Source Code

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.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

016946,000002:                                                                                                  ## Copyright:   Public domain.
016947,000003:                                                                                                  ## Filename:    R60_62.agc
016948,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
016949,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
016950,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
016951,000007:                                                                                                  ## Assembler:   yaYUL
016952,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016953,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
016954,000010:                                                                                                  ## Pages:       390-398
016955,000011:                                                                                                  ## Mod history: 2009-05-09 RSB  Adapted from the Colossus249/ file 
016956,000012:                                                                                                  ##                              of the same name, using Comanche055 page 
016957,000013:                                                                                                  ##                              images. 
016958,000014:                                                                                                  ##
016959,000015:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
016960,000016:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
016961,000017:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
016962,000018:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
016963,000019:                                                                                                  ## consequent reduction in image quality as well) are available online at
016964,000020:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
016965,000021:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
016966,000022:                                                                                                  ## (much) higher-quality images which Paul actually created.
016967,000023:                                                                                                  ##
016968,000024:                                                                                                  ## Notations on the hardcopy document read, in part:
016969,000025:                                                                                                  ##
016970,000026:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
016971,000027:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
016972,000028:                                                                                                  ##
016973,000029:                                                                                                  ##      This AGC program shall also be referred to as
016974,000030:                                                                                                  ##                      Colossus 2A
016975,000031: 

Page 390

016977,000033: 34,2002                                           BANK     34                                    
016978,000034: 27,2000                                           SETLOC   MANUVER                               
016979,000035: 27,2000                                           BANK                                           
016980,000036: 
016981,000037: 27,2000     1146                                  EBANK=   TEMPR60                               
016982,000038: 
016983,000039: 27,2000                                           COUNT    27/R60                                
016984,000040: 
016985,000041:                                                                                                  #  CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09       JAN 18, 1968
016986,000042: 
016987,000043: 27,2000           04711        R60CSM             TC       MAKECADR                              
016988,000044: 27,2001           55146                           TS       TEMPR60                               
016989,000045: 
016990,000046:                                                                                                  #  INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR          
016991,000047: 
016992,000048: 27,2002           35012        REDOMANN           CAF      BIT6                                  
016993,000049: 27,2003           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016994,000050: 27,2004           10000                           CCS      A                                     
016995,000051: 27,2005           12013                           TCF      TOBALL                                #  YES
016996,000052: 27,2006           06006                           TC       INTPRET                               
016997,000053: 27,2007           77624                           CALL                                           
016998,000054: 27,2010           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016999,000055: 27,2011           01156                           STORE    CPHI                                  #  STORE FINAL ANGLES -- CPHI, CTHETA, CPSI
017000,000056: 27,2012           77776                           EXIT                                           
017001,000057: 
017002,000058: 27,2013           32125        TOBALL             CAF      V06N18                                
017003,000059: 27,2014           04662                           TC       BANKCALL                              
017004,000060: 27,2015           21132                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
017005,000061: 27,2016           02114                           TC       R61TEST                               
017006,000062: 27,2017           02023                           TC       REDOMANC                              #  PROCEED
017007,000063: 27,2020           12052                           TCF      ENDMANU1                              #  ENTER I.E., FINISHED WITH R60
017008,000064: 
017009,000065: 27,2021           02056                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
017010,000066: 27,2022           05217                           TC       ENDOFJOB                              
017011,000067: 
017012,000068: 27,2023           35012        REDOMANC           CAF      BIT6                                  
017013,000069: 27,2024           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
017014,000070: 27,2025           10000                           CCS      A                                     
017015,000071: 27,2026           12034                           TCF      TOBALLC                               #  YES
017016,000072: 27,2027           06006                           TC       INTPRET                               
017017,000073: 27,2030           77624                           CALL                                           
017018,000074: 27,2031           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
017019,000075: 27,2032           01156                           STORE    CPHI                                  #  STORE ANGLES
017020,000076: 27,2033           77776                           EXIT                                           
017021,000077: 
017022,000078: 27,2034           34371        TOBALLC            CAF      PRIO30                                #  IS MODE AUTO AND CTL GNC

Page 391

017024,000080: 27,2035           00006                           EXTEND                                         
017025,000081: 27,2036           06031                           RXOR     CHAN31                                
017026,000082: 27,2037           77707                           MASK     13,14,15                              
017027,000083: 27,2040           00006                           EXTEND                                         
017028,000084: 27,2041           12043                           BZF      +2                                    #  AUTO, NON-FLASH N18
017029,000085: 27,2042           12013                           TCF      TOBALL                                #  NOT AUTO
017030,000086: 
017031,000087: 27,2043           32125                           CAF      V06N18                                #  STATIC UP NON-FLASHING V06 N18
017032,000088: 27,2044           04662                           TC       BANKCALL                              
017033,000089: 27,2045           20676                           CADR     GODSPR                                
017034,000090: 27,2046           02056                           TC       CHKLINUS                              
017035,000091: 
017036,000092: 27,2047           04662        STARTMNV           TC       BANKCALL                              
017037,000093: 27,2050           17627                           CADR     GOMANUR                               
017038,000094: 27,2051           12013        ENDMANUV           TCF      TOBALL                                #  FINISHED MANEUVER.
017039,000095: 
017040,000096: 27,2052           05560        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
017041,000097: 27,2053           00124                           ADRES    3AXISFLG                              #  BIT 6 FLAG 5
017042,000098: 27,2054           31146                           CAE      TEMPR60                               
017043,000099: 27,2055           04704                           TC       BANKJUMP                              
017044,000100: 
017045,000101: 27,2056           40100        CHKLINUS           CS       FLAGWRD4                              
017046,000102: 27,2057           75004                           MASK     BIT12                                 #  IS PRIORITY DISPLAY FLAG SET?
017047,000103: 27,2060           10000                           CCS      A                                     
017048,000104: 27,2061           00002                           TC       Q                                     #  NO -- EXIT
017049,000105: 27,2062           30002                           CA       Q                                     
017050,000106: 27,2063           54156                           TS       MPAC       +2                         #  SAVE RETURN
017051,000107: 27,2064           46214                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART
017052,000108: 27,2065           60133                           AD       BUF2                                  #  HOLD Q OF LAST DISPLAY
017053,000109: 27,2066           55053                           TS       TBASE1                                
017054,000110: 
017055,000111: 27,2067           05412                           TC       PHASCHNG                              
017056,000112: 27,2070           00071                           OCT      71                                    #  1.7SPOT FOR RELINUS
017057,000113: 
017058,000114: 27,2071           35011                           CAF      BIT7                                  
017059,000115: 27,2072           05526                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY
017060,000116: 27,2073           00156                           TC       MPAC       +2                         
017061,000117: 
017062,000118: 27,2074           35013        RELINUS            CAF      BIT5                                  #  IS TRACK FLAG ON
017063,000119: 27,2075           70075                           MASK     FLAGWRD1                              
017064,000120: 27,2076           00006                           EXTEND                                         
017065,000121: 27,2077           12111                           BZF      GOREDO20                              #  NO
017066,000122: 
017067,000123: 27,2100           05546                           TC       UPFLAG                                
017068,000124: 27,2101           00077                           ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
017069,000125: 
017070,000126: 27,2102           05546                           TC       UPFLAG                                
017071,000127: 27,2103           00024                           ADRES    TARG1FLG                              #  FOR R52
017072,000128: 
017073,000129: 27,2104           35021                           CAF      ZERO                                  #  RESET TO ZERO, SINCE

Page 392

017075,000131: 27,2105           55303                           TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
017076,000132: 
017077,000133: 27,2106           35066                           CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
017078,000134: 27,2107           05210                           TC       PRIOCHNG                              
017079,000135: 
017080,000136: 27,2110           01053                           TC       TBASE1                                
017081,000137: 
017082,000138: 27,2111           05412        GOREDO20           TC       PHASCHNG                              
017083,000139: 27,2112           00111                           OCT      111                                   #  1.11 FOR PIKUP20
017084,000140: 
017085,000141: 27,2113           05217                           TC       ENDOFJOB                              
017086,000142: 
017087,000143: 27,2114           31011        R61TEST            CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
017088,000144: 27,2115           00006                           EXTEND                                         #        VERB49 OR VERB89 SO DO ENDEXT.
017089,000145: 27,2116           12052                           BZF      ENDMANU1                              #  RESET 3-AXIS & RETURN.  USER DOES ENDEXT
017090,000146: 27,2117           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
017091,000147: 27,2120           75004                           MASK     BIT12                                 
017092,000148: 27,2121           00006                           EXTEND                                         
017093,000149: 27,2122           14106                           BZF      GOTOP00H                              #  NO
017094,000150: 27,2123           04622                           TC       GOTOV56                               #  YES
017095,000151: 
017096,000152: 27,2124           20100        BIT14+7            OCT      20100                                 
017097,000153: 27,2125           01422        V06N18             VN       0618                                  
017098,000154: 

Page 393

017100,000156:                                                                                                  #  PROGRAM DESCRIPTION -- VECPOINT
017101,000157: 
017102,000158:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
017103,000159:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
017104,000160:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
017105,000161:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
017106,000162:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
017107,000163:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
017108,000164:                                                                                                  #  ANGLES (2'S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
017109,000165:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
017110,000166: 
017111,000167:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
017112,000168:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
017113,000169:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
017114,000170:                                                                                                  #  LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
017115,000171:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
017116,000172:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
017117,000173:                                                                                                  #  STORED AS 2'S COMPLEMENT ANGLES N T(MPAC) BEFORE RETURNING TO THE CALLER.
017118,000174: 
017119,000175:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
017120,000176:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
017121,000177:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
017122,000178:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
017123,000179: 
017124,000180:                                                                                                  #  CALLING SEQUENCE
017125,000181: 
017126,000182:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
017127,000183:                                                                                                  #        2)      CALL
017128,000184:                                                                                                  #                        VECPOINT
017129,000185: 
017130,000186:                                                                                                  #  RETURNS WITH
017131,000187: 
017132,000188:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
017133,000189:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
017134,000190:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
017135,000191: 
017136,000192:                                                                                                  #  ERASABLES USED --
017137,000193: 
017138,000194:                                                                                                  #        1)      SCAXIS          6
017139,000195:                                                                                                  #        2)      POINTVSM        6
017140,000196:                                                                                                  #        3)      MIS             18
017141,000197:                                                                                                  #        4)      DEL             18
017142,000198:                                                                                                  #        5)      COF             6
017143,000199:                                                                                                  #        6)      VECQTEMP        1
017144,000200:                                                                                                  #        7)      ALL OF VAC AREA 43
017145,000201: 
017146,000202:                                                                                                  #                        TOTAL   99
017147,000203: 
017148,000204: 27,2000                                           SETLOC   VECPT                                 
017149,000205: 27,2000                                           BANK                                           

Page 394

017151,000207: 27,2126  E6,1661                                  EBANK=   BCDU                                  
017152,000208: 
017153,000209: 27,2126                                           COUNT    27/VECPT                              
017154,000210: 
017155,000211: 27,2126           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
017156,000212: 27,2127           03310                                    VECQTEMP                              
017157,000213: 27,2130           56131                                    VECLEAR                               #  AND CLEAR OVFIND
017158,000214: 27,2131           47164        VECLEAR            AXC,2    RTB                                   
017159,000215: 27,2132           03320                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
017160,000216: 27,2133           44376                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
017161,000217: 27,2134           34032                           STCALL   25D                                   
017162,000218: 27,2135           44405                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
017163,000219: 27,2136           61375                           VLOAD    VXM                                   
017164,000220: 27,2137           03357                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
017165,000221: 27,2140           03321                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
017166,000222: 27,2141           77656                           UNIT                                           
017167,000223: 27,2142           00035                           STORE    28D                                   
017168,000224:                                                                                                  #  PD 28 29 30 31 32 33
017169,000225: 27,2143           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
017170,000226: 27,2144           03351                                    SCAXIS                                #  WHERE VI = SCAXIS
017171,000227: 27,2145           57400                           BOV      VCOMP                                 
017172,000228: 27,2146           56256                                    PICKAXIS                              
017173,000229: 27,2147           17343                           STODL    COF                                   #  CHECK MAGNITUDE
017174,000230: 27,2150           00045                                    36D                                   #  OF CROSS PRODUCT
017175,000231: 27,2151           50025                           DSU      BMN                                   #  VECTOR, IF LESS
017176,000232: 27,2152           16327                                    DPB-14                                #  THAN B-14 ASSUME
017177,000233: 27,2153           56256                                    PICKAXIS                              #  UNIT OPERATION
017178,000234: 27,2154           50375                           VLOAD    DOT                                   #  INVALID.
017179,000235: 27,2155           03351                                    SCAXIS                                
017180,000236: 27,2156           00035                                    28D                                   
017181,000237: 27,2157           65552                           SL1      ARCCOS                                
017182,000238: 27,2160           77624        COMPMATX           CALL                                           #  NO COMPUTE THE TRANSFORMATION FROM
017183,000239: 27,2161           44530                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
017184,000240: 27,2162           75160                           AXC,1    AXC,2                                 
017185,000241: 27,2163           03320                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
017186,000242: 27,2164           03425                                    DEL                                   #  S/C AXES TO STABLE MEMBER AXES
017187,000243: 27,2165           77624                           CALL                                           #  MFS = MIS MFI
017188,000244: 27,2166           44304                                    MXM3                                  #  (IN PD LIST)
017189,000245: 
017190,000246: 27,2167           51545                           DLOAD    ABS                                   
017191,000247: 27,2170           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
017192,000248: 27,2171           50025                           DSU      BMN                                   
017193,000249: 27,2172           16314                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
017194,000250: 27,2173           56246                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS.
017195,000251:                                                                                                  #  I.E., DESIRED ATTITUDE NOT IN GIMBAL LOCK
017196,000252: 
017197,000253: 27,2174           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
017198,000254: 27,2175           03351                                    SCAXIS                                #  THE THRUST AXIS
017199,000255: 27,2176           51025                           DSU      BPL                                   
017200,000256: 27,2177           16316                                    SINVEC1                               #  SIN 49.4 DEGS                         $2

Page 395

017202,000258: 27,2200           56246                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
017203,000259: 27,2201           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
017204,000260: 27,2202           77626                           STADR                                          
017205,000261: 27,2203           50442                           STOVL    MIS        +12D                       
017206,000262: 27,2204           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
017207,000263: 27,2205           50450                           STOVL    MIS        +6                         
017208,000264: 27,2206           77626                           STADR                                          
017209,000265: 27,2207           50456                           STOVL    MIS                                   
017210,000266: 27,2210           03327                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
017211,000267: 27,2211           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
017212,000268: 27,2212           56213                                    IGSAMEX                               #  FINAL X S/C AXIS
017213,000269: 
017214,000270: 27,2213           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
017215,000271: 27,2214           03351                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
017216,000272: 27,2215           56222                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E., IF  (IG (SGN MFS3)
017217,000273:                                                                                                  #  X SCAXIS . XF) LESS THAN Q, U = SCAXIS
017218,000274:                                                                                                  #  OTHERWISE U = -SCAXIS.
017219,000275: 
017220,000276: 27,2216           57575                           VLOAD    VCOMP                                 
017221,000277: 27,2217           03351                                    SCAXIS                                
017222,000278: 27,2220           37343                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
017223,000279: 27,2221           56225                                    CHEKAXIS                              
017224,000280: 27,2222           77775        U=SCAXIS           VLOAD                                          
017225,000281: 27,2223           03351                                    SCAXIS                                
017226,000282: 27,2224           03343                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
017227,000283: 27,2225           51545        CHEKAXIS           DLOAD    ABS                                   
017228,000284: 27,2226           03351                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
017229,000285: 27,2227           51025                           DSU      BPL                                   
017230,000286: 27,2230           16320                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
017231,000287: 27,2231           56235                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
017232,000288: 27,2232           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
017233,000289: 27,2233           16324                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
017234,000290: 27,2234           56237                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
017235,000291:                                                                                                  #  OF GIMBAL LOCK (VECANG2 $360)
017236,000292: 27,2235           77745        PICKANG1           DLOAD                                          
017237,000293: 27,2236           16322                                    VECANG1                               #  = 50 DEGS.                          $360
017238,000294: 27,2237           77624        COMPMFSN           CALL                                           
017239,000295: 27,2240           44530                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
017240,000296: 27,2241           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
017241,000297: 27,2242           03320                                    MIS                                   
017242,000298: 27,2243           03425                                    DEL                                   
017243,000299: 27,2244           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
017244,000300: 27,2245           44304                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
017245,000301:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID
017246,000302:                                                                                                  #  GIMBAL LOCK
017247,000303: 27,2246           45160        FINDGIMB           AXC,1    CALL                                  
017248,000304: 27,2247           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
017249,000305: 27,2250           44655                                    DCMTOCDU                              #  THIS MATRIX
017250,000306: 27,2251           40234                           RTB      SETPD                                 
017251,000307: 27,2252           45552                                    V1STO2S                               #  CONVERT TO 2'S COMPLEMENT

Page 396

017253,000309: 27,2253           00001                                    0                                     
017254,000310: 27,2254           77650                           GOTO                                           
017255,000311: 27,2255           03310                                    VECQTEMP                              #  RETURN TO CALLER
017256,000312: 
017257,000313: 27,2256           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF, VI
017258,000314: 27,2257           00035                                    28D                                   
017259,000315: 27,2260           03351                                    SCAXIS                                
017260,000316: 27,2261           72240                           BMN      TLOAD                                 
017261,000317: 27,2262           56266                                    ROT180                                
017262,000318: 27,2263           00032                                    25D                                   
017263,000319: 27,2264           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
017264,000320: 27,2265           03310                                    VECQTEMP                              #  PRESENT CDU ANGLES
017265,000321: 
017266,000322: 27,2266           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
017267,000323: 27,2267           03327                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
017268,000324: 27,2270           15333                                    HIUNITX                               #  INITIAL S/C AXES.
017269,000325: 27,2271           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
017270,000326: 27,2272           03351                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
017271,000327: 27,2273           40056                           UNIT     BOV                                   #  I.E., PICK A VECTOR IN THE PLANE OF X(I),
017272,000328: 27,2274           56310                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017273,000329: 27,2275           17343                           STODL    COF                                   
017274,000330: 27,2276           00045                                    36D                                   #  CHECK MAGNITUDE
017275,000331: 27,2277           50025                           DSU      BMN                                   #  OF THIS VECTOR.
017276,000332: 27,2300           16327                                    DPB-14                                #  IF LESS THAN B-14,
017277,000333: 27,2301           56310                                    PICKX                                 #  PICK X-AXIS.
017278,000334: 27,2302           77775                           VLOAD                                          
017279,000335: 27,2303           03343                                    COF                                   
017280,000336: 27,2304           17343        XROT               STODL    COF                                   
017281,000337: 27,2305           15333                                    HIDPHALF                              
017282,000338: 27,2306           77650                           GOTO                                           
017283,000339: 27,2307           56160                                    COMPMATX                              
017284,000340: 27,2310           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017285,000341: 27,2311           15333                                    HIUNITX                               
017286,000342: 27,2312           56304                                    XROT                                  
017287,000343: 35,2000                                           BANK     35                                    
017288,000344: 27,2000                                           SETLOC   MANUVER1                              
017289,000345: 27,2000                                           BANK                                           
017290,000346: 
017291,000347: 27,2313           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
017292,000348: 
017293,000349: 27,2315           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
017294,000350: 
017295,000351: 27,2317           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
017296,000352: 
017297,000353: 27,2321           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                        $360
017298,000354: 
017299,000355: 27,2323           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                        $360
017300,000356: 
017301,000357: 
017302,000358: 27,2325           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)       ********
017303,000359: 27,2326           00001        DPB-14             OCT      00001                                 

Page 397

017305,000361: 27,2327           00000                           OCT      00000                                 
017306,000362: 34,2002                                           BANK     34                                    
017307,000363: 27,2000                                           SETLOC   MANUVER                               
017308,000364: 27,2000                                           BANK                                           
017309,000365: 

Page 398

017311,000367:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017312,000368: 
017313,000369: 27,2330     1155                                  EBANK=   CPHI                                  
017314,000370: 
017315,000371: 27,2330                                           COUNT    27/R62                                
017316,000372: 
017317,000373: 27,2330           35052        R62DISP            CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017318,000374: 27,2331           04662                           TC       BANKCALL                              
017319,000375: 27,2332           20720                           CADR     GOFLASH                               
017320,000376: 27,2333           15534                           TCF      ENDEXT                                
017321,000377: 27,2334           12336                           TCF      GOMOVE                                #  PROCEED
017322,000378: 27,2335           12330                           TCF      R62DISP                               #  ENTER
017323,000379: 
017324,000380:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017325,000381:                                                                                                  #  POINT.
017326,000382: 27,2336           05546        GOMOVE             TC       UPFLAG                                #  SET FOR 3-AXIS MANEUVER
017327,000383: 27,2337           00124                           ADRES    3AXISFLG                              
017328,000384: 
017329,000385: 27,2340           04662                           TC       BANKCALL                              
017330,000386: 27,2341           56000                           CADR     R60CSM                                
017331,000387: 27,2342           15534                           TCF      ENDEXT                                
017332,000388: 

End of include-file R60_62.agc.  Parent file is MAIN.agc