Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Peter McDermott. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	YUL SYSTEM FOR AGC: NEW PROGRAM SHEPATIN BY EYLES
	DEC 13, 1966

	THIS PROGRAM WAS ASSEMBLED AS A VERSION OF REVISION 37 
        OF PROGRAM SUNBURST BY LEM GROUP
Note that the date is the date of the printout, not the date of the program revision.

027664,000002:                                                                                                  ## Copyright:   Public domain.
027665,000003:                                                                                                  ## Filename:    GIMBAL_LOCK_AVOIDANCE.agc
027666,000004:                                                                                                  ## Purpose:     A section of Sunburst revision 37, or Shepatin revision 0.
027667,000005:                                                                                                  ##              It is part of an early development version of the software
027668,000006:                                                                                                  ##              for Apollo Guidance Computer (AGC) on the unmanned Lunar
027669,000007:                                                                                                  ##              Module (LM) flight Apollo 5. Sunburst 37 was the program
027670,000008:                                                                                                  ##              upon which Don Eyles's offline development program Shepatin
027671,000009:                                                                                                  ##              was based; the listing herein transcribed was actually for
027672,000010:                                                                                                  ##              the equivalent revision 0 of Shepatin.
027673,000011:                                                                                                  ##              This file is intended to be a faithful transcription, except
027674,000012:                                                                                                  ##              that the code format has been changed to conform to the
027675,000013:                                                                                                  ##              requirements of the yaYUL assembler rather than the
027676,000014:                                                                                                  ##              original YUL assembler.
027677,000015:                                                                                                  ## Reference:   pp. 620-626
027678,000016:                                                                                                  ## Assembler:   yaYUL
027679,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
027680,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
027681,000019:                                                                                                  ## Mod history: 2017-05-24 MAS  Created from Sunburst 120.
027682,000020:                                                                                                  ##              2017-06-13 RSB  Transcribed.
027683,000021:                                                                                                  ##              2017-06-22 RSB  Proofed comment text with
027684,000022:                                                                                                  ##                              octopus/ProoferComments.
027685,000023: 

Page 620

027687,000025:                                                                                                  #  DETECTING GIMBAL LOCK
027688,000026: 34,3024           51545        LOCSKIRT           DLOAD    ABS                                   
027689,000027: 34,3025           01624                                    COF                                   
027690,000028: 34,3026           51025                           DSU      BPL                                   #  IF (ABS(COF )-CNGL) POS, GO TO NOGIMLOC
027691,000029: 34,3027           30442                                    CNGL                                  #             0
027692,000030: 34,3030           71455                                    NOGIMLOC                              
027693,000031: 34,3031           41345                           DLOAD    DMP                                   
027694,000032: 34,3032           01624                                    COF                                   
027695,000033: 34,3033           01630                                    COF        +4                         
027696,000034: 34,3034           65352                           SL1      PDDL                                  
027697,000035: 34,3035           01624                                    COF                                   
027698,000036: 
027699,000037: 34,3036           72405                           DMP      SL1                                   
027700,000038: 34,3037           01626                                    COF        +2                         
027701,000039: 34,3040           63525                           PDDL     DSQ                                   
027702,000040: 34,3041           01624                                    COF                                   
027703,000041: 34,3042           55552                           SL1      VDEF                                  #            2
027704,000042: 34,3043           01602                           STORE    K1                                    #  V1 = (COF  , COF COF , COF COF )      $2
027705,000043: 34,3044           53276                           VCOMP    VAD                                   #           0      0   1     0   2
027706,000044: 34,3045           30414                                    HALFA                                 #  -
027707,000045: 34,3046           15610                           STODL    K2                                    #  V2 = ((1-V1 ), -V1 , -V1 )            $2
027708,000046: 34,3047           01626                                    COF        +2                         #             0      1     2
027709,000047: 34,3050           65276                           DCOMP    PDDL                                  
027710,000048: 34,3051           01630                                    COF        +4                         
027711,000049: 
027712,000050: 34,3052           55525                           PDDL     VDEF                                  #  -
027713,000051: 34,3053           30416                                    NIL                                   #  V3 = (0, COF , -COF )
027714,000052: 34,3054           25616                           STOVL    K3                                    #              2      1
027715,000053: 34,3055           01544                                    MIS        +6                         #  -    -
027716,000054: 34,3056           01635                           STORE    IG                                    #  IG = MIS                              $2
027717,000055: 34,3057           76521                           MXV      VSL1                                  #          3
027718,000056: 34,3060           01602                                    K1                                    #                     -   -   -   -
027719,000057: 34,3061           15602                           STODL    P21                                   #  (P21, D21, G21) = (V1, V2, V3) IG     $2
027720,000058: 34,3062           01606                                    G21                                   
027721,000059: 34,3063           65316                           DSQ      PDDL                                  
027722,000060: 34,3064           01604                                    D21                                   
027723,000061: 34,3065           43316                           DSQ      DAD                                   
027724,000062: 34,3066           77766                           SQRT                                           #                2      2
027725,000063: 34,3067           01647                           STORE    RAD                                   #  RAD = SQRT(D21 D21 + G21 G21)
027726,000064: 34,3070           50025                           DSU      BMN                                   
027727,000065: 34,3071           30440                                    SNGLCD                                #  IF (RAD-SNGLCD) NEG, GO TO NOGIMLOC
027728,000066: 34,3072           71455                                    NOGIMLOC                              
027729,000067: 34,3073           51145                           DLOAD    BPL                                   
027730,000068: 34,3074           01606                                    G21                                   
027731,000069: 34,3075           71104                                    OKG21                                 
027732,000070: 34,3076           57575                           VLOAD    VCOMP                                 #  IF G21 IS NEG ...
027733,000071: 34,3077           01635                                    IG                                    #     -    -
027734,000072: 34,3100           15635                           STODL    IG                                    #     IG =-IG, RAD =-RAD
027735,000073: 34,3101           01647                                    RAD                                   
027736,000074: 34,3102           77676                           DCOMP                                          
027737,000075: 34,3103           01647                           STORE    RAD                                   
027738,000076: 

Page 621

027740,000078: 34,3104           43345        OKG21              DLOAD    DAD                                   #  IF G21 IS POS....
027741,000079: 34,3105           01602                                    P21                                   
027742,000080: 34,3106           01647                                    RAD                                   #     IF (ABS(P21+RAD)-SD) NEG, GO NOGIMLOC
027743,000081: 34,3107           51400                           BOV      ABS                                   
027744,000082: 34,3110           71114                                    CBMCALC                               
027745,000083: 34,3111           50025                           DSU      BMN                                   #     CBM = D21/RAD                      $2
027746,000084: 34,3112           30430                                    SD                                    
027747,000085: 34,3113           71455                                    NOGIMLOC                              
027748,000086: 
027749,000087: 34,3114           70545        CBMCALC            DLOAD    SR1                                   
027750,000088: 34,3115           01604                                    D21                                   
027751,000089: 34,3116           44271                           DDV      BDSU                                  
027752,000090: 34,3117           01647                                    RAD                                   
027753,000091: 34,3120           01645                                    CAM                                   
027754,000092: 34,3121           71244                           BPL      DLOAD                                 
027755,000093: 34,3122           71455                                    NOGIMLOC                              
027756,000094: 34,3123           01574                                    MFI        +12D                       
027757,000095: 34,3124           65325                           PDDL     PDDL                                  
027758,000096: 34,3125           01566                                    MFI        +6                         
027759,000097: 34,3126           01560                                    MFI                                   #  -
027760,000098: 34,3127           76466                           VDEF     VSL1                                  #  OGF = (MFI , MFI , MFI )              $2
027761,000099: 34,3130           15616                           STODL    OGF                                   #            0     3     6
027762,000100: 34,3131           01616                                    OGF                                   
027763,000101: 34,3132           50015                           DAD      BMN                                   
027764,000102: 34,3133           30442                                    CNGL                                  #  IF ((OGF ) + CNGL) NEG, GO TO ALTE
027765,000103: 34,3134           71152                                    ALTE                                  #          0
027766,000104: 34,3135           47375                           VLOAD    VXV                                   
027767,000105: 34,3136           30414                                    HALFA                                 
027768,000106: 34,3137           01616                                    OGF                                   
027769,000107: 34,3140           77656                           UNIT                                           
027770,000108: 34,3141           25560                           STOVL    E1                                    #  E1 = UNIT(OGI X OGF)
027771,000109: 34,3142           01616                                    OGF                                   
027772,000110: 
027773,000111: 34,3143           53455                           VAD      UNIT                                  
027774,000112: 34,3144           30414                                    HALFA                                 
027775,000113: 34,3145           77650                           GOTO                                           
027776,000114: 34,3146           71166                                    STORE2                                #  E2 = UNIT(OGI X OGF)
027777,000115: 34,3147           52175        SETE1              VLOAD    GOTO                                  
027778,000116: 34,3150           30420                                    NIL        +2                         
027779,000117: 34,3151           71157                                    STOREE1                               #  E1 = (0,0,1)
027780,000118: 34,3152           47375        ALTE               VLOAD    VXV                                   
027781,000119: 34,3153           30414                                    HALFA                                 
027782,000120: 34,3154           01616                                    OGF                                   
027783,000121: 34,3155           40056                           UNIT     BOV                                   
027784,000122: 34,3156           71147                                    SETE1                                 
027785,000123: 34,3157           01560        STOREE1            STORE    E1                                    
027786,000124: 34,3160           77635                           VXV                                            
027787,000125: 34,3161           30414                                    HALFA                                 
027788,000126: 34,3162           47315                           PDVL     VXV                                   
027789,000127: 34,3163           01616                                    OGF                                   
027790,000128: 34,3164           01560                                    E1                                    
027791,000129: 34,3165           53455                           VAD      UNIT                                  #  E2 = UNIT(E1 X OGI + OGF X E1)
027792,000130: 

Page 622

027794,000132: 34,3166           77626        STORE2             STADR                                          #  -         -     -
027795,000133: 34,3167           76211                           STORE    E2                                    #  E2 = UNIT(OGI + OGF)                  $2
027796,000134: 34,3170           50201                           SETPD    DOT                                   
027797,000135: 34,3171           00001                                    0                                     
027798,000136: 34,3172           01635                                    IG                                    #       -  -
027799,000137: 34,3173           41552                           SL1      PUSH                                  #  PD0 K2                                $2
027800,000138: 34,3174           72516                           DSQ      SL1                                   
027801,000139: 34,3175           50315                           PDVL     DOT                                   #  PD2 (K2 K2)                           $2
027802,000140: 34,3176           01560                                    E1                                    
027803,000141: 34,3177           01635                                    IG                                    
027804,000142: 34,3200           41552                           SL1      PUSH                                  #  PD4 K1                                $2
027805,000143: 34,3201           72516                           DSQ      SL1                                   
027806,000144: 34,3202           45325                           PDDL     DSU                                   #  PD6 (K1 K1)                           $2
027807,000145: 34,3203           30436                                    K4SQ                                  #  = COS(D)COS(D)                        $2
027808,000146: 
027809,000147: 34,3204           00007                                    6                                     
027810,000148: 34,3205           63406                           PUSH     DSQ                                   #  PD8 D1                                $2
027811,000149: 34,3206           41325                           PDDL     DMP                                   #  PD10 (D1 D1)                          $4
027812,000150: 34,3207           01566                                    E2                                    #  (K5)
027813,000151: 34,3210           30432                                    K3S1                                  #  SIN(D)                                $1
027814,000152: 34,3211           62405                           DMP      SL2                                   
027815,000153: 34,3212           00001                                    0                                     #  K2
027816,000154: 34,3213           63525                           PDDL     DSQ                                   #  PD12 2 K2 K3 K5                       $2
027817,000155: 34,3214           01566                                    E2                                    
027818,000156: 34,3215           44352                           SL1      BDSU                                  #  K5K5 $2   PUSH UP 2 K2 K3 K5          $2
027819,000157: 34,3216           43225                           DSU      DAD                                   
027820,000158: 34,3217           00003                                    2                                     
027821,000159: 34,3220           00007                                    6                                     
027822,000160: 34,3221           63406                           PUSH     DSQ                                   #  PD12 D2                               $2
027823,000161: 34,3222           41325                           PDDL     DMP                                   #  PD14 (D2 D2)                          $4
027824,000162: 34,3223           01566                                    E2                                    
027825,000163: 34,3224           30432                                    K3S1                                  
027826,000164: 34,3225           41421                           BDSU     PUSH                                  
027827,000165: 34,3226           00001                                    0                                     #  PD16 B1                               $2
027828,000166: 34,3227           77605                           DMP                                            
027829,000167: 34,3230           00005                                    4                                     #  B1 K1                                 $4
027830,000168: 34,3231           41552                           SL1      PUSH                                  #  PD18 B1 K1                            $2
027831,000169: 34,3232           65316                           DSQ      PDDL                                  #  PD22 B1 B1 K1 K1                      $4
027832,000170: 
027833,000171: 34,3233           00011                                    8D                                    
027834,000172: 34,3234           41405                           DMP      PUSH                                  #  PD22 D1 D2                            $4
027835,000173: 34,3235           00015                                    12D                                   
027836,000174: 34,3236           45221                           BDSU     DSU                                   
027837,000175: 34,3237           00025                                    20D                                   
027838,000176: 34,3240           00013                                    10D                                   #  RSQ                                   $4
027839,000177: 34,3241           41366                           SQRT     DMP                                   
027840,000178: 34,3242           00023                                    18D                                   
027841,000179: 34,3243           70525                           PDDL     SR1                                   #  PD24 RADICAL                          $8
027842,000180: 34,3244           00017                                    14D                                   
027843,000181: 34,3245           72525                           PDDL     SL1                                   #  PD26 (D2 D2)                          $8
027844,000182: 34,3246           00025                                    20D                                   #  4(B1 B1 K1 K1)                        $8
027845,000183: 34,3247           77615                           DAD                                            #  PUSH UP FOR (D2 D2)                   $8

Page 623

027847,000185: 34,3250           70525                           PDDL     SR1                                   #  PD26 DENOMR (D2 D2)
027848,000186: 34,3251           00027                                    22D                                   
027849,000187: 34,3252           41421                           BDSU     PUSH                                  #  PD28 NUM
027850,000188: 34,3253           00025                                    20D                                   
027851,000189: 34,3254           56215                           DAD      DDV                                   #  NUM
027852,000190: 34,3255           00031                                    24D                                   #   + RADICAL
027853,000191: 34,3256           00033                                    26D                                   #  DENOM
027854,000192: 34,3257           60404                           BOVB     SR2                                   
027855,000193: 34,3260           70445                                    SIGNMPAC                              
027856,000194: 34,3261           01610                           STORE    C2SQP                                 #                                        $4
027857,000195: 34,3262           77766                           SQRT                                           
027858,000196: 34,3263           15614                           STODL    C2PP                                  #                                        $2
027859,000197: 34,3264           00031                                    24D                                   #  NUM
027860,000198: 34,3265           56221                           BDSU     DDV                                   #  PUSH UP FOR NUM, DENOM
027861,000199: 34,3266           60404                           BOVB     SR2                                   
027862,000200: 34,3267           70445                                    SIGNMPAC                              
027863,000201: 34,3270           01612                           STORE    C2SQM                                 #                                        $4
027864,000202: 34,3271           77766                           SQRT                                           
027865,000203: 34,3272           15616                           STODL    C2MP                                  #                                        $2
027866,000204: 
027867,000205: 34,3273           30426                                    QUARTA                                #  1                                     $4
027868,000206: 34,3274           75425                           DSU      SQRT                                  
027869,000207: 34,3275           01610                                    C2SQP                                 
027870,000208: 34,3276           15620                           STODL    C1PP                                  #                                        $2
027871,000209: 34,3277           30426                                    QUARTA                                
027872,000210: 34,3300           75425                           DSU      SQRT                                  
027873,000211: 34,3301           01612                                    C2SQM                                 
027874,000212: 34,3302           01622                           STORE    C1MP                                  #                                        $2
027875,000213: 34,3303           66370                           AXT,1    SSP                                   
027876,000214: 34,3304           00004                                    4                                     
027877,000215: 34,3305           00051                                    S1                                    
027878,000216: 34,3306           00002                                    2                                     
027879,000217: 34,3307           71201        NORM               SETPD    DLOAD                                 
027880,000218: 34,3310           00023                                    18D                                   
027881,000219: 34,3311           00021                                    16D                                   #  B1                                    $2
027882,000220: 34,3312           65203                           DMP*     PDDL                                  #  PD18 = -Q                             $4
027883,000221: 34,3313           01620                                    C2PP       +4,1                       
027884,000222: 34,3314           01566                                    E2                                    
027885,000223: 34,3315           40716                           DSQ      DMP*                                  
027886,000224: 34,3316           01614                                    C2SQP      +4,1                       
027887,000225: 34,3317           44312                           SL2      BDSU                                  
027888,000226: 34,3320           30426                                    QUARTA                                
027889,000227: 34,3321           41366                           SQRT     DMP                                   
027890,000228: 
027891,000229: 34,3322           30434                                    K4                                    #  PD20 = -R                             $4
027892,000230: 34,3323           40725                           PDDL     DMP*                                  
027893,000231: 34,3324           00005                                    4                                     #  K1                                    $2
027894,000232: 34,3325           01624                                    C1PP       +4,1                       
027895,000233: 34,3326           65246                           ABS      PDDL                                  #  PD22 AC1                              $4
027896,000234: 34,3327           00023                                    18D                                   #  -Q
027897,000235: 34,3330           57415                           DAD      DCOMP                                 
027898,000236: 34,3331           00025                                    20D                                   #  -R

Page 624

027900,000238: 34,3332           45325                           PDDL     DSU                                   #  PD24 ANSW1 = Q + R                    $4
027901,000239: 34,3333           00023                                    18D                                   #  -Q
027902,000240: 
027903,000241: 34,3334           00025                                    20D                                   #  +R
027904,000242: 34,3335           41476                           DCOMP    PUSH                                  #  PD26 ANSW2 = Q - R                    $4
027905,000243: 34,3336           45246                           ABS      DSU                                   
027906,000244: 34,3337           00027                                    22D                                   #  AC1
027907,000245: 34,3340           65246                           ABS      PDDL                                  #  PD28 ABS(ABS(ANSW2) -AC1)
027908,000246: 34,3341           00031                                    24D                                   #  ANSW1
027909,000247: 34,3342           45246                           ABS      DSU                                   
027910,000248: 34,3343           00027                                    22D                                   #  AC1
027911,000249: 34,3344           45246                           ABS      DSU                                   #  ABS(ABS(ANSW1)-AC1)
027912,000250: 34,3345           71244                           BPL      DLOAD                                 
027913,000251: 34,3346           71371                                    CKSGNAN2                              
027914,000252: 34,3347           00031                                    24D                                   #  ANSW1
027915,000253: 34,3350           71244        SIGNANSW           BPL      DLOAD                                 
027916,000254: 34,3351           71363                                    SAMEASK1                              
027917,000255: 34,3352           00005                                    4                                     #  K1
027918,000256: 34,3353           70640                           BMN      DLOAD*                                
027919,000257: 34,3354           71360                                    OKC2                                  
027920,000258: 34,3355           01620                                    C2PP       +4,1                       
027921,000259: 34,3356           77676        OPPSGNC2           DCOMP                                          
027922,000260: 34,3357           05620                           STORE    C2PP       +4,1                       
027923,000261: 34,3360           52100        OKC2               TIX,1    GOTO                                  
027924,000262: 34,3361           71307                                    NORM                                  
027925,000263: 34,3362           71374                                    OUTCYCLE                              
027926,000264: 34,3363           51145        SAMEASK1           DLOAD    BPL                                   
027927,000265: 34,3364           00005                                    4                                     #  K1
027928,000266: 34,3365           71360                                    OKC2                                  
027929,000267: 34,3366           52143                           DLOAD*   GOTO                                  
027930,000268: 34,3367           01620                                    C2PP       +4,1                       
027931,000269: 34,3370           71356                                    OPPSGNC2                              
027932,000270: 34,3371           52145        CKSGNAN2           DLOAD    GOTO                                  
027933,000271: 34,3372           00033                                    26D                                   #  ANSW2
027934,000272: 34,3373           71350                                    SIGNANSW                              
027935,000273: 34,3374           77201        OUTCYCLE           SETPD    VLOAD                                 
027936,000274: 34,3375           00001                                    0                                     
027937,000275: 34,3376           01624                                    COF                                   #           -   -
027938,000276: 34,3377           63241                           DOT      PDVL                                  #  PD0 U1 = COF.E1
027939,000277: 34,3400           01560                                    E1                                    
027940,000278: 34,3401           01624                                    COF                                   #           -   -
027941,000279: 34,3402           41441                           DOT      PUSH                                  #  PD2 U2 = COF.E2
027942,000280: 34,3403           01566                                    E2                                    
027943,000281:                                                                                                  #  PICK THE NEW U WHICH IS CLOSEST TO THE OLD U
027944,000282: 34,3404           41370                           AXT,1    DMP                                   
027945,000283: 34,3405           00000                                    0                                     
027946,000284: 34,3406           01614                                    C2PP                                  
027947,000285: 34,3407           41325                           PDDL     DMP                                   #  PD4 U2 C2(0)
027948,000286: 34,3410           01620                                    C1PP                                  
027949,000287: 34,3411           00001                                    0                                     #  U1 C1(0)
027950,000288: 
027951,000289: 34,3412           51415                           DAD      ABS                                   

Page 625

027953,000291: 34,3413           41325                           PDDL     DMP                                   #  PD4 ABS(U1 C1(0) + U2 C2(0))
027954,000292: 34,3414           00003                                    2                                     
027955,000293: 34,3415           01616                                    C2MP                                  
027956,000294: 34,3416           41325                           PDDL     DMP                                   #  PD6 U2 C2(1)
027957,000295: 34,3417           00001                                    0                                     
027958,000296: 34,3420           01622                                    C1MP                                  #  PUSH UP U2 C2(1)
027959,000297: 34,3421           51415                           DAD      ABS                                   #  ABS(U1 C1(1) + U2 C2(1))
027960,000298: 34,3422           77625                           DSU                                            #  PUSH UP 4
027961,000299: 
027962,000300: 34,3423           74040                           BMN      AXC,1                                 
027963,000301: 34,3424           71426                                    JZERO                                 
027964,000302: 34,3425           00002                                    2                                     
027965,000303: 34,3426           74343        JZERO              DLOAD*   VXSC                                  
027966,000304: 34,3427           01620                                    C1PP,1                                
027967,000305: 34,3430           01560                                    E1                                    
027968,000306: 34,3431           74323                           PDDL*    VXSC                                  
027969,000307: 34,3432           01614                                    C2PP,1                                
027970,000308: 34,3433           01566                                    E2                                    
027971,000309: 34,3434           77655                           VAD                                            
027972,000310: 34,3435           77656                           UNIT                                           #  NEW COF  -       -
027973,000311: 34,3436           01624                           STORE    COF                                   #  COF = C1 E1 + C2 E2
027974,000312:                                                                                                  #  NEW MANEUVER ANGLE IS
027975,000313: 34,3437           63545                           DLOAD    DSQ                                   
027976,000314: 34,3440           01624                                    COF                                   
027977,000315: 34,3441           44352                           SL1      BDSU                                  #            2
027978,000316: 34,3442           30414                                    HALFA                                 #  (1 - COF )                            $2
027979,000317: 34,3443           63525                           PDDL     DSQ                                   #          0
027980,000318: 34,3444           01566                                    E2                                    
027981,000319: 34,3445           56221                           BDSU     DDV                                   #         2
027982,000320: 34,3446           30426                                    QUARTA                                #  (1 - K5 )                             $4
027983,000321: 34,3447           75542                           SR1      SQRT                                  
027984,000322: 34,3450           72536                           ARCSIN   SL1                                   
027985,000323: 
027986,000324: 34,3451           01643                           STORE    AM                                    
027987,000325: 34,3452           77614                           CLRGO                                          #  STATE SWITCH NO. 31
027988,000326: 34,3453           01221                                    31D                                   #  0(OFF) = MANEUVER WENT THRU GIMBAL LOCK
027989,000327: 34,3454           71457                                    WCALC                                 #  1(ON) = MANEUVER DID NOT GO THRU GIMLOCK
027990,000328: 34,3455           77614        NOGIMLOC           SET                                            
027991,000329: 34,3456           01061                                    31D                                   
027992,000330: 34,3457           70740        WCALC              LXC,1    DLOAD*                                
027993,000331: 34,3460           01652                                    RATEINDX                              #  CHOOSE THE DESIRED MANEUVER RATE
027994,000332: 34,3461           31503                                    ARATE,1                               #  FROM A LIST OF FOUR
027995,000333: 34,3462           45002                           SR4      CALL                                  #  COMPUTE THE INCREMENTAL ROTATION MATRIX
027996,000334: 34,3463           70603                                    DELCOMP                               #  DEL CORRESPONDING TO A 1 SEC ROTATION
027997,000335:                                                                                                  #  ABOUT COF
027998,000336: 34,3464           74343                           DLOAD*   VXSC                                  
027999,000337: 34,3465           31503                                    ARATE,1                               
028000,000338: 34,3466           01624                                    COF                                   
028001,000339: 34,3467           15635                           STODL    BRATE                                 #  COMPONENT MANEUVER RATES 45 DEG/SEC
028002,000340: 34,3470           01643                                    AM                                    
028003,000341: 34,3471           55605                           DMP      DDV*                                  
028004,000342: 34,3472           31513                                    ANGLTIME                              

Page 626

028006,000344: 34,3473           31503                                    ARATE,1                               
028007,000345: 34,3474           77661                           SR                                             
028008,000346: 34,3475           20606                                    5                                     
028009,000347: 34,3476           01645                           STORE    TM                                    #  MANEUVER EXECUTION TIME SCALED AS T2
028010,000348: 34,3477           77614                           SETGO                                          #  STATE SWITCH NO. 32
028011,000349: 34,3500           01022                                    32D                                   #  0(OFF) = CONTINUE MANEUVER
028012,000350: 34,3501           71515                                    NEWDELHI   +1                         #  1(ON) = START MANEUVER
028013,000351: 
028014,000352: 
028015,000353:                                                                                                  #           THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
028016,000354:                                                                                                  #           LOADING RATEINDX WITH 0,2,4,6, RESPECTIVELY
028017,000355: 
028018,000356: 
028019,000357: 34,3502           00554 02660  ARATE              2DEC     .0222222222                            #  =.5 DEG/SEC        $ 22.5DEG/SEC
028020,000358: 
028021,000359: 34,3504           02660 13301                     2DEC     .0888888888                            #  = 2 DEG/SEC        $ 22.5DEG/SEC
028022,000360: 
028023,000361: 34,3506           07070 34344                     2DEC     .2222222222                            #  = 5 DEG/SEC        $ 22.5DEG/SEC
028024,000362: 
028025,000363: 34,3510           16161 30707                     2DEC     .4444444444                            #  =10 DEG/SEC        $ 22.5DEG/SEC
028026,000364: 
028027,000365: 34,3512           00003 04000  ANGLTIME           2DEC     .0001907349                            #  = 100B-19     FUDGE FACTOR TO CONVERT
028028,000366:                                                                                                  #                       34,3513   04000 0                                    MANEUVER ANGLE TO MANEUVER TIME

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