Source Code

These source-code files are part of a reconstructed copy of Comanche 45/2 (AKA Manche45 revision 2), the final, flown mission release of the Apollo 10 Command Module (CM) Apollo Guidance Computer (AGC) software. Comanche 45/2 was preceded by Comanche 44 and Comanche 45. The reconstruction is believed to be exactly accurate, but in the absence of an actual Apollo-era listing of Comanche 45/2, some explanation of the reconstruction process is needed to insure confidence in that accuracy.

The starting point was the source code of Comanche 45 (itself previously accurately reconstructed). Comanche 45 source code was then modified by incorporating changes known from contemporary documentation to have been made between revisions 45 and 45/2. The now-reconstructed Comanche 45/2 source code was verified by assembling it and checking that the assembled code had the expected known-correct memory-bank checksums. Note that page numbers in the reconstructed code tend to match those in the Comanche 55, the most-similar revision of Comanche for which we have access to an actual non-reconstructed hardcopy; the source code would likely have different page numbers in a contemporary Comanche 45 listing.

Annotations that were not present in the contemporary source code have been added to the reconstructed code to justify each change relative to Comanche 44. Here's a guide to the Apollo documentation referenced in those annotations:
Comments expected to have been present in the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC Project's GitHub repository.

017063,000002:                                                                                                  ## Copyright:   Public domain.
017064,000003:                                                                                                  ## Filename:    ANGLFIND.agc
017065,000004:                                                                                                  ## Purpose:     A section of Manche45 revision 2.
017066,000005:                                                                                                  ##              It is part of the reconstructed source code for the
017067,000006:                                                                                                  ##              final, flown release of the flight software for the Command
017068,000007:                                                                                                  ##              Module's (CM) Apollo Guidance Computer (AGC) for Apollo 10.
017069,000008:                                                                                                  ##              The code has been recreated from a copy of Comanche 055. It
017070,000009:                                                                                                  ##              has been adapted such that the resulting bugger words
017071,000010:                                                                                                  ##              exactly match those specified for Manche 45/2 in NASA drawing
017072,000011:                                                                                                  ##              2021153D, which gives relatively high confidence that the
017073,000012:                                                                                                  ##              reconstruction is correct.
017074,000013:                                                                                                  ## Assembler:   yaYUL
017075,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
017076,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
017077,000016:                                                                                                  ## Mod history: 2020-12-24 MAS  Created from Comanche 45.
017078,000017:                                                                                                  ##              2021-05-30 ABS  ENDOCM -> ENDDCM
017079,000018:                                                                                                  ##                              ZEROERROR -> ZEROEROR
017080,000019: 

Page 399

017082,000021: 15,2000                                           BANK     15                                    
017083,000022: 22,2000                                           SETLOC   KALCMON1                              
017084,000023: 22,2000                                           BANK                                           
017085,000024: 
017086,000025: 22,2000  E6,1661                                  EBANK=   BCDU                                  
017087,000026: 
017088,000027: 22,2000                                           COUNT    22/KALC                               
017089,000028: 
017090,000029: 22,2000           06006        KALCMAN3           TC       INTPRET                               
017091,000030: 22,2001           77634                           RTB                                            
017092,000031: 22,2002           44376                                    READCDUK                              #  PICK UP CURRENT CDU ANGLES
017093,000032: 22,2003           03262                           STORE    BCDU                                  #  STORE THE INITIAL S/C ANGLES
017094,000033: 22,2004           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017095,000034: 22,2005           03320                                    MIS                                   #  INITIAL S/C AXES TO STABLE MEMBER AXES
017096,000035: 22,2006           03262                                    BCDU                                  #  (MIS)
017097,000036: 22,2007           77624                           CALL                                           
017098,000037: 22,2010           44405                                    CDUTODCM                              
017099,000038: 22,2011           72364                           AXC,2    TLOAD                                 #  COMPUTE THE TRANSFORMATION FROM
017100,000039: 22,2012           03425                                    MFS                                   #  FINAL S/C AXES TO STABLE MEMBER AXES
017101,000040: 22,2013           01156                                    CPHI                                  #  (MFS)
017102,000041: 22,2014           77624                           CALL                                           
017103,000042: 22,2015           44405                                    CDUTODCM                              
017104,000043: 22,2016           45160        SECAD              AXC,1    CALL                                  #  MIS AND MFS ARRAYS CALCULATED         $2
017105,000044: 22,2017           03320                                    MIS                                   
017106,000045: 22,2020           44334                                    TRANSPOS                              
017107,000046: 22,2021           77775                           VLOAD                                          
017108,000047: 22,2022           77626                           STADR                                          
017109,000048: 22,2023           50474                           STOVL    TMIS       +12D                       
017110,000049: 22,2024           77626                           STADR                                          
017111,000050: 22,2025           50502                           STOVL    TMIS       +6                         
017112,000051: 22,2026           77626                           STADR                                          
017113,000052: 22,2027           74510                           STORE    TMIS                                  #  TMIS = TRANSPOSE(MIS) SCALED BY 2
017114,000053: 22,2030           75160                           AXC,1    AXC,2                                 
017115,000054: 22,2031           03266                                    TMIS                                  
017116,000055: 22,2032           03425                                    MFS                                   
017117,000056: 22,2033           77624                           CALL                                           
017118,000057: 22,2034           44304                                    MXM3                                  
017119,000058: 22,2035           45575                           VLOAD    STADR                                 
017120,000059: 22,2036           50335                           STOVL    MFI        +12D                       
017121,000060: 22,2037           77626                           STADR                                          
017122,000061: 22,2040           50343                           STOVL    MFI        +6                         
017123,000062: 22,2041           77626                           STADR                                          
017124,000063: 22,2042           74351                           STORE    MFI                                   #  MFI = TMIS MFS (SCALED BY 4)
017125,000064: 22,2043           45001                           SETPD    CALL                                  #  TRANSPOSE MFI IN PD LIST
017126,000065: 22,2044           00023                                    18D                                   
017127,000066: 22,2045           44343                                    TRNSPSPD                              
017128,000067: 22,2046           45575                           VLOAD    STADR                                 
017129,000068: 22,2047           50474                           STOVL    TMFI       +12D                       
017130,000069: 22,2050           77626                           STADR                                          
017131,000070: 22,2051           50502                           STOVL    TMFI       +6                         

Page 400

017133,000072: 22,2052           77626                           STADR                                          
017134,000073: 22,2053           74510                           STORE    TMFI                                  #  TMFI = TRANSPOSE (MFI) SCALED BY 4
017135,000074: 
017136,000075:                                                                                                  #  CALCULATE COFSKEW AND MFISYM
017137,000076: 
017138,000077: 22,2054           45345                           DLOAD    DSU                                   
017139,000078: 22,2055           03271                                    TMFI       +2                         
017140,000079: 22,2056           03430                                    MFI        +2                         
017141,000080: 22,2057           45325                           PDDL     DSU                                   #  CALCULATE COF SCALED BY 2/SIN(AM)
017142,000081: 22,2060           03432                                    MFI        +4                         
017143,000082: 22,2061           03273                                    TMFI       +4                         
017144,000083: 22,2062           45325                           PDDL     DSU                                   
017145,000084: 22,2063           03301                                    TMFI       +10D                       
017146,000085: 22,2064           03440                                    MFI        +10D                       
017147,000086: 22,2065           77666                           VDEF                                           
017148,000087: 22,2066           03311                           STORE    COFSKEW                               #  EQUALS MFISKEW
017149,000088: 
017150,000089:                                                                                                  #  CALCULATE AM AND PROCEED ACCORDING TO ITS MAGNITUDE
017151,000090: 
017152,000091: 22,2067           43345                           DLOAD    DAD                                   
017153,000092: 22,2070           03426                                    MFI                                   
017154,000093: 22,2071           03446                                    MFI        +16D                       
017155,000094: 22,2072           43225                           DSU      DAD                                   
017156,000095: 22,2073           15325                                    DP1/4TH                               
017157,000096: 22,2074           03436                                    MFI        +8D                        
017158,000097: 22,2075           03317                           STORE    CAM                                   #  CAM = (MFI0+MFI4+MFI8-1)/2 HALF SCALE
017159,000098: 22,2076           77726                           ARCCOS                                         
017160,000099: 22,2077           03365                           STORE    AM                                    #  AM=ARCCOS(CAM)  (AM SCALED BY 2)
017161,000100: 22,2100           51025                           DSU      BPL                                   
017162,000101: 22,2101           04367                                    MINANG                                
017163,000102: 22,2102           44111                                    CHECKMAX                              
017164,000103: 22,2103           77776                           EXIT                                           #  MANEUVER LESS THAN 0.25 DEG
017165,000104: 22,2104           00004                           INHINT                                         #  GO DIRECTLY INTO ATTITUDE HOLD
017166,000105: 22,2105           45017                           CS       ONE                                   #  ABOUT COMMANDED ANGLES
017167,000106: 22,2106           55332                           TS       HOLDFLAG                              #  NOGO WILL STOP ANY RATE AND SET UP FOR A
017168,000107: 22,2107           03142                           TC       LOADCDUD                              #  GOOD RETURN
017169,000108: 22,2110           12730                           TCF      NOGO                                  
017170,000109: 
017171,000110: 22,2111           45345        CHECKMAX           DLOAD    DSU                                   
017172,000111: 22,2112           03365                                    AM                                    
017173,000112: 22,2113           04370                                    MAXANG                                
017174,000113: 22,2114           77244                           BPL      VLOAD                                 
017175,000114: 22,2115           44123                                    ALTCALC                               #  UNIT
017176,000115: 22,2116           03311                                    COFSKEW                               #  COFSKEW
017177,000116: 22,2117           77656                           UNIT                                           
017178,000117: 22,2120           03343                           STORE    COF                                   #  COF IS THE MANEUVER AXIS
017179,000118: 22,2121           77650                           GOTO                                           #  SEE IF MANEUVER GOES THRU GIMBAL LOCK
017180,000119: 22,2122           44737                                    LOCSKIRT                              
017181,000120: 22,2123           53375        ALTCALC            VLOAD    VAD                                   #  IF AM GREATER THAN 170 DEGREES
017182,000121: 22,2124           03426                                    MFI                                   

Page 401

017184,000123: 22,2125           03267                                    TMFI                                  
017185,000124: 22,2126           77762                           VSR1                                           
017186,000125: 22,2127           27267                           STOVL    MFISYM                                
017187,000126: 22,2130           03434                                    MFI        +6                         
017188,000127: 22,2131           74455                           VAD      VSR1                                  
017189,000128: 22,2132           03275                                    TMFI       +6                         
017190,000129: 22,2133           27275                           STOVL    MFISYM     +6                         
017191,000130: 22,2134           03442                                    MFI        +12D                       
017192,000131: 22,2135           74455                           VAD      VSR1                                  
017193,000132: 22,2136           03303                                    TMFI       +12D                       
017194,000133: 22,2137           03303                           STORE    MFISYM     +12D                       #  MFISYM=(MFI+TMFI)/2   SCALED BY 4
017195,000134: 
017196,000135:                                                                                                  #  CALCULATE COF
017197,000136: 
017198,000137: 22,2140           70545                           DLOAD    SR1                                   
017199,000138: 22,2141           03317                                    CAM                                   
017200,000139: 22,2142           45325                           PDDL     DSU                                   #  PD0 CAM                              $4
017201,000140: 22,2143           15333                                    DPHALF                                
017202,000141: 22,2144           03317                                    CAM                                   
017203,000142: 22,2145           65204                           BOVB     PDDL                                  #  PD2 1 - CAM                          $2
017204,000143: 22,2146           45712                                    SIGNMPAC                              
017205,000144: 22,2147           03307                                    MFISYM     +16D                       
017206,000145: 22,2150           56225                           DSU      DDV                                   
017207,000146: 22,2151           00001                                    0                                     
017208,000147: 22,2152           00003                                    2                                     
017209,000148: 22,2153           65366                           SQRT     PDDL                                  #  COFZ = SQRT(MFISYM8-CAM)/1-CAM)
017210,000149: 22,2154           03277                                    MFISYM     +8D                        #                                 $ ROOT 2
017211,000150: 22,2155           56225                           DSU      DDV                                   
017212,000151: 22,2156           00001                                    0                                     
017213,000152: 22,2157           00003                                    2                                     
017214,000153: 22,2160           65366                           SQRT     PDDL                                  #  COFY = SQRT(MFISYM4-CAM)/(1-CAM) $ROOT2
017215,000154: 22,2161           03267                                    MFISYM                                
017216,000155: 22,2162           56225                           DSU      DDV                                   
017217,000156: 22,2163           00001                                    0                                     
017218,000157: 22,2164           00003                                    2                                     
017219,000158: 22,2165           55566                           SQRT     VDEF                                  #  COFX = SQRT(MFISYM-CAM)/(1-CAM) $ROOT 2
017220,000159: 22,2166           77656                           UNIT                                           
017221,000160: 22,2167           03343                           STORE    COF                                   
017222,000161: 
017223,000162:                                                                                                  #  DETERMINE LARGEST COF AND ADJUST ACCORDINGLY
017224,000163: 
017225,000164: 22,2170           45345        COFMAXGO           DLOAD    DSU                                   
017226,000165: 22,2171           03343                                    COF                                   
017227,000166: 22,2172           03345                                    COF        +2                         
017228,000167: 22,2173           71240                           BMN      DLOAD                                 #  COFY G COFX
017229,000168: 22,2174           44203                                    COMP12                                
017230,000169: 22,2175           03343                                    COF                                   
017231,000170: 22,2176           50025                           DSU      BMN                                   
017232,000171: 22,2177           03347                                    COF        +4                         

Page 402

017234,000173: 22,2200           44260                                    METHOD3                               #  COFZ G COFX OR COFY
017235,000174: 22,2201           77650                           GOTO                                           
017236,000175: 22,2202           44234                                    METHOD1                               #  COFX G COFY OR COFZ
017237,000176: 22,2203           45345        COMP12             DLOAD    DSU                                   
017238,000177: 22,2204           03345                                    COF        +2                         
017239,000178: 22,2205           03347                                    COF        +4                         
017240,000179: 22,2206           77640                           BMN                                            
017241,000180: 22,2207           44260                                    METHOD3                               #  COFZ G COFY OR COFX
017242,000181: 
017243,000182: 22,2210           51145        METHOD2            DLOAD    BPL                                   #  COFY MAX
017244,000183: 22,2211           03313                                    COFSKEW    +2                         #  UY
017245,000184: 22,2212           44216                                    U2POS                                 
017246,000185: 22,2213           57575                           VLOAD    VCOMP                                 
017247,000186: 22,2214           03343                                    COF                                   
017248,000187: 22,2215           03343                           STORE    COF                                   
017249,000188: 22,2216           51145        U2POS              DLOAD    BPL                                   
017250,000189: 22,2217           03271                                    MFISYM     +2                         #  UX UY
017251,000190: 22,2220           44224                                    OKU21                                 
017252,000191: 22,2221           57545                           DLOAD    DCOMP                                 #  SIGN OF UX OPPOSITE TO UY
017253,000192: 22,2222           03343                                    COF                                   
017254,000193: 22,2223           03343                           STORE    COF                                   
017255,000194: 22,2224           51145        OKU21              DLOAD    BPL                                   
017256,000195: 22,2225           03301                                    MFISYM     +10D                       #  UY UZ
017257,000196: 22,2226           44737                                    LOCSKIRT                              
017258,000197: 22,2227           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017259,000198: 22,2230           03347                                    COF        +4                         
017260,000199: 22,2231           03347                           STORE    COF        +4                         
017261,000200: 22,2232           77650                           GOTO                                           
017262,000201: 22,2233           44737                                    LOCSKIRT                              
017263,000202: 22,2234           51145        METHOD1            DLOAD    BPL                                   #  COFX MAX
017264,000203: 22,2235           03311                                    COFSKEW                               #  UX
017265,000204: 22,2236           44242                                    U1POS                                 
017266,000205: 22,2237           57575                           VLOAD    VCOMP                                 
017267,000206: 22,2240           03343                                    COF                                   
017268,000207: 22,2241           03343                           STORE    COF                                   
017269,000208: 22,2242           51145        U1POS              DLOAD    BPL                                   
017270,000209: 22,2243           03271                                    MFISYM     +2                         #  UX UY
017271,000210: 22,2244           44250                                    OKU12                                 
017272,000211: 22,2245           57545                           DLOAD    DCOMP                                 
017273,000212: 22,2246           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UX
017274,000213: 22,2247           03345                           STORE    COF        +2                         
017275,000214: 22,2250           51145        OKU12              DLOAD    BPL                                   
017276,000215: 22,2251           03273                                    MFISYM     +4                         #  UX UZ
017277,000216: 22,2252           44737                                    LOCSKIRT                              
017278,000217: 22,2253           57545                           DLOAD    DCOMP                                 #  SIGN OF UZ OPPOSITE TO UY
017279,000218: 22,2254           03347                                    COF        +4                         
017280,000219: 22,2255           03347                           STORE    COF        +4                         
017281,000220: 22,2256           77650                           GOTO                                           
017282,000221: 22,2257           44737                                    LOCSKIRT                              
017283,000222: 22,2260           51145        METHOD3            DLOAD    BPL                                   #  COFZ MAX

Page 403

017285,000224: 22,2261           03315                                    COFSKEW    +4                         #  UZ
017286,000225: 22,2262           44266                                    U3POS                                 
017287,000226: 22,2263           57575                           VLOAD    VCOMP                                 
017288,000227: 22,2264           03343                                    COF                                   
017289,000228: 22,2265           03343                           STORE    COF                                   
017290,000229: 22,2266           51145        U3POS              DLOAD    BPL                                   
017291,000230: 22,2267           03273                                    MFISYM     +4                         #  UX UZ
017292,000231: 22,2270           44274                                    OKU31                                 
017293,000232: 22,2271           57545                           DLOAD    DCOMP                                 
017294,000233: 22,2272           03343                                    COF                                   #  SIGN OF UX OPPOSITE TO UZ
017295,000234: 22,2273           03343                           STORE    COF                                   
017296,000235: 22,2274           51145        OKU31              DLOAD    BPL                                   
017297,000236: 22,2275           03301                                    MFISYM     +10D                       #  UY UZ
017298,000237: 22,2276           44737                                    LOCSKIRT                              
017299,000238: 22,2277           57545                           DLOAD    DCOMP                                 
017300,000239: 22,2300           03345                                    COF        +2                         #  SIGN OF UY OPPOSITE TO UZ
017301,000240: 22,2301           03345                           STORE    COF        +2                         
017302,000241: 22,2302           77650                           GOTO                                           
017303,000242: 22,2303           44737                                    LOCSKIRT                              
017304,000243: 

Page 404

017306,000245:                                                                                                  #  MATRIX OPERATIONS
017307,000246: 
017308,000247: 22,2304           77601        MXM3               SETPD                                          #  MXM3 MULTIPLIES 2 3X3 MATRICES
017309,000248: 22,2305           00001                                    0                                     #  AND LEAVES RESULT IN PD LIST
017310,000249: 22,2306           64743                           DLOAD*   PDDL*                                 #  ADDRESS OF 1ST MATRIX IN XR1
017311,000250: 22,2307           77762                                    12D,2                                 #  ADDRESS OF 2ND MATRIX IN XR2
017312,000251: 22,2310           77770                                    6,2                                   
017313,000252: 22,2311           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 1)
017314,000253: 22,2312           77776                                    0,2                                   
017315,000254: 22,2313           64717                           MXV*     PDDL*                                 #  M1XM2(COL 1) IN PD
017316,000255: 22,2314           00001                                    0,1                                   
017317,000256: 22,2315           77760                                    14D,2                                 
017318,000257: 22,2316           64723                           PDDL*    PDDL*                                 
017319,000258: 22,2317           77766                                    8D,2                                  
017320,000259: 22,2320           77774                                    2,2                                   
017321,000260: 22,2321           63666                           VDEF     MXV*                                  #  DEFINE VECTOR M2(COL 2)
017322,000261: 22,2322           00001                                    0,1                                   
017323,000262: 22,2323           64723                           PDDL*    PDDL*                                 #  M1XM2(COL2) IN PD
017324,000263: 22,2324           77756                                    16D,2                                 
017325,000264: 22,2325           77764                                    10D,2                                 
017326,000265: 22,2326           55523                           PDDL*    VDEF                                  #  DEFINE VECTOR M2(COL 3)
017327,000266: 22,2327           77772                                    4,2                                   
017328,000267: 22,2330           41517                           MXV*     PUSH                                  #  M1XM2(COL 3) IN PD
017329,000268: 22,2331           00001                                    0,1                                   
017330,000269: 22,2332           77650                           GOTO                                           
017331,000270: 22,2333           44343                                    TRNSPSPD                              #  REVERSE ROWS AND COLS IN PD AND
017332,000271: 
017333,000272:                                                                                                  #  RETURN WITH M1XM2 IN PD LIST
017334,000273: 22,2334           76601        TRANSPOS           SETPD    VLOAD*                                #  TRANSPOS TRANSPOSES A 3X3 MATRIX
017335,000274: 22,2335           00001                                    0                                     #        AND LEAVES RESULT IN PD LIST
017336,000275: 22,2336           00001                                    0,1                                   #  MATRIX ADDRESS IN XR1
017337,000276: 22,2337           62713                           PDVL*    PDVL*                                 
017338,000277: 22,2340           00007                                    6,1                                   
017339,000278: 22,2341           00015                                    12D,1                                 
017340,000279: 22,2342           77606                           PUSH                                           #  MATRIX IN PD
017341,000280: 22,2343           65345        TRNSPSPD           DLOAD    PDDL                                  #  ENTER WITH MATRIX IN PD LIST
017342,000281: 22,2344           00003                                    2                                     
017343,000282: 22,2345           00007                                    6                                     
017344,000283: 22,2346           14003                           STODL    2                                     
017345,000284: 22,2347           77626                           STADR                                          
017346,000285: 22,2350           63770                           STODL    6                                     
017347,000286: 22,2351           00005                                    4                                     
017348,000287: 22,2352           77725                           PDDL                                           
017349,000288: 22,2353           00015                                    12D                                   
017350,000289: 22,2354           14005                           STODL    4                                     
017351,000290: 22,2355           77626                           STADR                                          
017352,000291: 22,2356           63762                           STODL    12D                                   
017353,000292: 22,2357           00013                                    10D                                   
017354,000293: 22,2360           77725                           PDDL                                           

Page 405

017356,000295: 22,2361           00017                                    14D                                   
017357,000296: 22,2362           14013                           STODL    10D                                   
017358,000297: 22,2363           77626                           STADR                                          
017359,000298: 22,2364           77760                           STORE    14D                                   
017360,000299: 22,2365           77616                           RVQ                                            #  RETURN WITH TRANSPOSED MATRIX IN PD LIST
017361,000300: 22,2366           00013        MINANG             DEC      .00069375                             
017362,000301: 22,2367           17071        MAXANG             DEC      .472222                               
017363,000302: 
017364,000303:                                                                                                  #  GIMBAL LOCK CONSTANTS
017365,000304: 
017366,000305:                                                                                                  #  D = MGA CORRESPONDING TO GIMBAL LOCK = 60 DEGREES
017367,000306:                                                                                                  #  NGL = BUFFER ANGLE (TO AVOID DIVISIONS BY ZERO) = 2 DEGREES
017368,000307: 
017369,000308: 22,2370           15667        SD                 DEC      .433015                               #  = SIN(D)                              $2
017370,000309: 22,2371           33555        K3S1               DEC      .86603                                #  = SIN(D)                              $1
017371,000310: 22,2372           67777        K4                 DEC      -.25                                  #  = -COS(D)                             $2
017372,000311: 22,2373           04000        K4SQ               DEC      .125                                  #  = COS(D)COS(D)                        $2
017373,000312: 22,2374           00217        SNGLCD             DEC      .008725                               #  = SIN(NGL)COS(D)                      $2
017374,000313: 22,2375           17773        CNGL               DEC      .499695                               #  = COS(NGL)                            $2
017375,000314: 22,2376           00004        READCDUK           INHINT                                         #  LOAD T(MPAC) WITH THE CURRENT CDU ANGLES
017376,000315: 22,2377           30034                           CA       CDUZ                                  
017377,000316: 22,2400           54156                           TS       MPAC       +2                         
017378,000317: 22,2401           00006                           EXTEND                                         
017379,000318: 22,2402           30033                           DCA      CDUX                                  
017380,000319: 22,2403           00003                           RELINT                                         
017381,000320: 22,2404           16445                           TCF      TLOAD      +6                         
017382,000321: 16,2000                                           BANK     16                                    
017383,000322: 22,2000                                           SETLOC   KALCMON2                              
017384,000323: 22,2000                                           BANK                                           
017385,000324: 
017386,000325: 22,2405                                           COUNT*   $$/KALC                               
017387,000326: 
017388,000327: 22,2405           66370        CDUTODCM           AXT,1    SSP                                   #  SUBROUTINE TO COMPUTE DIRECTION COSINE
017389,000328: 22,2406           00003                           OCT      3                                     #  MATRIX RELATING S/C AXES TO STABLE
017390,000329: 22,2407           00051                                    S1                                    #  MEMBER AXES FROM 3 CDU ANGLES IN T(MPAC)
017391,000330: 22,2410           00001                           OCT      1                                     #  SET XR1, S1 AND PD FOR LOOP
017392,000331: 22,2411           00010                           STORE    7                                     
017393,000332: 22,2412           77601                           SETPD                                          
017394,000333: 22,2413           00001                                    0                                     
017395,000334: 22,2414           47133        LOOPSIN            SLOAD*   RTB                                   
017396,000335: 22,2415           00013                                    10D,1                                 
017397,000336: 22,2416           45513                                    CDULOGIC                              
017398,000337: 22,2417           00013                           STORE    10D                                   #  LOAD PD WITH 0        SIN(PHI)
017399,000338: 22,2420           65356                           SIN      PDDL                                  #               2        COS(PHI)
017400,000339: 22,2421           00013                                    10D                                   #               4        SIN(THETA)
017401,000340: 22,2422           41546                           COS      PUSH                                  #               6        COS(THETA)
017402,000341: 22,2423           71300                           TIX,1    DLOAD                                 #               8        SIN(PSI)
017403,000342: 22,2424           44414                                    LOOPSIN                               #              10        COS(PSI)
017404,000343: 22,2425           00007                                    6                                     
017405,000344: 22,2426           72405                           DMP      SL1                                   
017406,000345: 22,2427           00013                                    10D                                   

Page 406

017408,000347: 22,2430           10001                           STORE    0,2                                   
017409,000348: 22,2431           77745                           DLOAD                                          
017410,000349: 22,2432           00005                                    4                                     
017411,000350: 22,2433           65205                           DMP      PDDL                                  
017412,000351: 22,2434           00001                                    0                                     #  (PD6 SIN(THETA)SIN(PHI))
017413,000352: 22,2435           00007                                    6                                     
017414,000353: 22,2436           41205                           DMP      DMP                                   
017415,000354: 22,2437           00011                                    8D                                    
017416,000355: 22,2440           00003                                    2                                     
017417,000356: 22,2441           44352                           SL1      BDSU                                  
017418,000357: 22,2442           00015                                    12D                                   
017419,000358: 22,2443           77752                           SL1                                            
017420,000359: 22,2444           10003                           STORE    2,2                                   
017421,000360: 22,2445           77745                           DLOAD                                          
017422,000361: 22,2446           00003                                    2                                     
017423,000362: 22,2447           65205                           DMP      PDDL                                  #  (PD7 COS(PHI)SIN(THETA)) SCALED 4
017424,000363: 22,2450           00005                                    4                                     
017425,000364: 22,2451           00007                                    6                                     
017426,000365: 22,2452           41205                           DMP      DMP                                   
017427,000366: 22,2453           00011                                    8D                                    
017428,000367: 22,2454           00001                                    0                                     
017429,000368: 22,2455           77752                           SL1                                            
017430,000369: 22,2456           72415                           DAD      SL1                                   
017431,000370: 22,2457           00017                                    14D                                   
017432,000371: 22,2460           10005                           STORE    4,2                                   
017433,000372: 22,2461           77745                           DLOAD                                          
017434,000373: 22,2462           00011                                    8D                                    
017435,000374: 22,2463           10007                           STORE    6,2                                   
017436,000375: 22,2464           77745                           DLOAD                                          
017437,000376: 22,2465           00013                                    10D                                   
017438,000377: 22,2466           72405                           DMP      SL1                                   
017439,000378: 22,2467           00003                                    2                                     
017440,000379: 22,2470           10011                           STORE    8D,2                                  
017441,000380: 22,2471           77745                           DLOAD                                          
017442,000381: 22,2472           00013                                    10D                                   
017443,000382: 22,2473           57405                           DMP      DCOMP                                 
017444,000383: 22,2474           00001                                    0                                     
017445,000384: 22,2475           77752                           SL1                                            
017446,000385: 22,2476           10013                           STORE    10D,2                                 
017447,000386: 22,2477           77745                           DLOAD                                          
017448,000387: 22,2500           00005                                    4                                     
017449,000388: 22,2501           57405                           DMP      DCOMP                                 
017450,000389: 22,2502           00013                                    10D                                   
017451,000390: 22,2503           77752                           SL1                                            
017452,000391: 22,2504           10015                           STORE    12D,2                                 
017453,000392: 22,2505           77745                           DLOAD                                          
017454,000393: 22,2506           72405                           DMP      SL1                                   #  (PUSH UP 7)
017455,000394: 22,2507           00011                                    8D                                    
017456,000395: 22,2510           41325                           PDDL     DMP                                   #  (PD7 COS(PHI)SIN(THETA)SIN(PSI)) SCALE 4
017457,000396: 22,2511           00007                                    6                                     

Page 407

017459,000398: 22,2512           00001                                    0                                     
017460,000399: 22,2513           72415                           DAD      SL1                                   #  (PUSH UP 7)
017461,000400: 22,2514           77626                           STADR                                          #  C7=COS(PHI)SIN(THETA)SIN(PSI)
017462,000401: 22,2515           67760                           STORE    14D,2                                 
017463,000402: 22,2516           77745                           DLOAD                                          
017464,000403: 22,2517           72405                           DMP      SL1                                   #  (PUSH UP 6)
017465,000404: 22,2520           00011                                    8D                                    
017466,000405: 22,2521           41325                           PDDL     DMP                                   #  (PD6 SIN(THETA)SIN(PHI)SIN(PSI)) SCALE 4
017467,000406: 22,2522           00007                                    6                                     
017468,000407: 22,2523           00003                                    2                                     
017469,000408: 22,2524           72425                           DSU      SL1                                   #  (PUSH UP 6)
017470,000409: 22,2525           77626                           STADR                                          
017471,000410: 22,2526           67756                           STORE    16D,2                                 #  C8=-SIN(THETA)SIN(PHI)SIN(PSI)
017472,000411: 22,2527           77616                           RVQ                                            #     +COS(THETA)COS(PHI)
017473,000412: 22,2530                        ENDDCM             EQUALS                                         
017474,000413: 
017475,000414: 15,2000                                           BANK     15                                    
017476,000415: 22,2000                                           SETLOC   KALCMON1                              
017477,000416: 22,2000                                           BANK                                           
017478,000417: 
017479,000418:                                                                                                  #  CALCULATION OF THE MATRIX DEL......
017480,000419: 
017481,000420:                                                                                                  #        *      *               --T           *
017482,000421:                                                                                                  #        DEL = (IDMATRIX)COS(A)+UU (1-COS(A))+UX SIN(A)          SCALED 1
017483,000422: 
017484,000423:                                                                                                  #              -
017485,000424:                                                                                                  #        WHERE U IS A UNIT VECTOR (DP SCALED 2) ALONG THE AXIS OF ROTATION.
017486,000425:                                                                                                  #        A IS THE ANGLE OF ROTATION (DP SCALED 2)
017487,000426:                                                                                                  #                                           -
017488,000427:                                                                                                  #        UPON ENTRY THE STARTING ADDRESS OF U IS COF, AND A IS IN MPAC
017489,000428: 
017490,000429: 22,2530                                           COUNT    22/KALC                               
017491,000430: 
017492,000431: 22,2530           41401        DELCOMP            SETPD    PUSH                                  #  MPAC CONTAINS THE ANGLE A
017493,000432: 22,2531           00001                                    0                                     
017494,000433: 22,2532           65356                           SIN      PDDL                                  #  PD0 = SIN(A)
017495,000434: 22,2533           41546                           COS      PUSH                                  #  PD2 = COS(A)
017496,000435: 22,2534           65302                           SR2      PDDL                                  #  PD2 = COS(A)                          $8
017497,000436: 22,2535           41021                           BDSU     BOVB                                  #  PD4 = 1-COS(A)                        $2
017498,000437: 22,2536           15333                                    DPHALF                                
017499,000438: 22,2537           45712                                    SIGNMPAC                              
017500,000439: 
017501,000440:                                                                                                  #  COMPUTE THE DIAGONAL COMPONENTS OF DEL
017502,000441: 
017503,000442: 22,2540           77725                           PDDL                                           
017504,000443: 22,2541           03343                                    COF                                   
017505,000444: 22,2542           41316                           DSQ      DMP                                   
017506,000445: 22,2543           00005                                    4                                     
017507,000446: 22,2544           52415                           DAD      SL3                                   

Page 408

017509,000448: 22,2545           00003                                    2                                     
017510,000449: 22,2546           77604                           BOVB                                           
017511,000450: 22,2547           45712                                    SIGNMPAC                              
017512,000451: 22,2550           17426                           STODL    DEL                                   #  UX UX(U-COS(A)) +COS(A)               $1
017513,000452: 22,2551           03345                                    COF        +2                         
017514,000453: 22,2552           41316                           DSQ      DMP                                   
017515,000454: 22,2553           00005                                    4                                     
017516,000455: 22,2554           52415                           DAD      SL3                                   
017517,000456: 22,2555           00003                                    2                                     
017518,000457: 22,2556           77604                           BOVB                                           
017519,000458: 22,2557           45712                                    SIGNMPAC                              
017520,000459: 22,2560           17436                           STODL    DEL        +8D                        #  UY UY(1-COS(A)) +COS(A)               $1
017521,000460: 22,2561           03347                                    COF        +4                         
017522,000461: 22,2562           41316                           DSQ      DMP                                   
017523,000462: 22,2563           00005                                    4                                     
017524,000463: 22,2564           52415                           DAD      SL3                                   
017525,000464: 22,2565           00003                                    2                                     
017526,000465: 22,2566           77604                           BOVB                                           
017527,000466: 22,2567           45712                                    SIGNMPAC                              
017528,000467: 22,2570           03446                           STORE    DEL        +16D                       #  UZ UZ(1-COS(A)) +COS(A)               $1
017529,000468: 
017530,000469:                                                                                                  #  COMPUTE THE OFF DIAGONAL TERMS OF DEL
017531,000470: 
017532,000471: 22,2571           41345                           DLOAD    DMP                                   
017533,000472: 22,2572           03343                                    COF                                   
017534,000473: 22,2573           03345                                    COF        +2                         
017535,000474: 22,2574           72405                           DMP      SL1                                   
017536,000475: 22,2575           00005                                    4                                     
017537,000476: 22,2576           41325                           PDDL     DMP                                   #  D6    UX UY (1-COS A)                 $ 4
017538,000477: 22,2577           03347                                    COF        +4                         
017539,000478: 22,2600           00001                                    0                                     
017540,000479: 22,2601           43206                           PUSH     DAD                                   #  D8    UZ SIN A                        $ 4
017541,000480: 22,2602           00007                                    6                                     
017542,000481: 22,2603           41112                           SL2      BOVB                                  
017543,000482: 22,2604           45712                                    SIGNMPAC                              
017544,000483: 22,2605           17434                           STODL    DEL        +6                         
017545,000484: 22,2606           62421                           BDSU     SL2                                   
017546,000485: 22,2607           77604                           BOVB                                           
017547,000486: 22,2610           45712                                    SIGNMPAC                              
017548,000487: 22,2611           17430                           STODL    DEL        +2                         
017549,000488: 22,2612           03343                                    COF                                   
017550,000489: 22,2613           41205                           DMP      DMP                                   
017551,000490: 22,2614           03347                                    COF        +4                         
017552,000491: 22,2615           00005                                    4                                     
017553,000492: 22,2616           65352                           SL1      PDDL                                  #  D6    UX UZ (1-COS A )                $ 4
017554,000493: 22,2617           03345                                    COF        +2                         
017555,000494: 22,2620           41405                           DMP      PUSH                                  #  D8    UY SIN(A)
017556,000495: 22,2621           00001                                    0                                     
017557,000496: 22,2622           62415                           DAD      SL2                                   
017558,000497: 22,2623           00007                                    6                                     

Page 409

017560,000499: 22,2624           77604                           BOVB                                           
017561,000500: 22,2625           45712                                    SIGNMPAC                              
017562,000501: 22,2626           17432                           STODL    DEL        +4                         #  UX UZ (1-COS(A))+UY SIN(A)
017563,000502: 22,2627           62421                           BDSU     SL2                                   
017564,000503: 22,2630           77604                           BOVB                                           
017565,000504: 22,2631           45712                                    SIGNMPAC                              
017566,000505: 22,2632           17442                           STODL    DEL        +12D                       #  UX UZ (U-COS(A))-UY SIN(A)
017567,000506: 22,2633           03345                                    COF        +2                         
017568,000507: 22,2634           41205                           DMP      DMP                                   
017569,000508: 22,2635           03347                                    COF        +4                         
017570,000509: 22,2636           00005                                    4                                     
017571,000510: 22,2637           65352                           SL1      PDDL                                  #  D6    UY UZ (1-COS(A))                $ 4
017572,000511: 22,2640           03343                                    COF                                   
017573,000512: 22,2641           41405                           DMP      PUSH                                  #  D8    UX SIN(A)
017574,000513: 22,2642           00001                                    0                                     
017575,000514: 22,2643           62415                           DAD      SL2                                   
017576,000515: 22,2644           00007                                    6                                     
017577,000516: 22,2645           77604                           BOVB                                           
017578,000517: 22,2646           45712                                    SIGNMPAC                              
017579,000518: 22,2647           17444                           STODL    DEL        +14D                       #  UY UZ(1-COS(A)) +UX SIN(A)
017580,000519: 22,2650           62421                           BDSU     SL2                                   
017581,000520: 22,2651           77604                           BOVB                                           
017582,000521: 22,2652           45712                                    SIGNMPAC                              
017583,000522: 22,2653           03440                           STORE    DEL        +10D                       #  UY UZ(1-COS(A)) -UX SIN(A)
017584,000523: 22,2654           77616                           RVQ                                            
017585,000524: 
017586,000525:                                                                                                  #  DIRECTION COSINE MATRIX TO CDU ANGLE ROUTINE
017587,000526:                                                                                                  #  X1 CONTAINS THE COMPLEMENT OF THE STARTING ADDRESS FOR MATRIX (SCALED 2)
017588,000527:                                                                                                  #  LEAVES CDU ANGLES SCALED 2PI IN V(MPAC)
017589,000528:                                                                                                  #  COS(MGA) WILL BE LEFT IN S1 (SCALED 1)
017590,000529: 
017591,000530:                                                                                                  #  THE DIRECTION COSINE MATRIX RELATING S/C AXES TO STABLE MEMBER AXES CAN BE WRITTEN AS ***
017592,000531: 
017593,000532:                                                                                                  #        C =COS(THETA)COS(PSI)
017594,000533:                                                                                                  #         0
017595,000534: 
017596,000535:                                                                                                  #        C =-COS(THETA)SIN(PSI)COS(PHI)+SI (THETA)SIN(PHI)
017597,000536:                                                                                                  #         1
017598,000537: 
017599,000538:                                                                                                  #        C =COS(THETA)SIN(PSI)SIN(PHI)+S N(THETA)COS(PHI)
017600,000539:                                                                                                  #         2
017601,000540: 
017602,000541:                                                                                                  #        C =SIN(PSI)
017603,000542:                                                                                                  #         3
017604,000543: 
017605,000544:                                                                                                  #        C =COS(PSI)COS(PHI)
017606,000545:                                                                                                  #         4
017607,000546: 
017608,000547:                                                                                                  #        C =-COS(PSI)SIN(PHI)
017609,000548:                                                                                                  #         5
017610,000549: 
017611,000550:                                                                                                  #        C =-SIN(THETA)COS(PSI)
017612,000551:                                                                                                  #         6
017613,000552: 
017614,000553:                                                                                                  #        C =SIN(THETA)SIN(PSI)COS(PHI)+COS THETA)SIN(PHI)
017615,000554:                                                                                                  #         7

Page 410

017617,000556:                                                                                                  #        C =-SIN(THETA)SIN(PSI)SIN(PHI)+CO (THETA)COS(PHI)
017618,000557:                                                                                                  #         8
017619,000558: 
017620,000559:                                                                                                  #        WHERE   PHI = OGA
017621,000560:                                                                                                  #                THETA = IGA
017622,000561:                                                                                                  #                PSI = MGA
017623,000562: 
017624,000563: 22,2655           67543        DCMTOCDU           DLOAD*   ARCSIN                                
017625,000564: 22,2656           00007                                    6,1                                   
017626,000565: 22,2657           71406                           PUSH     COS                                   #  PD +0         PSI
017627,000566: 22,2660           41152                           SL1      BOVB                                  
017628,000567: 22,2661           45712                                    SIGNMPAC                              
017629,000568: 22,2662           00051                           STORE    S1                                    
017630,000569: 22,2663           57543                           DLOAD*   DCOMP                                 
017631,000570: 22,2664           00015                                    12D,1                                 
017632,000571: 22,2665           67471                           DDV      ARCSIN                                
017633,000572: 22,2666           00051                                    S1                                    
017634,000573: 22,2667           51123                           PDDL*    BPL                                   #  PD +2         THETA
017635,000574: 22,2670           00001                                    0,1                                   #  MUST CHECK THE SIGN OF COS(THETA)
017636,000575: 22,2671           44703                                    OKTHETA                               #  TO DETERMINE THE PROPER QUADRANT
017637,000576: 22,2672           57545                           DLOAD    DCOMP                                 
017638,000577: 22,2673           43244                           BPL      DAD                                   
017639,000578: 22,2674           44700                                    SUHALFA                               
017640,000579: 22,2675           15333                                    DPHALF                                
017641,000580: 22,2676           77650                           GOTO                                           
017642,000581: 22,2677           44702                                    CALCPHI                               
017643,000582: 22,2700           77625        SUHALFA            DSU                                            
017644,000583: 22,2701           15333                                    DPHALF                                
017645,000584: 22,2702           77606        CALCPHI            PUSH                                           
017646,000585: 22,2703           57543        OKTHETA            DLOAD*   DCOMP                                 
017647,000586: 22,2704           00013                                    10D,1                                 
017648,000587: 22,2705           67471                           DDV      ARCSIN                                
017649,000588: 22,2706           00051                                    S1                                    
017650,000589: 22,2707           51123                           PDDL*    BPL                                   #  PUSH DOWN PHI
017651,000590: 22,2710           00011                                    8D,1                                  
017652,000591: 22,2711           44723                                    OKPHI                                 
017653,000592: 22,2712           57545                           DLOAD    DCOMP                                 #  PUSH UP PHI
017654,000593: 22,2713           43244                           BPL      DAD                                   
017655,000594: 22,2714           44720                                    SUHALFAP                              
017656,000595: 22,2715           15333                                    DPHALF                                
017657,000596: 22,2716           77650                           GOTO                                           
017658,000597: 22,2717           44724                                    VECOFANG                              
017659,000598: 22,2720           52025        SUHALFAP           DSU      GOTO                                  
017660,000599: 22,2721           15333                                    DPHALF                                
017661,000600: 22,2722           44724                                    VECOFANG                              
017662,000601: 22,2723           77745        OKPHI              DLOAD                                          #  PUSH UP PHI
017663,000602: 22,2724           43466        VECOFANG           VDEF     RVQ                                   
017664,000603: 

Page 411

017666,000605:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017667,000606: 
017668,000607: 22,2725           00004        NOGOM2             INHINT                                         #  THIS LOCATION ACCESSED BY A BZMF NOGO -2
017669,000608: 22,2726           04662                           TC       BANKCALL                              
017670,000609: 22,2727           40155                           CADR     ZEROEROR                              
017671,000610: 
017672,000611: 22,2730           00004        NOGO               INHINT                                         
017673,000612: 22,2731           04526                           TC       STOPRATE                              
017674,000613: 
017675,000614:                                                                                                  #  TERMINATE MANEUVER
017676,000615: 22,2732           35016                           CAF      TWO                                   #  NOTE - ALL RETURNS ARE NOW MADE VIA
017677,000616: 22,2733           05245                           TC       WAITLIST                              #  GOODEND
017678,000617: 22,2734  E6,1661                                  EBANK=   BCDU                                  
017679,000618: 22,2734           02006 42066                     2CADR    ENDMANU                               
017680,000619: 
017681,000620: 22,2736           15217                           TCF      ENDOFJOB                              
017682,000621: 

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