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PLANETARY_INERTIAL_ORIENTATION.agc
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### FILE="Main.annotation"
## Copyright: Public domain.
## Filename: PLANETARY_INERTIAL_ORIENTATION.agc
## Purpose: Part of the source code for Colossus, build 249.
## It is part of the source code for the Command Module's (CM)
## Apollo Guidance Computer (AGC), for Apollo 9.
## Assembler: yaYUL
## Reference: Starts on p. 1213
## Contact: Ron Burkey <info@sandroid.org>.
## Website: www.ibiblio.org/apollo.
## Mod history: 08/28/04 RSB. Adapted from corresponding Luminary131 file.
## 2017-01-06 RSB Page numbers now agree with those on the
## original harcopy, as opposed to the PDF page
## numbers in 1701.pdf.
## 2017-01-18 RSB Cross-diff'd comment text (not whitespace)
## vs the already-proofed corresponding Colossus
## 237 and Comanche 55 source-code files
## and corrected errors found.
## 2017-03-16 RSB Comment-text fixes identified in 5-way
## side-by-side diff of Luminary 69/99/116/131/210.
## The contents of the "Colossus249" files, in general, are transcribed
## from a scanned copy of the program listing. Notations on this
## document read, in part:
##
## Assemble revision 249 of AGC program Colossus by NASA
## 2021111-041. October 28, 1968.
##
## This AGC program shall also be referred to as
## Colossus 1A
##
## Prepared by
## Massachusetts Institute of Technology
## 75 Cambridge Parkway
## Cambridge, Massachusetts
## under NASA contract NAS 9-4065.
##
## Refer directly to the online document mentioned above for further information.
## Please report any errors (relative to the scanned pages) to info@sandroid.org.
##
## In some cases, where the source code for Luminary 131 overlaps that of
## Colossus 249, this code is instead copied from the corresponding Luminary 131
## source file, and then is proofed to incorporate any changes.
## Page 1213
# ..... RP-TO-R SUBROUTINE .....
# SUBROUTINE TO CONVERT RP (VECTOR IN PLANETARY COORDINATE SYSTEM, EITHER
# EARTH-FIXED OR MOON-FIXED) TO R (SAME VECTOR IN THE BASIC REF. SYSTEM)
# R = MT(T) * (RP + LP X RP) MT = M MATRIX TRANSPOSE
#
# CALLING SEQUENCE
# L CALL
# L+1 RP-TO-R
#
# SUBROUTINES USED
# EARTHMX, MOONMX, EARTHL
#
# ITEMS AVAILABLE FROM LAUNCH DATA
# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
#
# ITEMS NECESSARY FOR SUBR. USED (SEE DESCRIPTION OF SUBR.)
#
# INPUT
# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
# 0-5D = RP VECTOR
# 6-7D = TIME
#
# OUTPUT
# MPAC = R VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
SETLOC PLANTIN
BANK
COUNT* $$/LUROT
RP-TO-R STQ BHIZ
RPREXIT
RPTORA
CALL # COMPUTE M MATRIX FOR MOON
MOONMX # LP=LM FOR MOON RADIANS B0
VLOAD
504LM
RPTORB VXV VAD
504RPR
504RPR
VXM GOTO
MMATRIX # MPAC=R=MT(T)*(RP+LPXRP)
RPRPXXXX # RESET PUSHLOC TO 0 BEFORE EXITING
RPTORA CALL # EARTH COMPUTATIONS
EARTHMX # M MATRIX B-1
CALL
EARTHL # L VECTOR RADIANS B0
MXV VSL1 # LP=M(T)*L RAD B-0
MMATRIX
## Page 1214
GOTO
RPTORB
## Page 1215
# ..... R-TO-RP SUBROUTINE .....
# SUBROUTINE TO CONVERT R (VECTOR IN REFERENCE COORD. SYSTEM) TO RP
# (VECTOR IN PLANETARY COORD SYSTEM) EITHER EARTH-FIXED OR MOON-FIXED
# RP = M(T) * (R - L X R)
#
# CALLING SEQUENCE
# L CALL
# L+1 R-TO-RP
#
# SUBROUTINES USED
# EARTHMX, MOONMX, EARTHL
#
# INPUT
# MPAC = 0 FOR EARTH, NON-ZERO FOR MOON
# 0-5D = R VECTOR
# 6-7D = TIME
#
# ITEMS AVAILABLE FROM LAUNCH DATA
# 504LM = THE LIBRATION VECTOR L OF THE MOON AT TIME TIMSUBL, EXPRESSED
# IN THE MOON-FIXED COORD. SYSTEM RADIANS B0
#
# ITEMS NECESSARY FOR SUBROUTINES USED (SEE DESCRIPTION OF SUBR.)
#
# OUTPUT
# MPAC = RP VECTOR METERS B-29 FOR EARTH, B-27 FOR MOON
R-TO-RP STQ BHIZ
RPREXIT
RTORPA
CALL
MOONMX
VLOAD VXM
504LM # LP=LM
MMATRIX
VSL1 # L = MT(T)*LP RADIANS B0
RTORPB VXV BVSU
504RPR
504RPR
MXV # M(T)*(R-LXR) B-2
MMATRIX
RPRPXXXX VSL1 SETPD
0D
GOTO
RPREXIT
RTORPA CALL # EARTH COMPUTATIONS
EARTHMX
CALL
EARTHL
GOTO # MPAC=L=(-AX,-AY,0) RAD B-0
RTORPB
## Page 1216
# ..... MOONMX SUBROUTINE .....
# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE MOON
#
# CALLING SEQUENCE
# L CALL
# L+1 MOONMX
#
# SUBROUTINES USED
# NEWANGLE
#
# INPUT
# 6-7D = TIME
#
# ITEMS AVAILABLE FROM LAUNCH DATA
# BSUBO, BDOT
# TIMSUBO, NODIO, NODDOT, FSUBO, FDOT
# COSI = COS(I) B-1
# SINI = SIN(I) B-1
# I IS THE ANGLE BETWEEN THE MEAN LUNAR EQUATORIAL PLANE AND THE
# PLANE OF THE ECLIPTIC (1 DEGREE 32.1 MINUTES)
#
# OUTPUT
# MMATRIX = 3X3 M MATRIX B-1 (STORED IN VAC AREA)
MOONMX STQ SETPD
EARTHMXX
8D
AXT,1 # B REQUIRES SL 0, SL 5 IN NEWANGLE
5
DLOAD PDDL # PD 10D 8-9D=BSUBO
BSUBO # 10-11D=BDOT
BDOT
PUSH CALL # PD 12D
NEWANGLE # EXIT WITH PD 8D AND MPAC= B REVS B0
PUSH COS # PD 10D
STODL COB # PD 8D COS(B) B-1
SIN # SIN(B) B-1
STODL SOB # SETUP INPUT FOR NEWANGLE
FSUBO # 8-9D=FSUBO
PDDL PUSH # PD 10D THEN 12D 10-11D=FDOT
FDOT
AXT,1 CALL # F REQUIRES SL 1, SL 6 IN NEWANGLE
4
NEWANGLE # EXIT WITH PD 8D AND MPAC= F REVS B0
STODL AVECTR +2 # SAVE F TEMP
NODIO # 8-9D=NODIO
PDDL PUSH # PD 10D THEN 12D 10-11D=NODDOT
NODDOT # MPAC=T
AXT,1 CALL # NODE REQUIRES SL 0, SL 5 IN NEWANGLE
5
NEWANGLE # EXIT WITH PD 8D AND MPAC= NODI REVS B0
## Page 1217
PUSH COS # PD 10D 8-9D= NODI REVS B0
PUSH # PD 12D 10-11D= COS(NODI) B-1
STORE AVECTR
DMP SL1R
COB # COS(NODI) B-1
STODL BVECTR +2 # PD 10D 20-25D=AVECTR=COB*SIN(NODI)
DMP SL1R # SOB*SIN(NODI)
SOB
STODL BVECTR +4 # PD 8D
SIN PUSH # PD 10D -SIN(NODI) B-1
DCOMP # 26-31D=BVECTR=COB*COS(NODI)
STODL BVECTR # PD 8D SOB*COS(NODI)
AVECTR +2 # MOVE F FROM TEMP LOC. TO 504F
STODL 504F
DMP SL1R
COB
STODL AVECTR +2
SINNODI # 8-9D=SIN(NODI) B-1
DMP SL1R
SOB
STODL AVECTR +4 # 0
HI6ZEROS # 8-13D= CVECTR= -SOB B-1
PDDL DCOMP # PD 10D COB
SOB
PDDL PDVL # PD 12D THEN PD 14D
COB
BVECTR
VXSC PDVL # PD 20D BVECTR*SINI B-2
SINI
CVECTR
VXSC VAD # PD 14D CVECTR*COSI B-2
COSI
VSL1
STOVL MMATRIX +12D # PD 8D M2=BVECTR*SINI+CVECTR*COSI B-1
VXSC PDVL # PD 14D
SINI # CVECTR*SINI B-2
BVECTR
VXSC VSU # PD 8D BVECTR*COSI B-2
COSI
VSL1 PDDL # PD 14D
504F # 8-13D=DVECTR=BVECTR*COSI-CVECTR*SINI B-1
COS VXSC
DVECTR
PDDL SIN # PD 20D 14-19D= DVECTR*COSF B-2
504F
VXSC VSU # PD 14D AVECTR*SINF B-2
AVECTR
VSL1
STODL MMATRIX +6 # M1= AVECTR*SINF-DVECTR*COSF B-1
504F
## Page 1218
SIN VXSC # PD 8D
PDDL COS # PD 14D 8-13D=DVECTR*SINF B-2
504F
VXSC VAD # PD 8D AVECTR*COSF B-2
AVECTR
VSL1 VCOMP
STCALL MMATRIX # M0= -(AVECTR*COSF+DVECTR*SINF) B-1
EARTHMXX
# COMPUTE X=X0+(XDOT)(T+T0)
# 8-9D= XO (REVS B-0), PUSHLOC SET AT 12D
# 10-11D=XDOT (REVS/CSEC) SCALED B+23 FOR WEARTH,B+28 FOR NODDOT AND BDOT
# AND B+27 FOR FDOT
# X1=DIFFERENCE IN 23 AND SCALING OF XDOT, =0 FOR WEARTH, 5 FOR NODDOT AND
# BDOT AND 4 FOR FDOT
# 6-7D=T (CSEC B-28), TIMSUBO= (CSEC B-42 TRIPLE PREC.)
NEWANGLE DLOAD SR # ENTER PD 12D
6D
14D
TAD TLOAD # CHANGE MODE TO TP
TIMSUBO
MPAC
STODL TIMSUBM # T+T0 CSEC B-42
TIMSUBM +1
DMP # PD 10D MULT BY XDOT IN 10-11D
SL* DAD # PD 8D ADD XO IN 8-9D AFTER SHIFTING
5,1 # SUCH THAT SCALING IS B-0
PUSH SLOAD # PD 10D SAVE PARTIAL (X0+XDOT*T) IN 8-9D
TIMSUBM
SL DMP
9D
10D # XDOT
SL* DAD # PD 8D SHIFT SUCH THAT THIS PART OF X
10D,1 # IS SCALED REVS/CSEC B-0
BOV # TURN OFF OVERFLOW IF SET BY SHIFT
+1 # INSTRUCTION BEFORE EXITING
RVQ # MPAC=X= X0+(XDOT)(T+T0) REVS B0
## Page 1219
# ..... EARTHMX SUBROUTINE .....
# SUBROUTINE TO COMPUTE THE TRANSFORMATION MATRIX M FOR THE EARTH
#
# CALLING SEQUENCE
# L CALL
# L+1 EARTHMX
#
# SUBROUTINES USED
# NEWANGLE
#
# INPUT
# INPUT AVAILABLE FROM LAUNCH DATA AZO REVS B-0
# TEPHEM CSEC B-42
# 6-7D= TIME CSEC B-28
#
# OUTPUT
# MMATRIX= 3X3 M MATRIX B-1 (STORED IN VAC AREA)
EARTHMX STQ SETPD # SET 8-9D=AZO
EARTHMXX
8D # 10-11D=WEARTH
AXT,1 # FOR SL 5, AND SL 10 IN NEWANGLE
0
DLOAD PDDL # LEAVING PD SET AT 12D FOR NEWANGLE
AZO
WEARTH
PUSH CALL
NEWANGLE
SETPD PUSH # 18-19D=504AZ
18D # COS(AZ) SIN(AZ) 0
COS PDDL # 20-37D= MMATRIX= -SIN(AZ) COS(AZ) 0 B-1
504AZ # 0 0 1
SIN PDDL
HI6ZEROS
PDDL SIN
504AZ
DCOMP PDDL
504AZ
COS PDVL
HI6ZEROS
PDDL PUSH
HIDPHALF
GOTO
EARTHMXX
## Page 1220
# ..... EARTHL SUBROUTINE .....
# SUBROUTINE TO COMPUTE L VECTOR FOR EARTH
#
# CALLING SEQUENCE
# L CALL
# L+1 EARTHL
#
# INPUT
# AXO,AYO SET AT LAUNCH TIME WITH AYO IMMEDIATELY FOLLOWING AXO IN CORE
#
# OUTPUT
# -AX
# MPAC= -AY RADIANS B-0
# 0
EARTHL DLOAD DCOMP
AXO
STODL 504LPL
-AYO
STODL 504LPL +2
HI6ZEROS
STOVL 504LPL +4
504LPL
RVQ
## Page 1221
# CONSTANTS AND ERASABLE ASSIGNMENTS
1B1 = DP1/2 # 1 SCALED B-1
COSI 2DEC .99964115 B-1 # COS(1 DEG 32.1 MIN) B-1
SINI 2DEC .02678760 B-1 # SIN(1 DEG 32.1 MIN) B-1
RPREXIT = S1 # R-TO-RP AND RP-TO-R SUBR EXIT
EARTHMXX = S2 # EARTHMX, MOONMX SUBR. EXITS
504RPR = 0D # 6 REGS R OR RP VECTOR
SINNODI = 8D # 2 SIN(NODI)
DVECTR = 8D # 6 D VECTOR MOON
CVECTR = 8D # 6 C VECTR MOON
504AZ = 18D # 2 AZ
TIMSUBM = 14D # 3 TIME SUB M (MOON) T+T0 IN GETAZ
504LPL = 14D # 6 L OR LP VECTOR
AVECTR = 20D # 6 A VECTOR (MOON)
BVECTR = 26D # 6 B VECTOR (MOON)
MMATRIX = 20D # 18 M MATRIX
COB = 32D # 2 COS(B) B-1
SOB = 34D # 2 SIN(B) B-1
504F = 6D # 2 F(MOON)
NODDOT 2DEC -.457335143 E-2 # REVS/CSEC B+28=-1.07047016 E-6 RAD/SEC
FDOT 2DEC .570862491 # REVS/CSEC B+27= 2.67240019 E-6 RAD/SEC
BDOT 2DEC -3.07500412 E-8 # REVS/CSEC B+28=-7.19756666 E-14 RAD/SEC
NODIO 2DEC -.960101269 # REVS B-0 =-6.03249419 RAD
FSUBO 2DEC .415998375 # REVS B-0 = 2.61379488 RAD
BSUBO 2DEC .0651205006 # REVS B=0 = 0.409164173 RAD
WEARTH 2DEC .973561855 # REVS/CSEC B+23= 7.29211515 E-5 RAD/SEC