Source Code

These source-code files are part of a reconstructed copy of Comanche 72, the first release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

They have been adapted from sources files created from a listing of Comanche 55. These source files were updated to match binary dumps of a set of Comanche 67 rope modules. They were then further modified by applying known changes between Comanche 67 and Comanche 72. A binary dump of module B2 of Comanche 72, part number 2010802-021, was also used to validate changes made to banks 05-13. The resulting code assembles to have identical memory-bank checksums as those specified in NASA drawing 2021153G; this gives reasonably high confidence that the changes that have been made are correct. In places where ambiguity exists, this ambiguity is discussed in "## Reconstruction:" comments.

Since no contemporary listings of Comanche 72 are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing.

016832,000002:                                                                                                  ## Copyright:   Public domain.
016833,000003:                                                                                                  ## Filename:    ANGLFIND.agc
016834,000004:                                                                                                  ## Purpose:     A section of Comanche revision 072.
016835,000005:                                                                                                  ##              It is part of the reconstructed source code for the first
016836,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
016837,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
016838,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
016839,000009:                                                                                                  ##              from a printout of Comanche 055, binary dumps of a set of
016840,000010:                                                                                                  ##              Comanche 067 rope modules, and changelogs between Comanche 067
016841,000011:                                                                                                  ##              and 072. It has been adapted such that the resulting bugger words
016842,000012:                                                                                                  ##              exactly match those specified for Comanche 072 in NASA drawing
016843,000013:                                                                                                  ##              2021153G, which gives relatively high confidence that the
016844,000014:                                                                                                  ##              reconstruction is correct.
016845,000015:                                                                                                  ## Assembler:   yaYUL
016846,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016847,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
016848,000018:                                                                                                  ## Mod history: 2024-05-13 MAS  Created from Comanche 067.
016849,000019: 
016850,000020: 15,2000                                           BANK     15                                    
016851,000021: 22,2000                                           SETLOC   KALCMON1                              
016852,000022: 22,2000                                           BANK                                           
016853,000023: 
016854,000024: 22,2000  E6,1661                                  EBANK=   BCDU                                  
016855,000025: 
016856,000026: 22,2000                                           COUNT    22/KALC                               
016857,000027: 
016858,000028: 22,2000           06006        KALCMAN3           TC       INTPRET                               
016859,000029: 22,2001           77634                           RTB                                            
016860,000030: 22,2002           44376                                    READCDUK                              #  PICK UP CURRENT CDU ANGLES
016861,000031: 22,2003           03262                           STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
016862,000032: 22,2004           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
016863,000033: 22,2005           03320                                    MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
016864,000034: 22,2006           03262                                    BCDU                                  #  (MIS)
016865,000035: 22,2007           77624                           CALL                                           
016866,000036: 22,2010           44405                                    CDUTODCM                              
016867,000037: 22,2011           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
016868,000038: 22,2012           03425                                    MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
016869,000039: 22,2013           01156                                    CPHI                                  #  (MFS)
016870,000040: 22,2014           77624                           CALL                                           
016871,000041: 22,2015           44405                                    CDUTODCM                              
016872,000042: 22,2016           45160        SECAD              AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
016873,000043: 22,2017           03320                                    MIS                                   
016874,000044: 22,2020           44334                                    TRANSPOS                              
016875,000045: 22,2021           77775                           VLOAD                                          
016876,000046: 22,2022           77626                           STADR                                          
016877,000047: 22,2023           50474                           STOVL    TMIS       +12D                       
016878,000048: 22,2024           77626                           STADR                                          
016879,000049: 22,2025           50502                           STOVL    TMIS       +6                         
016880,000050: 22,2026           77626                           STADR                                          
016881,000051: 22,2027           74510                           STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
016882,000052: 22,2030           75160                           AXC,1    AXC,2                                 
016883,000053: 22,2031           03266                                    TMIS                                  
016884,000054: 22,2032           03425                                    MFS                                   
016885,000055: 22,2033           77624                           CALL                                           
016886,000056: 22,2034           44304                                    MXM3                                  
016887,000057: 22,2035           45575                           VLOAD    STADR                                 
016888,000058: 22,2036           50335                           STOVL    MFI        +12D                       
016889,000059: 22,2037           77626                           STADR                                          
016890,000060: 22,2040           50343                           STOVL    MFI        +6                         
016891,000061: 22,2041           77626                           STADR                                          
016892,000062: 22,2042           74351                           STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
016893,000063: 22,2043           45001                           SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
016894,000064: 22,2044           00023                                    18D                                   
016895,000065: 22,2045           44343                                    TRNSPSPD                              
016896,000066: 22,2046           45575                           VLOAD    STADR                                 
016897,000067: 22,2047           50474                           STOVL    TMFI       +12D                       
016898,000068: 22,2050           77626                           STADR                                          
016899,000069: 22,2051           50502                           STOVL    TMFI       +6                         
016900,000070: 22,2052           77626                           STADR                                          
016901,000071: 22,2053           74510                           STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
016902,000072: 
016903,000073:                                                                                                  #  CALCULATE COFSKEW AND MFISYM
016904,000074: 
016905,000075: 22,2054           45345                           DLOAD    DSU                                   
016906,000076: 22,2055           03271                                    TMFI       +2                         
016907,000077: 22,2056           03430                                    MFI        +2                         
016908,000078: 22,2057           45325                           PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
016909,000079: 22,2060           03432                                    MFI        +4                         
016910,000080: 22,2061           03273                                    TMFI       +4                         
016911,000081: 22,2062           45325                           PDDL     DSU                                   
016912,000082: 22,2063           03301                                    TMFI       +10D                       
016913,000083: 22,2064           03440                                    MFI        +10D                       
016914,000084: 22,2065           77666                           VDEF                                           
016915,000085: 22,2066           03311                           STORE    COFSKEW                               #  EQUALS MFISKEW
016916,000086: 
016917,000087:                                                                                                  #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
016918,000088: 
016919,000089: 22,2067           43345                           DLOAD    DAD                                   
016920,000090: 22,2070           03426                                    MFI                                   
016921,000091: 22,2071           03446                                    MFI        +16D                       
016922,000092: 22,2072           43225                           DSU      DAD                                   
016923,000093: 22,2073           15324                                    DP1/4TH                               
016924,000094: 22,2074           03436                                    MFI        +8D                        
016925,000095: 22,2075           03317                           STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
016926,000096: 22,2076           77726                           ARCCOS                                         
016927,000097: 22,2077           03365                           STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
016928,000098: 22,2100           51025                           DSU      BPL                                   
016929,000099: 22,2101           04367                                    MINANG                                
016930,000100: 22,2102           44111                                    CHECKMAX                              
016931,000101: 22,2103           77776                           EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
016932,000102: 22,2104           00004                           INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
016933,000103: 22,2105           45033                           CS       ONE                                   #  ABOUT COMMANDED ANGLES
016934,000104: 22,2106           55332                           TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
016935,000105: 22,2107           03142                           TC       LOADCDUD                              #  GOOD RETURN
016936,000106: 22,2110           12730                           TCF      NOGO                                  
016937,000107: 
016938,000108: 22,2111           45345        CHECKMAX           DLOAD    DSU                                   
016939,000109: 22,2112           03365                                    AM                                    
016940,000110: 22,2113           04370                                    MAXANG                                
016941,000111: 22,2114           77244                           BPL      VLOAD                                 
016942,000112: 22,2115           44123                                    ALTCALC                               #  UNIT
016943,000113: 22,2116           03311                                    COFSKEW                               #  COFSKEW
016944,000114: 22,2117           77656                           UNIT                                           
016945,000115: 22,2120           03343                           STORE    COF                                   #  COF IS THE MANEUVER AXIS
016946,000116: 22,2121           77650                           GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
016947,000117: 22,2122           44737                                    LOCSKIRT                              
016948,000118: 22,2123           53375        ALTCALC            VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
016949,000119: 22,2124           03426                                    MFI                                   
016950,000120: 22,2125           03267                                    TMFI                                  
016951,000121: 22,2126           77762                           VSR1                                           
016952,000122: 22,2127           27267                           STOVL    MFISYM                                
016953,000123: 22,2130           03434                                    MFI        +6                         
016954,000124: 22,2131           74455                           VAD      VSR1                                  
016955,000125: 22,2132           03275                                    TMFI       +6                         
016956,000126: 22,2133           27275                           STOVL    MFISYM     +6                         
016957,000127: 22,2134           03442                                    MFI        +12D                       
016958,000128: 22,2135           74455                           VAD      VSR1                                  
016959,000129: 22,2136           03303                                    TMFI       +12D                       
016960,000130: 22,2137           03303                           STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2   SCALED BY 4
016961,000131: 
016962,000132:                                                                                                  #  CALCULATE COF
016963,000133: 
016964,000134: 22,2140           70545                           DLOAD    SR1                                   
016965,000135: 22,2141           03317                                    CAM                                   
016966,000136: 22,2142           45325                           PDDL     DSU                                   #  PD0 CAM                              $4
016967,000137: 22,2143           15332                                    DPHALF                                
016968,000138: 22,2144           03317                                    CAM                                   
016969,000139: 22,2145           65204                           BOVB     PDDL                                  #  PD2 1 - CAM                          $2
016970,000140: 22,2146           45712                                    SIGNMPAC                              
016971,000141: 22,2147           03307                                    MFISYM     +16D                       
016972,000142: 22,2150           56225                           DSU      DDV                                   
016973,000143: 22,2151           00001                                    0                                     
016974,000144: 22,2152           00003                                    2                                     
016975,000145: 22,2153           65366                           SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/1-CAM)
016976,000146: 22,2154           03277                                    MFISYM     +8D                        #                                 $ ROOT 2
016977,000147: 22,2155           56225                           DSU      DDV                                   
016978,000148: 22,2156           00001                                    0                                     
016979,000149: 22,2157           00003                                    2                                     
016980,000150: 22,2160           65366                           SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
016981,000151: 22,2161           03267                                    MFISYM                                
016982,000152: 22,2162           56225                           DSU      DDV                                   
016983,000153: 22,2163           00001                                    0                                     
016984,000154: 22,2164           00003                                    2                                     
016985,000155: 22,2165           55566                           SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
016986,000156: 22,2166           77656                           UNIT                                           
016987,000157: 22,2167           03343                           STORE    COF                                   
016988,000158: 
016989,000159:                                                                                                  #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
016990,000160: 
016991,000161: 22,2170           45345        COFMAXGO           DLOAD    DSU                                   
016992,000162: 22,2171           03343                                    COF                                   
016993,000163: 22,2172           03345                                    COF        +2                         
016994,000164: 22,2173           71240                           BMN      DLOAD                                 #  COFY G COFX
016995,000165: 22,2174           44203                                    COMP12                                
016996,000166: 22,2175           03343                                    COF                                   
016997,000167: 22,2176           50025                           DSU      BMN                                   
016998,000168: 22,2177           03347                                    COF        +4                         
016999,000169: 22,2200           44260                                    METHOD3                               #  COFZ G COFX OR COFY
017000,000170: 22,2201           77650                           GOTO                                           
017001,000171: 22,2202           44234                                    METHOD1                               #  COFX G COFY OR COFZ
017002,000172: 22,2203           45345        COMP12             DLOAD    DSU                                   
017003,000173: 22,2204           03345                                    COF        +2                         
017004,000174: 22,2205           03347                                    COF        +4                         
017005,000175: 22,2206           77640                           BMN                                            
017006,000176: 22,2207           44260                                    METHOD3                               #  COFZ G COFY OR COFX
017007,000177: 
017008,000178: 22,2210           51145        METHOD2            DLOAD    BPL                                   #  COFY MAX
017009,000179: 22,2211           03313                                    COFSKEW    +2                         #  UY
017010,000180: 22,2212           44216                                    U2POS                                 
017011,000181: 22,2213           57575                           VLOAD    VCOMP                                 
017012,000182: 22,2214           03343                                    COF                                   
017013,000183: 22,2215           03343                           STORE    COF                                   
017014,000184: 22,2216           51145        U2POS              DLOAD    BPL                                   
017015,000185: 22,2217           03271                                    MFISYM     +2                         #  UX UY
017016,000186: 22,2220           44224                                    OKU21                                 
017017,000187: 22,2221           57545                           DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
017018,000188: 22,2222           03343                                    COF                                   
017019,000189: 22,2223           03343                           STORE    COF                                   
017020,000190: 22,2224           51145        OKU21              DLOAD    BPL                                   
017021,000191: 22,2225           03301                                    MFISYM     +10D                       #  UY UZ
017022,000192: 22,2226           44737                                    LOCSKIRT                              
017023,000193: 22,2227           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017024,000194: 22,2230           03347                                    COF        +4                         
017025,000195: 22,2231           03347                           STORE    COF        +4                         
017026,000196: 22,2232           77650                           GOTO                                           
017027,000197: 22,2233           44737                                    LOCSKIRT                              
017028,000198: 22,2234           51145        METHOD1            DLOAD    BPL                                   #  COFX MAX
017029,000199: 22,2235           03311                                    COFSKEW                               #  UX
017030,000200: 22,2236           44242                                    U1POS                                 
017031,000201: 22,2237           57575                           VLOAD    VCOMP                                 
017032,000202: 22,2240           03343                                    COF                                   
017033,000203: 22,2241           03343                           STORE    COF                                   
017034,000204: 22,2242           51145        U1POS              DLOAD    BPL                                   
017035,000205: 22,2243           03271                                    MFISYM     +2                         #  UX UY
017036,000206: 22,2244           44250                                    OKU12                                 
017037,000207: 22,2245           57545                           DLOAD    DCOMP                                 
017038,000208: 22,2246           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017039,000209: 22,2247           03345                           STORE    COF        +2                         
017040,000210: 22,2250           51145        OKU12              DLOAD    BPL                                   
017041,000211: 22,2251           03273                                    MFISYM     +4                         #  UX UZ
017042,000212: 22,2252           44737                                    LOCSKIRT                              
017043,000213: 22,2253           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017044,000214: 22,2254           03347                                    COF        +4                         
017045,000215: 22,2255           03347                           STORE    COF        +4                         
017046,000216: 22,2256           77650                           GOTO                                           
017047,000217: 22,2257           44737                                    LOCSKIRT                              
017048,000218: 22,2260           51145        METHOD3            DLOAD    BPL                                   #  COFZ MAX
017049,000219: 22,2261           03315                                    COFSKEW    +4                         #  UZ
017050,000220: 22,2262           44266                                    U3POS                                 
017051,000221: 22,2263           57575                           VLOAD    VCOMP                                 
017052,000222: 22,2264           03343                                    COF                                   
017053,000223: 22,2265           03343                           STORE    COF                                   
017054,000224: 22,2266           51145        U3POS              DLOAD    BPL                                   
017055,000225: 22,2267           03273                                    MFISYM     +4                         #  UX UZ
017056,000226: 22,2270           44274                                    OKU31                                 
017057,000227: 22,2271           57545                           DLOAD    DCOMP                                 
017058,000228: 22,2272           03343                                    COF                                   #  SIGN OF UX OPPOSITE TO UZ
017059,000229: 22,2273           03343                           STORE    COF                                   
017060,000230: 22,2274           51145        OKU31              DLOAD    BPL                                   
017061,000231: 22,2275           03301                                    MFISYM     +10D                       #  UY UZ
017062,000232: 22,2276           44737                                    LOCSKIRT                              
017063,000233: 22,2277           57545                           DLOAD    DCOMP                                 
017064,000234: 22,2300           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
017065,000235: 22,2301           03345                           STORE    COF        +2                         
017066,000236: 22,2302           77650                           GOTO                                           
017067,000237: 22,2303           44737                                    LOCSKIRT                              
017068,000238: 
017069,000239:                                                                                                  #  MATRIX OPERATIONS
017070,000240: 
017071,000241: 22,2304           77601        MXM3               SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
017072,000242: 22,2305           00001                                    0                                     #  AND LEAVES RESULT IN PD LIST
017073,000243: 22,2306           64743                           DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
017074,000244: 22,2307           77762                                    12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
017075,000245: 22,2310           77770                                    6,2                                   
017076,000246: 22,2311           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
017077,000247: 22,2312           77776                                    0,2                                   
017078,000248: 22,2313           64717                           MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
017079,000249: 22,2314           00001                                    0,1                                   
017080,000250: 22,2315           77760                                    14D,2                                 
017081,000251: 22,2316           64723                           PDDL*    PDDL*                                 
017082,000252: 22,2317           77766                                    8D,2                                  
017083,000253: 22,2320           77774                                    2,2                                   
017084,000254: 22,2321           63666                           VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
017085,000255: 22,2322           00001                                    0,1                                   
017086,000256: 22,2323           64723                           PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
017087,000257: 22,2324           77756                                    16D,2                                 
017088,000258: 22,2325           77764                                    10D,2                                 
017089,000259: 22,2326           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
017090,000260: 22,2327           77772                                    4,2                                   
017091,000261: 22,2330           41517                           MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
017092,000262: 22,2331           00001                                    0,1                                   
017093,000263: 22,2332           77650                           GOTO                                           
017094,000264: 22,2333           44343                                    TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
017095,000265: 
017096,000266:                                                                                                  #  RETURN WITH M1XM2 IN PD LIST
017097,000267: 22,2334           76601        TRANSPOS           SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
017098,000268: 22,2335           00001                                    0                                     #        AND LEAVES RESULT IN PD LIST
017099,000269: 22,2336           00001                                    0,1                                   #  MATRIX ADDRESS IN XR1
017100,000270: 22,2337           62713                           PDVL*    PDVL*                                 
017101,000271: 22,2340           00007                                    6,1                                   
017102,000272: 22,2341           00015                                    12D,1                                 
017103,000273: 22,2342           77606                           PUSH                                           #  MATRIX IN PD
017104,000274: 22,2343           65345        TRNSPSPD           DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
017105,000275: 22,2344           00003                                    2                                     
017106,000276: 22,2345           00007                                    6                                     
017107,000277: 22,2346           14003                           STODL    2                                     
017108,000278: 22,2347           77626                           STADR                                          
017109,000279: 22,2350           63770                           STODL    6                                     
017110,000280: 22,2351           00005                                    4                                     
017111,000281: 22,2352           77725                           PDDL                                           
017112,000282: 22,2353           00015                                    12D                                   
017113,000283: 22,2354           14005                           STODL    4                                     
017114,000284: 22,2355           77626                           STADR                                          
017115,000285: 22,2356           63762                           STODL    12D                                   
017116,000286: 22,2357           00013                                    10D                                   
017117,000287: 22,2360           77725                           PDDL                                           
017118,000288: 22,2361           00017                                    14D                                   
017119,000289: 22,2362           14013                           STODL    10D                                   
017120,000290: 22,2363           77626                           STADR                                          
017121,000291: 22,2364           77760                           STORE    14D                                   
017122,000292: 22,2365           77616                           RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
017123,000293: 22,2366           00013        MINANG             DEC      .00069375                             
017124,000294: 22,2367           17071        MAXANG             DEC      .472222                               
017125,000295: 
017126,000296:                                                                                                  #  GIMBAL LOCK CONSTANTS
017127,000297: 
017128,000298:                                                                                                  #  D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017129,000299:                                                                                                  #  NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017130,000300: 
017131,000301: 22,2370           15667        SD                 DEC      .433015                               #  = SIN(D)                              $2
017132,000302: 22,2371           33555        K3S1               DEC      .86603                                #  = SIN(D)                              $1
017133,000303: 22,2372           67777        K4                 DEC      -.25                                  #  = -COS(D)                             $2
017134,000304: 22,2373           04000        K4SQ               DEC      .125                                  #  = COS(D)COS(D)                        $2
017135,000305: 22,2374           00217        SNGLCD             DEC      .008725                               #  = SIN(NGL)COS(D)                      $2
017136,000306: 22,2375           17773        CNGL               DEC      .499695                               #  = COS(NGL)                            $2
017137,000307: 22,2376           00004        READCDUK           INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017138,000308: 22,2377           30034                           CA       CDUZ                                  
017139,000309: 22,2400           54156                           TS       MPAC       +2                         
017140,000310: 22,2401           00006                           EXTEND                                         
017141,000311: 22,2402           30033                           DCA      CDUX                                  
017142,000312: 22,2403           00003                           RELINT                                         
017143,000313: 22,2404           16445                           TCF      TLOAD      +6                         
017144,000314: 16,2000                                           BANK     16                                    
017145,000315: 22,2000                                           SETLOC   KALCMON2                              
017146,000316: 22,2000                                           BANK                                           
017147,000317: 
017148,000318: 22,2405                                           COUNT*   $$/KALC                               
017149,000319: 
017150,000320: 22,2405           66370        CDUTODCM           AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE DIRECTION COSINE
017151,000321: 22,2406           00003                           OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
017152,000322: 22,2407           00051                                    S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017153,000323: 22,2410           00001                           OCT      1                                     #  SET XR1, S1 AND PD FOR LOOP
017154,000324: 22,2411           00010                           STORE    7                                     
017155,000325: 22,2412           77601                           SETPD                                          
017156,000326: 22,2413           00001                                    0                                     
017157,000327: 22,2414           47133        LOOPSIN            SLOAD*   RTB                                   
017158,000328: 22,2415           00013                                    10D,1                                 
017159,000329: 22,2416           45513                                    CDULOGIC                              
017160,000330: 22,2417           00013                           STORE    10D                                   #  LOAD PD WITH 0        SIN(PHI)
017161,000331: 22,2420           65356                           SIN      PDDL                                  #               2        COS(PHI)
017162,000332: 22,2421           00013                                    10D                                   #               4        SIN(THETA)
017163,000333: 22,2422           41546                           COS      PUSH                                  #               6        COS(THETA)
017164,000334: 22,2423           71300                           TIX,1    DLOAD                                 #               8        SIN(PSI)
017165,000335: 22,2424           44414                                    LOOPSIN                               #              10        COS(PSI)
017166,000336: 22,2425           00007                                    6                                     
017167,000337: 22,2426           72405                           DMP      SL1                                   
017168,000338: 22,2427           00013                                    10D                                   
017169,000339: 22,2430           10001                           STORE    0,2                                   
017170,000340: 22,2431           77745                           DLOAD                                          
017171,000341: 22,2432           00005                                    4                                     
017172,000342: 22,2433           65205                           DMP      PDDL                                  
017173,000343: 22,2434           00001                                    0                                     #  (PD6 SIN(THETA)SIN(PHI))
017174,000344: 22,2435           00007                                    6                                     
017175,000345: 22,2436           41205                           DMP      DMP                                   
017176,000346: 22,2437           00011                                    8D                                    
017177,000347: 22,2440           00003                                    2                                     
017178,000348: 22,2441           44352                           SL1      BDSU                                  
017179,000349: 22,2442           00015                                    12D                                   
017180,000350: 22,2443           77752                           SL1                                            
017181,000351: 22,2444           10003                           STORE    2,2                                   
017182,000352: 22,2445           77745                           DLOAD                                          
017183,000353: 22,2446           00003                                    2                                     
017184,000354: 22,2447           65205                           DMP      PDDL                                  #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
017185,000355: 22,2450           00005                                    4                                     
017186,000356: 22,2451           00007                                    6                                     
017187,000357: 22,2452           41205                           DMP      DMP                                   
017188,000358: 22,2453           00011                                    8D                                    
017189,000359: 22,2454           00001                                    0                                     
017190,000360: 22,2455           77752                           SL1                                            
017191,000361: 22,2456           72415                           DAD      SL1                                   
017192,000362: 22,2457           00017                                    14D                                   
017193,000363: 22,2460           10005                           STORE    4,2                                   
017194,000364: 22,2461           77745                           DLOAD                                          
017195,000365: 22,2462           00011                                    8D                                    
017196,000366: 22,2463           10007                           STORE    6,2                                   
017197,000367: 22,2464           77745                           DLOAD                                          
017198,000368: 22,2465           00013                                    10D                                   
017199,000369: 22,2466           72405                           DMP      SL1                                   
017200,000370: 22,2467           00003                                    2                                     
017201,000371: 22,2470           10011                           STORE    8D,2                                  
017202,000372: 22,2471           77745                           DLOAD                                          
017203,000373: 22,2472           00013                                    10D                                   
017204,000374: 22,2473           57405                           DMP      DCOMP                                 
017205,000375: 22,2474           00001                                    0                                     
017206,000376: 22,2475           77752                           SL1                                            
017207,000377: 22,2476           10013                           STORE    10D,2                                 
017208,000378: 22,2477           77745                           DLOAD                                          
017209,000379: 22,2500           00005                                    4                                     
017210,000380: 22,2501           57405                           DMP      DCOMP                                 
017211,000381: 22,2502           00013                                    10D                                   
017212,000382: 22,2503           77752                           SL1                                            
017213,000383: 22,2504           10015                           STORE    12D,2                                 
017214,000384: 22,2505           77745                           DLOAD                                          
017215,000385: 22,2506           72405                           DMP      SL1                                   #  (PUSH UP 7)
017216,000386: 22,2507           00011                                    8D                                    
017217,000387: 22,2510           41325                           PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017218,000388: 22,2511           00007                                    6                                     
017219,000389: 22,2512           00001                                    0                                     
017220,000390: 22,2513           72415                           DAD      SL1                                   #  (PUSH UP 7)
017221,000391: 22,2514           77626                           STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
017222,000392: 22,2515           67760                           STORE    14D,2                                 
017223,000393: 22,2516           77745                           DLOAD                                          
017224,000394: 22,2517           72405                           DMP      SL1                                   #  (PUSH UP 6)
017225,000395: 22,2520           00011                                    8D                                    
017226,000396: 22,2521           41325                           PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017227,000397: 22,2522           00007                                    6                                     
017228,000398: 22,2523           00003                                    2                                     
017229,000399: 22,2524           72425                           DSU      SL1                                   #  (PUSH UP 6)
017230,000400: 22,2525           77626                           STADR                                          
017231,000401: 22,2526           67756                           STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017232,000402: 22,2527           77616                           RVQ                                            #     +COS(THETA)COS(PHI)
017233,000403: 22,2530                        ENDDCM             EQUALS                                         
017234,000404: 
017235,000405: 15,2000                                           BANK     15                                    
017236,000406: 22,2000                                           SETLOC   KALCMON1                              
017237,000407: 22,2000                                           BANK                                           
017238,000408: 
017239,000409:                                                                                                  #  CALCULATION OF THE MATRIX DEL......
017240,000410: 
017241,000411:                                                                                                  #        *      *               --T           *
017242,000412:                                                                                                  #        DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)          SCALED 1
017243,000413: 
017244,000414:                                                                                                  #              -
017245,000415:                                                                                                  #        WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017246,000416:                                                                                                  #        A IS THE ANGLE OF ROTATION (DP SCALED 2)
017247,000417:                                                                                                  #                                           -
017248,000418:                                                                                                  #        UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017249,000419: 
017250,000420: 22,2530                                           COUNT    22/KALC                               
017251,000421: 
017252,000422: 22,2530           41401        DELCOMP            SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
017253,000423: 22,2531           00001                                    0                                     
017254,000424: 22,2532           65356                           SIN      PDDL                                  #  PD0 = SIN(A)
017255,000425: 22,2533           41546                           COS      PUSH                                  #  PD2 = COS(A)
017256,000426: 22,2534           65302                           SR2      PDDL                                  #  PD2 = COS(A)                          $8
017257,000427: 22,2535           41021                           BDSU     BOVB                                  #  PD4 = 1-COS(A)                        $2
017258,000428: 22,2536           15332                                    DPHALF                                
017259,000429: 22,2537           45712                                    SIGNMPAC                              
017260,000430: 
017261,000431:                                                                                                  #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
017262,000432: 
017263,000433: 22,2540           77725                           PDDL                                           
017264,000434: 22,2541           03343                                    COF                                   
017265,000435: 22,2542           41316                           DSQ      DMP                                   
017266,000436: 22,2543           00005                                    4                                     
017267,000437: 22,2544           52415                           DAD      SL3                                   
017268,000438: 22,2545           00003                                    2                                     
017269,000439: 22,2546           77604                           BOVB                                           
017270,000440: 22,2547           45712                                    SIGNMPAC                              
017271,000441: 22,2550           17426                           STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)               $1
017272,000442: 22,2551           03345                                    COF        +2                         
017273,000443: 22,2552           41316                           DSQ      DMP                                   
017274,000444: 22,2553           00005                                    4                                     
017275,000445: 22,2554           52415                           DAD      SL3                                   
017276,000446: 22,2555           00003                                    2                                     
017277,000447: 22,2556           77604                           BOVB                                           
017278,000448: 22,2557           45712                                    SIGNMPAC                              
017279,000449: 22,2560           17436                           STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)               $1
017280,000450: 22,2561           03347                                    COF        +4                         
017281,000451: 22,2562           41316                           DSQ      DMP                                   
017282,000452: 22,2563           00005                                    4                                     
017283,000453: 22,2564           52415                           DAD      SL3                                   
017284,000454: 22,2565           00003                                    2                                     
017285,000455: 22,2566           77604                           BOVB                                           
017286,000456: 22,2567           45712                                    SIGNMPAC                              
017287,000457: 22,2570           03446                           STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)               $1
017288,000458: 
017289,000459:                                                                                                  #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
017290,000460: 
017291,000461: 22,2571           41345                           DLOAD    DMP                                   
017292,000462: 22,2572           03343                                    COF                                   
017293,000463: 22,2573           03345                                    COF        +2                         
017294,000464: 22,2574           72405                           DMP      SL1                                   
017295,000465: 22,2575           00005                                    4                                     
017296,000466: 22,2576           41325                           PDDL     DMP                                   #  D6    UX UY (1-COS A)                 $ 4
017297,000467: 22,2577           03347                                    COF        +4                         
017298,000468: 22,2600           00001                                    0                                     
017299,000469: 22,2601           43206                           PUSH     DAD                                   #  D8    UZ SIN A                        $ 4
017300,000470: 22,2602           00007                                    6                                     
017301,000471: 22,2603           41112                           SL2      BOVB                                  
017302,000472: 22,2604           45712                                    SIGNMPAC                              
017303,000473: 22,2605           17434                           STODL    DEL        +6                         
017304,000474: 22,2606           62421                           BDSU     SL2                                   
017305,000475: 22,2607           77604                           BOVB                                           
017306,000476: 22,2610           45712                                    SIGNMPAC                              
017307,000477: 22,2611           17430                           STODL    DEL        +2                         
017308,000478: 22,2612           03343                                    COF                                   
017309,000479: 22,2613           41205                           DMP      DMP                                   
017310,000480: 22,2614           03347                                    COF        +4                         
017311,000481: 22,2615           00005                                    4                                     
017312,000482: 22,2616           65352                           SL1      PDDL                                  #  D6    UX UZ (1-COS A )                $ 4
017313,000483: 22,2617           03345                                    COF        +2                         
017314,000484: 22,2620           41405                           DMP      PUSH                                  #  D8    UY SIN(A)
017315,000485: 22,2621           00001                                    0                                     
017316,000486: 22,2622           62415                           DAD      SL2                                   
017317,000487: 22,2623           00007                                    6                                     
017318,000488: 22,2624           77604                           BOVB                                           
017319,000489: 22,2625           45712                                    SIGNMPAC                              
017320,000490: 22,2626           17432                           STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
017321,000491: 22,2627           62421                           BDSU     SL2                                   
017322,000492: 22,2630           77604                           BOVB                                           
017323,000493: 22,2631           45712                                    SIGNMPAC                              
017324,000494: 22,2632           17442                           STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
017325,000495: 22,2633           03345                                    COF        +2                         
017326,000496: 22,2634           41205                           DMP      DMP                                   
017327,000497: 22,2635           03347                                    COF        +4                         
017328,000498: 22,2636           00005                                    4                                     
017329,000499: 22,2637           65352                           SL1      PDDL                                  #  D6    UY UZ (1-COS(A))                $ 4
017330,000500: 22,2640           03343                                    COF                                   
017331,000501: 22,2641           41405                           DMP      PUSH                                  #  D8    UX SIN(A)
017332,000502: 22,2642           00001                                    0                                     
017333,000503: 22,2643           62415                           DAD      SL2                                   
017334,000504: 22,2644           00007                                    6                                     
017335,000505: 22,2645           77604                           BOVB                                           
017336,000506: 22,2646           45712                                    SIGNMPAC                              
017337,000507: 22,2647           17444                           STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
017338,000508: 22,2650           62421                           BDSU     SL2                                   
017339,000509: 22,2651           77604                           BOVB                                           
017340,000510: 22,2652           45712                                    SIGNMPAC                              
017341,000511: 22,2653           03440                           STORE    DEL        +10D                       #  UY UZ(1-COS(A)) -UX SIN(A)
017342,000512: 22,2654           77616                           RVQ                                            
017343,000513: 
017344,000514:                                                                                                  #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017345,000515:                                                                                                  #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017346,000516:                                                                                                  #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017347,000517:                                                                                                  #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017348,000518: 
017349,000519:                                                                                                  #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017350,000520: 
017351,000521:                                                                                                  #        C =COS(THETA)COS(PSI)
017352,000522:                                                                                                  #         0
017353,000523: 
017354,000524:                                                                                                  #        C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017355,000525:                                                                                                  #         1
017356,000526: 
017357,000527:                                                                                                  #        C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017358,000528:                                                                                                  #         2
017359,000529: 
017360,000530:                                                                                                  #        C =SIN(PSI)
017361,000531:                                                                                                  #         3
017362,000532: 
017363,000533:                                                                                                  #        C =COS(PSI)COS(PHI)
017364,000534:                                                                                                  #         4
017365,000535: 
017366,000536:                                                                                                  #        C =-COS(PSI)SIN(PHI)
017367,000537:                                                                                                  #         5
017368,000538: 
017369,000539:                                                                                                  #        C =-SIN(THETA)COS(PSI)
017370,000540:                                                                                                  #         6
017371,000541: 
017372,000542:                                                                                                  #        C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017373,000543:                                                                                                  #         7
017374,000544:                                                                                                  #        C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017375,000545:                                                                                                  #         8
017376,000546: 
017377,000547:                                                                                                  #        WHERE   PHI = OGA
017378,000548:                                                                                                  #                THETA = IGA
017379,000549:                                                                                                  #                PSI = MGA
017380,000550: 
017381,000551: 22,2655           67543        DCMTOCDU           DLOAD*   ARCSIN                                
017382,000552: 22,2656           00007                                    6,1                                   
017383,000553: 22,2657           71406                           PUSH     COS                                   #  PD +0         PSI
017384,000554: 22,2660           41152                           SL1      BOVB                                  
017385,000555: 22,2661           45712                                    SIGNMPAC                              
017386,000556: 22,2662           00051                           STORE    S1                                    
017387,000557: 22,2663           57543                           DLOAD*   DCOMP                                 
017388,000558: 22,2664           00015                                    12D,1                                 
017389,000559: 22,2665           67471                           DDV      ARCSIN                                
017390,000560: 22,2666           00051                                    S1                                    
017391,000561: 22,2667           51123                           PDDL*    BPL                                   #  PD +2         THETA
017392,000562: 22,2670           00001                                    0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
017393,000563: 22,2671           44703                                    OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
017394,000564: 22,2672           57545                           DLOAD    DCOMP                                 
017395,000565: 22,2673           43244                           BPL      DAD                                   
017396,000566: 22,2674           44700                                    SUHALFA                               
017397,000567: 22,2675           15332                                    DPHALF                                
017398,000568: 22,2676           77650                           GOTO                                           
017399,000569: 22,2677           44702                                    CALCPHI                               
017400,000570: 22,2700           77625        SUHALFA            DSU                                            
017401,000571: 22,2701           15332                                    DPHALF                                
017402,000572: 22,2702           77606        CALCPHI            PUSH                                           
017403,000573: 22,2703           57543        OKTHETA            DLOAD*   DCOMP                                 
017404,000574: 22,2704           00013                                    10D,1                                 
017405,000575: 22,2705           67471                           DDV      ARCSIN                                
017406,000576: 22,2706           00051                                    S1                                    
017407,000577: 22,2707           51123                           PDDL*    BPL                                   #  PUSH DOWN PHI
017408,000578: 22,2710           00011                                    8D,1                                  
017409,000579: 22,2711           44723                                    OKPHI                                 
017410,000580: 22,2712           57545                           DLOAD    DCOMP                                 #  PUSH UP PHI
017411,000581: 22,2713           43244                           BPL      DAD                                   
017412,000582: 22,2714           44720                                    SUHALFAP                              
017413,000583: 22,2715           15332                                    DPHALF                                
017414,000584: 22,2716           77650                           GOTO                                           
017415,000585: 22,2717           44724                                    VECOFANG                              
017416,000586: 22,2720           52025        SUHALFAP           DSU      GOTO                                  
017417,000587: 22,2721           15332                                    DPHALF                                
017418,000588: 22,2722           44724                                    VECOFANG                              
017419,000589: 22,2723           77745        OKPHI              DLOAD                                          #  PUSH UP PHI
017420,000590: 22,2724           43466        VECOFANG           VDEF     RVQ                                   
017421,000591: 
017422,000592:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017423,000593: 
017424,000594: 22,2725           00004        NOGOM2             INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
017425,000595: 22,2726           04676                           TC       BANKCALL                              
017426,000596: 22,2727           40155                           CADR     ZEROEROR                              
017427,000597: 
017428,000598: 22,2730           00004        NOGO               INHINT                                         
017429,000599: 22,2731           04526                           TC       STOPRATE                              
017430,000600: 
017431,000601:                                                                                                  #  TERMINATE MANEUVER
017432,000602: 22,2732           35032                           CAF      TWO                                   #  NOTE - ALL RETURNS ARE NOW MADE VIA
017433,000603: 22,2733           05261                           TC       WAITLIST                              #  GOODEND
017434,000604: 22,2734  E6,1661                                  EBANK=   BCDU                                  
017435,000605: 22,2734           02020 42066                     2CADR    ENDMANU                               
017436,000606: 
017437,000607: 22,2736           15233                           TCF      ENDOFJOB                              
017438,000608: 

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