Source Code

These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2), the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 45/2, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 45 (itself previously accurately reconstructed). Comanche 45 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 45 and 45/2. The now-reconstructed Comanche 45/2 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy; the source code would likely have different page numbers in a contemporary Comanche 45 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced in those annotations:
Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

016687,000002:                                                                                                  ## Copyright:   Public domain.
016688,000003:                                                                                                  ## Filename:    R60,R62.agc
016689,000004:                                                                                                  ## Purpose:     A section of Manche45 revision 2.
016690,000005:                                                                                                  ##              It is part of the reconstructed source code for the
016691,000006:                                                                                                  ##              final, flown release of the flight software for the Command
016692,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
016693,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
016694,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
016695,000010:                                                                                                  ##              exactly match those specified for Manche 45/2 in NASA drawing
016696,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
016697,000012:                                                                                                  ##              reconstruction is correct.
016698,000013:                                                                                                  ## Assembler:   yaYUL
016699,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016700,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
016701,000016:                                                                                                  ## Mod history: 2020-12-24 MAS  Created from Comanche 45.
016702,000017: 

Page 390

016704,000019: 34,2002                                           BANK     34                                    
016705,000020: 27,2000                                           SETLOC   MANUVER                               
016706,000021: 27,2000                                           BANK                                           
016707,000022: 
016708,000023: 27,2000     1146                                  EBANK=   TEMPR60                               
016709,000024: 
016710,000025: 27,2000                                           COUNT    27/R60                                
016711,000026: 
016712,000027:                                                                                                  #  R60CSM
016713,000028:                                                                                                  #  REV 13        CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09 JAN 18, 1968
016714,000029: 
016715,000030: 27,2000           04711        R60CSM             TC       MAKECADR                              
016716,000031: 27,2001           55146                           TS       TEMPR60                               
016717,000032: 
016718,000033:                                                                                                  #  INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR          
016719,000034: 
016720,000035: 27,2002           35012        REDOMANN           CAF      BIT6                                  
016721,000036: 27,2003           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016722,000037: 27,2004           10000                           CCS      A                                     
016723,000038: 27,2005           12013                           TCF      TOBALL                                #  YES
016724,000039: 27,2006           06006                           TC       INTPRET                               
016725,000040: 27,2007           77624                           CALL                                           
016726,000041: 27,2010           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016727,000042: 27,2011           01156                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
016728,000043: 27,2012           77776                           EXIT                                           
016729,000044: 
016730,000045: 27,2013           32125        TOBALL             CAF      V06N18                                
016731,000046: 27,2014           04662                           TC       BANKCALL                              
016732,000047: 27,2015           21132                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
016733,000048: 27,2016           02114                           TC       R61TEST                               
016734,000049: 27,2017           02023                           TC       REDOMANC                              #  PROCEED
016735,000050: 27,2020           12052                           TCF      ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
016736,000051: 
016737,000052: 27,2021           02056                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
016738,000053: 27,2022           05217                           TC       ENDOFJOB                              
016739,000054: 
016740,000055: 27,2023           35012        REDOMANC           CAF      BIT6                                  
016741,000056: 27,2024           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016742,000057: 27,2025           10000                           CCS      A                                     
016743,000058: 27,2026           12034                           TCF      TOBALLC                               #  YES
016744,000059: 27,2027           06006                           TC       INTPRET                               
016745,000060: 27,2030           77624                           CALL                                           
016746,000061: 27,2031           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016747,000062: 27,2032           01156                           STORE    CPHI                                  #  STORE ANGLES
016748,000063: 27,2033           77776                           EXIT                                           
016749,000064: 
016750,000065: 27,2034           34371        TOBALLC            CAF      PRIO30                                #  IS MODE AUTO AND CTL GNC

Page 391

016752,000067: 27,2035           00006                           EXTEND                                         
016753,000068: 27,2036           06031                           RXOR     CHAN31                                
016754,000069: 27,2037           77707                           MASK     13,14,15                              
016755,000070: 27,2040           00006                           EXTEND                                         
016756,000071: 27,2041           12043                           BZF      +2                                    #  AUTO, NON-FLASH N18
016757,000072: 27,2042           12013                           TCF      TOBALL                                #  NOT AUTO
016758,000073: 
016759,000074: 27,2043           32125                           CAF      V06N18                                #  SET UP NON-FLASHING V06 N18
016760,000075: 27,2044           04662                           TC       BANKCALL                              
016761,000076: 27,2045           20676                           CADR     GODSPR                                
016762,000077: 27,2046           02056                           TC       CHKLINUS                              
016763,000078: 
016764,000079: 27,2047           04662        STARTMNV           TC       BANKCALL                              
016765,000080: 27,2050           17627                           CADR     GOMANUR                               
016766,000081: 27,2051           12013        ENDMANUV           TCF      TOBALL                                #  FINISHED MANEUVER
016767,000082: 
016768,000083: 27,2052           05560        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
016769,000084: 27,2053           00124                           ADRES    3AXISFLG                              #  BIT 6 FLAG 5
016770,000085: 27,2054           31146                           CAE      TEMPR60                               #                                        -
016771,000086: 27,2055           04704                           TC       BANKJUMP                              #                                        -
016772,000087: 
016773,000088: 27,2056           40100        CHKLINUS           CS       FLAGWRD4                              
016774,000089: 27,2057           75004                           MASK     BIT12                                 #  IS PRIORITY DISPLAY FLAG SET          -
016775,000090: 27,2060           10000                           CCS      A                                     #                                        -
016776,000091: 27,2061           00002                           TC       Q                                     #  NO - EXIT
016777,000092: 27,2062           30002                           CA       Q                                     
016778,000093: 27,2063           54156                           TS       MPAC       +2                         #  SAVE RETURN
016779,000094: 27,2064           46214                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART.
016780,000095: 27,2065           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPALY
016781,000096: 27,2066           55053                           TS       TBASE1                                
016782,000097: 
016783,000098: 27,2067           05412                           TC       PHASCHNG                              
016784,000099: 27,2070           00071                           OCT      71                                    #  1.7SPOT FOR RELINUS
016785,000100: 
016786,000101: 27,2071           35011                           CAF      BIT7                                  
016787,000102: 27,2072           05526                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY      -
016788,000103: 27,2073           00156                           TC       MPAC       +2                         
016789,000104: 
016790,000105: 27,2074           35013        RELINUS            CAF      BIT5                                  #  IS TRACK FLAG ON
016791,000106: 27,2075           70075                           MASK     FLAGWRD1                              
016792,000107: 27,2076           00006                           EXTEND                                         
016793,000108: 27,2077           12111                           BZF      GOREDO20                              #  NO
016794,000109: 
016795,000110: 27,2100           05546                           TC       UPFLAG                                
016796,000111: 27,2101           00077                           ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
016797,000112: 
016798,000113: 27,2102           05546                           TC       UPFLAG                                
016799,000114: 27,2103           00024                           ADRES    TARG1FLG                              #  FOR R52
016800,000115: 
016801,000116: 27,2104           35021                           CAF      ZERO                                  #  RESET TO ZERO, SINCE

Page 392

016803,000118: 27,2105           55303                           TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
016804,000119: 
016805,000120: 27,2106           35066                           CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
016806,000121: 27,2107           05210                           TC       PRIOCHNG                              
016807,000122: 
016808,000123: 27,2110           01053                           TC       TBASE1                                
016809,000124: 
016810,000125: 27,2111           05412        GOREDO20           TC       PHASCHNG                              
016811,000126: 27,2112           00111                           OCT      111                                   #  1.11 FOR PIKUP20
016812,000127: 
016813,000128: 27,2113           05217                           TC       ENDOFJOB                              
016814,000129: 
016815,000130: 27,2114           31011        R61TEST            CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
016816,000131: 27,2115           00006                           EXTEND                                         #        VERB49 OR VERB89 SO DO ENDEXT.
016817,000132: 27,2116           12052                           BZF      ENDMANU1                              #  RESET 3-AXIS & RUTURN.  USER DOES ENDEXT
016818,000133: 27,2117           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
016819,000134: 27,2120           75004                           MASK     BIT12                                 
016820,000135: 27,2121           00006                           EXTEND                                         
016821,000136: 27,2122           14106                           BZF      GOTOPOOH                              #  NO
016822,000137: 27,2123           04622                           TC       GOTOV56                               #  YES
016823,000138: 
016824,000139: 27,2124           20100        BIT14+7            OCT      20100                                 #                                        -
016825,000140: 27,2125           01422        V06N18             VN       0618                                  
016826,000141: 

Page 393

016828,000143:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
016829,000144: 
016830,000145:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
016831,000146:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
016832,000147:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
016833,000148:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
016834,000149:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
016835,000150:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
016836,000151:                                                                                                  #  ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
016837,000152:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016838,000153: 
016839,000154:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
016840,000155:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
016841,000156:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
016842,000157:                                                                                                  #  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,
016843,000158:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
016844,000159:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
016845,000160:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016846,000161: 
016847,000162:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
016848,000163:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
016849,000164:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
016850,000165:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
016851,000166: 
016852,000167:                                                                                                  #  CALLING SEQUENCE -
016853,000168: 
016854,000169:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
016855,000170:                                                                                                  #        2)      CALL
016856,000171:                                                                                                  #                        VECPOINT
016857,000172: 
016858,000173:                                                                                                  #  RETURNS WITH
016859,000174: 
016860,000175:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
016861,000176:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
016862,000177:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
016863,000178: 
016864,000179:                                                                                                  #  ERASABLES USED -
016865,000180: 
016866,000181:                                                                                                  #        1)      SCAXIS          6
016867,000182:                                                                                                  #        2)      POINTVSM        6
016868,000183:                                                                                                  #        3)      MIS             18
016869,000184:                                                                                                  #        4)      DEL             18
016870,000185:                                                                                                  #        5)      COF             6
016871,000186:                                                                                                  #        6)      VECQTEMP        1
016872,000187:                                                                                                  #        7)      ALL OF VAC AREA 43
016873,000188: 
016874,000189:                                                                                                  #                        TOTAL   99
016875,000190: 
016876,000191: 27,2000                                           SETLOC   VECPT                                 
016877,000192: 27,2000                                           BANK                                           

Page 394

016879,000194: 27,2126  E6,1661                                  EBANK=   BCDU                                  
016880,000195: 
016881,000196: 27,2126                                           COUNT    27/VECPT                              
016882,000197: 
016883,000198: 27,2126           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
016884,000199: 27,2127           03310                                    VECQTEMP                              
016885,000200: 27,2130           56131                                    VECLEAR                               #  AND CLEAR OVFIND
016886,000201: 27,2131           47164        VECLEAR            AXC,2    RTB                                   
016887,000202: 27,2132           03320                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
016888,000203: 27,2133           44376                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
016889,000204: 27,2134           34032                           STCALL   25D                                   
016890,000205: 27,2135           44405                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
016891,000206: 27,2136           61375                           VLOAD    VXM                                   
016892,000207: 27,2137           03357                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
016893,000208: 27,2140           03321                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
016894,000209: 27,2141           77656                           UNIT                                           
016895,000210: 27,2142           00035                           STORE    28D                                   
016896,000211:                                                                                                  #  PD 28 29 30 31 32 33
016897,000212: 27,2143           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
016898,000213: 27,2144           03351                                    SCAXIS                                #  WHERE VI = SCAXIS
016899,000214: 27,2145           57400                           BOV      VCOMP                                 
016900,000215: 27,2146           56256                                    PICKAXIS                              
016901,000216: 27,2147           17343                           STODL    COF                                   #  CHECK MAGNITUDE
016902,000217: 27,2150           00045                                    36D                                   #  OF CROSS PRODUCT
016903,000218: 27,2151           50025                           DSU      BMN                                   #  VECTOR, IF LESS
016904,000219: 27,2152           16327                                    DPB-14                                #  THAN B-14 ASSUME
016905,000220: 27,2153           56256                                    PICKAXIS                              #  UNIT OPERATION
016906,000221: 27,2154           50375                           VLOAD    DOT                                   #  INVALID.
016907,000222: 27,2155           03351                                    SCAXIS                                
016908,000223: 27,2156           00035                                    28D                                   
016909,000224: 27,2157           65552                           SL1      ARCCOS                                
016910,000225: 27,2160           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
016911,000226: 27,2161           44530                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
016912,000227: 27,2162           75160                           AXC,1    AXC,2                                 
016913,000228: 27,2163           03320                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
016914,000229: 27,2164           03425                                    DEL                                   #  S/C AXES TO STABLE MEMBER AXES
016915,000230: 27,2165           77624                           CALL                                           #  MFS = MIS MFI
016916,000231: 27,2166           44304                                    MXM3                                  #  (IN PD LIST)
016917,000232: 
016918,000233: 27,2167           51545                           DLOAD    ABS                                   
016919,000234: 27,2170           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
016920,000235: 27,2171           50025                           DSU      BMN                                   
016921,000236: 27,2172           16314                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
016922,000237: 27,2173           56246                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS
016923,000238:                                                                                                  #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
016924,000239: 
016925,000240: 27,2174           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
016926,000241: 27,2175           03351                                    SCAXIS                                #  THE THRUST AXIS
016927,000242: 27,2176           51025                           DSU      BPL                                   
016928,000243: 27,2177           16316                                    SINVEC1                               #  SIN 49.4 DEGS                         $2

Page 395

016930,000245: 27,2200           56246                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
016931,000246: 27,2201           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
016932,000247: 27,2202           77626                           STADR                                          
016933,000248: 27,2203           50442                           STOVL    MIS        +12D                       
016934,000249: 27,2204           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
016935,000250: 27,2205           50450                           STOVL    MIS        +6                         
016936,000251: 27,2206           77626                           STADR                                          
016937,000252: 27,2207           50456                           STOVL    MIS                                   
016938,000253: 27,2210           03327                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
016939,000254: 27,2211           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
016940,000255: 27,2212           56213                                    IGSAMEX                               #  FINAL X S/C AXIS
016941,000256: 
016942,000257: 27,2213           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
016943,000258: 27,2214           03351                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
016944,000259: 27,2215           56222                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
016945,000260:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
016946,000261:                                                                                                  #  OTHERWISE U = -SCAXIS
016947,000262: 
016948,000263: 27,2216           57575                           VLOAD    VCOMP                                 
016949,000264: 27,2217           03351                                    SCAXIS                                
016950,000265: 27,2220           37343                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
016951,000266: 27,2221           56225                                    CHEKAXIS                              
016952,000267: 27,2222           77775        U=SCAXIS           VLOAD                                          
016953,000268: 27,2223           03351                                    SCAXIS                                
016954,000269: 27,2224           03343                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
016955,000270: 27,2225           51545        CHEKAXIS           DLOAD    ABS                                   
016956,000271: 27,2226           03351                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
016957,000272: 27,2227           51025                           DSU      BPL                                   
016958,000273: 27,2230           16320                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
016959,000274: 27,2231           56235                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
016960,000275: 27,2232           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
016961,000276: 27,2233           16324                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
016962,000277: 27,2234           56237                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
016963,000278:                                                                                                  #  OF GIMBAL LOCK (VECANG2 $360)
016964,000279: 27,2235           77745        PICKANG1           DLOAD                                          
016965,000280: 27,2236           16322                                    VECANG1                               #  = 50 DEGS                          $ 360
016966,000281: 27,2237           77624        COMPMFSN           CALL                                           
016967,000282: 27,2240           44530                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
016968,000283: 27,2241           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
016969,000284: 27,2242           03320                                    MIS                                   
016970,000285: 27,2243           03425                                    DEL                                   
016971,000286: 27,2244           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
016972,000287: 27,2245           44304                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
016973,000288:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID
016974,000289:                                                                                                  #  GIMBAL LOCK
016975,000290: 27,2246           45160        FINDGIMB           AXC,1    CALL                                  
016976,000291: 27,2247           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
016977,000292: 27,2250           44655                                    DCMTOCDU                              #  THIS MATRIX
016978,000293: 27,2251           40234                           RTB      SETPD                                 
016979,000294: 27,2252           45552                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT

Page 396

016981,000296: 27,2253           00001                                    0                                     
016982,000297: 27,2254           77650                           GOTO                                           
016983,000298: 27,2255           03310                                    VECQTEMP                              #  RETURN TO CALLER
016984,000299: 
016985,000300: 27,2256           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
016986,000301: 27,2257           00035                                    28D                                   
016987,000302: 27,2260           03351                                    SCAXIS                                
016988,000303: 27,2261           72240                           BMN      TLOAD                                 
016989,000304: 27,2262           56266                                    ROT180                                
016990,000305: 27,2263           00032                                    25D                                   
016991,000306: 27,2264           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
016992,000307: 27,2265           03310                                    VECQTEMP                              #  PRESENT CDU ANGLES
016993,000308: 
016994,000309: 27,2266           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
016995,000310: 27,2267           03327                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
016996,000311: 27,2270           15333                                    HIUNITX                               #  INITIAL S/C AXIS.
016997,000312: 27,2271           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
016998,000313: 27,2272           03351                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
016999,000314: 27,2273           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
017000,000315: 27,2274           56310                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017001,000316: 27,2275           17343                           STODL    COF                                   
017002,000317: 27,2276           00045                                    36D                                   #  CHECK MAGNITUDE
017003,000318: 27,2277           50025                           DSU      BMN                                   #  OF THIS VECTOR.
017004,000319: 27,2300           16327                                    DPB-14                                #  IF LESS THAN B-14,
017005,000320: 27,2301           56310                                    PICKX                                 #  PICK X-AXIS.
017006,000321: 27,2302           77775                           VLOAD                                          
017007,000322: 27,2303           03343                                    COF                                   
017008,000323: 27,2304           17343        XROT               STODL    COF                                   
017009,000324: 27,2305           15333                                    HIDPHALF                              
017010,000325: 27,2306           77650                           GOTO                                           
017011,000326: 27,2307           56160                                    COMPMATX                              
017012,000327: 27,2310           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017013,000328: 27,2311           15333                                    HIUNITX                               
017014,000329: 27,2312           56304                                    XROT                                  
017015,000330: 35,2000                                           BANK     35                                    
017016,000331: 27,2000                                           SETLOC   MANUVER1                              
017017,000332: 27,2000                                           BANK                                           
017018,000333: 
017019,000334: 27,2313           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
017020,000335: 
017021,000336: 27,2315           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
017022,000337: 
017023,000338: 27,2317           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
017024,000339: 
017025,000340: 27,2321           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                        $360
017026,000341: 
017027,000342: 27,2323           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                        $360
017028,000343: 
017029,000344: 
017030,000345: 27,2325           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)      *********
017031,000346: 27,2326           00001        DPB-14             OCT      00001                                 

Page 397

017033,000348: 27,2327           00000                           OCT      00000                                 
017034,000349: 34,2002                                           BANK     34                                    
017035,000350: 27,2000                                           SETLOC   MANUVER                               
017036,000351: 27,2000                                           BANK                                           
017037,000352: 

Page 398

017039,000354:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017040,000355: 
017041,000356: 27,2330     1155                                  EBANK=   CPHI                                  
017042,000357: 
017043,000358: 27,2330                                           COUNT    27/R62                                
017044,000359: 
017045,000360: 27,2330           35052        R62DISP            CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017046,000361: 27,2331           04662                           TC       BANKCALL                              
017047,000362: 27,2332           20720                           CADR     GOFLASH                               
017048,000363: 27,2333           15534                           TCF      ENDEXT                                
017049,000364: 27,2334           12336                           TCF      GOMOVE                                #  PROCEED
017050,000365: 27,2335           12330                           TCF      R62DISP                               #  ENTER
017051,000366: 
017052,000367:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017053,000368:                                                                                                  #  POINT
017054,000369: 27,2336           05546        GOMOVE             TC       UPFLAG                                #  SET 3-AXIS FLAG
017055,000370: 27,2337           00124                           ADRES    3AXISFLG                              #  BIT 6  FLAG 5
017056,000371: 
017057,000372: 27,2340           04662                           TC       BANKCALL                              
017058,000373: 27,2341           56000                           CADR     R60CSM                                
017059,000374: 27,2342           15534                           TCF      ENDEXT                                
017060,000375: 

End of include-file R60,R62.agc.  Parent file is MAIN.agc