Source Code
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These source-code files are part of a reconstructed copy of Comanche 051, the
original release of the Apollo 11 Command Module (CM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Comanche 055 previously transcribed
from a digitized copy of that program. The code was then updated by undoing
changes related to the R-2 lunar potential model, using hints from program
comments and change-indicating asterisks in the Comanche 055 listing as a guide.
The reconstruction was verified by matching memory-bank checksums to those listed
in drawing 2021153D. Note that page numbers in the reconstructed code match those
on the Comanche 055 printout, although the added code would likely have changed page
numbers for a real Comanche 051 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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017036,000002: ## Copyright: Public domain.
017037,000003: ## Filename: ANGLFIND.agc
017038,000004: ## Purpose: A section of Comanche revision 051.
017039,000005: ## It is part of the reconstructed source code for the
017040,000006: ## original release of the flight software for the Command
017041,000007: ## Module's (CM) Apollo Guidance Computer (AGC) for Apollo 11.
017042,000008: ## The code has been recreated from a copy of Comanche 055. It
017043,000009: ## has been adapted such that the resulting bugger words
017044,000010: ## exactly match those specified for Comanche 51 in NASA drawing
017045,000011: ## 2021153D, which gives relatively high confidence that the
017046,000012: ## reconstruction is correct.
017047,000013: ## Reference: pp. 399-411
017048,000014: ## Assembler: yaYUL
017049,000015: ## Contact: Ron Burkey <info@sandroid.org>.
017050,000016: ## Website: www.ibiblio.org/apollo/index.html
017051,000017: ## Mod history: 2019-07-30 MAS Created from Comanche 55.
017052,000018:
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Page 399
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017054,000020: 15,2000 BANK 15
017055,000021: 22,2000 SETLOC KALCMON1
017056,000022: 22,2000 BANK
017057,000023:
017058,000024: 22,2000 E6,1661 EBANK= BCDU
017059,000025:
017060,000026: 22,2000 COUNT 22/KALC
017061,000027:
017062,000028: 22,2000 06006 KALCMAN3 TC INTPRET
017063,000029: 22,2001 77634 RTB
017064,000030: 22,2002 44376 READCDUK # PICK UP CURRENT CDU ANGLES
017065,000031: 22,2003 03262 STORE BCDU # STORE THE INITIAL S/C ANGLES
017066,000032: 22,2004 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017067,000033: 22,2005 03320 MIS # INITIAL S/C AXES TO STABLE MEMBER AXES
017068,000034: 22,2006 03262 BCDU # (MIS)
017069,000035: 22,2007 77624 CALL
017070,000036: 22,2010 44405 CDUTODCM
017071,000037: 22,2011 72364 AXC,2 TLOAD # COMPUTE THE TRANSFORMATION FROM
017072,000038: 22,2012 03425 MFS # FINAL S/C AXES TO STABLE MEMBER AXES
017073,000039: 22,2013 01156 CPHI # (MFS)
017074,000040: 22,2014 77624 CALL
017075,000041: 22,2015 44405 CDUTODCM
017076,000042: 22,2016 45160 SECAD AXC,1 CALL # MIS AND MFS ARRAYS CALCULATED $2
017077,000043: 22,2017 03320 MIS
017078,000044: 22,2020 44334 TRANSPOS
017079,000045: 22,2021 77775 VLOAD
017080,000046: 22,2022 77626 STADR
017081,000047: 22,2023 50474 STOVL TMIS +12D
017082,000048: 22,2024 77626 STADR
017083,000049: 22,2025 50502 STOVL TMIS +6
017084,000050: 22,2026 77626 STADR
017085,000051: 22,2027 74510 STORE TMIS # TMIS = TRANSPOSE(MIS) SCALED BY 2
017086,000052: 22,2030 75160 AXC,1 AXC,2
017087,000053: 22,2031 03266 TMIS
017088,000054: 22,2032 03425 MFS
017089,000055: 22,2033 77624 CALL
017090,000056: 22,2034 44304 MXM3
017091,000057: 22,2035 45575 VLOAD STADR
017092,000058: 22,2036 50335 STOVL MFI +12D
017093,000059: 22,2037 77626 STADR
017094,000060: 22,2040 50343 STOVL MFI +6
017095,000061: 22,2041 77626 STADR
017096,000062: 22,2042 74351 STORE MFI # MFI = TMIS MFS (SCALED BY 4)
017097,000063: 22,2043 45001 SETPD CALL # TRANSPOSE MFI IN PD LIST
017098,000064: 22,2044 00023 18D
017099,000065: 22,2045 44343 TRNSPSPD
017100,000066: 22,2046 45575 VLOAD STADR
017101,000067: 22,2047 50474 STOVL TMFI +12D
017102,000068: 22,2050 77626 STADR
017103,000069: 22,2051 50502 STOVL TMFI +6
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Page 400
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017105,000071: 22,2052 77626 STADR
017106,000072: 22,2053 74510 STORE TMFI # TMFI = TRANSPOSE (MFI) SCALED BY 4
017107,000073:
017108,000074: # CALCULATE COFSKEW AND MFISYM
017109,000075:
017110,000076: 22,2054 45345 DLOAD DSU
017111,000077: 22,2055 03271 TMFI +2
017112,000078: 22,2056 03430 MFI +2
017113,000079: 22,2057 45325 PDDL DSU # CALCULATE COF SCALED BY 2/SIN(AM)
017114,000080: 22,2060 03432 MFI +4
017115,000081: 22,2061 03273 TMFI +4
017116,000082: 22,2062 45325 PDDL DSU
017117,000083: 22,2063 03301 TMFI +10D
017118,000084: 22,2064 03440 MFI +10D
017119,000085: 22,2065 77666 VDEF
017120,000086: 22,2066 03311 STORE COFSKEW # EQUALS MFISKEW
017121,000087:
017122,000088: # CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017123,000089:
017124,000090: 22,2067 43345 DLOAD DAD
017125,000091: 22,2070 03426 MFI
017126,000092: 22,2071 03446 MFI +16D
017127,000093: 22,2072 43225 DSU DAD
017128,000094: 22,2073 15325 DP1/4TH
017129,000095: 22,2074 03436 MFI +8D
017130,000096: 22,2075 03317 STORE CAM # CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017131,000097: 22,2076 77726 ARCCOS
017132,000098: 22,2077 03365 STORE AM # AM=ARCCOS(CAM) (AM SCALED BY 2)
017133,000099: 22,2100 51025 DSU BPL
017134,000100: 22,2101 04367 MINANG
017135,000101: 22,2102 44111 CHECKMAX
017136,000102: 22,2103 77776 EXIT # MANEUVER LESS THAN 0.25 DEG
017137,000103: 22,2104 00004 INHINT # GO DIRECTLY INTO ATTITUDE HOLD
017138,000104: 22,2105 45017 CS ONE # ABOUT COMMANDED ANGLES
017139,000105: 22,2106 55332 TS HOLDFLAG # NOGO WILL STOP ANY RATE AND SET UP FOR A
017140,000106: 22,2107 03142 TC LOADCDUD # GOOD RETURN
017141,000107: 22,2110 12730 TCF NOGO
017142,000108:
017143,000109: 22,2111 45345 CHECKMAX DLOAD DSU
017144,000110: 22,2112 03365 AM
017145,000111: 22,2113 04370 MAXANG
017146,000112: 22,2114 77244 BPL VLOAD
017147,000113: 22,2115 44123 ALTCALC # UNIT
017148,000114: 22,2116 03311 COFSKEW # COFSKEW
017149,000115: 22,2117 77656 UNIT
017150,000116: 22,2120 03343 STORE COF # COF IS THE MANEUVER AXIS
017151,000117: 22,2121 77650 GOTO # SEE IF MANEUVER GOES THRU GIMBAL LOCK
017152,000118: 22,2122 44737 LOCSKIRT
017153,000119: 22,2123 53375 ALTCALC VLOAD VAD # IF AM GREATER THAN 170 DEGREES
017154,000120: 22,2124 03426 MFI
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Page 401
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017156,000122: 22,2125 03267 TMFI
017157,000123: 22,2126 77762 VSR1
017158,000124: 22,2127 27267 STOVL MFISYM
017159,000125: 22,2130 03434 MFI +6
017160,000126: 22,2131 74455 VAD VSR1
017161,000127: 22,2132 03275 TMFI +6
017162,000128: 22,2133 27275 STOVL MFISYM +6
017163,000129: 22,2134 03442 MFI +12D
017164,000130: 22,2135 74455 VAD VSR1
017165,000131: 22,2136 03303 TMFI +12D
017166,000132: 22,2137 03303 STORE MFISYM +12D # MFISYM=(MFI+TMFI)/2 SCALED BY 4
017167,000133:
017168,000134: # CALCULATE COF
017169,000135:
017170,000136: 22,2140 70545 DLOAD SR1
017171,000137: 22,2141 03317 CAM
017172,000138: 22,2142 45325 PDDL DSU # PD0 CAM $4
017173,000139: 22,2143 15333 DPHALF
017174,000140: 22,2144 03317 CAM
017175,000141: 22,2145 65204 BOVB PDDL # PD2 1 - CAM $2
017176,000142: 22,2146 45712 SIGNMPAC
017177,000143: 22,2147 03307 MFISYM +16D
017178,000144: 22,2150 56225 DSU DDV
017179,000145: 22,2151 00001 0
017180,000146: 22,2152 00003 2
017181,000147: 22,2153 65366 SQRT PDDL # COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017182,000148: 22,2154 03277 MFISYM +8D # $ ROOT 2
017183,000149: 22,2155 56225 DSU DDV
017184,000150: 22,2156 00001 0
017185,000151: 22,2157 00003 2
017186,000152: 22,2160 65366 SQRT PDDL # COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017187,000153: 22,2161 03267 MFISYM
017188,000154: 22,2162 56225 DSU DDV
017189,000155: 22,2163 00001 0
017190,000156: 22,2164 00003 2
017191,000157: 22,2165 55566 SQRT VDEF # COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017192,000158: 22,2166 77656 UNIT
017193,000159: 22,2167 03343 STORE COF
017194,000160:
017195,000161: # DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017196,000162:
017197,000163: 22,2170 45345 COFMAXGO DLOAD DSU
017198,000164: 22,2171 03343 COF
017199,000165: 22,2172 03345 COF +2
017200,000166: 22,2173 71240 BMN DLOAD # COFY G COFX
017201,000167: 22,2174 44203 COMP12
017202,000168: 22,2175 03343 COF
017203,000169: 22,2176 50025 DSU BMN
017204,000170: 22,2177 03347 COF +4
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Page 402
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017206,000172: 22,2200 44260 METHOD3 # COFZ G COFX OR COFY
017207,000173: 22,2201 77650 GOTO
017208,000174: 22,2202 44234 METHOD1 # COFX G COFY OR COFZ
017209,000175: 22,2203 45345 COMP12 DLOAD DSU
017210,000176: 22,2204 03345 COF +2
017211,000177: 22,2205 03347 COF +4
017212,000178: 22,2206 77640 BMN
017213,000179: 22,2207 44260 METHOD3 # COFZ G COFY OR COFX
017214,000180:
017215,000181: 22,2210 51145 METHOD2 DLOAD BPL # COFY MAX
017216,000182: 22,2211 03313 COFSKEW +2 # UY
017217,000183: 22,2212 44216 U2POS
017218,000184: 22,2213 57575 VLOAD VCOMP
017219,000185: 22,2214 03343 COF
017220,000186: 22,2215 03343 STORE COF
017221,000187: 22,2216 51145 U2POS DLOAD BPL
017222,000188: 22,2217 03271 MFISYM +2 # UX UY
017223,000189: 22,2220 44224 OKU21
017224,000190: 22,2221 57545 DLOAD DCOMP # SIGN OF UX OPPOSITE TO UY
017225,000191: 22,2222 03343 COF
017226,000192: 22,2223 03343 STORE COF
017227,000193: 22,2224 51145 OKU21 DLOAD BPL
017228,000194: 22,2225 03301 MFISYM +10D # UY UZ
017229,000195: 22,2226 44737 LOCSKIRT
017230,000196: 22,2227 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017231,000197: 22,2230 03347 COF +4
017232,000198: 22,2231 03347 STORE COF +4
017233,000199: 22,2232 77650 GOTO
017234,000200: 22,2233 44737 LOCSKIRT
017235,000201: 22,2234 51145 METHOD1 DLOAD BPL # COFX MAX
017236,000202: 22,2235 03311 COFSKEW # UX
017237,000203: 22,2236 44242 U1POS
017238,000204: 22,2237 57575 VLOAD VCOMP
017239,000205: 22,2240 03343 COF
017240,000206: 22,2241 03343 STORE COF
017241,000207: 22,2242 51145 U1POS DLOAD BPL
017242,000208: 22,2243 03271 MFISYM +2 # UX UY
017243,000209: 22,2244 44250 OKU12
017244,000210: 22,2245 57545 DLOAD DCOMP
017245,000211: 22,2246 03345 COF +2 # SIGN OF UY OPPOSITE TO UX
017246,000212: 22,2247 03345 STORE COF +2
017247,000213: 22,2250 51145 OKU12 DLOAD BPL
017248,000214: 22,2251 03273 MFISYM +4 # UX UZ
017249,000215: 22,2252 44737 LOCSKIRT
017250,000216: 22,2253 57545 DLOAD DCOMP # SIGN OF UZ OPPOSITE TO UY
017251,000217: 22,2254 03347 COF +4
017252,000218: 22,2255 03347 STORE COF +4
017253,000219: 22,2256 77650 GOTO
017254,000220: 22,2257 44737 LOCSKIRT
017255,000221: 22,2260 51145 METHOD3 DLOAD BPL # COFZ MAX
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Page 403
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017257,000223: 22,2261 03315 COFSKEW +4 # UZ
017258,000224: 22,2262 44266 U3POS
017259,000225: 22,2263 57575 VLOAD VCOMP
017260,000226: 22,2264 03343 COF
017261,000227: 22,2265 03343 STORE COF
017262,000228: 22,2266 51145 U3POS DLOAD BPL
017263,000229: 22,2267 03273 MFISYM +4 # UX UZ
017264,000230: 22,2270 44274 OKU31
017265,000231: 22,2271 57545 DLOAD DCOMP
017266,000232: 22,2272 03343 COF # SIGN OF UX OPPOSITE TO UZ
017267,000233: 22,2273 03343 STORE COF
017268,000234: 22,2274 51145 OKU31 DLOAD BPL
017269,000235: 22,2275 03301 MFISYM +10D # UY UZ
017270,000236: 22,2276 44737 LOCSKIRT
017271,000237: 22,2277 57545 DLOAD DCOMP
017272,000238: 22,2300 03345 COF +2 # SIGN OF UY OPPOSITE TO UZ
017273,000239: 22,2301 03345 STORE COF +2
017274,000240: 22,2302 77650 GOTO
017275,000241: 22,2303 44737 LOCSKIRT
017276,000242:
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Page 404
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017278,000244: # MATRIX OPERATIONS
017279,000245:
017280,000246: 22,2304 77601 MXM3 SETPD # MXM3 MULTIPLIES 2 3X3 MATRICES
017281,000247: 22,2305 00001 0 # AND LEAVES RESULT IN PD LIST
017282,000248: 22,2306 64743 DLOAD* PDDL* # ADDRESS OF 1ST MATRIX IN XR1
017283,000249: 22,2307 77762 12D,2 # ADDRESS OF 2ND MATRIX IN XR2
017284,000250: 22,2310 77770 6,2
017285,000251: 22,2311 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 1)
017286,000252: 22,2312 77776 0,2
017287,000253: 22,2313 64717 MXV* PDDL* # M1XM2(COL 1) IN PD
017288,000254: 22,2314 00001 0,1
017289,000255: 22,2315 77760 14D,2
017290,000256: 22,2316 64723 PDDL* PDDL*
017291,000257: 22,2317 77766 8D,2
017292,000258: 22,2320 77774 2,2
017293,000259: 22,2321 63666 VDEF MXV* # DEFINE VECTOR M2(COL 2)
017294,000260: 22,2322 00001 0,1
017295,000261: 22,2323 64723 PDDL* PDDL* # M1XM2(COL2) IN PD
017296,000262: 22,2324 77756 16D,2
017297,000263: 22,2325 77764 10D,2
017298,000264: 22,2326 55523 PDDL* VDEF # DEFINE VECTOR M2(COL 3)
017299,000265: 22,2327 77772 4,2
017300,000266: 22,2330 41517 MXV* PUSH # M1XM2(COL 3) IN PD
017301,000267: 22,2331 00001 0,1
017302,000268: 22,2332 77650 GOTO
017303,000269: 22,2333 44343 TRNSPSPD # REVERSE ROWS AND COLS IN PD AND
017304,000270:
017305,000271: # RETURN WITH M1XM2 IN PD LIST
017306,000272: 22,2334 76601 TRANSPOS SETPD VLOAD* # TRANSPOS TRANSPOSES A 3X3 MATRIX
017307,000273: 22,2335 00001 0 # AND LEAVES RESULT IN PD LIST
017308,000274: 22,2336 00001 0,1 # MATRIX ADDRESS IN XR1
017309,000275: 22,2337 62713 PDVL* PDVL*
017310,000276: 22,2340 00007 6,1
017311,000277: 22,2341 00015 12D,1
017312,000278: 22,2342 77606 PUSH # MATRIX IN PD
017313,000279: 22,2343 65345 TRNSPSPD DLOAD PDDL # ENTER WITH MATRIX IN PD LIST
017314,000280: 22,2344 00003 2
017315,000281: 22,2345 00007 6
017316,000282: 22,2346 14003 STODL 2
017317,000283: 22,2347 77626 STADR
017318,000284: 22,2350 63770 STODL 6
017319,000285: 22,2351 00005 4
017320,000286: 22,2352 77725 PDDL
017321,000287: 22,2353 00015 12D
017322,000288: 22,2354 14005 STODL 4
017323,000289: 22,2355 77626 STADR
017324,000290: 22,2356 63762 STODL 12D
017325,000291: 22,2357 00013 10D
017326,000292: 22,2360 77725 PDDL
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Page 405
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017328,000294: 22,2361 00017 14D
017329,000295: 22,2362 14013 STODL 10D
017330,000296: 22,2363 77626 STADR
017331,000297: 22,2364 77760 STORE 14D
017332,000298: 22,2365 77616 RVQ # RETURN WITH TRANSPOSED MATRIX IN PD LIST
017333,000299: 22,2366 00013 MINANG DEC .00069375
017334,000300: 22,2367 17071 MAXANG DEC .472222
017335,000301:
017336,000302: # GIMBAL LOCK CONSTANTS
017337,000303:
017338,000304: # D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017339,000305: # NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017340,000306:
017341,000307: 22,2370 15667 SD DEC .433015 # = SIN(D) $2
017342,000308: 22,2371 33555 K3S1 DEC .86603 # = SIN(D) $1
017343,000309: 22,2372 67777 K4 DEC -.25 # = -COS(D) $2
017344,000310: 22,2373 04000 K4SQ DEC .125 # = COS(D)COS(D) $2
017345,000311: 22,2374 00217 SNGLCD DEC .008725 # = SIN(NGL)COS(D) $2
017346,000312: 22,2375 17773 CNGL DEC .499695 # = COS(NGL) $2
017347,000313: 22,2376 00004 READCDUK INHINT # LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017348,000314: 22,2377 30034 CA CDUZ
017349,000315: 22,2400 54156 TS MPAC +2
017350,000316: 22,2401 00006 EXTEND
017351,000317: 22,2402 30033 DCA CDUX
017352,000318: 22,2403 00003 RELINT
017353,000319: 22,2404 16445 TCF TLOAD +6
017354,000320: 16,2000 BANK 16
017355,000321: 22,2000 SETLOC KALCMON2
017356,000322: 22,2000 BANK
017357,000323:
017358,000324: 22,2405 COUNT* $$/KALC
017359,000325:
017360,000326: 22,2405 66370 CDUTODCM AXT,1 SSP # SUBROUTINE TO COMPUTE DIRECTION COSINE
017361,000327: 22,2406 00003 OCT 3 # MATRIX RELATING S/C AXES TO STABLE
017362,000328: 22,2407 00051 S1 # MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017363,000329: 22,2410 00001 OCT 1 # SET XR1, S1 AND PD FOR LOOP
017364,000330: 22,2411 00010 STORE 7
017365,000331: 22,2412 77601 SETPD
017366,000332: 22,2413 00001 0
017367,000333: 22,2414 47133 LOOPSIN SLOAD* RTB
017368,000334: 22,2415 00013 10D,1
017369,000335: 22,2416 45513 CDULOGIC
017370,000336: 22,2417 00013 STORE 10D # LOAD PD WITH 0 SIN(PHI)
017371,000337: 22,2420 65356 SIN PDDL # 2 COS(PHI)
017372,000338: 22,2421 00013 10D # 4 SIN(THETA)
017373,000339: 22,2422 41546 COS PUSH # 6 COS(THETA)
017374,000340: 22,2423 71300 TIX,1 DLOAD # 8 SIN(PSI)
017375,000341: 22,2424 44414 LOOPSIN # 10 COS(PSI)
017376,000342: 22,2425 00007 6
017377,000343: 22,2426 72405 DMP SL1
017378,000344: 22,2427 00013 10D
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Page 406
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017380,000346: 22,2430 10001 STORE 0,2
017381,000347: 22,2431 77745 DLOAD
017382,000348: 22,2432 00005 4
017383,000349: 22,2433 65205 DMP PDDL
017384,000350: 22,2434 00001 0 # (PD6 SIN(THETA)SIN(PHI))
017385,000351: 22,2435 00007 6
017386,000352: 22,2436 41205 DMP DMP
017387,000353: 22,2437 00011 8D
017388,000354: 22,2440 00003 2
017389,000355: 22,2441 44352 SL1 BDSU
017390,000356: 22,2442 00015 12D
017391,000357: 22,2443 77752 SL1
017392,000358: 22,2444 10003 STORE 2,2
017393,000359: 22,2445 77745 DLOAD
017394,000360: 22,2446 00003 2
017395,000361: 22,2447 65205 DMP PDDL # (PD7 COS(PHI)SIN(THETA)) SCALED 4
017396,000362: 22,2450 00005 4
017397,000363: 22,2451 00007 6
017398,000364: 22,2452 41205 DMP DMP
017399,000365: 22,2453 00011 8D
017400,000366: 22,2454 00001 0
017401,000367: 22,2455 77752 SL1
017402,000368: 22,2456 72415 DAD SL1
017403,000369: 22,2457 00017 14D
017404,000370: 22,2460 10005 STORE 4,2
017405,000371: 22,2461 77745 DLOAD
017406,000372: 22,2462 00011 8D
017407,000373: 22,2463 10007 STORE 6,2
017408,000374: 22,2464 77745 DLOAD
017409,000375: 22,2465 00013 10D
017410,000376: 22,2466 72405 DMP SL1
017411,000377: 22,2467 00003 2
017412,000378: 22,2470 10011 STORE 8D,2
017413,000379: 22,2471 77745 DLOAD
017414,000380: 22,2472 00013 10D
017415,000381: 22,2473 57405 DMP DCOMP
017416,000382: 22,2474 00001 0
017417,000383: 22,2475 77752 SL1
017418,000384: 22,2476 10013 STORE 10D,2
017419,000385: 22,2477 77745 DLOAD
017420,000386: 22,2500 00005 4
017421,000387: 22,2501 57405 DMP DCOMP
017422,000388: 22,2502 00013 10D
017423,000389: 22,2503 77752 SL1
017424,000390: 22,2504 10015 STORE 12D,2
017425,000391: 22,2505 77745 DLOAD
017426,000392: 22,2506 72405 DMP SL1 # (PUSH UP 7)
017427,000393: 22,2507 00011 8D
017428,000394: 22,2510 41325 PDDL DMP # (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017429,000395: 22,2511 00007 6
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017431,000397: 22,2512 00001 0
017432,000398: 22,2513 72415 DAD SL1 # (PUSH UP 7)
017433,000399: 22,2514 77626 STADR # C7=COS(PHI)SIN(THETA)SIN(PSI)
017434,000400: 22,2515 67760 STORE 14D,2
017435,000401: 22,2516 77745 DLOAD
017436,000402: 22,2517 72405 DMP SL1 # (PUSH UP 6)
017437,000403: 22,2520 00011 8D
017438,000404: 22,2521 41325 PDDL DMP # (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017439,000405: 22,2522 00007 6
017440,000406: 22,2523 00003 2
017441,000407: 22,2524 72425 DSU SL1 # (PUSH UP 6)
017442,000408: 22,2525 77626 STADR
017443,000409: 22,2526 67756 STORE 16D,2 # C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017444,000410: 22,2527 77616 RVQ # +COS(THETA)COS(PHI)
017445,000411: 22,2530 ENDOCM EQUALS
017446,000412:
017447,000413: 15,2000 BANK 15
017448,000414: 22,2000 SETLOC KALCMON1
017449,000415: 22,2000 BANK
017450,000416:
017451,000417: # CALCULATION OF THE MATRIX DEL......
017452,000418:
017453,000419: # * * --T *
017454,000420: # DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A) SCALED 1
017455,000421:
017456,000422: # -
017457,000423: # WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017458,000424: # A IS THE ANGLE OF ROTATION (DP SCALED 2)
017459,000425: # -
017460,000426: # UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017461,000427:
017462,000428: 22,2530 COUNT 22/KALC
017463,000429:
017464,000430: 22,2530 41401 DELCOMP SETPD PUSH # MPAC CONTAINS THE ANGLE A
017465,000431: 22,2531 00001 0
017466,000432: 22,2532 65356 SIN PDDL # PD0 = SIN(A)
017467,000433: 22,2533 41546 COS PUSH # PD2 = COS(A)
017468,000434: 22,2534 65302 SR2 PDDL # PD2 = COS(A) $8
017469,000435: 22,2535 41021 BDSU BOVB # PD4 = 1-COS(A) $2
017470,000436: 22,2536 15333 DPHALF
017471,000437: 22,2537 45712 SIGNMPAC
017472,000438:
017473,000439: # COMPUTE THE DIAGONAL COMPONENTS OF DEL
017474,000440:
017475,000441: 22,2540 77725 PDDL
017476,000442: 22,2541 03343 COF
017477,000443: 22,2542 41316 DSQ DMP
017478,000444: 22,2543 00005 4
017479,000445: 22,2544 52415 DAD SL3
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Page 408
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017481,000447: 22,2545 00003 2
017482,000448: 22,2546 77604 BOVB
017483,000449: 22,2547 45712 SIGNMPAC
017484,000450: 22,2550 17426 STODL DEL # UX UX(U-COS(A)) +COS(A) $1
017485,000451: 22,2551 03345 COF +2
017486,000452: 22,2552 41316 DSQ DMP
017487,000453: 22,2553 00005 4
017488,000454: 22,2554 52415 DAD SL3
017489,000455: 22,2555 00003 2
017490,000456: 22,2556 77604 BOVB
017491,000457: 22,2557 45712 SIGNMPAC
017492,000458: 22,2560 17436 STODL DEL +8D # UY UY(1-COS(A)) +COS(A) $1
017493,000459: 22,2561 03347 COF +4
017494,000460: 22,2562 41316 DSQ DMP
017495,000461: 22,2563 00005 4
017496,000462: 22,2564 52415 DAD SL3
017497,000463: 22,2565 00003 2
017498,000464: 22,2566 77604 BOVB
017499,000465: 22,2567 45712 SIGNMPAC
017500,000466: 22,2570 03446 STORE DEL +16D # UZ UZ(1-COS(A)) +COS(A) $1
017501,000467:
017502,000468: # COMPUTE THE OFF DIAGONAL TERMS OF DEL
017503,000469:
017504,000470: 22,2571 41345 DLOAD DMP
017505,000471: 22,2572 03343 COF
017506,000472: 22,2573 03345 COF +2
017507,000473: 22,2574 72405 DMP SL1
017508,000474: 22,2575 00005 4
017509,000475: 22,2576 41325 PDDL DMP # D6 UX UY (1-COS A) $ 4
017510,000476: 22,2577 03347 COF +4
017511,000477: 22,2600 00001 0
017512,000478: 22,2601 43206 PUSH DAD # D8 UZ SIN A $ 4
017513,000479: 22,2602 00007 6
017514,000480: 22,2603 41112 SL2 BOVB
017515,000481: 22,2604 45712 SIGNMPAC
017516,000482: 22,2605 17434 STODL DEL +6
017517,000483: 22,2606 62421 BDSU SL2
017518,000484: 22,2607 77604 BOVB
017519,000485: 22,2610 45712 SIGNMPAC
017520,000486: 22,2611 17430 STODL DEL +2
017521,000487: 22,2612 03343 COF
017522,000488: 22,2613 41205 DMP DMP
017523,000489: 22,2614 03347 COF +4
017524,000490: 22,2615 00005 4
017525,000491: 22,2616 65352 SL1 PDDL # D6 UX UZ (1-COS A ) $ 4
017526,000492: 22,2617 03345 COF +2
017527,000493: 22,2620 41405 DMP PUSH # D8 UY SIN(A)
017528,000494: 22,2621 00001 0
017529,000495: 22,2622 62415 DAD SL2
017530,000496: 22,2623 00007 6
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017532,000498: 22,2624 77604 BOVB
017533,000499: 22,2625 45712 SIGNMPAC
017534,000500: 22,2626 17432 STODL DEL +4 # UX UZ (1-COS(A))+UY SIN(A)
017535,000501: 22,2627 62421 BDSU SL2
017536,000502: 22,2630 77604 BOVB
017537,000503: 22,2631 45712 SIGNMPAC
017538,000504: 22,2632 17442 STODL DEL +12D # UX UZ (U-COS(A))-UY SIN(A)
017539,000505: 22,2633 03345 COF +2
017540,000506: 22,2634 41205 DMP DMP
017541,000507: 22,2635 03347 COF +4
017542,000508: 22,2636 00005 4
017543,000509: 22,2637 65352 SL1 PDDL # D6 UY UZ (1-COS(A)) $ 4
017544,000510: 22,2640 03343 COF
017545,000511: 22,2641 41405 DMP PUSH # D8 UX SIN(A)
017546,000512: 22,2642 00001 0
017547,000513: 22,2643 62415 DAD SL2
017548,000514: 22,2644 00007 6
017549,000515: 22,2645 77604 BOVB
017550,000516: 22,2646 45712 SIGNMPAC
017551,000517: 22,2647 17444 STODL DEL +14D # UY UZ(1-COS(A)) +UX SIN(A)
017552,000518: 22,2650 62421 BDSU SL2
017553,000519: 22,2651 77604 BOVB
017554,000520: 22,2652 45712 SIGNMPAC
017555,000521: 22,2653 03440 STORE DEL +10D # UY UZ(1-COS(A)) -UX SIN(A)
017556,000522: 22,2654 77616 RVQ
017557,000523:
017558,000524: # DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017559,000525: # X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017560,000526: # LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017561,000527: # COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017562,000528:
017563,000529: # THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017564,000530:
017565,000531: # C =COS(THETA)COS(PSI)
017566,000532: # 0
017567,000533:
017568,000534: # C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017569,000535: # 1
017570,000536:
017571,000537: # C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017572,000538: # 2
017573,000539:
017574,000540: # C =SIN(PSI)
017575,000541: # 3
017576,000542:
017577,000543: # C =COS(PSI)COS(PHI)
017578,000544: # 4
017579,000545:
017580,000546: # C =-COS(PSI)SIN(PHI)
017581,000547: # 5
017582,000548:
017583,000549: # C =-SIN(THETA)COS(PSI)
017584,000550: # 6
017585,000551:
017586,000552: # C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017587,000553: # 7
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017589,000555: # C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017590,000556: # 8
017591,000557:
017592,000558: # WHERE PHI = OGA
017593,000559: # THETA = IGA
017594,000560: # PSI = MGA
017595,000561:
017596,000562: 22,2655 67543 DCMTOCDU DLOAD* ARCSIN
017597,000563: 22,2656 00007 6,1
017598,000564: 22,2657 71406 PUSH COS # PD +0 PSI
017599,000565: 22,2660 41152 SL1 BOVB
017600,000566: 22,2661 45712 SIGNMPAC
017601,000567: 22,2662 00051 STORE S1
017602,000568: 22,2663 57543 DLOAD* DCOMP
017603,000569: 22,2664 00015 12D,1
017604,000570: 22,2665 67471 DDV ARCSIN
017605,000571: 22,2666 00051 S1
017606,000572: 22,2667 51123 PDDL* BPL # PD +2 THETA
017607,000573: 22,2670 00001 0,1 # MUST CHECK THE SIGN OF COS(THETA)
017608,000574: 22,2671 44703 OKTHETA # TO DETERMINE THE PROPER QUADRANT
017609,000575: 22,2672 57545 DLOAD DCOMP
017610,000576: 22,2673 43244 BPL DAD
017611,000577: 22,2674 44700 SUHALFA
017612,000578: 22,2675 15333 DPHALF
017613,000579: 22,2676 77650 GOTO
017614,000580: 22,2677 44702 CALCPHI
017615,000581: 22,2700 77625 SUHALFA DSU
017616,000582: 22,2701 15333 DPHALF
017617,000583: 22,2702 77606 CALCPHI PUSH
017618,000584: 22,2703 57543 OKTHETA DLOAD* DCOMP
017619,000585: 22,2704 00013 10D,1
017620,000586: 22,2705 67471 DDV ARCSIN
017621,000587: 22,2706 00051 S1
017622,000588: 22,2707 51123 PDDL* BPL # PUSH DOWN PHI
017623,000589: 22,2710 00011 8D,1
017624,000590: 22,2711 44723 OKPHI
017625,000591: 22,2712 57545 DLOAD DCOMP # PUSH UP PHI
017626,000592: 22,2713 43244 BPL DAD
017627,000593: 22,2714 44720 SUHALFAP
017628,000594: 22,2715 15333 DPHALF
017629,000595: 22,2716 77650 GOTO
017630,000596: 22,2717 44724 VECOFANG
017631,000597: 22,2720 52025 SUHALFAP DSU GOTO
017632,000598: 22,2721 15333 DPHALF
017633,000599: 22,2722 44724 VECOFANG
017634,000600: 22,2723 77745 OKPHI DLOAD # PUSH UP PHI
017635,000601: 22,2724 43466 VECOFANG VDEF RVQ
017636,000602:
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Page 411
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017638,000604: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017639,000605:
017640,000606: 22,2725 00004 NOGOM2 INHINT # THIS LOCATION ACCESSED BY A BZMF NOGO -2
017641,000607: 22,2726 04662 TC BANKCALL
017642,000608: 22,2727 40155 CADR ZEROERROR
017643,000609:
017644,000610: 22,2730 00004 NOGO INHINT
017645,000611: 22,2731 04526 TC STOPRATE
017646,000612:
017647,000613: # TERMINATE MANEUVER
017648,000614: 22,2732 35016 CAF TWO # NOTE - ALL RETURNS ARE NOW MADE VIA
017649,000615: 22,2733 05245 TC WAITLIST # GOODEND
017650,000616: 22,2734 E6,1661 EBANK= BCDU
017651,000617: 22,2734 02006 42066 2CADR ENDMANU
017652,000618:
017653,000619: 22,2736 15217 TCF ENDOFJOB
017654,000620:
End of include-file ANGLFIND.agc. Parent file is MAIN.agc