Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Colossus 249 (Apollo 9) source code to agree with the images from the printout. 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:

	GAP:  ASSEMBLE REVISION 055 OF AGC PROGRAM COMANCHE BY NASA 2021113-051
	10:28 APR.  1,1969
Note that the date is the date of the printout, not the date of the program revision.

017421,000002:                                                                                                  ## Copyright:   Public domain.
017422,000003:                                                                                                  ## Filename:    ANGLFIND.agc
017423,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
017424,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
017425,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
017426,000007:                                                                                                  ## Assembler:   yaYUL
017427,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
017428,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
017429,000010:                                                                                                  ## Pages:       399-411
017430,000011:                                                                                                  ## Mod history: 2009-05-09 RSB  Adapted from the Colossus249/ file 
017431,000012:                                                                                                  ##                              of the same name, using Comanche055 page 
017432,000013:                                                                                                  ##                              images.
017433,000014:                                                                                                  ##              2009-05-22 RSB  In NOGOM2, TC ZEROEROR corrected to 
017434,000015:                                                                                                  ##                              CADR ZEROEROR.
017435,000016:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
017436,000017:                                                                                                  ##                              Colossus 237 and Colossus 249.
017437,000018:                                                                                                  ##
017438,000019:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
017439,000020:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
017440,000021:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
017441,000022:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
017442,000023:                                                                                                  ## consequent reduction in image quality as well) are available online at
017443,000024:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
017444,000025:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
017445,000026:                                                                                                  ## (much) higher-quality images which Paul actually created.
017446,000027:                                                                                                  ##
017447,000028:                                                                                                  ## Notations on the hardcopy document read, in part:
017448,000029:                                                                                                  ##
017449,000030:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
017450,000031:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
017451,000032:                                                                                                  ##
017452,000033:                                                                                                  ##      This AGC program shall also be referred to as
017453,000034:                                                                                                  ##                      Colossus 2A
017454,000035: 

Page 399

017456,000037: 15,2000                                           BANK     15                                    
017457,000038: 22,2000                                           SETLOC   KALCMON1                              
017458,000039: 22,2000                                           BANK                                           
017459,000040: 
017460,000041: 22,2000  E6,1661                                  EBANK=   BCDU                                  
017461,000042: 
017462,000043: 22,2000                                           COUNT    22/KALC                               
017463,000044: 
017464,000045: 22,2000           06006        KALCMAN3           TC       INTPRET                               
017465,000046: 22,2001           77634                           RTB                                            
017466,000047: 22,2002           44376                                    READCDUK                              #  PICK UP CURRENT CDU ANGLES
017467,000048: 22,2003           03262                           STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
017468,000049: 22,2004           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017469,000050: 22,2005           03320                                    MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
017470,000051: 22,2006           03262                                    BCDU                                  #  (MIS)
017471,000052: 22,2007           77624                           CALL                                           
017472,000053: 22,2010           44405                                    CDUTODCM                              
017473,000054: 22,2011           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017474,000055: 22,2012           03425                                    MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
017475,000056: 22,2013           01156                                    CPHI                                  #  (MFS)
017476,000057: 22,2014           77624                           CALL                                           
017477,000058: 22,2015           44405                                    CDUTODCM                              
017478,000059: 22,2016           45160        SECAD              AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
017479,000060: 22,2017           03320                                    MIS                                   
017480,000061: 22,2020           44334                                    TRANSPOS                              
017481,000062: 22,2021           77775                           VLOAD                                          
017482,000063: 22,2022           77626                           STADR                                          
017483,000064: 22,2023           50474                           STOVL    TMIS       +12D                       
017484,000065: 22,2024           77626                           STADR                                          
017485,000066: 22,2025           50502                           STOVL    TMIS       +6                         
017486,000067: 22,2026           77626                           STADR                                          
017487,000068: 22,2027           74510                           STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
017488,000069: 22,2030           75160                           AXC,1    AXC,2                                 
017489,000070: 22,2031           03266                                    TMIS                                  
017490,000071: 22,2032           03425                                    MFS                                   
017491,000072: 22,2033           77624                           CALL                                           
017492,000073: 22,2034           44304                                    MXM3                                  
017493,000074: 22,2035           45575                           VLOAD    STADR                                 
017494,000075: 22,2036           50335                           STOVL    MFI        +12D                       
017495,000076: 22,2037           77626                           STADR                                          
017496,000077: 22,2040           50343                           STOVL    MFI        +6                         
017497,000078: 22,2041           77626                           STADR                                          
017498,000079: 22,2042           74351                           STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
017499,000080: 22,2043           45001                           SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
017500,000081: 22,2044           00023                                    18D                                   
017501,000082: 22,2045           44343                                    TRNSPSPD                              
017502,000083: 22,2046           45575                           VLOAD    STADR                                 
017503,000084: 22,2047           50474                           STOVL    TMFI       +12D                       
017504,000085: 22,2050           77626                           STADR                                          
017505,000086: 22,2051           50502                           STOVL    TMFI       +6                         

Page 400

017507,000088: 22,2052           77626                           STADR                                          
017508,000089: 22,2053           74510                           STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
017509,000090: 
017510,000091:                                                                                                  #  CALCULATE COFSKEW AND MFISYM
017511,000092: 
017512,000093: 22,2054           45345                           DLOAD    DSU                                   
017513,000094: 22,2055           03271                                    TMFI       +2                         
017514,000095: 22,2056           03430                                    MFI        +2                         
017515,000096: 22,2057           45325                           PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
017516,000097: 22,2060           03432                                    MFI        +4                         
017517,000098: 22,2061           03273                                    TMFI       +4                         
017518,000099: 22,2062           45325                           PDDL     DSU                                   
017519,000100: 22,2063           03301                                    TMFI       +10D                       
017520,000101: 22,2064           03440                                    MFI        +10D                       
017521,000102: 22,2065           77666                           VDEF                                           
017522,000103: 22,2066           03311                           STORE    COFSKEW                               #  EQUALS MFISKEW
017523,000104: 
017524,000105:                                                                                                  #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017525,000106: 
017526,000107: 22,2067           43345                           DLOAD    DAD                                   
017527,000108: 22,2070           03426                                    MFI                                   
017528,000109: 22,2071           03446                                    MFI        +16D                       
017529,000110: 22,2072           43225                           DSU      DAD                                   
017530,000111: 22,2073           15325                                    DP1/4TH                               
017531,000112: 22,2074           03436                                    MFI        +8D                        
017532,000113: 22,2075           03317                           STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017533,000114: 22,2076           77726                           ARCCOS                                         
017534,000115: 22,2077           03365                           STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
017535,000116: 22,2100           51025                           DSU      BPL                                   
017536,000117: 22,2101           04367                                    MINANG                                
017537,000118: 22,2102           44111                                    CHECKMAX                              
017538,000119: 22,2103           77776                           EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
017539,000120: 22,2104           00004                           INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
017540,000121: 22,2105           45017                           CS       ONE                                   #  ABOUT COMMANDED ANGLES
017541,000122: 22,2106           55332                           TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
017542,000123: 22,2107           03142                           TC       LOADCDUD                              #  GOOD RETURN
017543,000124: 22,2110           12730                           TCF      NOGO                                  
017544,000125: 
017545,000126: 22,2111           45345        CHECKMAX           DLOAD    DSU                                   
017546,000127: 22,2112           03365                                    AM                                    
017547,000128: 22,2113           04370                                    MAXANG                                
017548,000129: 22,2114           77244                           BPL      VLOAD                                 
017549,000130: 22,2115           44123                                    ALTCALC                               #  UNIT
017550,000131: 22,2116           03311                                    COFSKEW                               #  COFSKEW
017551,000132: 22,2117           77656                           UNIT                                           
017552,000133: 22,2120           03343                           STORE    COF                                   #  COF IS THE MANEUVER AXIS
017553,000134: 22,2121           77650                           GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
017554,000135: 22,2122           44737                                    LOCSKIRT                              
017555,000136: 22,2123           53375        ALTCALC            VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
017556,000137: 22,2124           03426                                    MFI                                   

Page 401

017558,000139: 22,2125           03267                                    TMFI                                  
017559,000140: 22,2126           77762                           VSR1                                           
017560,000141: 22,2127           27267                           STOVL    MFISYM                                
017561,000142: 22,2130           03434                                    MFI        +6                         
017562,000143: 22,2131           74455                           VAD      VSR1                                  
017563,000144: 22,2132           03275                                    TMFI       +6                         
017564,000145: 22,2133           27275                           STOVL    MFISYM     +6                         
017565,000146: 22,2134           03442                                    MFI        +12D                       
017566,000147: 22,2135           74455                           VAD      VSR1                                  
017567,000148: 22,2136           03303                                    TMFI       +12D                       
017568,000149: 22,2137           03303                           STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2   SCALED BY 4
017569,000150: 
017570,000151:                                                                                                  #  CALCULATE COF
017571,000152: 
017572,000153: 22,2140           70545                           DLOAD    SR1                                   
017573,000154: 22,2141           03317                                    CAM                                   
017574,000155: 22,2142           45325                           PDDL     DSU                                   #  PD0 CAM                              $4
017575,000156: 22,2143           15333                                    DPHALF                                
017576,000157: 22,2144           03317                                    CAM                                   
017577,000158: 22,2145           65204                           BOVB     PDDL                                  #  PD2 1 - CAM                          $2
017578,000159: 22,2146           45712                                    SIGNMPAC                              
017579,000160: 22,2147           03307                                    MFISYM     +16D                       
017580,000161: 22,2150           56225                           DSU      DDV                                   
017581,000162: 22,2151           00001                                    0                                     
017582,000163: 22,2152           00003                                    2                                     
017583,000164: 22,2153           65366                           SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017584,000165: 22,2154           03277                                    MFISYM     +8D                        #                                 $ ROOT 2
017585,000166: 22,2155           56225                           DSU      DDV                                   
017586,000167: 22,2156           00001                                    0                                     
017587,000168: 22,2157           00003                                    2                                     
017588,000169: 22,2160           65366                           SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017589,000170: 22,2161           03267                                    MFISYM                                
017590,000171: 22,2162           56225                           DSU      DDV                                   
017591,000172: 22,2163           00001                                    0                                     
017592,000173: 22,2164           00003                                    2                                     
017593,000174: 22,2165           55566                           SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017594,000175: 22,2166           77656                           UNIT                                           
017595,000176: 22,2167           03343                           STORE    COF                                   
017596,000177: 
017597,000178:                                                                                                  #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017598,000179: 
017599,000180: 22,2170           45345        COFMAXGO           DLOAD    DSU                                   
017600,000181: 22,2171           03343                                    COF                                   
017601,000182: 22,2172           03345                                    COF        +2                         
017602,000183: 22,2173           71240                           BMN      DLOAD                                 #  COFY G COFX
017603,000184: 22,2174           44203                                    COMP12                                
017604,000185: 22,2175           03343                                    COF                                   
017605,000186: 22,2176           50025                           DSU      BMN                                   
017606,000187: 22,2177           03347                                    COF        +4                         

Page 402

017608,000189: 22,2200           44260                                    METHOD3                               #  COFZ G COFX OR COFY
017609,000190: 22,2201           77650                           GOTO                                           
017610,000191: 22,2202           44234                                    METHOD1                               #  COFX G COFY OR COFZ
017611,000192: 22,2203           45345        COMP12             DLOAD    DSU                                   
017612,000193: 22,2204           03345                                    COF        +2                         
017613,000194: 22,2205           03347                                    COF        +4                         
017614,000195: 22,2206           77640                           BMN                                            
017615,000196: 22,2207           44260                                    METHOD3                               #  COFZ G COFY OR COFX
017616,000197: 
017617,000198: 22,2210           51145        METHOD2            DLOAD    BPL                                   #  COFY MAX
017618,000199: 22,2211           03313                                    COFSKEW    +2                         #  UY
017619,000200: 22,2212           44216                                    U2POS                                 
017620,000201: 22,2213           57575                           VLOAD    VCOMP                                 
017621,000202: 22,2214           03343                                    COF                                   
017622,000203: 22,2215           03343                           STORE    COF                                   
017623,000204: 22,2216           51145        U2POS              DLOAD    BPL                                   
017624,000205: 22,2217           03271                                    MFISYM     +2                         #  UX UY
017625,000206: 22,2220           44224                                    OKU21                                 
017626,000207: 22,2221           57545                           DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
017627,000208: 22,2222           03343                                    COF                                   
017628,000209: 22,2223           03343                           STORE    COF                                   
017629,000210: 22,2224           51145        OKU21              DLOAD    BPL                                   
017630,000211: 22,2225           03301                                    MFISYM     +10D                       #  UY UZ
017631,000212: 22,2226           44737                                    LOCSKIRT                              
017632,000213: 22,2227           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017633,000214: 22,2230           03347                                    COF        +4                         
017634,000215: 22,2231           03347                           STORE    COF        +4                         
017635,000216: 22,2232           77650                           GOTO                                           
017636,000217: 22,2233           44737                                    LOCSKIRT                              
017637,000218: 22,2234           51145        METHOD1            DLOAD    BPL                                   #  COFX MAX
017638,000219: 22,2235           03311                                    COFSKEW                               #  UX
017639,000220: 22,2236           44242                                    U1POS                                 
017640,000221: 22,2237           57575                           VLOAD    VCOMP                                 
017641,000222: 22,2240           03343                                    COF                                   
017642,000223: 22,2241           03343                           STORE    COF                                   
017643,000224: 22,2242           51145        U1POS              DLOAD    BPL                                   
017644,000225: 22,2243           03271                                    MFISYM     +2                         #  UX UY
017645,000226: 22,2244           44250                                    OKU12                                 
017646,000227: 22,2245           57545                           DLOAD    DCOMP                                 
017647,000228: 22,2246           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017648,000229: 22,2247           03345                           STORE    COF        +2                         
017649,000230: 22,2250           51145        OKU12              DLOAD    BPL                                   
017650,000231: 22,2251           03273                                    MFISYM     +4                         #  UX UZ
017651,000232: 22,2252           44737                                    LOCSKIRT                              
017652,000233: 22,2253           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017653,000234: 22,2254           03347                                    COF        +4                         
017654,000235: 22,2255           03347                           STORE    COF        +4                         
017655,000236: 22,2256           77650                           GOTO                                           
017656,000237: 22,2257           44737                                    LOCSKIRT                              
017657,000238: 22,2260           51145        METHOD3            DLOAD    BPL                                   #  COFZ MAX

Page 403

017659,000240: 22,2261           03315                                    COFSKEW    +4                         #  UZ
017660,000241: 22,2262           44266                                    U3POS                                 
017661,000242: 22,2263           57575                           VLOAD    VCOMP                                 
017662,000243: 22,2264           03343                                    COF                                   
017663,000244: 22,2265           03343                           STORE    COF                                   
017664,000245: 22,2266           51145        U3POS              DLOAD    BPL                                   
017665,000246: 22,2267           03273                                    MFISYM     +4                         #  UX UZ
017666,000247: 22,2270           44274                                    OKU31                                 
017667,000248: 22,2271           57545                           DLOAD    DCOMP                                 
017668,000249: 22,2272           03343                                    COF                                   #  SIGN OF UX OPPOSITE TO UZ
017669,000250: 22,2273           03343                           STORE    COF                                   
017670,000251: 22,2274           51145        OKU31              DLOAD    BPL                                   
017671,000252: 22,2275           03301                                    MFISYM     +10D                       #  UY UZ
017672,000253: 22,2276           44737                                    LOCSKIRT                              
017673,000254: 22,2277           57545                           DLOAD    DCOMP                                 
017674,000255: 22,2300           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
017675,000256: 22,2301           03345                           STORE    COF        +2                         
017676,000257: 22,2302           77650                           GOTO                                           
017677,000258: 22,2303           44737                                    LOCSKIRT                              
017678,000259: 

Page 404

017680,000261:                                                                                                  #  MATRIX OPERATIONS
017681,000262: 
017682,000263: 22,2304           77601        MXM3               SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
017683,000264: 22,2305           00001                                    0                                     #  AND LEAVES RESULT IN PD LIST
017684,000265: 22,2306           64743                           DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
017685,000266: 22,2307           77762                                    12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
017686,000267: 22,2310           77770                                    6,2                                   
017687,000268: 22,2311           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
017688,000269: 22,2312           77776                                    0,2                                   
017689,000270: 22,2313           64717                           MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
017690,000271: 22,2314           00001                                    0,1                                   
017691,000272: 22,2315           77760                                    14D,2                                 
017692,000273: 22,2316           64723                           PDDL*    PDDL*                                 
017693,000274: 22,2317           77766                                    8D,2                                  
017694,000275: 22,2320           77774                                    2,2                                   
017695,000276: 22,2321           63666                           VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
017696,000277: 22,2322           00001                                    0,1                                   
017697,000278: 22,2323           64723                           PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
017698,000279: 22,2324           77756                                    16D,2                                 
017699,000280: 22,2325           77764                                    10D,2                                 
017700,000281: 22,2326           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
017701,000282: 22,2327           77772                                    4,2                                   
017702,000283: 22,2330           41517                           MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
017703,000284: 22,2331           00001                                    0,1                                   
017704,000285: 22,2332           77650                           GOTO                                           
017705,000286: 22,2333           44343                                    TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
017706,000287: 
017707,000288:                                                                                                  #  RETURN WITH M1XM2 IN PD LIST
017708,000289: 22,2334           76601        TRANSPOS           SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
017709,000290: 22,2335           00001                                    0                                     #        AND LEAVES RESULT IN PD LIST
017710,000291: 22,2336           00001                                    0,1                                   #  MATRIX ADDRESS IN XR1
017711,000292: 22,2337           62713                           PDVL*    PDVL*                                 
017712,000293: 22,2340           00007                                    6,1                                   
017713,000294: 22,2341           00015                                    12D,1                                 
017714,000295: 22,2342           77606                           PUSH                                           #  MATRIX IN PD
017715,000296: 22,2343           65345        TRNSPSPD           DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
017716,000297: 22,2344           00003                                    2                                     
017717,000298: 22,2345           00007                                    6                                     
017718,000299: 22,2346           14003                           STODL    2                                     
017719,000300: 22,2347           77626                           STADR                                          
017720,000301: 22,2350           63770                           STODL    6                                     
017721,000302: 22,2351           00005                                    4                                     
017722,000303: 22,2352           77725                           PDDL                                           
017723,000304: 22,2353           00015                                    12D                                   
017724,000305: 22,2354           14005                           STODL    4                                     
017725,000306: 22,2355           77626                           STADR                                          
017726,000307: 22,2356           63762                           STODL    12D                                   
017727,000308: 22,2357           00013                                    10D                                   
017728,000309: 22,2360           77725                           PDDL                                           

Page 405

017730,000311: 22,2361           00017                                    14D                                   
017731,000312: 22,2362           14013                           STODL    10D                                   
017732,000313: 22,2363           77626                           STADR                                          
017733,000314: 22,2364           77760                           STORE    14D                                   
017734,000315: 22,2365           77616                           RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
017735,000316: 22,2366           00013        MINANG             DEC      .00069375                             
017736,000317: 22,2367           17071        MAXANG             DEC      .472222                               
017737,000318: 
017738,000319:                                                                                                  #  GIMBAL LOCK CONSTANTS
017739,000320: 
017740,000321:                                                                                                  #  D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017741,000322:                                                                                                  #  NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017742,000323: 
017743,000324: 22,2370           15667        SD                 DEC      .433015                               #  = SIN(D)                              $2
017744,000325: 22,2371           33555        K3S1               DEC      .86603                                #  = SIN(D)                              $1
017745,000326: 22,2372           67777        K4                 DEC      -.25                                  #  = -COS(D)                             $2
017746,000327: 22,2373           04000        K4SQ               DEC      .125                                  #  = COS(D)COS(D)                        $2
017747,000328: 22,2374           00217        SNGLCD             DEC      .008725                               #  = SIN(NGL)COS(D)                      $2
017748,000329: 22,2375           17773        CNGL               DEC      .499695                               #  = COS(NGL)                            $2
017749,000330: 22,2376           00004        READCDUK           INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017750,000331: 22,2377           30034                           CA       CDUZ                                  
017751,000332: 22,2400           54156                           TS       MPAC       +2                         
017752,000333: 22,2401           00006                           EXTEND                                         
017753,000334: 22,2402           30033                           DCA      CDUX                                  
017754,000335: 22,2403           00003                           RELINT                                         
017755,000336: 22,2404           16445                           TCF      TLOAD      +6                         
017756,000337: 16,2000                                           BANK     16                                    
017757,000338: 22,2000                                           SETLOC   KALCMON2                              
017758,000339: 22,2000                                           BANK                                           
017759,000340: 
017760,000341: 22,2405                                           COUNT*   $$/KALC                               
017761,000342: 
017762,000343: 22,2405           66370        CDUTODCM           AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE DIRECTION COSINE
017763,000344: 22,2406           00003                           OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
017764,000345: 22,2407           00051                                    S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017765,000346: 22,2410           00001                           OCT      1                                     #  SET XR1, S1 AND PD FOR LOOP
017766,000347: 22,2411           00010                           STORE    7                                     
017767,000348: 22,2412           77601                           SETPD                                          
017768,000349: 22,2413           00001                                    0                                     
017769,000350: 22,2414           47133        LOOPSIN            SLOAD*   RTB                                   
017770,000351: 22,2415           00013                                    10D,1                                 
017771,000352: 22,2416           45513                                    CDULOGIC                              
017772,000353: 22,2417           00013                           STORE    10D                                   #  LOAD PD WITH 0        SIN(PHI)
017773,000354: 22,2420           65356                           SIN      PDDL                                  #               2        COS(PHI)
017774,000355: 22,2421           00013                                    10D                                   #               4        SIN(THETA)
017775,000356: 22,2422           41546                           COS      PUSH                                  #               6        COS(THETA)
017776,000357: 22,2423           71300                           TIX,1    DLOAD                                 #               8        SIN(PSI)
017777,000358: 22,2424           44414                                    LOOPSIN                               #              10        COS(PSI)
017778,000359: 22,2425           00007                                    6                                     
017779,000360: 22,2426           72405                           DMP      SL1                                   
017780,000361: 22,2427           00013                                    10D                                   

Page 406

017782,000363: 22,2430           10001                           STORE    0,2                                   
017783,000364: 22,2431           77745                           DLOAD                                          
017784,000365: 22,2432           00005                                    4                                     
017785,000366: 22,2433           65205                           DMP      PDDL                                  
017786,000367: 22,2434           00001                                    0                                     #  (PD6 SIN(THETA)SIN(PHI))
017787,000368: 22,2435           00007                                    6                                     
017788,000369: 22,2436           41205                           DMP      DMP                                   
017789,000370: 22,2437           00011                                    8D                                    
017790,000371: 22,2440           00003                                    2                                     
017791,000372: 22,2441           44352                           SL1      BDSU                                  
017792,000373: 22,2442           00015                                    12D                                   
017793,000374: 22,2443           77752                           SL1                                            
017794,000375: 22,2444           10003                           STORE    2,2                                   
017795,000376: 22,2445           77745                           DLOAD                                          
017796,000377: 22,2446           00003                                    2                                     
017797,000378: 22,2447           65205                           DMP      PDDL                                  #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
017798,000379: 22,2450           00005                                    4                                     
017799,000380: 22,2451           00007                                    6                                     
017800,000381: 22,2452           41205                           DMP      DMP                                   
017801,000382: 22,2453           00011                                    8D                                    
017802,000383: 22,2454           00001                                    0                                     
017803,000384: 22,2455           77752                           SL1                                            
017804,000385: 22,2456           72415                           DAD      SL1                                   
017805,000386: 22,2457           00017                                    14D                                   
017806,000387: 22,2460           10005                           STORE    4,2                                   
017807,000388: 22,2461           77745                           DLOAD                                          
017808,000389: 22,2462           00011                                    8D                                    
017809,000390: 22,2463           10007                           STORE    6,2                                   
017810,000391: 22,2464           77745                           DLOAD                                          
017811,000392: 22,2465           00013                                    10D                                   
017812,000393: 22,2466           72405                           DMP      SL1                                   
017813,000394: 22,2467           00003                                    2                                     
017814,000395: 22,2470           10011                           STORE    8D,2                                  
017815,000396: 22,2471           77745                           DLOAD                                          
017816,000397: 22,2472           00013                                    10D                                   
017817,000398: 22,2473           57405                           DMP      DCOMP                                 
017818,000399: 22,2474           00001                                    0                                     
017819,000400: 22,2475           77752                           SL1                                            
017820,000401: 22,2476           10013                           STORE    10D,2                                 
017821,000402: 22,2477           77745                           DLOAD                                          
017822,000403: 22,2500           00005                                    4                                     
017823,000404: 22,2501           57405                           DMP      DCOMP                                 
017824,000405: 22,2502           00013                                    10D                                   
017825,000406: 22,2503           77752                           SL1                                            
017826,000407: 22,2504           10015                           STORE    12D,2                                 
017827,000408: 22,2505           77745                           DLOAD                                          
017828,000409: 22,2506           72405                           DMP      SL1                                   #  (PUSH UP 7)
017829,000410: 22,2507           00011                                    8D                                    
017830,000411: 22,2510           41325                           PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017831,000412: 22,2511           00007                                    6                                     

Page 407

017833,000414: 22,2512           00001                                    0                                     
017834,000415: 22,2513           72415                           DAD      SL1                                   #  (PUSH UP 7)
017835,000416: 22,2514           77626                           STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
017836,000417: 22,2515           67760                           STORE    14D,2                                 
017837,000418: 22,2516           77745                           DLOAD                                          
017838,000419: 22,2517           72405                           DMP      SL1                                   #  (PUSH UP 6)
017839,000420: 22,2520           00011                                    8D                                    
017840,000421: 22,2521           41325                           PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017841,000422: 22,2522           00007                                    6                                     
017842,000423: 22,2523           00003                                    2                                     
017843,000424: 22,2524           72425                           DSU      SL1                                   #  (PUSH UP 6)
017844,000425: 22,2525           77626                           STADR                                          
017845,000426: 22,2526           67756                           STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017846,000427: 22,2527           77616                           RVQ                                            #     +COS(THETA)COS(PHI)
017847,000428: 22,2530                        ENDOCM             EQUALS                                         
017848,000429: 
017849,000430: 15,2000                                           BANK     15                                    
017850,000431: 22,2000                                           SETLOC   KALCMON1                              
017851,000432: 22,2000                                           BANK                                           
017852,000433: 
017853,000434:                                                                                                  #  CALCULATION OF THE MATRIX DEL......
017854,000435: 
017855,000436:                                                                                                  #        *      *               --T           *
017856,000437:                                                                                                  #        DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)          SCALED 1
017857,000438: 
017858,000439:                                                                                                  #              -
017859,000440:                                                                                                  #        WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017860,000441:                                                                                                  #        A IS THE ANGLE OF ROTATION (DP SCALED 2)
017861,000442:                                                                                                  #                                           -
017862,000443:                                                                                                  #        UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017863,000444: 
017864,000445: 22,2530                                           COUNT    22/KALC                               
017865,000446: 
017866,000447: 22,2530           41401        DELCOMP            SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
017867,000448: 22,2531           00001                                    0                                     
017868,000449: 22,2532           65356                           SIN      PDDL                                  #  PD0 = SIN(A)
017869,000450: 22,2533           41546                           COS      PUSH                                  #  PD2 = COS(A)
017870,000451: 22,2534           65302                           SR2      PDDL                                  #  PD2 = COS(A)                          $8
017871,000452: 22,2535           41021                           BDSU     BOVB                                  #  PD4 = 1-COS(A)                        $2
017872,000453: 22,2536           15333                                    DPHALF                                
017873,000454: 22,2537           45712                                    SIGNMPAC                              
017874,000455: 
017875,000456:                                                                                                  #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
017876,000457: 
017877,000458: 22,2540           77725                           PDDL                                           
017878,000459: 22,2541           03343                                    COF                                   
017879,000460: 22,2542           41316                           DSQ      DMP                                   
017880,000461: 22,2543           00005                                    4                                     
017881,000462: 22,2544           52415                           DAD      SL3                                   

Page 408

017883,000464: 22,2545           00003                                    2                                     
017884,000465: 22,2546           77604                           BOVB                                           
017885,000466: 22,2547           45712                                    SIGNMPAC                              
017886,000467: 22,2550           17426                           STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)               $1
017887,000468: 22,2551           03345                                    COF        +2                         
017888,000469: 22,2552           41316                           DSQ      DMP                                   
017889,000470: 22,2553           00005                                    4                                     
017890,000471: 22,2554           52415                           DAD      SL3                                   
017891,000472: 22,2555           00003                                    2                                     
017892,000473: 22,2556           77604                           BOVB                                           
017893,000474: 22,2557           45712                                    SIGNMPAC                              
017894,000475: 22,2560           17436                           STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)               $1
017895,000476: 22,2561           03347                                    COF        +4                         
017896,000477: 22,2562           41316                           DSQ      DMP                                   
017897,000478: 22,2563           00005                                    4                                     
017898,000479: 22,2564           52415                           DAD      SL3                                   
017899,000480: 22,2565           00003                                    2                                     
017900,000481: 22,2566           77604                           BOVB                                           
017901,000482: 22,2567           45712                                    SIGNMPAC                              
017902,000483: 22,2570           03446                           STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)               $1
017903,000484: 
017904,000485:                                                                                                  #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
017905,000486: 
017906,000487: 22,2571           41345                           DLOAD    DMP                                   
017907,000488: 22,2572           03343                                    COF                                   
017908,000489: 22,2573           03345                                    COF        +2                         
017909,000490: 22,2574           72405                           DMP      SL1                                   
017910,000491: 22,2575           00005                                    4                                     
017911,000492: 22,2576           41325                           PDDL     DMP                                   #  D6    UX UY (1-COS A)                 $ 4
017912,000493: 22,2577           03347                                    COF        +4                         
017913,000494: 22,2600           00001                                    0                                     
017914,000495: 22,2601           43206                           PUSH     DAD                                   #  D8    UZ SIN A                        $ 4
017915,000496: 22,2602           00007                                    6                                     
017916,000497: 22,2603           41112                           SL2      BOVB                                  
017917,000498: 22,2604           45712                                    SIGNMPAC                              
017918,000499: 22,2605           17434                           STODL    DEL        +6                         
017919,000500: 22,2606           62421                           BDSU     SL2                                   
017920,000501: 22,2607           77604                           BOVB                                           
017921,000502: 22,2610           45712                                    SIGNMPAC                              
017922,000503: 22,2611           17430                           STODL    DEL        +2                         
017923,000504: 22,2612           03343                                    COF                                   
017924,000505: 22,2613           41205                           DMP      DMP                                   
017925,000506: 22,2614           03347                                    COF        +4                         
017926,000507: 22,2615           00005                                    4                                     
017927,000508: 22,2616           65352                           SL1      PDDL                                  #  D6    UX UZ (1-COS A )                $ 4
017928,000509: 22,2617           03345                                    COF        +2                         
017929,000510: 22,2620           41405                           DMP      PUSH                                  #  D8    UY SIN(A)
017930,000511: 22,2621           00001                                    0                                     
017931,000512: 22,2622           62415                           DAD      SL2                                   
017932,000513: 22,2623           00007                                    6                                     

Page 409

017934,000515: 22,2624           77604                           BOVB                                           
017935,000516: 22,2625           45712                                    SIGNMPAC                              
017936,000517: 22,2626           17432                           STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
017937,000518: 22,2627           62421                           BDSU     SL2                                   
017938,000519: 22,2630           77604                           BOVB                                           
017939,000520: 22,2631           45712                                    SIGNMPAC                              
017940,000521: 22,2632           17442                           STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
017941,000522: 22,2633           03345                                    COF        +2                         
017942,000523: 22,2634           41205                           DMP      DMP                                   
017943,000524: 22,2635           03347                                    COF        +4                         
017944,000525: 22,2636           00005                                    4                                     
017945,000526: 22,2637           65352                           SL1      PDDL                                  #  D6    UY UZ (1-COS(A))                $ 4
017946,000527: 22,2640           03343                                    COF                                   
017947,000528: 22,2641           41405                           DMP      PUSH                                  #  D8    UX SIN(A)
017948,000529: 22,2642           00001                                    0                                     
017949,000530: 22,2643           62415                           DAD      SL2                                   
017950,000531: 22,2644           00007                                    6                                     
017951,000532: 22,2645           77604                           BOVB                                           
017952,000533: 22,2646           45712                                    SIGNMPAC                              
017953,000534: 22,2647           17444                           STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
017954,000535: 22,2650           62421                           BDSU     SL2                                   
017955,000536: 22,2651           77604                           BOVB                                           
017956,000537: 22,2652           45712                                    SIGNMPAC                              
017957,000538: 22,2653           03440                           STORE    DEL        +10D                       #  UY UZ(1-COS(A)) -UX SIN(A)
017958,000539: 22,2654           77616                           RVQ                                            
017959,000540: 
017960,000541:                                                                                                  #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017961,000542:                                                                                                  #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017962,000543:                                                                                                  #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017963,000544:                                                                                                  #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017964,000545: 
017965,000546:                                                                                                  #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017966,000547: 
017967,000548:                                                                                                  #        C =COS(THETA)COS(PSI)
017968,000549:                                                                                                  #         0
017969,000550: 
017970,000551:                                                                                                  #        C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017971,000552:                                                                                                  #         1
017972,000553: 
017973,000554:                                                                                                  #        C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017974,000555:                                                                                                  #         2
017975,000556: 
017976,000557:                                                                                                  #        C =SIN(PSI)
017977,000558:                                                                                                  #         3
017978,000559: 
017979,000560:                                                                                                  #        C =COS(PSI)COS(PHI)
017980,000561:                                                                                                  #         4
017981,000562: 
017982,000563:                                                                                                  #        C =-COS(PSI)SIN(PHI)
017983,000564:                                                                                                  #         5
017984,000565: 
017985,000566:                                                                                                  #        C =-SIN(THETA)COS(PSI)
017986,000567:                                                                                                  #         6
017987,000568: 
017988,000569:                                                                                                  #        C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017989,000570:                                                                                                  #         7

Page 410

017991,000572:                                                                                                  #        C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017992,000573:                                                                                                  #         8
017993,000574: 
017994,000575:                                                                                                  #        WHERE   PHI = OGA
017995,000576:                                                                                                  #                THETA = IGA
017996,000577:                                                                                                  #                PSI = MGA
017997,000578: 
017998,000579: 22,2655           67543        DCMTOCDU           DLOAD*   ARCSIN                                
017999,000580: 22,2656           00007                                    6,1                                   
018000,000581: 22,2657           71406                           PUSH     COS                                   #  PD +0         PSI
018001,000582: 22,2660           41152                           SL1      BOVB                                  
018002,000583: 22,2661           45712                                    SIGNMPAC                              
018003,000584: 22,2662           00051                           STORE    S1                                    
018004,000585: 22,2663           57543                           DLOAD*   DCOMP                                 
018005,000586: 22,2664           00015                                    12D,1                                 
018006,000587: 22,2665           67471                           DDV      ARCSIN                                
018007,000588: 22,2666           00051                                    S1                                    
018008,000589: 22,2667           51123                           PDDL*    BPL                                   #  PD +2         THETA
018009,000590: 22,2670           00001                                    0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
018010,000591: 22,2671           44703                                    OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
018011,000592: 22,2672           57545                           DLOAD    DCOMP                                 
018012,000593: 22,2673           43244                           BPL      DAD                                   
018013,000594: 22,2674           44700                                    SUHALFA                               
018014,000595: 22,2675           15333                                    DPHALF                                
018015,000596: 22,2676           77650                           GOTO                                           
018016,000597: 22,2677           44702                                    CALCPHI                               
018017,000598: 22,2700           77625        SUHALFA            DSU                                            
018018,000599: 22,2701           15333                                    DPHALF                                
018019,000600: 22,2702           77606        CALCPHI            PUSH                                           
018020,000601: 22,2703           57543        OKTHETA            DLOAD*   DCOMP                                 
018021,000602: 22,2704           00013                                    10D,1                                 
018022,000603: 22,2705           67471                           DDV      ARCSIN                                
018023,000604: 22,2706           00051                                    S1                                    
018024,000605: 22,2707           51123                           PDDL*    BPL                                   #  PUSH DOWN PHI
018025,000606: 22,2710           00011                                    8D,1                                  
018026,000607: 22,2711           44723                                    OKPHI                                 
018027,000608: 22,2712           57545                           DLOAD    DCOMP                                 #  PUSH UP PHI
018028,000609: 22,2713           43244                           BPL      DAD                                   
018029,000610: 22,2714           44720                                    SUHALFAP                              
018030,000611: 22,2715           15333                                    DPHALF                                
018031,000612: 22,2716           77650                           GOTO                                           
018032,000613: 22,2717           44724                                    VECOFANG                              
018033,000614: 22,2720           52025        SUHALFAP           DSU      GOTO                                  
018034,000615: 22,2721           15333                                    DPHALF                                
018035,000616: 22,2722           44724                                    VECOFANG                              
018036,000617: 22,2723           77745        OKPHI              DLOAD                                          #  PUSH UP PHI
018037,000618: 22,2724           43466        VECOFANG           VDEF     RVQ                                   
018038,000619: 

Page 411

018040,000621:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018041,000622: 
018042,000623: 22,2725           00004        NOGOM2             INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
018043,000624: 22,2726           04662                           TC       BANKCALL                              
018044,000625: 22,2727           40155                           CADR     ZEROERROR                             
018045,000626: 
018046,000627: 22,2730           00004        NOGO               INHINT                                         
018047,000628: 22,2731           04526                           TC       STOPRATE                              
018048,000629: 
018049,000630:                                                                                                  #  TERMINATE MANEUVER
018050,000631: 22,2732           35016                           CAF      TWO                                   #  NOTE - ALL RETURNS ARE NOW MADE VIA
018051,000632: 22,2733           05245                           TC       WAITLIST                              #  GOODEND
018052,000633: 22,2734  E6,1661                                  EBANK=   BCDU                                  
018053,000634: 22,2734           02006 42066                     2CADR    ENDMANU                               
018054,000635: 
018055,000636: 22,2736           15217                           TCF      ENDOFJOB                              
018056,000637: 

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