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

017071,000002:                                                                                                 #  Copyright:     Public domain.
017072,000003:                                                                                                 #  Filename:      ANGLFIND.agc
017073,000004:                                                                                                 #  Purpose:       Part of the source code for Colossus build 237.  
017074,000005:                                                                                                 #                 This is for the Command Module's (CM) Apollo Guidance
017075,000006:                                                                                                 #                 Computer (AGC), we believe for Apollo 8.
017076,000007:                                                                                                 #  Assembler:     yaYUL
017077,000008:                                                                                                 #  Contact:       Onno Hommes <ohommes@alumni.cmu.edu>
017078,000009:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
017079,000010:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017080,000011:                                                                                                 #  Mod history:   2010-05-30 OH   Adapted from corresponding Colossus 249 file.
017081,000012:                                                                                                 #                 2010-12-04 JL   Remove Colossus 249 header comments. Change 
017082,000013:                                                                                                 #                                 to double-hash page numbers.
017083,000014:                                                                                                 #                 2011-01-27 JL   Minor fixes.
017084,000015: 
017085,000016:                                                                                                 # # Page 390
017086,000017: 15,2000                                          BANK     15                                    
017087,000018: 22,2000                                          SETLOC   KALCMON1                              
017088,000019: 22,2000                                          BANK                                           
017089,000020: 
017090,000021: 22,2000  E6,1661                                 EBANK=   BCDU                                  
017091,000022: 
017092,000023: 22,2000                                          COUNT    22/KALC                               
017093,000024: 
017094,000025: 22,2000           06006        KALCMAN3          TC       INTPRET                               
017095,000026: 22,2001           77634                          RTB                                            
017096,000027: 22,2002           44376                                   READCDUK                              #  PICK UP CURRENT CDU ANGLES
017097,000028: 22,2003           03262                          STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
017098,000029: 22,2004           72364                          AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017099,000030: 22,2005           03320                                   MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
017100,000031: 22,2006           03262                                   BCDU                                  #  (MIS)
017101,000032: 22,2007           77624                          CALL                                           
017102,000033: 22,2010           44405                                   CDUTODCM                              
017103,000034: 22,2011           72364                          AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017104,000035: 22,2012           03425                                   MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
017105,000036: 22,2013           01156                                   CPHI                                  #  (MFS)
017106,000037: 22,2014           77624                          CALL                                           
017107,000038: 22,2015           44405                                   CDUTODCM                              
017108,000039: 22,2016           45160        SECAD             AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
017109,000040: 22,2017           03320                                   MIS                                   
017110,000041: 22,2020           44334                                   TRANSPOS                              
017111,000042: 22,2021           77775                          VLOAD                                          
017112,000043: 22,2022           77626                          STADR                                          
017113,000044: 22,2023           50474                          STOVL    TMIS       +12D                       
017114,000045: 22,2024           77626                          STADR                                          
017115,000046: 22,2025           50502                          STOVL    TMIS       +6                         
017116,000047: 22,2026           77626                          STADR                                          
017117,000048: 22,2027           74510                          STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
017118,000049: 22,2030           75160                          AXC,1    AXC,2                                 
017119,000050: 22,2031           03266                                   TMIS                                  
017120,000051: 22,2032           03425                                   MFS                                   
017121,000052: 22,2033           77624                          CALL                                           
017122,000053: 22,2034           44304                                   MXM3                                  
017123,000054: 22,2035           45575                          VLOAD    STADR                                 
017124,000055: 22,2036           50335                          STOVL    MFI        +12D                       
017125,000056: 22,2037           77626                          STADR                                          
017126,000057: 22,2040           50343                          STOVL    MFI        +6                         
017127,000058: 22,2041           77626                          STADR                                          
017128,000059: 22,2042           74351                          STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
017129,000060: 22,2043           45001                          SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
017130,000061: 22,2044           00023                                   18D                                   
017131,000062: 22,2045           44343                                   TRNSPSPD                              
017132,000063: 22,2046           45575                          VLOAD    STADR                                 
017133,000064: 22,2047           50474                          STOVL    TMFI       +12D                       
017134,000065: 22,2050           77626                          STADR                                          
017135,000066: 22,2051           50502                          STOVL    TMFI       +6                         
017136,000067:                                                                                                 # # Page 391
017137,000068: 22,2052           77626                          STADR                                          
017138,000069: 22,2053           74510                          STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
017139,000070: 
017140,000071:                                                                                                 #  CALCULATE COFSKEW AND MFISYM
017141,000072: 
017142,000073: 22,2054           45345                          DLOAD    DSU                                   
017143,000074: 22,2055           03271                                   TMFI       +2                         
017144,000075: 22,2056           03430                                   MFI        +2                         
017145,000076: 22,2057           45325                          PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
017146,000077: 22,2060           03432                                   MFI        +4                         
017147,000078: 22,2061           03273                                   TMFI       +4                         
017148,000079: 22,2062           45325                          PDDL     DSU                                   
017149,000080: 22,2063           03301                                   TMFI       +10D                       
017150,000081: 22,2064           03440                                   MFI        +10D                       
017151,000082: 22,2065           77666                          VDEF                                           
017152,000083: 22,2066           03311                          STORE    COFSKEW                               #  EQUALS MFISKEW
017153,000084: 
017154,000085:                                                                                                 #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017155,000086: 
017156,000087: 22,2067           43345                          DLOAD    DAD                                   
017157,000088: 22,2070           03426                                   MFI                                   
017158,000089: 22,2071           03446                                   MFI        +16D                       
017159,000090: 22,2072           43225                          DSU      DAD                                   
017160,000091: 22,2073           15322                                   DP1/4TH                               
017161,000092: 22,2074           03436                                   MFI        +8D                        
017162,000093: 22,2075           03317                          STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017163,000094: 22,2076           77726                          ARCCOS                                         
017164,000095: 22,2077           03365                          STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
017165,000096: 22,2100           51025                          DSU      BPL                                   
017166,000097: 22,2101           04367                                   MINANG                                
017167,000098: 22,2102           44111                                   CHECKMAX                              
017168,000099: 22,2103           77776                          EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
017169,000100: 22,2104           00004                          INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
017170,000101: 22,2105           44712                          CS       ONE                                   #  ABOUT COMMANDED ANGLES
017171,000102: 22,2106           55332                          TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
017172,000103: 22,2107           03301                          TC       LOADCDUD                              #  GOOD RETURN
017173,000104: 22,2110           12727                          TCF      NOGO                                  
017174,000105: 
017175,000106: 22,2111           45345        CHECKMAX          DLOAD    DSU                                   
017176,000107: 22,2112           03365                                   AM                                    
017177,000108: 22,2113           04370                                   MAXANG                                
017178,000109: 22,2114           77244                          BPL      VLOAD                                 
017179,000110: 22,2115           44123                                   ALTCALC                               #  UNIT
017180,000111: 22,2116           03311                                   COFSKEW                               #  COFSKEW
017181,000112: 22,2117           77656                          UNIT                                           
017182,000113: 22,2120           03343                          STORE    COF                                   #  COF IS THE MANEUVER AXIS
017183,000114: 22,2121           77650                          GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
017184,000115: 22,2122           44736                                   LOCSKIRT                              
017185,000116: 22,2123           53375        ALTCALC           VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
017186,000117: 22,2124           03426                                   MFI                                   
017187,000118:                                                                                                 # # Page 392
017188,000119: 22,2125           03267                                   TMFI                                  
017189,000120: 22,2126           77762                          VSR1                                           
017190,000121: 22,2127           27267                          STOVL    MFISYM                                
017191,000122: 22,2130           03434                                   MFI        +6                         
017192,000123: 22,2131           74455                          VAD      VSR1                                  
017193,000124: 22,2132           03275                                   TMFI       +6                         
017194,000125: 22,2133           27275                          STOVL    MFISYM     +6                         
017195,000126: 22,2134           03442                                   MFI        +12D                       
017196,000127: 22,2135           74455                          VAD      VSR1                                  
017197,000128: 22,2136           03303                                   TMFI       +12D                       
017198,000129: 22,2137           03303                          STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2  SCALED BY 4
017199,000130: 
017200,000131: 
017201,000132:                                                                                                 #  CALCULATE COF
017202,000133: 
017203,000134: 22,2140           70545                          DLOAD    SR1                                   
017204,000135: 22,2141           03317                                   CAM                                   
017205,000136: 22,2142           45325                          PDDL     DSU                                   #  PD0 CAM                                 $2
017206,000137: 22,2143           15330                                   DPHALF                                
017207,000138: 22,2144           03317                                   CAM                                   
017208,000139: 22,2145           65204                          BOVB     PDDL                                  #  PDL 1 - CAM                             $2
017209,000140: 22,2146           45707                                   SIGNMPAC                              
017210,000141: 22,2147           03307                                   MFISYM     +16D                       
017211,000142: 22,2150           56225                          DSU      DDV                                   
017212,000143: 22,2151           00001                                   0                                     
017213,000144: 22,2152           00003                                   2                                     
017214,000145: 22,2153           65366                          SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
017215,000146: 22,2154           03277                                   MFISYM     +8D                        #                                  $ ROOT 2
017216,000147: 22,2155           56225                          DSU      DDV                                   
017217,000148: 22,2156           00001                                   0                                     
017218,000149: 22,2157           00003                                   2                                     
017219,000150: 22,2160           65366                          SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM)   $ROOT2
017220,000151: 22,2161           03267                                   MFISYM                                
017221,000152: 22,2162           56225                          DSU      DDV                                   
017222,000153: 22,2163           00001                                   0                                     
017223,000154: 22,2164           00003                                   2                                     
017224,000155: 22,2165           55566                          SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM)   $ROOT 2
017225,000156: 22,2166           77656                          UNIT                                           
017226,000157: 22,2167           03343                          STORE    COF                                   
017227,000158: 
017228,000159:                                                                                                 #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017229,000160: 
017230,000161: 22,2170           45345        COFMAXGO          DLOAD    DSU                                   
017231,000162: 22,2171           03343                                   COF                                   
017232,000163: 22,2172           03345                                   COF        +2                         
017233,000164: 22,2173           71240                          BMN      DLOAD                                 #  COFY G COFX
017234,000165: 22,2174           44203                                   COMP12                                
017235,000166: 22,2175           03343                                   COF                                   
017236,000167: 22,2176           50025                          DSU      BMN                                   
017237,000168: 22,2177           03347                                   COF        +4                         
017238,000169:                                                                                                 # # Page 393
017239,000170: 22,2200           44260                                   METHOD3                               #  COFZ G COFX OR COFY
017240,000171: 22,2201           77650                          GOTO                                           
017241,000172: 22,2202           44234                                   METHOD1                               #  COFX G COFY OR COFZ
017242,000173: 22,2203           45345        COMP12            DLOAD    DSU                                   
017243,000174: 22,2204           03345                                   COF        +2                         
017244,000175: 22,2205           03347                                   COF        +4                         
017245,000176: 22,2206           77640                          BMN                                            
017246,000177: 22,2207           44260                                   METHOD3                               #  COFZ G COFY OR COFX
017247,000178: 
017248,000179: 22,2210           51145        METHOD2           DLOAD    BPL                                   #  COFY MAX
017249,000180: 22,2211           03313                                   COFSKEW    +2                         #  UY
017250,000181: 22,2212           44216                                   U2POS                                 
017251,000182: 22,2213           57575                          VLOAD    VCOMP                                 
017252,000183: 22,2214           03343                                   COF                                   
017253,000184: 22,2215           03343                          STORE    COF                                   
017254,000185: 22,2216           51145        U2POS             DLOAD    BPL                                   
017255,000186: 22,2217           03271                                   MFISYM     +2                         #  UX UY
017256,000187: 22,2220           44224                                   OKU21                                 
017257,000188: 22,2221           57545                          DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
017258,000189: 22,2222           03343                                   COF                                   
017259,000190: 22,2223           03343                          STORE    COF                                   
017260,000191: 22,2224           51145        OKU21             DLOAD    BPL                                   
017261,000192: 22,2225           03301                                   MFISYM     +10D                       #  UY UZ
017262,000193: 22,2226           44736                                   LOCSKIRT                              
017263,000194: 22,2227           57545                          DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017264,000195: 22,2230           03347                                   COF        +4                         
017265,000196: 22,2231           03347                          STORE    COF        +4                         
017266,000197: 22,2232           77650                          GOTO                                           
017267,000198: 22,2233           44736                                   LOCSKIRT                              
017268,000199: 22,2234           51145        METHOD1           DLOAD    BPL                                   #  COFX MAX
017269,000200: 22,2235           03311                                   COFSKEW                               #  UX
017270,000201: 22,2236           44242                                   U1POS                                 
017271,000202: 22,2237           57575                          VLOAD    VCOMP                                 
017272,000203: 22,2240           03343                                   COF                                   
017273,000204: 22,2241           03343                          STORE    COF                                   
017274,000205: 22,2242           51145        U1POS             DLOAD    BPL                                   
017275,000206: 22,2243           03271                                   MFISYM     +2                         #  UX UY
017276,000207: 22,2244           44250                                   OKU12                                 
017277,000208: 22,2245           57545                          DLOAD    DCOMP                                 
017278,000209: 22,2246           03345                                   COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017279,000210: 22,2247           03345                          STORE    COF        +2                         
017280,000211: 22,2250           51145        OKU12             DLOAD    BPL                                   
017281,000212: 22,2251           03273                                   MFISYM     +4                         #  UX UZ
017282,000213: 22,2252           44736                                   LOCSKIRT                              
017283,000214: 22,2253           57545                          DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017284,000215: 22,2254           03347                                   COF        +4                         
017285,000216: 22,2255           03347                          STORE    COF        +4                         
017286,000217: 22,2256           77650                          GOTO                                           
017287,000218: 22,2257           44736                                   LOCSKIRT                              
017288,000219: 22,2260           51145        METHOD3           DLOAD    BPL                                   #  COFZ MAX
017289,000220:                                                                                                 # # Page 394
017290,000221: 22,2261           03315                                   COFSKEW    +4                         #  UZ
017291,000222: 22,2262           44266                                   U3POS                                 
017292,000223: 22,2263           57575                          VLOAD    VCOMP                                 
017293,000224: 22,2264           03343                                   COF                                   
017294,000225: 22,2265           03343                          STORE    COF                                   
017295,000226: 22,2266           51145        U3POS             DLOAD    BPL                                   
017296,000227: 22,2267           03273                                   MFISYM     +4                         #  UX UZ
017297,000228: 22,2270           44274                                   OKU31                                 
017298,000229: 22,2271           57545                          DLOAD    DCOMP                                 
017299,000230: 22,2272           03343                                   COF                                   #  SIGN OF UX OPPOSITE TO UZ
017300,000231: 22,2273           03343                          STORE    COF                                   
017301,000232: 22,2274           51145        OKU31             DLOAD    BPL                                   
017302,000233: 22,2275           03301                                   MFISYM     +10D                       #  UY UZ
017303,000234: 22,2276           44736                                   LOCSKIRT                              
017304,000235: 22,2277           57545                          DLOAD    DCOMP                                 
017305,000236: 22,2300           03345                                   COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
017306,000237: 22,2301           03345                          STORE    COF        +2                         
017307,000238: 22,2302           77650                          GOTO                                           
017308,000239: 22,2303           44736                                   LOCSKIRT                              
017309,000240: 
017310,000241:                                                                                                 # # Page 395
017311,000242: 
017312,000243:                                                                                                 #  MATRIX OPERATIONS
017313,000244: 
017314,000245: 22,2304           77601        MXM3              SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
017315,000246: 22,2305           00001                                   0                                     #  AND LEAVES RESULT IN PD LIST
017316,000247: 22,2306           64743                          DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
017317,000248: 22,2307           77762                                   12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
017318,000249: 22,2310           77770                                   6,2                                   
017319,000250: 22,2311           55523                          PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
017320,000251: 22,2312           77776                                   0,2                                   
017321,000252: 22,2313           64717                          MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
017322,000253: 22,2314           00001                                   0,1                                   
017323,000254: 22,2315           77760                                   14D,2                                 
017324,000255: 22,2316           64723                          PDDL*    PDDL*                                 
017325,000256: 22,2317           77766                                   8D,2                                  
017326,000257: 22,2320           77774                                   2,2                                   
017327,000258: 22,2321           63666                          VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
017328,000259: 22,2322           00001                                   0,1                                   
017329,000260: 22,2323           64723                          PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
017330,000261: 22,2324           77756                                   16D,2                                 
017331,000262: 22,2325           77764                                   10D,2                                 
017332,000263: 22,2326           55523                          PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
017333,000264: 22,2327           77772                                   4,2                                   
017334,000265: 22,2330           41517                          MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
017335,000266: 22,2331           00001                                   0,1                                   
017336,000267: 22,2332           77650                          GOTO                                           
017337,000268: 22,2333           44343                                   TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
017338,000269:                                                                                                 #                              RETURN WITH M1XM2 IN PD LIST
017339,000270: 
017340,000271: 22,2334           76601        TRANSPOS          SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
017341,000272: 22,2335           00001                                   0                                     #   AND LEAVES RESULT IN PD LIST
017342,000273: 22,2336           00001                                   0,1                                   #  MATRIX ADDRESS IN XR1
017343,000274: 22,2337           62713                          PDVL*    PDVL*                                 
017344,000275: 22,2340           00007                                   6,1                                   
017345,000276: 22,2341           00015                                   12D,1                                 
017346,000277: 22,2342           77606                          PUSH                                           #  MATRIX IN PD
017347,000278: 22,2343           65345        TRNSPSPD          DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
017348,000279: 22,2344           00003                                   2                                     
017349,000280: 22,2345           00007                                   6                                     
017350,000281: 22,2346           14003                          STODL    2                                     
017351,000282: 22,2347           77626                          STADR                                          
017352,000283: 22,2350           63770                          STODL    6                                     
017353,000284: 22,2351           00005                                   4                                     
017354,000285: 22,2352           77725                          PDDL                                           
017355,000286: 22,2353           00015                                   12D                                   
017356,000287: 22,2354           14005                          STODL    4                                     
017357,000288: 22,2355           77626                          STADR                                          
017358,000289: 22,2356           63762                          STODL    12D                                   
017359,000290: 22,2357           00013                                   10D                                   
017360,000291: 22,2360           77725                          PDDL                                           
017361,000292:                                                                                                 # # Page 396
017362,000293: 22,2361           00017                                   14D                                   
017363,000294: 22,2362           14013                          STODL    10D                                   
017364,000295: 22,2363           77626                          STADR                                          
017365,000296: 22,2364           77760                          STORE    14D                                   
017366,000297: 22,2365           77616                          RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
017367,000298: 22,2366           00013        MINANG            DEC      .00069375                             
017368,000299: 22,2367           17071        MAXANG            DEC      .472222                               
017369,000300:                                                                                                 #            GIMBAL LOCK CONSTANTS
017370,000301:                                                                                                 #            D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017371,000302:                                                                                                 #            NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017372,000303: 
017373,000304: 22,2370           15667        SD                DEC      .433015                               #  = SIN(D)                             $2
017374,000305: 22,2371           33555        K3S1              DEC      .86603                                #  = SIN(D)                             $1
017375,000306: 22,2372           67777        K4                DEC      -.25                                  #  = -COS(D)                            $2
017376,000307: 22,2373           04000        K4SQ              DEC      .125                                  #  = COS(D)COS(D)               $2
017377,000308: 22,2374           00217        SNGLCD            DEC      .008725                               #  = SIN(NGL)COS(D)                     $2
017378,000309: 22,2375           17773        CNGL              DEC      .499695                               #  = COS(NGL)                           $2
017379,000310: 22,2376           00004        READCDUK          INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017380,000311: 22,2377           30034                          CA       CDUZ                                  
017381,000312: 22,2400           54156                          TS       MPAC       +2                         
017382,000313: 22,2401           00006                          EXTEND                                         
017383,000314: 22,2402           30033                          DCA      CDUX                                  
017384,000315: 22,2403           00003                          RELINT                                         
017385,000316: 22,2404           16445                          TCF      TLOAD      +6                         
017386,000317: 16,2000                                          BANK     16                                    
017387,000318: 22,2000                                          SETLOC   KALCMON2                              
017388,000319: 22,2000                                          BANK                                           
017389,000320: 
017390,000321: 22,2405                                          COUNT*   $$/KALC                               
017391,000322: 
017392,000323: 22,2405           66370        CDUTODCM          AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE  DIRECTION COSINE
017393,000324: 22,2406           00003                          OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
017394,000325: 22,2407           00051                                   S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017395,000326: 22,2410           00001                          OCT      1                                     #  SET XR1, S1, AND PD FOR LOOP
017396,000327: 22,2411           00010                          STORE    7                                     
017397,000328: 22,2412           77601                          SETPD                                          
017398,000329: 22,2413           00001                                   0                                     
017399,000330: 22,2414           47133        LOOPSIN           SLOAD*   RTB                                   
017400,000331: 22,2415           00013                                   10D,1                                 
017401,000332: 22,2416           45510                                   CDULOGIC                              
017402,000333: 22,2417           00013                          STORE    10D                                   #  LOAD PD WITH 0 SIN(PHI)
017403,000334: 22,2420           65356                          SIN      PDDL                                  #                2 COS(PHI)
017404,000335: 22,2421           00013                                   10D                                   #                4 SIN(THETA)
017405,000336: 22,2422           41546                          COS      PUSH                                  #                6 COS(THETA)
017406,000337: 22,2423           71300                          TIX,1    DLOAD                                 #                8 SIN(PSI)
017407,000338: 22,2424           44414                                   LOOPSIN                               #               10 COS(PSI)
017408,000339: 22,2425           00007                                   6                                     
017409,000340: 22,2426           72405                          DMP      SL1                                   
017410,000341: 22,2427           00013                                   10D                                   
017411,000342:                                                                                                 # # Page 397
017412,000343: 22,2430           10001                          STORE    0,2                                   
017413,000344: 22,2431           77745                          DLOAD                                          
017414,000345: 22,2432           00005                                   4                                     
017415,000346: 22,2433           65205                          DMP      PDDL                                  
017416,000347: 22,2434           00001                                   0                                     #  (PD6 SIN(THETA)SIN(PHI))
017417,000348: 22,2435           00007                                   6                                     
017418,000349: 22,2436           41205                          DMP      DMP                                   
017419,000350: 22,2437           00011                                   8D                                    
017420,000351: 22,2440           00003                                   2                                     
017421,000352: 22,2441           44352                          SL1      BDSU                                  
017422,000353: 22,2442           00015                                   12D                                   
017423,000354: 22,2443           77752                          SL1                                            
017424,000355: 22,2444           10003                          STORE    2,2                                   
017425,000356: 22,2445           77745                          DLOAD                                          
017426,000357: 22,2446           00003                                   2                                     
017427,000358: 22,2447           65205                          DMP      PDDL                                  #   (PD7 COS(PHI)SIN(THETA)) SCALED 4
017428,000359: 22,2450           00005                                   4                                     
017429,000360: 22,2451           00007                                   6                                     
017430,000361: 22,2452           41205                          DMP      DMP                                   
017431,000362: 22,2453           00011                                   8D                                    
017432,000363: 22,2454           00001                                   0                                     
017433,000364: 22,2455           77752                          SL1                                            
017434,000365: 22,2456           72415                          DAD      SL1                                   
017435,000366: 22,2457           00017                                   14D                                   
017436,000367: 22,2460           10005                          STORE    4,2                                   
017437,000368: 22,2461           77745                          DLOAD                                          
017438,000369: 22,2462           00011                                   8D                                    
017439,000370: 22,2463           10007                          STORE    6,2                                   
017440,000371: 22,2464           77745                          DLOAD                                          
017441,000372: 22,2465           00013                                   10D                                   
017442,000373: 22,2466           72405                          DMP      SL1                                   
017443,000374: 22,2467           00003                                   2                                     
017444,000375: 22,2470           10011                          STORE    8D,2                                  
017445,000376: 22,2471           77745                          DLOAD                                          
017446,000377: 22,2472           00013                                   10D                                   
017447,000378: 22,2473           57405                          DMP      DCOMP                                 
017448,000379: 22,2474           00001                                   0                                     
017449,000380: 22,2475           77752                          SL1                                            
017450,000381: 22,2476           10013                          STORE    10D,2                                 
017451,000382: 22,2477           77745                          DLOAD                                          
017452,000383: 22,2500           00005                                   4                                     
017453,000384: 22,2501           57405                          DMP      DCOMP                                 
017454,000385: 22,2502           00013                                   10D                                   
017455,000386: 22,2503           77752                          SL1                                            
017456,000387: 22,2504           10015                          STORE    12D,2                                 
017457,000388: 22,2505           77745                          DLOAD                                          
017458,000389: 22,2506           72405                          DMP      SL1                                   #   (PUSH UP 7)
017459,000390: 22,2507           00011                                   8D                                    
017460,000391: 22,2510           41325                          PDDL     DMP                                   #   (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
017461,000392: 22,2511           00007                                   6                                     
017462,000393:                                                                                                 # # Page 398
017463,000394: 22,2512           00001                                   0                                     
017464,000395: 22,2513           72415                          DAD      SL1                                   #   (PUSH UP 7)
017465,000396: 22,2514           77626                          STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
017466,000397: 22,2515           67760                          STORE    14D,2                                 
017467,000398: 22,2516           77745                          DLOAD                                          
017468,000399: 22,2517           72405                          DMP      SL1                                   #   (PUSH UP 6)
017469,000400: 22,2520           00011                                   8D                                    
017470,000401: 22,2521           41325                          PDDL     DMP                                   #   (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
017471,000402: 22,2522           00007                                   6                                     
017472,000403: 22,2523           00003                                   2                                     
017473,000404: 22,2524           72425                          DSU      SL1                                   #   (PUSH UP 6)
017474,000405: 22,2525           77626                          STADR                                          
017475,000406: 22,2526           67756                          STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017476,000407: 22,2527           77616                          RVQ                                            #   +COS(THETA)COS(PHI)
017477,000408: 22,2530                        ENDDCM            EQUALS                                         
017478,000409: 
017479,000410: 
017480,000411: 15,2000                                          BANK     15                                    
017481,000412: 22,2000                                          SETLOC   KALCMON1                              
017482,000413: 22,2000                                          BANK                                           
017483,000414: 
017484,000415:                                                                                                 #  CALCULATION OF THE MATRIX DEL......
017485,000416: 
017486,000417:                                                                                                 #            *      *               --T           *
017487,000418:                                                                                                 #            DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)         SCALED 1
017488,000419: 
017489,000420:                                                                                                 #                 -
017490,000421:                                                                                                 #            WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017491,000422:                                                                                                 #            A IS THE ANGLE OF ROTATION (DP SCALED 2)
017492,000423:                                                                                                 #                                            -
017493,000424:                                                                                                 #            UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017494,000425: 
017495,000426: 22,2530                                          COUNT    22/KALC                               
017496,000427: 
017497,000428: 22,2530           41401        DELCOMP           SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
017498,000429: 22,2531           00001                                   0                                     
017499,000430: 22,2532           65356                          SIN      PDDL                                  #  PD0 = SIN(A)
017500,000431: 22,2533           41546                          COS      PUSH                                  #  PD2 = COS(A)
017501,000432: 22,2534           65302                          SR2      PDDL                                  #  PD2 = COS(A)
017502,000433: 22,2535           41021                          BDSU     BOVB                                  #  PD4 = 1-COS(A)
017503,000434: 22,2536           15330                                   DPHALF                                
017504,000435: 22,2537           45707                                   SIGNMPAC                              
017505,000436: 
017506,000437:                                                                                                 #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
017507,000438: 
017508,000439: 22,2540           77725                          PDDL                                           
017509,000440: 22,2541           03343                                   COF                                   
017510,000441: 22,2542           41316                          DSQ      DMP                                   
017511,000442: 22,2543           00005                                   4                                     
017512,000443: 22,2544           52415                          DAD      SL3                                   
017513,000444:                                                                                                 # # Page 399
017514,000445: 22,2545           00003                                   2                                     
017515,000446: 22,2546           77604                          BOVB                                           
017516,000447: 22,2547           45707                                   SIGNMPAC                              
017517,000448: 22,2550           17426                          STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)                $1
017518,000449: 22,2551           03345                                   COF        +2                         
017519,000450: 22,2552           41316                          DSQ      DMP                                   
017520,000451: 22,2553           00005                                   4                                     
017521,000452: 22,2554           52415                          DAD      SL3                                   
017522,000453: 22,2555           00003                                   2                                     
017523,000454: 22,2556           77604                          BOVB                                           
017524,000455: 22,2557           45707                                   SIGNMPAC                              
017525,000456: 22,2560           17436                          STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)                $1
017526,000457: 22,2561           03347                                   COF        +4                         
017527,000458: 22,2562           41316                          DSQ      DMP                                   
017528,000459: 22,2563           00005                                   4                                     
017529,000460: 22,2564           52415                          DAD      SL3                                   
017530,000461: 22,2565           00003                                   2                                     
017531,000462: 22,2566           77604                          BOVB                                           
017532,000463: 22,2567           45707                                   SIGNMPAC                              
017533,000464: 22,2570           03446                          STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)                $1
017534,000465: 
017535,000466:                                                                                                 #  COMPUTE THE OFF-DIAGONAL TERMS OF DEL
017536,000467: 
017537,000468: 22,2571           41345                          DLOAD    DMP                                   
017538,000469: 22,2572           03343                                   COF                                   
017539,000470: 22,2573           03345                                   COF        +2                         
017540,000471: 22,2574           72405                          DMP      SL1                                   
017541,000472: 22,2575           00005                                   4                                     
017542,000473: 22,2576           41325                          PDDL     DMP                                   #  D6  UX UY (1-COS A)                 $ 4
017543,000474: 22,2577           03347                                   COF        +4                         
017544,000475: 22,2600           00001                                   0                                     
017545,000476: 22,2601           43206                          PUSH     DAD                                   #  D8  UZ SIN A                        $ 4
017546,000477: 22,2602           00007                                   6                                     
017547,000478: 22,2603           41112                          SL2      BOVB                                  
017548,000479: 22,2604           45707                                   SIGNMPAC                              
017549,000480: 22,2605           17434                          STODL    DEL        +6                         
017550,000481: 22,2606           62421                          BDSU     SL2                                   
017551,000482: 22,2607           77604                          BOVB                                           
017552,000483: 22,2610           45707                                   SIGNMPAC                              
017553,000484: 22,2611           17430                          STODL    DEL        +2                         
017554,000485: 22,2612           03343                                   COF                                   
017555,000486: 22,2613           41205                          DMP      DMP                                   
017556,000487: 22,2614           03347                                   COF        +4                         
017557,000488: 22,2615           00005                                   4                                     
017558,000489: 22,2616           65352                          SL1      PDDL                                  #  D6  UX UZ (1-COS A )                $ 4
017559,000490: 22,2617           03345                                   COF        +2                         
017560,000491: 22,2620           41405                          DMP      PUSH                                  #  D8  UY SIN(A)
017561,000492: 22,2621           00001                                   0                                     
017562,000493: 22,2622           62415                          DAD      SL2                                   
017563,000494: 22,2623           00007                                   6                                     
017564,000495:                                                                                                 # # Page 400
017565,000496: 22,2624           77604                          BOVB                                           
017566,000497: 22,2625           45707                                   SIGNMPAC                              
017567,000498: 22,2626           17432                          STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
017568,000499: 22,2627           62421                          BDSU     SL2                                   
017569,000500: 22,2630           77604                          BOVB                                           
017570,000501: 22,2631           45707                                   SIGNMPAC                              
017571,000502: 22,2632           17442                          STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
017572,000503: 22,2633           03345                                   COF        +2                         
017573,000504: 22,2634           41205                          DMP      DMP                                   
017574,000505: 22,2635           03347                                   COF        +4                         
017575,000506: 22,2636           00005                                   4                                     
017576,000507: 22,2637           65352                          SL1      PDDL                                  #  D6  UY UZ (1-COS(A))                $ 4
017577,000508: 22,2640           03343                                   COF                                   
017578,000509: 22,2641           41405                          DMP      PUSH                                  #  D8  UX SIN(A)
017579,000510: 22,2642           00001                                   0                                     
017580,000511: 22,2643           62415                          DAD      SL2                                   
017581,000512: 22,2644           00007                                   6                                     
017582,000513: 22,2645           77604                          BOVB                                           
017583,000514: 22,2646           45707                                   SIGNMPAC                              
017584,000515: 22,2647           17444                          STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
017585,000516: 22,2650           62421                          BDSU     SL2                                   
017586,000517: 22,2651           77604                          BOVB                                           
017587,000518: 22,2652           45707                                   SIGNMPAC                              
017588,000519: 22,2653           03440                          STORE    DEL        +10D                       #  UY UZ (1-COS(A)) -UX SIN(A)
017589,000520: 22,2654           77616                          RVQ                                            
017590,000521: 
017591,000522: 
017592,000523:                                                                                                 #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017593,000524:                                                                                                 #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017594,000525:                                                                                                 #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017595,000526:                                                                                                 #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017596,000527: 
017597,000528:                                                                                                 #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS***
017598,000529: 
017599,000530:                                                                                                 #            C =COS(THETA)COS(PSI)
017600,000531:                                                                                                 #             0
017601,000532:                                                                                                 #            C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
017602,000533:                                                                                                 #             1
017603,000534:                                                                                                 #            C =COS(THETA)SIN(PSI)SIN(PHI)+SIN(THETA)COS(PHI)
017604,000535:                                                                                                 #             2
017605,000536:                                                                                                 #            C =SIN(PSI)
017606,000537:                                                                                                 #             3
017607,000538:                                                                                                 #            C =COS(PSI)COS(PHI)
017608,000539:                                                                                                 #             4
017609,000540:                                                                                                 #            C =-COS(PSI)SIN(PHI)
017610,000541:                                                                                                 #             5
017611,000542:                                                                                                 #            C =-SIN(THETA)COS(PSI)
017612,000543:                                                                                                 #             6
017613,000544:                                                                                                 #            C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
017614,000545:                                                                                                 #             7
017615,000546:                                                                                                 # # Page 401
017616,000547:                                                                                                 #            C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
017617,000548:                                                                                                 #             8
017618,000549: 
017619,000550:                                                                                                 #            WHERE PHI = OGA
017620,000551:                                                                                                 #                  THETA = IGA
017621,000552:                                                                                                 #                  PSI = MGA
017622,000553: 
017623,000554: 22,2655           67543        DCMTOCDU          DLOAD*   ARCSIN                                
017624,000555: 22,2656           00007                                   6,1                                   
017625,000556: 22,2657           71406                          PUSH     COS                                   #  PD +0   PSI
017626,000557: 22,2660           41152                          SL1      BOVB                                  
017627,000558: 22,2661           45707                                   SIGNMPAC                              
017628,000559: 22,2662           00051                          STORE    S1                                    
017629,000560: 22,2663           57543                          DLOAD*   DCOMP                                 
017630,000561: 22,2664           00015                                   12D,1                                 
017631,000562: 22,2665           67471                          DDV      ARCSIN                                
017632,000563: 22,2666           00051                                   S1                                    
017633,000564: 22,2667           51123                          PDDL*    BPL                                   #  PD +2  THETA
017634,000565: 22,2670           00001                                   0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
017635,000566: 22,2671           44703                                   OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
017636,000567: 22,2672           57545                          DLOAD    DCOMP                                 
017637,000568: 22,2673           43244                          BPL      DAD                                   
017638,000569: 22,2674           44700                                   SUHALFA                               
017639,000570: 22,2675           15330                                   DPHALF                                
017640,000571: 22,2676           77650                          GOTO                                           
017641,000572: 22,2677           44702                                   CALCPHI                               
017642,000573: 22,2700           77625        SUHALFA           DSU                                            
017643,000574: 22,2701           15330                                   DPHALF                                
017644,000575: 22,2702           77606        CALCPHI           PUSH                                           
017645,000576: 22,2703           57543        OKTHETA           DLOAD*   DCOMP                                 
017646,000577: 22,2704           00013                                   10D,1                                 
017647,000578: 22,2705           67471                          DDV      ARCSIN                                
017648,000579: 22,2706           00051                                   S1                                    
017649,000580: 22,2707           51123                          PDDL*    BPL                                   #  PUSH DOWN PHI
017650,000581: 22,2710           00011                                   8D,1                                  
017651,000582: 22,2711           44723                                   OKPHI                                 
017652,000583: 22,2712           57545                          DLOAD    DCOMP                                 #  PUSH UP PHI
017653,000584: 22,2713           43244                          BPL      DAD                                   
017654,000585: 22,2714           44720                                   SUHALFAP                              
017655,000586: 22,2715           15330                                   DPHALF                                
017656,000587: 22,2716           77650                          GOTO                                           
017657,000588: 22,2717           44724                                   VECOFANG                              
017658,000589: 22,2720           52025        SUHALFAP          DSU      GOTO                                  
017659,000590: 22,2721           15330                                   DPHALF                                
017660,000591: 22,2722           44724                                   VECOFANG                              
017661,000592: 22,2723           77745        OKPHI             DLOAD                                          #  PUSH UP PHI
017662,000593: 22,2724           43466        VECOFANG          VDEF     RVQ                                   
017663,000594: 
017664,000595:                                                                                                 # # Page 402
017665,000596:                                                                                                 #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017666,000597: 
017667,000598: 22,2725           00004        NOGOM2            INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
017668,000599: 22,2726           03272                          TC       ZEROEROR                              
017669,000600: 
017670,000601: 22,2727           00004        NOGO              INHINT                                         
017671,000602: 22,2730           03245                          TC       STOPRATE                              
017672,000603: 
017673,000604:                                                                                                 #                                           TERMINATE MANEUVER
017674,000605: 22,2731           34711                          CAF      TWO                                   #  NOTE - ALL RETURNS ARE NOW MADE VIA
017675,000606: 22,2732           05140                          TC       WAITLIST                              #  GOODEND
017676,000607: 22,2733  E6,1661                                 EBANK=   BCDU                                  
017677,000608: 22,2733           03237 44066                    2CADR    ENDMANU                               
017678,000609: 22,2735           15112                          TCF      ENDOFJOB                              

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