Source Code

These source-code files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology". It is believed that the original listing was preserved by AGC developer Don Eyles, copied/reduced by AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig, scanned by Gary Neff, and then passed to the Dibner Institute where unfortunately the high-quality scans were reduced in legibility as part of the online-presentation process, and the original scans discarded. The source code was transcribed from those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not the discarded original high-quality scans, though with a few high-quality replacement scans provided directly by Gary Neff, are now available at the Virtual AGC project website. Report any conversion errors to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date of the printout, not the date of the program revision.

038343,000002:                                                                                                  ## Copyright:   Public domain.
038344,000003:                                                                                                  ## Filename:    FINDCDUW--GUIDAP_INTERFACE.agc
038345,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
038346,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
038347,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
038348,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
038349,000008:                                                                                                  ##              that the code format has been changed to conform to the
038350,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
038351,000010:                                                                                                  ##              original YUL assembler.
038352,000011:                                                                                                  ## Reference:   pp. 907-925 of 1729.pdf.
038353,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
038354,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
038355,000014:                                                                                                  ## Mod history: 05/28/03 RSB.   Began transcribing.
038356,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
038357,000016: 

Page 907

038359,000018:                                                                                                  #  PROGRAM NAME:  FINDCDUW
038360,000019:                                                                                                  #  MOD NUMBER:  1        68-07-15
038361,000020:                                                                                                  #  MOD AUTHOR:  KLUMPP
038362,000021: 
038363,000022:                                                                                                  #  OBJECTS OF MOD:       1.      TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038364,000023:                                                                                                  #                        2.      TO MAINTAIN CORRECT AND CURRENT THRUST
038365,000024:                                                                                                  #                                DIRECTION DATA IN ALL MODES.  THIS IS DONE BY
038366,000025:                                                                                                  #                                FETCHING FOR THE THRUST DIRECTION FILTER THE
038367,000026:                                                                                                  #                                CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038368,000027:                                                                                                  #                                MODES.
038369,000028:                                                                                                  #                        3.      TO SUBSTITUDE A STOPRATE FOR THE NORMAL
038370,000029:                                                                                                  #                                AUTOPILOT COMMANDS WHENEVER
038371,000030:                                                                                                  #                                1) NOT IN PNGCS-AUTO, OR
038372,000031:                                                                                                  #                                2) ENGINE IS OFF.
038373,000032: 
038374,000033:                                                                                                  #  FUNCTIONAL DESCRIPTION:
038375,000034: 
038376,000035:                                                                                                  #  FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038377,000036:                                                                                                  #  AND THE DIGITAL AUTOPILOT.  THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038378,000037:                                                                                                  #  AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038379,000038:                                                                                                  #  INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038380,000039:                                                                                                  #  ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR TH ANGLES BY WHICH THE BODY WILL
038381,000040:                                                                                                  #  LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038382,000041:                                                                                                  #  ACCELERATIONS AVAILABLE).
038383,000042: 
038384,000043:                                                                                                  #  FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038385,000044:                                                                                                  #  FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
038386,000045:                                                                                                  #  ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038387,000046: 

Page 908

038389,000048:                                                                                                  #  SPECIFICATIONS:
038390,000049: 
038391,000050:                                                                                                  #  INITIALIZATION:       A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038392,000051:                                                                                                  #                        BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038393,000052: 
038394,000053:                                                                                                  #  CALL:                 INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038395,000054:                                                                                                  #                        VECTOR IN MPAC.  INTERPRETIVE CALL TO FINDCDUW -2 WITH
038396,000055:                                                                                                  #                        THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038397,000056: 
038398,000057:                                                                                                  #  RETURNS:              NORMAL INTERPRETIVE IN ALL CASES
038399,000058:                                                                                                  #                        1.      NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038400,000059:                                                                                                  #                        2.      IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038401,000060:                                                                                                  #                                WITHOUT ISSUING AUTOPILOT CMDS.
038402,000061:                                                                                                  #                        3.      IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038403,000062:                                                                                                  #                                ISSUING AUTOPILOT CMDS.
038404,000063: 
038405,000064:                                                                                                  #  ALARMS:               00401   IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038406,000065:                                                                                                  #                                FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038407,000066:                                                                                                  #                                BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038408,000067: 
038409,000068:                                                                                                  #                        00402   IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038410,000069:                                                                                                  #                                UNITIZED USING NORMUNIT.  FINDCDUW ISSUES
038411,000070:                                                                                                  #                                STOPRATE AS ONLY INPUT TO AUTOPILOT.
038412,000071: 
038413,000072:                                                                                                  #  INPUTS:               UNFC/2          THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038414,000073:                                                                                                  #                        UNWC/2          WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038415,000074:                                                                                                  #                        OGABIAS         POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
038416,000075:                                                                                                  #                        XOVINHIB        FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038417,000076:                                                                                                  #                        CSMDOCKD        FLAG DENOTING CSM DOCKED.
038418,000077:                                                                                                  #                        STEERSW         FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038419,000078: 
038420,000079:                                                                                                  #  OUTPUTS:              DCDUX,Y,Z
038421,000080:                                                                                                  #                        OMEGAPD,+1,+2
038422,000081:                                                                                                  #                        DELPEROR,+1,+2
038423,000082:                                                                                                  #                        CPHI,+1,+2 FOR NOUN22
038424,000083: 
038425,000084:                                                                                                  #  DEBRIS:               FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038426,000085:                                                                                                  #                        WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038427,000086:                                                                                                  #                        OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038428,000087: 

Page 909

038430,000089:                                                                                                  #  INITIALIZATION FOR FINDCDUW
038431,000090: 
038432,000091: 30,3071                                           BANK     30                                    
038433,000092: 30,2000                                           SETLOC   FCDUW                                 
038434,000093: 30,2000                                           BANK                                           
038435,000094: 
038436,000095: 30,3071  E6,1645                                  EBANK=   ECDUW                                 
038437,000096: 30,3071                                           COUNT*   $$/FCDUW                              
038438,000097: 
038439,000098: 30,3071           77331        INITCDUW           SSP      VLOAD                                 
038440,000099: 30,3072           03300                                    OGABIAS                               
038441,000100: 30,3073           00000                                    0                                     
038442,000101: 30,3074           06522                                    UNITX                                 
038443,000102: 30,3075           03267                           STORE    UNFV/2                                
038444,000103: 30,3076           03261                           STORE    UNWC/2                                
038445,000104: 30,3077           77616                           RVQ                                            
038446,000105: 
038447,000106:                                                                                                  #  FINDCDUW PRELIMINARIES
038448,000107: 
038449,000108: 30,3100           77775                           VLOAD                                          #  FINDCDUW -2:  ENTRY WHEN UNFC/2 PRE-STORD
038450,000109: 30,3101           03253                                    UNFC/2                                #  INPUT VECTORS NEED NOT BE SEMI-UNIT
038451,000110: 30,3102           40200        FINDCDUW           BOV      SETPD                                 #  FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
038452,000111: 30,3103           61102                                    FINDCDUW                              #  INTERPRETER NOW INITIALIZED
038453,000112: 30,3104           00023                                    22                                    #  LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
038454,000113: 30,3105           77420                           STQ      EXIT                                  
038455,000114: 30,3106           03246                                    QCDUWUSR                              #  SAVE RETURN ADDRESS
038456,000115: 
038457,000116:                                                                                                  #  MORE HAUSKEEPING
038458,000117: 30,3107           33752                           CA       ECDUWL                                
038459,000118: 30,3110           56003                           XCH      EBANK                                 #  SET EBANK
038460,000119: 30,3111           55645                           TS       ECDUWUSR                              #  SAVE USER'S EBANK
038461,000120: 
038462,000121: 30,3112           30111                           CA       DAPBOOLS                              
038463,000122: 30,3113           74737                           MASK     CSMDOCKD                              #  CSMDOCKD MUST NOT BE BIT15
038464,000123: 30,3114           10000                           CCS      A                                     
038465,000124: 30,3115           34753                           CA       ONE                                   #  INDEX IF CSM DOCKED
038466,000125: 30,3116           55647                           TS       NDXCDUW                               
038467,000126: 
038468,000127: 30,3117           34743                           CA       XOVINHIB                              #  XOVINHIB MUST NOT BE BIT15
038469,000128: 30,3120           55651                           TS       FLPAUTNO                              #  SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
038470,000129: 
038471,000130: 30,3121           70111                           MASK     DAPBOOLS                              
038472,000131: 30,3122           55650                           TS       FLAGOODW                              #  FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
038473,000132: 

Page 910

038475,000134:                                                                                                  #  FETCH BASIC DATA
038476,000135: 30,3123           00004                           INHINT                                         #  RELINT AT PAUTNO (TC INTPRET)
038477,000136: 
038478,000137: 30,3124           30032                           CA       CDUX                                  #  FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
038479,000138: 30,3125           54771                           TS       CDUSPOTX                              #        REPLACE BELOW IF PNGCS AUTO
038480,000139: 30,3126           30033                           CA       CDUY                                  
038481,000140: 30,3127           54765                           TS       CDUSPOTY                              
038482,000141: 30,3130           30034                           CA       CDUZ                                  
038483,000142: 30,3131           54767                           TS       CDUSPOTZ                              
038484,000143: 
038485,000144: 30,3132           34742                           CA       BIT10                                 #  PNGCS CONTROL BIT
038486,000145: 30,3133           00006                           EXTEND                                         
038487,000146: 30,3134           02030                           RAND     CHAN30                                
038488,000147: 30,3135           10000                           CCS      A                                     
038489,000148: 30,3136           13153                           TCF      PAUTNO                                #  NOT PNGCS (BITS INVERTED)
038490,000149: 
038491,000150: 30,3137           34736                           CA       BIT14                                 #  AUTO MODE BIT
038492,000151: 30,3140           00006                           EXTEND                                         
038493,000152: 30,3141           02031                           RAND     CHAN31                                
038494,000153: 30,3142           10000                           CCS      A                                     
038495,000154: 30,3143           13153                           TCF      PAUTNO                                #  NOT AUTO (BITS INVERTED)
038496,000155: 
038497,000156: 30,3144           55651                           TS       FLPAUTNO                              #  RESET FLAG PNGCS AUTO NOT
038498,000157: 
038499,000158: 30,3145           31634                           CA       CDUXD                                 #  PNGCS AUTO:  FETCH CDUXD,CDUYD,CDUZD
038500,000159: 30,3146           54771                           TS       CDUSPOTX                              
038501,000160: 30,3147           31635                           CA       CDUYD                                 
038502,000161: 30,3150           54765                           TS       CDUSPOTY                              
038503,000162: 30,3151           31636                           CA       CDUZD                                 
038504,000163: 30,3152           54767                           TS       CDUSPOTZ                              
038505,000164: 

Page 911

038507,000166:                                                                                                  #  FETCH INPUTS
038508,000167: 30,3153           06042        PAUTNO             TC       INTPRET                               #  ENTERING THRUST CMD STILL IN MPAC
038509,000168: 30,3154           77634                           RTB                                            
038510,000169: 30,3155           21727                                    NORMUNIT                              
038511,000170: 30,3156           24001                           STOVL    UNX/2                                 #  SEMI-UNIT THRUST CMD AS INITIAL UNX/2
038512,000171: 30,3157           03261                                    UNWC/2                                
038513,000172: 30,3160           47034                           RTB      RTB                                   
038514,000173: 30,3161           21727                                    NORMUNIT                              
038515,000174: 30,3162           47617                                    QUICTRIG                              #  ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
038516,000175: 30,3163           24015                           STOVL    UNZ/2                                 #  SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
038517,000176: 30,3164           00325                                    DELV                                  
038518,000177: 30,3165           53404                           BOVB     UNIT                                  
038519,000178: 30,3166           61741                                    NOATTCNT                              #  AT LEAST ONE ENTERING CMD VCT ZERO
038520,000179: 30,3167           45000                           BOV      CALL                                  
038521,000180: 30,3170           61204                                    AFTRFLTR                              #  IF UNIT DELV OVERFLOWS SKIP FILTER
038522,000181: 30,3171           47673                                    *SMNB*                                #  YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
038523,000182: 
038524,000183:                                                                                                  #  THRUST DIRECTION FILTER
038525,000184: 
038526,000185: 30,3172           77776                           EXIT                                           
038527,000186: 
038528,000187: 30,3173           31670                           CA       UNFVY/2                               #  FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
038529,000188: 30,3174           22157                           LXCH     MPAC       +3                         #        RENEWD AFTER RETURN FROM CALLER,
038530,000189: 30,3175           03474                           TC       FLTRSUB                               #        TWO FILTER UPDATES MAY BE DONE.
038531,000190: 30,3176           55670                           TS       UNFVY/2                               #  UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
038532,000191: 
038533,000192: 30,3177           31672                           CA       UNFVZ/2                               
038534,000193: 30,3200           22161                           LXCH     MPAC       +5                         
038535,000194: 30,3201           03474                           TC       FLTRSUB                               
038536,000195: 30,3202           55672                           TS       UNFVZ/2                               
038537,000196: 
038538,000197: 30,3203           06042                           TC       INTPRET                               #  COMPLETES FILTER
038539,000198: 

Page 912

038541,000200:                                                                                                  #  FIND A SUITABLE WINDOW POINTING VECTOR
038542,000201: 
038543,000202: 30,3204           46135        AFTRFLTR           SLOAD    BHIZ                                  #  IF XOV NOT INHIBITED, GO FETCH ZNB
038544,000203: 30,3205           03251                                    FLAGOODW                              
038545,000204: 30,3206           61212                                    FETCHZNB                              
038546,000205: 30,3207           45175                           VLOAD    CALL                                  
038547,000206: 30,3210           00015                                    UNZ/2                                 
038548,000207: 30,3211           61514                                    UNWCTEST                              
038549,000208: 
038550,000209: 30,3212           77775        FETCHZNB           VLOAD                                          
038551,000210: 30,3213           02162                                    ZNBPIP                                
038552,000211: 30,3214           34015                           STCALL   UNZ/2                                 
038553,000212: 30,3215           61514                                    UNWCTEST                              
038554,000213: 
038555,000214: 30,3216           57575                           VLOAD    VCOMP                                 #  Z AND -X CAN'T BOTH PARALLEL UNFC/2
038556,000215: 30,3217           02146                                    XNBPIP                                
038557,000216: 30,3220           00015                           STORE    UNZ/2                                 
038558,000217: 
038559,000218:                                                                                                  #  COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
038560,000219: 
038561,000220: 30,3221           47375        DCMCL              VLOAD    VXV                                   
038562,000221: 30,3222           00015                                    UNZ/2                                 
038563,000222: 30,3223           00001                                    UNX/2                                 
038564,000223: 30,3224           41456                           UNIT     PUSH                                  #  UNY/2 FIRST ITERATION
038565,000224: 30,3225           76435                           VXV      VSL1                                  
038566,000225: 30,3226           00001                                    UNX/2                                 
038567,000226: 30,3227           00015                           STORE    UNZ/2                                 #  -UNZ/2 FIRST ITERATION
038568,000227: 30,3230           63361                           VXSC     PDVL                                  #  EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
038569,000228: 30,3231           03273                                    UNFVZ/2                               #  MUST BE SMALL
038570,000229: 30,3232           51361                           VXSC     BVSU                                  #  YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
038571,000230: 30,3233           03271                                    UNFVY/2                               #  MUST BE SMALL
038572,000231: 30,3234           53372                           VSL1     VAD                                   
038573,000232: 30,3235           00001                                    UNX/2                                 
038574,000233: 30,3236           77656                           UNIT                                           #  TOTALLY ELIMINATES THRUST POINTING ERROR
038575,000234: 30,3237           00001                           STORE    UNX/2                                 #  UNX/2
038576,000235: 30,3240           76435                           VXV      VSL1                                  
038577,000236: 30,3241           00015                                    UNZ/2                                 #  -UNZ/2 WAS STORED HERE REMEMBER
038578,000237: 30,3242           00007                           STORE    UNY/2                                 #  UNY/2
038579,000238: 30,3243           47276                           VCOMP    VXV                                   
038580,000239: 30,3244           00001                                    UNX/2                                 
038581,000240: 30,3245           77772                           VSL1                                           
038582,000241: 30,3246           00015                           STORE    UNZ/2                                 #  UNZ/2
038583,000242: 

Page 913

038585,000244:                                                                                                  #  COMPUTES THE REQUIRED GIMBAL ANGLES
038586,000245: 
038587,000246: 30,3247           77624                           CALL                                           
038588,000247: 30,3250           61524                                    NB2CDUSP                              #  YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
038589,000248: 30,3251           77776                           EXIT                                           
038590,000249: 
038591,000250:                                                                                                  #  BIAS OUTER GIMBAL ANGLE
038592,000251: 
038593,000252: 30,3252           31677                           CA       OGABIAS                               
038594,000253: 30,3253           26154                           ADS      MPAC                                  
038595,000254: 
038596,000255:                                                                                                  #  LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
038597,000256: 
038598,000257: 30,3254           30156                           CA       MPAC       +2                         #  LIMIT THE MGA
038599,000258: 30,3255           54001                           TS       L                                     #  CAN'T LXCH:  NEED UNLIMITED MGA FOR ALARM
038600,000259: 30,3256           33764                           CA       CDUZDLIM                              
038601,000260: 30,3257           03720                           TC       LIMITSUB                              #  YIELDS LIMITED MGA.  1 BIT ERROR POSSIBLE
038602,000261: 30,3260           56156                           XCH      MPAC       +2                         #        BECAUSE USING 2'S COMP.  WHO CARES?
038603,000262: 30,3261           00006                           EXTEND                                         
038604,000263: 30,3262           20156                           MSU      MPAC       +2                         #  THIS BETTER YIELD ZERO
038605,000264: 30,3263           00006                           EXTEND                                         
038606,000265: 30,3264           13266                           BZF      +2                                    
038607,000266: 30,3265           13747                           TCF      ALARMMGA                              
038608,000267: 
038609,000268: 30,3266           00004        MGARET             INHINT                                         #  RELINT AT TC INTPRET AFTER TCQCDUW
038610,000269: 
038611,000270: 30,3267           22007                           ZL                                             
038612,000271: 30,3270           34752                           CA       TWO                                   
038613,000272: 30,3271           54142        DELGMBLP           TS       TEM2                                  
038614,000273: 
038615,000274: 30,3272           30001                           CA       L                                     #  TO PREVENT FALSE STARTS ABOUT X, ZERO
038616,000275: 30,3273           00006                           EXTEND                                         #        FLAGOODW IF DELGMBZ OR Y TOO BIG.
038617,000276: 30,3274           70000                           SQUARE                                         
038618,000277: 30,3275           64350                           AD       HI5                                   #  WITHIN 1 BIT OF -(45 DEG SQUARED)
038619,000278: 30,3276           00006                           EXTEND                                         
038620,000279: 30,3277           63302                           BZMF     +3                                    
038621,000280: 30,3300           34755                           CA       ZERO                                  
038622,000281: 30,3301           55650                           TS       FLAGOODW                              
038623,000282: 
038624,000283: 30,3302           50142                           INDEX    TEM2                                  
038625,000284: 30,3303           30154                           CA       MPAC                                  
038626,000285: 30,3304           50142                           INDEX    TEM2                                  
038627,000286: 30,3305           54321                           TS       CPHI                                  #  OUTPUTS TO NOUN22
038628,000287: 30,3306           00006                           EXTEND                                         
038629,000288: 30,3307           50142                           INDEX    TEM2                                  
038630,000289: 30,3310           21634                           MSU      CDUXD                                 
038631,000290: 30,3311           40000                           COM                                            
038632,000291: 30,3312           50142                           INDEX    TEM2                                  
038633,000292: 30,3313           55674                           TS       -DELGMB                               #  -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
038634,000293: 30,3314           54001                           TS       L                                     #  FOR PRECEDING TEST ON NEXT LOOP PASS

Page 914

038636,000295: 30,3315           10142                           CCS      TEM2                                  
038637,000296: 30,3316           13271                           TCF      DELGMBLP                              
038638,000297: 

Page 915

038640,000299:                                                                                                  #  BRANCHES TO NOATTCNT
038641,000300: 30,3317           11651                           CCS      FLPAUTNO                              
038642,000301: 30,3320           13743                           TCF      NOATTCNT   +2                         #  NO PNGCS AUTO
038643,000302: 
038644,000303: 30,3321           30101                           CA       FLAGWRD5                              
038645,000304: 30,3322           74745                           MASK     ENGONBIT                              
038646,000305: 30,3323           00006                           EXTEND                                         
038647,000306: 30,3324           13743                           BZF      NOATTCNT   +2                         #  ENGINE NOT ON
038648,000307: 

Page 916

038650,000309:                                                                                                  #  LIMIT THE ATTITUDE ANGLE CHANGES
038651,000310: 
038652,000311:                                                                                                  #  THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
038653,000312:                                                                                                  #  THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO.  THE PRIME SYSTEM IS
038654,000313:                                                                                                  #  THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
038655,000314:                                                                                                  #  AXIS.  ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
038656,000315: 
038657,000316:                                                                                                  #        [   -DELATTX    ]   [ 1     SIN(CDUZD)     0 ] [ -DELGMBX ]
038658,000317:                                                                                                  #        [               ]   [                        ] [          ]
038659,000318:                                                                                                  #        [ -DELATTYPRIME ] = [ 0     COS(CDUZD)     0 ] [ -DELGMBY ]
038660,000319:                                                                                                  #        [               ]   [                        ] [          ]
038661,000320:                                                                                                  #        [ -DELATTZPRIME ]   [ 0         0          1 ] [ -DELGMBZ ]
038662,000321: 
038663,000322: 30,3325           23676                           LXCH     -DELGMB    +2                         #  SAME AS -DELATTZPRIME UNLIMITED
038664,000323: 30,3326           51647                           INDEX    NDXCDUW                               
038665,000324: 30,3327           33760                           CA       DAZMAX                                
038666,000325: 30,3330           03720                           TC       LIMITSUB                              
038667,000326: 30,3331           55676                           TS       -DELGMB    +2                         #  -DELGMBZ
038668,000327: 
038669,000328: 30,3332           31675                           CA       -DELGMB    +1                         
038670,000329: 30,3333           00006                           EXTEND                                         
038671,000330: 30,3334           70745                           MP       COSCDUZ                               #  YIELDS -DELATTYPRIME/2 UNLIMITED
038672,000331: 30,3335           54001                           TS       L                                     
038673,000332: 30,3336           51647                           INDEX    NDXCDUW                               
038674,000333: 30,3337           33762                           CA       DAY/2MAX                              
038675,000334: 30,3340           03720                           TC       LIMITSUB                              
038676,000335: 30,3341           00006                           EXTEND                                         
038677,000336: 30,3342           10745                           DV       COSCDUZ                               
038678,000337: 30,3343           57675                           XCH      -DELGMB    +1                         #  -DELGMBY, FETCHING UNLIMITED VALUE
038679,000338: 
038680,000339: 30,3344           00006                           EXTEND                                         
038681,000340: 30,3345           70737                           MP       SINCDUZ                               
038682,000341: 30,3346           20001                           DDOUBL                                         
038683,000342: 30,3347           40000                           COM                                            
038684,000343: 30,3350           00006                           EXTEND                                         #  YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
038685,000344: 30,3351           21674                           MSU      -DELGMB                               #        BASED ON UNLIMITED DELGMBV.
038686,000345: 30,3352           54001                           TS       L                                     #        ONE BIT ERROR IF OPERANDS IN MSU
038687,000346: 30,3353           51647                           INDEX    NDXCDUW                               #        OF MIXED SIGNS.  WHO CARES?
038688,000347: 30,3354           33760                           CA       DAXMAX                                
038689,000348: 30,3355           03720                           TC       LIMITSUB                              
038690,000349: 30,3356           55674                           TS       -DELGMB                               #  SAVE LIMITED +DELATTX
038691,000350: 30,3357           11650                           CCS      FLAGOODW                              
038692,000351: 30,3360           41674                           CS       -DELGMB                               #  FETCH IT BACK CHNING SIGN IF WINDOW GOOD
038693,000352: 30,3361           55674                           TS       -DELGMB                               #  OTHERWISE USE ZERO FOR -DELATTX
038694,000353: 30,3362           41675                           CS       -DELGMB    +1                         
038695,000354: 30,3363           00006                           EXTEND                                         
038696,000355: 30,3364           70737                           MP       SINCDUZ                               
038697,000356: 30,3365           20001                           DDOUBL                                         #  YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
038698,000357: 30,3366           27674                           ADS      -DELGMB                               #  -DELGMBX.  NO OVERFLOW SINCE LIMITED TO
038699,000358:                                                                                                  #  20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
038700,000359: 

Page 917

038702,000361:                                                                                                  #  COMPLTE COMMANDED ATTITUDE RATES
038703,000362: 
038704,000363:                                                                                                  #        [ OMEGAPD ]   [ -2         -4 SINCDUZ              +0    ] [ -DELGMBZ ]
038705,000364:                                                                                                  #        [         ]   [                                          ] [          ]
038706,000365:                                                                                                  #        [ OMEGAQD ] = [ +0     -8 COSCDUZ COSCDUX     -4 SINCDUX ] [ -DELGMBY ]
038707,000366:                                                                                                  #        [         ]   [                                          ] [          ]
038708,000367:                                                                                                  #        [ OMEGARD ]   [ +0     +9 COSCDUZ SINCDUX     -4 COSCDUX ] [ -DELGMBZ ]
038709,000368: 
038710,000369:                                                                                                  #  ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
038711,000370:                                                                                                  #  PI/2 RAD/SEC.  THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
038712,000371:                                                                                                  #  AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
038713,000372: 
038714,000373: 30,3367           41674                           CS       -DELGMB                               
038715,000374: 30,3370           55642                           TS       OMEGAPD                               
038716,000375: 30,3371           41675                           CS       -DELGMB    +1                         
038717,000376: 30,3372           00006                           EXTEND                                         
038718,000377: 30,3373           70737                           MP       SINCDUZ                               
038719,000378: 30,3374           20001                           DDOUBL                                         
038720,000379: 30,3375           27642                           ADS      OMEGAPD                               
038721,000380: 30,3376           27642                           ADS      OMEGAPD                               
038722,000381: 
038723,000382: 30,3377           41675                           CS       -DELGMB    +1                         
038724,000383: 30,3400           00006                           EXTEND                                         
038725,000384: 30,3401           70747                           MP       COSCDUX                               
038726,000385: 30,3402           20001                           DDOUBL                                         
038727,000386: 30,3403           00006                           EXTEND                                         
038728,000387: 30,3404           70745                           MP       COSCDUZ                               
038729,000388: 30,3405           55643                           TS       OMEGAQD                               
038730,000389: 30,3406           41676                           CS       -DELGMB    +2                         
038731,000390: 30,3407           00006                           EXTEND                                         
038732,000391: 30,3410           70741                           MP       SINCDUX                               
038733,000392: 30,3411           27643                           ADS      OMEGAQD                               
038734,000393: 30,3412           27643                           ADS      OMEGAQD                               
038735,000394: 30,3413           27643                           ADS      OMEGAQD                               
038736,000395: 
038737,000396: 30,3414           31675                           CA       -DELGMB    +1                         
038738,000397: 30,3415           00006                           EXTEND                                         
038739,000398: 30,3416           70741                           MP       SINCDUX                               
038740,000399: 30,3417           20001                           DDOUBL                                         
038741,000400: 30,3420           00006                           EXTEND                                         
038742,000401: 30,3421           70745                           MP       COSCDUZ                               
038743,000402: 30,3422           55644                           TS       OMEGARD                               
038744,000403: 30,3423           41676                           CS       -DELGMB    +2                         
038745,000404: 30,3424           00006                           EXTEND                                         
038746,000405: 30,3425           70747                           MP       COSCDUX                               
038747,000406: 30,3426           27644                           ADS      OMEGARD                               
038748,000407: 30,3427           27644                           ADS      OMEGARD                               
038749,000408: 30,3430           27644                           ADS      OMEGARD                               
038750,000409: 

Page 918

038752,000411:                                                                                                  #  FINAL TRANSFER
038753,000412: 
038754,000413: 30,3431           34752                           CA       TWO                                   
038755,000414: 30,3432           54142        CDUWXFR            TS       TEM2                                  
038756,000415: 30,3433           50142                           INDEX    TEM2                                  
038757,000416: 30,3434           31674                           CA       -DELGMB                               
038758,000417: 30,3435           00006                           EXTEND                                         
038759,000418: 30,3436           73765                           MP       DT/DELT                               #  RATIO OF DAP INTERVAL TC CDUW INTERVAL
038760,000419: 30,3437           03734                           TC       ONESTO2S                              
038761,000420: 30,3440           50142                           INDEX    TEM2                                  
038762,000421: 30,3441           55637                           TS       DELCDUX                               #  ANGLE INTERFACE
038763,000422: 
038764,000423: 30,3442           50142                           INDEX    TEM2                                  
038765,000424: 30,3443           11642                           CCS      OMEGAPD                               
038766,000425: 30,3444           64753                           AD       ONE                                   
038767,000426: 30,3445           13447                           TCF      +2                                    
038768,000427: 30,3446           64753                           AD       ONE                                   
038769,000428: 30,3447           00006                           EXTEND                                         #  WE NOW HAVE ABS(OMEGAPD,QD,RD)
038770,000429: 30,3450           50142                           INDEX    TEM2                                  
038771,000430: 30,3451           71642                           MP       OMEGAPD                               
038772,000431: 30,3452           00006                           EXTEND                                         
038773,000432: 30,3453           74741                           MP       BIT11                                 #  1/16
038774,000433: 30,3454           00006                           EXTEND                                         
038775,000434: 30,3455           50142                           INDEX    TEM2                                  #                   2
038776,000435: 30,3456           11530                           DV       1JACC                                 #  UNITS P/4 RAD/SEC
038777,000436: 30,3457           54001                           TS       L                                     
038778,000437: 30,3460           33762                           CA       DELERLIM                              
038779,000438: 30,3461           03720                           TC       LIMITSUB                              
038780,000439: 30,3462           50142                           INDEX    TEM2                                  
038781,000440: 30,3463           55274                           TS       DELPEROR                              #  LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
038782,000441: 30,3464           10142                           CCS      TEM2                                  
038783,000442: 30,3465           13432                           TCF      CDUWXFR                               
038784,000443: 
038785,000444:                                                                                                  #  HAUSKEEPING AND RETURN
038786,000445: 
038787,000446: 30,3466           31645        TCQCDUW            CA       ECDUWUSR                              
038788,000447: 30,3467           54003                           TS       EBANK                                 #  RETURN USER'S EBANK
038789,000448: 
038790,000449: 30,3470           06042                           TC       INTPRET                               
038791,000450: 30,3471           52001                           SETPD    GOTO                                  
038792,000451: 30,3472           00001                                    0                                     
038793,000452: 30,3473           03246                                    QCDUWUSR                              #  NORMAL AND ABNORMAL RETURN TO USER
038794,000453: 

Page 919

038796,000455:                                                                                                  #  THRUST VECTOR FILTER SUBROUTINE
038797,000456: 
038798,000457: 30,3474           00006        FLTRSUB            EXTEND                                         
038799,000458: 30,3475           22142                           QXCH     TEM2                                  
038800,000459: 30,3476           54143                           TS       TEM3                                  #  SAVE ORIGINAL OFFSET
038801,000460: 30,3477           40000                           COM                                            #  ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
038802,000461: 30,3500           60001                           AD       L                                     #        ORIG OFFSET ARRIVES IN A, BUT IT'S
038803,000462: 30,3501           00006                           EXTEND                                         #        NOT WORTH THE INCREASED OBSCURITY.
038804,000463: 30,3502           51647                           INDEX    NDXCDUW                               
038805,000464: 30,3503           73753                           MP       GAINFLTR                              
038806,000465: 30,3504           54001                           TS       L                                     #  INCR TO OFFSET, UNLIMITED
038807,000466: 30,3505           33755                           CA       DUNFVLIM                              #  SAME LIMIT FOR Y AND Z
038808,000467: 30,3506           03720                           TC       LIMITSUB                              #  YIELDS INCR TO OFFSET, LIMITED
038809,000468: 30,3507           60143                           AD       TEM3                                  #  ORIGINAL OFFSET
038810,000469: 30,3510           54001                           TS       L                                     #  TOTAL OFFSET, UNLIMITED
038811,000470: 30,3511           33756                           CA       UNFVLIM                               #  SAME LIMIT FOR Y AND Z
038812,000471: 30,3512           03720                           TC       LIMITSUB                              #  YIELDS TOTAL OFFSET, LIMITED
038813,000472: 30,3513           00142                           TC       TEM2                                  
038814,000473: 
038815,000474:                                                                                                  #  SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
038816,000475: 
038817,000476: 30,3514           63441        UNWCTEST           DOT      DSQ                                   
038818,000477: 30,3515           00001                                    UNX/2                                 
038819,000478: 30,3516           50025                           DSU      BMN                                   
038820,000479: 30,3517           21760                                    DOTSWFMX                              
038821,000480: 30,3520           61221                                    DCMCL                                 
038822,000481: 30,3521           43531                           SSP      RVQ                                   #  RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
038823,000482: 30,3522           03251                                    FLAGOODW                              #        ZEROING WINDOW GOOD FLAG
038824,000483: 30,3523           00000                                    0                                     
038825,000484: 

Page 920

038827,000486:                                                                                                  #  NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
038828,000487:                                                                                                  #  ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
038829,000488:                                                                                                  #  NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
038830,000489: 
038831,000490: 30,3524           63545        NB2CDUSP           DLOAD    DSQ                                   
038832,000491: 30,3525           00003                                    2                                     
038833,000492: 30,3526           51021                           BDSU     BPL                                   
038834,000493: 30,3527           06514                                    DP1/4TH                               
038835,000494: 30,3530           61533                                    +3                                    
038836,000495: 30,3531           77745                           DLOAD                                          
038837,000496: 30,3532           06524                                    ZEROVECS                              #  IN CASE SIN WAS SLIGHTLY > 1/2
038838,000497: 30,3533           77566                           SQRT     EXIT                                  #  YIELDS COS(CDUZ) IN UNITS OF 2
038839,000498: 
038840,000499: 30,3534           00006                           EXTEND                                         
038841,000500: 30,3535           30155                           DCA      MPAC                                  
038842,000501: 30,3536           20001                           DDOUBL                                         
038843,000502: 30,3537           54145                           TS       TEM5                                  
038844,000503: 30,3540           13543                           TCF      +3                                    
038845,000504: 30,3541           34733                           CA       POSMAX                                #  OVERFLOW.  FETCH POSMAX, MPAC ALWAYS POS
038846,000505: 30,3542           54145                           TS       TEM5                                  #  COS(CDUZ) IN TEM5, UNITS 1
038847,000506: 
038848,000507: 30,3543           50120                           INDEX    FIXLOC                                
038849,000508: 30,3544           30002                           CA       2                                     
038850,000509: 30,3545           22154                           LXCH     MPAC                                  
038851,000510: 30,3546           03613                           TC       ARCTRGSP                              
038852,000511: 30,3547           54156                           TS       MPAC       +2                         #  CDUZ
038853,000512: 
038854,000513: 30,3550           34755                           CA       ZERO                                  
038855,000514: 30,3551           03571                           TC       DVBYCOSM                              
038856,000515: 30,3552           34751                           CA       FOUR                                  
038857,000516: 30,3553           03571                           TC       DVBYCOSM                              
038858,000517: 30,3554           40141                           CS       TEM1                                  
038859,000518: 30,3555           03613                           TC       ARCTRGSP                              
038860,000519: 30,3556           54155                           TS       MPAC       +1                         #  CDUY
038861,000520: 
038862,000521: 30,3557           34750                           CA       BIT4                                  
038863,000522: 30,3560           03571                           TC       DVBYCOSM                              
038864,000523: 30,3561           33570                           CA       16OCT                                 
038865,000524: 30,3562           03571                           TC       DVBYCOSM                              
038866,000525: 30,3563           40141                           CS       TEM1                                  
038867,000526: 30,3564           03613                           TC       ARCTRGSP                              
038868,000527: 30,3565           54154                           TS       MPAC                                  #  CDUX
038869,000528: 
038870,000529: 30,3566           06042                           TC       INTPRET                               
038871,000530: 30,3567           77616                           RVQ                                            
038872,000531: 
038873,000532: 30,3570           00016        16OCT              OCT      16                                    
038874,000533: 

Page 921

038876,000535:                                                                                                  #  THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
038877,000536:                                                                                                  #  ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
038878,000537:                                                                                                  #  ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE.  BUT IF THE MGA IS NEAR PI/2
038879,000538:                                                                                                  #  THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
038880,000539:                                                                                                  #  ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
038881,000540:                                                                                                  #  BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
038882,000541:                                                                                                  #  THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
038883,000542: 
038884,000543:                                                                                                  #  IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
038885,000544:                                                                                                  #  REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
038886,000545:                                                                                                  #  ANGLES ARE INDETERMINATE.  THE INNER AND OUTER GIMBAL ANGLES RETURNED
038887,000546:                                                                                                  #  IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
038888,000547: 
038889,000548: 30,3571           60120        DVBYCOSM           AD       FIXLOC                                
038890,000549: 30,3572           54116                           TS       ADDRWD                                #  ADRES OF OPERAND
038891,000550: 
038892,000551: 30,3573           50116                           INDEX    ADDRWD                                #  FETCH NEG ABS OF OPERAND, AD TEM5, AND
038893,000552: 30,3574           30000                           CA       0                                     #        SKIP DIVIDE IF RESULT NEG OR ZERO
038894,000553: 30,3575           00006                           EXTEND                                         
038895,000554: 30,3576           63600                           BZMF     +2                                    
038896,000555: 30,3577           40000                           COM                                            
038897,000556: 30,3600           60145                           AD       TEM5                                  #  C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
038898,000557: 30,3601           00006                           EXTEND                                         
038899,000558: 30,3602           63610                           BZMF     TSL&TCQ                               #  DIFFERENCE ALWAYS SMALL IF BRANCH
038900,000559: 
038901,000560: 30,3603           00006                           EXTEND                                         #  TEM5 EXCEEDS ABS HIGH ORDER PART OF
038902,000561: 30,3604           50116                           INDEX    ADDRWD                                #        OPERAND BY AT LEAST ONE BIT.
038903,000562: 30,3605           30001                           DCA      0                                     #        THEREFORE IT EXCEEDS THE DP OPERAND
038904,000563: 30,3606           00006                           EXTEND                                         #        AND DIVISION WILL ALWAYS SUCCEED.
038905,000564: 30,3607           10145                           DV       TEM5                                  
038906,000565: 30,3610           54001        TSL&TCQ            TS       L                                     
038907,000566: 30,3611           22141                           LXCH     TEM1                                  
038908,000567: 30,3612           00002                           TC       Q                                     
038909,000568: 

Page 922

038911,000570:                                                                                                  #  ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
038912,000571:                                                                                                  #  UNITS OF 2.  THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
038913,000572:                                                                                                  #  THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
038914,000573: 
038915,000574: 30,3613           00006        ARCTRGSP           EXTEND                                         
038916,000575: 30,3614           13656                           BZF      SINZERO                               #  TO AVOID DIVIDING BY ZERO
038917,000576: 
038918,000577: 30,3615           00006                           EXTEND                                         
038919,000578: 30,3616           22144                           QXCH     TEM4                                  
038920,000579: 30,3617           54142                           TS       TEM2                                  
038921,000580: 30,3620           30001                           CA       L                                     
038922,000581: 30,3621           54143                           TS       TEM3                                  
038923,000582: 30,3622           34755                           CA       ZERO                                  
038924,000583: 30,3623           00006                           EXTEND                                         
038925,000584: 30,3624           10142                           DV       TEM2                                  
038926,000585: 30,3625           00006                           EXTEND                                         
038927,000586: 30,3626           13645                           BZF      USECOS                                
038928,000587: 
038929,000588: 30,3627           10143                           CCS      TEM3                                  #  SIN IS SMALLER OR EQUAL
038930,000589: 30,3630           34755                           CA       ZERO                                  
038931,000590: 30,3631           13635                           TCF      +4                                    
038932,000591: 30,3632           40142                           CS       TEM2                                  #  IF COS NEG, REVERSE SIGN OF SIN,
038933,000592: 30,3633           54142                           TS       TEM2                                  #        ANGLE = PI-ARCSIN(SIN)
038934,000593: 30,3634           34735                           CA       NEGMAX                                #  PICK UP PI, 2'S COMPLEMENT
038935,000594: 30,3635           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
038936,000595: 30,3636           30142                           CA       TEM2                                  
038937,000596: 30,3637           03663                           TC       SPARCSIN   -1                         
038938,000597: 30,3640           03734                           TC       ONESTO2S                              
038939,000598: 30,3641           00006                           EXTEND                                         
038940,000599: 30,3642           20143                           MSU      TEM3                                  
038941,000600: 30,3643           03734        1TO2&TCQ           TC       ONESTO2S                              
038942,000601: 30,3644           00144                           TC       TEM4                                  
038943,000602: 
038944,000603: 30,3645           40143        USECOS             CS       TEM3                                  #  COS IS SMALLER
038945,000604: 30,3646           03663                           TC       SPARCSIN   -1                         #  ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
038946,000605: 30,3647           64736                           AD       HALF                                  
038947,000606: 30,3650           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
038948,000607: 30,3651           10142                           CCS      TEM2                                  
038949,000608: 30,3652           30143                           CA       TEM3                                  
038950,000609: 30,3653           13643                           TCF      1TO2&TCQ                              
038951,000610: 30,3654           40143                           CS       TEM3                                  
038952,000611: 30,3655           13643                           TCF      1TO2&TCQ                              
038953,000612: 
038954,000613: 30,3656           10001        SINZERO            CCS      L                                     
038955,000614: 30,3657           34755                           CA       ZERO                                  
038956,000615: 30,3660           00002                           TC       Q                                     
038957,000616: 30,3661           34735                           CA       NEGMAX                                #  PI, 2'S COMP
038958,000617: 30,3662           00002                           TC       Q                                     
038959,000618: 

Page 923

038961,000620:                                                                                                  #  SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
038962,000621:                                                                                                  #  180 DEGREES IN A.  IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
038963,000622:                                                                                                  #  DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
038964,000623:                                                                                                  #  450 MICROSECONDS.  SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.  (BOB CRISP)
038965,000624: 
038966,000625: 30,3663           60000                           DOUBLE                                         
038967,000626: 30,3664           54021        SPARCSIN           TS       SR                                    
038968,000627: 30,3665           13671                           TCF      +4                                    
038969,000628: 30,3666           50000                           INDEX    A                                     
038970,000629: 30,3667           44734                           CS       LIMITS                                
038971,000630: 30,3670           54021                           TS       SR                                    
038972,000631: 30,3671           00006                           EXTEND                                         
038973,000632: 30,3672           70000                           MP       A                                     
038974,000633: 30,3673           54141                           TS       TEM1                                  
038975,000634: 30,3674           00006                           EXTEND                                         
038976,000635: 30,3675           73717                           MP       DPL9                                  
038977,000636: 30,3676           63716                           AD       DPL7                                  
038978,000637: 30,3677           00006                           EXTEND                                         
038979,000638: 30,3700           70141                           MP       TEM1                                  
038980,000639: 30,3701           63715                           AD       DPL5                                  
038981,000640: 30,3702           00006                           EXTEND                                         
038982,000641: 30,3703           70141                           MP       TEM1                                  
038983,000642: 30,3704           63714                           AD       DPL3                                  
038984,000643: 30,3705           00006                           EXTEND                                         
038985,000644: 30,3706           70141                           MP       TEM1                                  
038986,000645: 30,3707           63713                           AD       DPL1                                  
038987,000646: 30,3710           00006                           EXTEND                                         
038988,000647: 30,3711           70021                           MP       SR                                    
038989,000648: 30,3712           00002                           TC       Q                                     
038990,000649: 30,3713           24406        DPL1               DEC      10502      B-14                       
038991,000650: 30,3714           00660        DPL3               DEC      432        B-14                       
038992,000651: 30,3715           16204        DPL5               DEC      7300       B-14                       
038993,000652: 30,3716           50744        DPL7               DEC      -11803     B-14                       
038994,000653: 30,3717           20315        DPL9               DEC      8397       B-14                       
038995,000654: 

Page 924

038997,000656:                                                                                                  #  LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
038998,000657:                                                                                                  #  ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
038999,000658:                                                                                                  #  THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039000,000659: 
039001,000660:                                                                                                  #  VERSION COUTESY HUGH BLAIR-SMITH
039002,000661: 
039003,000662: 30,3720           54141        LIMITSUB           TS       TEM1                                  
039004,000663: 30,3721           34755                           CA       ZERO                                  
039005,000664: 30,3722           00006                           EXTEND                                         
039006,000665: 30,3723           10141                           DV       TEM1                                  
039007,000666: 30,3724           10000                           CCS      A                                     
039008,000667: 30,3725           22141                           LXCH     TEM1                                  
039009,000668: 30,3726           13730                           TCF      +2                                    
039010,000669: 30,3727           13732                           TCF      +3                                    
039011,000670: 30,3730           30001                           CA       L                                     
039012,000671: 30,3731           00002                           TC       Q                                     
039013,000672: 30,3732           40141                           CS       TEM1                                  
039014,000673: 30,3733           00002                           TC       Q                                     
039015,000674: 
039016,000675:                                                                                                  #  SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039017,000676: 
039018,000677: 30,3734           10000        ONESTO2S           CCS      A                                     
039019,000678: 30,3735           64753                           AD       ONE                                   
039020,000679: 30,3736           00002                           TC       Q                                     
039021,000680: 30,3737           40000                           CS       A                                     
039022,000681: 30,3740           00002                           TC       Q                                     
039023,000682: 
039024,000683:                                                                                                  #  NO ATTITUDE CONTROL
039025,000684: 
039026,000685: 30,3741           05567        NOATTCNT           TC       ALARM                                 
039027,000686: 30,3742           00402                           OCT      00402                                 #  NO ATTITUDE CONTROL
039028,000687: 
039029,000688: 30,3743           00004                 +2        INHINT                                         #  COME HERE FOR NOATTCNT WITHOUT ALARM
039030,000689: 30,3744           04674                           TC       IBNKCALL                              #  RELINT AT TC INTPRET AFTER TCQCDUW
039031,000690: 30,3745           40166                           FCADR    STOPRATE                              
039032,000691: 30,3746           13466                           TCF      TCQCDUW                               #  RETURN TO USER SKIPPING AUTOPILOT CMDS
039033,000692: 
039034,000693:                                                                                                  #  MIDDLE GIMBAL ANGLE ALARM
039035,000694: 
039036,000695: 30,3747           05567        ALARMMGA           TC       ALARM                                 
039037,000696: 30,3750           00401                           OCT      00401                                 
039038,000697: 30,3751           13266                           TCF      MGARET                                
039039,000698: 

Page 925

039041,000700:                                                                                                  # ******************************************************************
039042,000701:                                                                                                  #  CONSTANTS
039043,000702:                                                                                                  # ******************************************************************
039044,000703: 
039045,000704:                                                                                                  #  ADDRESS CONSTANTS
039046,000705: 
039047,000706: 30,3752           03245        ECDUWL             ECADR    ECDUW                                 
039048,000707: 
039049,000708:                                                                                                  #  THRUST DIRECTION FILTER CONSTANTS
039050,000709: 
039051,000710: 30,3753           06315        GAINFLTR           DEC      .2                                    #  GAIN FILTER SANS CSM
039052,000711: 30,3754           03146                           DEC      .1                                    #  GAIN FILTER WITH CSM
039053,000712: 
039054,000713: 30,3755           00071        DUNFVLIM           DEC      .007       B-1                        #  7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039055,000714:                                                                                                  #  THIS DOES NOT ALLOW FOR S/C ROT RATE.
039056,000715: 
039057,000716: 30,3756           02041        UNFVLIM            DEC      .129       B-1                        #  129 MR MAX THRUST OFFSET.  105 MR TRAVEL
039058,000717:                                                                                                  #  +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039059,000718: 
039060,000719:                                                                                                  #  CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
039061,000720: 
039062,000721: 30,3757           01673        DOTSWFMX           DEC      .93302     B-4                        #  LIM COLNRTY OF UNWC/W & UNFC/2 TO 85 DEG
039063,000722:                                                                                                  #  LOWER PART COMES FROM NEXT CONSTANT
039064,000723: 
039065,000724: 30,3760           03434        DAXMAX             DEC      .11111111111                            #  DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039066,000725: 30,3761           00266                           DEC      .0111111111                            #  2 DEG WHEN CSM DOCKED
039067,000726: 
039068,000727: 30,3762           01616        DAY/2MAX           DEC      .05555555555                            #  LIKEWISE FOR DELATTY
039069,000728: 30,3763           00133                           DEC      .0055555555                            
039070,000729: 
039071,000730: 30,3764  30,3760               DAZMAX             =        DAXMAX                                #  LIKEWISE FOR DELATTZ
039072,000731: 
039073,000732: 30,3764           14344        CDUZDLIM           DEC      .3888888888                            #  70 DEG LIMIT FOR MGA, 1'S, PI
039074,000733: 
039075,000734:                                                                                                  #  CONSTANTS FOR DATA TRANSFER
039076,000735: 
039077,000736: 30,3765           01463        DT/DELT            DEC      .05                                   #  .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039078,000737:                                                                                                  #  CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039079,000738: 
039080,000739: 30,3766  30,3762               DELERLIM           =        DAY/2MAX                              #        0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039081,000740: 
039082,000741:                                                                                                  #  *** END OF FLY        .153 ***

End of include-file FINDCDUW--GUIDAP_INTERFACE.agc.  Parent file is MAIN.agc