Source Code

These source-code files were derived from scans of the Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249 (Apollo 9 CM) source files were used as a template, and changes between Colossus 249 and Colossus 237 were manually transcribed by a team of volunteers. Note that the page images presented online are of reduced quality, and that additional images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968
Note that the date is the date of the printout, not the date of the program revision.

016772,000002:                                                                                                  ## Copyright:   Public domain.
016773,000003:                                                                                                  ## Filename:    R60,R62.agc
016774,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus build 237.
016775,000005:                                                                                                  ##              This is for the Command Module's (CM) Apollo Guidance
016776,000006:                                                                                                  ##              Computer (AGC), for Apollo 8.
016777,000007:                                                                                                  ## Assembler:   yaYUL
016778,000008:                                                                                                  ## Contact:     Jim Lawton <jim DOT lawton AT gmail DOT com>
016779,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
016780,000010:                                                                                                  ## Page Scans:  www.ibiblio.org/apollo/ScansForConversion/Colossus237/
016781,000011:                                                                                                  ## Mod history: 2011-01-27 JL   Adapted from corresponding Colossus 249 file.
016782,000012:                                                                                                  ##              2016-12-30 RSB  Proofed comment text using octopus/ProoferComments,
016783,000013:                                                                                                  ##                              and corrected errors found.
016784,000014: 

Page 381

016786,000016: 34,2002                                           BANK     34                                    
016787,000017: 27,2000                                           SETLOC   MANUVER                               
016788,000018: 27,2000                                           BANK                                           
016789,000019: 
016790,000020: 27,2000     1146                                  EBANK=   TEMPR60                               
016791,000021: 
016792,000022: 27,2000                                           COUNT    27/R60                                
016793,000023: 
016794,000024: 
016795,000025:                                                                                                  #  R60CSM
016796,000026:                                                                                                  #  REV 13   CONFORMS TO GSOP CHAPTER FOUR REVISION LOGIC  09  JAN 18,1968
016797,000027: 
016798,000028: 
016799,000029: 
016800,000030: 27,2000           04604        R60CSM             TC       MAKECADR                              
016801,000031: 27,2001           55146                           TS       TEMPR60                               
016802,000032: 
016803,000033:                                                                                                  #        INSERT PRIODSP CHECK WITH R22 (V06N49)  WITH JENNINGS BRODEUR           
016804,000034: 
016805,000035: 27,2002           34705        REDOMANN           CAF      BIT6                                  
016806,000036: 27,2003           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016807,000037: 27,2004           10000                           CCS      A                                     
016808,000038: 27,2005           12013                           TCF      TOBALL                                #  YES
016809,000039: 27,2006           06006                           TC       INTPRET                               
016810,000040: 27,2007           77624                           CALL                                           
016811,000041: 27,2010           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016812,000042: 27,2011           01156                           STORE    CPHI                                  #  STORE FINAL ANGLES - CPHI,CTHETA,CPSI
016813,000043: 27,2012           77776                           EXIT                                           
016814,000044: 
016815,000045: 27,2013           32125        TOBALL             CAF      V06N18                                
016816,000046: 27,2014           04555                           TC       BANKCALL                              
016817,000047: 27,2015           21036                           CADR     GOPERF2R                              #  DISPLAY PLEASE PERFORM AUTO MANEUVER
016818,000048: 27,2016           02114                           TC       R61TEST                               
016819,000049: 27,2017           02023                           TC       REDOMANC                              #  PROCEED
016820,000050: 27,2020           12052                           TCF      ENDMANU1                              #  ENTER I.E. FINISHED WITH R60
016821,000051: 
016822,000052: 27,2021           02056                           TC       CHKLINUS                              #  TO CHECK FOR PRIORITY DISPLAYS
016823,000053: 27,2022           05112                           TC       ENDOFJOB                              
016824,000054: 
016825,000055: 27,2023           34705        REDOMANC           CAF      BIT6                                  
016826,000056: 27,2024           70101                           MASK     FLAGWRD5                              #  IS 3-AXIS FLAG SET
016827,000057: 27,2025           10000                           CCS      A                                     
016828,000058: 27,2026           12034                           TCF      TOBALLC                               #  YES
016829,000059: 27,2027           06006                           TC       INTPRET                               
016830,000060: 27,2030           77624                           CALL                                           
016831,000061: 27,2031           56126                                    VECPOINT                              #  TO COMPUTE FINAL ANGLES
016832,000062: 27,2032           01156                           STORE    CPHI                                  #  STORE ANGLES
016833,000063: 27,2033           77776                           EXIT                                           
016834,000064: 
016835,000065: 27,2034           34371        TOBALLC            CAF      PRIO30                                #  IS MODE AUTO AND CTL GNC

Page 382

016837,000067: 27,2035           00006                           EXTEND                                         
016838,000068: 27,2036           06031                           RXOR     CHAN31                                
016839,000069: 27,2037           77707                           MASK     13,14,15                              
016840,000070: 27,2040           00006                           EXTEND                                         
016841,000071: 27,2041           12043                           BZF      +2                                    #  AUTO, NON-FLASH N18
016842,000072: 27,2042           12013                           TCF      TOBALL                                #  NOT AUTO
016843,000073: 
016844,000074: 27,2043           32125                           CAF      V06N18                                #  SET UP NON-FLASHING V06 N18
016845,000075: 27,2044           04555                           TC       BANKCALL                              
016846,000076: 27,2045           20602                           CADR     GODSPR                                
016847,000077: 27,2046           02056                           TC       CHKLINUS                              
016848,000078: 
016849,000079: 27,2047           04555        STARTMNV           TC       BANKCALL                              
016850,000080: 27,2050           17547                           CADR     GOMANUR                               
016851,000081: 27,2051           12013        ENDMANUV           TCF      TOBALL                                #  FINISHED MANEUVER
016852,000082: 
016853,000083: 27,2052           05447        ENDMANU1           TC       DOWNFLAG                              #  RESET 3-AXIS FLAG
016854,000084: 27,2053           00124                           ADRES    3AXISFLG                              #  BIT 6 FLAG 5
016855,000085: 27,2054           31146                           CAE      TEMPR60                               #                                       -
016856,000086: 27,2055           04577                           TC       BANKJUMP                              #                                       -
016857,000087: 
016858,000088: 27,2056           40100        CHKLINUS           CS       FLAGWRD4                              
016859,000089: 27,2057           74677                           MASK     BIT12                                 #  IS PRIORITY DISPLAY FLAG SET         -
016860,000090: 27,2060           10000                           CCS      A                                     #                                       -
016861,000091: 27,2061           00002                           TC       Q                                     #  NO - EXIT
016862,000092: 27,2062           30002                           CA       Q                                     
016863,000093: 27,2063           54156                           TS       MPAC       +2                         #  SAVE RETURN
016864,000094: 27,2064           46214                           CS       THREE                                 #  OBTAIN LOCATION FOR RESTART.
016865,000095: 27,2065           60133                           AD       BUF2                                  #  HOLDS Q OF LAST DISPALY
016866,000096: 27,2066           55053                           TS       TBASE1                                
016867,000097: 
016868,000098: 27,2067           05301                           TC       PHASCHNG                              
016869,000099: 27,2070           00071                           OCT      71                                    #  1.7SPOT FOR RELINUS
016870,000100: 27,2071           34704                           CAF      BIT7                                  
016871,000101: 27,2072           05415                           TC       LINUS                                 #  GO SET BITS FOR PRIORITY DISPLAY     -
016872,000102: 27,2073           00156                           TC       MPAC       +2                         
016873,000103: 
016874,000104: 27,2074           34706        RELINUS            CAF      BIT5                                  #  IS TRACK FLAG ON
016875,000105: 27,2075           70075                           MASK     FLAGWRD1                              
016876,000106: 27,2076           00006                           EXTEND                                         
016877,000107: 27,2077           12111                           BZF      GOREDO20                              #  NO
016878,000108: 
016879,000109: 27,2100           05435                           TC       UPFLAG                                
016880,000110: 27,2101           00077                           ADRES    PDSPFLAG                              #  R60 PRIODSP FLAG
016881,000111: 
016882,000112: 27,2102           05435                           TC       UPFLAG                                
016883,000113: 27,2103           00024                           ADRES    TARG1FLG                              #  FOR R52
016884,000114: 
016885,000115: 27,2104           34714                           CAF      ZERO                                  #  RESET TO ZERO, SINCE

Page 383

016887,000117: 27,2105           55303                           TS       OPTIND                                #  OPTIND WAS SET TO -1 BY V379
016888,000118: 
016889,000119: 27,2106           34761                           CAF      PRIO14                                #  RESTORE ORIGINAL PRIORITY
016890,000120: 27,2107           05103                           TC       PRIOCHNG                              
016891,000121: 
016892,000122: 27,2110           01053                           TC       TBASE1                                
016893,000123: 
016894,000124: 27,2111           05301        GOREDO20           TC       PHASCHNG                              
016895,000125: 27,2112           00111                           OCT      111                                   #  1.11 FOR PIKUP20
016896,000126: 
016897,000127: 27,2113           05112                           TC       ENDOFJOB                              
016898,000128: 
016899,000129: 27,2114           31011        R61TEST            CA       MODREG                                #  ARE WE IN P00.  IF YES THIS MUST BE
016900,000130: 27,2115           00006                           EXTEND                                         #      VERB49 OR VERB89 SO DO ENDEXT.
016901,000131: 27,2116           12052                           BZF      ENDMANU1                              #  RESET 3-AXIS & RUTURN.  USER DOES ENDEXT
016902,000132: 27,2117           30100                           CA       FLAGWRD4                              #  ARE WE IN R61 (P20)
016903,000133: 27,2120           74677                           MASK     BIT12                                 
016904,000134: 27,2121           00006                           EXTEND                                         
016905,000135: 27,2122           14106                           BZF      GOTOPOOH                              #  NO
016906,000136: 27,2123           04550                           TC       GOTOV56                               #  YES
016907,000137: 
016908,000138: 27,2124           20100        BIT14+7            OCT      20100                                 #                                       -
016909,000139: 27,2125           01422        V06N18             VN       0618                                  
016910,000140: 

Page 384

016912,000142:                                                                                                  #  PROGRAM DESCRIPTION - VECPOINT
016913,000143: 
016914,000144: 
016915,000145:                                                                                                  #           THIS INTERPRETIVE SUBROUTINE MAY BE USED TO POINT A SPACECRAFT AXIS IN A DESIRED DIRECTION.  THE AXIS
016916,000146:                                                                                                  #  TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN SUCCESSIVE LOCATIONS OF ERASABLE MEMORY
016917,000147:                                                                                                  #  BEGINNING WITH THE LOCATION CALLED SCAXIS.  THE COMPONENTS OF THIS VECTOR ARE GIVEN IN SPACECRAFT COORDINATES.
016918,000148:                                                                                                  #  THE DIRECTION IN WHICH THIS AXIS IS TO BE POINTED MUST APPEAR AS A HALF UNIT DOUBLE PRECISION VECTOR IN
016919,000149:                                                                                                  #  SUCCESSIVE LOCATIONS OF ERASABLE MEMORY BEGINNING WITH THE ADDRESS CALLED POINTVSM.  THE COMPONENTS OF THIS
016920,000150:                                                                                                  #  VECTOR ARE GIVEN IN STABLE MEMBER COORDINATES.  WITH THIS INFORMATION VECPOINT COMPUTES A SET OF THREE GIMBAL
016921,000151:                                                                                                  #  ANGLES (2S COMPLEMENT) CORRESPONDING TO THE CROSS-PRODUCT ROTATION BETWEEN SCAXIS AND POINTVSM AND STORES THEM
016922,000152:                                                                                                  #  IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016923,000153:                                                                                                  #           THIS ROTATION, HOWEVER, MAY BRING THE S/C INTO GIMBAL LOCK.  WHEN POINTING A VECTOR IN THE Y-Z PLANE,
016924,000154:                                                                                                  #  THE TRANSPONDER AXIS, OR THE AOT FOR THE LEM, THE PROGRAM WILL CORRECT THIS PROBLEM BY ROTATING THE CROSS-
016925,000155:                                                                                                  #  PRODUCT ATTITUDE ABOUT POINTVSM BY A FIXED AMOUNT SUFFICIENT TO ROTATE THE DESIRED S/C ATTITUDE OUT OF GIMBAL
016926,000156:                                                                                                  #  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,
016927,000157:                                                                                                  #  THE ADDITIONAL ROTATION TO AVOID GIMAL LOCK IS 35 DEGREES.  IF THE AXIS IS MORE THAN 60.5 DEGEES FROM +X (OR -X)
016928,000158:                                                                                                  #  THE ADDITIONAL ROTATION IS 35 DEGREES.  THE GIMBAL ANGLES CORRESPONDING TO THIS ATTITUDE ARE THEN COMPUTED AND
016929,000159:                                                                                                  #  STORED AS 2S COMPLIMENT ANGLES IN T(MPAC) BEFORE RETURNING TO THE CALLER.
016930,000160:                                                                                                  #           WHEN POINTING THE X-AXIS, OR THE THRUST VECTOR, OR ANY VECTOR WITHIN 40.6 DEG OF THE X-AXIS, VECPOINT
016931,000161:                                                                                                  #  CANNOT CORRECT FOR A CROSS-PRODUCT ROTATION INTO GIMBAL LOCK.  IN THIS CASE A PLATFORM REALIGNMENT WOULD BE
016932,000162:                                                                                                  #  REQUIRED TO POINT THE VECTOR IN THE DESIRED DIRECTION.  AT PRESENT NO INDICATION IS GIVEN FOR THIS SITUATION
016933,000163:                                                                                                  #  EXCEPT THAT THE FINAL MIDDLE GIMBAL ANGLE IN MPAC +2 IS GREATER THAN 59 DEGREES.
016934,000164: 
016935,000165:                                                                                                  #           CALLING SEQUENCE -
016936,000166:                                                                                                  #               1) LOAD SCAXIS, POINTVSM
016937,000167:                                                                                                  #               2) CALL
016938,000168:                                                                                                  #                       VECPOINT
016939,000169: 
016940,000170:                                                                                                  #           RETURNS WITH
016941,000171: 
016942,000172:                                                                                                  #               1) DESIRED OUTER  GIMBAL ANGLE IN MPAC
016943,000173:                                                                                                  #               2) DESIRED INNER  GIMBAL ANGLE IN MPAC +1
016944,000174:                                                                                                  #               3) DESIRED MIDDLE GIMBAL ANGLE IN MPAC +2
016945,000175: 
016946,000176: 
016947,000177:                                                                                                  #           ERASABLES USED -
016948,000178: 
016949,000179:                                                                                                  #               1) SCAXIS           6
016950,000180:                                                                                                  #               2) POINTVSM         6
016951,000181:                                                                                                  #               3) MIS             18
016952,000182:                                                                                                  #               4) DEL             18
016953,000183:                                                                                                  #               5) COF              6
016954,000184:                                                                                                  #               6) VECQTEMP         1
016955,000185:                                                                                                  #               7) ALL OF VAC AREA 43
016956,000186: 
016957,000187:                                                                                                  #                        TOTAL     99
016958,000188: 
016959,000189: 
016960,000190: 27,2000                                           SETLOC   VECPT                                 
016961,000191: 27,2000                                           BANK                                           

Page 385

016963,000193: 27,2126  E6,1661                                  EBANK=   BCDU                                  
016964,000194: 
016965,000195: 27,2126                                           COUNT    27/VECPT                              
016966,000196: 
016967,000197: 27,2126           40020        VECPOINT           STQ      BOV                                   #  SAVE RETURN ADDRESS
016968,000198: 27,2127           03310                                    VECQTEMP                              
016969,000199: 27,2130           56131                                    VECLEAR                               #  AND CLEAR OVFIND
016970,000200: 27,2131           47164        VECLEAR            AXC,2    RTB                                   
016971,000201: 27,2132           03320                                    MIS                                   #  READ THE PRESENT CDU ANGLES AND
016972,000202: 27,2133           44376                                    READCDUK                              #  STORE THEM IN PD25, 26, 27
016973,000203: 27,2134           34032        STORANG            STCALL   25D                                   
016974,000204: 27,2135           44405                                    CDUTODCM                              #  S/C AXES TO STABLE MEMBER AXES (MIS)
016975,000205: 27,2136           61375                           VLOAD    VXM                                   
016976,000206: 27,2137           03357                                    POINTVSM                              #  RESOLVE THE POINTING DIRECTION VF INTO
016977,000207: 27,2140           03321                                    MIS                                   #  INITIAL S/C AXES ( VF = POINTVSM)
016978,000208: 27,2141           77656                           UNIT                                           
016979,000209: 27,2142           00035                           STORE    28D                                   
016980,000210:                                                                                                  #                                          PD 28 29 30 31 32 33
016981,000211: 27,2143           53435                           VXV      UNIT                                  #  TAKE THE CROSS PRODUCT VF X VI
016982,000212: 27,2144           03351                                    SCAXIS                                #  WHERE VI = SCAXIS
016983,000213: 27,2145           57400                           BOV      VCOMP                                 
016984,000214: 27,2146           56256                                    PICKAXIS                              
016985,000215: 27,2147           17343                           STODL    COF                                   #  CHECK MAGNITUDE
016986,000216: 27,2150           00045                                    36D                                   #  OF CROSS PRODUCT
016987,000217: 27,2151           50025                           DSU      BMN                                   #  VECTOR, IF LESS
016988,000218: 27,2152           16327                                    DPB-14                                #  THAN B-14 ASSUME
016989,000219: 27,2153           56256                                    PICKAXIS                              #  UNIT OPERATION
016990,000220: 27,2154           50375                           VLOAD    DOT                                   #           INVALID.
016991,000221: 27,2155           03351                                    SCAXIS                                
016992,000222: 27,2156           00035                                    28D                                   
016993,000223: 27,2157           65552                           SL1      ARCCOS                                
016994,000224: 27,2160           77624        COMPMATX           CALL                                           #  NOW COMPUTE THE TRANSFORMATION FROM
016995,000225: 27,2161           44530                                    DELCOMP                               #  FINAL S/C AXES TO INITIAL S/C AXES  MFI
016996,000226: 27,2162           75160                           AXC,1    AXC,2                                 
016997,000227: 27,2163           03320                                    MIS                                   #  COMPUTE THE TRANSFORMATION FROM FINAL
016998,000228: 27,2164           03425                                    DEL                                   #  S/C AXES TO STABLE MEMBER AXES
016999,000229: 27,2165           77624                           CALL                                           #  MFS = MIS MFI
017000,000230: 27,2166           44304                                    MXM3                                  #  (IN PD LIST)
017001,000231: 
017002,000232: 27,2167           51545                           DLOAD    ABS                                   
017003,000233: 27,2170           00007                                    6                                     #  MFS6 = SIN(CPSI)                     $2
017004,000234: 27,2171           50025                           DSU      BMN                                   
017005,000235: 27,2172           16314                                    SINGIMLC                              #  = SIN(59 DEGS)                       $2
017006,000236: 27,2173           56246                                    FINDGIMB                              #  /CPSI/ LESS THAN 59 DEGS
017007,000237:                                                                                                  #                                          I.E. DESIRED ATTITUDE NOT IN GIMBAL LOCK
017008,000238: 
017009,000239: 27,2174           51545                           DLOAD    ABS                                   #  CHECK TO SEE IF WE ARE POINTING
017010,000240: 27,2175           03351                                    SCAXIS                                #  THE THRUST AXIS
017011,000241: 27,2176           51025                           DSU      BPL                                   
017012,000242: 27,2177           16316                                    SINVEC1                               #  SIN 49.4 DEGS                        $2

Page 386

017014,000244: 27,2200           56246                                    FINDGIMB                              #  IF SO, WE ARE TRYING TO POINT IT INTO
017015,000245: 27,2201           77775                           VLOAD                                          #  GIMBAL LOCK, ABORT COULD GO HERE
017016,000246: 27,2202           77626                           STADR                                          
017017,000247: 27,2203           50442                           STOVL    MIS        +12D                       
017018,000248: 27,2204           77626                           STADR                                          #  STORE MFS (IN PD LIST) IN MIS
017019,000249: 27,2205           50450                           STOVL    MIS        +6                         
017020,000250: 27,2206           77626                           STADR                                          
017021,000251: 27,2207           50456                           STOVL    MIS                                   
017022,000252: 27,2210           03327                                    MIS        +6                         #  INNER GIMBAL AXIS IN FINAL S/C AXES
017023,000253: 27,2211           57444                           BPL      VCOMP                                 #  LOCATE THE IG AXIS DIRECTION CLOSEST TO
017024,000254: 27,2212           56213                                    IGSAMEX                               #  FINAL X S/C AXIS
017025,000255: 
017026,000256: 27,2213           50035        IGSAMEX            VXV      BMN                                   #  FIND THE SHORTEST WAY OF ROTATING THE 
017027,000257: 27,2214           03351                                    SCAXIS                                #  S/C OUT OF GIMBAL LOCK BY A ROTATION 
017028,000258: 27,2215           56222                                    U=SCAXIS                              #  ABOUT +- SCAXIS, I.E. IF  (IG (SGN MFS3)
017029,000259:                                                                                                  #                                          X SCAXIS . XF) LESS THAN 0, U = SCAXIS
017030,000260:                                                                                                  #                                          OTHERWISE U = -SCAXIS
017031,000261: 
017032,000262: 27,2216           57575                           VLOAD    VCOMP                                 
017033,000263: 27,2217           03351                                    SCAXIS                                
017034,000264: 27,2220           37343                           STCALL   COF                                   #  ROTATE ABOUT -SCAXIS
017035,000265: 27,2221           56225                                    CHEKAXIS                              
017036,000266: 27,2222           77775        U=SCAXIS           VLOAD                                          
017037,000267: 27,2223           03351                                    SCAXIS                                
017038,000268: 27,2224           03343                           STORE    COF                                   #  ROTATE ABOUT + SCAXIS
017039,000269: 27,2225           51545        CHEKAXIS           DLOAD    ABS                                   
017040,000270: 27,2226           03351                                    SCAXIS                                #  SEE IF WE ARE POINTING THE AOT
017041,000271: 27,2227           51025                           DSU      BPL                                   
017042,000272: 27,2230           16320                                    SINVEC2                               #  SIN 29.5 DEGS                        $2
017043,000273: 27,2231           56235                                    PICKANG1                              #  IF SO, ROTATE 50 DEGS ABOUT +- SCAXIS
017044,000274: 27,2232           52145                           DLOAD    GOTO                                  #  IF NOT, MUST BE POINTING THE TRANSPONDER
017045,000275: 27,2233           16324                                    VECANG2                               #  OR SOME VECTOR IN THE Y, OR Z PLANE
017046,000276: 27,2234           56237                                    COMPMFSN                              #  IN THIS CASE ROTATE 35 DEGS TO GET OUT
017047,000277:                                                                                                  #                                          OF GIMBAL LOCK (VECANG2  $360)
017048,000278: 27,2235           77745        PICKANG1           DLOAD                                          
017049,000279: 27,2236           16322                                    VECANG1                               #  = 50 DEGS                          $ 360
017050,000280: 27,2237           77624        COMPMFSN           CALL                                           
017051,000281: 27,2240           44530                                    DELCOMP                               #  COMPUTE THE ROTATION ABOUT SCAXIS TO
017052,000282: 27,2241           75160                           AXC,1    AXC,2                                 #  BRING MFS OUT OF GIMBAL LOCK
017053,000283: 27,2242           03320                                    MIS                                   
017054,000284: 27,2243           03425                                    DEL                                   
017055,000285: 27,2244           77624                           CALL                                           #  COMPUTE THE NEW TRANSFORMATION FROM
017056,000286: 27,2245           44304                                    MXM3                                  #  DESIRED S/C AXES TO STABLE MEMBER AXES
017057,000287:                                                                                                  #                                          WHICH WILL ALIGN VI WITH VF AND AVOID
017058,000288:                                                                                                  #                                          GIMBAL LOCK
017059,000289: 27,2246           45160        FINDGIMB           AXC,1    CALL                                  
017060,000290: 27,2247           00000                                    0                                     #  EXTRACT THE COMMANDED CDU ANGLES FROM
017061,000291: 27,2250           44655                                    DCMTOCDU                              #  THIS MATRIX
017062,000292: 27,2251           40234                           RTB      SETPD                                 
017063,000293: 27,2252           45547                                    V1STO2S                               #  CONVERT TO 2:S COMPLEMENT

Page 387

017065,000295: 27,2253           00001                                    0                                     
017066,000296: 27,2254           77650                           GOTO                                           
017067,000297: 27,2255           03310                                    VECQTEMP                              #  RETURN TO CALLER
017068,000298: 
017069,000299: 27,2256           50375        PICKAXIS           VLOAD    DOT                                   #  IF VF X VI = 0, FIND VF . VI
017070,000300: 27,2257           00035                                    28D                                   
017071,000301: 27,2260           03351                                    SCAXIS                                
017072,000302: 27,2261           72240                           BMN      TLOAD                                 
017073,000303: 27,2262           56266                                    ROT180                                
017074,000304: 27,2263           00032                                    25D                                   
017075,000305: 27,2264           77650                           GOTO                                           #  IF VF = VI, CDU DESIRED = PRESENT CDU
017076,000306: 27,2265           03310                                    VECQTEMP                              #  PRESENT CDU ANGLES
017077,000307: 
017078,000308: 27,2266           47375        ROT180             VLOAD    VXV                                   #  IF VF, VI ANTIPARALLEL, 180 DEG ROTATION
017079,000309: 27,2267           03327                                    MIS        +6                         #  IS REQUIRED. Y STABLE MEMBER AXIS IN
017080,000310: 27,2270           15330                                    HIUNITX                               #  INITIAL S/C AXIS.
017081,000311: 27,2271           47256                           UNIT     VXV                                   #  FIND Y(SM) X X(I)
017082,000312: 27,2272           03351                                    SCAXIS                                #  FIND UNIT(VI X UNIT(Y(SM) X X(I)))
017083,000313: 27,2273           40056                           UNIT     BOV                                   #  I.E. PICK A VECTOR IN THE PLANE OF X(I),
017084,000314: 27,2274           56310                                    PICKX                                 #  Y(SM) PERPENDICULAR TO VI
017085,000315: 27,2275           17343                           STODL    COF                                   
017086,000316: 27,2276           00045                                    36D                                   #  CHECK MAGNITUDE
017087,000317: 27,2277           50025                           DSU      BMN                                   #  OF THIS VECTOR.
017088,000318: 27,2300           16327                                    DPB-14                                #  IF LESS THAN B-14,
017089,000319: 27,2301           56310                                    PICKX                                 #  PICK X-AXIS.
017090,000320: 27,2302           77775                           VLOAD                                          
017091,000321: 27,2303           03343                                    COF                                   
017092,000322: 27,2304           17343        XROT               STODL    COF                                   
017093,000323: 27,2305           15330                                    HIDPHALF                              
017094,000324: 27,2306           77650                           GOTO                                           
017095,000325: 27,2307           56160                                    COMPMATX                              
017096,000326: 27,2310           52175        PICKX              VLOAD    GOTO                                  #  PICK THE XAXIS IN THIS CASE
017097,000327: 27,2311           15330                                    HIUNITX                               
017098,000328: 27,2312           56304                                    XROT                                  
017099,000329: 35,2000                                           BANK     35                                    
017100,000330: 27,2000                                           SETLOC   MANUVER1                              
017101,000331: 27,2000                                           BANK                                           
017102,000332: 
017103,000333: 27,2313           15555 35172  SINGIMLC           2DEC     .4285836003                            #  =SIN(59)               $2
017104,000334: 27,2315           14113 36326  SINVEC1            2DEC     .3796356537                            #  =SIN(49.4)             $2
017105,000335: 27,2317           07701 35703  SINVEC2            2DEC     .2462117800                            #  =SIN(29.5)             $2
017106,000336: 27,2321           04343 21616  VECANG1            2DEC     .1388888889                            #  = 50 DEGREES                        $360
017107,000337: 27,2323           03070 34344  VECANG2            2DEC     .09722222222                            #  = 35 DEGREES                        $360
017108,000338: 27,2325           00000        1BITDP             OCT      0                                     #  KEEP THIS BEFORE DPB(-14)      *********
017109,000339: 27,2326           00001        DPB-14             OCT      00001                                 

Page 388

017111,000341: 27,2327           00000                           OCT      00000                                 
017112,000342: 34,2002                                           BANK     34                                    
017113,000343: 27,2000                                           SETLOC   MANUVER                               
017114,000344: 27,2000                                           BANK                                           
017115,000345: 

Page 389

017117,000347:                                                                                                  #  ROUTINE FOR INITIATING AUTOMATIC MANEUVER VIA KEYBOARD (V49)
017118,000348: 
017119,000349: 
017120,000350: 27,2330     1155                                  EBANK=   CPHI                                  
017121,000351: 
017122,000352: 27,2330                                           COUNT    27/R62                                
017123,000353: 
017124,000354: 27,2330           34745        R62DISP            CAF      V06N22                                #  DISPLAY COMMAND ICDUS CPHI, CTHETA, CPHI
017125,000355: 27,2331           04555                           TC       BANKCALL                              
017126,000356: 27,2332           20624                           CADR     GOFLASH                               
017127,000357: 27,2333           15423                           TCF      ENDEXT                                
017128,000358: 27,2334           12336                           TCF      GOMOVE                                #  PROCEED
017129,000359: 27,2335           12330                           TCF      R62DISP                               #  ENTER
017130,000360: 
017131,000361: 
017132,000362:                                                                                                  #                                          ASTRONAUT MAY LOAD NEW ICDUS AT THIS
017133,000363:                                                                                                  #                                          POINT
017134,000364: 27,2336           05435        GOMOVE             TC       UPFLAG                                #  SET 3-AXIS FLAG
017135,000365: 27,2337           00124                           ADRES    3AXISFLG                              #  BIT 6  FLAG 5
017136,000366: 
017137,000367: 27,2340           04555                           TC       BANKCALL                              
017138,000368: 27,2341           56000                           CADR     R60CSM                                
017139,000369: 27,2342           15423                           TCF      ENDEXT                                

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