: 22,2143 15333 DPHALF
017576,000157: 22,2144 03317 CAM
017577,000158: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017578,000159: 22,2146 45712 SIGNMPAC
017579,000160: 22,2147 03307 MFISYM +16D
017580,000161: 22,2150 56225 DSU DDV
017581,000162: 22,2151 00001 0
017582,000163: 22,2152 00003 2
017583,000164: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017584,000165: 22,2154 03277 MFISYM +8D # $ ROOT 2
017585,000166: 22,2155 56225 DSU DDV
017586,000167: 22,2156 00001 0
017587,000168: 22,2157 00003 2
017588,000169: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017589,000170: 22,2161 03267 MFISYM
017590,000171: 22,2162 56225 DSU DDV
017591,000172: 22,2163 00001 0
017592,000173: 22,2164 00003 2
017593,000174: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017594,000175: 22,2166 77656 UNIT
017595,000176: 22,2167 03343 STORE COF
017596,000177:
017597,000178: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017598,000179:
017599,000180: 22,2170 45345 COFMAXGO DLOAD DSU
017600,000181: 22,2171 03343 COF
017601,000182: 22,2172 03345 COF +2
017602,000183: 22,2173 71240 BMN DLOAD # COFY G COFX
017603,000184: 22,2174 44203 COMP12
017604,000185: 22,2175 03343 COF
017605,000186: 22,2176 50025 DSU BMN
017606,000187: 22,2177 03347 COF +4
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Page 402 |
017608,000189: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017609,000190: 22,2201 77650 GOTO
017610,000191: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017611,000192: 22,2203 45345 COMP12 DLOAD DSU
017612,000193: 22,2204 03345 COF +2
017613,000194: 22,2205 03347 COF +4
017614,000195: 22,2206 77640 BMN
017615,000196: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017616,000197:
017617,000198: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017618,000199: 22,2211 03313 COFSKEW +2 # UY
017619,000200: 22,2212 44216 U2POS
017620,000201: 22,2213 57575 VLOAD VCOMP
017621,000202: 22,2214 03343 COF
017622,000203: 22,2215 03343 STORE COF
017623,000204: 22,2216 51145 U2POS DLOAD BPL
017624,000205: 22,2217 03271 MFISYM +2 # UX UY
017625,000206: 22,2220 44224 OKU21
017626,000207: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017627,000208: 22,2222 03343 COF
017628,000209: 22,2223 03343 STORE COF
017629,000210: 22,2224 51145 OKU21 DLOAD BPL
017630,000211: 22,2225 03301 MFISYM +10D # UY UZ
017631,000212: 22,2226 44737 LOCSKIRT
017632,000213: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017633,000214: 22,2230 03347 COF +4
017634,000215: 22,2231 03347 STORE COF +4
017635,000216: 22,2232 77650 GOTO
017636,000217: 22,2233 44737 LOCSKIRT
017637,000218: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017638,000219: 22,2235 03311 COFSKEW # UX
017639,000220: 22,2236 44242 U1POS
017640,000221: 22,2237 57575 VLOAD VCOMP
017641,000222: 22,2240 03343 COF
017642,000223: 22,2241 03343 STORE COF
017643,000224: 22,2242 51145 U1POS DLOAD BPL
017644,000225: 22,2243 03271 MFISYM +2 # UX UY
017645,000226: 22,2244 44250 OKU12
017646,000227: 22,2245 57545 DLOAD DCOMP
017647,000228: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017648,000229: 22,2247 03345 STORE COF +2
017649,000230: 22,2250 51145 OKU12 DLOAD BPL
017650,000231: 22,2251 03273 MFISYM +4 # UX UZ
017651,000232: 22,2252 44737 LOCSKIRT
017652,000233: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017653,000234: 22,2254 03347 COF +4
017654,000235: 22,2255 03347 STORE COF +4
017655,000236: 22,2256 77650 GOTO
017656,000237: 22,2257 44737 LOCSKIRT
017657,000238: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 403 |
017659,000240: 22,2261 03315 COFSKEW +4 # UZ
017660,000241: 22,2262 44266 U3POS
017661,000242: 22,2263 57575 VLOAD VCOMP
017662,000243: 22,2264 03343 COF
017663,000244: 22,2265 03343 STORE COF
017664,000245: 22,2266 51145 U3POS DLOAD BPL
017665,000246: 22,2267 03273 MFISYM +4 # UX UZ
017666,000247: 22,2270 44274 OKU31
017667,000248: 22,2271 57545 DLOAD DCOMP
017668,000249: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017669,000250: 22,2273 03343 STORE COF
017670,000251: 22,2274 51145 OKU31 DLOAD BPL
017671,000252: 22,2275 03301 MFISYM +10D # UY UZ
017672,000253: 22,2276 44737 LOCSKIRT
017673,000254: 22,2277 57545 DLOAD DCOMP
017674,000255: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017675,000256: 22,2301 03345 STORE COF +2
017676,000257: 22,2302 77650 GOTO
017677,000258: 22,2303 44737 LOCSKIRT
017678,000259:
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Page 404 |
017680,000261: # MATRIX OPERATIONS
017681,000262:
017682,000263: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017683,000264: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017684,000265: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017685,000266: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017686,000267: 22,2310 77770 6,2
017687,000268: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017688,000269: 22,2312 77776 0,2
017689,000270: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017690,000271: 22,2314 00001 0,1
017691,000272: 22,2315 77760 14D,2
017692,000273: 22,2316 64723 PDDL* PDDL*
017693,000274: 22,2317 77766 8D,2
017694,000275: 22,2320 77774 2,2
017695,000276: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017696,000277: 22,2322 00001 0,1
017697,000278: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017698,000279: 22,2324 77756 16D,2
017699,000280: 22,2325 77764 10D,2
017700,000281: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017701,000282: 22,2327 77772 4,2
017702,000283: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017703,000284: 22,2331 00001 0,1
017704,000285: 22,2332 77650 GOTO
017705,000286: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017706,000287:
017707,000288: # RETURN WITH M1XM2 IN PD LIST
017708,000289: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017709,000290: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017710,000291: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017711,000292: 22,2337 62713 PDVL* PDVL*
017712,000293: 22,2340 00007 6,1
017713,000294: 22,2341 00015 12D,1
017714,000295: 22,2342 77606 PUSH # MATRIX IN PD
017715,000296: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017716,000297: 22,2344 00003 2
017717,000298: 22,2345 00007 6
017718,000299: 22,2346 14003 STODL 2
017719,000300: 22,2347 77626 STADR
017720,000301: 22,2350 63770 STODL 6
017721,000302: 22,2351 00005 4
017722,000303: 22,2352 77725 PDDL
017723,000304: 22,2353 00015 12D
017724,000305: 22,2354 14005 STODL 4
017725,000306: 22,2355 77626 STADR
017726,000307: 22,2356 63762 STODL 12D
017727,000308: 22,2357 00013 10D
017728,000309: 22,2360 77725 PDDL
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Page 405 |
017730,000311: 22,2361 00017 14D
017731,000312: 22,2362 14013 STODL 10D
017732,000313: 22,2363 77626 STADR
017733,000314: 22,2364 77760 STORE 14D
017734,000315: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017735,000316: 22,2366 00013 MINANG DEC .00069375
017736,000317: 22,2367 17071 MAXANG DEC .472222
017737,000318:
017738,000319: # GIMBAL LOCK CONSTANTS
017739,000320:
017740,000321: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017741,000322: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017742,000323:
017743,000324: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017744,000325: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017745,000326: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017746,000327: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017747,000328: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017748,000329: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017749,000330: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017750,000331: 22,2377 30034 CA CDUZ
017751,000332: 22,2400 54156 TS MPAC +2
017752,000333: 22,2401 00006 EXTEND
017753,000334: 22,2402 30033 DCA CDUX
017754,000335: 22,2403 00003 RELINT
017755,000336: 22,2404 16445 TCF TLOAD +6
017756,000337: 16,2000 BANK 16
017757,000338: 22,2000 SETLOC KALCMON2
017758,000339: 22,2000 BANK
017759,000340:
017760,000341: 22,2405 COUNT* $$/KALC
017761,000342:
017762,000343: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017763,000344: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017764,000345: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017765,000346: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017766,000347: 22,2411 00010 STORE 7
017767,000348: 22,2412 77601 SETPD
017768,000349: 22,2413 00001 0
017769,000350: 22,2414 47133 LOOPSIN SLOAD* RTB
017770,000351: 22,2415 00013 10D,1
017771,000352: 22,2416 45513 CDULOGIC
017772,000353: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017773,000354: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017774,000355: 22,2421 00013 10D # 4 SIN(THETA)
017775,000356: 22,2422 41546 COS PUSH # 6 COS(THETA)
017776,000357: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017777,000358: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017778,000359: 22,2425 00007 6
017779,000360: 22,2426 72405 DMP SL1
017780,000361: 22,2427 00013 10D
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Page 406 |
017782,000363: 22,2430 10001 STORE 0,2
017783,000364: 22,2431 77745 DLOAD
017784,000365: 22,2432 00005 4
017785,000366: 22,2433 65205 DMP PDDL
017786,000367: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017787,000368: 22,2435 00007 6
017788,000369: 22,2436 41205 DMP DMP
017789,000370: 22,2437 00011 8D
017790,000371: 22,2440 00003 2
017791,000372: 22,2441 44352 SL1 BDSU
017792,000373: 22,2442 00015 12D
017793,000374: 22,2443 77752 SL1
017794,000375: 22,2444 10003 STORE 2,2
017795,000376: 22,2445 77745 DLOAD
017796,000377: 22,2446 00003 2
017797,000378: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017798,000379: 22,2450 00005 4
017799,000380: 22,2451 00007 6
017800,000381: 22,2452 41205 DMP DMP
017801,000382: 22,2453 00011 8D
017802,000383: 22,2454 00001 0
017803,000384: 22,2455 77752 SL1
017804,000385: 22,2456 72415 DAD SL1
017805,000386: 22,2457 00017 14D
017806,000387: 22,2460 10005 STORE 4,2
017807,000388: 22,2461 77745 DLOAD
017808,000389: 22,2462 00011 8D
017809,000390: 22,2463 10007 STORE 6,2
017810,000391: 22,2464 77745 DLOAD
017811,000392: 22,2465 00013 10D
017812,000393: 22,2466 72405 DMP SL1
017813,000394: 22,2467 00003 2
017814,000395: 22,2470 10011 STORE 8D,2
017815,000396: 22,2471 77745 DLOAD
017816,000397: 22,2472 00013 10D
017817,000398: 22,2473 57405 DMP DCOMP
017818,000399: 22,2474 00001 0
017819,000400: 22,2475 77752 SL1
017820,000401: 22,2476 10013 STORE 10D,2
017821,000402: 22,2477 77745 DLOAD
017822,000403: 22,2500 00005 4
017823,000404: 22,2501 57405 DMP DCOMP
017824,000405: 22,2502 00013 10D
017825,000406: 22,2503 77752 SL1
017826,000407: 22,2504 10015 STORE 12D,2
017827,000408: 22,2505 77745 DLOAD
017828,000409: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017829,000410: 22,2507 00011 8D
017830,000411: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017831,000412: 22,2511 00007 6
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Page 407 |
017833,000414: 22,2512 00001 0
017834,000415: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017835,000416: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017836,000417: 22,2515 67760 STORE 14D,2
017837,000418: 22,2516 77745 DLOAD
017838,000419: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017839,000420: 22,2520 00011 8D
017840,000421: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017841,000422: 22,2522 00007 6
017842,000423: 22,2523 00003 2
017843,000424: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017844,000425: 22,2525 77626 STADR
017845,000426: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017846,000427: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017847,000428: 22,2530 ENDOCM EQUALS
017848,000429:
017849,000430: 15,2000 BANK 15
017850,000431: 22,2000 SETLOC KALCMON1
017851,000432: 22,2000 BANK
017852,000433:
017853,000434: # CALCULATION OF THE MATRIX DEL......
017854,000435:
017855,000436: # * * --T *
017856,000437: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017857,000438:
017858,000439: # -
017859,000440: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017860,000441: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017861,000442: # -
017862,000443: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017863,000444:
017864,000445: 22,2530 COUNT 22/KALC
017865,000446:
017866,000447: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017867,000448: 22,2531 00001 0
017868,000449: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017869,000450: 22,2533 41546 COS PUSH # PD2 = COS(A)
017870,000451: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017871,000452: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017872,000453: 22,2536 15333 DPHALF
017873,000454: 22,2537 45712 SIGNMPAC
017874,000455:
017875,000456: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017876,000457:
017877,000458: 22,2540 77725 PDDL
017878,000459: 22,2541 03343 COF
017879,000460: 22,2542 41316 DSQ DMP
017880,000461: 22,2543 00005 4
017881,000462: 22,2544 52415 DAD SL3
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Page 408 |
017883,000464: 22,2545 00003 2
017884,000465: 22,2546 77604 BOVB
017885,000466: 22,2547 45712 SIGNMPAC
017886,000467: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017887,000468: 22,2551 03345 COF +2
017888,000469: 22,2552 41316 DSQ DMP
017889,000470: 22,2553 00005 4
017890,000471: 22,2554 52415 DAD SL3
017891,000472: 22,2555 00003 2
017892,000473: 22,2556 77604 BOVB
017893,000474: 22,2557 45712 SIGNMPAC
017894,000475: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017895,000476: 22,2561 03347 COF +4
017896,000477: 22,2562 41316 DSQ DMP
017897,000478: 22,2563 00005 4
017898,000479: 22,2564 52415 DAD SL3
017899,000480: 22,2565 00003 2
017900,000481: 22,2566 77604 BOVB
017901,000482: 22,2567 45712 SIGNMPAC
017902,000483: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017903,000484:
017904,000485: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017905,000486:
017906,000487: 22,2571 41345 DLOAD DMP
017907,000488: 22,2572 03343 COF
017908,000489: 22,2573 03345 COF +2
017909,000490: 22,2574 72405 DMP SL1
017910,000491: 22,2575 00005 4
017911,000492: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017912,000493: 22,2577 03347 COF +4
017913,000494: 22,2600 00001 0
017914,000495: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017915,000496: 22,2602 00007 6
017916,000497: 22,2603 41112 SL2 BOVB
017917,000498: 22,2604 45712 SIGNMPAC
017918,000499: 22,2605 17434 STODL DEL +6
017919,000500: 22,2606 62421 BDSU SL2
017920,000501: 22,2607 77604 BOVB
017921,000502: 22,2610 45712 SIGNMPAC
017922,000503: 22,2611 17430 STODL DEL +2
017923,000504: 22,2612 03343 COF
017924,000505: 22,2613 41205 DMP DMP
017925,000506: 22,2614 03347 COF +4
017926,000507: 22,2615 00005 4
017927,000508: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017928,000509: 22,2617 03345 COF +2
017929,000510: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017930,000511: 22,2621 00001 0
017931,000512: 22,2622 62415 DAD SL2
017932,000513: 22,2623 00007 6
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Page 409 |
017934,000515: 22,2624 77604 BOVB
017935,000516: 22,2625 45712 SIGNMPAC
017936,000517: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017937,000518: 22,2627 62421 BDSU SL2
017938,000519: 22,2630 77604 BOVB
017939,000520: 22,2631 45712 SIGNMPAC
017940,000521: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017941,000522: 22,2633 03345 COF +2
017942,000523: 22,2634 41205 DMP DMP
017943,000524: 22,2635 03347 COF +4
017944,000525: 22,2636 00005 4
017945,000526: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017946,000527: 22,2640 03343 COF
017947,000528: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017948,000529: 22,2642 00001 0
017949,000530: 22,2643 62415 DAD SL2
017950,000531: 22,2644 00007 6
017951,000532: 22,2645 77604 BOVB
017952,000533: 22,2646 45712 SIGNMPAC
017953,000534: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017954,000535: 22,2650 62421 BDSU SL2
017955,000536: 22,2651 77604 BOVB
017956,000537: 22,2652 45712 SIGNMPAC
017957,000538: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017958,000539: 22,2654 77616 RVQ
017959,000540:
017960,000541: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017961,000542: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017962,000543: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017963,000544: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017964,000545:
017965,000546: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017966,000547:
017967,000548: # C =COS(THETA)COS(PSI)
017968,000549: # 0
017969,000550:
017970,000551: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017971,000552: # 1
017972,000553:
017973,000554: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017974,000555: # 2
017975,000556:
017976,000557: # C =SIN(PSI)
017977,000558: # 3
017978,000559:
017979,000560: # C =COS(PSI)COS(PHI)
017980,000561: # 4
017981,000562:
017982,000563: # C =-COS(PSI)SIN(PHI)
017983,000564: # 5
017984,000565:
017985,000566: # C =-SIN(THETA)COS(PSI)
017986,000567: # 6
017987,000568:
017988,000569: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017989,000570: # 7
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017991,000572: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017992,000573: # 8
017993,000574:
017994,000575: # WHERE PHI = OGA
017995,000576: # THETA = IGA
017996,000577: # PSI = MGA
017997,000578:
017998,000579: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017999,000580: 22,2656 00007 6,1
018000,000581: 22,2657 71406 PUSH COS # PD +0 PSI
018001,000582: 22,2660 41152 SL1 BOVB
018002,000583: 22,2661 45712 SIGNMPAC
018003,000584: 22,2662 00051 STORE S1
018004,000585: 22,2663 57543 DLOAD* DCOMP
018005,000586: 22,2664 00015 12D,1
018006,000587: 22,2665 67471 DDV ARCSIN
018007,000588: 22,2666 00051 S1
018008,000589: 22,2667 51123 PDDL* BPL # PD +2 THETA
018009,000590: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018010,000591: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018011,000592: 22,2672 57545 DLOAD DCOMP
018012,000593: 22,2673 43244 BPL DAD
018013,000594: 22,2674 44700 SUHALFA
018014,000595: 22,2675 15333 DPHALF
018015,000596: 22,2676 77650 GOTO
018016,000597: 22,2677 44702 CALCPHI
018017,000598: 22,2700 77625 SUHALFA DSU
018018,000599: 22,2701 15333 DPHALF
018019,000600: 22,2702 77606 CALCPHI PUSH
018020,000601: 22,2703 57543 OKTHETA DLOAD* DCOMP
018021,000602: 22,2704 00013 10D,1
018022,000603: 22,2705 67471 DDV ARCSIN
018023,000604: 22,2706 00051 S1
018024,000605: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
018025,000606: 22,2710 00011 8D,1
018026,000607: 22,2711 44723 OKPHI
018027,000608: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
018028,000609: 22,2713 43244 BPL DAD
018029,000610: 22,2714 44720 SUHALFAP
018030,000611: 22,2715 15333 DPHALF
018031,000612: 22,2716 77650 GOTO
018032,000613: 22,2717 44724 VECOFANG
018033,000614: 22,2720 52025 SUHALFAP DSU GOTO
018034,000615: 22,2721 15333 DPHALF
018035,000616: 22,2722 44724 VECOFANG
018036,000617: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
018037,000618: 22,2724 43466 VECOFANG VDEF RVQ
018038,000619:
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Page 411 |
018040,000621: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018041,000622:
018042,000623: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018043,000624: 22,2726 04662 TC BANKCALL
018044,000625: 22,2727 40155 CADR ZEROERROR
018045,000626:
018046,000627: 22,2730 00004 NOGO INHINT
018047,000628: 22,2731 04526 TC STOPRATE
018048,000629:
018049,000630: # TERMINATE MANEUVER
018050,000631: 22,2732 35016 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
018051,000632: 22,2733 05245 TC WAITLIST # GOODEND
018052,000633: 22,2734 E6,1661 EBANK= BCDU
018053,000634: 22,2734 02006 42066 2CADR ENDMANU
018054,000635:
018055,000636: 22,2736 15217 TCF ENDOFJOB
018056,000637:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc