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.

012428,000002:                                                                                                  ## Copyright:   Public domain.
012429,000003:                                                                                                  ## Filename:    CSM_GEOMETRY.agc
012430,000004:                                                                                                  ## Purpose:     Part of the source code for Colossus 2A, AKA Comanche 055.
012431,000005:                                                                                                  ##              It is part of the source code for the Command Module's (CM)
012432,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
012433,000007:                                                                                                  ## Assembler:   yaYUL
012434,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
012435,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
012436,000010:                                                                                                  ## Pages:       285-296
012437,000011:                                                                                                  ## Mod history: 2009-05-08 RSB  Adapted from the Colossus249/ file of the
012438,000012:                                                                                                  ##                              same name, using Comanche055 page images.
012439,000013:                                                                                                  ##              2016-12-10 RSB  Proofed comments with octopus/ProoferComments
012440,000014:                                                                                                  ##                              and fixed the errors found.
012441,000015:                                                                                                  ##              2017-01-07 RSB  Fixed comment errors detected in cross-diff vs
012442,000016:                                                                                                  ##                              Colossus 249.
012443,000017:                                                                                                  ##              2017-01-28 RSB  WTIH -> WITH.
012444,000018:                                                                                                  ##
012445,000019:                                                                                                  ## This source code has been transcribed or otherwise adapted from digitized
012446,000020:                                                                                                  ## images of a hardcopy from the MIT Museum.  The digitization was performed
012447,000021:                                                                                                  ## by Paul Fjeld, and arranged for by Deborah Douglas of the Museum.  Many
012448,000022:                                                                                                  ## thanks to both.  The images (with suitable reduction in storage size and
012449,000023:                                                                                                  ## consequent reduction in image quality as well) are available online at
012450,000024:                                                                                                  ## www.ibiblio.org/apollo.  If for some reason you find that the images are
012451,000025:                                                                                                  ## illegible, contact me at info@sandroid.org about getting access to the 
012452,000026:                                                                                                  ## (much) higher-quality images which Paul actually created.
012453,000027:                                                                                                  ##
012454,000028:                                                                                                  ## Notations on the hardcopy document read, in part:
012455,000029:                                                                                                  ##
012456,000030:                                                                                                  ##      Assemble revision 055 of AGC program Comanche by NASA
012457,000031:                                                                                                  ##      2021113-051.  10:28 APR. 1, 1969  
012458,000032:                                                                                                  ##
012459,000033:                                                                                                  ##      This AGC program shall also be referred to as
012460,000034:                                                                                                  ##                      Colossus 2A
012461,000035: 

Page 285

012463,000037: 22,2000                                           BANK     22                                    
012464,000038: 23,2000                                           SETLOC   COMGEOM1                              
012465,000039: 23,2000                                           BANK                                           
012466,000040: 
012467,000041:                                                                                                  #  THIS ROUTINE TAKES THE SHAFT AND TRUNNION ANGLES AS READ BY THE CM OPTICAL SYSTEM AND CONVERTS THEM INTO A UNIT
012468,000042:                                                                                                  #  VECTOR REFERENCED TO THE NAVIGATION BASE COORDINATE SYSTEM AND COINCIDENT WITH THE SEXTANT LINE OF SIGHT.
012469,000043: 
012470,000044:                                                                                                  #  THE INPUTS ARE  1) THE SEXTANT SHAFT AND TRUNNION ANGLES ARE STORED SP IN LOCATIONS 3 AND 5 RESPECTIVELY OF THE
012471,000045:                                                                                                  #  MARK VAC AREA.  2) THE COMPLEMENT OF THE BASE ADDRESS OF THE MARK VAC AREA IS STORED SP AT LOCATION X1 OF YOUR
012472,000046:                                                                                                  #  JOB VAC AREA.
012473,000047: 
012474,000048:                                                                                                  #  THE OUTPUT IS A HALF-UNIT VECTOR IN NAVIGATION BASE COORDINATES AND STORED AT LOCATION 32D OF THE VAC AREA. THE
012475,000049:                                                                                                  #  OUTPUT IS ALSO AVAILABLE AT MPAC.
012476,000050: 
012477,000051: 23,2000                                           COUNT    23/GEOM                               
012478,000052: 
012479,000053: 23,2000           47133        SXTNB              SLOAD*   RTB                                   #  PUSHDOWN 00,02,04,(17D-19D),32D-36D
012480,000054: 23,2001           00006                                    5,1                                   #  TRUNNION = TA
012481,000055: 23,2002           45513                                    CDULOGIC                              
012482,000056: 23,2003           41434                           RTB      PUSH                                  
012483,000057: 23,2004           46027                                    SXTLOGIC                              
012484,000058: 23,2005           72556                           SIN      SL1                                   
012485,000059: 23,2006           66606                           PUSH     SLOAD*                                #  PD2 = SIN(TA)
012486,000060: 23,2007           00004                                    3,1                                   #  SHAFT = SA
012487,000061: 23,2010           41434                           RTB      PUSH                                  #  PD4 = SA
012488,000062: 23,2011           45513                                    CDULOGIC                              
012489,000063: 
012490,000064: 23,2012           41346                           COS      DMP                                   
012491,000065: 23,2013           00003                                    2                                     
012492,000066: 23,2014           14041                           STODL    STARM                                 #  COS(SA)SIN(TA)
012493,000067: 
012494,000068: 23,2015           41356                           SIN      DMP                                   
012495,000069: 23,2016           77626                           STADR                                          
012496,000070: 23,2017           63734                           STODL    STARM      +2                         #  SIN(SA)SIN(TA)
012497,000071: 
012498,000072: 23,2020           77746                           COS                                            
012499,000073: 23,2021           24045                           STOVL    STARM      +4                         
012500,000074: 23,2022           00041                                    STARM                                 #  STARM = 32D
012501,000075: 23,2023           76521                           MXV      VSL1                                  
012502,000076: 23,2024           06302                                    NB1NB2                                
012503,000077: 23,2025           00041                           STORE    32D                                   
012504,000078: 23,2026           77616                           RVQ                                            
012505,000079: 
012506,000080: 23,2027           32323        SXTLOGIC           CAF      10DEGS-                               #  CORRECT FOR 19.775 DEGREE OFFSET
012507,000081: 23,2030           26154                           ADS      MPAC                                  
012508,000082: 23,2031           35003                           CAF      QUARTER                               
012509,000083: 23,2032           07256                           TC       SHORTMP                               
012510,000084: 23,2033           06030                           TC       DANZIG                                
012511,000085: 

Page 286

012513,000087:                                                                                                  #  CALCSXA COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-
012514,000088:                                                                                                  #  OF-SIGHT LIES ALONG THE STAR VECTOR.  THE ROUTINE TAKES THE GIVEN STAR VECTOR AND EXPRESSES IT AS A VECTOR REF-
012515,000089:                                                                                                  #  ERENCED TO THE OPTICS COORDINATE SYSTEM.  IN ADDITION IT SETS UP THREE UNIT VECTORS DEFINING THE X, Y, AND Z AXES
012516,000090:                                                                                                  #  REFERENCED TO THE OPTICS COORDINATE SYSTEM.
012517,000091: 
012518,000092:                                                                                                  #  THE INPUTS ARE  1) THE STAR VECTOR REFERRED TO PRESENT STABLE MEMBER COORDINATES STORED AT STAR.  2) SAME ANGLE
012519,000093:                                                                                                  #  INPUT AS *SMNB*, I.E. SINES AND COSINES OF THE CDU ANGLES, IN THE ORDER Y Z X, AT SINCDU AND COSCDU.  A CALL
012520,000094:                                                                                                  #  TO CDUTRIG WILL PROVIDE THIS INPUT.
012521,000095: 
012522,000096:                                                                                                  #  THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY.  (LOW ORDER PART
012523,000097:                                                                                                  #  EQUAL TO ZERO).
012524,000098: 
012525,000099: 23,2034           77220        CALCSXA            ITA      VLOAD                                 #  PUSHDOWN 00-26D, 28D, 30D, 32D-36D
012526,000100: 23,2035           00034                                    28D                                   
012527,000101: 23,2036           02766                                    STAR                                  
012528,000102: 23,2037           77624                           CALL                                           
012529,000103: 23,2040           47644                                    *SMNB*                                
012530,000104: 23,2041           76521                           MXV      VSL1                                  
012531,000105: 23,2042           06260                                    NB2NB1                                
012532,000106: 23,2043           26766                           STOVL    STAR                                  
012533,000107: 23,2044           15333                                    HIUNITX                               
012534,000108: 23,2045           26555                           STOVL    XNB1                                  
012535,000109: 23,2046           15331                                    HIUNITY                               
012536,000110: 23,2047           26563                           STOVL    YNB1                                  
012537,000111: 23,2050           15327                                    HIUNITZ                               
012538,000112: 23,2051           36571                           STCALL   ZNB1                                  
012539,000113: 23,2052           46076                                    SXTANG1                               
012540,000114: 

Page 287

012542,000116:                                                                                                  #  SXTANG COMPUTES THE SEXTANT SHAFT AND TRUNNION ANGLES REQUIRED TO POSITION THE OPTICS SUCH THAT A STAR LINE-OF-
012543,000117:                                                                                                  #  SIGHT LIES ALONG THE STAR VECTOR.
012544,000118: 
012545,000119:                                                                                                  #  THE INPUTS ARE  1) THE STAR VECTOR REFERRED TO ANY COORDINATE SYSTEM STORED AT STAR.  2) THE NAVIGATION BASE
012546,000120:                                                                                                  #  COORDINATES REFERRED TO THE SAME COORDINATE SYSTEM.  THESE THREE HALF-UNIT VECTORS ARE STORED AT XNB, YNB,AND
012547,000121:                                                                                                  #  ZNB.
012548,000122: 
012549,000123:                                                                                                  #  THE OUTPUTS ARE THE SEXTANT SHAFT AND TRUNNION ANGLES STORED DP AT SAC AND PAC RESPECTIVELY.  (LOW ORDER PART
012550,000124:                                                                                                  #  EQUAL TO ZERO).
012551,000125: 
012552,000126: 23,2053           47020        SXTANG             ITA      RTB                                   #  PUSHDOWN 16D,18D,22D-26D,28D
012553,000127: 23,2054           00034                                    28D                                   
012554,000128: 23,2055           45662                                    TRANSP1                               #  EREF WRT NB2
012555,000129: 23,2056           64375                           VLOAD    MXV                                   
012556,000130: 23,2057           02714                                    XNB                                   
012557,000131: 23,2060           06260                                    NB2NB1                                
012558,000132: 23,2061           77772                           VSL1                                           
012559,000133: 23,2062           26555                           STOVL    XNB1                                  
012560,000134: 23,2063           02722                                    YNB                                   
012561,000135: 23,2064           76521                           MXV      VSL1                                  
012562,000136: 23,2065           06260                                    NB2NB1                                
012563,000137: 23,2066           26563                           STOVL    YNB1                                  
012564,000138: 23,2067           02730                                    ZNB                                   
012565,000139: 23,2070           76521                           MXV      VSL1                                  
012566,000140: 23,2071           06260                                    NB2NB1                                
012567,000141: 23,2072           02571                           STORE    ZNB1                                  
012568,000142: 
012569,000143: 23,2073           47034                           RTB      RTB                                   
012570,000144: 23,2074           45662                                    TRANSP1                               
012571,000145: 23,2075           45676                                    TRANSP2                               
012572,000146: 
012573,000147: 23,2076           47375        SXTANG1            VLOAD    VXV                                   
012574,000148: 23,2077           02571                                    ZNB1                                  
012575,000149: 23,2100           02766                                    STAR                                  
012576,000150: 23,2101           77600                           BOV                                            
012577,000151: 23,2102           46103                                    +1                                    
012578,000152: 23,2103           40056                           UNIT     BOV                                   
012579,000153: 23,2104           46145                                    ZNB=S1                                
012580,000154: 23,2105           00027                           STORE    PDA                                   #  PDA = UNIT(ZNB X S)
012581,000155: 
012582,000156: 23,2106           57441                           DOT      DCOMP                                 
012583,000157: 23,2107           02555                                    XNB1                                  
012584,000158: 23,2110           24023                           STOVL    SINTH                                 #  SIN(SA) = PDA . -XNB
012585,000159: 23,2111           00027                                    PDA                                   
012586,000160: 
012587,000161: 23,2112           77641                           DOT                                            
012588,000162: 23,2113           02563                                    YNB1                                  
012589,000163: 23,2114           34021                           STCALL   COSTH                                 #  COS(SA) = PDA . YNB
012590,000164: 23,2115           47256                                    ARCTRIG                               

Page 288

012592,000166: 23,2116           77634                           RTB                                            
012593,000167: 23,2117           45546                                    1STO2S                                
012594,000168: 23,2120           26774                           STOVL    SAC                                   
012595,000169: 23,2121           02766                                    STAR                                  
012596,000170: 23,2122           77600                           BOV                                            
012597,000171: 23,2123           46124                                    +1                                    
012598,000172: 23,2124           72441                           DOT      SL1                                   
012599,000173: 23,2125           02571                                    ZNB1                                  
012600,000174: 23,2126           77726                           ACOS                                           
012601,000175: 23,2127           62440                           BMN      SL2                                   
012602,000176: 23,2130           46142                                    SXTALARM                              #  TRUNNION ANGLE NEGATIVE
012603,000177: 23,2131           45200                           BOV      DSU                                   
012604,000178: 23,2132           46142                                    SXTALARM                              #  TRUNNION ANGLE GREATER THAN 90 DEGREES
012605,000179: 23,2133           06331                                    20DEG-                                
012606,000180: 23,2134           77634                           RTB                                            
012607,000181: 23,2135           45546                                    1STO2S                                
012608,000182: 23,2136           02776                           STORE    PAC                                   #  FOR FLIGHT USE, CULTFLAG IS ON IF
012609,000183: 23,2137           77614                           CLRGO                                          #  TRUNION IS GREATER THAN 90 DEG
012610,000184: 23,2140           01630                                    CULTFLAG                              
012611,000185: 23,2141           00034                                    28D                                   
012612,000186: 23,2142           77614        SXTALARM           SETGO                                          #  ALARM HAS BEEN REMOVED FROM THIS
012613,000187: 23,2143           01430                                    CULTFLAG                              
012614,000188: 23,2144           00034                                    28D                                   #  SUBROUTINE, ALARM WILL BE SET BY MPI
012615,000189: 23,2145           77745        ZNB=S1             DLOAD                                          
012616,000190: 23,2146           06325                                    270DEG                                
012617,000191: 23,2147           16774                           STODL    SAC                                   
012618,000192: 23,2150           06327                                    20DEGS-                               
012619,000193: 23,2151           02776                           STORE    PAC                                   
012620,000194: 23,2152           77614                           CLRGO                                          
012621,000195: 23,2153           01630                                    CULTFLAG                              
012622,000196: 23,2154           00034                                    28D                                   
012623,000197: 

Page 289

012625,000199:                                                                                                  #  THESE TWO ROUTINES COMPUTE THE ACTUAL STATE VECTOR FOR LM, CSM BY ADDING
012626,000200:                                                                                                  #  THE CONIC R,V AND THE DEVIATIONS R,V.  THE STATE VECTORS ARE CONVERTED TO
012627,000201:                                                                                                  #  METERS B-29 AND METERS/CSEC B-7 AND STORED APPROPRIATELY IN RN,VN OR
012628,000202:                                                                                                  #  R-OTHER, V-OTHER FOR DOWNLINK.  THE ROUTINES NAMES ARE SWITCHED IN THE
012629,000203:                                                                                                  #  OTHER VEHICLES COMPUTER.
012630,000204: 
012631,000205:                                                                                                  #  INPUT
012632,000206:                                                                                                  #        STATE VECTOR IN TEMPORARY STORAGE AREA
012633,000207:                                                                                                  #        IF STATE VECTOR IS SCALED POS B27 AND VEL B5
012634,000208:                                                                                                  #                SET X2 TO +2
012635,000209:                                                                                                  #        IF STATE VECTOR IS SCALED POS B29 AND VEL B7
012636,000210:                                                                                                  #                SET X2 TO 0
012637,000211: 
012638,000212:                                                                                                  #  OUTPUT
012639,000213:                                                                                                  #        R(T) IN RN, V(T) IN VN, T IN PIPTIME
012640,000214:                                                                                                  #                OR
012641,000215:                                                                                                  #        R(T) IN R-OTHER, V(T) IN V-OTHER        (T IS DEFINED BY T-OTHER)
012642,000216: 
012643,000217: 23,2155                                           BANK     23                                    
012644,000218: 10,2000                                           SETLOC   COMGEOM2                              
012645,000219: 10,2000                                           BANK                                           
012646,000220: 10,2237                                           COUNT    10/GEOM                               
012647,000221: 10,2237           43414        SVDWN1             BOF      RVQ                                   #  SW=1=AVETOMID DOING W-MATRIX INTEG
012648,000222: 10,2240           04756                                    AVEMIDSW                              
012649,000223: 10,2241           20242                                    +1                                    
012650,000224: 10,2242           53775                           VLOAD    VSL*                                  
012651,000225: 10,2243           01521                                    TDELTAV                               
012652,000226: 10,2244           57605                                    0          -7,2                       
012653,000227: 10,2245           53655                           VAD      VSL*                                  
012654,000228: 10,2246           01535                                    RCV                                   
012655,000229: 10,2247           57576                                    0,2                                   
012656,000230: 10,2250           25171                           STOVL    RN                                    
012657,000231: 10,2251           01527                                    TNUV                                  
012658,000232: 10,2252           53257                           VSL*     VAD                                   
012659,000233: 10,2253           57602                                    0          -4,2                       
012660,000234: 10,2254           01543                                    VCV                                   
012661,000235: 10,2255           77657                           VSL*                                           
012662,000236: 10,2256           57576                                    0,2                                   
012663,000237: 10,2257           15177                           STODL    VN                                    
012664,000238: 10,2260           01517                                    TET                                   
012665,000239: 10,2261           01205                           STORE    PIPTIME                               
012666,000240: 10,2262           77616                           RVQ                                            
012667,000241: 
012668,000242: 10,2263           53775        SVDWN2             VLOAD    VSL*                                  
012669,000243: 10,2264           01521                                    TDELTAV                               
012670,000244: 10,2265           57605                                    0          -7,2                       
012671,000245: 10,2266           53655                           VAD      VSL*                                  
012672,000246: 10,2267           01535                                    RCV                                   

Page 290

012674,000248: 10,2270           57576                                    0,2                                   
012675,000249: 10,2271           25722                           STOVL    R-OTHER                               
012676,000250: 10,2272           01527                                    TNUV                                  
012677,000251: 10,2273           53257                           VSL*     VAD                                   
012678,000252: 10,2274           57602                                    0          -4,2                       
012679,000253: 10,2275           01543                                    VCV                                   
012680,000254: 10,2276           77657                           VSL*                                           
012681,000255: 10,2277           57576                                    0,2                                   
012682,000256: 10,2300           01730                           STORE    V-OTHER                               
012683,000257: 10,2301           77616                           RVQ                                            
012684,000258: 

Page 291

012686,000260:                                                                                                  #  SUBROUTINE TO COMPUTE THE NATURAL LOG OF C(MPAC, MPAC +1).
012687,000261: 
012688,000262:                                                                                                  #        ENTRY:  CALL
012689,000263:                                                                                                  #                        LOG
012690,000264: 
012691,000265:                                                                                                  #  SUBROUTINE RETURNS WITH -LOG IN DP MPAC.
012692,000266: 
012693,000267:                                                                                                  #  EBANK IS ARBITRARY..
012694,000268: 
012695,000269: 14,2000                                           BANK     14                                    
012696,000270: 23,2000                                           SETLOC   POWFLIT2                              
012697,000271: 23,2000                                           BANK                                           
012698,000272: 23,2155                                           COUNT    23/GEOM                               
012699,000273: 
012700,000274: 23,2155           44301        LOG                NORM     BDSU                                  #  GENERATES LOG BY SHIFTING ARG
012701,000275: 23,2156           00160                                    MPAC       +3                         #  UNTIL IT LIES BETWEEN .5 AND 1.
012702,000276: 23,2157           06212                                    NEARLY1                               #  THE LOG OF THIS PART IS FOUND AND THE
012703,000277: 23,2160           77776                           EXIT                                           #  LOG OF THE SHIFTED PART IS COMPUTED
012704,000278: 23,2161           07171                           TC       POLY                                  #  AND ADDED IN.  SHIFT COUNT STORED
012705,000279: 23,2162           00002                           DEC      2          B-14                       #  (N-1, SUPPLIED BY SMERZH)
012706,000280: 23,2163           00000 00000                     2DEC     0          B-28                       #  IN MPAC +3.
012707,000281: 23,2165           01001 14636                     2DEC     .031335467                            
012708,000282: 23,2167           00325 07310                     2DEC     .0130145859                            
012709,000283: 23,2171           00541 16735                     2DEC     .0215738898                            
012710,000284: 
012711,000285: 23,2173           35021                           CAF      ZERO                                  
012712,000286: 23,2174           54156                           TS       MPAC       +2                         
012713,000287: 23,2175           00006                           EXTEND                                         
012714,000288: 23,2176           32214                           DCA      CLOG2/32                              
012715,000289: 23,2177           52155                           DXCH     MPAC                                  
012716,000290: 23,2200           52160                           DXCH     MPAC       +3                         
012717,000291: 23,2201           40000                           COM                                            #  LOAD POSITIVE SHIFT COUNT IN A.
012718,000292: 23,2202           07256                           TC       SHORTMP                               #  MULTIPLY BY SHIFT COUNT.
012719,000293: 
012720,000294: 23,2203           52156                           DXCH     MPAC       +1                         
012721,000295: 23,2204           52155                           DXCH     MPAC                                  
012722,000296: 23,2205           52160                           DXCH     MPAC       +3                         
012723,000297: 23,2206           20155                           DAS      MPAC                                  
012724,000298: 23,2207           06006                           TC       INTPRET                               #  RESULT IN MPAC, MPAC +1
012725,000299: 
012726,000300: 23,2210           77616                           RVQ                                            
012727,000301: 
012728,000302: 23,2211           37777 37777  NEARLY1            2DEC     .999999999                            
012729,000303: 

Page 292

012731,000305: 23,2213           00542 34414  CLOG2/32           2DEC     .0216608494                            
012732,000306: 

Page 293

012734,000308:                                                                                                  #  SUBROUTINE NAME:  EARTH ROTATOR       (EARROT1 OR EARROT2)            DATE:  15 FEB 67
012735,000309:                                                                                                  #  MOD NO:  N +1                                                         LOG SECTION:  POWERED FLIGHT SUBROS
012736,000310:                                                                                                  #  MOD BY:  ENTRY GROUP (BAIRNSFATHER)
012737,000311: 
012738,000312:                                                                                                  #  FUNCTIONAL DESCRIPTION:  THIS ROUTINE PROJECTS THE INITIAL EARTH TARGET VECTOR RTINIT AHEAD THROUGH
012739,000313:                                                                                                  #        THE ESTIMATED TIME OF FLIGHT.  INITIAL CALL RESOLVES THE INITIAL TARGET VECTOR RTINIT INTO EASTERLY
012740,000314:                                                                                                  #        AND NORMAL COMPONENTS RTEAST AND RTNORM.  INITIAL AND SUBSEQUENT CALLS ROTATE THIS VECTOR
012741,000315:                                                                                                  #        ABOUT THE (FULL) UNIT POLAR AXIS UNITW THROUGH THE ANGLE  WIE DTEAROT  TO OBTAIN THE ROTATED
012742,000316:                                                                                                  #        TARGET VECTOR RT.  ALL VECTORS EXCEPT UNITW ARE HALF UNIT.
012743,000317:                                                                                                  #        THE EQUATIONS ARE
012744,000318:                                                                                                  #                -    -        -                      -
012745,000319:                                                                                                  #                RT = RTINIT + RTNORM (COS(WT) - 1) + RTEAST SIN(WT)
012746,000320: 
012747,000321:                                                                                                  #        WHERE   WT = WIE DTEAROT
012748,000322: 
012749,000323:                                                                                                  #                RTINIT = INITIAL TARGET VECTOR
012750,000324:                                                                                                  #                -        -       -
012751,000325:                                                                                                  #                RTEAST = UNITW * RTINIT
012752,000326:                                                                                                  #                -        -        -
012753,000327:                                                                                                  #                RTNORM = RTEAST * UNITW
012754,000328: 
012755,000329:                                                                                                  #        FOR CONTINUOUS UPDATING, ONLY ONE ENTRY TO EARROT1 IS REQUIRED, WITH SUBSEQUENT ENTRIES AT EARROT2.
012756,000330:                                                                                                  #        
012757,000331:                                                                                                  #  CALLING SEQUENCE:     FIRST CALL                      SUBSEQUENT CALL
012758,000332:                                                                                                  #                        STCALL  DTEAROT                 STCALL  DTEAROT
012759,000333:                                                                                                  #                                EARROT1                         EARROT2
012760,000334:                                                                                                  #                        C(MPAC) UNSPECIFIED             C(MPAC) = DTEAROT
012761,000335:                                                                                                  #        PUSHLOC = PDL+0, ARBITRARY.  6 LOCATIONS USED.
012762,000336: 
012763,000337:                                                                                                  #  SUBROUTINES USED:  NONE
012764,000338: 
012765,000339:                                                                                                  #  NORMAL EXIT MODES:  RVQ
012766,000340: 
012767,000341:                                                                                                  #  ALARMS:  NONE
012768,000342: 
012769,000343:                                                                                                  #  OUTPUT:       RTEAST  (-1)            .5 UNIT VECTOR EAST, COMPNT OF RTINIT   LEFT BY FIRST CALL
012770,000344:                                                                                                  #                RTNORM  (-1)            .5 UNIT VECTOR NORML, COMPNT OF RTINIT  LEFT BY FIRST CALL
012771,000345:                                                                                                  #                RT      (-1)            .5 UNIT TARGET VECTOR, ROTATED          LEFT BY ALL CALLS
012772,000346:                                                                                                  #                DTEAROT (-28) CS        MAY BE CHANGED BY EARROT2, IF OVER 1 DAY
012773,000347: 
012774,000348:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED:
012775,000349:                                                                                                  #                UNITW   (0)             UNIT POLAR VECTOR                       PAD LOADED
012776,000350:                                                                                                  #                RTINIT  (-1)            .5 UNIT INITIAL TARGET VECTOR           LEFT BY ENTRY
012777,000351:                                                                                                  #                DTEAROT (-28) CS        TIME OF FLIGHT                          LEFT BY CALLER
012778,000352: 
012779,000353:                                                                                                  #  DEBRIS:  QPRET, PDL+0 ... PDL+5

Page 294

012781,000355: 23,2215  E7,1451                                  EBANK=   RTINIT                                
012782,000356: 
012783,000357: 23,2215           47375        EARROT1            VLOAD    VXV                                   
012784,000358: 23,2216           01714                                    UNITW                                 #  FULL UNIT VECTOR
012785,000359: 23,2217           03452                                    RTINIT                                #  .5 UNIT
012786,000360: 23,2220           03460                           STORE    RTEAST                                #  .5 UNIT
012787,000361: 
012788,000362: 23,2221           77635                           VXV                                            
012789,000363: 23,2222           01714                                    UNITW                                 #  FULL UNIT
012790,000364: 23,2223           17466                           STODL    RTNORM                                #  .5 UNIT
012791,000365: 23,2224           03606                                    DTEAROT                               #  (-28) CS
012792,000366: 
012793,000367: 23,2225           56204        EARROT2            BOVB     DDV                                   
012794,000368: 23,2226           57352                                    TCDANZIG                              #  RESET OVFIND, IF ON
012795,000369: 23,2227           06256                                    1/WIE                                 
012796,000370: 23,2230           41400                           BOV      PUSH                                  
012797,000371: 23,2231           46245                                    OVERADAY                              
012798,000372: 23,2232           45346                           COS      DSU                                   
012799,000373: 23,2233           15333                                    HIDPHALF                              
012800,000374: 23,2234           65361                           VXSC     PDDL                                  #  XCH W PUSH LIST
012801,000375: 23,2235           03466                                    RTNORM                                #  .5 UNIT
012802,000376: 23,2236           74356                           SIN      VXSC                                  
012803,000377: 23,2237           03460                                    RTEAST                                #  .5 UNIT
012804,000378: 23,2240           76455                           VAD      VSL1                                  
012805,000379: 23,2241           53455                           VAD      UNIT                                  #  INSURE THAT RT IS 'UNIT'.
012806,000380: 23,2242           03452                                    RTINIT                                #  .5 UNIT
012807,000381: 23,2243           03474                           STORE    RT                                    #  .5 UNIT TARGET VECTOR
012808,000382: 
012809,000383: 23,2244           77616                           RVQ                                            
012810,000384: 
012811,000385: 23,2245           75345        OVERADAY           DLOAD    SIGN                                  
012812,000386: 23,2246           06256                                    1/WIE                                 
012813,000387: 23,2247           03606                                    DTEAROT                               
012814,000388: 23,2250           77621                           BDSU                                           
012815,000389: 23,2251           03606                                    DTEAROT                               
012816,000390: 23,2252           03606                           STORE    DTEAROT                               
012817,000391: 
012818,000392: 23,2253           77650                           GOTO                                           
012819,000393: 23,2254           46225                                    EARROT2                               
012820,000394: 
012821,000395:                                                                                                  # WIE            2DEC    .1901487997
012822,000396: 23,2255           01015 34732  1/WIE              2DEC     8616410    B-28                       
012823,000397: 23,2257           15373 11346  NB2NB1             2DEC     +.8431756920 B-1                        
012824,000398: 23,2261           00000 00000                     2DEC     0          B-28                       
012825,000399: 23,2263           67313 65307                     2DEC     -.5376381241 B-1                        

Page 295

012827,000401: 23,2265           00000 00000  ZERINFLT           2DEC     0          B-28                       
012828,000402: 23,2267           20000 00000  HALFNFLT           2DEC     .5                                    
012829,000403: 23,2271           00000 00000                     2DEC     0          B-28                       
012830,000404: 23,2273           10464 12470                     2DEC     +.5376381241 B-1                        
012831,000405: 23,2275           00000 00000                     2DEC     0          B-28                       
012832,000406: 23,2277           15373 11346                     2DEC     +.8431756920 B-1                        
012833,000407: 23,2301           15373 11346  NB1NB2             2DEC     +.8431756920 B-1                        
012834,000408: 23,2303           00000 00000                     2DEC     0          B-28                       
012835,000409: 23,2305           10464 12470                     2DEC     +.5376381241 B-1                        
012836,000410: 23,2307           00000 00000                     2DEC     0          B-28                       
012837,000411: 23,2311           20000 00000                     2DEC     .5                                    
012838,000412: 23,2313           00000 00000                     2DEC     0          B-28                       
012839,000413: 23,2315           67313 65307                     2DEC     -.5376381241 B-1                        
012840,000414: 23,2317           00000 00000                     2DEC     0          B-28                       
012841,000415: 23,2321           15373 11346                     2DEC     +.8431756920 B-1                        

Page 296

012843,000417: 23,2323           07020        10DEGS-            DEC      3600       B-14                       
012844,000418: 23,2324           60000        270DEG             OCT      60000                                 #  SHAFT 270 DEGREES     2S COMP.
012845,000419: 23,2325           00000                           OCT      00000                                 
012846,000420: 23,2326           61740        20DEGS-            DEC      -07199     B-14                       
012847,000421: 23,2327           77777                           DEC      -00000     B-14                       
012848,000422: 23,2330           07020        20DEG-             DEC      03600      B-14                       
012849,000423: 23,2331           00000                           DEC      00000      B-14                       
012850,000424: 

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