Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of BURST120 (SUNBURST 120). They were scanned at archive.org's Boston facility, and the scanning was sponsored by Mike Stewart. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are in ALL-CAPS, whereas comments added later in transcription are in Mixed-Case. In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the BURST120 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: REVISION 0 OF PROGRAM BURST120 
	BY NASA 2021106-031 DEC 7, 1967

	THIS LISTING IS A COPY OF A VERSION OF THE PROGRAM INTENDED 
	FOR USE IN THE ON-BOARD PRIMARY GUIDANCE COMPUTER IN THE 
	UNMANNED FLIGHT OF APOLLO LUNAR MODULE 1 --- THE AS206 MISSION.
Note that the date is the date of the printout, not the date of the program revision.

027891,000002:                                                                                                  ## Copyright:   Public domain.
027892,000003:                                                                                                  ## Filename:    GIMBAL_LOCK_AVOIDANCE.agc
027893,000004:                                                                                                  ## Purpose:     A module for revision 0 of BURST120 (Sunburst). It 
027894,000005:                                                                                                  ##              is part of the source code for the Lunar Module's
027895,000006:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 5.
027896,000007:                                                                                                  ## Assembler:   yaYUL
027897,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
027898,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
027899,000010:                                                                                                  ## Mod history: 2016-09-30 RSB  Created draft version.
027900,000011:                                                                                                  ##              2016-10-22 MAS  Transcribed.
027901,000012:                                                                                                  ##              2016-10-31 RSB  Typos.
027902,000013:                                                                                                  ##              2016-11-01 RSB  More typos.
027903,000014:                                                                                                  ##              2016-12-06 RSB  Comments proofed using octopus/ProoferComments,
027904,000015:                                                                                                  ##                              changes made.
027905,000016:                                                                                                  ##              2017-06-13 RSB  Corrected typos discovered while transcribing
027906,000017:                                                                                                  ##                              Sunburst 37.
027907,000018: 

Page 661

027909,000020:                                                                                                  #  DETECTING GIMBAL LOCK
027910,000021: 34,3006           51545        LOCSKIRT           DLOAD    ABS                                   
027911,000022: 34,3007           01624                                    COF                                   
027912,000023: 34,3010           51025                           DSU      BPL                                   #  IF (ABS(COF )-CNGL) POS, GO TO NOGIMLOC
027913,000024: 34,3011           30442                                    CNGL                                  #             0
027914,000025: 34,3012           71437                                    NOGIMLOC                              
027915,000026: 34,3013           41345                           DLOAD    DMP                                   
027916,000027: 34,3014           01624                                    COF                                   
027917,000028: 34,3015           01630                                    COF        +4                         
027918,000029: 34,3016           65352                           SL1      PDDL                                  
027919,000030: 34,3017           01624                                    COF                                   
027920,000031: 34,3020           72405                           DMP      SL1                                   
027921,000032: 34,3021           01626                                    COF        +2                         
027922,000033: 34,3022           63525                           PDDL     DSQ                                   
027923,000034: 34,3023           01624                                    COF                                   
027924,000035: 34,3024           55552                           SL1      VDEF                                  #            2
027925,000036: 34,3025           01602                           STORE    K1                                    #  V1 = (COF  , COF COF , COF COF )      $2
027926,000037: 34,3026           53276                           VCOMP    VAD                                   #           0      0   1     0   2
027927,000038: 34,3027           30414                                    HALFA                                 #  -
027928,000039: 34,3030           15610                           STODL    K2                                    #  V2 = ((1-V1 ), -V1 , -V1 )            $2
027929,000040: 34,3031           01626                                    COF        +2                         #             0      1     2
027930,000041: 34,3032           65276                           DCOMP    PDDL                                  
027931,000042: 34,3033           01630                                    COF        +4                         
027932,000043: 34,3034           55525                           PDDL     VDEF                                  #  -
027933,000044: 34,3035           30416                                    NIL                                   #  V3 = (0, COF , -COF )
027934,000045: 34,3036           25616                           STOVL    K3                                    #              2      1
027935,000046: 34,3037           01544                                    MIS        +6                         #  -    -
027936,000047: 34,3040           01635                           STORE    IG                                    #  IG = MIS                              $2
027937,000048: 34,3041           76521                           MXV      VSL1                                  #          3
027938,000049: 34,3042           01602                                    K1                                    #                     -   -   -   -
027939,000050: 34,3043           15602                           STODL    P21                                   #  (P21, D21, G21) = (V1, V2, V3) IG     $2
027940,000051: 34,3044           01606                                    G21                                   
027941,000052: 34,3045           65316                           DSQ      PDDL                                  
027942,000053: 34,3046           01604                                    D21                                   
027943,000054: 34,3047           43316                           DSQ      DAD                                   
027944,000055: 34,3050           77766                           SQRT                                           #                2      2
027945,000056: 34,3051           01647                           STORE    RAD                                   #  RAD = SQRT(D21 D21 + G21 G21)
027946,000057: 34,3052           50025                           DSU      BMN                                   
027947,000058: 34,3053           30440                                    SNGLCD                                #  IF (RAD-SNGLCD) NEG, GO TO NOGIMLOC
027948,000059: 34,3054           71437                                    NOGIMLOC                              
027949,000060: 34,3055           51145                           DLOAD    BPL                                   
027950,000061: 34,3056           01606                                    G21                                   
027951,000062: 34,3057           71066                                    OKG21                                 
027952,000063: 34,3060           57575                           VLOAD    VCOMP                                 #  IF G21 IS NEG ...
027953,000064: 34,3061           01635                                    IG                                    #     -    -
027954,000065: 34,3062           15635                           STODL    IG                                    #     IG =-IG, RAD =-RAD
027955,000066: 34,3063           01647                                    RAD                                   
027956,000067: 34,3064           77676                           DCOMP                                          
027957,000068: 34,3065           01647                           STORE    RAD                                   
027958,000069: 

Page 662

027960,000071: 34,3066           43345        OKG21              DLOAD    DAD                                   #  IF G21 IS POS....
027961,000072: 34,3067           01602                                    P21                                   
027962,000073: 34,3070           01647                                    RAD                                   #     IF (ABS(P21+RAD)-SD) NEG, GO NOGIMLOC
027963,000074: 34,3071           51400                           BOV      ABS                                   
027964,000075: 34,3072           71076                                    CBMCALC                               
027965,000076: 34,3073           50025                           DSU      BMN                                   #     CBM = D21/RAD                      $2
027966,000077: 34,3074           30430                                    SD                                    
027967,000078: 34,3075           71437                                    NOGIMLOC                              
027968,000079: 34,3076           70545        CBMCALC            DLOAD    SR1                                   
027969,000080: 34,3077           01604                                    D21                                   
027970,000081: 34,3100           44271                           DDV      BDSU                                  
027971,000082: 34,3101           01647                                    RAD                                   
027972,000083: 34,3102           01645                                    CAM                                   
027973,000084: 34,3103           71244                           BPL      DLOAD                                 
027974,000085: 34,3104           71437                                    NOGIMLOC                              
027975,000086: 34,3105           01574                                    MFI        +12D                       
027976,000087: 34,3106           65325                           PDDL     PDDL                                  
027977,000088: 34,3107           01566                                    MFI        +6                         
027978,000089: 34,3110           01560                                    MFI                                   #  -
027979,000090: 34,3111           76466                           VDEF     VSL1                                  #  OGF = (MFI , MFI , MFI )              $2
027980,000091: 34,3112           15616                           STODL    OGF                                   #            0     3     6
027981,000092: 34,3113           01616                                    OGF                                   
027982,000093: 34,3114           50015                           DAD      BMN                                   
027983,000094: 34,3115           30442                                    CNGL                                  #  IF ((OGF ) + CNGL) NEG, GO TO ALTE
027984,000095: 34,3116           71134                                    ALTE                                  #          0
027985,000096: 34,3117           47375                           VLOAD    VXV                                   
027986,000097: 34,3120           30414                                    HALFA                                 
027987,000098: 34,3121           01616                                    OGF                                   
027988,000099: 34,3122           77656                           UNIT                                           
027989,000100: 34,3123           25560                           STOVL    E1                                    #  E1 = UNIT(OGI X OGF)
027990,000101: 34,3124           01616                                    OGF                                   
027991,000102: 34,3125           53455                           VAD      UNIT                                  
027992,000103: 34,3126           30414                                    HALFA                                 
027993,000104: 34,3127           77650                           GOTO                                           
027994,000105: 34,3130           71150                                    STORE2                                #  E2 = UNIT(OGI X OGF)
027995,000106: 34,3131           52175        SETE1              VLOAD    GOTO                                  
027996,000107: 34,3132           30420                                    NIL        +2                         
027997,000108: 34,3133           71141                                    STOREE1                               #  E1 = (0,0,1)
027998,000109: 34,3134           47375        ALTE               VLOAD    VXV                                   
027999,000110: 34,3135           30414                                    HALFA                                 
028000,000111: 34,3136           01616                                    OGF                                   
028001,000112: 34,3137           40056                           UNIT     BOV                                   
028002,000113: 34,3140           71131                                    SETE1                                 
028003,000114: 34,3141           01560        STOREE1            STORE    E1                                    
028004,000115: 34,3142           77635                           VXV                                            
028005,000116: 34,3143           30414                                    HALFA                                 
028006,000117: 34,3144           47315                           PDVL     VXV                                   
028007,000118: 34,3145           01616                                    OGF                                   
028008,000119: 34,3146           01560                                    E1                                    
028009,000120: 34,3147           53455                           VAD      UNIT                                  #  E2 = UNIT(E1 X OGI + OGF X E1)
028010,000121: 

Page 663

028012,000123: 34,3150           77626        STORE2             STADR                                          #  -         -     -
028013,000124: 34,3151           76211                           STORE    E2                                    #  E2 = UNIT(OGI + OGF)                  $2
028014,000125: 34,3152           50201                           SETPD    DOT                                   
028015,000126: 34,3153           00001                                    0                                     
028016,000127: 34,3154           01635                                    IG                                    #       -  -
028017,000128: 34,3155           41552                           SL1      PUSH                                  #  PD0 K2                                $2
028018,000129: 34,3156           72516                           DSQ      SL1                                   
028019,000130: 34,3157           50315                           PDVL     DOT                                   #  PD2 (K2 K2)                           $2
028020,000131: 34,3160           01560                                    E1                                    
028021,000132: 34,3161           01635                                    IG                                    
028022,000133: 34,3162           41552                           SL1      PUSH                                  #  PD4 K1                                $2
028023,000134: 34,3163           72516                           DSQ      SL1                                   
028024,000135: 34,3164           45325                           PDDL     DSU                                   #  PD6 (K1 K1)                           $2
028025,000136: 34,3165           30436                                    K4SQ                                  #  = COS(D)COS(D)                        $2
028026,000137: 34,3166           00007                                    6                                     
028027,000138: 34,3167           63406                           PUSH     DSQ                                   #  PD8 D1                                $2
028028,000139: 34,3170           41325                           PDDL     DMP                                   #  PD10 (D1 D1)                          $4
028029,000140: 34,3171           01566                                    E2                                    #  (K5)
028030,000141: 34,3172           30432                                    K3S1                                  #  SIN(D)                                $1
028031,000142: 34,3173           62405                           DMP      SL2                                   
028032,000143: 34,3174           00001                                    0                                     #  K2
028033,000144: 34,3175           63525                           PDDL     DSQ                                   #  PD12 2 K2 K3 K5                       $2
028034,000145: 34,3176           01566                                    E2                                    
028035,000146: 34,3177           44352                           SL1      BDSU                                  #  K5K5 $2   PUSH UP 2 K2 K3 K5          $2
028036,000147: 34,3200           43225                           DSU      DAD                                   
028037,000148: 34,3201           00003                                    2                                     
028038,000149: 34,3202           00007                                    6                                     
028039,000150: 34,3203           63406                           PUSH     DSQ                                   #  PD12 D2                               $2
028040,000151: 34,3204           41325                           PDDL     DMP                                   #  PD14 (D2 D2)                          $4
028041,000152: 34,3205           01566                                    E2                                    
028042,000153: 34,3206           30432                                    K3S1                                  
028043,000154: 34,3207           41421                           BDSU     PUSH                                  
028044,000155: 34,3210           00001                                    0                                     #  PD16 B1                               $2
028045,000156: 34,3211           77605                           DMP                                            
028046,000157: 34,3212           00005                                    4                                     #  B1 K1                                 $4
028047,000158: 34,3213           41552                           SL1      PUSH                                  #  PD18 B1 K1                            $2
028048,000159: 34,3214           65316                           DSQ      PDDL                                  #  PD22 B1 B1 K1 K1                      $4
028049,000160: 34,3215           00011                                    8D                                    
028050,000161: 34,3216           41405                           DMP      PUSH                                  #  PD22 D1 D2                            $4
028051,000162: 34,3217           00015                                    12D                                   
028052,000163: 34,3220           45221                           BDSU     DSU                                   
028053,000164: 34,3221           00025                                    20D                                   
028054,000165: 34,3222           00013                                    10D                                   #  RSQ                                   $4
028055,000166: 34,3223           41366                           SQRT     DMP                                   
028056,000167: 34,3224           00023                                    18D                                   
028057,000168: 34,3225           70525                           PDDL     SR1                                   #  PD24 RADICAL                          $8
028058,000169: 34,3226           00017                                    14D                                   
028059,000170: 34,3227           72525                           PDDL     SL1                                   #  PD26 (D2 D2)                          $8
028060,000171: 34,3230           00025                                    20D                                   #  4(B1 B1 K1 K1)                        $8
028061,000172: 34,3231           77615                           DAD                                            #  PUSH UP FOR (D2 D2)                   $8

Page 664

028063,000174: 34,3232           70525                           PDDL     SR1                                   #  PD26 DENOMR (D2 D2)
028064,000175: 34,3233           00027                                    22D                                   
028065,000176: 34,3234           41421                           BDSU     PUSH                                  #  PD28 NUM
028066,000177: 34,3235           00025                                    20D                                   
028067,000178: 34,3236           56215                           DAD      DDV                                   #  NUM
028068,000179: 34,3237           00031                                    24D                                   #   + RADICAL
028069,000180: 34,3240           00033                                    26D                                   #  DENOM
028070,000181: 34,3241           60404                           BOVB     SR2                                   
028071,000182: 34,3242           73501                                    SIGNMPAC                              
028072,000183: 34,3243           01610                           STORE    C2SQP                                 #                                        $4
028073,000184: 34,3244           77766                           SQRT                                           
028074,000185: 34,3245           15614                           STODL    C2PP                                  #                                        $2
028075,000186: 34,3246           00031                                    24D                                   #  NUM
028076,000187: 34,3247           56221                           BDSU     DDV                                   #  PUSH UP FOR NUM, DENOM
028077,000188: 34,3250           60404                           BOVB     SR2                                   
028078,000189: 34,3251           73501                                    SIGNMPAC                              
028079,000190: 34,3252           01612                           STORE    C2SQM                                 #                                        $4
028080,000191: 34,3253           77766                           SQRT                                           
028081,000192: 34,3254           15616                           STODL    C2MP                                  #                                        $2
028082,000193: 34,3255           30426                                    QUARTA                                #  1                                     $4
028083,000194: 34,3256           75425                           DSU      SQRT                                  
028084,000195: 34,3257           01610                                    C2SQP                                 
028085,000196: 34,3260           15620                           STODL    C1PP                                  #                                        $2
028086,000197: 34,3261           30426                                    QUARTA                                
028087,000198: 34,3262           75425                           DSU      SQRT                                  
028088,000199: 34,3263           01612                                    C2SQM                                 
028089,000200: 34,3264           01622                           STORE    C1MP                                  #                                        $2
028090,000201: 34,3265           66370                           AXT,1    SSP                                   
028091,000202: 34,3266           00004                                    4                                     
028092,000203: 34,3267           00051                                    S1                                    
028093,000204: 34,3270           00002                                    2                                     
028094,000205: 34,3271           71201        NORM               SETPD    DLOAD                                 
028095,000206: 34,3272           00023                                    18D                                   
028096,000207: 34,3273           00021                                    16D                                   #  B1                                    $2
028097,000208: 34,3274           65203                           DMP*     PDDL                                  #  PD18 = -Q                             $4
028098,000209: 34,3275           01620                                    C2PP       +4,1                       
028099,000210: 34,3276           01566                                    E2                                    
028100,000211: 34,3277           40716                           DSQ      DMP*                                  
028101,000212: 34,3300           01614                                    C2SQP      +4,1                       
028102,000213: 34,3301           44312                           SL2      BDSU                                  
028103,000214: 34,3302           30426                                    QUARTA                                
028104,000215: 34,3303           41366                           SQRT     DMP                                   
028105,000216: 34,3304           30434                                    K4                                    #  PD20 = -R                             $4
028106,000217: 34,3305           40725                           PDDL     DMP*                                  
028107,000218: 34,3306           00005                                    4                                     #  K1                                    $2
028108,000219: 34,3307           01624                                    C1PP       +4,1                       
028109,000220: 34,3310           65246                           ABS      PDDL                                  #  PD22 AC1                              $4
028110,000221: 34,3311           00023                                    18D                                   #  -Q
028111,000222: 34,3312           57415                           DAD      DCOMP                                 
028112,000223: 34,3313           00025                                    20D                                   #  -R

Page 665

028114,000225: 34,3314           45325                           PDDL     DSU                                   #  PD24 ANSW1 = Q + R                    $4
028115,000226: 34,3315           00023                                    18D                                   #  -Q
028116,000227: 34,3316           00025                                    20D                                   #  +R
028117,000228: 34,3317           41476                           DCOMP    PUSH                                  #  PD26 ANSW2 = Q - R                    $4
028118,000229: 34,3320           45246                           ABS      DSU                                   
028119,000230: 34,3321           00027                                    22D                                   #  AC1
028120,000231: 34,3322           65246                           ABS      PDDL                                  #  PD28 ABS(ABS(ANSW2) -AC1)
028121,000232: 34,3323           00031                                    24D                                   #  ANSW1
028122,000233: 34,3324           45246                           ABS      DSU                                   
028123,000234: 34,3325           00027                                    22D                                   #  AC1
028124,000235: 34,3326           45246                           ABS      DSU                                   #  ABS(ABS(ANSW1)-AC1)
028125,000236: 34,3327           71244                           BPL      DLOAD                                 
028126,000237: 34,3330           71353                                    CKSGNAN2                              
028127,000238: 34,3331           00031                                    24D                                   #  ANSW1
028128,000239: 34,3332           71244        SIGNANSW           BPL      DLOAD                                 
028129,000240: 34,3333           71345                                    SAMEASK1                              
028130,000241: 34,3334           00005                                    4                                     #  K1
028131,000242: 34,3335           70640                           BMN      DLOAD*                                
028132,000243: 34,3336           71342                                    OKC2                                  
028133,000244: 34,3337           01620                                    C2PP       +4,1                       
028134,000245: 34,3340           77676        OPPSGNC2           DCOMP                                          
028135,000246: 34,3341           05620                           STORE    C2PP       +4,1                       
028136,000247: 34,3342           52100        OKC2               TIX,1    GOTO                                  
028137,000248: 34,3343           71271                                    NORM                                  
028138,000249: 34,3344           71356                                    OUTCYCLE                              
028139,000250: 34,3345           51145        SAMEASK1           DLOAD    BPL                                   
028140,000251: 34,3346           00005                                    4                                     #  K1
028141,000252: 34,3347           71342                                    OKC2                                  
028142,000253: 34,3350           52143                           DLOAD*   GOTO                                  
028143,000254: 34,3351           01620                                    C2PP       +4,1                       
028144,000255: 34,3352           71340                                    OPPSGNC2                              
028145,000256: 34,3353           52145        CKSGNAN2           DLOAD    GOTO                                  
028146,000257: 34,3354           00033                                    26D                                   #  ANSW2
028147,000258: 34,3355           71332                                    SIGNANSW                              
028148,000259: 34,3356           77201        OUTCYCLE           SETPD    VLOAD                                 
028149,000260: 34,3357           00001                                    0                                     
028150,000261: 34,3360           01624                                    COF                                   #           -   -
028151,000262: 34,3361           63241                           DOT      PDVL                                  #  PD0 U1 = COF.E1
028152,000263: 34,3362           01560                                    E1                                    
028153,000264: 34,3363           01624                                    COF                                   #           -   -
028154,000265: 34,3364           41441                           DOT      PUSH                                  #  PD2 U2 = COF.E2
028155,000266: 34,3365           01566                                    E2                                    
028156,000267:                                                                                                  #  PICK THE NEW U WHICH IS CLOSEST TO THE OLD U
028157,000268: 34,3366           41370                           AXT,1    DMP                                   
028158,000269: 34,3367           00000                                    0                                     
028159,000270: 34,3370           01614                                    C2PP                                  
028160,000271: 34,3371           41325                           PDDL     DMP                                   #  PD4 U2 C2(0)
028161,000272: 34,3372           01620                                    C1PP                                  
028162,000273: 34,3373           00001                                    0                                     #  U1 C1(0)
028163,000274: 34,3374           51415                           DAD      ABS                                   

Page 666

028165,000276: 34,3375           41325                           PDDL     DMP                                   #  PD4 ABS(U1 C1(0) + U2 C2(0))
028166,000277: 34,3376           00003                                    2                                     
028167,000278: 34,3377           01616                                    C2MP                                  
028168,000279: 34,3400           41325                           PDDL     DMP                                   #  PD6 U2 C2(1)
028169,000280: 34,3401           00001                                    0                                     
028170,000281: 34,3402           01622                                    C1MP                                  #  PUSH UP U2 C2(1)
028171,000282: 34,3403           51415                           DAD      ABS                                   #  ABS(U1 C1(1) + U2 C2(1))
028172,000283: 34,3404           77625                           DSU                                            #  PUSH UP 4
028173,000284: 34,3405           74040                           BMN      AXC,1                                 
028174,000285: 34,3406           71410                                    JZERO                                 
028175,000286: 34,3407           00002                                    2                                     
028176,000287: 34,3410           74343        JZERO              DLOAD*   VXSC                                  
028177,000288: 34,3411           01620                                    C1PP,1                                
028178,000289: 34,3412           01560                                    E1                                    
028179,000290: 34,3413           74323                           PDDL*    VXSC                                  
028180,000291: 34,3414           01614                                    C2PP,1                                
028181,000292: 34,3415           01566                                    E2                                    
028182,000293: 34,3416           77655                           VAD                                            
028183,000294: 34,3417           77656                           UNIT                                           #  NEW COF  -       -
028184,000295: 34,3420           01624                           STORE    COF                                   #  COF = C1 E1 + C2 E2
028185,000296:                                                                                                  #  NEW MANEUVER ANGLE IS
028186,000297: 34,3421           63545                           DLOAD    DSQ                                   
028187,000298: 34,3422           01624                                    COF                                   
028188,000299: 34,3423           44352                           SL1      BDSU                                  #            2
028189,000300: 34,3424           30414                                    HALFA                                 #  (1 - COF )                            $2
028190,000301: 34,3425           63525                           PDDL     DSQ                                   #          0
028191,000302: 34,3426           01566                                    E2                                    
028192,000303: 34,3427           56221                           BDSU     DDV                                   #         2
028193,000304: 34,3430           30426                                    QUARTA                                #  (1 - K5 )                             $4
028194,000305: 34,3431           75542                           SR1      SQRT                                  
028195,000306: 34,3432           72536                           ARCSIN   SL1                                   
028196,000307: 34,3433           01643                           STORE    AM                                    
028197,000308: 34,3434           77614                           CLRGO                                          #  STATE SWITCH NO. 31
028198,000309: 34,3435           01221                                    31D                                   #  0(OFF) = MANEUVER WENT THRU GIMBAL LOCK
028199,000310: 34,3436           71441                                    WCALC                                 #  1(ON) = MANEUVER DID NOT GO THRU GIMLOCK
028200,000311: 34,3437           77614        NOGIMLOC           SET                                            
028201,000312: 34,3440           01061                                    31D                                   
028202,000313: 34,3441           70740        WCALC              LXC,1    DLOAD*                                
028203,000314: 34,3442           01652                                    RATEINDX                              #  CHOOSE THE DESIRED MANEUVER RATE
028204,000315: 34,3443           31465                                    ARATE,1                               #  FROM A LIST OF FOUR
028205,000316: 34,3444           45002                           SR4      CALL                                  #  COMPUTE THE INCREMENTAL ROTATION MATRIX
028206,000317: 34,3445           70564                                    DELCOMP                               #  DEL CORRESPONDING TO A 1 SEC ROTATION
028207,000318:                                                                                                  #  ABOUT COF
028208,000319: 34,3446           74343                           DLOAD*   VXSC                                  
028209,000320: 34,3447           31465                                    ARATE,1                               
028210,000321: 34,3450           01624                                    COF                                   
028211,000322: 34,3451           15635                           STODL    BRATE                                 #  COMPONENT MANEUVER RATES 45 DEG/SEC
028212,000323: 34,3452           01643                                    AM                                    
028213,000324: 34,3453           55605                           DMP      DDV*                                  
028214,000325: 34,3454           31475                                    ANGLTIME                              

Page 667

028216,000327: 34,3455           31465                                    ARATE,1                               
028217,000328: 34,3456           77661                           SR                                             
028218,000329: 34,3457           20606                                    5                                     
028219,000330: 34,3460           01645                           STORE    TM                                    #  MANEUVER EXECUTION TIME SCALED AS T2
028220,000331: 34,3461           77614                           SETGO                                          #  STATE SWITCH NO. 32
028221,000332: 34,3462           01022                                    32D                                   #  0(OFF) = CONTINUE MANEUVER
028222,000333: 34,3463           71477                                    NEWDELHI   +1                         #  1(ON) = START MANEUVER
028223,000334: 
028224,000335: 
028225,000336:                                                                                                  #  THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
028226,000337:                                                                                                  #  LOADING RATEINDX WITH 0,2,4,6, RESPECTIVELY
028227,000338: 
028228,000339: 
028229,000340: 34,3464           00554 02660  ARATE              2DEC     .0222222222                            #  =.5 DEG/SEC        $ 22.5DEG/SEC
028230,000341: 
028231,000342: 34,3466           02660 13301                     2DEC     .0888888888                            #  = 2 DEG/SEC        $ 22.5DEG/SEC
028232,000343: 
028233,000344: 34,3470           07070 34344                     2DEC     .2222222222                            #  = 5 DEG/SEC        $ 22.5DEG/SEC
028234,000345: 
028235,000346: 34,3472           16161 30707                     2DEC     .4444444444                            #  =10 DEG/SEC        $ 22.5DEG/SEC
028236,000347: 
028237,000348: 34,3474           00003 04000  ANGLTIME           2DEC     .0001907349                            #  = 100B-19     FUDGE FACTOR TO CONVERT
028238,000349:                                                                                                  #  MANEUVER ANGLE TO MANEUVER TIME

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