Source Code
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These source-code files were obtained by digitally photographing
an Artemis 72 (Apollo 15-17 Command Module) program listing from a private
collection and then
modifying pre-existing Comanche 55 (Apollo 11) source files to
incorporate changes. Photography was by Ron Burkey, and transcription
was performed by a team of volunteers. Note that the page images
presented online are of reduced quality, and that additional images
may be 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 072 OF AGC PROGRAM ARTEMIS BY NASA 2021114-011 11:40 FEB. 26, 1971Note that the date is the date of the printout, not the date of the program revision. |
017876,000002: ## Copyright: Public domain.
017877,000003: ## Filename: ANGLFIND.agc
017878,000004: ## Purpose: Part of the source code for Artemis (i.e., Colossus 3),
017879,000005: ## build 072. This is for the Command Module's (CM)
017880,000006: ## Apollo Guidance Computer (AGC), for
017881,000007: ## Apollo 15-17.
017882,000008: ## Assembler: yaYUL
017883,000009: ## Contact: Sergio Navarro <sergionavarrog@gmail.com>
017884,000010: ## Website: www.ibiblio.org/apollo/index.html
017885,000011: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Artemis072/
017886,000012: ## Mod history: 2009-08-19 SN Adapted from corresponding Comanche 055 file.
017887,000013: ## 2009-09-04 JL Fixed page number comment. Fixed bad octal number in NOGO.
017888,000014: ## Fixed typos. Added missing code at end.
017889,000015: ## 2010-02-20 RSB Un-##'d this header.
017890,000016: ## 2017-01-21 RSB Proofed comment text by diff'ing vs Comanche 55
017891,000017: ## and corrected errors found.
017892,000018:
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Page 403 |
017894,000020: 22,2000 SETLOC KALCMON1
017895,000021: 22,2000 BANK
017896,000022:
017897,000023: 22,2000 E6,1661 EBANK= BCDU
017898,000024:
017899,000025: 22,2000 COUNT* $$/KALC
017900,000026: 22,2000 06006 KALCMAN3 TC INTPRET
017901,000027: 22,2001 77634 +1 RTB
017902,000028: 22,2002 44370 READCDUK # PICK UP CURRENT CDU ANGLES
017903,000029: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017904,000030: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017905,000031: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017906,000032: 22,2006 03262 BCDU # (MIS)
017907,000033: 22,2007 77624 CALL
017908,000034: 22,2010 44377 CDUTODCM
017909,000035: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017910,000036: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017911,000037: 22,2013 01310 CPHI # (MFS)
017912,000038: 22,2014 77624 CALL
017913,000039: 22,2015 44377 CDUTODCM
017914,000040: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017915,000041: 22,2017 03320 MIS
017916,000042: 22,2020 44334 TRANSPOS
017917,000043: 22,2021 77775 VLOAD
017918,000044: 22,2022 77626 STADR
017919,000045: 22,2023 50474 STOVL TMIS +12D
017920,000046: 22,2024 77626 STADR
017921,000047: 22,2025 50502 STOVL TMIS +6
017922,000048: 22,2026 77626 STADR
017923,000049: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017924,000050: 22,2030 75160 AXC,1 AXC,2
017925,000051: 22,2031 03266 TMIS
017926,000052: 22,2032 03425 MFS
017927,000053: 22,2033 77624 CALL
017928,000054: 22,2034 44304 MXM3
017929,000055: 22,2035 45575 VLOAD STADR
017930,000056: 22,2036 50335 STOVL MFI +12D
017931,000057: 22,2037 77626 STADR
017932,000058: 22,2040 50343 STOVL MFI +6
017933,000059: 22,2041 77626 STADR
017934,000060: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017935,000061: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017936,000062: 22,2044 00023 18D
017937,000063: 22,2045 44343 TRNSPSPD
017938,000064: 22,2046 45575 VLOAD STADR
017939,000065: 22,2047 50474 STOVL TMFI +12D
017940,000066: 22,2050 77626 STADR
017941,000067: 22,2051 50502 STOVL TMFI +6
017942,000068: 22,2052 77626 STADR
017943,000069: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
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Page 404 |
017945,000071:
017946,000072: # CALCULATE COFSKEW AND MFISYM
017947,000073:
017948,000074: 22,2054 45345 DLOAD DSU
017949,000075: 22,2055 03271 TMFI +2
017950,000076: 22,2056 03430 MFI +2
017951,000077: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017952,000078: 22,2060 03432 MFI +4
017953,000079: 22,2061 03273 TMFI +4
017954,000080: 22,2062 45325 PDDL DSU
017955,000081: 22,2063 03301 TMFI +10D
017956,000082: 22,2064 03440 MFI +10D
017957,000083: 22,2065 77666 VDEF
017958,000084: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017959,000085:
017960,000086: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017961,000087:
017962,000088: 22,2067 43345 DLOAD DAD
017963,000089: 22,2070 03426 MFI
017964,000090: 22,2071 03446 MFI +16D
017965,000091: 22,2072 43225 DSU DAD
017966,000092: 22,2073 15326 DP1/4TH
017967,000093: 22,2074 03436 MFI +8D
017968,000094: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017969,000095: 22,2076 77726 ARCCOS
017970,000096: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017971,000097: 22,2100 51025 DSU BPL
017972,000098: 22,2101 04367 MINANG
017973,000099: 22,2102 44111 CHECKMAX
017974,000100: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017975,000101: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017976,000102: 22,2105 44770 CS ONE # ABOUT COMMANDED ANGLES
017977,000103: 22,2106 55340 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017978,000104: 22,2107 03163 TC LOADCDUD # GOOD RETURN
017979,000105: 22,2110 12723 TCF NOGO
017980,000106:
017981,000107: 22,2111 45345 CHECKMAX DLOAD DSU
017982,000108: 22,2112 03365 AM
017983,000109: 22,2113 04370 MAXANG
017984,000110: 22,2114 77244 BPL VLOAD
017985,000111: 22,2115 44123 ALTCALC # UNIT
017986,000112: 22,2116 03311 COFSKEW # COFSKEW
017987,000113: 22,2117 77656 UNIT
017988,000114: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017989,000115: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017990,000116: 22,2122 44745 LOCSKIRT
017991,000117: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017992,000118: 22,2124 03426 MFI
017993,000119: 22,2125 03267 TMFI
017994,000120: 22,2126 77762 VSR1
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Page 405 |
017996,000122: 22,2127 27267 STOVL MFISYM
017997,000123: 22,2130 03434 MFI +6
017998,000124: 22,2131 74455 VAD VSR1
017999,000125: 22,2132 03275 TMFI +6
018000,000126: 22,2133 27275 STOVL MFISYM +6
018001,000127: 22,2134 03442 MFI +12D
018002,000128: 22,2135 74455 VAD VSR1
018003,000129: 22,2136 03303 TMFI +12D
018004,000130: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
018005,000131:
018006,000132:
018007,000133: # CALCULATE COF
018008,000134:
018009,000135: 22,2140 70545 DLOAD SR1
018010,000136: 22,2141 03317 CAM
018011,000137: 22,2142 45325 PDDL DSU # PD0 CAM $4
018012,000138: 22,2143 15334 DPHALF
018013,000139: 22,2144 03317 CAM
018014,000140: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
018015,000141: 22,2146 45761 SIGNMPAC
018016,000142: 22,2147 03307 MFISYM +16D
018017,000143: 22,2150 56225 DSU DDV
018018,000144: 22,2151 00001 0
018019,000145: 22,2152 00003 2
018020,000146: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
018021,000147: 22,2154 03277 MFISYM +8D # $ ROOT 2
018022,000148: 22,2155 56225 DSU DDV
018023,000149: 22,2156 00001 0
018024,000150: 22,2157 00003 2
018025,000151: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
018026,000152: 22,2161 03267 MFISYM
018027,000153: 22,2162 56225 DSU DDV
018028,000154: 22,2163 00001 0
018029,000155: 22,2164 00003 2
018030,000156: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
018031,000157: 22,2166 77656 UNIT
018032,000158: 22,2167 03343 STORE COF
018033,000159:
018034,000160: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
018035,000161:
018036,000162: 22,2170 45345 COFMAXGO DLOAD DSU
018037,000163: 22,2171 03343 COF
018038,000164: 22,2172 03345 COF +2
018039,000165: 22,2173 71240 BMN DLOAD # COFY G COFX
018040,000166: 22,2174 44203 COMP12
018041,000167: 22,2175 03343 COF
018042,000168: 22,2176 50025 DSU BMN
018043,000169: 22,2177 03347 COF +4
018044,000170: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
018045,000171: 22,2201 77650 GOTO
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Page 406 |
018047,000173: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
018048,000174: 22,2203 45345 COMP12 DLOAD DSU
018049,000175: 22,2204 03345 COF +2
018050,000176: 22,2205 03347 COF +4
018051,000177: 22,2206 77640 BMN
018052,000178: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
018053,000179:
018054,000180: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
018055,000181: 22,2211 03313 COFSKEW +2 # UY
018056,000182: 22,2212 44216 U2POS
018057,000183: 22,2213 57575 VLOAD VCOMP
018058,000184: 22,2214 03343 COF
018059,000185: 22,2215 03343 STORE COF
018060,000186: 22,2216 51145 U2POS DLOAD BPL
018061,000187: 22,2217 03271 MFISYM +2 # UX UY
018062,000188: 22,2220 44224 OKU21
018063,000189: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
018064,000190: 22,2222 03343 COF
018065,000191: 22,2223 03343 STORE COF
018066,000192: 22,2224 51145 OKU21 DLOAD BPL
018067,000193: 22,2225 03301 MFISYM +10D # UY UZ
018068,000194: 22,2226 44745 LOCSKIRT
018069,000195: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018070,000196: 22,2230 03347 COF +4
018071,000197: 22,2231 03347 STORE COF +4
018072,000198: 22,2232 77650 GOTO
018073,000199: 22,2233 44745 LOCSKIRT
018074,000200: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
018075,000201: 22,2235 03311 COFSKEW # UX
018076,000202: 22,2236 44242 U1POS
018077,000203: 22,2237 57575 VLOAD VCOMP
018078,000204: 22,2240 03343 COF
018079,000205: 22,2241 03343 STORE COF
018080,000206: 22,2242 51145 U1POS DLOAD BPL
018081,000207: 22,2243 03271 MFISYM +2 # UX UY
018082,000208: 22,2244 44250 OKU12
018083,000209: 22,2245 57545 DLOAD DCOMP
018084,000210: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
018085,000211: 22,2247 03345 STORE COF +2
018086,000212: 22,2250 51145 OKU12 DLOAD BPL
018087,000213: 22,2251 03273 MFISYM +4 # UX UZ
018088,000214: 22,2252 44745 LOCSKIRT
018089,000215: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
018090,000216: 22,2254 03347 COF +4
018091,000217: 22,2255 03347 STORE COF +4
018092,000218: 22,2256 77650 GOTO
018093,000219: 22,2257 44745 LOCSKIRT
018094,000220: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
018095,000221: 22,2261 03315 COFSKEW +4 # UZ
018096,000222: 22,2262 44266 U3POS
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Page 407 |
018098,000224: 22,2263 57575 VLOAD VCOMP
018099,000225: 22,2264 03343 COF
018100,000226: 22,2265 03343 STORE COF
018101,000227: 22,2266 51145 U3POS DLOAD BPL
018102,000228: 22,2267 03273 MFISYM +4 # UX UZ
018103,000229: 22,2270 44274 OKU31
018104,000230: 22,2271 57545 DLOAD DCOMP
018105,000231: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
018106,000232: 22,2273 03343 STORE COF
018107,000233: 22,2274 51145 OKU31 DLOAD BPL
018108,000234: 22,2275 03301 MFISYM +10D # UY UZ
018109,000235: 22,2276 44745 LOCSKIRT
018110,000236: 22,2277 57545 DLOAD DCOMP
018111,000237: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
018112,000238: 22,2301 03345 STORE COF +2
018113,000239: 22,2302 77650 GOTO
018114,000240: 22,2303 44745 LOCSKIRT
018115,000241:
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Page 408 |
018117,000243: # MATRIX OPERATIONS
018118,000244:
018119,000245: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
018120,000246: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
018121,000247: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
018122,000248: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
018123,000249: 22,2310 77770 6,2
018124,000250: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
018125,000251: 22,2312 77776 0,2
018126,000252: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
018127,000253: 22,2314 00001 0,1
018128,000254: 22,2315 77760 14D,2
018129,000255: 22,2316 64723 PDDL* PDDL*
018130,000256: 22,2317 77766 8D,2
018131,000257: 22,2320 77774 2,2
018132,000258: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
018133,000259: 22,2322 00001 0,1
018134,000260: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
018135,000261: 22,2324 77756 16D,2
018136,000262: 22,2325 77764 10D,2
018137,000263: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
018138,000264: 22,2327 77772 4,2
018139,000265: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
018140,000266: 22,2331 00001 0,1
018141,000267: 22,2332 77650 GOTO
018142,000268: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
018143,000269: # RETURN WITH M1XM2 IN PD LIST
018144,000270:
018145,000271: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
018146,000272: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
018147,000273: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
018148,000274: 22,2337 62713 PDVL* PDVL*
018149,000275: 22,2340 00007 6,1
018150,000276: 22,2341 00015 12D,1
018151,000277: 22,2342 77606 PUSH # MATRIX IN PD
018152,000278: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
018153,000279: 22,2344 00003 2
018154,000280: 22,2345 00007 6
018155,000281: 22,2346 14003 STODL 2
018156,000282: 22,2347 77626 STADR
018157,000283: 22,2350 63770 STODL 6
018158,000284: 22,2351 00005 4
018159,000285: 22,2352 77725 PDDL
018160,000286: 22,2353 00015 12D
018161,000287: 22,2354 14005 STODL 4
018162,000288: 22,2355 77626 STADR
018163,000289: 22,2356 63762 STODL 12D
018164,000290: 22,2357 00013 10D
018165,000291: 22,2360 77725 PDDL
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Page 409 |
018167,000293: 22,2361 00017 14D
018168,000294: 22,2362 14013 STODL 10D
018169,000295: 22,2363 77626 STADR
018170,000296: 22,2364 77760 STORE 14D
018171,000297: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
018172,000298: 22,2366 00013 MINANG DEC .00069375
018173,000299: 22,2367 17071 MAXANG DEC .472222
018174,000300: 22,2370 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018175,000301: 22,2371 30034 CA CDUZ
018176,000302: 22,2372 54156 TS MPAC +2
018177,000303: 22,2373 00006 EXTEND
018178,000304: 22,2374 30033 DCA CDUX
018179,000305: 22,2375 00003 RELINT
018180,000306: 22,2376 16445 TCF TLOAD +6
018181,000307: 22,2000 SETLOC KALCMON2
018182,000308: 22,2000 BANK
018183,000309:
018184,000310: 22,2377 COUNT* $$/KALC
018185,000311:
018186,000312: 22,2377 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
018187,000313: 22,2400 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
018188,000314: 22,2401 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018189,000315: 22,2402 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
018190,000316: 22,2403 00010 STORE 7
018191,000317: 22,2404 77601 SETPD
018192,000318: 22,2405 00001 0
018193,000319: 22,2406 47133 LOOPSIN SLOAD* RTB
018194,000320: 22,2407 00013 10D,1
018195,000321: 22,2410 51754 CDULOGIC
018196,000322: 22,2411 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
018197,000323: 22,2412 65356 SIN PDDL # 2 COS(PHI)
018198,000324: 22,2413 00013 10D # 4 SIN(THETA)
018199,000325: 22,2414 41546 COS PUSH # 6 COS(THETA)
018200,000326: 22,2415 71300 TIX,1 DLOAD # 8 SIN(PSI)
018201,000327: 22,2416 44406 LOOPSIN # 10 COS(PSI)
018202,000328: 22,2417 00007 6
018203,000329: 22,2420 72405 DMP SL1
018204,000330: 22,2421 00013 10D
018205,000331: 22,2422 10001 STORE 0,2
018206,000332: 22,2423 77745 DLOAD
018207,000333: 22,2424 00005 4
018208,000334: 22,2425 65205 DMP PDDL
018209,000335: 22,2426 00001 0 # (PD6 SIN(THETA)SIN(PHI))
018210,000336: 22,2427 00007 6
018211,000337: 22,2430 41205 DMP DMP
018212,000338: 22,2431 00011 8D
018213,000339: 22,2432 00003 2
018214,000340: 22,2433 44352 SL1 BDSU
018215,000341: 22,2434 00015 12D
018216,000342: 22,2435 77752 SL1
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Page 410 |
018218,000344: 22,2436 10003 STORE 2,2
018219,000345: 22,2437 77745 DLOAD
018220,000346: 22,2440 00003 2
018221,000347: 22,2441 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
018222,000348: 22,2442 00005 4
018223,000349: 22,2443 00007 6
018224,000350: 22,2444 41205 DMP DMP
018225,000351: 22,2445 00011 8D
018226,000352: 22,2446 00001 0
018227,000353: 22,2447 77752 SL1
018228,000354: 22,2450 72415 DAD SL1
018229,000355: 22,2451 00017 14D
018230,000356: 22,2452 10005 STORE 4,2
018231,000357: 22,2453 77745 DLOAD
018232,000358: 22,2454 00011 8D
018233,000359: 22,2455 10007 STORE 6,2
018234,000360: 22,2456 77745 DLOAD
018235,000361: 22,2457 00013 10D
018236,000362: 22,2460 72405 DMP SL1
018237,000363: 22,2461 00003 2
018238,000364: 22,2462 10011 STORE 8D,2
018239,000365: 22,2463 77745 DLOAD
018240,000366: 22,2464 00013 10D
018241,000367: 22,2465 57405 DMP DCOMP
018242,000368: 22,2466 00001 0
018243,000369: 22,2467 77752 SL1
018244,000370: 22,2470 10013 STORE 10D,2
018245,000371: 22,2471 77745 DLOAD
018246,000372: 22,2472 00005 4
018247,000373: 22,2473 57405 DMP DCOMP
018248,000374: 22,2474 00013 10D
018249,000375: 22,2475 77752 SL1
018250,000376: 22,2476 10015 STORE 12D,2
018251,000377: 22,2477 77745 DLOAD
018252,000378: 22,2500 72405 DMP SL1 # (PUSH UP 7)
018253,000379: 22,2501 00011 8D
018254,000380: 22,2502 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018255,000381: 22,2503 00007 6
018256,000382: 22,2504 00001 0
018257,000383: 22,2505 72415 DAD SL1 # (PUSH UP 7)
018258,000384: 22,2506 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
018259,000385: 22,2507 67760 STORE 14D,2
018260,000386: 22,2510 77745 DLOAD
018261,000387: 22,2511 72405 DMP SL1 # (PUSH UP 6)
018262,000388: 22,2512 00011 8D
018263,000389: 22,2513 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018264,000390: 22,2514 00007 6
018265,000391: 22,2515 00003 2
018266,000392: 22,2516 72425 DSU SL1 # (PUSH UP 6)
018267,000393: 22,2517 77626 STADR
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Page 411 |
018269,000395: 22,2520 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018270,000396: 22,2521 77616 RVQ # +COS(THETA)COS(PHI)
018271,000397: 22,2522 ENDOCM EQUALS
018272,000398:
018273,000399: 22,2000 SETLOC KALCMON1
018274,000400: 22,2000 BANK
018275,000401:
018276,000402: # CALCULATION OF THE MATRIX DEL......
018277,000403:
018278,000404: # * * --T *
018279,000405: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
018280,000406:
018281,000407: # -
018282,000408: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018283,000409: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
018284,000410: # -
018285,000411: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
018286,000412:
018287,000413: 22,2522 COUNT* $$/KALC
018288,000414: 22,2522 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
018289,000415: 22,2523 00001 0
018290,000416: 22,2524 65356 SIN PDDL # PD0 = SIN(A)
018291,000417: 22,2525 41546 COS PUSH # PD2 = COS(A)
018292,000418: 22,2526 65302 SR2 PDDL # PD2 = COS(A) $8
018293,000419: 22,2527 41021 BDSU BOVB # PD4 = 1-COS(A) $2
018294,000420: 22,2530 15334 DPHALF
018295,000421: 22,2531 45761 SIGNMPAC
018296,000422:
018297,000423: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
018298,000424:
018299,000425: 22,2532 77725 PDDL
018300,000426: 22,2533 03343 COF
018301,000427: 22,2534 41316 DSQ DMP
018302,000428: 22,2535 00005 4
018303,000429: 22,2536 52415 DAD SL3
018304,000430: 22,2537 00003 2
018305,000431: 22,2540 77604 BOVB
018306,000432: 22,2541 45761 SIGNMPAC
018307,000433: 22,2542 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
018308,000434: 22,2543 03345 COF +2
018309,000435: 22,2544 41316 DSQ DMP
018310,000436: 22,2545 00005 4
018311,000437: 22,2546 52415 DAD SL3
018312,000438: 22,2547 00003 2
018313,000439: 22,2550 77604 BOVB
018314,000440: 22,2551 45761 SIGNMPAC
018315,000441: 22,2552 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
018316,000442: 22,2553 03347 COF +4
018317,000443: 22,2554 41316 DSQ DMP
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Page 412 |
018319,000445: 22,2555 00005 4
018320,000446: 22,2556 52415 DAD SL3
018321,000447: 22,2557 00003 2
018322,000448: 22,2560 77604 BOVB
018323,000449: 22,2561 45761 SIGNMPAC
018324,000450: 22,2562 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
018325,000451:
018326,000452: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
018327,000453:
018328,000454: 22,2563 41345 DLOAD DMP
018329,000455: 22,2564 03343 COF
018330,000456: 22,2565 03345 COF +2
018331,000457: 22,2566 72405 DMP SL1
018332,000458: 22,2567 00005 4
018333,000459: 22,2570 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
018334,000460: 22,2571 03347 COF +4
018335,000461: 22,2572 00001 0
018336,000462: 22,2573 43206 PUSH DAD # D8 UZ SIN A $ 4
018337,000463: 22,2574 00007 6
018338,000464: 22,2575 41112 SL2 BOVB
018339,000465: 22,2576 45761 SIGNMPAC
018340,000466: 22,2577 17434 STODL DEL +6
018341,000467: 22,2600 62421 BDSU SL2
018342,000468: 22,2601 77604 BOVB
018343,000469: 22,2602 45761 SIGNMPAC
018344,000470: 22,2603 17430 STODL DEL +2
018345,000471: 22,2604 03343 COF
018346,000472: 22,2605 41205 DMP DMP
018347,000473: 22,2606 03347 COF +4
018348,000474: 22,2607 00005 4
018349,000475: 22,2610 65352 SL1 PDDL # D6 UX UZ (1-COS A) $ 4
018350,000476: 22,2611 03345 COF +2
018351,000477: 22,2612 41405 DMP PUSH # D8 UY SIN(A)
018352,000478: 22,2613 00001 0
018353,000479: 22,2614 62415 DAD SL2
018354,000480: 22,2615 00007 6
018355,000481: 22,2616 77604 BOVB
018356,000482: 22,2617 45761 SIGNMPAC
018357,000483: 22,2620 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
018358,000484: 22,2621 62421 BDSU SL2
018359,000485: 22,2622 77604 BOVB
018360,000486: 22,2623 45761 SIGNMPAC
018361,000487: 22,2624 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
018362,000488: 22,2625 03345 COF +2
018363,000489: 22,2626 41205 DMP DMP
018364,000490: 22,2627 03347 COF +4
018365,000491: 22,2630 00005 4
018366,000492: 22,2631 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
018367,000493: 22,2632 03343 COF
018368,000494: 22,2633 41405 DMP PUSH # D8 UX SIN(A)
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Page 413 |
018370,000496: 22,2634 00001 0
018371,000497: 22,2635 62415 DAD SL2
018372,000498: 22,2636 00007 6
018373,000499: 22,2637 77604 BOVB
018374,000500: 22,2640 45761 SIGNMPAC
018375,000501: 22,2641 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
018376,000502: 22,2642 62421 BDSU SL2
018377,000503: 22,2643 77604 BOVB
018378,000504: 22,2644 45761 SIGNMPAC
018379,000505: 22,2645 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
018380,000506: 22,2646 77616 RVQ
018381,000507:
018382,000508: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018383,000509: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018384,000510: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018385,000511: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018386,000512:
018387,000513: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018388,000514:
018389,000515: # C =COS(THETA)COS(PSI)
018390,000516: # 0
018391,000517: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
018392,000518: # 1
018393,000519: # C =COS(THETA)SIN(PSI)SIN(PHI) + S N(THETA)COS(PHI)
018394,000520: # 2
018395,000521: # C =SIN(PSI)
018396,000522: # 3
018397,000523: # C =COS(PSI)COS(PHI)
018398,000524: # 4
018399,000525: # C =-COS(PSI)SIN(PHI)
018400,000526: # 5
018401,000527: # C =-SIN(THETA)COS(PSI)
018402,000528: # 6
018403,000529: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
018404,000530: # 7
018405,000531: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
018406,000532: # 8
018407,000533:
018408,000534: # WHERE PHI = OGA
018409,000535: # THETA = IGA
018410,000536: # PSI = MGA
018411,000537:
018412,000538: 22,2647 67543 DCMTOCDU DLOAD* ARCSIN
018413,000539: 22,2650 00007 6,1
018414,000540: 22,2651 71406 PUSH COS # PD +0 PSI
018415,000541: 22,2652 41152 SL1 BOVB
018416,000542: 22,2653 45761 SIGNMPAC
018417,000543: 22,2654 00051 STORE S1
018418,000544: 22,2655 57543 DLOAD* DCOMP
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Page 414 |
018420,000546: 22,2656 00015 12D,1
018421,000547: 22,2657 67471 DDV ARCSIN
018422,000548: 22,2660 00051 S1
018423,000549: 22,2661 51123 PDDL* BPL # PD +2 THETA
018424,000550: 22,2662 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
018425,000551: 22,2663 44675 OKTHETA # TO DETERMINE THE PROPER QUADRANT
018426,000552: 22,2664 57545 DLOAD DCOMP
018427,000553: 22,2665 43244 BPL DAD
018428,000554: 22,2666 44672 SUHALFA
018429,000555: 22,2667 15334 DPHALF
018430,000556: 22,2670 77650 GOTO
018431,000557: 22,2671 44674 CALCPHI
018432,000558: 22,2672 77625 SUHALFA DSU
018433,000559: 22,2673 15334 DPHALF
018434,000560: 22,2674 77606 CALCPHI PUSH
018435,000561: 22,2675 57543 OKTHETA DLOAD* DCOMP
018436,000562: 22,2676 00013 10D,1
018437,000563: 22,2677 67471 DDV ARCSIN
018438,000564: 22,2700 00051 S1
018439,000565: 22,2701 51123 PDDL* BPL # PUSH DOWN PHI
018440,000566: 22,2702 00011 8D,1
018441,000567: 22,2703 44715 OKPHI
018442,000568: 22,2704 57545 DLOAD DCOMP # PUSH UP PHI
018443,000569: 22,2705 43244 BPL DAD
018444,000570: 22,2706 44712 SUHALFAP
018445,000571: 22,2707 15334 DPHALF
018446,000572: 22,2710 77650 GOTO
018447,000573: 22,2711 44716 VECOFANG
018448,000574: 22,2712 52025 SUHALFAP DSU GOTO
018449,000575: 22,2713 15334 DPHALF
018450,000576: 22,2714 44716 VECOFANG
018451,000577: 22,2715 77745 OKPHI DLOAD # PUSH UP PHI
018452,000578: 22,2716 43466 VECOFANG VDEF RVQ
018453,000579:
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Page 415 |
018455,000581: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018456,000582:
018457,000583: 22,2717 77776 NOGOM3 EXIT
018458,000584: 22,2720 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
018459,000585: 22,2721 04636 TC BANKCALL
018460,000586: 22,2722 40203 CADR ZEROEROR
018461,000587:
018462,000588: 22,2723 00004 NOGO INHINT
018463,000589: 22,2724 04463 TC STOPRATE
018464,000590:
018465,000591: 22,2725 34767 CAF R67BIT
018466,000592: 22,2726 70104 MASK FLAGWRD8
018467,000593: 22,2727 00006 EXTEND
018468,000594: 22,2730 12740 BZF NOTR67ND
018469,000595:
018470,000596: 22,2731 35016 CAF 1SEC # WAITLIST TASK IN 1 SECON:
018471,000597: 22,2732 05233 TC WAITLIST # RETURN TO UPDTCALL
018472,000598: 22,2733 E6,1661 EBANK= BCDU
018473,000599: 22,2733 02320 74066 2CADR R67
018474,000600:
018475,000601: 22,2735 05402 TC PHASCHNG
018476,000602: 22,2736 00111 OCT 00111
018477,000603:
018478,000604: 22,2737 01,2025 1P11SPT2 = 1.11SPOT
018479,000605: 22,2737 05205 TC ENDOFJOB
018480,000606:
018481,000607: 22,2740 34767 NOTR67ND CAF TWO # RETURN VIA
018482,000608: 22,2741 05233 TC WAITLIST # GOODEND
018483,000609: 22,2742 E6,1661 EBANK= BCDU
018484,000610: 22,2742 02311 20066 2CADR ENDMANU
018485,000611:
018486,000612: 22,2744 15205 TCF ENDOFJOB
End of include-file ANGLFIND.agc. Parent file is MAIN.agc