Source Code

This is the source-code for the Apollo 9 Command Module's Guidance Computer. These files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology", which in turn was originally created by Gary Neff, though his high-quality scans were unfortunately reduced in legibility when presented online. The markings on the front of the printout imply that it was the original AGC developer Norm Brodeur's copy. A scan by Ron Burkey has superceded it, made from a more-legible copy from the collection of original AGC developer Fred Martin. The source code was transcribed from those images by Ron Burkey. Note that the page images presented online are of reduced quality, and that higher-quality 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:

	ASSEMBLE REVISION 249 OF AGC PROGRAM COLOSSUS BY NASA 2021111-041
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

016818,000002:                                                                                                  ## Copyright:   Public domain.
016819,000003:                                                                                                  ## Filename:    R60_62.agc
016820,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus, build 249.
016821,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
016822,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 9.
016823,000007:                                                                                                  ## Assembler:   yaYUL
016824,000008:                                                                                                  ## Reference:   pp. 383-391.
016825,000009:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016826,000010:                                                                                                  ## Website:     www.ibiblio.org/apollo.
016827,000011:                                                                                                  ## Mod history: 08/10/04 RSB.   Began adapting from corresponding Luminary131
016828,000012:                                                                                                  ##                              source file.
016829,000013:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
016830,000014:                                                                                                  ##                              original harcopy, as opposed to the PDF page
016831,000015:                                                                                                  ##                              numbers in 1701.pdf.
016832,000016:                                                                                                  ##              2017-01-18 RSB  Cross-diff'd comment text (not whitespace)
016833,000017:                                                                                                  ##                              vs the already-proofed corresponding Colossus
016834,000018:                                                                                                  ##                              237 and Comanche 55 source-code files
016835,000019:                                                                                                  ##                              and corrected errors found.
016836,000020:                                                                                                  ##
016837,000021:                                                                                                  ## The contents of the "Colossus249" files, in general, are transcribed 
016838,000022:                                                                                                  ## from a scanned copy of the program listing.  Notations on this
016839,000023:                                                                                                  ## document read, in part:
016840,000024:                                                                                                  ##
016841,000025:                                                                                                  ##      Assemble revision 249 of AGC program Colossus by NASA
016842,000026:                                                                                                  ##      2021111-041.  October 28, 1968.  
016843,000027:                                                                                                  ##
016844,000028:                                                                                                  ##      This AGC program shall also be referred to as
016845,000029:                                                                                                  ##                              Colossus 1A
016846,000030:                                                                                                  ##
016847,000031:                                                                                                  ##      Prepared by
016848,000032:                                                                                                  ##                      Massachusetts Institute of Technology
016849,000033:                                                                                                  ##                      75 Cambridge Parkway
016850,000034:                                                                                                  ##                      Cambridge, Massachusetts
016851,000035:                                                                                                  ##      under NASA contract NAS 9-4065.
016852,000036:                                                                                                  ##
016853,000037:                                                                                                  ## Refer directly to the online document mentioned above for further information.
016854,000038:                                                                                                  ## Please report any errors (relative to the scanned pages) to info@sandroid.org.
016855,000039:                                                                                                  ##
016856,000040:                                                                                                  ## In some cases, where the source code for Luminary 131 overlaps that of 
016857,000041:                                                                                                  ## Colossus 249, this code is instead copied from the corresponding Luminary 131
016858,000042:                                                                                                  ## source file, and then is proofed to incorporate any changes.
016859,000043: 

Page 383

016861,000045: 34,2002                                           BANK     34                                    
016862,000046: 27,2000                                           SETLOC   MANUVER                               
016863,000047: 27,2000                                           BANK                                           
016864,000048: 
016865,000049: 27,2000     1146                                  EBANK=   TEMPR60                               
016866,000050: 
016867,000051: 27,2000                                           COUNT    27/R60                                
016868,000052: 
016869,000053:                                                                                                  #  R60CSM        
016870,000054:                                                                                                  #  REV 13 CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC 09        JAN 18, 1968
016871,000055: 
016872,000056: 27,2000           04604        R60CSM             TC       MAKECADR                              
016873,000057: 27,2001           55146                           TS       TEMPR60                               
016874,000058: 
016875,000059:                                                                                                  #  INSERT PRIODSP CHECK WITH R22 (V06N49) WITH JENNINGS BRODEUR          
016876,000060: 
016877,000061: 27,2002           34705        REDOMANN           CAF      BIT6                                  
016878,000062: 27,2003           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016879,000063: 27,2004           10000                           CCS      A                                     
016880,000064: 27,2005           12013                           TCF      TOBALL                                #  YES
016881,000065: 27,2006           06006                           TC       INTPRET                               
016882,000066: 27,2007           77624                           CALL                                           
016883,000067: 27,2010           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016884,000068: 27,2011           01156                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI, CTHETA, CPSI
016885,000069: 27,2012           77776                           EXIT                                           
016886,000070: 
016887,000071: 27,2013           32125        TOBALL             CAF      V06N18                                
016888,000072: 27,2014           04555                           TC       BANKCALL                              
016889,000073: 27,2015           21036                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
016890,000074: 27,2016           02114                           TC       R61TEST                               
016891,000075: 27,2017           02023                           TC       REDOMANC                              #  PROCEED
016892,000076: 27,2020           12052                           TCF      ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
016893,000077: 27,2021           02056                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
016894,000078: 27,2022           05112                           TC       ENDOFJOB                              
016895,000079: 
016896,000080: 27,2023           34705        REDOMANC           CAF      BIT6                                  
016897,000081: 27,2024           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016898,000082: 27,2025           10000                           CCS      A                                     
016899,000083: 27,2026           12034                           TCF      TOBALLC                               #  YES
016900,000084: 27,2027           06006                           TC       INTPRET                               
016901,000085: 27,2030           77624                           CALL                                           
016902,000086: 27,2031           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016903,000087: 27,2032           01156                           STORE    CPHI                                  #  STORE ANGLES
016904,000088: 27,2033           77776                           EXIT                                           
016905,000089: 
016906,000090: 27,2034           34371        TOBALLC            CAF      PRIO30                                #  IS MODE AUTO AND CTL GNC

Page 384

016908,000092: 27,2035           00006                           EXTEND                                         
016909,000093: 27,2036           06031                           RXOR     CHAN31                                
016910,000094: 27,2037           77707                           MASK     13,14,15                              
016911,000095: 27,2040           00006                           EXTEND                                         
016912,000096: 27,2041           12043                           BZF      +2                                    #  AUTO, NON-FLASH N18
016913,000097: 27,2042           12013                           TCF      TOBALL                                #  NOT AUTO
016914,000098: 
016915,000099: 27,2043           32125                           CAF      V06N18                                #  SET UP NON-FLASHING V06 N18
016916,000100: 27,2044           04555                           TC       BANKCALL                              
016917,000101: 27,2045           20602                           CADR     GODSPR                                
016918,000102: 27,2046           02056                           TC       CHKLINUS                              
016919,000103: 
016920,000104: 27,2047           04555        STARTMNV           TC       BANKCALL                              
016921,000105: 27,2050           17547                           CADR     GOMANUR                               
016922,000106: 27,2051           12013        ENDMANUV           TCF      TOBALL                                #  FINISHED MANEUVER
016923,000107: 
016924,000108: 27,2052           05447        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
016925,000109: 27,2053           00124                           ADRES    3AXISFLG                              #  BIT 6 FLAG 5
016926,000110: 27,2054           31146                           CAE      TEMPR60                               #                                        -
016927,000111: 27,2055           04577                           TC       BANKJUMP                              #                                        -
016928,000112: 
016929,000113: 27,2056           40100        CHKLINUS           CS       FLAGWRD4                              
016930,000114: 27,2057           74677                           MASK     BIT12                                 #  IS PRIORITY DISPLAY FLAG SET          -
016931,000115: 27,2060           10000                           CCS      A                                     #                                        -
016932,000116: 27,2061           00002                           TC       Q                                     #  NO - EXIT
016933,000117: 27,2062           30002                           CA       Q                                     
016934,000118: 27,2063           54156                           TS       MPAC       +2                         #  SAVE RETURN
016935,000119: 27,2064           46214                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART.
016936,000120: 27,2065           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPALY
016937,000121: 27,2066           55053                           TS       TBASE1                                
016938,000122: 
016939,000123: 27,2067           05301                           TC       PHASCHNG                              
016940,000124: 27,2070           00071                           OCT      71                                    #  1.7SPOT FOR RELINUS
016941,000125: 27,2071           34704                           CAF      BIT7                                  
016942,000126: 27,2072           05415                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY      -
016943,000127: 27,2073           00156                           TC       MPAC       +2                         
016944,000128: 
016945,000129: 27,2074           34706        RELINUS            CAF      BIT5                                  #  IS TRACK FLAG ON
016946,000130: 27,2075           70075                           MASK     FLAGWRD1                              
016947,000131: 27,2076           00006                           EXTEND                                         
016948,000132: 27,2077           12111                           BZF      GOREDO20                              #  NO
016949,000133: 
016950,000134: 27,2100           05435                           TC       UPFLAG                                
016951,000135: 27,2101           00077                           ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
016952,000136: 
016953,000137: 27,2102           05435                           TC       UPFLAG                                
016954,000138: 27,2103           00024                           ADRES    TARG1FLG                              #  FOR R52
016955,000139: 
016956,000140: 27,2104           34714                           CAF      ZERO                                  #  RESET TO ZERO, SINCE

Page 385

016958,000142: 27,2105           55303                           TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
016959,000143: 
016960,000144: 27,2106           34761                           CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
016961,000145: 27,2107           05103                           TC       PRIOCHNG                              
016962,000146: 
016963,000147: 27,2110           01053                           TC       TBASE1                                
016964,000148: 
016965,000149: 27,2111           05301        GOREDO20           TC       PHASCHNG                              
016966,000150: 27,2112           00111                           OCT      111                                   #  1.11 FOR PIKUP20
016967,000151: 
016968,000152: 27,2113           05112                           TC       ENDOFJOB                              
016969,000153: 
016970,000154: 27,2114           31011        R61TEST            CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
016971,000155: 27,2115           00006                           EXTEND                                         #        VERB49 OR VERB89 SO DO ENDEXT.
016972,000156: 27,2116           12052                           BZF      ENDMANU1                              #  RESET 3-AXIS & RUTURN.  USER DOES ENDEXT
016973,000157: 27,2117           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
016974,000158: 27,2120           74677                           MASK     BIT12                                 
016975,000159: 27,2121           00006                           EXTEND                                         
016976,000160: 27,2122           14106                           BZF      GOTOPOOH                              #  NO
016977,000161: 27,2123           04550                           TC       GOTOV56                               #  YES
016978,000162: 
016979,000163: 27,2124           20100        BIT14+7            OCT      20100                                 #                                                -
016980,000164: 27,2125           01422        V06N18             VN       0618                                  
016981,000165: 

Page 386

016983,000167:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
016984,000168: 
016985,000169:                                                                                                  #  THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
016986,000170:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
016987,000171:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
016988,000172:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
016989,000173:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
016990,000174:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
016991,000175:                                                                                                  #  ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
016992,000176:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016993,000177: 
016994,000178:                                                                                                  #  THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
016995,000179:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
016996,000180:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
016997,000181:                                                                                                  #  LOCK.  IF THE AXIS TO BE POINTED IS MORE THAN 40.6 DEGREES BUT LESS THAN 60.5 DEG FROM THE +X (OR -X) AXIS,
016998,000182:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
016999,000183:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
017000,000184:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
017001,000185: 
017002,000186:                                                                                                  #  WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
017003,000187:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
017004,000188:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
017005,000189:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
017006,000190: 
017007,000191:                                                                                                  #  CALLING SEQUENCE -
017008,000192: 
017009,000193:                                                                                                  #        1)      LOAD SCAXIS, POINTVSM
017010,000194:                                                                                                  #        2)      CALL
017011,000195:                                                                                                  #                        VECPOINT
017012,000196: 
017013,000197:                                                                                                  #  RETURNS WITH
017014,000198: 
017015,000199:                                                                                                  #        1)      DESIRED OUTER GIMBAL ANGLE IN MPAC
017016,000200:                                                                                                  #        2)      DESIRED INNER GIMBAL ANGLE IN MPAC +1
017017,000201:                                                                                                  #        3)      DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
017018,000202: 
017019,000203:                                                                                                  #  ERASABLES USED -
017020,000204: 
017021,000205:                                                                                                  #        1)      SCAXIS          6
017022,000206:                                                                                                  #        2)      POINTVSM        6
017023,000207:                                                                                                  #        3)      MIS             18
017024,000208:                                                                                                  #        4)      DEL             18
017025,000209:                                                                                                  #        5)      COF             6
017026,000210:                                                                                                  #        6)      VECQTEMP        1
017027,000211:                                                                                                  #        7)      ALL OF VAC AREA 43
017028,000212: 
017029,000213:                                                                                                  #                        TOTAL   99
017030,000214: 
017031,000215: 27,2000                                           SETLOC   VECPT                                 
017032,000216: 27,2000                                           BANK                                           

Page 387

017034,000218: 27,2126  E6,1661                                  EBANK=   BCDU                                  
017035,000219: 27,2126                                           COUNT    27/VECPT                              
017036,000220: 
017037,000221: 27,2126           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
017038,000222: 27,2127           03310                                    VECQTEMP                              
017039,000223: 27,2130           56131                                    VECLEAR                               #  AND CLEAR OVFIND
017040,000224: 27,2131           47164        VECLEAR            AXC,2    RTB                                   
017041,000225: 27,2132           03320                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
017042,000226: 27,2133           44376                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
017043,000227: 27,2134           34032        STORANG            STCALL   25D                                   
017044,000228: 27,2135           44405                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
017045,000229: 27,2136           61375                           VLOAD    VXM                                   
017046,000230: 27,2137           03357                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
017047,000231: 27,2140           03321                                    MIS                                   #  INITIAL S/C AXES (VF = POINTVSM)
017048,000232: 27,2141           77656                           UNIT                                           
017049,000233: 27,2142           00035                           STORE    28D                                   
017050,000234:                                                                                                  #  PD 28 29 30 31 32 33
017051,000235: 27,2143           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
017052,000236: 27,2144           03351                                    SCAXIS                                #  WHERE VI = SCAXIS
017053,000237: 27,2145           57400                           BOV      VCOMP                                 
017054,000238: 27,2146           56256                                    PICKAXIS                              
017055,000239: 27,2147           17343                           STODL    COF                                   #  CHECK MAGNITUDE
017056,000240: 27,2150           00045                                    36D                                   #  OF CROSS PRODUCT
017057,000241: 27,2151           50025                           DSU      BMN                                   #  VECTOR, IF LESS
017058,000242: 27,2152           16327                                    DPB-14                                #  THAN B-14 ASSUME
017059,000243: 27,2153           56256                                    PICKAXIS                              #  UNIT OPERATION
017060,000244: 27,2154           50375                           VLOAD    DOT                                   #  INVALID.
017061,000245: 27,2155           03351                                    SCAXIS                                
017062,000246: 27,2156           00035                                    28D                                   
017063,000247: 27,2157           65552                           SL1      ARCCOS                                
017064,000248: 27,2160           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
017065,000249: 27,2161           44530                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES MFI
017066,000250: 27,2162           75160                           AXC,1    AXC,2                                 
017067,000251: 27,2163           03320                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
017068,000252: 27,2164           03425                                    DEL                                   #  S/C AXES TO STABLE MEMBER AXES
017069,000253: 27,2165           77624                           CALL                                           #  MFS = MIS MFI
017070,000254: 27,2166           44304                                    MXM3                                  #  (IN PD LIST)
017071,000255: 
017072,000256: 27,2167           51545                           DLOAD    ABS                                   
017073,000257: 27,2170           00007                                    6                                     #  MFS6 = SIN(CPSI)                      $2
017074,000258: 27,2171           50025                           DSU      BMN                                   
017075,000259: 27,2172           16314                                    SINGIMLC                              #  = SIN(59 DEGS)                        $2
017076,000260: 27,2173           56246                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS
017077,000261:                                                                                                  #  I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
017078,000262: 
017079,000263: 27,2174           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
017080,000264: 27,2175           03351                                    SCAXIS                                #  THE THRUST AXIS
017081,000265: 27,2176           51025                           DSU      BPL                                   
017082,000266: 27,2177           16316                                    SINVEC1                               #  SIN 49.4 DEGS                         $2

Page 388

017084,000268: 27,2200           56246                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
017085,000269: 27,2201           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
017086,000270: 27,2202           77626                           STADR                                          
017087,000271: 27,2203           50442                           STOVL    MIS        +12D                       
017088,000272: 27,2204           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
017089,000273: 27,2205           50450                           STOVL    MIS        +6                         
017090,000274: 27,2206           77626                           STADR                                          
017091,000275: 27,2207           50456                           STOVL    MIS                                   
017092,000276: 27,2210           03327                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
017093,000277: 27,2211           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
017094,000278: 27,2212           56213                                    IGSAMEX                               #  FINAL X S/C AXIS
017095,000279: 
017096,000280: 27,2213           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
017097,000281: 27,2214           03351                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
017098,000282: 27,2215           56222                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
017099,000283:                                                                                                  #  X SCAXIS . XF) LESS THAN 0, U = SCAXIS
017100,000284:                                                                                                  #  OTHERWISE U = -SCAXIS
017101,000285: 
017102,000286: 27,2216           57575                           VLOAD    VCOMP                                 
017103,000287: 27,2217           03351                                    SCAXIS                                
017104,000288: 27,2220           37343                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
017105,000289: 27,2221           56225                                    CHEKAXIS                              
017106,000290: 27,2222           77775        U=SCAXIS           VLOAD                                          
017107,000291: 27,2223           03351                                    SCAXIS                                
017108,000292: 27,2224           03343                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
017109,000293: 27,2225           51545        CHEKAXIS           DLOAD    ABS                                   
017110,000294: 27,2226           03351                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
017111,000295: 27,2227           51025                           DSU      BPL                                   
017112,000296: 27,2230           16320                                    SINVEC2                               #  SIN 29.5 DEGS                         $2
017113,000297: 27,2231           56235                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
017114,000298: 27,2232           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
017115,000299: 27,2233           16324                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
017116,000300: 27,2234           56237                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
017117,000301:                                                                                                  #  OF GIMBAL LOCK (VECANG2 $360)
017118,000302: 27,2235           77745        PICKANG1           DLOAD                                          
017119,000303: 27,2236           16322                                    VECANG1                               #  = 50 DEGS                             $ 360
017120,000304: 27,2237           77624        COMPMFSN           CALL                                           
017121,000305: 27,2240           44530                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
017122,000306: 27,2241           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
017123,000307: 27,2242           03320                                    MIS                                   
017124,000308: 27,2243           03425                                    DEL                                   
017125,000309: 27,2244           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
017126,000310: 27,2245           44304                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
017127,000311:                                                                                                  #  WHICH WILL ALIGN VI WITH VF AND AVOID
017128,000312:                                                                                                  #  GIMBAL LOCK
017129,000313: 27,2246           45160        FINDGIMB           AXC,1    CALL                                  
017130,000314: 27,2247           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
017131,000315: 27,2250           44655                                    DCMTOCDU                              #  THIS MATRIX
017132,000316: 27,2251           40234                           RTB      SETPD                                 
017133,000317: 27,2252           45547                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT

Page 389

017135,000319: 27,2253           00001                                    0                                     
017136,000320: 27,2254           77650                           GOTO                                           
017137,000321: 27,2255           03310                                    VECQTEMP                              #  RETURN TO CALLER
017138,000322: 
017139,000323: 27,2256           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
017140,000324: 27,2257           00035                                    28D                                   
017141,000325: 27,2260           03351                                    SCAXIS                                
017142,000326: 27,2261           72240                           BMN      TLOAD                                 
017143,000327: 27,2262           56266                                    ROT180                                
017144,000328: 27,2263           00032                                    25D                                   
017145,000329: 27,2264           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
017146,000330: 27,2265           03310                                    VECQTEMP                              #  PRESENT CDU ANGLES
017147,000331: 
017148,000332: 27,2266           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
017149,000333: 27,2267           03327                                    MIS        +6                         #  IS REQUIRED.  Y STABLE MEMBER AXIS IN
017150,000334: 27,2270           15330                                    HIUNITX                               #  INITIAL S/C AXIS.
017151,000335: 27,2271           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
017152,000336: 27,2272           03351                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
017153,000337: 27,2273           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
017154,000338: 27,2274           56310                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017155,000339: 27,2275           17343                           STODL    COF                                   
017156,000340: 27,2276           00045                                    36D                                   #  CHECK MAGNITUDE
017157,000341: 27,2277           50025                           DSU      BMN                                   #  OF THIS VECTOR.
017158,000342: 27,2300           16327                                    DPB-14                                #  IF LESS THAN B-14,
017159,000343: 27,2301           56310                                    PICKX                                 #  PICK X-AXIS.
017160,000344: 27,2302           77775                           VLOAD                                          
017161,000345: 27,2303           03343                                    COF                                   
017162,000346: 27,2304           17343        XROT               STODL    COF                                   
017163,000347: 27,2305           15330                                    HIDPHALF                              
017164,000348: 27,2306           77650                           GOTO                                           
017165,000349: 27,2307           56160                                    COMPMATX                              
017166,000350: 27,2310           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017167,000351: 27,2311           15330                                    HIUNITX                               
017168,000352: 27,2312           56304                                    XROT                                  
017169,000353: 35,2000                                           BANK     35                                    
017170,000354: 27,2000                                           SETLOC   MANUVER1                              
017171,000355: 27,2000                                           BANK                                           
017172,000356: 
017173,000357: 27,2313           15555 35172  SINGIMLC           2DEC     .4285836003                            #  = SIN(59)                             $2
017174,000358: 27,2315           14113 36326  SINVEC1            2DEC     .3796356537                            #  = SIN(49.4)                           $2
017175,000359: 27,2317           07701 35703  SINVEC2            2DEC     .2462117800                            #  = SIN(29.5)                           $2
017176,000360: 27,2321           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                          $360
017177,000361: 27,2323           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                          $360
017178,000362: 
017179,000363: 27,2325           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)      *********
017180,000364: 27,2326           00001        DPB-14             OCT      00001                                 

Page 390

017182,000366: 27,2327           00000                           OCT      00000                                 
017183,000367: 34,2002                                           BANK     34                                    
017184,000368: 27,2000                                           SETLOC   MANUVER                               
017185,000369: 27,2000                                           BANK                                           
017186,000370: 

Page 391

017188,000372:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017189,000373: 
017190,000374: 27,2330     1155                                  EBANK=   CPHI                                  
017191,000375: 
017192,000376: 27,2330                                           COUNT    27/R62                                
017193,000377: 
017194,000378: 27,2330           34745        R62DISP            CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017195,000379: 27,2331           04555                           TC       BANKCALL                              
017196,000380: 27,2332           20624                           CADR     GOFLASH                               
017197,000381: 27,2333           15423                           TCF      ENDEXT                                
017198,000382: 27,2334           12336                           TCF      GOMOVE                                #  PROCEED
017199,000383: 27,2335           12330                           TCF      R62DISP                               #  ENTER
017200,000384: 
017201,000385:                                                                                                  #  ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017202,000386:                                                                                                  #  POINT
017203,000387: 27,2336           05435        GOMOVE             TC       UPFLAG                                #  SET 3-AXIS FLAG
017204,000388: 27,2337           00124                           ADRES    3AXISFLG                              #  BIT 6 FLAG 5
017205,000389: 
017206,000390: 27,2340           04555                           TC       BANKCALL                              
017207,000391: 27,2341           56000                           CADR     R60CSM                                
017208,000392: 27,2342           15423                           TCF      ENDEXT                                
017209,000393: 

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