Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

039021,000002:                                                                                                  ## Copyright:   Public domain.
039022,000003:                                                                                                  ## Filename:    FINDCDUW--GUIDAP_INTERFACE.agc
039023,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
039024,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039025,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
039026,000007:                                                                                                  ## Assembler:   yaYUL
039027,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
039028,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
039029,000010:                                                                                                  ## Pages:       908-925
039030,000011:                                                                                                  ## Mod history: 2009-05-28 HG   Transcribed from page images.
039031,000012:                                                                                                  ##              2016-12-17 RSB  Proofed text comments with octopus/ProoferComments
039032,000013:                                                                                                  ##                              and corrected the errors found.
039033,000014:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
039034,000015:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
039035,000016:                                                                                                  ##              2017-03-15 RSB  Comment-text fixes identified in 5-way
039036,000017:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039037,000018: 

Page 908

039039,000020:                                                                                                  #  PROGRAM NAME:  FINDCDUW
039040,000021:                                                                                                  #  MOD NUMBER:  1        68 07 15
039041,000022:                                                                                                  #  MOD AUTHOR:  KLUMPP
039042,000023: 
039043,000024:                                                                                                  #  OBJECTS OF MOD:       1.      TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039044,000025:                                                                                                  #                        2.      TO MAINTAIN CORRECT AND CURRENT THRUST
039045,000026:                                                                                                  #                                DIRECTION DATA IN ALL MODES.  THIS IS DONE BY
039046,000027:                                                                                                  #                                FETCHING FOR THE THRUST DIRECTION FILTER THE
039047,000028:                                                                                                  #                                CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039048,000029:                                                                                                  #                                MODES.
039049,000030:                                                                                                  #                        3.      TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039050,000031:                                                                                                  #                                AUTOPILOT COMMANDS WHENEVER
039051,000032:                                                                                                  #                                1) NOT IN PNGCS-AUTO, OR
039052,000033:                                                                                                  #                                2) ENGINE IS OFF.
039053,000034: 
039054,000035:                                                                                                  #  FUNCTIONAL DESCRIPTION:
039055,000036: 
039056,000037:                                                                                                  #  FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039057,000038:                                                                                                  #  AND THE DIGITAL AUTOPILOT.  THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039058,000039:                                                                                                  #  AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039059,000040:                                                                                                  #  INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039060,000041:                                                                                                  #  ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039061,000042:                                                                                                  #  LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039062,000043:                                                                                                  #  ACCELERATIONS AVAILABLE).
039063,000044: 
039064,000045:                                                                                                  #  FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039065,000046:                                                                                                  #  FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039066,000047:                                                                                                  #  ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039067,000048: 

Page 909

039069,000050:                                                                                                  #  SPECIFICATIONS:
039070,000051: 
039071,000052:                                                                                                  #  INITIALIZATION:       A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039072,000053:                                                                                                  #                        BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039073,000054: 
039074,000055:                                                                                                  #  CALL:                 INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039075,000056:                                                                                                  #                        VECTOR IN MPAC.  INTERPRETIVE CALL TO FINDCDUW -2 WITH
039076,000057:                                                                                                  #                        THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039077,000058: 
039078,000059:                                                                                                  #  RETURNS:              NORMAL INTERPRETIVE IN ALL CASES
039079,000060:                                                                                                  #                        1.      NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039080,000061:                                                                                                  #                        2.      IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039081,000062:                                                                                                  #                                WITHOUT ISSUING AUTOPILOT CMDS.
039082,000063:                                                                                                  #                        3.      IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039083,000064:                                                                                                  #                                ISSUING AUTOPILOT CMDS.
039084,000065: 
039085,000066:                                                                                                  #  ALARMS:               00401   IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039086,000067:                                                                                                  #                                FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039087,000068:                                                                                                  #                                BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039088,000069: 
039089,000070:                                                                                                  #                        00402   IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039090,000071:                                                                                                  #                                UNITIZED USING NORMUNIT.  FINDCDUW ISSUES
039091,000072:                                                                                                  #                                STOPRATE AS ONLY INPUT TO AUTOPILOT.
039092,000073: 
039093,000074:                                                                                                  #  INPUTS:               UNFC/2          THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039094,000075:                                                                                                  #                        UNWC/2          WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039095,000076:                                                                                                  #                        XOVINHIB        FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039096,000077:                                                                                                  #                        CSMDOCKD        FLAG DENOTING CSM DOCKED.
039097,000078:                                                                                                  #                        STEERSW         FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039098,000079: 
039099,000080:                                                                                                  #  OUTPUTS:              DELCDUX,Y,Z
039100,000081:                                                                                                  #                        OMEGAPD,+1,+2
039101,000082:                                                                                                  #                        DELPEROR,+1,+2
039102,000083:                                                                                                  #                        CPHI,+1,+2 FOR NOUN22
039103,000084: 
039104,000085:                                                                                                  #  DEBRIS:               FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039105,000086:                                                                                                  #                        WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039106,000087:                                                                                                  #                        OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039107,000088: 

Page 910

039109,000090:                                                                                                  #  INITIALIZATION FOR FINDCDUW
039110,000091: 
039111,000092: 30,3104                                           BANK     30                                    
039112,000093: 30,2000                                           SETLOC   FCDUW                                 
039113,000094: 30,2000                                           BANK                                           
039114,000095: 
039115,000096: 30,3104  E6,1646                                  EBANK=   ECDUW                                 
039116,000097: 30,3104                                           COUNT*   $$/FCDUW                              
039117,000098: 
039118,000099: 30,3104           77775        INITCDUW           VLOAD                                          
039119,000100: 30,3105           06520                                    UNITX                                 
039120,000101: 30,3106           03270                           STORE    UNFV/2                                
039121,000102: 30,3107           03262                           STORE    UNWC/2                                
039122,000103: 30,3110           77616                           RVQ                                            
039123,000104: 
039124,000105:                                                                                                  #  FINDCDUW PRELIMINARIES
039125,000106: 
039126,000107: 30,3111           77775                           VLOAD                                          #  FINDCDUW -2:  ENTRY WHEN UNFC/2 PRE-STORD
039127,000108: 30,3112           03254                                    UNFC/2                                #  INPUT VECTORS NEED NOT BE SEMI-UNIT
039128,000109: 30,3113           40200        FINDCDUW           BOV      SETPD                                 #  FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039129,000110: 30,3114           61113                                    FINDCDUW                              #  INTERPRETER NOW INITIALIZED
039130,000111: 30,3115           00023                                    22                                    #  LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039131,000112: 30,3116           77420                           STQ      EXIT                                  
039132,000113: 30,3117           03247                                    QCDUWUSR                              #  SAVE RETURN ADDRESS
039133,000114: 
039134,000115:                                                                                                  #  MORE HAUSKEEPING
039135,000116: 30,3120           33761                           CA       ECDUWL                                
039136,000117: 30,3121           56003                           XCH      EBANK                                 #  SET EBANK
039137,000118: 30,3122           55646                           TS       ECDUWUSR                              #  SAVE USER'S EBANK
039138,000119: 
039139,000120: 30,3123           30111                           CA       DAPBOOLS                              
039140,000121: 30,3124           74737                           MASK     CSMDOCKD                              #  CSMDOCKD MUST NOT BE BIT15
039141,000122: 30,3125           10000                           CCS      A                                     
039142,000123: 30,3126           34753                           CA       ONE                                   #  INDEX IF CSM DOCKED
039143,000124: 30,3127           55650                           TS       NDXCDUW                               
039144,000125: 
039145,000126: 30,3130           34743                           CA       XOVINHIB                              #  XOVINHIB MUST NOT BE BIT15
039146,000127: 30,3131           55652                           TS       FLPAUTNO                              #  SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039147,000128: 
039148,000129: 30,3132           70111                           MASK     DAPBOOLS                              
039149,000130: 30,3133           55651                           TS       FLAGOODW                              #  FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039150,000131: 

Page 911

039152,000133:                                                                                                  #  FETCH BASIC DATA
039153,000134: 30,3134           00004                           INHINT                                         #  RELINT AT PAUTNO (TC INTPRET)
039154,000135: 
039155,000136: 30,3135           30032                           CA       CDUX                                  #  FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039156,000137: 30,3136           54772                           TS       CDUSPOTX                              #        REPLACE BELOW IF PNGCS AUTO
039157,000138: 30,3137           30033                           CA       CDUY                                  
039158,000139: 30,3140           54766                           TS       CDUSPOTY                              
039159,000140: 30,3141           30034                           CA       CDUZ                                  
039160,000141: 30,3142           54770                           TS       CDUSPOTZ                              
039161,000142: 
039162,000143: 30,3143           34742                           CA       BIT10                                 #  PNGCS CONTROL BIT
039163,000144: 30,3144           00006                           EXTEND                                         
039164,000145: 30,3145           02030                           RAND     CHAN30                                
039165,000146: 30,3146           10000                           CCS      A                                     
039166,000147: 30,3147           13164                           TCF      PAUTNO                                #  NOT PNGCS (BITS INVERTED)
039167,000148: 
039168,000149: 30,3150           34736                           CA       BIT14                                 #  AUTO MODE BIT
039169,000150: 30,3151           00006                           EXTEND                                         
039170,000151: 30,3152           02031                           RAND     CHAN31                                
039171,000152: 30,3153           10000                           CCS      A                                     
039172,000153: 30,3154           13164                           TCF      PAUTNO                                #  NOT AUTO (BITS INVERTED)
039173,000154: 
039174,000155: 30,3155           55652                           TS       FLPAUTNO                              #  RESET FLAG PNGCS AUTO NOT
039175,000156: 
039176,000157: 30,3156           31635                           CA       CDUXD                                 #  PNGCS AUTO:  FETCH CDUXD,CDUYD,CDUZD
039177,000158: 30,3157           54772                           TS       CDUSPOTX                              
039178,000159: 30,3160           31636                           CA       CDUYD                                 
039179,000160: 30,3161           54766                           TS       CDUSPOTY                              
039180,000161: 30,3162           31637                           CA       CDUZD                                 
039181,000162: 30,3163           54770                           TS       CDUSPOTZ                              
039182,000163: 

Page 912

039184,000165:                                                                                                  #  FETCH INPUTS
039185,000166: 30,3164           06037        PAUTNO             TC       INTPRET                               #  ENTERING THRUST CMD STILL IN MPAC
039186,000167: 30,3165           77634                           RTB                                            
039187,000168: 30,3166           21726                                    NORMUNIT                              
039188,000169: 30,3167           24001                           STOVL    UNX/2                                 #  SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039189,000170: 30,3170           03262                                    UNWC/2                                
039190,000171: 30,3171           47034                           RTB      RTB                                   
039191,000172: 30,3172           21726                                    NORMUNIT                              
039192,000173: 30,3173           47615                                    QUICTRIG                              #  ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039193,000174: 30,3174           24015                           STOVL    UNZ/2                                 #  SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039194,000175: 30,3175           00325                                    DELV                                  
039195,000176: 30,3176           53404                           BOVB     UNIT                                  
039196,000177: 30,3177           61750                                    NOATTCNT                              #  AT LEAST ONE ENTERING CMD VCT ZERO
039197,000178: 30,3200           45000                           BOV      CALL                                  
039198,000179: 30,3201           61215                                    AFTRFLTR                              #  IF UNIT DELV OVERFLOWS, SKIP FILTER
039199,000180: 30,3202           47671                                    *SMNB*                                #  YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039200,000181: 
039201,000182:                                                                                                  #  THRUST DIRECTION FILTER
039202,000183: 
039203,000184: 30,3203           77776                           EXIT                                           
039204,000185: 
039205,000186: 30,3204           31671                           CA       UNFVY/2                               #  FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039206,000187: 30,3205           22157                           LXCH     MPAC       +3                         #        RENEWED AFTER RETURN FROM CALLER,
039207,000188: 30,3206           03503                           TC       FLTRSUB                               #        TWO FILTER UPDATES MAY BE DONE.
039208,000189: 30,3207           55671                           TS       UNFVY/2                               #  UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039209,000190: 
039210,000191: 30,3210           31673                           CA       UNFVZ/2                               
039211,000192: 30,3211           22161                           LXCH     MPAC       +5                         
039212,000193: 30,3212           03503                           TC       FLTRSUB                               
039213,000194: 30,3213           55673                           TS       UNFVZ/2                               
039214,000195: 
039215,000196: 30,3214           06037                           TC       INTPRET                               #  COMPLETES FILTER
039216,000197: 

Page 913

039218,000199:                                                                                                  #  FIND A SUITABLE WINDOW POINTING VECTOR
039219,000200: 
039220,000201: 30,3215           46135        AFTRFLTR           SLOAD    BHIZ                                  #  IF XOV NOT INHIBITED, GO FETCH ZNB
039221,000202: 30,3216           03252                                    FLAGOODW                              
039222,000203: 30,3217           61223                                    FETCHZNB                              
039223,000204: 30,3220           45175                           VLOAD    CALL                                  
039224,000205: 30,3221           00015                                    UNZ/2                                 
039225,000206: 30,3222           61523                                    UNWCTEST                              
039226,000207: 
039227,000208: 30,3223           77775        FETCHZNB           VLOAD                                          
039228,000209: 30,3224           02162                                    ZNBPIP                                
039229,000210: 30,3225           34015                           STCALL   UNZ/2                                 
039230,000211: 30,3226           61523                                    UNWCTEST                              
039231,000212: 
039232,000213: 30,3227           57575                           VLOAD    VCOMP                                 #  Z AND -X CAN'T BOTH PARALLEL UNFC/2
039233,000214: 30,3230           02146                                    XNBPIP                                
039234,000215: 30,3231           00015                           STORE    UNZ/2                                 
039235,000216: 
039236,000217:                                                                                                  #  COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039237,000218: 
039238,000219: 30,3232           47375        DCMCL              VLOAD    VXV                                   
039239,000220: 30,3233           00015                                    UNZ/2                                 
039240,000221: 30,3234           00001                                    UNX/2                                 
039241,000222: 30,3235           41456                           UNIT     PUSH                                  #  UNY/2 FIRST ITERATION
039242,000223: 30,3236           76435                           VXV      VSL1                                  
039243,000224: 30,3237           00001                                    UNX/2                                 
039244,000225: 30,3240           00015                           STORE    UNZ/2                                 #  -UNZ/2 FIRST ITERATION
039245,000226: 30,3241           63361                           VXSC     PDVL                                  #  EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039246,000227: 30,3242           03274                                    UNFVZ/2                               #  MUST BE SMALL
039247,000228: 30,3243           51361                           VXSC     BVSU                                  #  YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039248,000229: 30,3244           03272                                    UNFVY/2                               #  MUST BE SMALL
039249,000230: 30,3245           53372                           VSL1     VAD                                   
039250,000231: 30,3246           00001                                    UNX/2                                 
039251,000232: 30,3247           77656                           UNIT                                           #  TOTALLY ELIMINATES THRUST POINTING ERROR
039252,000233: 30,3250           00001                           STORE    UNX/2                                 #  UNX/2
039253,000234: 30,3251           76435                           VXV      VSL1                                  
039254,000235: 30,3252           00015                                    UNZ/2                                 #  -UNZ/2 WAS STORED HERE REMEMBER
039255,000236: 30,3253           00007                           STORE    UNY/2                                 #  UNY/2
039256,000237: 30,3254           47276                           VCOMP    VXV                                   
039257,000238: 30,3255           00001                                    UNX/2                                 
039258,000239: 30,3256           77772                           VSL1                                           
039259,000240: 30,3257           00015                           STORE    UNZ/2                                 #  UNZ/2
039260,000241: 

Page 914

039262,000243:                                                                                                  #  COMPUTE THE REQUIRED GIMBAL ANGLES
039263,000244: 
039264,000245: 30,3260           77624                           CALL                                           
039265,000246: 30,3261           61533                                    NB2CDUSP                              #  YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039266,000247: 30,3262           77776                           EXIT                                           
039267,000248: 
039268,000249:                                                                                                  #  LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039269,000250: 
039270,000251: 30,3263           30156                           CA       MPAC       +2                         #  LIMIT THE MGA
039271,000252: 30,3264           54001                           TS       L                                     #  CAN'T LXCH:  NEED UNLIMITED MGA FOR ALARM
039272,000253: 30,3265           33773                           CA       CDUZDLIM                              
039273,000254: 30,3266           03727                           TC       LIMITSUB                              #  YIELDS LIMITED MGA.  1 BIT ERROR POSSIBLE
039274,000255: 30,3267           56156                           XCH      MPAC       +2                         #        BECAUSE USING 2'S COMP.  WHO CARES?
039275,000256: 30,3270           00006                           EXTEND                                         
039276,000257: 30,3271           20156                           MSU      MPAC       +2                         #  THIS BETTER YIELD ZERO
039277,000258: 30,3272           00006                           EXTEND                                         
039278,000259: 30,3273           13275                           BZF      +2                                    
039279,000260: 30,3274           13756                           TCF      ALARMMGA                              
039280,000261: 
039281,000262: 30,3275           00004        MGARET             INHINT                                         #  RELINT AT TC INTPRET AFTER TCQCDUW
039282,000263: 
039283,000264: 30,3276           22007                           ZL                                             
039284,000265: 30,3277           34752                           CA       TWO                                   
039285,000266: 30,3300           54142        DELGMBLP           TS       TEM2                                  
039286,000267: 
039287,000268: 30,3301           30001                           CA       L                                     #  TO PREVENT FALSE STARTS ABOUT X, ZERO
039288,000269: 30,3302           00006                           EXTEND                                         #        FLAGOODW IF DELGMBZ OR Y TOO BIG.
039289,000270: 30,3303           70000                           SQUARE                                         
039290,000271: 30,3304           64350                           AD       HI5                                   #  WITHIN 1 BIT OF -(45 DEG SQUARED)
039291,000272: 30,3305           00006                           EXTEND                                         
039292,000273: 30,3306           63311                           BZMF     +3                                    
039293,000274: 30,3307           34755                           CA       ZERO                                  
039294,000275: 30,3310           55651                           TS       FLAGOODW                              
039295,000276: 
039296,000277: 30,3311           50142                           INDEX    TEM2                                  
039297,000278: 30,3312           30154                           CA       MPAC                                  
039298,000279: 30,3313           50142                           INDEX    TEM2                                  
039299,000280: 30,3314           54321                           TS       CPHI                                  #  OUTPUTS TO NOUN22
039300,000281: 30,3315           00006                           EXTEND                                         
039301,000282: 30,3316           50142                           INDEX    TEM2                                  
039302,000283: 30,3317           21635                           MSU      CDUXD                                 #  NO MATTER THAT THESE SLIGHTLY DIFFERENT
039303,000284: 30,3320           40000                           COM                                            #  FROM WHEN WE INITIALLY FETCHED THEM
039304,000285: 30,3321           50142                           INDEX    TEM2                                  
039305,000286: 30,3322           55675                           TS       -DELGMB                               #  -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039306,000287: 30,3323           54001                           TS       L                                     #  FOR PRECEDING TEST ON NEXT LOOP PASS
039307,000288: 30,3324           10142                           CCS      TEM2                                  
039308,000289: 30,3325           13300                           TCF      DELGMBLP                              
039309,000290: 

Page 915

039311,000292:                                                                                                  #  BRANCHES TO NOATTCNT
039312,000293: 30,3326           11652                           CCS      FLPAUTNO                              
039313,000294: 30,3327           13752                           TCF      NOATTCNT   +2                         #  NOT PNGCS AUTO
039314,000295: 
039315,000296: 30,3330           30101                           CA       FLAGWRD5                              
039316,000297: 30,3331           74745                           MASK     ENGONBIT                              
039317,000298: 30,3332           00006                           EXTEND                                         
039318,000299: 30,3333           13752                           BZF      NOATTCNT   +2                         #  ENGINE NOT ON
039319,000300: 

Page 916

039321,000302:                                                                                                  #  LIMIT THE ATTITUDE ANGLE CHANGES
039322,000303: 
039323,000304:                                                                                                  #  THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039324,000305:                                                                                                  #  THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO.  THE PRIME SYSTEM IS
039325,000306:                                                                                                  #  THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039326,000307:                                                                                                  #  AXIS.  ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039327,000308: 
039328,000309:                                                                                                  #        *   -DELATTX    *   * 1     SIN(CDUZD)     0 * * -DELGMBX *
039329,000310:                                                                                                  #        *               *   *                        * *          *
039330,000311:                                                                                                  #        * -DELATTYPRIME * = * 0     COS(CDUZD)     0 * * -DELGMBY *
039331,000312:                                                                                                  #        *               *   *                        * *          *
039332,000313:                                                                                                  #        * -DELATTZPRIME *   * 0         0          1 * * -DELGMBZ *
039333,000314: 
039334,000315: 30,3334           23677                           LXCH     -DELGMB    +2                         #  SAME AS -DELATTZPRIME UNLIMITED
039335,000316: 30,3335           51650                           INDEX    NDXCDUW                               
039336,000317: 30,3336           33767                           CA       DAZMAX                                
039337,000318: 30,3337           03727                           TC       LIMITSUB                              
039338,000319: 30,3340           55677                           TS       -DELGMB    +2                         #  -DELGMBZ
039339,000320: 
039340,000321: 30,3341           31676                           CA       -DELGMB    +1                         
039341,000322: 30,3342           00006                           EXTEND                                         
039342,000323: 30,3343           70746                           MP       COSCDUZ                               #  YIELDS -DELATTYPRIME/2 UNLIMITED
039343,000324: 30,3344           54001                           TS       L                                     
039344,000325: 30,3345           51650                           INDEX    NDXCDUW                               
039345,000326: 30,3346           33771                           CA       DAY/2MAX                              
039346,000327: 30,3347           03727                           TC       LIMITSUB                              
039347,000328: 30,3350           00006                           EXTEND                                         
039348,000329: 30,3351           10746                           DV       COSCDUZ                               
039349,000330: 30,3352           57676                           XCH      -DELGMB    +1                         #  -DELGMBY, FETCHING UNLIMITED VALUE
039350,000331: 
039351,000332: 30,3353           00006                           EXTEND                                         
039352,000333: 30,3354           70740                           MP       SINCDUZ                               
039353,000334: 30,3355           20001                           DDOUBL                                         
039354,000335: 30,3356           40000                           COM                                            
039355,000336: 30,3357           00006                           EXTEND                                         #  YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039356,000337: 30,3360           21675                           MSU      -DELGMB                               #        BASED ON UNLIMITED DELGMBY.
039357,000338: 30,3361           54001                           TS       L                                     #        ONE BIT ERROR IF OPERANDS IN MSU
039358,000339: 30,3362           51650                           INDEX    NDXCDUW                               #        OF MIXED SIGNS.  WHO CARES?
039359,000340: 30,3363           33767                           CA       DAXMAX                                
039360,000341: 30,3364           03727                           TC       LIMITSUB                              
039361,000342: 30,3365           55675                           TS       -DELGMB                               #  SAVE LIMITED +DELATTX
039362,000343: 30,3366           11651                           CCS      FLAGOODW                              
039363,000344: 30,3367           41675                           CS       -DELGMB                               #  FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039364,000345: 30,3370           55675                           TS       -DELGMB                               #  OTHERWISE USE ZERO FOR -DELATTX
039365,000346: 30,3371           41676                           CS       -DELGMB    +1                         
039366,000347: 30,3372           00006                           EXTEND                                         
039367,000348: 30,3373           70740                           MP       SINCDUZ                               
039368,000349: 30,3374           20001                           DDOUBL                                         #  YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039369,000350: 30,3375           27675                           ADS      -DELGMB                               #  -DELGMBX.  NO OVERFLOW SINCE LIMITED TO
039370,000351:                                                                                                  #  20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039371,000352: 

Page 917

039373,000354:                                                                                                  #  COMPUTE COMMANDED ATTITUDE RATES
039374,000355: 
039375,000356:                                                                                                  #        * OMEGAPD *   * -2         -4 SINCDUZ              +0    * * -DELGMBX *
039376,000357:                                                                                                  #        *         *   *                                          * *          *
039377,000358:                                                                                                  #        * OMEGAQD * = * +0     -8 COSCDUZ COSCDUX     -4 SINCDUX * * -DELGMBY *
039378,000359:                                                                                                  #        *         *   *                                          * *          *
039379,000360:                                                                                                  #        * OMEGARD *   * +0     +8 COSCDUZ SINCDUX     -4 COSCDUX * * -DELGMBZ *
039380,000361: 
039381,000362:                                                                                                  #  ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039382,000363:                                                                                                  #  PI/2 RAD/SEC.  THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039383,000364:                                                                                                  #  AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039384,000365: 
039385,000366: 30,3376           41675                           CS       -DELGMB                               
039386,000367: 30,3377           55643                           TS       OMEGAPD                               
039387,000368: 30,3400           41676                           CS       -DELGMB    +1                         
039388,000369: 30,3401           00006                           EXTEND                                         
039389,000370: 30,3402           70740                           MP       SINCDUZ                               
039390,000371: 30,3403           20001                           DDOUBL                                         
039391,000372: 30,3404           27643                           ADS      OMEGAPD                               
039392,000373: 30,3405           27643                           ADS      OMEGAPD                               
039393,000374: 
039394,000375: 30,3406           41676                           CS       -DELGMB    +1                         
039395,000376: 30,3407           00006                           EXTEND                                         
039396,000377: 30,3410           70750                           MP       COSCDUX                               
039397,000378: 30,3411           20001                           DDOUBL                                         
039398,000379: 30,3412           00006                           EXTEND                                         
039399,000380: 30,3413           70746                           MP       COSCDUZ                               
039400,000381: 30,3414           55644                           TS       OMEGAQD                               
039401,000382: 30,3415           41677                           CS       -DELGMB    +2                         
039402,000383: 30,3416           00006                           EXTEND                                         
039403,000384: 30,3417           70742                           MP       SINCDUX                               
039404,000385: 30,3420           27644                           ADS      OMEGAQD                               
039405,000386: 30,3421           27644                           ADS      OMEGAQD                               
039406,000387: 30,3422           27644                           ADS      OMEGAQD                               
039407,000388: 
039408,000389: 30,3423           31676                           CA       -DELGMB    +1                         
039409,000390: 30,3424           00006                           EXTEND                                         
039410,000391: 30,3425           70742                           MP       SINCDUX                               
039411,000392: 30,3426           20001                           DDOUBL                                         
039412,000393: 30,3427           00006                           EXTEND                                         
039413,000394: 30,3430           70746                           MP       COSCDUZ                               
039414,000395: 30,3431           55645                           TS       OMEGARD                               
039415,000396: 30,3432           41677                           CS       -DELGMB    +2                         
039416,000397: 30,3433           00006                           EXTEND                                         
039417,000398: 30,3434           70750                           MP       COSCDUX                               
039418,000399: 30,3435           27645                           ADS      OMEGARD                               
039419,000400: 30,3436           27645                           ADS      OMEGARD                               
039420,000401: 30,3437           27645                           ADS      OMEGARD                               
039421,000402: 

Page 918

039423,000404:                                                                                                  #  FINAL TRANSFER
039424,000405: 
039425,000406: 30,3440           34752                           CA       TWO                                   
039426,000407: 30,3441           54142        CDUWXFR            TS       TEM2                                  
039427,000408: 30,3442           50142                           INDEX    TEM2                                  
039428,000409: 30,3443           31675                           CA       -DELGMB                               
039429,000410: 30,3444           00006                           EXTEND                                         
039430,000411: 30,3445           73774                           MP       DT/DELT                               #  RATIO OF DAP INTERVAL TO CDUW INTERVAL
039431,000412: 30,3446           03743                           TC       ONESTO2S                              
039432,000413: 30,3447           50142                           INDEX    TEM2                                  
039433,000414: 30,3450           55640                           TS       DELCDUX                               #  ANGLE INTERFACE
039434,000415: 
039435,000416: 30,3451           50142                           INDEX    TEM2                                  
039436,000417: 30,3452           11643                           CCS      OMEGAPD                               
039437,000418: 30,3453           64753                           AD       ONE                                   
039438,000419: 30,3454           13456                           TCF      +2                                    
039439,000420: 30,3455           64753                           AD       ONE                                   
039440,000421: 30,3456           00006                           EXTEND                                         #  WE NOW HAVE ABS(OMEGAPD,QD,RD)
039441,000422: 30,3457           50142                           INDEX    TEM2                                  
039442,000423: 30,3460           71643                           MP       OMEGAPD                               
039443,000424: 30,3461           00006                           EXTEND                                         
039444,000425: 30,3462           74741                           MP       BIT11                                 #  1/16
039445,000426: 30,3463           00006                           EXTEND                                         
039446,000427: 30,3464           50142                           INDEX    TEM2                                  #                   2
039447,000428: 30,3465           11530                           DV       1JACC                                 #  UNITS PI/4 RAD/SEC
039448,000429: 30,3466           54001                           TS       L                                     
039449,000430: 30,3467           33771                           CA       DELERLIM                              
039450,000431: 30,3470           03727                           TC       LIMITSUB                              
039451,000432: 30,3471           50142                           INDEX    TEM2                                  
039452,000433: 30,3472           55277                           TS       DELPEROR                              #  LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039453,000434: 30,3473           10142                           CCS      TEM2                                  
039454,000435: 30,3474           13441                           TCF      CDUWXFR                               
039455,000436: 
039456,000437:                                                                                                  #  HAUSKEEPING AND RETURN
039457,000438: 
039458,000439: 30,3475           31646        TCQCDUW            CA       ECDUWUSR                              
039459,000440: 30,3476           54003                           TS       EBANK                                 #  RETURN USER'S EBANK
039460,000441: 
039461,000442: 30,3477           06037                           TC       INTPRET                               
039462,000443: 30,3500           52001                           SETPD    GOTO                                  
039463,000444: 30,3501           00001                                    0                                     
039464,000445: 30,3502           03247                                    QCDUWUSR                              #  NORMAL AND ABNORMAL RETURN TO USER
039465,000446: 

Page 919

039467,000448:                                                                                                  #  THRUST VECTOR FILTER SUBROUTINE
039468,000449: 
039469,000450: 30,3503           00006        FLTRSUB            EXTEND                                         
039470,000451: 30,3504           22142                           QXCH     TEM2                                  
039471,000452: 30,3505           54143                           TS       TEM3                                  #  SAVE ORIGINAL OFFSET
039472,000453: 30,3506           40000                           COM                                            #  ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039473,000454: 30,3507           60001                           AD       L                                     #        ORIG OFFSET ARRIVES IN A, BUT IT'S
039474,000455: 30,3510           00006                           EXTEND                                         #        NOT WORTH THE INCREASED OBSCURITY.
039475,000456: 30,3511           51650                           INDEX    NDXCDUW                               
039476,000457: 30,3512           73762                           MP       GAINFLTR                              
039477,000458: 30,3513           54001                           TS       L                                     #  INCR TO OFFSET, UNLIMITED
039478,000459: 30,3514           33764                           CA       DUNFVLIM                              #  SAME LIMIT FOR Y AND Z
039479,000460: 30,3515           03727                           TC       LIMITSUB                              #  YIELDS INCR TO OFFSET, LIMITED
039480,000461: 30,3516           60143                           AD       TEM3                                  #  ORIGINAL OFFSET
039481,000462: 30,3517           54001                           TS       L                                     #  TOTAL OFFSET, UNLIMITED
039482,000463: 30,3520           33765                           CA       UNFVLIM                               #  SAME LIMIT FOR Y AND Z
039483,000464: 30,3521           03727                           TC       LIMITSUB                              #  YIELDS TOTAL OFFSET, LIMITED
039484,000465: 30,3522           00142                           TC       TEM2                                  
039485,000466: 
039486,000467:                                                                                                  #  SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039487,000468: 
039488,000469: 30,3523           63441        UNWCTEST           DOT      DSQ                                   
039489,000470: 30,3524           00001                                    UNX/2                                 
039490,000471: 30,3525           50025                           DSU      BMN                                   
039491,000472: 30,3526           21767                                    DOTSWFMX                              
039492,000473: 30,3527           61232                                    DCMCL                                 
039493,000474: 30,3530           43531                           SSP      RVQ                                   #  RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039494,000475: 30,3531           03252                                    FLAGOODW                              #        ZEROING WINDOW GOOD FLAG
039495,000476: 30,3532           00000                                    0                                     
039496,000477: 

Page 920

039498,000479:                                                                                                  #  NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039499,000480:                                                                                                  #  ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039500,000481:                                                                                                  #  NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039501,000482: 
039502,000483: 30,3533           63545        NB2CDUSP           DLOAD    DSQ                                   
039503,000484: 30,3534           00003                                    2                                     
039504,000485: 30,3535           51021                           BDSU     BPL                                   
039505,000486: 30,3536           06512                                    DP1/4TH                               
039506,000487: 30,3537           61542                                    +3                                    
039507,000488: 30,3540           77745                           DLOAD                                          
039508,000489: 30,3541           06522                                    ZEROVECS                              #  IN CASE SIN WAS SLIGHTLY > 1/2
039509,000490: 30,3542           77566                           SQRT     EXIT                                  #  YIELDS COS(CDUZ) IN UNITS OF 2
039510,000491: 
039511,000492: 30,3543           00006                           EXTEND                                         
039512,000493: 30,3544           30155                           DCA      MPAC                                  
039513,000494: 30,3545           20001                           DDOUBL                                         
039514,000495: 30,3546           54145                           TS       TEM5                                  
039515,000496: 30,3547           13552                           TCF      +3                                    
039516,000497: 30,3550           34733                           CA       POSMAX                                #  OVERFLOW.  FETCH POSMAX, MPAC ALWAYS POS
039517,000498: 30,3551           54145                           TS       TEM5                                  #  COS(CDUZ) IN TEM5, UNITS 1
039518,000499: 
039519,000500: 30,3552           50120                           INDEX    FIXLOC                                
039520,000501: 30,3553           30002                           CA       2                                     
039521,000502: 30,3554           22154                           LXCH     MPAC                                  
039522,000503: 30,3555           03622                           TC       ARCTRGSP                              
039523,000504: 30,3556           54156                           TS       MPAC       +2                         #  CDUZ
039524,000505: 
039525,000506: 30,3557           34755                           CA       ZERO                                  
039526,000507: 30,3560           03600                           TC       DVBYCOSM                              
039527,000508: 30,3561           34751                           CA       FOUR                                  
039528,000509: 30,3562           03600                           TC       DVBYCOSM                              
039529,000510: 30,3563           40141                           CS       TEM1                                  
039530,000511: 30,3564           03622                           TC       ARCTRGSP                              
039531,000512: 30,3565           54155                           TS       MPAC       +1                         #  CDUY
039532,000513: 
039533,000514: 30,3566           34750                           CA       BIT4                                  
039534,000515: 30,3567           03600                           TC       DVBYCOSM                              
039535,000516: 30,3570           33577                           CA       16OCT                                 
039536,000517: 30,3571           03600                           TC       DVBYCOSM                              
039537,000518: 30,3572           40141                           CS       TEM1                                  
039538,000519: 30,3573           03622                           TC       ARCTRGSP                              
039539,000520: 30,3574           54154                           TS       MPAC                                  #  CDUX
039540,000521: 
039541,000522: 30,3575           06037                           TC       INTPRET                               
039542,000523: 30,3576           77616                           RVQ                                            
039543,000524: 
039544,000525: 30,3577           00016        16OCT              OCT      16                                    
039545,000526: 

Page 921

039547,000528:                                                                                                  #  THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039548,000529:                                                                                                  #  ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039549,000530:                                                                                                  #  ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE.  BUT IF THE MGA IS NEAR PI/2
039550,000531:                                                                                                  #  THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039551,000532:                                                                                                  #  ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039552,000533:                                                                                                  #  BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039553,000534:                                                                                                  #  THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039554,000535: 
039555,000536:                                                                                                  #  IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039556,000537:                                                                                                  #  REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039557,000538:                                                                                                  #  ANGLES ARE INDETERMINATE.  THE INNER AND OUTER GIMBAL ANGLES RETURNED
039558,000539:                                                                                                  #  IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039559,000540: 
039560,000541: 30,3600           60120        DVBYCOSM           AD       FIXLOC                                
039561,000542: 30,3601           54116                           TS       ADDRWD                                #  ADRES OF OPERAND
039562,000543: 
039563,000544: 30,3602           50116                           INDEX    ADDRWD                                #  FETCH NEG ABS OF OPERAND, AD TEM5, AND
039564,000545: 30,3603           30000                           CA       0                                     #        SKIP DIVIDE IF RESULT NEG OR ZERO
039565,000546: 30,3604           00006                           EXTEND                                         
039566,000547: 30,3605           63607                           BZMF     +2                                    
039567,000548: 30,3606           40000                           COM                                            
039568,000549: 30,3607           60145                           AD       TEM5                                  #  C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039569,000550: 30,3610           00006                           EXTEND                                         
039570,000551: 30,3611           63617                           BZMF     TSL&TCQ                               #  DIFFERENCE ALWAYS SMALL IF BRANCH
039571,000552: 
039572,000553: 30,3612           00006                           EXTEND                                         #  TEM5 EXCEEDS ABS HIGH ORDER PART OF
039573,000554: 30,3613           50116                           INDEX    ADDRWD                                #        OPERAND BY AT LEAST ONE BIT.
039574,000555: 30,3614           30001                           DCA      0                                     #        THEREFORE IT EXCEEDS THE DP OPERAND
039575,000556: 30,3615           00006                           EXTEND                                         #        AND DIVISION WILL ALWAYS SUCCEED.
039576,000557: 30,3616           10145                           DV       TEM5                                  
039577,000558: 30,3617           54001        TSL&TCQ            TS       L                                     
039578,000559: 30,3620           22141                           LXCH     TEM1                                  
039579,000560: 30,3621           00002                           TC       Q                                     
039580,000561: 

Page 922

039582,000563:                                                                                                  #  ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039583,000564:                                                                                                  #  UNITS OF 2.  THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039584,000565:                                                                                                  #  THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039585,000566: 
039586,000567: 30,3622           00006        ARCTRGSP           EXTEND                                         
039587,000568: 30,3623           13665                           BZF      SINZERO                               #  TO AVOID DIVIDING BY ZERO
039588,000569: 
039589,000570: 30,3624           00006                           EXTEND                                         
039590,000571: 30,3625           22144                           QXCH     TEM4                                  
039591,000572: 30,3626           54142                           TS       TEM2                                  
039592,000573: 30,3627           30001                           CA       L                                     
039593,000574: 30,3630           54143                           TS       TEM3                                  
039594,000575: 30,3631           34755                           CA       ZERO                                  
039595,000576: 30,3632           00006                           EXTEND                                         
039596,000577: 30,3633           10142                           DV       TEM2                                  
039597,000578: 30,3634           00006                           EXTEND                                         
039598,000579: 30,3635           13654                           BZF      USECOS                                
039599,000580: 
039600,000581: 30,3636           10143                           CCS      TEM3                                  #  SIN IS SMALLER OR EQUAL
039601,000582: 30,3637           34755                           CA       ZERO                                  
039602,000583: 30,3640           13644                           TCF      +4                                    
039603,000584: 30,3641           40142                           CS       TEM2                                  #  IF COS NEG, REVERSE SIGN OF SIN,
039604,000585: 30,3642           54142                           TS       TEM2                                  #        ANGLE = PI-ARCSIN(SIN)
039605,000586: 30,3643           34735                           CA       NEGMAX                                #  PICK UP PI, 2'S COMPLEMENT
039606,000587: 30,3644           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
039607,000588: 30,3645           30142                           CA       TEM2                                  
039608,000589: 30,3646           03672                           TC       SPARCSIN   -1                         
039609,000590: 30,3647           03743                           TC       ONESTO2S                              
039610,000591: 30,3650           00006                           EXTEND                                         
039611,000592: 30,3651           20143                           MSU      TEM3                                  
039612,000593: 30,3652           03743        1TO2&TCQ           TC       ONESTO2S                              
039613,000594: 30,3653           00144                           TC       TEM4                                  
039614,000595: 
039615,000596: 30,3654           40143        USECOS             CS       TEM3                                  #  COS IS SMALLER
039616,000597: 30,3655           03672                           TC       SPARCSIN   -1                         #  ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039617,000598: 30,3656           64736                           AD       HALF                                  
039618,000599: 30,3657           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
039619,000600: 30,3660           10142                           CCS      TEM2                                  
039620,000601: 30,3661           30143                           CA       TEM3                                  
039621,000602: 30,3662           13652                           TCF      1TO2&TCQ                              
039622,000603: 30,3663           40143                           CS       TEM3                                  
039623,000604: 30,3664           13652                           TCF      1TO2&TCQ                              
039624,000605: 
039625,000606: 30,3665           10001        SINZERO            CCS      L                                     
039626,000607: 30,3666           34755                           CA       ZERO                                  
039627,000608: 30,3667           00002                           TC       Q                                     
039628,000609: 30,3670           34735                           CA       NEGMAX                                #  PI, 2'S COMP
039629,000610: 30,3671           00002                           TC       Q                                     
039630,000611: 

Page 923

039632,000613:                                                                                                  #  SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039633,000614:                                                                                                  #  180 DEGREES IN A.  IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039634,000615:                                                                                                  #  DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039635,000616:                                                                                                  #  450 MICROSECONDS.  SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.  (BOB CRISP)
039636,000617: 
039637,000618: 30,3672           60000                           DOUBLE                                         
039638,000619: 30,3673           54021        SPARCSIN           TS       SR                                    
039639,000620: 30,3674           13700                           TCF      +4                                    
039640,000621: 30,3675           50000                           INDEX    A                                     
039641,000622: 30,3676           44734                           CS       LIMITS                                
039642,000623: 30,3677           54021                           TS       SR                                    
039643,000624: 30,3700           00006                           EXTEND                                         
039644,000625: 30,3701           70000                           MP       A                                     
039645,000626: 30,3702           54141                           TS       TEM1                                  
039646,000627: 30,3703           00006                           EXTEND                                         
039647,000628: 30,3704           73726                           MP       DPL9                                  
039648,000629: 30,3705           63725                           AD       DPL7                                  
039649,000630: 30,3706           00006                           EXTEND                                         
039650,000631: 30,3707           70141                           MP       TEM1                                  
039651,000632: 30,3710           63724                           AD       DPL5                                  
039652,000633: 30,3711           00006                           EXTEND                                         
039653,000634: 30,3712           70141                           MP       TEM1                                  
039654,000635: 30,3713           63723                           AD       DPL3                                  
039655,000636: 30,3714           00006                           EXTEND                                         
039656,000637: 30,3715           70141                           MP       TEM1                                  
039657,000638: 30,3716           63722                           AD       DPL1                                  
039658,000639: 30,3717           00006                           EXTEND                                         
039659,000640: 30,3720           70021                           MP       SR                                    
039660,000641: 30,3721           00002                           TC       Q                                     
039661,000642: 30,3722           24406        DPL1               DEC      10502      B-14                       
039662,000643: 30,3723           00660        DPL3               DEC      432        B-14                       
039663,000644: 30,3724           16204        DPL5               DEC      7300       B-14                       
039664,000645: 30,3725           50744        DPL7               DEC      -11803     B-14                       
039665,000646: 30,3726           20315        DPL9               DEC      8397       B-14                       
039666,000647: 

Page 924

039668,000649:                                                                                                  #  LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039669,000650:                                                                                                  #  ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039670,000651:                                                                                                  #  THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039671,000652: 
039672,000653:                                                                                                  #  VERSION COURTESY HUGH BLAIR-SMITH
039673,000654: 
039674,000655: 30,3727           54141        LIMITSUB           TS       TEM1                                  
039675,000656: 30,3730           34755                           CA       ZERO                                  
039676,000657: 30,3731           00006                           EXTEND                                         
039677,000658: 30,3732           10141                           DV       TEM1                                  
039678,000659: 30,3733           10000                           CCS      A                                     
039679,000660: 30,3734           22141                           LXCH     TEM1                                  
039680,000661: 30,3735           13737                           TCF      +2                                    
039681,000662: 30,3736           13741                           TCF      +3                                    
039682,000663: 30,3737           30001                           CA       L                                     
039683,000664: 30,3740           00002                           TC       Q                                     
039684,000665: 30,3741           40141                           CS       TEM1                                  
039685,000666: 30,3742           00002                           TC       Q                                     
039686,000667: 
039687,000668:                                                                                                  #  SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039688,000669: 
039689,000670: 30,3743           10000        ONESTO2S           CCS      A                                     
039690,000671: 30,3744           64753                           AD       ONE                                   
039691,000672: 30,3745           00002                           TC       Q                                     
039692,000673: 30,3746           40000                           CS       A                                     
039693,000674: 30,3747           00002                           TC       Q                                     
039694,000675: 
039695,000676:                                                                                                  #  NO ATTITUDE CONTROL
039696,000677: 
039697,000678: 30,3750           05567        NOATTCNT           TC       ALARM                                 
039698,000679: 30,3751           00402                           OCT      00402                                 #  NO ATTITUDE CONTROL
039699,000680: 
039700,000681: 30,3752           00004                 +2        INHINT                                         #  COME HERE FOR NOATTCNT WITHOUT ALARM
039701,000682: 30,3753           04674                           TC       IBNKCALL                              #  RELINT AT TC INTPRET AFTER TCQCDUW
039702,000683: 30,3754           40165                           FCADR    STOPRATE                              
039703,000684: 30,3755           13475                           TCF      TCQCDUW                               #  RETURN TO USER SKIPPING AUTOPILOT CMDS
039704,000685: 
039705,000686:                                                                                                  #  MIDDLE GIMBAL ANGLE ALARM
039706,000687: 
039707,000688: 30,3756           05567        ALARMMGA           TC       ALARM                                 
039708,000689: 30,3757           00401                           OCT      00401                                 
039709,000690: 30,3760           13275                           TCF      MGARET                                
039710,000691: 

Page 925

039712,000693:                                                                                                  # ************************************************************************
039713,000694:                                                                                                  #  CONSTANTS
039714,000695:                                                                                                  # ************************************************************************
039715,000696: 
039716,000697:                                                                                                  #  ADDRESS CONSTANTS
039717,000698: 
039718,000699: 30,3761           03246        ECDUWL             ECADR    ECDUW                                 
039719,000700: 
039720,000701:                                                                                                  #  THRUST DIRECTION FILTER CONSTANTS
039721,000702: 
039722,000703: 30,3762           06315        GAINFLTR           DEC      .2                                    #  GAIN FILTER SANS CSM
039723,000704: 30,3763           03146                           DEC      .1                                    #  GAIN FILTER WITH CSM
039724,000705: 
039725,000706: 30,3764           00071        DUNFVLIM           DEC      .007       B-1                        #  7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039726,000707:                                                                                                  #  THIS DOES NOT ALLOW FOR S/C ROT RATE.
039727,000708: 
039728,000709: 30,3765           02041        UNFVLIM            DEC      .129       B-1                        #  129 MR MAX THRUST OFFSET.  105 MR TRAVEL
039729,000710:                                                                                                  #  +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039730,000711: 
039731,000712:                                                                                                  #  CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039732,000713: 
039733,000714: 30,3766           01673        DOTSWFMX           DEC      .93302     B-4                        #  LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039734,000715:                                                                                                  #  LOWER PART COMES FROM NEXT CONSTANT
039735,000716: 
039736,000717: 30,3767           03434        DAXMAX             DEC      .11111111111                            #  DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039737,000718: 30,3770           00266                           DEC      .0111111111                            #  2 DEG WHEN CSM DOCKED
039738,000719: 
039739,000720: 30,3771           01616        DAY/2MAX           DEC      .05555555555                            #  LIKEWISE FOR DELATTY
039740,000721: 30,3772           00133                           DEC      .0055555555                            
039741,000722: 
039742,000723: 30,3773  30,3767               DAZMAX             =        DAXMAX                                #  LIKEWISE FOR DELATTZ
039743,000724: 
039744,000725: 30,3773           14344        CDUZDLIM           DEC      .3888888888                            #  70 DEG LIMIT FOR MGA, 1'S, PI
039745,000726: 
039746,000727:                                                                                                  #  CONSTANTS FOR DATA TRANSFER
039747,000728: 
039748,000729: 30,3774           01463        DT/DELT            DEC      .05                                   #  .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039749,000730:                                                                                                  #  CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039750,000731: 
039751,000732: 30,3775  30,3771               DELERLIM           =        DAY/2MAX                              #  10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039752,000733: 

End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc.  Parent file is MAIN.agc