Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

016703,000002:                                                                                                 #  Copyright:    Public domain.
016704,000003:                                                                                                 #  Filename:      R60,R62.agc
016705,000004:                                                                                                 #  Purpose:      Part of the source code for Colossus build 237.
016706,000005:                                                                                                 #                This is for the Command Module's (CM) Apollo Guidance
016707,000006:                                                                                                 #                Computer (AGC), we believe for Apollo 8.
016708,000007:                                                                                                 #  Assembler:    yaYUL
016709,000008:                                                                                                 #  Contact:      Jim Lawton <jim DOT lawton AT gmail DOT com>
016710,000009:                                                                                                 #  Website:      www.ibiblio.org/apollo/index.html
016711,000010:                                                                                                 #  Page scans:   www.ibiblio.org/apollo/ScansForConversion/Colossus237/
016712,000011:                                                                                                 #  Mod history:  2011-01-27 JL   Adapted from corresponding Colossus 249 file.
016713,000012: 
016714,000013:                                                                                                 # # Page 381
016715,000014: 34,2002                                          BANK     34                                    
016716,000015: 27,2000                                          SETLOC   MANUVER                               
016717,000016: 27,2000                                          BANK                                           
016718,000017: 
016719,000018: 27,2000     1146                                 EBANK=   TEMPR60                               
016720,000019: 
016721,000020: 27,2000                                          COUNT    27/R60                                
016722,000021: 
016723,000022: 
016724,000023:                                                                                                 #  R60CSM
016725,000024:                                                                                                 #  REV 13   CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC  09  JAN 18,1968
016726,000025: 
016727,000026: 
016728,000027: 
016729,000028: 27,2000           04604        R60CSM            TC       MAKECADR                              
016730,000029: 27,2001           55146                          TS       TEMPR60                               
016731,000030: 
016732,000031:                                                                                                 #         INSERT PRIODSP CHECK WITH R22 (V06N49)  WITH JENNINGS BRODEUR           
016733,000032: 
016734,000033: 27,2002           34705        REDOMANN          CAF      BIT6                                  
016735,000034: 27,2003           70101                          MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016736,000035: 27,2004           10000                          CCS      A                                     
016737,000036: 27,2005           12013                          TCF      TOBALL                                #  YES
016738,000037: 27,2006           06006                          TC       INTPRET                               
016739,000038: 27,2007           77624                          CALL                                           
016740,000039: 27,2010           56126                                   VECPOINT                              #  TO COMPUTE FINAL ANGLES
016741,000040: 27,2011           01156                          STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
016742,000041: 27,2012           77776                          EXIT                                           
016743,000042: 
016744,000043: 27,2013           32125        TOBALL            CAF      V06N18                                
016745,000044: 27,2014           04555                          TC       BANKCALL                              
016746,000045: 27,2015           21036                          CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
016747,000046: 27,2016           02114                          TC       R61TEST                               
016748,000047: 27,2017           02023                          TC       REDOMANC                              #  PROCEED
016749,000048: 27,2020           12052                          TCF      ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
016750,000049: 
016751,000050: 27,2021           02056                          TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
016752,000051: 27,2022           05112                          TC       ENDOFJOB                              
016753,000052: 
016754,000053: 27,2023           34705        REDOMANC          CAF      BIT6                                  
016755,000054: 27,2024           70101                          MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016756,000055: 27,2025           10000                          CCS      A                                     
016757,000056: 27,2026           12034                          TCF      TOBALLC                               #  YES
016758,000057: 27,2027           06006                          TC       INTPRET                               
016759,000058: 27,2030           77624                          CALL                                           
016760,000059: 27,2031           56126                                   VECPOINT                              #  TO COMPUTE FINAL ANGLES
016761,000060: 27,2032           01156                          STORE    CPHI                                  #  STORE ANGLES
016762,000061: 27,2033           77776                          EXIT                                           
016763,000062: 
016764,000063: 27,2034           34371        TOBALLC           CAF      PRIO30                                #  IS MODE AUTO AND CTL GNC
016765,000064:                                                                                                 # # Page 382
016766,000065: 27,2035           00006                          EXTEND                                         
016767,000066: 27,2036           06031                          RXOR     CHAN31                                
016768,000067: 27,2037           77707                          MASK     13,14,15                              
016769,000068: 27,2040           00006                          EXTEND                                         
016770,000069: 27,2041           12043                          BZF      +2                                    #  AUTO, NON-FLASH N18
016771,000070: 27,2042           12013                          TCF      TOBALL                                #  NOT AUTO
016772,000071: 
016773,000072: 27,2043           32125                          CAF      V06N18                                #  SET UP NON-FLASHING V06 N18
016774,000073: 27,2044           04555                          TC       BANKCALL                              
016775,000074: 27,2045           20602                          CADR     GODSPR                                
016776,000075: 27,2046           02056                          TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
016777,000076: 
016778,000077: 27,2047           04555        STARTMNV          TC       BANKCALL                              
016779,000078: 27,2050           17547                          CADR     GOMANUR                               
016780,000079: 27,2051           12013        ENDMANUV          TCF      TOBALL                                #  FINISHED MANEUVER
016781,000080: 
016782,000081: 27,2052           05447        ENDMANU1          TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
016783,000082: 27,2053           00124                          ADRES    3AXISFLG                              #  BIT 6 FLAG 5
016784,000083: 27,2054           31146                          CAE      TEMPR60                               #                                        -
016785,000084: 27,2055           04577                          TC       BANKJUMP                              #                                        -
016786,000085: 
016787,000086: 27,2056           40100        CHKLINUS          CS       FLAGWRD4                              
016788,000087: 27,2057           74677                          MASK     BIT12                                 #  IS PRIORITY DISPLAY FLAG SET         -
016789,000088: 27,2060           10000                          CCS      A                                     #                                        -
016790,000089: 27,2061           00002                          TC       Q                                     #  NO - EXIT
016791,000090: 27,2062           30002                          CA       Q                                     
016792,000091: 27,2063           54156                          TS       MPAC       +2                         #  SAVE RETURN
016793,000092: 27,2064           46214                          CS       THREE                                 #  OBTAIN LOCATION FOR RESTART.
016794,000093: 27,2065           60133                          AD       BUF2                                  #  HOLD Q OF LAST DISPALY
016795,000094: 27,2066           55053                          TS       TBASE1                                
016796,000095: 
016797,000096: 27,2067           05301                          TC       PHASCHNG                              
016798,000097: 27,2070           00071                          OCT      71                                    #  1.7SPOT FOR RELINUS
016799,000098: 27,2071           34704                          CAF      BIT7                                  
016800,000099: 27,2072           05415                          TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY     -
016801,000100: 27,2073           00156                          TC       MPAC       +2                         
016802,000101: 
016803,000102: 27,2074           34706        RELINUS           CAF      BIT5                                  #  IS TRACK FLAG ON
016804,000103: 27,2075           70075                          MASK     FLAGWRD1                              
016805,000104: 27,2076           00006                          EXTEND                                         
016806,000105: 27,2077           12111                          BZF      GOREDO20                              #  NO
016807,000106: 
016808,000107: 27,2100           05435                          TC       UPFLAG                                
016809,000108: 27,2101           00077                          ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
016810,000109: 
016811,000110: 27,2102           05435                          TC       UPFLAG                                
016812,000111: 27,2103           00024                          ADRES    TARG1FLG                              #  FOR R52
016813,000112: 
016814,000113: 27,2104           34714                          CAF      ZERO                                  #  RESET TO ZERO, SINCE
016815,000114:                                                                                                 # # Page 383
016816,000115: 27,2105           55303                          TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
016817,000116: 
016818,000117: 27,2106           34761                          CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
016819,000118: 27,2107           05103                          TC       PRIOCHNG                              
016820,000119: 
016821,000120: 27,2110           01053                          TC       TBASE1                                
016822,000121: 
016823,000122: 27,2111           05301        GOREDO20          TC       PHASCHNG                              
016824,000123: 27,2112           00111                          OCT      111                                   #  1.11 FOR PIKUP20
016825,000124: 
016826,000125: 27,2113           05112                          TC       ENDOFJOB                              
016827,000126: 
016828,000127: 27,2114           31011        R61TEST           CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
016829,000128: 27,2115           00006                          EXTEND                                         #      VERB49 OR VERB89 SO DO ENDEXT.
016830,000129: 27,2116           12052                          BZF      ENDMANU1                              #  RESET 3-AXIS & RETURN.  USER DOES ENDEXT
016831,000130: 27,2117           30100                          CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
016832,000131: 27,2120           74677                          MASK     BIT12                                 
016833,000132: 27,2121           00006                          EXTEND                                         
016834,000133: 27,2122           14106                          BZF      GOTOPOOH                              #  NO
016835,000134: 27,2123           04550                          TC       GOTOV56                               #  YES
016836,000135: 
016837,000136: 27,2124           20100        BIT14+7           OCT      20100                                 #                                        -
016838,000137: 27,2125           01422        V06N18            VN       0618                                  
016839,000138: 
016840,000139:                                                                                                 # # Page 384
016841,000140:                                                                                                 #  PROGRAM DESCRIPTION - VECPOINT
016842,000141: 
016843,000142: 
016844,000143:                                                                                                 #            THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
016845,000144:                                                                                                 #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
016846,000145:                                                                                                 #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
016847,000146:                                                                                                 #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
016848,000147:                                                                                                 #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
016849,000148:                                                                                                 #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMTION VECPOINT COMPUTES A SET OF THREE GIMBAL
016850,000149:                                                                                                 #  ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
016851,000150:                                                                                                 #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016852,000151:                                                                                                 #            THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
016853,000152:                                                                                                 #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
016854,000153:                                                                                                 #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
016855,000154:                                                                                                 #  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,
016856,000155:                                                                                                 #  THE ADDITIONAL ROTATION TO AVOID GIMBAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGREES FROM +X (OR -X)
016857,000156:                                                                                                 #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
016858,000157:                                                                                                 #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016859,000158:                                                                                                 #            WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
016860,000159:                                                                                                 #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
016861,000160:                                                                                                 #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
016862,000161:                                                                                                 #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
016863,000162: 
016864,000163:                                                                                                 #            CALLING SEQUENCE -
016865,000164:                                                                                                 #                1) LOAD SCAXIS, POINTVSM
016866,000165:                                                                                                 #                2) CALL
016867,000166:                                                                                                 #                        VECPOINT
016868,000167: 
016869,000168:                                                                                                 #            RETURNS WITH
016870,000169: 
016871,000170:                                                                                                 #                1) DESIRED OUTER  GIMBAL ANGLE IN MPAC
016872,000171:                                                                                                 #                2) DESIRED INNER  GIMBAL ANGLE IN MPAC +1
016873,000172:                                                                                                 #                3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
016874,000173: 
016875,000174: 
016876,000175:                                                                                                 #            ERASABLES USED -
016877,000176: 
016878,000177:                                                                                                 #                1) SCAXIS           6
016879,000178:                                                                                                 #                2) POINTVSM         6
016880,000179:                                                                                                 #                3) MIS             18
016881,000180:                                                                                                 #                4) DEL             18
016882,000181:                                                                                                 #                5) COF              6
016883,000182:                                                                                                 #                6) VECQTEMP         1
016884,000183:                                                                                                 #                7) ALL OF VAC AREA 43
016885,000184: 
016886,000185:                                                                                                 #                         TOTAL     99
016887,000186: 
016888,000187: 
016889,000188: 27,2000                                          SETLOC   VECPT                                 
016890,000189: 27,2000                                          BANK                                           
016891,000190:                                                                                                 # # Page 385
016892,000191: 27,2126  E6,1661                                 EBANK=   BCDU                                  
016893,000192: 
016894,000193: 27,2126                                          COUNT    27/VECPT                              
016895,000194: 
016896,000195: 27,2126           40020        VECPOINT          STQ      BOV                                   #  SAVE RETURN ADDRESS
016897,000196: 27,2127           03310                                   VECQTEMP                              
016898,000197: 27,2130           56131                                   VECLEAR                               #  AND CLEAR OVFIND
016899,000198: 27,2131           47164        VECLEAR           AXC,2    RTB                                   
016900,000199: 27,2132           03320                                   MIS                                   #  READ THE PRESENT CDU ANGLES AND
016901,000200: 27,2133           44376                                   READCDUK                              #  STORE THEM IN PD25, 26, 27
016902,000201: 27,2134           34032        STORANG           STCALL   25D                                   
016903,000202: 27,2135           44405                                   CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
016904,000203: 27,2136           61375                          VLOAD    VXM                                   
016905,000204: 27,2137           03357                                   POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
016906,000205: 27,2140           03321                                   MIS                                   #  INITIAL S/C AXES ( VF = POINTVSM)
016907,000206: 27,2141           77656                          UNIT                                           
016908,000207: 27,2142           00035                          STORE    28D                                   
016909,000208:                                                                                                 #                                           PD 28 29 30 31 32 33
016910,000209: 27,2143           53435                          VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
016911,000210: 27,2144           03351                                   SCAXIS                                #  WHERE VI = SCAXIS
016912,000211: 27,2145           57400                          BOV      VCOMP                                 
016913,000212: 27,2146           56256                                   PICKAXIS                              
016914,000213: 27,2147           17343                          STODL    COF                                   #  CHECK MAGNITUDE
016915,000214: 27,2150           00045                                   36D                                   #  OF CROSS PRODUCT
016916,000215: 27,2151           50025                          DSU      BMN                                   #  VECTOR, IF LESS
016917,000216: 27,2152           16327                                   DPB-14                                #  THAN B-14 ASSUME
016918,000217: 27,2153           56256                                   PICKAXIS                              #  UNIT OPERATION
016919,000218: 27,2154           50375                          VLOAD    DOT                                   #            INVALID.
016920,000219: 27,2155           03351                                   SCAXIS                                
016921,000220: 27,2156           00035                                   28D                                   
016922,000221: 27,2157           65552                          SL1      ARCCOS                                
016923,000222: 27,2160           77624        COMPMATX          CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
016924,000223: 27,2161           44530                                   DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES  MFI
016925,000224: 27,2162           75160                          AXC,1    AXC,2                                 
016926,000225: 27,2163           03320                                   MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
016927,000226: 27,2164           03425                                   DEL                                   #  S/C AXES TO STABLE MEMBER AXES
016928,000227: 27,2165           77624                          CALL                                           #  MFS = MIS MFI
016929,000228: 27,2166           44304                                   MXM3                                  #  (IN PD LIST)
016930,000229: 
016931,000230: 27,2167           51545                          DLOAD    ABS                                   
016932,000231: 27,2170           00007                                   6                                     #  MFS6 = SIN(CPSI)                      $2
016933,000232: 27,2171           50025                          DSU      BMN                                   
016934,000233: 27,2172           16314                                   SINGIMLC                              #  = SIN(59 DEGS)                $2
016935,000234: 27,2173           56246                                   FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS
016936,000235:                                                                                                 #                                           I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
016937,000236: 
016938,000237: 27,2174           51545                          DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
016939,000238: 27,2175           03351                                   SCAXIS                                #  THE THRUST AXIS
016940,000239: 27,2176           51025                          DSU      BPL                                   
016941,000240: 27,2177           16316                                   SINVEC1                               #  SIN 49.4 DEGS                         $2
016942,000241:                                                                                                 # # Page 386
016943,000242: 27,2200           56246                                   FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
016944,000243: 27,2201           77775                          VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
016945,000244: 27,2202           77626                          STADR                                          
016946,000245: 27,2203           50442                          STOVL    MIS        +12D                       
016947,000246: 27,2204           77626                          STADR                                          #  STORE MFS (IN PD LIST) IN MIS
016948,000247: 27,2205           50450                          STOVL    MIS        +6                         
016949,000248: 27,2206           77626                          STADR                                          
016950,000249: 27,2207           50456                          STOVL    MIS                                   
016951,000250: 27,2210           03327                                   MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
016952,000251: 27,2211           57444                          BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
016953,000252: 27,2212           56213                                   IGSAMEX                               #  FINAL X S/C AXIS
016954,000253: 
016955,000254: 27,2213           50035        IGSAMEX           VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
016956,000255: 27,2214           03351                                   SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
016957,000256: 27,2215           56222                                   U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
016958,000257:                                                                                                 #                                           X SCAXIS . XF) LESS THAN 0, U = SCAXIS
016959,000258:                                                                                                 #                                           OTHERWISE U = -SCAXIS
016960,000259: 
016961,000260: 27,2216           57575                          VLOAD    VCOMP                                 
016962,000261: 27,2217           03351                                   SCAXIS                                
016963,000262: 27,2220           37343                          STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
016964,000263: 27,2221           56225                                   CHEKAXIS                              
016965,000264: 27,2222           77775        U=SCAXIS          VLOAD                                          
016966,000265: 27,2223           03351                                   SCAXIS                                
016967,000266: 27,2224           03343                          STORE    COF                                   #  ROTATE ABOUT + SCAXIS
016968,000267: 27,2225           51545        CHEKAXIS          DLOAD    ABS                                   
016969,000268: 27,2226           03351                                   SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
016970,000269: 27,2227           51025                          DSU      BPL                                   
016971,000270: 27,2230           16320                                   SINVEC2                               #  SIN 29.5 DEGS                         $2
016972,000271: 27,2231           56235                                   PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
016973,000272: 27,2232           52145                          DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
016974,000273: 27,2233           16324                                   VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
016975,000274: 27,2234           56237                                   COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
016976,000275:                                                                                                 #                                           OF GIMBAL LOCK (VECANG2  $360)
016977,000276: 27,2235           77745        PICKANG1          DLOAD                                          
016978,000277: 27,2236           16322                                   VECANG1                               #  = 50 DEGS                           $ 360
016979,000278: 27,2237           77624        COMPMFSN          CALL                                           
016980,000279: 27,2240           44530                                   DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
016981,000280: 27,2241           75160                          AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
016982,000281: 27,2242           03320                                   MIS                                   
016983,000282: 27,2243           03425                                   DEL                                   
016984,000283: 27,2244           77624                          CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
016985,000284: 27,2245           44304                                   MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
016986,000285:                                                                                                 #                                           WHICH WILL ALIGN VI WITH VF AND AVOID
016987,000286:                                                                                                 #                                           GIMBAL LOCK
016988,000287: 27,2246           45160        FINDGIMB          AXC,1    CALL                                  
016989,000288: 27,2247           00000                                   0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
016990,000289: 27,2250           44655                                   DCMTOCDU                              #  THIS MATRIX
016991,000290: 27,2251           40234                          RTB      SETPD                                 
016992,000291: 27,2252           45547                                   V1STO2S                               #  CONVERT TO 2:S COMPLEMENT
016993,000292:                                                                                                 # # Page 386
016994,000293: 27,2253           00001                                   0                                     
016995,000294: 27,2254           77650                          GOTO                                           
016996,000295: 27,2255           03310                                   VECQTEMP                              #  RETURN TO CALLER
016997,000296: 
016998,000297: 27,2256           50375        PICKAXIS          VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
016999,000298: 27,2257           00035                                   28D                                   
017000,000299: 27,2260           03351                                   SCAXIS                                
017001,000300: 27,2261           72240                          BMN      TLOAD                                 
017002,000301: 27,2262           56266                                   ROT180                                
017003,000302: 27,2263           00032                                   25D                                   
017004,000303: 27,2264           77650                          GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
017005,000304: 27,2265           03310                                   VECQTEMP                              #  PRESENT CDU ANGLES
017006,000305: 
017007,000306: 27,2266           47375        ROT180            VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
017008,000307: 27,2267           03327                                   MIS        +6                         #  IS REQUIRED. Y STABLE MEMBER AXIS IN
017009,000308: 27,2270           15330                                   HIUNITX                               #  INITIAL S/C AXIS.
017010,000309: 27,2271           47256                          UNIT     VXV                                   #  FIND Y(SM) X X(I)
017011,000310: 27,2272           03351                                   SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
017012,000311: 27,2273           40056                          UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
017013,000312: 27,2274           56310                                   PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017014,000313: 27,2275           17343                          STODL    COF                                   
017015,000314: 27,2276           00045                                   36D                                   #  CHECK MAGNITUDE
017016,000315: 27,2277           50025                          DSU      BMN                                   #  OF THIS VECTOR.
017017,000316: 27,2300           16327                                   DPB-14                                #  IF LESS THAN B-14,
017018,000317: 27,2301           56310                                   PICKX                                 #  PICK X-AXIS.
017019,000318: 27,2302           77775                          VLOAD                                          
017020,000319: 27,2303           03343                                   COF                                   
017021,000320: 27,2304           17343        XROT              STODL    COF                                   
017022,000321: 27,2305           15330                                   HIDPHALF                              
017023,000322: 27,2306           77650                          GOTO                                           
017024,000323: 27,2307           56160                                   COMPMATX                              
017025,000324: 27,2310           52175        PICKX             VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017026,000325: 27,2311           15330                                   HIUNITX                               
017027,000326: 27,2312           56304                                   XROT                                  
017028,000327: 35,2000                                          BANK     35                                    
017029,000328: 27,2000                                          SETLOC   MANUVER1                              
017030,000329: 27,2000                                          BANK                                           
017031,000330: 
017032,000331: 27,2313           15555 35172  SINGIMLC          2DEC     .4285836003                            #  =SIN(59)                $2
017033,000332: 27,2315           14113 36326  SINVEC1           2DEC     .3796356537                            #  =SIN(49.4)              $2
017034,000333: 27,2317           07701 35703  SINVEC2           2DEC     .2462117800                            #  =SIN(29.5)              $2
017035,000334: 27,2321           04343 21616  VECANG1           2DEC     .1388888889                            #  = 50 DEGREES                         $360
017036,000335: 27,2323           03070 34344  VECANG2           2DEC     .09722222222                            #  = 35 DEGREES                         $360
017037,000336: 27,2325           00000        1BITDP            OCT      0                                     #  KEEP THIS BEFORE DPB(-14)      *********
017038,000337: 27,2326           00001        DPB-14            OCT      00001                                 
017039,000338:                                                                                                 # # Page 388
017040,000339: 27,2327           00000                          OCT      00000                                 
017041,000340: 34,2002                                          BANK     34                                    
017042,000341: 27,2000                                          SETLOC   MANUVER                               
017043,000342: 27,2000                                          BANK                                           
017044,000343: 
017045,000344:                                                                                                 # # Page 389
017046,000345:                                                                                                 #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017047,000346: 
017048,000347: 
017049,000348: 27,2330     1155                                 EBANK=   CPHI                                  
017050,000349: 
017051,000350: 27,2330                                          COUNT    27/R62                                
017052,000351: 
017053,000352: 27,2330           34745        R62DISP           CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017054,000353: 27,2331           04555                          TC       BANKCALL                              
017055,000354: 27,2332           20624                          CADR     GOFLASH                               
017056,000355: 27,2333           15423                          TCF      ENDEXT                                
017057,000356: 27,2334           12336                          TCF      GOMOVE                                #  PROCEED
017058,000357: 27,2335           12330                          TCF      R62DISP                               #  ENTER
017059,000358: 
017060,000359: 
017061,000360:                                                                                                 #                                           ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017062,000361:                                                                                                 #                                           POINT
017063,000362: 27,2336           05435        GOMOVE            TC       UPFLAG                                #  SET 3-AXIS FLAG
017064,000363: 27,2337           00124                          ADRES    3AXISFLG                              #  BIT 6  FLAG 5
017065,000364: 
017066,000365: 27,2340           04555                          TC       BANKCALL                              
017067,000366: 27,2341           56000                          CADR     R60CSM                                
017068,000367: 27,2342           15423                          TCF      ENDEXT                                

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