Source Code

These source-code files were obtained by digitally photographing an Artemis 72 program listing from a private collection and then modifying pre-existing Comanche 55 (Apollo 11) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images may be available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 072 OF AGC PROGRAM ARTEMIS 
	BY NASA 2021114-011 11:40 FEB. 26, 1971

	THIS AGC PROGRAM SHALL ALSO BE REFERRED TO AS
				COLOSSUS 3
	THIS PROGRAM IS INTENDED FOR USE IN THE CM AS SPECIFIED
	IN REPORT R-577.  THIS PROGRAM WAS PREPARED UNDER OSR
	PROJECT 55-23890, SPONSORED BY THE MANNED SPACECRAFT
	CENTER OF THE NATIONAL AERONAUTICS AND SPACE
	ADMINISTRATION THROUGH CONTRACT NAS 9-4065 WITH THE
	CHARLES STARK DRAPER LABORATORY, MASSACHUSETTS INSTITUTE OF
	TECHNOLOGY, CAMBRIDGE, MASS.

017420,000002:                                                                                                 #  Copyright:     Public domain.
017421,000003:                                                                                                 #  Filename:      R60_62.agc
017422,000004:                                                                                                 #  Purpose:       Part of the source code for Artemis (i.e., Colossus 3),
017423,000005:                                                                                                 #                 build 072.  This is for the Command Module's (CM) 
017424,000006:                                                                                                 #                 Apollo Guidance Computer (AGC), we believe for 
017425,000007:                                                                                                 #                 Apollo 15-17.
017426,000008:                                                                                                 #  Assembler:     yaYUL
017427,000009:                                                                                                 #  Contact:       Sergio Navarro <sergionavarrog@gmail.com>
017428,000010:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
017429,000011:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Artemis072/
017430,000012:                                                                                                 #  Mod history:   2009-08-19 SN   Adapted from corresponding Comanche 055 file.
017431,000013:                                                                                                 #                 2009-09-03 JL   Fixed symbol names.
017432,000014:                                                                                                 #                 2009-09-04 JL   Fixed typo in COUNT* directive. Minor fixes.
017433,000015:                                                                                                 #                                 Removed a spurious SETPD in interpretive code.
017434,000016:                                                                                                 #                 2010-01-31 JL   Fixed build errors.
017435,000017:                                                                                                 #                 2010-02-01 JL   Fixed build errors.
017436,000018:                                                                                                 #                 2010-02-20 RSB  Un-##'d this header.
017437,000019: 
017438,000020:                                                                                                 # # Page 394
017439,000021: 27,2000                                          SETLOC   MANUVER                               
017440,000022: 27,2000                                          BANK                                           
017441,000023: 
017442,000024: 27,2074     1004                                 EBANK=   TEMPR60                               
017443,000025: 
017444,000026: 27,2074                                          COUNT*   $$/R60                                
017445,000027: 
017446,000028:                                                                                                 #  CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC  09  JAN 18, 1968
017447,000029: 
017448,000030: 27,2074           04665        R60CSM            TC       MAKECADR                              
017449,000031: 27,2075           55004                          TS       TEMPR60                               
017450,000032: 
017451,000033: 27,2076           06006        REDOMANN          TC       INTPRET                               
017452,000034: 27,2077           45014                          BON      CALL                                  #  IS 3-AXIS FLAG SET
017453,000035: 27,2100           02711                                   3AXISFLG                              
017454,000036: 27,2101           56104                                   TOBALL1                               #  YES
017455,000037: 27,2102           56225                                   VECPOINT                              #  NO CALL VECPOINT
017456,000038: 27,2103           01310                          STORE    CPHI                                  
017457,000039: 27,2104           77776        TOBALL1           EXIT                                           
017458,000040: 
017459,000041: 27,2105           35031        TOBALL            CAF      V06N18                                
017460,000042: 27,2106           04636                          TC       BANKCALL                              
017461,000043: 27,2107           21154                          CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
017462,000044: 27,2110           02215                          TC       R61TEST                               
017463,000045: 27,2111           02115                          TC       REDOMANC   -1                         
017464,000046: 27,2112           12150                          TCF      ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
017465,000047: 
017466,000048: 27,2113           02152                          TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
017467,000049: 27,2114           05205                          TC       ENDOFJOB                              
017468,000050: 
017469,000051: 27,2115           06006                 -1       TC       INTPRET                               
017470,000052: 27,2116           45014        REDOMANC          BON      CALL                                  #  IS 3-AXIS FLAG SET
017471,000053: 27,2117           02711                                   3AXISFLG                              
017472,000054: 27,2120           56123                                   +3                                    #  YES
017473,000055: 27,2121           56225                                   VECPOINT                              #  NO CALL VECPOINT
017474,000056: 27,2122           01310                          STORE    CPHI                                  #  STORE ANGLES
017475,000057: 27,2123           77776                          EXIT                                           
017476,000058: 
017477,000059: 27,2124           37673        TOBALLC           CAF      FURST3                                #  BITS 15,14,13 OF CHAN31 = 011
017478,000060: 27,2125           05654                          TC       C31BTCHK                              #  FOR AUTO AND G&N CONTROL
017479,000061: 27,2126           12127                          TCF      +1                                    
017480,000062: 27,2127           67671                          AD       NEG30000                              
017481,000063: 27,2130           00006                          EXTEND                                         
017482,000064: 27,2131           12133                          BZF      +2                                    #  AUTO, NON-FLASH N18
017483,000065: 27,2132           12105                          TCF      TOBALL                                #  NOT AUTO
017484,000066:                                                                                                 # # Page 395              
017485,000067: 27,2133           35031                          CAF      V06N18                                #  SET UP NON-FLASHING V06 N18
017486,000068: 27,2134           04636                          TC       BANKCALL                              
017487,000069: 27,2135           20710                          CADR     GODSPR                                
017488,000070: 27,2136           02152                          TC       CHKLINUS                              
017489,000071: 
017490,000072: 27,2137           04655        STARTMNV          TC       POSTJUMP                              
017491,000073: 27,2140           44000                          CADR     KALCMAN3                              
017492,000074: 
017493,000075: 27,2141           06006        ENDMANUV          TC       INTPRET                               
017494,000076: 27,2142           43014                          BOFF     BOFF                                  
017495,000077: 27,2143           05350                                   AUTOSEQ                               
017496,000078: 27,2144           56104                                   TOBALL1                               
017497,000079: 27,2145           00752                                   TRACKFLG                              
017498,000080: 27,2146           56104                                   TOBALL1                               
017499,000081: 27,2147           77776                          EXIT                                           
017500,000082: 
017501,000083: 27,2150           31004        ENDMANU1          CA       TEMPR60                               
017502,000084: 27,2151           04660                          TC       BANKJUMP                              
017503,000085: 
017504,000086: 27,2152           40100        CHKLINUS          CS       FLAGWRD4                              
017505,000087: 27,2153           74755                          MASK     PDSPFBIT                              #  IS PRIORITY DISPLAY FLAG SET
017506,000088: 27,2154           10000                          CCS      A                                     
017507,000089: 27,2155           00002                          TC       Q                                     #  NO - EXIT
017508,000090: 27,2156           30002                          CA       Q                                     
017509,000091: 27,2157           54156                          TS       MPAC       +2                         #  SAVE RETURN
017510,000092: 27,2160           46214                          CS       THREE                                 #  OBTAIN LOCATION FOR RESTART.
017511,000093: 27,2161           60133                          AD       BUF2                                  #  HOLDS Q OF LAST DISPLAY
017512,000094: 27,2162           55257                          TS       TBASE1                                
017513,000095: 
017514,000096: 27,2163           05402                          TC       PHASCHNG                              
017515,000097: 27,2164           00071                          OCT      71                                    #  1.7SPOT FOR RELINUS
017516,000098: 
017517,000099: 27,2165  01,2022               1P7SPT1           =        1.7SPOT                               
017518,000100: 27,2165           34762                          CAF      BIT7                                  
017519,000101: 27,2166           05516                          TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY
017520,000102: 27,2167           00156                          TC       MPAC       +2                         
017521,000103: 
017522,000104: 27,2170           34764        RELINUS           CAF      TRACKBIT                              #  IS TRACK FLAG ON
017523,000105: 27,2171           70075                          MASK     FLAGWRD1                              
017524,000106: 27,2172           00006                          EXTEND                                         
017525,000107: 27,2173           12213                          BZF      GOREDO20                              #  NO
017526,000108: 
017527,000109: 27,2174           05547                          TC       UPFLAG                                
017528,000110: 27,2175           00077                          ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
017529,000111: 
017530,000112: 27,2176           30104                          CA       FLAGWRD8                              
017531,000113: 27,2177           74760                          MASK     UTBIT                                 
017532,000114: 27,2200           10000                          CCS      A                                     
017533,000115: 27,2201           02210                          TC       RELINUSX                              #  UTFLAG SET,DO NOT SET TARG1FLG,OPTIND
017534,000116:                                                                                                 # # Page 396
017535,000117: 27,2202           05547                          TC       UPFLAG                                
017536,000118: 27,2203           00024                          ADRES    TARG1FLG                              #  FOR R52
017537,000119: 
017538,000120: 27,2204           34772                          CAF      ZERO                                  #  RESET TO ZERO, SINCE
017539,000121: 27,2205           55323                          TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
017540,000122: 
017541,000123: 27,2206           05547                          TC       UPFLAG                                
017542,000124: 27,2207           00037                          ADRES    R21MARK                               #  ALLOW OPTICS MARKING DURING P2
017543,000125: 
017544,000126: 27,2210           35053        RELINUSX          CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
017545,000127: 27,2211           05176                          TC       PRIOCHNG                              
017546,000128: 
017547,000129: 27,2212           01257                          TC       TBASE1                                
017548,000130: 
017549,000131: 27,2213           04655        GOREDO20          TC       POSTJUMP                              #  RESTORE R03 DEADBAND, DO STOPRATE,
017550,000132: 27,2214           74416                          CADR     FIXDB                                 #   SET UP 1.11 RESTART, EOJ.
017551,000133: 27,2215           31214        R61TEST           CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
017552,000134: 27,2216           00006                          EXTEND                                         #      VERB49 OR VERB89 SO DO ENDEXT.
017553,000135: 27,2217           12150                          BZF      ENDMANU1                              #  RESET 3-AXIS & RETURN.  USER DOES ENDEXT
017554,000136: 27,2220           30100                          CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
017555,000137: 27,2221           74755                          MASK     PDSPFBIT                              
017556,000138: 27,2222           00006                          EXTEND                                         
017557,000139: 27,2223           14103                          BZF      GOTOPOOH                              #  NO
017558,000140: 27,2224           04546                          TC       GOTOV56                               #  YES
017559,000141: 
017560,000142:                                                                                                 # # Page 397
017561,000143:                                                                                                 #  PROGRAM DESCRIPTION - VECPOINT
017562,000144: 
017563,000145:                                                                                                 #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
017564,000146:                                                                                                 #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
017565,000147:                                                                                                 #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
017566,000148:                                                                                                 #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
017567,000149:                                                                                                 #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
017568,000150:                                                                                                 #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
017569,000151:                                                                                                 #  ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
017570,000152:                                                                                                 #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
017571,000153: 
017572,000154:                                                                                                 #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
017573,000155:                                                                                                 #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROGLEM BY ROTATING THE CROSS-
017574,000156:                                                                                                 #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
017575,000157:                                                                                                 #  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,
017576,000158:                                                                                                 #  THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
017577,000159:                                                                                                 #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
017578,000160:                                                                                                 #  STORED AS 2S COMPLEMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
017579,000161: 
017580,000162:                                                                                                 #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
017581,000163:                                                                                                 #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
017582,000164:                                                                                                 #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
017583,000165:                                                                                                 #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
017584,000166: 
017585,000167:                                                                                                 #  CALLING SEQUENCE
017586,000168: 
017587,000169:                                                                                                 #         1) LOAD SCAXIS, POINTVSM
017588,000170:                                                                                                 #         2) CALL
017589,000171:                                                                                                 #                 VECPOINT
017590,000172: 
017591,000173:                                                                                                 #  RETURNS WITH
017592,000174: 
017593,000175:                                                                                                 #         1) DESIRED OUTER  GIMBAL ANGLE IN MPAC
017594,000176:                                                                                                 #         2) DESIRED INNER  GIMBAL ANGLE IN MPAC +1
017595,000177:                                                                                                 #         3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
017596,000178: 
017597,000179:                                                                                                 #  ERASABLES USED -
017598,000180: 
017599,000181:                                                                                                 #         1) SCAXIS                6
017600,000182:                                                                                                 #         2) POINTVSM              6
017601,000183:                                                                                                 #         3) MIS                  18
017602,000184:                                                                                                 #         4) DEL                  18
017603,000185:                                                                                                 #         5) COF                   6
017604,000186:                                                                                                 #         6) VECQTEMP              1
017605,000187:                                                                                                 #         7) ALL OF VAC AREA      43
017606,000188: 
017607,000189:                                                                                                 #                         TOTAL   99
017608,000190: 
017609,000191: 27,2000                                          SETLOC   VECPT                                 
017610,000192: 27,2000                                          BANK                                           
017611,000193:                                                                                                 # # Page 398
017612,000194: 27,2225  E6,1661                                 EBANK=   BCDU                                  
017613,000195: 
017614,000196: 27,2225                                          COUNT*   $$/VECPT                              
017615,000197: 27,2225           40020        VECPOINT          STQ      BOV                                   #  SAVE RETURN ADDRESS
017616,000198: 27,2226           03310                                   VECQTEMP                              
017617,000199: 27,2227           56230                                   VECLEAR                               #  AND CLEAR OVFIND
017618,000200: 27,2230           47164        VECLEAR           AXC,2    RTB                                   
017619,000201: 27,2231           03320                                   MIS                                   #  READ THE PRESENT CDU ANGLES AND
017620,000202: 27,2232           44370                                   READCDUK                              #  STORE THEM IN PD25, 26, 27
017621,000203: 27,2233           34032                          STCALL   25D                                   
017622,000204: 27,2234           44377                                   CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
017623,000205: 27,2235           61375                          VLOAD    VXM                                   
017624,000206: 27,2236           03357                                   POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
017625,000207: 27,2237           03321                                   MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
017626,000208: 27,2240           77656                          UNIT                                           
017627,000209: 27,2241           00035                          STORE    28D                                   
017628,000210:                                                                                                 #  PD 28 29 30 31 32 33
017629,000211: 27,2242           53435                          VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
017630,000212: 27,2243           03351                                   SCAXIS                                #  WHERE VI = SCAXIS
017631,000213: 27,2244           57400                          BOV      VCOMP                                 
017632,000214: 27,2245           56355                                   PICKAXIS                              
017633,000215: 27,2246           17343                          STODL    COF                                   #  CHECK MAGNITUDE
017634,000216: 27,2247           00045                                   36D                                   #  OF CROSS PRODUCT
017635,000217: 27,2250           50025                          DSU      BMN                                   #  VECTOR, IF LESS
017636,000218: 27,2251           16426                                   DPB-14                                #  THAN B-14 ASSUME
017637,000219: 27,2252           56355                                   PICKAXIS                              #  UNIT OPERATION
017638,000220: 27,2253           50375                          VLOAD    DOT                                   #           INVALID.
017639,000221: 27,2254           03351                                   SCAXIS                                
017640,000222: 27,2255           00035                                   28D                                   
017641,000223: 27,2256           65552                          SL1      ARCCOS                                
017642,000224: 27,2257           77624        COMPMATX          CALL                                           #  NO COMPUTE THE TRANSFORMATION FROM
017643,000225: 27,2260           44522                                   DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES     MFI
017644,000226: 27,2261           75160                          AXC,1    AXC,2                                 
017645,000227: 27,2262           03320                                   MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
017646,000228: 27,2263           03425                                   DEL                                   #  S/C AXES TO STABLE MEMBER AXES
017647,000229: 27,2264           77624                          CALL                                           #  MFS = MIS MFI
017648,000230: 27,2265           44304                                   MXM3                                  #  (IN PD LIST)
017649,000231: 
017650,000232: 27,2266           51545                          DLOAD    ABS                                   
017651,000233: 27,2267           00007                                   6                                     #  MFS6 = SIN(CPSI)                       $2
017652,000234: 27,2270           50025                          DSU      BMN                                   
017653,000235: 27,2271           16413                                   SINGIMLC                              #  = SIN(59 DEGS)                 $2
017654,000236: 27,2272           56345                                   FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS.
017655,000237:                                                                                                 #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
017656,000238: 
017657,000239: 27,2273           51545                          DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
017658,000240: 27,2274           03351                                   SCAXIS                                #  THE THRUST AXIS
017659,000241: 27,2275           51025                          DSU      BPL                                   
017660,000242: 27,2276           16415                                   SINVEC1                               #  SIN 49.4 DEGS                          $2
017661,000243: 27,2277           56345                                   FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
017662,000244:                                                                                                 # # Page 399
017663,000245: 27,2300           77775                          VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
017664,000246: 27,2301           77626                          STADR                                          
017665,000247: 27,2302           50442                          STOVL    MIS        +12D                       
017666,000248: 27,2303           77626                          STADR                                          #  STORE MFS (IN PD LIST) IN MIS
017667,000249: 27,2304           50450                          STOVL    MIS        +6                         
017668,000250: 27,2305           77626                          STADR                                          
017669,000251: 27,2306           50456                          STOVL    MIS                                   
017670,000252: 27,2307           03327                                   MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
017671,000253: 27,2310           57444                          BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
017672,000254: 27,2311           56312                                   IGSAMEX                               #  FINAL X S/C AXIS
017673,000255: 
017674,000256: 27,2312           50035        IGSAMEX           VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
017675,000257: 27,2313           03351                                   SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
017676,000258: 27,2314           56321                                   U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
017677,000259:                                                                                                 #  X SCAXIS . XF) LESS THAN Q, U = SCAXIS
017678,000260:                                                                                                 #  OTHERWISE U = -SCAXIS.
017679,000261: 
017680,000262: 27,2315           57575                          VLOAD    VCOMP                                 
017681,000263: 27,2316           03351                                   SCAXIS                                
017682,000264: 27,2317           37343                          STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
017683,000265: 27,2320           56324                                   CHEKAXIS                              
017684,000266: 27,2321           77775        U=SCAXIS          VLOAD                                          
017685,000267: 27,2322           03351                                   SCAXIS                                
017686,000268: 27,2323           03343                          STORE    COF                                   #  ROTATE ABOUT + SCAXIS
017687,000269: 27,2324           51545        CHEKAXIS          DLOAD    ABS                                   
017688,000270: 27,2325           03351                                   SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
017689,000271: 27,2326           51025                          DSU      BPL                                   
017690,000272: 27,2327           16417                                   SINVEC2                               #  SIN 29.5 DEGS                          $2
017691,000273: 27,2330           56334                                   PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
017692,000274: 27,2331           52145                          DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
017693,000275: 27,2332           16423                                   VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
017694,000276: 27,2333           56336                                   COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
017695,000277:                                                                                                 #  OF GIMBAL LOCK (VECANG2  $360)
017696,000278: 27,2334           77745        PICKANG1          DLOAD                                          
017697,000279: 27,2335           16421                                   VECANG1                               #  = 50 DEGS.                           $ 360
017698,000280: 27,2336           77624        COMPMFSN          CALL                                           
017699,000281: 27,2337           44522                                   DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
017700,000282: 27,2340           75160                          AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
017701,000283: 27,2341           03320                                   MIS                                   
017702,000284: 27,2342           03425                                   DEL                                   
017703,000285: 27,2343           77624                          CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
017704,000286: 27,2344           44304                                   MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
017705,000287:                                                                                                 #  WHICH WILL ALIGN VI WITH VF AND AVOID
017706,000288:                                                                                                 #  GIMBAL LOCK
017707,000289: 27,2345           45160        FINDGIMB          AXC,1    CALL                                  
017708,000290: 27,2346           00000                                   0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
017709,000291: 27,2347           44647                                   DCMTOCDU                              #  THIS MATRIX
017710,000292: 27,2350           77634                          RTB                                            
017711,000293: 27,2351           45644                                   V1STO2S                               #  CONVERT TO 2'S COMPLEMENT
017712,000294: 27,2352           52001        VECPTRET          SETPD    GOTO                                  
017713,000295:                                                                                                 # # Page 400
017714,000296: 27,2353           00001                                   0                                     
017715,000297: 27,2354           03310                                   VECQTEMP                              #  RETURN TO CALLER
017716,000298: 
017717,000299: 27,2355           50375        PICKAXIS          VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF, VI
017718,000300: 27,2356           00035                                   28D                                   
017719,000301: 27,2357           03351                                   SCAXIS                                
017720,000302: 27,2360           72240                          BMN      TLOAD                                 
017721,000303: 27,2361           56365                                   ROT180                                
017722,000304: 27,2362           00032                                   25D                                   
017723,000305: 27,2363           77650                          GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
017724,000306: 27,2364           56352                                   VECPTRET                              #  PRESENT CDU ANGLES
017725,000307: 27,2365           47375        ROT180            VLOAD    VXV                                   #  IF VF, VI ANTI-PARALLEL, 180 DEG ROTATION
017726,000308: 27,2366           03327                                   MIS        +6                         #  IS REQUIRED. Y STABLE MEMBER AXIS IN
017727,000309: 27,2367           15334                                   HIUNITX                               #  INITIAL S/C AXIS.
017728,000310: 27,2370           47256                          UNIT     VXV                                   #  FIND Y(SM) X X(I)
017729,000311: 27,2371           03351                                   SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
017730,000312: 27,2372           40056                          UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
017731,000313: 27,2373           56407                                   PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017732,000314: 27,2374           17343                          STODL    COF                                   
017733,000315: 27,2375           00045                                   36D                                   #  CHECK MAGNITUDE
017734,000316: 27,2376           50025                          DSU      BMN                                   #  OF THIS VECTOR.
017735,000317: 27,2377           16426                                   DPB-14                                #  IF LESS THAN B-14,
017736,000318: 27,2400           56407                                   PICKX                                 #  PICK X-AXIS.
017737,000319: 27,2401           77775                          VLOAD                                          
017738,000320: 27,2402           03343                                   COF                                   
017739,000321: 27,2403           17343        XROT              STODL    COF                                   
017740,000322: 27,2404           15334                                   HIDPHALF                              
017741,000323: 27,2405           77650                          GOTO                                           
017742,000324: 27,2406           56257                                   COMPMATX                              
017743,000325: 27,2407           52175        PICKX             VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017744,000326: 27,2410           15334                                   HIUNITX                               
017745,000327: 27,2411           56403                                   XROT                                  
017746,000328: 27,2000                                          SETLOC   MANUVER1                              
017747,000329: 27,2000                                          BANK                                           
017748,000330: 
017749,000331: 27,2412                                          COUNT*   $$/VECPT                              
017750,000332: 27,2412           15555 35172  SINGIMLC          2DEC     .4285836003                            #  = SIN(59)              $2
017751,000333: 27,2414           14113 36326  SINVEC1           2DEC     .3796356537                            #  = SIN(49.4)            $2
017752,000334: 27,2416           07701 35703  SINVEC2           2DEC     .2462117800                            #  = SIN(29.5)            $2
017753,000335: 27,2420           04343 21616  VECANG1           2DEC     .1388888889                            #  = 50 DEGREES                         $360
017754,000336: 27,2422           03070 34344  VECANG2           2DEC     .09722222222                            #  = 35 DEGREES                         $360
017755,000337: 
017756,000338: 27,2424           00000        1BITDP            OCT      0                                     #  KEEP THIS BEFORE DPB(-14)       *********
017757,000339: 27,2425           00001        DPB-14            OCT      00001                                 
017758,000340: 27,2426           00000                          OCT      00000                                 
017759,000341: 27,2000                                          SETLOC   MANUVER                               
017760,000342:                                                                                                 # # Page 401
017761,000343: 27,2000                                          BANK                                           
017762,000344: 
017763,000345:                                                                                                 # # Page 402
017764,000346:                                                                                                 #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017765,000347: 
017766,000348: 27,2427     1307                                 EBANK=   CPHI                                  
017767,000349: 
017768,000350: 27,2427                                          COUNT*   $$/R62                                
017769,000351: 27,2427           35025        R62DISP           CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017770,000352: 27,2430           04636                          TC       BANKCALL                              
017771,000353: 27,2431           20743                          CADR     GOFLASH                               
017772,000354: 27,2432           15524                          TCF      ENDEXT                                
017773,000355: 27,2433           12435                          TCF      GOMOVE                                #  PROCEED
017774,000356: 27,2434           12427                          TCF      R62DISP                               #  ENTER
017775,000357: 
017776,000358:                                                                                                 #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017777,000359:                                                                                                 #  POINT
017778,000360: 27,2435           05547        GOMOVE            TC       UPFLAG                                #  SET 3-AXIS FLAG
017779,000361: 27,2436           00124                          ADRES    3AXISFLG                              #  BIT 6  FLAG 5
017780,000362: 27,2437           04636                          TC       BANKCALL                              
017781,000363: 27,2440           56074                          CADR     R60CSM                                
017782,000364: 
017783,000365: 27,2441           15524                          TCF      ENDEXT                                

End of include-file R60_R62.agc.  Parent file is MAIN.agc