Source Code

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

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

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

017786,000002:                                                                                                 #  Copyright:     Public domain.
017787,000003:                                                                                                 #  Filename:      ANGLFIND.agc
017788,000004:                                                                                                 #  Purpose:       Part of the source code for Artemis (i.e., Colossus 3),
017789,000005:                                                                                                 #                 build 072.  This is for the Command Module's (CM) 
017790,000006:                                                                                                 #                 Apollo Guidance Computer (AGC), we believe for 
017791,000007:                                                                                                 #                 Apollo 15-17.
017792,000008:                                                                                                 #  Assembler:     yaYUL
017793,000009:                                                                                                 #  Contact:       Sergio Navarro <sergionavarrog@gmail.com>
017794,000010:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
017795,000011:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Artemis072/
017796,000012:                                                                                                 #  Mod history:   2009-08-19 SN   Adapted from corresponding Comanche 055 file.
017797,000013:                                                                                                 #                 2009-09-04 JL   Fixed page number comment. Fixed bad octal number in NOGO. 
017798,000014:                                                                                                 #                                 Fixed typos. Added missing code at end.
017799,000015:                                                                                                 #                 2010-02-20 RSB  Un-##'d this header.
017800,000016: 
017801,000017:                                                                                                 # # Page 403
017802,000018: 22,2000                                          SETLOC   KALCMON1                              
017803,000019: 22,2000                                          BANK                                           
017804,000020: 
017805,000021: 22,2000  E6,1661                                 EBANK=   BCDU                                  
017806,000022: 
017807,000023: 22,2000                                          COUNT*   $$/KALC                               
017808,000024: 22,2000           06006        KALCMAN3          TC       INTPRET                               
017809,000025: 22,2001           77634                 +1       RTB                                            
017810,000026: 22,2002           44370                                   READCDUK                              #  PICK UP CURRENT CDU ANGLES
017811,000027: 22,2003           03262                          STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
017812,000028: 22,2004           72364                          AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017813,000029: 22,2005           03320                                   MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
017814,000030: 22,2006           03262                                   BCDU                                  #  (MIS)
017815,000031: 22,2007           77624                          CALL                                           
017816,000032: 22,2010           44377                                   CDUTODCM                              
017817,000033: 22,2011           72364                          AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017818,000034: 22,2012           03425                                   MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
017819,000035: 22,2013           01310                                   CPHI                                  #  (MFS)
017820,000036: 22,2014           77624                          CALL                                           
017821,000037: 22,2015           44377                                   CDUTODCM                              
017822,000038: 22,2016           45160        SECAD             AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED          $2
017823,000039: 22,2017           03320                                   MIS                                   
017824,000040: 22,2020           44334                                   TRANSPOS                              
017825,000041: 22,2021           77775                          VLOAD                                          
017826,000042: 22,2022           77626                          STADR                                          
017827,000043: 22,2023           50474                          STOVL    TMIS       +12D                       
017828,000044: 22,2024           77626                          STADR                                          
017829,000045: 22,2025           50502                          STOVL    TMIS       +6                         
017830,000046: 22,2026           77626                          STADR                                          
017831,000047: 22,2027           74510                          STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
017832,000048: 22,2030           75160                          AXC,1    AXC,2                                 
017833,000049: 22,2031           03266                                   TMIS                                  
017834,000050: 22,2032           03425                                   MFS                                   
017835,000051: 22,2033           77624                          CALL                                           
017836,000052: 22,2034           44304                                   MXM3                                  
017837,000053: 22,2035           45575                          VLOAD    STADR                                 
017838,000054: 22,2036           50335                          STOVL    MFI        +12D                       
017839,000055: 22,2037           77626                          STADR                                          
017840,000056: 22,2040           50343                          STOVL    MFI        +6                         
017841,000057: 22,2041           77626                          STADR                                          
017842,000058: 22,2042           74351                          STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
017843,000059: 22,2043           45001                          SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
017844,000060: 22,2044           00023                                   18D                                   
017845,000061: 22,2045           44343                                   TRNSPSPD                              
017846,000062: 22,2046           45575                          VLOAD    STADR                                 
017847,000063: 22,2047           50474                          STOVL    TMFI       +12D                       
017848,000064: 22,2050           77626                          STADR                                          
017849,000065: 22,2051           50502                          STOVL    TMFI       +6                         
017850,000066: 22,2052           77626                          STADR                                          
017851,000067: 22,2053           74510                          STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
017852,000068:                                                                                                 # # Page 404              
017853,000069: 
017854,000070:                                                                                                 #  CALCULATE COFSKEW AND MFISYM
017855,000071: 
017856,000072: 22,2054           45345                          DLOAD    DSU                                   
017857,000073: 22,2055           03271                                   TMFI       +2                         
017858,000074: 22,2056           03430                                   MFI        +2                         
017859,000075: 22,2057           45325                          PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
017860,000076: 22,2060           03432                                   MFI        +4                         
017861,000077: 22,2061           03273                                   TMFI       +4                         
017862,000078: 22,2062           45325                          PDDL     DSU                                   
017863,000079: 22,2063           03301                                   TMFI       +10D                       
017864,000080: 22,2064           03440                                   MFI        +10D                       
017865,000081: 22,2065           77666                          VDEF                                           
017866,000082: 22,2066           03311                          STORE    COFSKEW                               #  EQUALS MFISKEW
017867,000083: 
017868,000084:                                                                                                 #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017869,000085: 
017870,000086: 22,2067           43345                          DLOAD    DAD                                   
017871,000087: 22,2070           03426                                   MFI                                   
017872,000088: 22,2071           03446                                   MFI        +16D                       
017873,000089: 22,2072           43225                          DSU      DAD                                   
017874,000090: 22,2073           15326                                   DP1/4TH                               
017875,000091: 22,2074           03436                                   MFI        +8D                        
017876,000092: 22,2075           03317                          STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017877,000093: 22,2076           77726                          ARCCOS                                         
017878,000094: 22,2077           03365                          STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
017879,000095: 22,2100           51025                          DSU      BPL                                   
017880,000096: 22,2101           04367                                   MINANG                                
017881,000097: 22,2102           44111                                   CHECKMAX                              
017882,000098: 22,2103           77776                          EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
017883,000099: 22,2104           00004                          INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
017884,000100: 22,2105           44770                          CS       ONE                                   #  ABOUT COMMANDED ANGLES
017885,000101: 22,2106           55340                          TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
017886,000102: 22,2107           03163                          TC       LOADCDUD                              #  GOOD RETURN
017887,000103: 22,2110           12723                          TCF      NOGO                                  
017888,000104: 
017889,000105: 22,2111           45345        CHECKMAX          DLOAD    DSU                                   
017890,000106: 22,2112           03365                                   AM                                    
017891,000107: 22,2113           04370                                   MAXANG                                
017892,000108: 22,2114           77244                          BPL      VLOAD                                 
017893,000109: 22,2115           44123                                   ALTCALC                               #  UNIT
017894,000110: 22,2116           03311                                   COFSKEW                               #  COFSKEW
017895,000111: 22,2117           77656                          UNIT                                           
017896,000112: 22,2120           03343                          STORE    COF                                   #  COF IS THE MANEUVER AXIS
017897,000113: 22,2121           77650                          GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
017898,000114: 22,2122           44745                                   LOCSKIRT                              
017899,000115: 22,2123           53375        ALTCALC           VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
017900,000116: 22,2124           03426                                   MFI                                   
017901,000117: 22,2125           03267                                   TMFI                                  
017902,000118: 22,2126           77762                          VSR1                                           
017903,000119:                                                                                                 # # Page 405
017904,000120: 22,2127           27267                          STOVL    MFISYM                                
017905,000121: 22,2130           03434                                   MFI        +6                         
017906,000122: 22,2131           74455                          VAD      VSR1                                  
017907,000123: 22,2132           03275                                   TMFI       +6                         
017908,000124: 22,2133           27275                          STOVL    MFISYM     +6                         
017909,000125: 22,2134           03442                                   MFI        +12D                       
017910,000126: 22,2135           74455                          VAD      VSR1                                  
017911,000127: 22,2136           03303                                   TMFI       +12D                       
017912,000128: 22,2137           03303                          STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2    SCALED BY 4
017913,000129: 
017914,000130: 
017915,000131:                                                                                                 #  CALCULATE COF
017916,000132: 
017917,000133: 22,2140           70545                          DLOAD    SR1                                   
017918,000134: 22,2141           03317                                   CAM                                   
017919,000135: 22,2142           45325                          PDDL     DSU                                   #  PD0 CAM                               $4
017920,000136: 22,2143           15334                                   DPHALF                                
017921,000137: 22,2144           03317                                   CAM                                   
017922,000138: 22,2145           65204                          BOVB     PDDL                                  #  PD2 1 - CAM                           $2
017923,000139: 22,2146           45761                                   SIGNMPAC                              
017924,000140: 22,2147           03307                                   MFISYM     +16D                       
017925,000141: 22,2150           56225                          DSU      DDV                                   
017926,000142: 22,2151           00001                                   0                                     
017927,000143: 22,2152           00003                                   2                                     
017928,000144: 22,2153           65366                          SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/(1-CAM)
017929,000145: 22,2154           03277                                   MFISYM     +8D                        #                                  $ ROOT 2
017930,000146: 22,2155           56225                          DSU      DDV                                   
017931,000147: 22,2156           00001                                   0                                     
017932,000148: 22,2157           00003                                   2                                     
017933,000149: 22,2160           65366                          SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM)  $ROOT2
017934,000150: 22,2161           03267                                   MFISYM                                
017935,000151: 22,2162           56225                          DSU      DDV                                   
017936,000152: 22,2163           00001                                   0                                     
017937,000153: 22,2164           00003                                   2                                     
017938,000154: 22,2165           55566                          SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM)  $ROOT 2
017939,000155: 22,2166           77656                          UNIT                                           
017940,000156: 22,2167           03343                          STORE    COF                                   
017941,000157: 
017942,000158:                                                                                                 #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017943,000159: 
017944,000160: 22,2170           45345        COFMAXGO          DLOAD    DSU                                   
017945,000161: 22,2171           03343                                   COF                                   
017946,000162: 22,2172           03345                                   COF        +2                         
017947,000163: 22,2173           71240                          BMN      DLOAD                                 #  COFY G COFX
017948,000164: 22,2174           44203                                   COMP12                                
017949,000165: 22,2175           03343                                   COF                                   
017950,000166: 22,2176           50025                          DSU      BMN                                   
017951,000167: 22,2177           03347                                   COF        +4                         
017952,000168: 22,2200           44260                                   METHOD3                               #  COFZ G COFX OR COFY
017953,000169: 22,2201           77650                          GOTO                                           
017954,000170:                                                                                                 # # Page 406
017955,000171: 22,2202           44234                                   METHOD1                               #  COFX G COFY OR COFZ
017956,000172: 22,2203           45345        COMP12            DLOAD    DSU                                   
017957,000173: 22,2204           03345                                   COF        +2                         
017958,000174: 22,2205           03347                                   COF        +4                         
017959,000175: 22,2206           77640                          BMN                                            
017960,000176: 22,2207           44260                                   METHOD3                               #  COFZ G COFY OR COFX
017961,000177: 
017962,000178: 22,2210           51145        METHOD2           DLOAD    BPL                                   #  COFY MAX
017963,000179: 22,2211           03313                                   COFSKEW    +2                         #  UY
017964,000180: 22,2212           44216                                   U2POS                                 
017965,000181: 22,2213           57575                          VLOAD    VCOMP                                 
017966,000182: 22,2214           03343                                   COF                                   
017967,000183: 22,2215           03343                          STORE    COF                                   
017968,000184: 22,2216           51145        U2POS             DLOAD    BPL                                   
017969,000185: 22,2217           03271                                   MFISYM     +2                         #  UX UY
017970,000186: 22,2220           44224                                   OKU21                                 
017971,000187: 22,2221           57545                          DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
017972,000188: 22,2222           03343                                   COF                                   
017973,000189: 22,2223           03343                          STORE    COF                                   
017974,000190: 22,2224           51145        OKU21             DLOAD    BPL                                   
017975,000191: 22,2225           03301                                   MFISYM     +10D                       #  UY UZ
017976,000192: 22,2226           44745                                   LOCSKIRT                              
017977,000193: 22,2227           57545                          DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017978,000194: 22,2230           03347                                   COF        +4                         
017979,000195: 22,2231           03347                          STORE    COF        +4                         
017980,000196: 22,2232           77650                          GOTO                                           
017981,000197: 22,2233           44745                                   LOCSKIRT                              
017982,000198: 22,2234           51145        METHOD1           DLOAD    BPL                                   #  COFX MAX
017983,000199: 22,2235           03311                                   COFSKEW                               #  UX
017984,000200: 22,2236           44242                                   U1POS                                 
017985,000201: 22,2237           57575                          VLOAD    VCOMP                                 
017986,000202: 22,2240           03343                                   COF                                   
017987,000203: 22,2241           03343                          STORE    COF                                   
017988,000204: 22,2242           51145        U1POS             DLOAD    BPL                                   
017989,000205: 22,2243           03271                                   MFISYM     +2                         #  UX UY
017990,000206: 22,2244           44250                                   OKU12                                 
017991,000207: 22,2245           57545                          DLOAD    DCOMP                                 
017992,000208: 22,2246           03345                                   COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017993,000209: 22,2247           03345                          STORE    COF        +2                         
017994,000210: 22,2250           51145        OKU12             DLOAD    BPL                                   
017995,000211: 22,2251           03273                                   MFISYM     +4                         #  UX UZ
017996,000212: 22,2252           44745                                   LOCSKIRT                              
017997,000213: 22,2253           57545                          DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017998,000214: 22,2254           03347                                   COF        +4                         
017999,000215: 22,2255           03347                          STORE    COF        +4                         
018000,000216: 22,2256           77650                          GOTO                                           
018001,000217: 22,2257           44745                                   LOCSKIRT                              
018002,000218: 22,2260           51145        METHOD3           DLOAD    BPL                                   #  COFZ MAX
018003,000219: 22,2261           03315                                   COFSKEW    +4                         #  UZ
018004,000220: 22,2262           44266                                   U3POS                                 
018005,000221:                                                                                                 # # Page 407
018006,000222: 22,2263           57575                          VLOAD    VCOMP                                 
018007,000223: 22,2264           03343                                   COF                                   
018008,000224: 22,2265           03343                          STORE    COF                                   
018009,000225: 22,2266           51145        U3POS             DLOAD    BPL                                   
018010,000226: 22,2267           03273                                   MFISYM     +4                         #  UX UZ
018011,000227: 22,2270           44274                                   OKU31                                 
018012,000228: 22,2271           57545                          DLOAD    DCOMP                                 
018013,000229: 22,2272           03343                                   COF                                   #  SIGN OF UX OPPOSITE TO UZ
018014,000230: 22,2273           03343                          STORE    COF                                   
018015,000231: 22,2274           51145        OKU31             DLOAD    BPL                                   
018016,000232: 22,2275           03301                                   MFISYM     +10D                       #  UY UZ
018017,000233: 22,2276           44745                                   LOCSKIRT                              
018018,000234: 22,2277           57545                          DLOAD    DCOMP                                 
018019,000235: 22,2300           03345                                   COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
018020,000236: 22,2301           03345                          STORE    COF        +2                         
018021,000237: 22,2302           77650                          GOTO                                           
018022,000238: 22,2303           44745                                   LOCSKIRT                              
018023,000239: 
018024,000240:                                                                                                 # # Page 408
018025,000241:                                                                                                 #  MATRIX OPERATIONS
018026,000242: 
018027,000243: 22,2304           77601        MXM3              SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
018028,000244: 22,2305           00001                                   0                                     #  AND LEAVES RESULT IN PD LIST
018029,000245: 22,2306           64743                          DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
018030,000246: 22,2307           77762                                   12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
018031,000247: 22,2310           77770                                   6,2                                   
018032,000248: 22,2311           55523                          PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
018033,000249: 22,2312           77776                                   0,2                                   
018034,000250: 22,2313           64717                          MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
018035,000251: 22,2314           00001                                   0,1                                   
018036,000252: 22,2315           77760                                   14D,2                                 
018037,000253: 22,2316           64723                          PDDL*    PDDL*                                 
018038,000254: 22,2317           77766                                   8D,2                                  
018039,000255: 22,2320           77774                                   2,2                                   
018040,000256: 22,2321           63666                          VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
018041,000257: 22,2322           00001                                   0,1                                   
018042,000258: 22,2323           64723                          PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
018043,000259: 22,2324           77756                                   16D,2                                 
018044,000260: 22,2325           77764                                   10D,2                                 
018045,000261: 22,2326           55523                          PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
018046,000262: 22,2327           77772                                   4,2                                   
018047,000263: 22,2330           41517                          MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
018048,000264: 22,2331           00001                                   0,1                                   
018049,000265: 22,2332           77650                          GOTO                                           
018050,000266: 22,2333           44343                                   TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
018051,000267:                                                                                                 #                                         # RETURN WITH M1XM2 IN PD LIST
018052,000268: 
018053,000269: 22,2334           76601        TRANSPOS          SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
018054,000270: 22,2335           00001                                   0                                     #   AND LEAVES RESULT IN PD LIST
018055,000271: 22,2336           00001                                   0,1                                   #  MATRIX ADDRESS IN XR1
018056,000272: 22,2337           62713                          PDVL*    PDVL*                                 
018057,000273: 22,2340           00007                                   6,1                                   
018058,000274: 22,2341           00015                                   12D,1                                 
018059,000275: 22,2342           77606                          PUSH                                           #  MATRIX IN PD
018060,000276: 22,2343           65345        TRNSPSPD          DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
018061,000277: 22,2344           00003                                   2                                     
018062,000278: 22,2345           00007                                   6                                     
018063,000279: 22,2346           14003                          STODL    2                                     
018064,000280: 22,2347           77626                          STADR                                          
018065,000281: 22,2350           63770                          STODL    6                                     
018066,000282: 22,2351           00005                                   4                                     
018067,000283: 22,2352           77725                          PDDL                                           
018068,000284: 22,2353           00015                                   12D                                   
018069,000285: 22,2354           14005                          STODL    4                                     
018070,000286: 22,2355           77626                          STADR                                          
018071,000287: 22,2356           63762                          STODL    12D                                   
018072,000288: 22,2357           00013                                   10D                                   
018073,000289: 22,2360           77725                          PDDL                                           
018074,000290:                                                                                                 # # Page 409
018075,000291: 22,2361           00017                                   14D                                   
018076,000292: 22,2362           14013                          STODL    10D                                   
018077,000293: 22,2363           77626                          STADR                                          
018078,000294: 22,2364           77760                          STORE    14D                                   
018079,000295: 22,2365           77616                          RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
018080,000296: 22,2366           00013        MINANG            DEC      .00069375                             
018081,000297: 22,2367           17071        MAXANG            DEC      .472222                               
018082,000298: 22,2370           00004        READCDUK          INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
018083,000299: 22,2371           30034                          CA       CDUZ                                  
018084,000300: 22,2372           54156                          TS       MPAC       +2                         
018085,000301: 22,2373           00006                          EXTEND                                         
018086,000302: 22,2374           30033                          DCA      CDUX                                  
018087,000303: 22,2375           00003                          RELINT                                         
018088,000304: 22,2376           16445                          TCF      TLOAD      +6                         
018089,000305: 22,2000                                          SETLOC   KALCMON2                              
018090,000306: 22,2000                                          BANK                                           
018091,000307: 
018092,000308: 22,2377                                          COUNT*   $$/KALC                               
018093,000309: 
018094,000310: 22,2377           66370        CDUTODCM          AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE  DIRECTION COSINE
018095,000311: 22,2400           00003                          OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
018096,000312: 22,2401           00051                                   S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
018097,000313: 22,2402           00001                          OCT      1                                     #  SET XR1, S1, AND PD FOR LOOP
018098,000314: 22,2403           00010                          STORE    7                                     
018099,000315: 22,2404           77601                          SETPD                                          
018100,000316: 22,2405           00001                                   0                                     
018101,000317: 22,2406           47133        LOOPSIN           SLOAD*   RTB                                   
018102,000318: 22,2407           00013                                   10D,1                                 
018103,000319: 22,2410           51754                                   CDULOGIC                              
018104,000320: 22,2411           00013                          STORE    10D                                   #  LOAD PD WITH 0 SIN(PHI)
018105,000321: 22,2412           65356                          SIN      PDDL                                  #                2 COS(PHI)
018106,000322: 22,2413           00013                                   10D                                   #                4 SIN(THETA)
018107,000323: 22,2414           41546                          COS      PUSH                                  #                6 COS(THETA)
018108,000324: 22,2415           71300                          TIX,1    DLOAD                                 #                8 SIN(PSI)
018109,000325: 22,2416           44406                                   LOOPSIN                               #               10 COS(PSI)
018110,000326: 22,2417           00007                                   6                                     
018111,000327: 22,2420           72405                          DMP      SL1                                   
018112,000328: 22,2421           00013                                   10D                                   
018113,000329: 22,2422           10001                          STORE    0,2                                   
018114,000330: 22,2423           77745                          DLOAD                                          
018115,000331: 22,2424           00005                                   4                                     
018116,000332: 22,2425           65205                          DMP      PDDL                                  
018117,000333: 22,2426           00001                                   0                                     #  (PD6 SIN(THETA)SIN(PHI))
018118,000334: 22,2427           00007                                   6                                     
018119,000335: 22,2430           41205                          DMP      DMP                                   
018120,000336: 22,2431           00011                                   8D                                    
018121,000337: 22,2432           00003                                   2                                     
018122,000338: 22,2433           44352                          SL1      BDSU                                  
018123,000339: 22,2434           00015                                   12D                                   
018124,000340: 22,2435           77752                          SL1                                            
018125,000341:                                                                                                 # # Page 410
018126,000342: 22,2436           10003                          STORE    2,2                                   
018127,000343: 22,2437           77745                          DLOAD                                          
018128,000344: 22,2440           00003                                   2                                     
018129,000345: 22,2441           65205                          DMP      PDDL                                  #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
018130,000346: 22,2442           00005                                   4                                     
018131,000347: 22,2443           00007                                   6                                     
018132,000348: 22,2444           41205                          DMP      DMP                                   
018133,000349: 22,2445           00011                                   8D                                    
018134,000350: 22,2446           00001                                   0                                     
018135,000351: 22,2447           77752                          SL1                                            
018136,000352: 22,2450           72415                          DAD      SL1                                   
018137,000353: 22,2451           00017                                   14D                                   
018138,000354: 22,2452           10005                          STORE    4,2                                   
018139,000355: 22,2453           77745                          DLOAD                                          
018140,000356: 22,2454           00011                                   8D                                    
018141,000357: 22,2455           10007                          STORE    6,2                                   
018142,000358: 22,2456           77745                          DLOAD                                          
018143,000359: 22,2457           00013                                   10D                                   
018144,000360: 22,2460           72405                          DMP      SL1                                   
018145,000361: 22,2461           00003                                   2                                     
018146,000362: 22,2462           10011                          STORE    8D,2                                  
018147,000363: 22,2463           77745                          DLOAD                                          
018148,000364: 22,2464           00013                                   10D                                   
018149,000365: 22,2465           57405                          DMP      DCOMP                                 
018150,000366: 22,2466           00001                                   0                                     
018151,000367: 22,2467           77752                          SL1                                            
018152,000368: 22,2470           10013                          STORE    10D,2                                 
018153,000369: 22,2471           77745                          DLOAD                                          
018154,000370: 22,2472           00005                                   4                                     
018155,000371: 22,2473           57405                          DMP      DCOMP                                 
018156,000372: 22,2474           00013                                   10D                                   
018157,000373: 22,2475           77752                          SL1                                            
018158,000374: 22,2476           10015                          STORE    12D,2                                 
018159,000375: 22,2477           77745                          DLOAD                                          
018160,000376: 22,2500           72405                          DMP      SL1                                   #  (PUSH UP 7)
018161,000377: 22,2501           00011                                   8D                                    
018162,000378: 22,2502           41325                          PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE4
018163,000379: 22,2503           00007                                   6                                     
018164,000380: 22,2504           00001                                   0                                     
018165,000381: 22,2505           72415                          DAD      SL1                                   #  (PUSH UP 7)
018166,000382: 22,2506           77626                          STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
018167,000383: 22,2507           67760                          STORE    14D,2                                 
018168,000384: 22,2510           77745                          DLOAD                                          
018169,000385: 22,2511           72405                          DMP      SL1                                   #  (PUSH UP 6)
018170,000386: 22,2512           00011                                   8D                                    
018171,000387: 22,2513           41325                          PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE4
018172,000388: 22,2514           00007                                   6                                     
018173,000389: 22,2515           00003                                   2                                     
018174,000390: 22,2516           72425                          DSU      SL1                                   #  (PUSH UP 6)
018175,000391: 22,2517           77626                          STADR                                          
018176,000392:                                                                                                 # # Page 411
018177,000393: 22,2520           67756                          STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
018178,000394: 22,2521           77616                          RVQ                                            #     +COS(THETA)COS(PHI)
018179,000395: 22,2522                        ENDOCM            EQUALS                                         
018180,000396: 
018181,000397: 22,2000                                          SETLOC   KALCMON1                              
018182,000398: 22,2000                                          BANK                                           
018183,000399: 
018184,000400:                                                                                                 #  CALCULATION OF THE MATRIX DEL......
018185,000401: 
018186,000402:                                                                                                 #         *      *               __T           *
018187,000403:                                                                                                 #         DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)          SCALED 1
018188,000404: 
018189,000405:                                                                                                 #              _
018190,000406:                                                                                                 #         WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
018191,000407:                                                                                                 #         A IS THE ANGLE OF ROTATION (DP SCALED 2).
018192,000408:                                                                                                 #                                            _
018193,000409:                                                                                                 #         UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC.
018194,000410: 
018195,000411: 22,2522                                          COUNT*   $$/KALC                               
018196,000412: 22,2522           41401        DELCOMP           SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
018197,000413: 22,2523           00001                                   0                                     
018198,000414: 22,2524           65356                          SIN      PDDL                                  #  PD0 = SIN(A)
018199,000415: 22,2525           41546                          COS      PUSH                                  #  PD2 = COS(A)
018200,000416: 22,2526           65302                          SR2      PDDL                                  #  PD2 = COS(A)                           $8
018201,000417: 22,2527           41021                          BDSU     BOVB                                  #  PD4 = 1-COS(A)                 $2
018202,000418: 22,2530           15334                                   DPHALF                                
018203,000419: 22,2531           45761                                   SIGNMPAC                              
018204,000420: 
018205,000421:                                                                                                 #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
018206,000422: 
018207,000423: 22,2532           77725                          PDDL                                           
018208,000424: 22,2533           03343                                   COF                                   
018209,000425: 22,2534           41316                          DSQ      DMP                                   
018210,000426: 22,2535           00005                                   4                                     
018211,000427: 22,2536           52415                          DAD      SL3                                   
018212,000428: 22,2537           00003                                   2                                     
018213,000429: 22,2540           77604                          BOVB                                           
018214,000430: 22,2541           45761                                   SIGNMPAC                              
018215,000431: 22,2542           17426                          STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)                $1
018216,000432: 22,2543           03345                                   COF        +2                         
018217,000433: 22,2544           41316                          DSQ      DMP                                   
018218,000434: 22,2545           00005                                   4                                     
018219,000435: 22,2546           52415                          DAD      SL3                                   
018220,000436: 22,2547           00003                                   2                                     
018221,000437: 22,2550           77604                          BOVB                                           
018222,000438: 22,2551           45761                                   SIGNMPAC                              
018223,000439: 22,2552           17436                          STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)                $1
018224,000440: 22,2553           03347                                   COF        +4                         
018225,000441: 22,2554           41316                          DSQ      DMP                                   
018226,000442:                                                                                                 # # Page 412
018227,000443: 22,2555           00005                                   4                                     
018228,000444: 22,2556           52415                          DAD      SL3                                   
018229,000445: 22,2557           00003                                   2                                     
018230,000446: 22,2560           77604                          BOVB                                           
018231,000447: 22,2561           45761                                   SIGNMPAC                              
018232,000448: 22,2562           03446                          STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)                $1
018233,000449: 
018234,000450:                                                                                                 #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
018235,000451: 
018236,000452: 22,2563           41345                          DLOAD    DMP                                   
018237,000453: 22,2564           03343                                   COF                                   
018238,000454: 22,2565           03345                                   COF        +2                         
018239,000455: 22,2566           72405                          DMP      SL1                                   
018240,000456: 22,2567           00005                                   4                                     
018241,000457: 22,2570           41325                          PDDL     DMP                                   #  D6     UX UY (1-COS A)                 $ 4
018242,000458: 22,2571           03347                                   COF        +4                         
018243,000459: 22,2572           00001                                   0                                     
018244,000460: 22,2573           43206                          PUSH     DAD                                   #  D8     UZ SIN A                        $ 4
018245,000461: 22,2574           00007                                   6                                     
018246,000462: 22,2575           41112                          SL2      BOVB                                  
018247,000463: 22,2576           45761                                   SIGNMPAC                              
018248,000464: 22,2577           17434                          STODL    DEL        +6                         
018249,000465: 22,2600           62421                          BDSU     SL2                                   
018250,000466: 22,2601           77604                          BOVB                                           
018251,000467: 22,2602           45761                                   SIGNMPAC                              
018252,000468: 22,2603           17430                          STODL    DEL        +2                         
018253,000469: 22,2604           03343                                   COF                                   
018254,000470: 22,2605           41205                          DMP      DMP                                   
018255,000471: 22,2606           03347                                   COF        +4                         
018256,000472: 22,2607           00005                                   4                                     
018257,000473: 22,2610           65352                          SL1      PDDL                                  #  D6     UX UZ (1-COS A)                 $ 4
018258,000474: 22,2611           03345                                   COF        +2                         
018259,000475: 22,2612           41405                          DMP      PUSH                                  #  D8     UY SIN(A)
018260,000476: 22,2613           00001                                   0                                     
018261,000477: 22,2614           62415                          DAD      SL2                                   
018262,000478: 22,2615           00007                                   6                                     
018263,000479: 22,2616           77604                          BOVB                                           
018264,000480: 22,2617           45761                                   SIGNMPAC                              
018265,000481: 22,2620           17432                          STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
018266,000482: 22,2621           62421                          BDSU     SL2                                   
018267,000483: 22,2622           77604                          BOVB                                           
018268,000484: 22,2623           45761                                   SIGNMPAC                              
018269,000485: 22,2624           17442                          STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
018270,000486: 22,2625           03345                                   COF        +2                         
018271,000487: 22,2626           41205                          DMP      DMP                                   
018272,000488: 22,2627           03347                                   COF        +4                         
018273,000489: 22,2630           00005                                   4                                     
018274,000490: 22,2631           65352                          SL1      PDDL                                  #  D6     UY UZ (1-COS(A))                $ 4
018275,000491: 22,2632           03343                                   COF                                   
018276,000492: 22,2633           41405                          DMP      PUSH                                  #  D6     UX SIN(A)
018277,000493:                                                                                                 # # Page 413
018278,000494: 22,2634           00001                                   0                                     
018279,000495: 22,2635           62415                          DAD      SL2                                   
018280,000496: 22,2636           00007                                   6                                     
018281,000497: 22,2637           77604                          BOVB                                           
018282,000498: 22,2640           45761                                   SIGNMPAC                              
018283,000499: 22,2641           17444                          STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
018284,000500: 22,2642           62421                          BDSU     SL2                                   
018285,000501: 22,2643           77604                          BOVB                                           
018286,000502: 22,2644           45761                                   SIGNMPAC                              
018287,000503: 22,2645           03440                          STORE    DEL        +10D                       #  UY UZ(1-COS(A)) -UX SIN(A)
018288,000504: 22,2646           77616                          RVQ                                            
018289,000505: 
018290,000506:                                                                                                 #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
018291,000507:                                                                                                 #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
018292,000508:                                                                                                 #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
018293,000509:                                                                                                 #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
018294,000510: 
018295,000511:                                                                                                 #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
018296,000512: 
018297,000513:                                                                                                 #         C =COS(THETA)COS(PSI)
018298,000514:                                                                                                 #          0
018299,000515:                                                                                                 #         C =-COS(THETA)SIN(PSI)COS(PHI)+SIN(THETA)SIN(PHI)
018300,000516:                                                                                                 #          1
018301,000517:                                                                                                 #         C =COS(THETA)SIN(PSI)SIN(PHI) + SIN(THETA)COS(PHI)
018302,000518:                                                                                                 #          2
018303,000519:                                                                                                 #         C =SIN(PSI)
018304,000520:                                                                                                 #          3
018305,000521:                                                                                                 #         C =COS(PSI)COS(PHI)
018306,000522:                                                                                                 #          4
018307,000523:                                                                                                 #         C =-COS(PSI)SIN(PHI)
018308,000524:                                                                                                 #          5
018309,000525:                                                                                                 #         C =-SIN(THETA)COS(PSI)
018310,000526:                                                                                                 #          6
018311,000527:                                                                                                 #         C =SIN(THETA)SIN(PSI)COS(PHI)+COS(THETA)SIN(PHI)
018312,000528:                                                                                                 #          7
018313,000529:                                                                                                 #         C =-SIN(THETA)SIN(PSI)SIN(PHI)+COS(THETA)COS(PHI)
018314,000530:                                                                                                 #          8
018315,000531: 
018316,000532:                                                                                                 #         WHERE   PHI = OGA
018317,000533:                                                                                                 #                 THETA = IGA
018318,000534:                                                                                                 #                 PSI = MGA
018319,000535: 
018320,000536: 22,2647           67543        DCMTOCDU          DLOAD*   ARCSIN                                
018321,000537: 22,2650           00007                                   6,1                                   
018322,000538: 22,2651           71406                          PUSH     COS                                   #  PD +0          PSI
018323,000539: 22,2652           41152                          SL1      BOVB                                  
018324,000540: 22,2653           45761                                   SIGNMPAC                              
018325,000541: 22,2654           00051                          STORE    S1                                    
018326,000542: 22,2655           57543                          DLOAD*   DCOMP                                 
018327,000543:                                                                                                 # # Page 414
018328,000544: 22,2656           00015                                   12D,1                                 
018329,000545: 22,2657           67471                          DDV      ARCSIN                                
018330,000546: 22,2660           00051                                   S1                                    
018331,000547: 22,2661           51123                          PDDL*    BPL                                   #  PD +2          THETA
018332,000548: 22,2662           00001                                   0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
018333,000549: 22,2663           44675                                   OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
018334,000550: 22,2664           57545                          DLOAD    DCOMP                                 
018335,000551: 22,2665           43244                          BPL      DAD                                   
018336,000552: 22,2666           44672                                   SUHALFA                               
018337,000553: 22,2667           15334                                   DPHALF                                
018338,000554: 22,2670           77650                          GOTO                                           
018339,000555: 22,2671           44674                                   CALCPHI                               
018340,000556: 22,2672           77625        SUHALFA           DSU                                            
018341,000557: 22,2673           15334                                   DPHALF                                
018342,000558: 22,2674           77606        CALCPHI           PUSH                                           
018343,000559: 22,2675           57543        OKTHETA           DLOAD*   DCOMP                                 
018344,000560: 22,2676           00013                                   10D,1                                 
018345,000561: 22,2677           67471                          DDV      ARCSIN                                
018346,000562: 22,2700           00051                                   S1                                    
018347,000563: 22,2701           51123                          PDDL*    BPL                                   #  PUSH DOWN PHI
018348,000564: 22,2702           00011                                   8D,1                                  
018349,000565: 22,2703           44715                                   OKPHI                                 
018350,000566: 22,2704           57545                          DLOAD    DCOMP                                 #  PUSH UP PHI
018351,000567: 22,2705           43244                          BPL      DAD                                   
018352,000568: 22,2706           44712                                   SUHALFAP                              
018353,000569: 22,2707           15334                                   DPHALF                                
018354,000570: 22,2710           77650                          GOTO                                           
018355,000571: 22,2711           44716                                   VECOFANG                              
018356,000572: 22,2712           52025        SUHALFAP          DSU      GOTO                                  
018357,000573: 22,2713           15334                                   DPHALF                                
018358,000574: 22,2714           44716                                   VECOFANG                              
018359,000575: 22,2715           77745        OKPHI             DLOAD                                          #  PUSH UP PHI
018360,000576: 22,2716           43466        VECOFANG          VDEF     RVQ                                   
018361,000577: 
018362,000578:                                                                                                 # # Page 415
018363,000579:                                                                                                 #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018364,000580: 
018365,000581: 22,2717           77776        NOGOM3            EXIT                                           
018366,000582: 22,2720           00004        NOGOM2            INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
018367,000583: 22,2721           04636                          TC       BANKCALL                              
018368,000584: 22,2722           40203                          CADR     ZEROEROR                              
018369,000585: 
018370,000586: 22,2723           00004        NOGO              INHINT                                         
018371,000587: 22,2724           04463                          TC       STOPRATE                              
018372,000588: 
018373,000589: 22,2725           34767                          CAF      R67BIT                                
018374,000590: 22,2726           70104                          MASK     FLAGWRD8                              
018375,000591: 22,2727           00006                          EXTEND                                         
018376,000592: 22,2730           12740                          BZF      NOTR67ND                              
018377,000593: 
018378,000594: 22,2731           35016                          CAF      1SEC                                  #  WAITLIST TASK IN 1 SECON:
018379,000595: 22,2732           05233                          TC       WAITLIST                              #  RETURN TO UPDTCALL
018380,000596: 22,2733  E6,1661                                 EBANK=   BCDU                                  
018381,000597: 22,2733           02320 74066                    2CADR    R67                                   
018382,000598: 
018383,000599: 22,2735           05402                          TC       PHASCHNG                              
018384,000600: 22,2736           00111                          OCT      00111                                 
018385,000601: 
018386,000602: 22,2737  01,2025               1P11SPT2          =        1.11SPOT                              
018387,000603: 22,2737           05205                          TC       ENDOFJOB                              
018388,000604: 
018389,000605: 22,2740           34767        NOTR67ND          CAF      TWO                                   #  RETURN VIA
018390,000606: 22,2741           05233                          TC       WAITLIST                              #  GOODEND
018391,000607: 22,2742  E6,1661                                 EBANK=   BCDU                                  
018392,000608: 22,2742           02311 20066                    2CADR    ENDMANU                               
018393,000609: 
018394,000610: 22,2744           15205                          TCF      ENDOFJOB                              

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