Source Code

These source-code files are part of a reconstructed copy of Comanche 72/3 (AKA Manche72 revision 3), the final, flown mission release of the Apollo Guidance Computer (AGC) Command Module (CM) software for Apollo 13.

The starting point was the source code of Comanche 72 (itself previously reconstructed). Comanche 72 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 72 and 72/3. 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 72/3 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.

016808,000002:                                                                                                  ## Copyright:   Public domain.
016809,000003:                                                                                                  ## Filename:    ANGLFIND.agc
016810,000004:                                                                                                  ## Purpose:     A section of Manche72 revision 3.
016811,000005:                                                                                                  ##              It is part of the reconstructed source code for the final, flown
016812,000006:                                                                                                  ##              release of the software for the Command Module's (CM) Apollo
016813,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 13. No original listings
016814,000008:                                                                                                  ##              of this program are available; instead, this file was recreated
016815,000009:                                                                                                  ##              from a reconstructed copy of Comanche 072. It has been adapted
016816,000010:                                                                                                  ##              such that the resulting bugger words exactly match those
016817,000011:                                                                                                  ##              specified for Manche72 revision 3 in NASA drawing 2021153G,
016818,000012:                                                                                                  ##              which gives relatively high confidence that the reconstruction
016819,000013:                                                                                                  ##              is correct.
016820,000014:                                                                                                  ## Assembler:   yaYUL
016821,000015:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016822,000016:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
016823,000017:                                                                                                  ## Mod history: 2024-05-19 MAS  Created from Comanche 072.
016824,000018: 
016825,000019: 15,2000                                           BANK     15                                    
016826,000020: 22,2000                                           SETLOC   KALCMON1                              
016827,000021: 22,2000                                           BANK                                           
016828,000022: 
016829,000023: 22,2000  E6,1661                                  EBANK=   BCDU                                  
016830,000024: 
016831,000025: 22,2000                                           COUNT    22/KALC                               
016832,000026: 
016833,000027: 22,2000           06006        KALCMAN3           TC       INTPRET                               
016834,000028: 22,2001           77634                           RTB                                            
016835,000029: 22,2002           44376                                    READCDUK                              #  PICK UP CURRENT CDU ANGLES
016836,000030: 22,2003           03262                           STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
016837,000031: 22,2004           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
016838,000032: 22,2005           03320                                    MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
016839,000033: 22,2006           03262                                    BCDU                                  #  (MIS)
016840,000034: 22,2007           77624                           CALL                                           
016841,000035: 22,2010           44405                                    CDUTODCM                              
016842,000036: 22,2011           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
016843,000037: 22,2012           03425                                    MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
016844,000038: 22,2013           01156                                    CPHI                                  #  (MFS)
016845,000039: 22,2014           77624                           CALL                                           
016846,000040: 22,2015           44405                                    CDUTODCM                              
016847,000041: 22,2016           45160        SECAD              AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
016848,000042: 22,2017           03320                                    MIS                                   
016849,000043: 22,2020           44334                                    TRANSPOS                              
016850,000044: 22,2021           77775                           VLOAD                                          
016851,000045: 22,2022           77626                           STADR                                          
016852,000046: 22,2023           50474                           STOVL    TMIS       +12D                       
016853,000047: 22,2024           77626                           STADR                                          
016854,000048: 22,2025           50502                           STOVL    TMIS       +6                         
016855,000049: 22,2026           77626                           STADR                                          
016856,000050: 22,2027           74510                           STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
016857,000051: 22,2030           75160                           AXC,1    AXC,2                                 
016858,000052: 22,2031           03266                                    TMIS                                  
016859,000053: 22,2032           03425                                    MFS                                   
016860,000054: 22,2033           77624                           CALL                                           
016861,000055: 22,2034           44304                                    MXM3                                  
016862,000056: 22,2035           45575                           VLOAD    STADR                                 
016863,000057: 22,2036           50335                           STOVL    MFI        +12D                       
016864,000058: 22,2037           77626                           STADR                                          
016865,000059: 22,2040           50343                           STOVL    MFI        +6                         
016866,000060: 22,2041           77626                           STADR                                          
016867,000061: 22,2042           74351                           STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
016868,000062: 22,2043           45001                           SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
016869,000063: 22,2044           00023                                    18D                                   
016870,000064: 22,2045           44343                                    TRNSPSPD                              
016871,000065: 22,2046           45575                           VLOAD    STADR                                 
016872,000066: 22,2047           50474                           STOVL    TMFI       +12D                       
016873,000067: 22,2050           77626                           STADR                                          
016874,000068: 22,2051           50502                           STOVL    TMFI       +6                         
016875,000069: 22,2052           77626                           STADR                                          
016876,000070: 22,2053           74510                           STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
016877,000071: 
016878,000072:                                                                                                  #  CALCULATE COFSKEW AND MFISYM
016879,000073: 
016880,000074: 22,2054           45345                           DLOAD    DSU                                   
016881,000075: 22,2055           03271                                    TMFI       +2                         
016882,000076: 22,2056           03430                                    MFI        +2                         
016883,000077: 22,2057           45325                           PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
016884,000078: 22,2060           03432                                    MFI        +4                         
016885,000079: 22,2061           03273                                    TMFI       +4                         
016886,000080: 22,2062           45325                           PDDL     DSU                                   
016887,000081: 22,2063           03301                                    TMFI       +10D                       
016888,000082: 22,2064           03440                                    MFI        +10D                       
016889,000083: 22,2065           77666                           VDEF                                           
016890,000084: 22,2066           03311                           STORE    COFSKEW                               #  EQUALS MFISKEW
016891,000085: 
016892,000086:                                                                                                  #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
016893,000087: 
016894,000088: 22,2067           43345                           DLOAD    DAD                                   
016895,000089: 22,2070           03426                                    MFI                                   
016896,000090: 22,2071           03446                                    MFI        +16D                       
016897,000091: 22,2072           43225                           DSU      DAD                                   
016898,000092: 22,2073           15324                                    DP1/4TH                               
016899,000093: 22,2074           03436                                    MFI        +8D                        
016900,000094: 22,2075           03317                           STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
016901,000095: 22,2076           77726                           ARCCOS                                         
016902,000096: 22,2077           03365                           STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
016903,000097: 22,2100           51025                           DSU      BPL                                   
016904,000098: 22,2101           04367                                    MINANG                                
016905,000099: 22,2102           44111                                    CHECKMAX                              
016906,000100: 22,2103           77776                           EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
016907,000101: 22,2104           00004                           INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
016908,000102: 22,2105           45033                           CS       ONE                                   #  ABOUT COMMANDED ANGLES
016909,000103: 22,2106           55332                           TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
016910,000104: 22,2107           03142                           TC       LOADCDUD                              #  GOOD RETURN
016911,000105: 22,2110           12730                           TCF      NOGO                                  
016912,000106: 
016913,000107: 22,2111           45345        CHECKMAX           DLOAD    DSU                                   
016914,000108: 22,2112           03365                                    AM                                    
016915,000109: 22,2113           04370                                    MAXANG                                
016916,000110: 22,2114           77244                           BPL      VLOAD                                 
016917,000111: 22,2115           44123                                    ALTCALC                               #  UNIT
016918,000112: 22,2116           03311                                    COFSKEW                               #  COFSKEW
016919,000113: 22,2117           77656                           UNIT                                           
016920,000114: 22,2120           03343                           STORE    COF                                   #  COF IS THE MANEUVER AXIS
016921,000115: 22,2121           77650                           GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
016922,000116: 22,2122           44737                                    LOCSKIRT                              
016923,000117: 22,2123           53375        ALTCALC            VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
016924,000118: 22,2124           03426                                    MFI                                   
016925,000119: 22,2125           03267                                    TMFI                                  
016926,000120: 22,2126           77762                           VSR1                                           
016927,000121: 22,2127           27267                           STOVL    MFISYM                                
016928,000122: 22,2130           03434                                    MFI        +6                         
016929,000123: 22,2131           74455                           VAD      VSR1                                  
016930,000124: 22,2132           03275                                    TMFI       +6                         
016931,000125: 22,2133           27275                           STOVL    MFISYM     +6                         
016932,000126: 22,2134           03442                                    MFI        +12D                       
016933,000127: 22,2135           74455                           VAD      VSR1                                  
016934,000128: 22,2136           03303                                    TMFI       +12D                       
016935,000129: 22,2137           03303                           STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2   SCALED BY 4
016936,000130: 
016937,000131:                                                                                                  #  CALCULATE COF
016938,000132: 
016939,000133: 22,2140           70545                           DLOAD    SR1                                   
016940,000134: 22,2141           03317                                    CAM                                   
016941,000135: 22,2142           45325                           PDDL     DSU                                   #  PD0 CAM                              $4
016942,000136: 22,2143           15332                                    DPHALF                                
016943,000137: 22,2144           03317                                    CAM                                   
016944,000138: 22,2145           65204                           BOVB     PDDL                                  #  PD2 1 - CAM                          $2
016945,000139: 22,2146           45712                                    SIGNMPAC                              
016946,000140: 22,2147           03307                                    MFISYM     +16D                       
016947,000141: 22,2150           56225                           DSU      DDV                                   
016948,000142: 22,2151           00001                                    0                                     
016949,000143: 22,2152           00003                                    2                                     
016950,000144: 22,2153           65366                           SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/1-CAM)
016951,000145: 22,2154           03277                                    MFISYM     +8D                        #                                 $ ROOT 2
016952,000146: 22,2155           56225                           DSU      DDV                                   
016953,000147: 22,2156           00001                                    0                                     
016954,000148: 22,2157           00003                                    2                                     
016955,000149: 22,2160           65366                           SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
016956,000150: 22,2161           03267                                    MFISYM                                
016957,000151: 22,2162           56225                           DSU      DDV                                   
016958,000152: 22,2163           00001                                    0                                     
016959,000153: 22,2164           00003                                    2                                     
016960,000154: 22,2165           55566                           SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
016961,000155: 22,2166           77656                           UNIT                                           
016962,000156: 22,2167           03343                           STORE    COF                                   
016963,000157: 
016964,000158:                                                                                                  #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
016965,000159: 
016966,000160: 22,2170           45345        COFMAXGO           DLOAD    DSU                                   
016967,000161: 22,2171           03343                                    COF                                   
016968,000162: 22,2172           03345                                    COF        +2                         
016969,000163: 22,2173           71240                           BMN      DLOAD                                 #  COFY G COFX
016970,000164: 22,2174           44203                                    COMP12                                
016971,000165: 22,2175           03343                                    COF                                   
016972,000166: 22,2176           50025                           DSU      BMN                                   
016973,000167: 22,2177           03347                                    COF        +4                         
016974,000168: 22,2200           44260                                    METHOD3                               #  COFZ G COFX OR COFY
016975,000169: 22,2201           77650                           GOTO                                           
016976,000170: 22,2202           44234                                    METHOD1                               #  COFX G COFY OR COFZ
016977,000171: 22,2203           45345        COMP12             DLOAD    DSU                                   
016978,000172: 22,2204           03345                                    COF        +2                         
016979,000173: 22,2205           03347                                    COF        +4                         
016980,000174: 22,2206           77640                           BMN                                            
016981,000175: 22,2207           44260                                    METHOD3                               #  COFZ G COFY OR COFX
016982,000176: 
016983,000177: 22,2210           51145        METHOD2            DLOAD    BPL                                   #  COFY MAX
016984,000178: 22,2211           03313                                    COFSKEW    +2                         #  UY
016985,000179: 22,2212           44216                                    U2POS                                 
016986,000180: 22,2213           57575                           VLOAD    VCOMP                                 
016987,000181: 22,2214           03343                                    COF                                   
016988,000182: 22,2215           03343                           STORE    COF                                   
016989,000183: 22,2216           51145        U2POS              DLOAD    BPL                                   
016990,000184: 22,2217           03271                                    MFISYM     +2                         #  UX UY
016991,000185: 22,2220           44224                                    OKU21                                 
016992,000186: 22,2221           57545                           DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
016993,000187: 22,2222           03343                                    COF                                   
016994,000188: 22,2223           03343                           STORE    COF                                   
016995,000189: 22,2224           51145        OKU21              DLOAD    BPL                                   
016996,000190: 22,2225           03301                                    MFISYM     +10D                       #  UY UZ
016997,000191: 22,2226           44737                                    LOCSKIRT                              
016998,000192: 22,2227           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
016999,000193: 22,2230           03347                                    COF        +4                         
017000,000194: 22,2231           03347                           STORE    COF        +4                         
017001,000195: 22,2232           77650                           GOTO                                           
017002,000196: 22,2233           44737                                    LOCSKIRT                              
017003,000197: 22,2234           51145        METHOD1            DLOAD    BPL                                   #  COFX MAX
017004,000198: 22,2235           03311                                    COFSKEW                               #  UX
017005,000199: 22,2236           44242                                    U1POS                                 
017006,000200: 22,2237           57575                           VLOAD    VCOMP                                 
017007,000201: 22,2240           03343                                    COF                                   
017008,000202: 22,2241           03343                           STORE    COF                                   
017009,000203: 22,2242           51145        U1POS              DLOAD    BPL                                   
017010,000204: 22,2243           03271                                    MFISYM     +2                         #  UX UY
017011,000205: 22,2244           44250                                    OKU12                                 
017012,000206: 22,2245           57545                           DLOAD    DCOMP                                 
017013,000207: 22,2246           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017014,000208: 22,2247           03345                           STORE    COF        +2                         
017015,000209: 22,2250           51145        OKU12              DLOAD    BPL                                   
017016,000210: 22,2251           03273                                    MFISYM     +4                         #  UX UZ
017017,000211: 22,2252           44737                                    LOCSKIRT                              
017018,000212: 22,2253           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017019,000213: 22,2254           03347                                    COF        +4                         
017020,000214: 22,2255           03347                           STORE    COF        +4                         
017021,000215: 22,2256           77650                           GOTO                                           
017022,000216: 22,2257           44737                                    LOCSKIRT                              
017023,000217: 22,2260           51145        METHOD3            DLOAD    BPL                                   #  COFZ MAX
017024,000218: 22,2261           03315                                    COFSKEW    +4                         #  UZ
017025,000219: 22,2262           44266                                    U3POS                                 
017026,000220: 22,2263           57575                           VLOAD    VCOMP                                 
017027,000221: 22,2264           03343                                    COF                                   
017028,000222: 22,2265           03343                           STORE    COF                                   
017029,000223: 22,2266           51145        U3POS              DLOAD    BPL                                   
017030,000224: 22,2267           03273                                    MFISYM     +4                         #  UX UZ
017031,000225: 22,2270           44274                                    OKU31                                 
017032,000226: 22,2271           57545                           DLOAD    DCOMP                                 
017033,000227: 22,2272           03343                                    COF                                   #  SIGN OF UX OPPOSITE TO UZ
017034,000228: 22,2273           03343                           STORE    COF                                   
017035,000229: 22,2274           51145        OKU31              DLOAD    BPL                                   
017036,000230: 22,2275           03301                                    MFISYM     +10D                       #  UY UZ
017037,000231: 22,2276           44737                                    LOCSKIRT                              
017038,000232: 22,2277           57545                           DLOAD    DCOMP                                 
017039,000233: 22,2300           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
017040,000234: 22,2301           03345                           STORE    COF        +2                         
017041,000235: 22,2302           77650                           GOTO                                           
017042,000236: 22,2303           44737                                    LOCSKIRT                              
017043,000237: 
017044,000238:                                                                                                  #  MATRIX OPERATIONS
017045,000239: 
017046,000240: 22,2304           77601        MXM3               SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
017047,000241: 22,2305           00001                                    0                                     #  AND LEAVES RESULT IN PD LIST
017048,000242: 22,2306           64743                           DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
017049,000243: 22,2307           77762                                    12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
017050,000244: 22,2310           77770                                    6,2                                   
017051,000245: 22,2311           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
017052,000246: 22,2312           77776                                    0,2                                   
017053,000247: 22,2313           64717                           MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
017054,000248: 22,2314           00001                                    0,1                                   
017055,000249: 22,2315           77760                                    14D,2                                 
017056,000250: 22,2316           64723                           PDDL*    PDDL*                                 
017057,000251: 22,2317           77766                                    8D,2                                  
017058,000252: 22,2320           77774                                    2,2                                   
017059,000253: 22,2321           63666                           VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
017060,000254: 22,2322           00001                                    0,1                                   
017061,000255: 22,2323           64723                           PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
017062,000256: 22,2324           77756                                    16D,2                                 
017063,000257: 22,2325           77764                                    10D,2                                 
017064,000258: 22,2326           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
017065,000259: 22,2327           77772                                    4,2                                   
017066,000260: 22,2330           41517                           MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
017067,000261: 22,2331           00001                                    0,1                                   
017068,000262: 22,2332           77650                           GOTO                                           
017069,000263: 22,2333           44343                                    TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
017070,000264: 
017071,000265:                                                                                                  #  RETURN WITH M1XM2 IN PD LIST
017072,000266: 22,2334           76601        TRANSPOS           SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
017073,000267: 22,2335           00001                                    0                                     #        AND LEAVES RESULT IN PD LIST
017074,000268: 22,2336           00001                                    0,1                                   #  MATRIX ADDRESS IN XR1
017075,000269: 22,2337           62713                           PDVL*    PDVL*                                 
017076,000270: 22,2340           00007                                    6,1                                   
017077,000271: 22,2341           00015                                    12D,1                                 
017078,000272: 22,2342           77606                           PUSH                                           #  MATRIX IN PD
017079,000273: 22,2343           65345        TRNSPSPD           DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
017080,000274: 22,2344           00003                                    2                                     
017081,000275: 22,2345           00007                                    6                                     
017082,000276: 22,2346           14003                           STODL    2                                     
017083,000277: 22,2347           77626                           STADR                                          
017084,000278: 22,2350           63770                           STODL    6                                     
017085,000279: 22,2351           00005                                    4                                     
017086,000280: 22,2352           77725                           PDDL                                           
017087,000281: 22,2353           00015                                    12D                                   
017088,000282: 22,2354           14005                           STODL    4                                     
017089,000283: 22,2355           77626                           STADR                                          
017090,000284: 22,2356           63762                           STODL    12D                                   
017091,000285: 22,2357           00013                                    10D                                   
017092,000286: 22,2360           77725                           PDDL                                           
017093,000287: 22,2361           00017                                    14D                                   
017094,000288: 22,2362           14013                           STODL    10D                                   
017095,000289: 22,2363           77626                           STADR                                          
017096,000290: 22,2364           77760                           STORE    14D                                   
017097,000291: 22,2365           77616                           RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
017098,000292: 22,2366           00013        MINANG             DEC      .00069375                             
017099,000293: 22,2367           17071        MAXANG             DEC      .472222                               
017100,000294: 
017101,000295:                                                                                                  #  GIMBAL LOCK CONSTANTS
017102,000296: 
017103,000297:                                                                                                  #  D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017104,000298:                                                                                                  #  NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017105,000299: 
017106,000300: 22,2370           15667        SD                 DEC      .433015                               #  = SIN(D)                              $2
017107,000301: 22,2371           33555        K3S1               DEC      .86603                                #  = SIN(D)                              $1
017108,000302: 22,2372           67777        K4                 DEC      -.25                                  #  = -COS(D)                             $2
017109,000303: 22,2373           04000        K4SQ               DEC      .125                                  #  = COS(D)COS(D)                        $2
017110,000304: 22,2374           00217        SNGLCD             DEC      .008725                               #  = SIN(NGL)COS(D)                      $2
017111,000305: 22,2375           17773        CNGL               DEC      .499695                               #  = COS(NGL)                            $2
017112,000306: 22,2376           00004        READCDUK           INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017113,000307: 22,2377           30034                           CA       CDUZ                                  
017114,000308: 22,2400           54156                           TS       MPAC       +2                         
017115,000309: 22,2401           00006                           EXTEND                                         
017116,000310: 22,2402           30033                           DCA      CDUX                                  
017117,000311: 22,2403           00003                           RELINT                                         
017118,000312: 22,2404           16445                           TCF      TLOAD      +6                         
017119,000313: 16,2000                                           BANK     16                                    
017120,000314: 22,2000                                           SETLOC   KALCMON2                              
017121,000315: 22,2000                                           BANK                                           
017122,000316: 
017123,000317: 22,2405                                           COUNT*   $$/KALC                               
017124,000318: 
017125,000319: 22,2405           66370        CDUTODCM           AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE DIRECTION COSINE
017126,000320: 22,2406           00003                           OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
017127,000321: 22,2407           00051                                    S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017128,000322: 22,2410           00001                           OCT      1                                     #  SET XR1, S1 AND PD FOR LOOP
017129,000323: 22,2411           00010                           STORE    7                                     
017130,000324: 22,2412           77601                           SETPD                                          
017131,000325: 22,2413           00001                                    0                                     
017132,000326: 22,2414           47133        LOOPSIN            SLOAD*   RTB                                   
017133,000327: 22,2415           00013                                    10D,1                                 
017134,000328: 22,2416           45513                                    CDULOGIC                              
017135,000329: 22,2417           00013                           STORE    10D                                   #  LOAD PD WITH 0        SIN(PHI)
017136,000330: 22,2420           65356                           SIN      PDDL                                  #               2        COS(PHI)
017137,000331: 22,2421           00013                                    10D                                   #               4        SIN(THETA)
017138,000332: 22,2422           41546                           COS      PUSH                                  #               6        COS(THETA)
017139,000333: 22,2423           71300                           TIX,1    DLOAD                                 #               8        SIN(PSI)
017140,000334: 22,2424           44414                                    LOOPSIN                               #              10        COS(PSI)
017141,000335: 22,2425           00007                                    6                                     
017142,000336: 22,2426           72405                           DMP      SL1                                   
017143,000337: 22,2427           00013                                    10D                                   
017144,000338: 22,2430           10001                           STORE    0,2                                   
017145,000339: 22,2431           77745                           DLOAD                                          
017146,000340: 22,2432           00005                                    4                                     
017147,000341: 22,2433           65205                           DMP      PDDL                                  
017148,000342: 22,2434           00001                                    0                                     #  (PD6 SIN(THETA)SIN(PHI))
017149,000343: 22,2435           00007                                    6                                     
017150,000344: 22,2436           41205                           DMP      DMP                                   
017151,000345: 22,2437           00011                                    8D                                    
017152,000346: 22,2440           00003                                    2                                     
017153,000347: 22,2441           44352                           SL1      BDSU                                  
017154,000348: 22,2442           00015                                    12D                                   
017155,000349: 22,2443           77752                           SL1                                            
017156,000350: 22,2444           10003                           STORE    2,2                                   
017157,000351: 22,2445           77745                           DLOAD                                          
017158,000352: 22,2446           00003                                    2                                     
017159,000353: 22,2447           65205                           DMP      PDDL                                  #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
017160,000354: 22,2450           00005                                    4                                     
017161,000355: 22,2451           00007                                    6                                     
017162,000356: 22,2452           41205                           DMP      DMP                                   
017163,000357: 22,2453           00011                                    8D                                    
017164,000358: 22,2454           00001                                    0                                     
017165,000359: 22,2455           77752                           SL1                                            
017166,000360: 22,2456           72415                           DAD      SL1                                   
017167,000361: 22,2457           00017                                    14D                                   
017168,000362: 22,2460           10005                           STORE    4,2                                   
017169,000363: 22,2461           77745                           DLOAD                                          
017170,000364: 22,2462           00011                                    8D                                    
017171,000365: 22,2463           10007                           STORE    6,2                                   
017172,000366: 22,2464           77745                           DLOAD                                          
017173,000367: 22,2465           00013                                    10D                                   
017174,000368: 22,2466           72405                           DMP      SL1                                   
017175,000369: 22,2467           00003                                    2                                     
017176,000370: 22,2470           10011                           STORE    8D,2                                  
017177,000371: 22,2471           77745                           DLOAD                                          
017178,000372: 22,2472           00013                                    10D                                   
017179,000373: 22,2473           57405                           DMP      DCOMP                                 
017180,000374: 22,2474           00001                                    0                                     
017181,000375: 22,2475           77752                           SL1                                            
017182,000376: 22,2476           10013                           STORE    10D,2                                 
017183,000377: 22,2477           77745                           DLOAD                                          
017184,000378: 22,2500           00005                                    4                                     
017185,000379: 22,2501           57405                           DMP      DCOMP                                 
017186,000380: 22,2502           00013                                    10D                                   
017187,000381: 22,2503           77752                           SL1                                            
017188,000382: 22,2504           10015                           STORE    12D,2                                 
017189,000383: 22,2505           77745                           DLOAD                                          
017190,000384: 22,2506           72405                           DMP      SL1                                   #  (PUSH UP 7)
017191,000385: 22,2507           00011                                    8D                                    
017192,000386: 22,2510           41325                           PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017193,000387: 22,2511           00007                                    6                                     
017194,000388: 22,2512           00001                                    0                                     
017195,000389: 22,2513           72415                           DAD      SL1                                   #  (PUSH UP 7)
017196,000390: 22,2514           77626                           STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
017197,000391: 22,2515           67760                           STORE    14D,2                                 
017198,000392: 22,2516           77745                           DLOAD                                          
017199,000393: 22,2517           72405                           DMP      SL1                                   #  (PUSH UP 6)
017200,000394: 22,2520           00011                                    8D                                    
017201,000395: 22,2521           41325                           PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017202,000396: 22,2522           00007                                    6                                     
017203,000397: 22,2523           00003                                    2                                     
017204,000398: 22,2524           72425                           DSU      SL1                                   #  (PUSH UP 6)
017205,000399: 22,2525           77626                           STADR                                          
017206,000400: 22,2526           67756                           STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017207,000401: 22,2527           77616                           RVQ                                            #     +COS(THETA)COS(PHI)
017208,000402: 22,2530                        ENDDCM             EQUALS                                         
017209,000403: 
017210,000404: 15,2000                                           BANK     15                                    
017211,000405: 22,2000                                           SETLOC   KALCMON1                              
017212,000406: 22,2000                                           BANK                                           
017213,000407: 
017214,000408:                                                                                                  #  CALCULATION OF THE MATRIX DEL......
017215,000409: 
017216,000410:                                                                                                  #        *      *               --T           *
017217,000411:                                                                                                  #        DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)          SCALED 1
017218,000412: 
017219,000413:                                                                                                  #              -
017220,000414:                                                                                                  #        WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017221,000415:                                                                                                  #        A IS THE ANGLE OF ROTATION (DP SCALED 2)
017222,000416:                                                                                                  #                                           -
017223,000417:                                                                                                  #        UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017224,000418: 
017225,000419: 22,2530                                           COUNT    22/KALC                               
017226,000420: 
017227,000421: 22,2530           41401        DELCOMP            SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
017228,000422: 22,2531           00001                                    0                                     
017229,000423: 22,2532           65356                           SIN      PDDL                                  #  PD0 = SIN(A)
017230,000424: 22,2533           41546                           COS      PUSH                                  #  PD2 = COS(A)
017231,000425: 22,2534           65302                           SR2      PDDL                                  #  PD2 = COS(A)                          $8
017232,000426: 22,2535           41021                           BDSU     BOVB                                  #  PD4 = 1-COS(A)                        $2
017233,000427: 22,2536           15332                                    DPHALF                                
017234,000428: 22,2537           45712                                    SIGNMPAC                              
017235,000429: 
017236,000430:                                                                                                  #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
017237,000431: 
017238,000432: 22,2540           77725                           PDDL                                           
017239,000433: 22,2541           03343                                    COF                                   
017240,000434: 22,2542           41316                           DSQ      DMP                                   
017241,000435: 22,2543           00005                                    4                                     
017242,000436: 22,2544           52415                           DAD      SL3                                   
017243,000437: 22,2545           00003                                    2                                     
017244,000438: 22,2546           77604                           BOVB                                           
017245,000439: 22,2547           45712                                    SIGNMPAC                              
017246,000440: 22,2550           17426                           STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)               $1
017247,000441: 22,2551           03345                                    COF        +2                         
017248,000442: 22,2552           41316                           DSQ      DMP                                   
017249,000443: 22,2553           00005                                    4                                     
017250,000444: 22,2554           52415                           DAD      SL3                                   
017251,000445: 22,2555           00003                                    2                                     
017252,000446: 22,2556           77604                           BOVB                                           
017253,000447: 22,2557           45712                                    SIGNMPAC                              
017254,000448: 22,2560           17436                           STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)               $1
017255,000449: 22,2561           03347                                    COF        +4                         
017256,000450: 22,2562           41316                           DSQ      DMP                                   
017257,000451: 22,2563           00005                                    4                                     
017258,000452: 22,2564           52415                           DAD      SL3                                   
017259,000453: 22,2565           00003                                    2                                     
017260,000454: 22,2566           77604                           BOVB                                           
017261,000455: 22,2567           45712                                    SIGNMPAC                              
017262,000456: 22,2570           03446                           STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)               $1
017263,000457: 
017264,000458:                                                                                                  #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
017265,000459: 
017266,000460: 22,2571           41345                           DLOAD    DMP                                   
017267,000461: 22,2572           03343                                    COF                                   
017268,000462: 22,2573           03345                                    COF        +2                         
017269,000463: 22,2574           72405                           DMP      SL1                                   
017270,000464: 22,2575           00005                                    4                                     
017271,000465: 22,2576           41325                           PDDL     DMP                                   #  D6    UX UY (1-COS A)                 $ 4
017272,000466: 22,2577           03347                                    COF        +4                         
017273,000467: 22,2600           00001                                    0                                     
017274,000468: 22,2601           43206                           PUSH     DAD                                   #  D8    UZ SIN A                        $ 4
017275,000469: 22,2602           00007                                    6                                     
017276,000470: 22,2603           41112                           SL2      BOVB                                  
017277,000471: 22,2604           45712                                    SIGNMPAC                              
017278,000472: 22,2605           17434                           STODL    DEL        +6                         
017279,000473: 22,2606           62421                           BDSU     SL2                                   
017280,000474: 22,2607           77604                           BOVB                                           
017281,000475: 22,2610           45712                                    SIGNMPAC                              
017282,000476: 22,2611           17430                           STODL    DEL        +2                         
017283,000477: 22,2612           03343                                    COF                                   
017284,000478: 22,2613           41205                           DMP      DMP                                   
017285,000479: 22,2614           03347                                    COF        +4                         
017286,000480: 22,2615           00005                                    4                                     
017287,000481: 22,2616           65352                           SL1      PDDL                                  #  D6    UX UZ (1-COS A )                $ 4
017288,000482: 22,2617           03345                                    COF        +2                         
017289,000483: 22,2620           41405                           DMP      PUSH                                  #  D8    UY SIN(A)
017290,000484: 22,2621           00001                                    0                                     
017291,000485: 22,2622           62415                           DAD      SL2                                   
017292,000486: 22,2623           00007                                    6                                     
017293,000487: 22,2624           77604                           BOVB                                           
017294,000488: 22,2625           45712                                    SIGNMPAC                              
017295,000489: 22,2626           17432                           STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
017296,000490: 22,2627           62421                           BDSU     SL2                                   
017297,000491: 22,2630           77604                           BOVB                                           
017298,000492: 22,2631           45712                                    SIGNMPAC                              
017299,000493: 22,2632           17442                           STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
017300,000494: 22,2633           03345                                    COF        +2                         
017301,000495: 22,2634           41205                           DMP      DMP                                   
017302,000496: 22,2635           03347                                    COF        +4                         
017303,000497: 22,2636           00005                                    4                                     
017304,000498: 22,2637           65352                           SL1      PDDL                                  #  D6    UY UZ (1-COS(A))                $ 4
017305,000499: 22,2640           03343                                    COF                                   
017306,000500: 22,2641           41405                           DMP      PUSH                                  #  D8    UX SIN(A)
017307,000501: 22,2642           00001                                    0                                     
017308,000502: 22,2643           62415                           DAD      SL2                                   
017309,000503: 22,2644           00007                                    6                                     
017310,000504: 22,2645           77604                           BOVB                                           
017311,000505: 22,2646           45712                                    SIGNMPAC                              
017312,000506: 22,2647           17444                           STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
017313,000507: 22,2650           62421                           BDSU     SL2                                   
017314,000508: 22,2651           77604                           BOVB                                           
017315,000509: 22,2652           45712                                    SIGNMPAC                              
017316,000510: 22,2653           03440                           STORE    DEL        +10D                       #  UY UZ(1-COS(A)) -UX SIN(A)
017317,000511: 22,2654           77616                           RVQ                                            
017318,000512: 
017319,000513:                                                                                                  #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017320,000514:                                                                                                  #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017321,000515:                                                                                                  #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017322,000516:                                                                                                  #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017323,000517: 
017324,000518:                                                                                                  #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017325,000519: 
017326,000520:                                                                                                  #        C =COS(THETA)COS(PSI)
017327,000521:                                                                                                  #         0
017328,000522: 
017329,000523:                                                                                                  #        C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017330,000524:                                                                                                  #         1
017331,000525: 
017332,000526:                                                                                                  #        C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017333,000527:                                                                                                  #         2
017334,000528: 
017335,000529:                                                                                                  #        C =SIN(PSI)
017336,000530:                                                                                                  #         3
017337,000531: 
017338,000532:                                                                                                  #        C =COS(PSI)COS(PHI)
017339,000533:                                                                                                  #         4
017340,000534: 
017341,000535:                                                                                                  #        C =-COS(PSI)SIN(PHI)
017342,000536:                                                                                                  #         5
017343,000537: 
017344,000538:                                                                                                  #        C =-SIN(THETA)COS(PSI)
017345,000539:                                                                                                  #         6
017346,000540: 
017347,000541:                                                                                                  #        C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017348,000542:                                                                                                  #         7
017349,000543:                                                                                                  #        C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017350,000544:                                                                                                  #         8
017351,000545: 
017352,000546:                                                                                                  #        WHERE   PHI = OGA
017353,000547:                                                                                                  #                THETA = IGA
017354,000548:                                                                                                  #                PSI = MGA
017355,000549: 
017356,000550: 22,2655           67543        DCMTOCDU           DLOAD*   ARCSIN                                
017357,000551: 22,2656           00007                                    6,1                                   
017358,000552: 22,2657           71406                           PUSH     COS                                   #  PD +0         PSI
017359,000553: 22,2660           41152                           SL1      BOVB                                  
017360,000554: 22,2661           45712                                    SIGNMPAC                              
017361,000555: 22,2662           00051                           STORE    S1                                    
017362,000556: 22,2663           57543                           DLOAD*   DCOMP                                 
017363,000557: 22,2664           00015                                    12D,1                                 
017364,000558: 22,2665           67471                           DDV      ARCSIN                                
017365,000559: 22,2666           00051                                    S1                                    
017366,000560: 22,2667           51123                           PDDL*    BPL                                   #  PD +2         THETA
017367,000561: 22,2670           00001                                    0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
017368,000562: 22,2671           44703                                    OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
017369,000563: 22,2672           57545                           DLOAD    DCOMP                                 
017370,000564: 22,2673           43244                           BPL      DAD                                   
017371,000565: 22,2674           44700                                    SUHALFA                               
017372,000566: 22,2675           15332                                    DPHALF                                
017373,000567: 22,2676           77650                           GOTO                                           
017374,000568: 22,2677           44702                                    CALCPHI                               
017375,000569: 22,2700           77625        SUHALFA            DSU                                            
017376,000570: 22,2701           15332                                    DPHALF                                
017377,000571: 22,2702           77606        CALCPHI            PUSH                                           
017378,000572: 22,2703           57543        OKTHETA            DLOAD*   DCOMP                                 
017379,000573: 22,2704           00013                                    10D,1                                 
017380,000574: 22,2705           67471                           DDV      ARCSIN                                
017381,000575: 22,2706           00051                                    S1                                    
017382,000576: 22,2707           51123                           PDDL*    BPL                                   #  PUSH DOWN PHI
017383,000577: 22,2710           00011                                    8D,1                                  
017384,000578: 22,2711           44723                                    OKPHI                                 
017385,000579: 22,2712           57545                           DLOAD    DCOMP                                 #  PUSH UP PHI
017386,000580: 22,2713           43244                           BPL      DAD                                   
017387,000581: 22,2714           44720                                    SUHALFAP                              
017388,000582: 22,2715           15332                                    DPHALF                                
017389,000583: 22,2716           77650                           GOTO                                           
017390,000584: 22,2717           44724                                    VECOFANG                              
017391,000585: 22,2720           52025        SUHALFAP           DSU      GOTO                                  
017392,000586: 22,2721           15332                                    DPHALF                                
017393,000587: 22,2722           44724                                    VECOFANG                              
017394,000588: 22,2723           77745        OKPHI              DLOAD                                          #  PUSH UP PHI
017395,000589: 22,2724           43466        VECOFANG           VDEF     RVQ                                   
017396,000590: 
017397,000591:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017398,000592: 
017399,000593: 22,2725           00004        NOGOM2             INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
017400,000594: 22,2726           04676                           TC       BANKCALL                              
017401,000595: 22,2727           40155                           CADR     ZEROEROR                              
017402,000596: 
017403,000597: 22,2730           00004        NOGO               INHINT                                         
017404,000598: 22,2731           04526                           TC       STOPRATE                              
017405,000599: 
017406,000600:                                                                                                  #  TERMINATE MANEUVER
017407,000601: 22,2732           35032                           CAF      TWO                                   #  NOTE - ALL RETURNS ARE NOW MADE VIA
017408,000602: 22,2733           05261                           TC       WAITLIST                              #  GOODEND
017409,000603: 22,2734  E6,1661                                  EBANK=   BCDU                                  
017410,000604: 22,2734           02020 42066                     2CADR    ENDMANU                               
017411,000605: 
017412,000606: 22,2736           15233                           TCF      ENDOFJOB                              
017413,000607: 

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