Source Code
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These source-code files are part of a reconstructed copy of Luminary 98, a
development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memo 85, using asterisks
indicating changed lines in the listing as a guide. While no listing of this
version is known to exist, nor are the memory-bank checksums available,
the reconstruction is believed to be correct because it was an an intermediate
step in reconstructing Luminary 97 whose reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152G.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 98 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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038809,000002: ## Copyright: Public domain.
038810,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
038811,000004: ## Purpose: A section of Luminary revision 98.
038812,000005: ## It is part of the reconstructed source code for the a
038813,000006: ## development version of the flight software for the Lunar
038814,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
038815,000008: ## The code has been recreated from a copy of Luminary 99
038816,000009: ## revision 001, using asterisks indicating changed lines in
038817,000010: ## the listing and Luminary Memo #85, which lists changes between
038818,000011: ## Luminary 98 and 99.
038819,000012: ## Reference: pp. 908-925
038820,000013: ## Assembler: yaYUL
038821,000014: ## Contact: Ron Burkey <info@sandroid.org>.
038822,000015: ## Website: www.ibiblio.org/apollo/index.html
038823,000016: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
038824,000017:
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Page 908
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038826,000019: # PROGRAM NAME: FINDCDUW
038827,000020: # MOD NUMBER: 1 68 07 15
038828,000021: # MOD AUTHOR: KLUMPP
038829,000022:
038830,000023: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
038831,000024: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
038832,000025: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
038833,000026: # FETCHING FOR THE THRUST DIRECTION FILTER THE
038834,000027: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
038835,000028: # MODES.
038836,000029: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
038837,000030: # AUTOPILOT COMMANDS WHENEVER
038838,000031: # 1) NOT IN PNGCS-AUTO, OR
038839,000032: # 2) ENGINE IS OFF.
038840,000033:
038841,000034: # FUNCTIONAL DESCRIPTION:
038842,000035:
038843,000036: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
038844,000037: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
038845,000038: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
038846,000039: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
038847,000040: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
038848,000041: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
038849,000042: # ACCELERATIONS AVAILABLE).
038850,000043:
038851,000044: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
038852,000045: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
038853,000046: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
038854,000047:
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Page 909
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038856,000049: # SPECIFICATIONS:
038857,000050:
038858,000051: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
038859,000052: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
038860,000053:
038861,000054: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
038862,000055: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
038863,000056: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
038864,000057:
038865,000058: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
038866,000059: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
038867,000060: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
038868,000061: # WITHOUT ISSUING AUTOPILOT CMDS.
038869,000062: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
038870,000063: # ISSUING AUTOPILOT CMDS.
038871,000064:
038872,000065: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
038873,000066: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
038874,000067: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
038875,000068:
038876,000069: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
038877,000070: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
038878,000071: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
038879,000072:
038880,000073: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038881,000074: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
038882,000075: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
038883,000076: # CSMDOCKD FLAG DENOTING CSM DOCKED.
038884,000077: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
038885,000078:
038886,000079: # OUTPUTS: DELCDUX,Y,Z
038887,000080: # OMEGAPD,+1,+2
038888,000081: # DELPEROR,+1,+2
038889,000082: # CPHI,+1,+2 FOR NOUN22
038890,000083:
038891,000084: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
038892,000085: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
038893,000086: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
038894,000087:
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Page 910
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038896,000089: # INITIALIZATION FOR FINDCDUW
038897,000090:
038898,000091: 30,3104 BANK 30
038899,000092: 30,2000 SETLOC FCDUW
038900,000093: 30,2000 BANK
038901,000094:
038902,000095: 30,3104 E6,1646 EBANK= ECDUW
038903,000096: 30,3104 COUNT* $$/FCDUW
038904,000097:
038905,000098: 30,3104 77775 INITCDUW VLOAD
038906,000099: 30,3105 06520 UNITX
038907,000100: 30,3106 03270 STORE UNFV/2
038908,000101: 30,3107 03262 STORE UNWC/2
038909,000102: 30,3110 77616 RVQ
038910,000103:
038911,000104: # FINDCDUW PRELIMINARIES
038912,000105:
038913,000106: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
038914,000107: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
038915,000108: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
038916,000109: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
038917,000110: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
038918,000111: 30,3116 77420 STQ EXIT
038919,000112: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
038920,000113:
038921,000114: # MORE HAUSKEEPING
038922,000115: 30,3120 33761 CA ECDUWL
038923,000116: 30,3121 56003 XCH EBANK # SET EBANK
038924,000117: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
038925,000118:
038926,000119: 30,3123 30111 CA DAPBOOLS
038927,000120: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
038928,000121: 30,3125 10000 CCS A
038929,000122: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
038930,000123: 30,3127 55650 TS NDXCDUW
038931,000124:
038932,000125: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
038933,000126: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
038934,000127:
038935,000128: 30,3132 70111 MASK DAPBOOLS
038936,000129: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
038937,000130:
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Page 911
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038939,000132: # FETCH BASIC DATA
038940,000133: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
038941,000134:
038942,000135: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
038943,000136: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
038944,000137: 30,3137 30033 CA CDUY
038945,000138: 30,3140 54766 TS CDUSPOTY
038946,000139: 30,3141 30034 CA CDUZ
038947,000140: 30,3142 54770 TS CDUSPOTZ
038948,000141:
038949,000142: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
038950,000143: 30,3144 00006 EXTEND
038951,000144: 30,3145 02030 RAND CHAN30
038952,000145: 30,3146 10000 CCS A
038953,000146: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
038954,000147:
038955,000148: 30,3150 34736 CA BIT14 # AUTO MODE BIT
038956,000149: 30,3151 00006 EXTEND
038957,000150: 30,3152 02031 RAND CHAN31
038958,000151: 30,3153 10000 CCS A
038959,000152: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
038960,000153:
038961,000154: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
038962,000155:
038963,000156: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
038964,000157: 30,3157 54772 TS CDUSPOTX
038965,000158: 30,3160 31636 CA CDUYD
038966,000159: 30,3161 54766 TS CDUSPOTY
038967,000160: 30,3162 31637 CA CDUZD
038968,000161: 30,3163 54770 TS CDUSPOTZ
038969,000162:
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Page 912
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038971,000164: # FETCH INPUTS
038972,000165: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
038973,000166: 30,3165 77634 RTB
038974,000167: 30,3166 21726 NORMUNIT
038975,000168: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
038976,000169: 30,3170 03262 UNWC/2
038977,000170: 30,3171 47034 RTB RTB
038978,000171: 30,3172 21726 NORMUNIT
038979,000172: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
038980,000173: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
038981,000174: 30,3175 00325 DELV
038982,000175: 30,3176 53404 BOVB UNIT
038983,000176: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
038984,000177: 30,3200 45000 BOV CALL
038985,000178: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
038986,000179: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
038987,000180:
038988,000181: # THRUST DIRECTION FILTER
038989,000182:
038990,000183: 30,3203 77776 EXIT
038991,000184:
038992,000185: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
038993,000186: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
038994,000187: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
038995,000188: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
038996,000189:
038997,000190: 30,3210 31673 CA UNFVZ/2
038998,000191: 30,3211 22161 LXCH MPAC +5
038999,000192: 30,3212 03503 TC FLTRSUB
039000,000193: 30,3213 55673 TS UNFVZ/2
039001,000194:
039002,000195: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039003,000196:
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Page 913
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039005,000198: # FIND A SUITABLE WINDOW POINTING VECTOR
039006,000199:
039007,000200: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039008,000201: 30,3216 03252 FLAGOODW
039009,000202: 30,3217 61223 FETCHZNB
039010,000203: 30,3220 45175 VLOAD CALL
039011,000204: 30,3221 00015 UNZ/2
039012,000205: 30,3222 61523 UNWCTEST
039013,000206:
039014,000207: 30,3223 77775 FETCHZNB VLOAD
039015,000208: 30,3224 02162 ZNBPIP
039016,000209: 30,3225 34015 STCALL UNZ/2
039017,000210: 30,3226 61523 UNWCTEST
039018,000211:
039019,000212: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039020,000213: 30,3230 02146 XNBPIP
039021,000214: 30,3231 00015 STORE UNZ/2
039022,000215:
039023,000216: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039024,000217:
039025,000218: 30,3232 47375 DCMCL VLOAD VXV
039026,000219: 30,3233 00015 UNZ/2
039027,000220: 30,3234 00001 UNX/2
039028,000221: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039029,000222: 30,3236 76435 VXV VSL1
039030,000223: 30,3237 00001 UNX/2
039031,000224: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039032,000225: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039033,000226: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
039034,000227: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039035,000228: 30,3244 03272 UNFVY/2 # MUST BE SMALL
039036,000229: 30,3245 53372 VSL1 VAD
039037,000230: 30,3246 00001 UNX/2
039038,000231: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039039,000232: 30,3250 00001 STORE UNX/2 # UNX/2
039040,000233: 30,3251 76435 VXV VSL1
039041,000234: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039042,000235: 30,3253 00007 STORE UNY/2 # UNY/2
039043,000236: 30,3254 47276 VCOMP VXV
039044,000237: 30,3255 00001 UNX/2
039045,000238: 30,3256 77772 VSL1
039046,000239: 30,3257 00015 STORE UNZ/2 # UNZ/2
039047,000240:
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Page 914
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039049,000242: # COMPUTE THE REQUIRED GIMBAL ANGLES
039050,000243:
039051,000244: 30,3260 77624 CALL
039052,000245: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039053,000246: 30,3262 77776 EXIT
039054,000247:
039055,000248: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039056,000249:
039057,000250: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
039058,000251: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039059,000252: 30,3265 33773 CA CDUZDLIM
039060,000253: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039061,000254: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039062,000255: 30,3270 00006 EXTEND
039063,000256: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039064,000257: 30,3272 00006 EXTEND
039065,000258: 30,3273 13275 BZF +2
039066,000259: 30,3274 13756 TCF ALARMMGA
039067,000260:
039068,000261: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039069,000262:
039070,000263: 30,3276 22007 ZL
039071,000264: 30,3277 34752 CA TWO
039072,000265: 30,3300 54142 DELGMBLP TS TEM2
039073,000266:
039074,000267: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039075,000268: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039076,000269: 30,3303 70000 SQUARE
039077,000270: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039078,000271: 30,3305 00006 EXTEND
039079,000272: 30,3306 63311 BZMF +3
039080,000273: 30,3307 34755 CA ZERO
039081,000274: 30,3310 55651 TS FLAGOODW
039082,000275:
039083,000276: 30,3311 50142 INDEX TEM2
039084,000277: 30,3312 30154 CA MPAC
039085,000278: 30,3313 50142 INDEX TEM2
039086,000279: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
039087,000280: 30,3315 00006 EXTEND
039088,000281: 30,3316 50142 INDEX TEM2
039089,000282: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039090,000283: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039091,000284: 30,3321 50142 INDEX TEM2
039092,000285: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039093,000286: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
039094,000287: 30,3324 10142 CCS TEM2
039095,000288: 30,3325 13300 TCF DELGMBLP
039096,000289:
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Page 915
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039098,000291: # BRANCHES TO NOATTCNT
039099,000292: 30,3326 11652 CCS FLPAUTNO
039100,000293: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
039101,000294:
039102,000295: 30,3330 30101 CA FLAGWRD5
039103,000296: 30,3331 74745 MASK ENGONBIT
039104,000297: 30,3332 00006 EXTEND
039105,000298: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
039106,000299:
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Page 916
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039108,000301: # LIMIT THE ATTITUDE ANGLE CHANGES
039109,000302:
039110,000303: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039111,000304: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039112,000305: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039113,000306: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039114,000307:
039115,000308: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039116,000309: # * * * * * *
039117,000310: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039118,000311: # * * * * * *
039119,000312: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039120,000313:
039121,000314: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039122,000315: 30,3335 51650 INDEX NDXCDUW
039123,000316: 30,3336 33767 CA DAZMAX
039124,000317: 30,3337 03727 TC LIMITSUB
039125,000318: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
039126,000319:
039127,000320: 30,3341 31676 CA -DELGMB +1
039128,000321: 30,3342 00006 EXTEND
039129,000322: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039130,000323: 30,3344 54001 TS L
039131,000324: 30,3345 51650 INDEX NDXCDUW
039132,000325: 30,3346 33771 CA DAY/2MAX
039133,000326: 30,3347 03727 TC LIMITSUB
039134,000327: 30,3350 00006 EXTEND
039135,000328: 30,3351 10746 DV COSCDUZ
039136,000329: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039137,000330:
039138,000331: 30,3353 00006 EXTEND
039139,000332: 30,3354 70740 MP SINCDUZ
039140,000333: 30,3355 20001 DDOUBL
039141,000334: 30,3356 40000 COM
039142,000335: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039143,000336: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039144,000337: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039145,000338: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039146,000339: 30,3363 33767 CA DAXMAX
039147,000340: 30,3364 03727 TC LIMITSUB
039148,000341: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
039149,000342: 30,3366 11651 CCS FLAGOODW
039150,000343: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039151,000344: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039152,000345: 30,3371 41676 CS -DELGMB +1
039153,000346: 30,3372 00006 EXTEND
039154,000347: 30,3373 70740 MP SINCDUZ
039155,000348: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039156,000349: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039157,000350: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039158,000351:
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Page 917
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039160,000353: # COMPUTE COMMANDED ATTITUDE RATES
039161,000354:
039162,000355: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039163,000356: # * * * * * *
039164,000357: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039165,000358: # * * * * * *
039166,000359: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039167,000360:
039168,000361: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039169,000362: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039170,000363: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039171,000364:
039172,000365: 30,3376 41675 CS -DELGMB
039173,000366: 30,3377 55643 TS OMEGAPD
039174,000367: 30,3400 41676 CS -DELGMB +1
039175,000368: 30,3401 00006 EXTEND
039176,000369: 30,3402 70740 MP SINCDUZ
039177,000370: 30,3403 20001 DDOUBL
039178,000371: 30,3404 27643 ADS OMEGAPD
039179,000372: 30,3405 27643 ADS OMEGAPD
039180,000373:
039181,000374: 30,3406 41676 CS -DELGMB +1
039182,000375: 30,3407 00006 EXTEND
039183,000376: 30,3410 70750 MP COSCDUX
039184,000377: 30,3411 20001 DDOUBL
039185,000378: 30,3412 00006 EXTEND
039186,000379: 30,3413 70746 MP COSCDUZ
039187,000380: 30,3414 55644 TS OMEGAQD
039188,000381: 30,3415 41677 CS -DELGMB +2
039189,000382: 30,3416 00006 EXTEND
039190,000383: 30,3417 70742 MP SINCDUX
039191,000384: 30,3420 27644 ADS OMEGAQD
039192,000385: 30,3421 27644 ADS OMEGAQD
039193,000386: 30,3422 27644 ADS OMEGAQD
039194,000387:
039195,000388: 30,3423 31676 CA -DELGMB +1
039196,000389: 30,3424 00006 EXTEND
039197,000390: 30,3425 70742 MP SINCDUX
039198,000391: 30,3426 20001 DDOUBL
039199,000392: 30,3427 00006 EXTEND
039200,000393: 30,3430 70746 MP COSCDUZ
039201,000394: 30,3431 55645 TS OMEGARD
039202,000395: 30,3432 41677 CS -DELGMB +2
039203,000396: 30,3433 00006 EXTEND
039204,000397: 30,3434 70750 MP COSCDUX
039205,000398: 30,3435 27645 ADS OMEGARD
039206,000399: 30,3436 27645 ADS OMEGARD
039207,000400: 30,3437 27645 ADS OMEGARD
039208,000401:
|
|
Page 918
|
039210,000403: # FINAL TRANSFER
039211,000404:
039212,000405: 30,3440 34752 CA TWO
039213,000406: 30,3441 54142 CDUWXFR TS TEM2
039214,000407: 30,3442 50142 INDEX TEM2
039215,000408: 30,3443 31675 CA -DELGMB
039216,000409: 30,3444 00006 EXTEND
039217,000410: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039218,000411: 30,3446 03743 TC ONESTO2S
039219,000412: 30,3447 50142 INDEX TEM2
039220,000413: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
039221,000414:
039222,000415: 30,3451 50142 INDEX TEM2
039223,000416: 30,3452 11643 CCS OMEGAPD
039224,000417: 30,3453 64753 AD ONE
039225,000418: 30,3454 13456 TCF +2
039226,000419: 30,3455 64753 AD ONE
039227,000420: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039228,000421: 30,3457 50142 INDEX TEM2
039229,000422: 30,3460 71643 MP OMEGAPD
039230,000423: 30,3461 00006 EXTEND
039231,000424: 30,3462 74741 MP BIT11 # 1/16
039232,000425: 30,3463 00006 EXTEND
039233,000426: 30,3464 50142 INDEX TEM2 # 2
039234,000427: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039235,000428: 30,3466 54001 TS L
039236,000429: 30,3467 33771 CA DELERLIM
039237,000430: 30,3470 03727 TC LIMITSUB
039238,000431: 30,3471 50142 INDEX TEM2
039239,000432: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039240,000433: 30,3473 10142 CCS TEM2
039241,000434: 30,3474 13441 TCF CDUWXFR
039242,000435:
039243,000436: # HAUSKEEPING AND RETURN
039244,000437:
039245,000438: 30,3475 31646 TCQCDUW CA ECDUWUSR
039246,000439: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
039247,000440:
039248,000441: 30,3477 06037 TC INTPRET
039249,000442: 30,3500 52001 SETPD GOTO
039250,000443: 30,3501 00001 0
039251,000444: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039252,000445:
|
|
Page 919
|
039254,000447: # THRUST VECTOR FILTER SUBROUTINE
039255,000448:
039256,000449: 30,3503 00006 FLTRSUB EXTEND
039257,000450: 30,3504 22142 QXCH TEM2
039258,000451: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039259,000452: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039260,000453: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039261,000454: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039262,000455: 30,3511 51650 INDEX NDXCDUW
039263,000456: 30,3512 73762 MP GAINFLTR
039264,000457: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
039265,000458: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039266,000459: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039267,000460: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
039268,000461: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
039269,000462: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039270,000463: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039271,000464: 30,3522 00142 TC TEM2
039272,000465:
039273,000466: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039274,000467:
039275,000468: 30,3523 63441 UNWCTEST DOT DSQ
039276,000469: 30,3524 00001 UNX/2
039277,000470: 30,3525 50025 DSU BMN
039278,000471: 30,3526 21767 DOTSWFMX
039279,000472: 30,3527 61232 DCMCL
039280,000473: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039281,000474: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
039282,000475: 30,3532 00000 0
039283,000476:
|
|
Page 920
|
039285,000478: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039286,000479: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039287,000480: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039288,000481:
039289,000482: 30,3533 63545 NB2CDUSP DLOAD DSQ
039290,000483: 30,3534 00003 2
039291,000484: 30,3535 51021 BDSU BPL
039292,000485: 30,3536 06512 DP1/4TH
039293,000486: 30,3537 61542 +3
039294,000487: 30,3540 77745 DLOAD
039295,000488: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039296,000489: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039297,000490:
039298,000491: 30,3543 00006 EXTEND
039299,000492: 30,3544 30155 DCA MPAC
039300,000493: 30,3545 20001 DDOUBL
039301,000494: 30,3546 54145 TS TEM5
039302,000495: 30,3547 13552 TCF +3
039303,000496: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039304,000497: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039305,000498:
039306,000499: 30,3552 50120 INDEX FIXLOC
039307,000500: 30,3553 30002 CA 2
039308,000501: 30,3554 22154 LXCH MPAC
039309,000502: 30,3555 03622 TC ARCTRGSP
039310,000503: 30,3556 54156 TS MPAC +2 # CDUZ
039311,000504:
039312,000505: 30,3557 34755 CA ZERO
039313,000506: 30,3560 03600 TC DVBYCOSM
039314,000507: 30,3561 34751 CA FOUR
039315,000508: 30,3562 03600 TC DVBYCOSM
039316,000509: 30,3563 40141 CS TEM1
039317,000510: 30,3564 03622 TC ARCTRGSP
039318,000511: 30,3565 54155 TS MPAC +1 # CDUY
039319,000512:
039320,000513: 30,3566 34750 CA BIT4
039321,000514: 30,3567 03600 TC DVBYCOSM
039322,000515: 30,3570 33577 CA 16OCT
039323,000516: 30,3571 03600 TC DVBYCOSM
039324,000517: 30,3572 40141 CS TEM1
039325,000518: 30,3573 03622 TC ARCTRGSP
039326,000519: 30,3574 54154 TS MPAC # CDUX
039327,000520:
039328,000521: 30,3575 06037 TC INTPRET
039329,000522: 30,3576 77616 RVQ
039330,000523:
039331,000524: 30,3577 00016 16OCT OCT 16
039332,000525:
|
|
Page 921
|
039334,000527: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039335,000528: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039336,000529: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039337,000530: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039338,000531: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039339,000532: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039340,000533: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039341,000534:
039342,000535: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039343,000536: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039344,000537: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039345,000538: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039346,000539:
039347,000540: 30,3600 60120 DVBYCOSM AD FIXLOC
039348,000541: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
039349,000542:
039350,000543: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039351,000544: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039352,000545: 30,3604 00006 EXTEND
039353,000546: 30,3605 63607 BZMF +2
039354,000547: 30,3606 40000 COM
039355,000548: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039356,000549: 30,3610 00006 EXTEND
039357,000550: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039358,000551:
039359,000552: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039360,000553: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039361,000554: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039362,000555: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039363,000556: 30,3616 10145 DV TEM5
039364,000557: 30,3617 54001 TSL&TCQ TS L
039365,000558: 30,3620 22141 LXCH TEM1
039366,000559: 30,3621 00002 TC Q
039367,000560:
|
|
Page 922
|
039369,000562: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039370,000563: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039371,000564: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039372,000565:
039373,000566: 30,3622 00006 ARCTRGSP EXTEND
039374,000567: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039375,000568:
039376,000569: 30,3624 00006 EXTEND
039377,000570: 30,3625 22144 QXCH TEM4
039378,000571: 30,3626 54142 TS TEM2
039379,000572: 30,3627 30001 CA L
039380,000573: 30,3630 54143 TS TEM3
039381,000574: 30,3631 34755 CA ZERO
039382,000575: 30,3632 00006 EXTEND
039383,000576: 30,3633 10142 DV TEM2
039384,000577: 30,3634 00006 EXTEND
039385,000578: 30,3635 13654 BZF USECOS
039386,000579:
039387,000580: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039388,000581: 30,3637 34755 CA ZERO
039389,000582: 30,3640 13644 TCF +4
039390,000583: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039391,000584: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039392,000585: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039393,000586: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
039394,000587: 30,3645 30142 CA TEM2
039395,000588: 30,3646 03672 TC SPARCSIN -1
039396,000589: 30,3647 03743 TC ONESTO2S
039397,000590: 30,3650 00006 EXTEND
039398,000591: 30,3651 20143 MSU TEM3
039399,000592: 30,3652 03743 1TO2&TCQ TC ONESTO2S
039400,000593: 30,3653 00144 TC TEM4
039401,000594:
039402,000595: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
039403,000596: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039404,000597: 30,3656 64736 AD HALF
039405,000598: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
039406,000599: 30,3660 10142 CCS TEM2
039407,000600: 30,3661 30143 CA TEM3
039408,000601: 30,3662 13652 TCF 1TO2&TCQ
039409,000602: 30,3663 40143 CS TEM3
039410,000603: 30,3664 13652 TCF 1TO2&TCQ
039411,000604:
039412,000605: 30,3665 10001 SINZERO CCS L
039413,000606: 30,3666 34755 CA ZERO
039414,000607: 30,3667 00002 TC Q
039415,000608: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
039416,000609: 30,3671 00002 TC Q
039417,000610:
|
|
Page 923
|
039419,000612: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039420,000613: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039421,000614: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039422,000615: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039423,000616:
039424,000617: 30,3672 60000 DOUBLE
039425,000618: 30,3673 54021 SPARCSIN TS SR
039426,000619: 30,3674 13700 TCF +4
039427,000620: 30,3675 50000 INDEX A
039428,000621: 30,3676 44734 CS LIMITS
039429,000622: 30,3677 54021 TS SR
039430,000623: 30,3700 00006 EXTEND
039431,000624: 30,3701 70000 MP A
039432,000625: 30,3702 54141 TS TEM1
039433,000626: 30,3703 00006 EXTEND
039434,000627: 30,3704 73726 MP DPL9
039435,000628: 30,3705 63725 AD DPL7
039436,000629: 30,3706 00006 EXTEND
039437,000630: 30,3707 70141 MP TEM1
039438,000631: 30,3710 63724 AD DPL5
039439,000632: 30,3711 00006 EXTEND
039440,000633: 30,3712 70141 MP TEM1
039441,000634: 30,3713 63723 AD DPL3
039442,000635: 30,3714 00006 EXTEND
039443,000636: 30,3715 70141 MP TEM1
039444,000637: 30,3716 63722 AD DPL1
039445,000638: 30,3717 00006 EXTEND
039446,000639: 30,3720 70021 MP SR
039447,000640: 30,3721 00002 TC Q
039448,000641: 30,3722 24406 DPL1 DEC 10502 B-14
039449,000642: 30,3723 00660 DPL3 DEC 432 B-14
039450,000643: 30,3724 16204 DPL5 DEC 7300 B-14
039451,000644: 30,3725 50744 DPL7 DEC -11803 B-14
039452,000645: 30,3726 20315 DPL9 DEC 8397 B-14
039453,000646:
|
|
Page 924
|
039455,000648: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039456,000649: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039457,000650: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039458,000651:
039459,000652: # VERSION COURTESY HUGH BLAIR-SMITH
039460,000653:
039461,000654: 30,3727 54141 LIMITSUB TS TEM1
039462,000655: 30,3730 34755 CA ZERO
039463,000656: 30,3731 00006 EXTEND
039464,000657: 30,3732 10141 DV TEM1
039465,000658: 30,3733 10000 CCS A
039466,000659: 30,3734 22141 LXCH TEM1
039467,000660: 30,3735 13737 TCF +2
039468,000661: 30,3736 13741 TCF +3
039469,000662: 30,3737 30001 CA L
039470,000663: 30,3740 00002 TC Q
039471,000664: 30,3741 40141 CS TEM1
039472,000665: 30,3742 00002 TC Q
039473,000666:
039474,000667: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039475,000668:
039476,000669: 30,3743 10000 ONESTO2S CCS A
039477,000670: 30,3744 64753 AD ONE
039478,000671: 30,3745 00002 TC Q
039479,000672: 30,3746 40000 CS A
039480,000673: 30,3747 00002 TC Q
039481,000674:
039482,000675: # NO ATTITUDE CONTROL
039483,000676:
039484,000677: 30,3750 05567 NOATTCNT TC ALARM
039485,000678: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
039486,000679:
039487,000680: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039488,000681: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039489,000682: 30,3754 40165 FCADR STOPRATE
039490,000683: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039491,000684:
039492,000685: # MIDDLE GIMBAL ANGLE ALARM
039493,000686:
039494,000687: 30,3756 05567 ALARMMGA TC ALARM
039495,000688: 30,3757 00401 OCT 00401
039496,000689: 30,3760 13275 TCF MGARET
039497,000690:
|
|
Page 925
|
039499,000692: # ************************************************************************
039500,000693: # CONSTANTS
039501,000694: # ************************************************************************
039502,000695:
039503,000696: # ADDRESS CONSTANTS
039504,000697:
039505,000698: 30,3761 03246 ECDUWL ECADR ECDUW
039506,000699:
039507,000700: # THRUST DIRECTION FILTER CONSTANTS
039508,000701:
039509,000702: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039510,000703: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
039511,000704:
039512,000705: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039513,000706: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039514,000707:
039515,000708: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039516,000709: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039517,000710:
039518,000711: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039519,000712:
039520,000713: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039521,000714: # LOWER PART COMES FROM NEXT CONSTANT
039522,000715:
039523,000716: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039524,000717: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039525,000718:
039526,000719: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039527,000720: 30,3772 00133 DEC .0055555555
039528,000721:
039529,000722: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039530,000723:
039531,000724: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039532,000725:
039533,000726: # CONSTANTS FOR DATA TRANSFER
039534,000727:
039535,000728: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039536,000729: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039537,000730:
039538,000731: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039539,000732:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc