Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

039762,000002:                                                                                                  ## Copyright:   Public domain.
039763,000003:                                                                                                  ## Filename:    FINDCDUW--GUIDAP_INTERFACE.agc
039764,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
039765,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039766,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
039767,000007:                                                                                                  ## Assembler:   yaYUL
039768,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
039769,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
039770,000010:                                                                                                  ## Pages:       908-925
039771,000011:                                                                                                  ## Mod history: 2009-05-28 HG   Transcribed from page images.
039772,000012:                                                                                                  ##              2016-12-17 RSB  Proofed text comments with octopus/ProoferComments
039773,000013:                                                                                                  ##                              and corrected the errors found.
039774,000014:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
039775,000015:                                                                                                  ##              2017-03-15 RSB  Comment-text fixes identified in 5-way
039776,000016:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
039777,000017: 
039778,000018:                                                                                                  ## This source code has been transcribed or otherwise adapted from
039779,000019:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
039780,000020:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
039781,000021:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
039782,000022:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
039783,000023:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
039784,000024:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
039785,000025:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
039786,000026:                                                                                                  ## actually created.
039787,000027:                                                                                                  ##
039788,000028:                                                                                                  ## Notations on the hardcopy document read, in part:
039789,000029:                                                                                                  ##
039790,000030:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
039791,000031:                                                                                                  ##      16:27 JULY 14, 1969 
039792,000032: 

Page 908

039794,000034:                                                                                                  #  PROGRAM NAME:  FINDCDUW
039795,000035:                                                                                                  #  MOD NUMBER:  1        68 07 15
039796,000036:                                                                                                  #  MOD AUTHOR:  KLUMPP
039797,000037: 
039798,000038:                                                                                                  #  OBJECTS OF MOD:       1.      TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039799,000039:                                                                                                  #                        2.      TO MAINTAIN CORRECT AND CURRENT THRUST
039800,000040:                                                                                                  #                                DIRECTION DATA IN ALL MODES.  THIS IS DONE BY
039801,000041:                                                                                                  #                                FETCHING FOR THE THRUST DIRECTION FILTER THE
039802,000042:                                                                                                  #                                CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039803,000043:                                                                                                  #                                MODES.
039804,000044:                                                                                                  #                        3.      TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039805,000045:                                                                                                  #                                AUTOPILOT COMMANDS WHENEVER
039806,000046:                                                                                                  #                                1) NOT IN PNGCS-AUTO, OR
039807,000047:                                                                                                  #                                2) ENGINE IS OFF.
039808,000048: 
039809,000049:                                                                                                  #  FUNCTIONAL DESCRIPTION:
039810,000050: 
039811,000051:                                                                                                  #  FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039812,000052:                                                                                                  #  AND THE DIGITAL AUTOPILOT.  THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039813,000053:                                                                                                  #  AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039814,000054:                                                                                                  #  INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039815,000055:                                                                                                  #  ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039816,000056:                                                                                                  #  LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039817,000057:                                                                                                  #  ACCELERATIONS AVAILABLE).
039818,000058: 
039819,000059:                                                                                                  #  FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039820,000060:                                                                                                  #  FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039821,000061:                                                                                                  #  ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039822,000062: 

Page 909

039824,000064:                                                                                                  #  SPECIFICATIONS:
039825,000065: 
039826,000066:                                                                                                  #  INITIALIZATION:       A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039827,000067:                                                                                                  #                        BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039828,000068: 
039829,000069:                                                                                                  #  CALL:                 INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039830,000070:                                                                                                  #                        VECTOR IN MPAC.  INTERPRETIVE CALL TO FINDCDUW -2 WITH
039831,000071:                                                                                                  #                        THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039832,000072: 
039833,000073:                                                                                                  #  RETURNS:              NORMAL INTERPRETIVE IN ALL CASES
039834,000074:                                                                                                  #                        1.      NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039835,000075:                                                                                                  #                        2.      IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039836,000076:                                                                                                  #                                WITHOUT ISSUING AUTOPILOT CMDS.
039837,000077:                                                                                                  #                        3.      IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039838,000078:                                                                                                  #                                ISSUING AUTOPILOT CMDS.
039839,000079: 
039840,000080:                                                                                                  #  ALARMS:               00401   IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039841,000081:                                                                                                  #                                FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039842,000082:                                                                                                  #                                BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039843,000083: 
039844,000084:                                                                                                  #                        00402   IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039845,000085:                                                                                                  #                                UNITIZED USING NORMUNIT.  FINDCDUW ISSUES
039846,000086:                                                                                                  #                                STOPRATE AS ONLY INPUT TO AUTOPILOT.
039847,000087: 
039848,000088:                                                                                                  #  INPUTS:               UNFC/2          THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039849,000089:                                                                                                  #                        UNWC/2          WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039850,000090:                                                                                                  #                        XOVINHIB        FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039851,000091:                                                                                                  #                        CSMDOCKD        FLAG DENOTING CSM DOCKED.
039852,000092:                                                                                                  #                        STEERSW         FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039853,000093: 
039854,000094:                                                                                                  #  OUTPUTS:              DELCDUX,Y,Z
039855,000095:                                                                                                  #                        OMEGAPD,+1,+2
039856,000096:                                                                                                  #                        DELPEROR,+1,+2
039857,000097:                                                                                                  #                        CPHI,+1,+2 FOR NOUN22
039858,000098: 
039859,000099:                                                                                                  #  DEBRIS:               FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039860,000100:                                                                                                  #                        WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039861,000101:                                                                                                  #                        OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039862,000102: 

Page 910

039864,000104:                                                                                                  #  INITIALIZATION FOR FINDCDUW
039865,000105: 
039866,000106: 30,3104                                           BANK     30                                    
039867,000107: 30,2000                                           SETLOC   FCDUW                                 
039868,000108: 30,2000                                           BANK                                           
039869,000109: 
039870,000110: 30,3104  E6,1646                                  EBANK=   ECDUW                                 
039871,000111: 30,3104                                           COUNT*   $$/FCDUW                              
039872,000112: 
039873,000113: 30,3104           77775        INITCDUW           VLOAD                                          
039874,000114: 30,3105           06520                                    UNITX                                 
039875,000115: 30,3106           03270                           STORE    UNFV/2                                
039876,000116: 30,3107           03262                           STORE    UNWC/2                                
039877,000117: 30,3110           77616                           RVQ                                            
039878,000118: 
039879,000119:                                                                                                  #  FINDCDUW PRELIMINARIES
039880,000120: 
039881,000121: 30,3111           77775                           VLOAD                                          #  FINDCDUW -2:  ENTRY WHEN UNFC/2 PRE-STORD
039882,000122: 30,3112           03254                                    UNFC/2                                #  INPUT VECTORS NEED NOT BE SEMI-UNIT
039883,000123: 30,3113           40200        FINDCDUW           BOV      SETPD                                 #  FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039884,000124: 30,3114           61113                                    FINDCDUW                              #  INTERPRETER NOW INITIALIZED
039885,000125: 30,3115           00023                                    22                                    #  LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039886,000126: 30,3116           77420                           STQ      EXIT                                  
039887,000127: 30,3117           03247                                    QCDUWUSR                              #  SAVE RETURN ADDRESS
039888,000128: 
039889,000129:                                                                                                  #  MORE HAUSKEEPING
039890,000130: 30,3120           33761                           CA       ECDUWL                                
039891,000131: 30,3121           56003                           XCH      EBANK                                 #  SET EBANK
039892,000132: 30,3122           55646                           TS       ECDUWUSR                              #  SAVE USER'S EBANK
039893,000133: 
039894,000134: 30,3123           30111                           CA       DAPBOOLS                              
039895,000135: 30,3124           74737                           MASK     CSMDOCKD                              #  CSMDOCKD MUST NOT BE BIT15
039896,000136: 30,3125           10000                           CCS      A                                     
039897,000137: 30,3126           34753                           CA       ONE                                   #  INDEX IF CSM DOCKED
039898,000138: 30,3127           55650                           TS       NDXCDUW                               
039899,000139: 
039900,000140: 30,3130           34743                           CA       XOVINHIB                              #  XOVINHIB MUST NOT BE BIT15
039901,000141: 30,3131           55652                           TS       FLPAUTNO                              #  SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039902,000142: 
039903,000143: 30,3132           70111                           MASK     DAPBOOLS                              
039904,000144: 30,3133           55651                           TS       FLAGOODW                              #  FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039905,000145: 

Page 911

039907,000147:                                                                                                  #  FETCH BASIC DATA
039908,000148: 30,3134           00004                           INHINT                                         #  RELINT AT PAUTNO (TC INTPRET)
039909,000149: 
039910,000150: 30,3135           30032                           CA       CDUX                                  #  FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039911,000151: 30,3136           54772                           TS       CDUSPOTX                              #        REPLACE BELOW IF PNGCS AUTO
039912,000152: 30,3137           30033                           CA       CDUY                                  
039913,000153: 30,3140           54766                           TS       CDUSPOTY                              
039914,000154: 30,3141           30034                           CA       CDUZ                                  
039915,000155: 30,3142           54770                           TS       CDUSPOTZ                              
039916,000156: 
039917,000157: 30,3143           34742                           CA       BIT10                                 #  PNGCS CONTROL BIT
039918,000158: 30,3144           00006                           EXTEND                                         
039919,000159: 30,3145           02030                           RAND     CHAN30                                
039920,000160: 30,3146           10000                           CCS      A                                     
039921,000161: 30,3147           13164                           TCF      PAUTNO                                #  NOT PNGCS (BITS INVERTED)
039922,000162: 
039923,000163: 30,3150           34736                           CA       BIT14                                 #  AUTO MODE BIT
039924,000164: 30,3151           00006                           EXTEND                                         
039925,000165: 30,3152           02031                           RAND     CHAN31                                
039926,000166: 30,3153           10000                           CCS      A                                     
039927,000167: 30,3154           13164                           TCF      PAUTNO                                #  NOT AUTO (BITS INVERTED)
039928,000168: 
039929,000169: 30,3155           55652                           TS       FLPAUTNO                              #  RESET FLAG PNGCS AUTO NOT
039930,000170: 
039931,000171: 30,3156           31635                           CA       CDUXD                                 #  PNGCS AUTO:  FETCH CDUXD,CDUYD,CDUZD
039932,000172: 30,3157           54772                           TS       CDUSPOTX                              
039933,000173: 30,3160           31636                           CA       CDUYD                                 
039934,000174: 30,3161           54766                           TS       CDUSPOTY                              
039935,000175: 30,3162           31637                           CA       CDUZD                                 
039936,000176: 30,3163           54770                           TS       CDUSPOTZ                              
039937,000177: 

Page 912

039939,000179:                                                                                                  #  FETCH INPUTS
039940,000180: 30,3164           06037        PAUTNO             TC       INTPRET                               #  ENTERING THRUST CMD STILL IN MPAC
039941,000181: 30,3165           77634                           RTB                                            
039942,000182: 30,3166           21726                                    NORMUNIT                              
039943,000183: 30,3167           24001                           STOVL    UNX/2                                 #  SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039944,000184: 30,3170           03262                                    UNWC/2                                
039945,000185: 30,3171           47034                           RTB      RTB                                   
039946,000186: 30,3172           21726                                    NORMUNIT                              
039947,000187: 30,3173           47615                                    QUICTRIG                              #  ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039948,000188: 30,3174           24015                           STOVL    UNZ/2                                 #  SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039949,000189: 30,3175           00325                                    DELV                                  
039950,000190: 30,3176           53404                           BOVB     UNIT                                  
039951,000191: 30,3177           61750                                    NOATTCNT                              #  AT LEAST ONE ENTERING CMD VCT ZERO
039952,000192: 30,3200           45000                           BOV      CALL                                  
039953,000193: 30,3201           61215                                    AFTRFLTR                              #  IF UNIT DELV OVERFLOWS, SKIP FILTER
039954,000194: 30,3202           47671                                    *SMNB*                                #  YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039955,000195: 
039956,000196:                                                                                                  #  THRUST DIRECTION FILTER
039957,000197: 
039958,000198: 30,3203           77776                           EXIT                                           
039959,000199: 
039960,000200: 30,3204           31671                           CA       UNFVY/2                               #  FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039961,000201: 30,3205           22157                           LXCH     MPAC       +3                         #        RENEWED AFTER RETURN FROM CALLER,
039962,000202: 30,3206           03503                           TC       FLTRSUB                               #        TWO FILTER UPDATES MAY BE DONE.
039963,000203: 30,3207           55671                           TS       UNFVY/2                               #  UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039964,000204: 
039965,000205: 30,3210           31673                           CA       UNFVZ/2                               
039966,000206: 30,3211           22161                           LXCH     MPAC       +5                         
039967,000207: 30,3212           03503                           TC       FLTRSUB                               
039968,000208: 30,3213           55673                           TS       UNFVZ/2                               
039969,000209: 
039970,000210: 30,3214           06037                           TC       INTPRET                               #  COMPLETES FILTER
039971,000211: 

Page 913

039973,000213:                                                                                                  #  FIND A SUITABLE WINDOW POINTING VECTOR
039974,000214: 
039975,000215: 30,3215           46135        AFTRFLTR           SLOAD    BHIZ                                  #  IF XOV NOT INHIBITED, GO FETCH ZNB
039976,000216: 30,3216           03252                                    FLAGOODW                              
039977,000217: 30,3217           61223                                    FETCHZNB                              
039978,000218: 30,3220           45175                           VLOAD    CALL                                  
039979,000219: 30,3221           00015                                    UNZ/2                                 
039980,000220: 30,3222           61523                                    UNWCTEST                              
039981,000221: 
039982,000222: 30,3223           77775        FETCHZNB           VLOAD                                          
039983,000223: 30,3224           02162                                    ZNBPIP                                
039984,000224: 30,3225           34015                           STCALL   UNZ/2                                 
039985,000225: 30,3226           61523                                    UNWCTEST                              
039986,000226: 
039987,000227: 30,3227           57575                           VLOAD    VCOMP                                 #  Z AND -X CAN'T BOTH PARALLEL UNFC/2
039988,000228: 30,3230           02146                                    XNBPIP                                
039989,000229: 30,3231           00015                           STORE    UNZ/2                                 
039990,000230: 
039991,000231:                                                                                                  #  COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039992,000232: 
039993,000233: 30,3232           47375        DCMCL              VLOAD    VXV                                   
039994,000234: 30,3233           00015                                    UNZ/2                                 
039995,000235: 30,3234           00001                                    UNX/2                                 
039996,000236: 30,3235           41456                           UNIT     PUSH                                  #  UNY/2 FIRST ITERATION
039997,000237: 30,3236           76435                           VXV      VSL1                                  
039998,000238: 30,3237           00001                                    UNX/2                                 
039999,000239: 30,3240           00015                           STORE    UNZ/2                                 #  -UNZ/2 FIRST ITERATION
040000,000240: 30,3241           63361                           VXSC     PDVL                                  #  EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040001,000241: 30,3242           03274                                    UNFVZ/2                               #  MUST BE SMALL
040002,000242: 30,3243           51361                           VXSC     BVSU                                  #  YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040003,000243: 30,3244           03272                                    UNFVY/2                               #  MUST BE SMALL
040004,000244: 30,3245           53372                           VSL1     VAD                                   
040005,000245: 30,3246           00001                                    UNX/2                                 
040006,000246: 30,3247           77656                           UNIT                                           #  TOTALLY ELIMINATES THRUST POINTING ERROR
040007,000247: 30,3250           00001                           STORE    UNX/2                                 #  UNX/2
040008,000248: 30,3251           76435                           VXV      VSL1                                  
040009,000249: 30,3252           00015                                    UNZ/2                                 #  -UNZ/2 WAS STORED HERE REMEMBER
040010,000250: 30,3253           00007                           STORE    UNY/2                                 #  UNY/2
040011,000251: 30,3254           47276                           VCOMP    VXV                                   
040012,000252: 30,3255           00001                                    UNX/2                                 
040013,000253: 30,3256           77772                           VSL1                                           
040014,000254: 30,3257           00015                           STORE    UNZ/2                                 #  UNZ/2
040015,000255: 

Page 914

040017,000257:                                                                                                  #  COMPUTE THE REQUIRED GIMBAL ANGLES
040018,000258: 
040019,000259: 30,3260           77624                           CALL                                           
040020,000260: 30,3261           61533                                    NB2CDUSP                              #  YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040021,000261: 30,3262           77776                           EXIT                                           
040022,000262: 
040023,000263:                                                                                                  #  LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040024,000264: 
040025,000265: 30,3263           30156                           CA       MPAC       +2                         #  LIMIT THE MGA
040026,000266: 30,3264           54001                           TS       L                                     #  CAN'T LXCH:  NEED UNLIMITED MGA FOR ALARM
040027,000267: 30,3265           33773                           CA       CDUZDLIM                              
040028,000268: 30,3266           03727                           TC       LIMITSUB                              #  YIELDS LIMITED MGA.  1 BIT ERROR POSSIBLE
040029,000269: 30,3267           56156                           XCH      MPAC       +2                         #        BECAUSE USING 2'S COMP.  WHO CARES?
040030,000270: 30,3270           00006                           EXTEND                                         
040031,000271: 30,3271           20156                           MSU      MPAC       +2                         #  THIS BETTER YIELD ZERO
040032,000272: 30,3272           00006                           EXTEND                                         
040033,000273: 30,3273           13275                           BZF      +2                                    
040034,000274: 30,3274           13756                           TCF      ALARMMGA                              
040035,000275: 
040036,000276: 30,3275           00004        MGARET             INHINT                                         #  RELINT AT TC INTPRET AFTER TCQCDUW
040037,000277: 
040038,000278: 30,3276           22007                           ZL                                             
040039,000279: 30,3277           34752                           CA       TWO                                   
040040,000280: 30,3300           54142        DELGMBLP           TS       TEM2                                  
040041,000281: 
040042,000282: 30,3301           30001                           CA       L                                     #  TO PREVENT FALSE STARTS ABOUT X, ZERO
040043,000283: 30,3302           00006                           EXTEND                                         #        FLAGOODW IF DELGMBZ OR Y TOO BIG.
040044,000284: 30,3303           70000                           SQUARE                                         
040045,000285: 30,3304           64350                           AD       HI5                                   #  WITHIN 1 BIT OF -(45 DEG SQUARED)
040046,000286: 30,3305           00006                           EXTEND                                         
040047,000287: 30,3306           63311                           BZMF     +3                                    
040048,000288: 30,3307           34755                           CA       ZERO                                  
040049,000289: 30,3310           55651                           TS       FLAGOODW                              
040050,000290: 
040051,000291: 30,3311           50142                           INDEX    TEM2                                  
040052,000292: 30,3312           30154                           CA       MPAC                                  
040053,000293: 30,3313           50142                           INDEX    TEM2                                  
040054,000294: 30,3314           54321                           TS       CPHI                                  #  OUTPUTS TO NOUN22
040055,000295: 30,3315           00006                           EXTEND                                         
040056,000296: 30,3316           50142                           INDEX    TEM2                                  
040057,000297: 30,3317           21635                           MSU      CDUXD                                 #  NO MATTER THAT THESE SLIGHTLY DIFFERENT
040058,000298: 30,3320           40000                           COM                                            #  FROM WHEN WE INITIALLY FETCHED THEM
040059,000299: 30,3321           50142                           INDEX    TEM2                                  
040060,000300: 30,3322           55675                           TS       -DELGMB                               #  -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040061,000301: 30,3323           54001                           TS       L                                     #  FOR PRECEDING TEST ON NEXT LOOP PASS
040062,000302: 30,3324           10142                           CCS      TEM2                                  
040063,000303: 30,3325           13300                           TCF      DELGMBLP                              
040064,000304: 

Page 915

040066,000306:                                                                                                  #  BRANCHES TO NOATTCNT
040067,000307: 30,3326           11652                           CCS      FLPAUTNO                              
040068,000308: 30,3327           13752                           TCF      NOATTCNT   +2                         #  NOT PNGCS AUTO
040069,000309: 
040070,000310: 30,3330           30101                           CA       FLAGWRD5                              
040071,000311: 30,3331           74745                           MASK     ENGONBIT                              
040072,000312: 30,3332           00006                           EXTEND                                         
040073,000313: 30,3333           13752                           BZF      NOATTCNT   +2                         #  ENGINE NOT ON
040074,000314: 

Page 916

040076,000316:                                                                                                  #  LIMIT THE ATTITUDE ANGLE CHANGES
040077,000317: 
040078,000318:                                                                                                  #  THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040079,000319:                                                                                                  #  THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO.  THE PRIME SYSTEM IS
040080,000320:                                                                                                  #  THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040081,000321:                                                                                                  #  AXIS.  ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040082,000322: 
040083,000323:                                                                                                  #        *   -DELATTX    *   * 1     SIN(CDUZD)     0 * * -DELGMBX *
040084,000324:                                                                                                  #        *               *   *                        * *          *
040085,000325:                                                                                                  #        * -DELATTYPRIME * = * 0     COS(CDUZD)     0 * * -DELGMBY *
040086,000326:                                                                                                  #        *               *   *                        * *          *
040087,000327:                                                                                                  #        * -DELATTZPRIME *   * 0         0          1 * * -DELGMBZ *
040088,000328: 
040089,000329: 30,3334           23677                           LXCH     -DELGMB    +2                         #  SAME AS -DELATTZPRIME UNLIMITED
040090,000330: 30,3335           51650                           INDEX    NDXCDUW                               
040091,000331: 30,3336           33767                           CA       DAZMAX                                
040092,000332: 30,3337           03727                           TC       LIMITSUB                              
040093,000333: 30,3340           55677                           TS       -DELGMB    +2                         #  -DELGMBZ
040094,000334: 
040095,000335: 30,3341           31676                           CA       -DELGMB    +1                         
040096,000336: 30,3342           00006                           EXTEND                                         
040097,000337: 30,3343           70746                           MP       COSCDUZ                               #  YIELDS -DELATTYPRIME/2 UNLIMITED
040098,000338: 30,3344           54001                           TS       L                                     
040099,000339: 30,3345           51650                           INDEX    NDXCDUW                               
040100,000340: 30,3346           33771                           CA       DAY/2MAX                              
040101,000341: 30,3347           03727                           TC       LIMITSUB                              
040102,000342: 30,3350           00006                           EXTEND                                         
040103,000343: 30,3351           10746                           DV       COSCDUZ                               
040104,000344: 30,3352           57676                           XCH      -DELGMB    +1                         #  -DELGMBY, FETCHING UNLIMITED VALUE
040105,000345: 
040106,000346: 30,3353           00006                           EXTEND                                         
040107,000347: 30,3354           70740                           MP       SINCDUZ                               
040108,000348: 30,3355           20001                           DDOUBL                                         
040109,000349: 30,3356           40000                           COM                                            
040110,000350: 30,3357           00006                           EXTEND                                         #  YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040111,000351: 30,3360           21675                           MSU      -DELGMB                               #        BASED ON UNLIMITED DELGMBY.
040112,000352: 30,3361           54001                           TS       L                                     #        ONE BIT ERROR IF OPERANDS IN MSU
040113,000353: 30,3362           51650                           INDEX    NDXCDUW                               #        OF MIXED SIGNS.  WHO CARES?
040114,000354: 30,3363           33767                           CA       DAXMAX                                
040115,000355: 30,3364           03727                           TC       LIMITSUB                              
040116,000356: 30,3365           55675                           TS       -DELGMB                               #  SAVE LIMITED +DELATTX
040117,000357: 30,3366           11651                           CCS      FLAGOODW                              
040118,000358: 30,3367           41675                           CS       -DELGMB                               #  FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040119,000359: 30,3370           55675                           TS       -DELGMB                               #  OTHERWISE USE ZERO FOR -DELATTX
040120,000360: 30,3371           41676                           CS       -DELGMB    +1                         
040121,000361: 30,3372           00006                           EXTEND                                         
040122,000362: 30,3373           70740                           MP       SINCDUZ                               
040123,000363: 30,3374           20001                           DDOUBL                                         #  YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040124,000364: 30,3375           27675                           ADS      -DELGMB                               #  -DELGMBX.  NO OVERFLOW SINCE LIMITED TO
040125,000365:                                                                                                  #  20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040126,000366: 

Page 917

040128,000368:                                                                                                  #  COMPUTE COMMANDED ATTITUDE RATES
040129,000369: 
040130,000370:                                                                                                  #        * OMEGAPD *   * -2         -4 SINCDUZ              +0    * * -DELGMBX *
040131,000371:                                                                                                  #        *         *   *                                          * *          *
040132,000372:                                                                                                  #        * OMEGAQD * = * +0     -8 COSCDUZ COSCDUX     -4 SINCDUX * * -DELGMBY *
040133,000373:                                                                                                  #        *         *   *                                          * *          *
040134,000374:                                                                                                  #        * OMEGARD *   * +0     +8 COSCDUZ SINCDUX     -4 COSCDUX * * -DELGMBZ *
040135,000375: 
040136,000376:                                                                                                  #  ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040137,000377:                                                                                                  #  PI/2 RAD/SEC.  THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040138,000378:                                                                                                  #  AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040139,000379: 
040140,000380: 30,3376           41675                           CS       -DELGMB                               
040141,000381: 30,3377           55643                           TS       OMEGAPD                               
040142,000382: 30,3400           41676                           CS       -DELGMB    +1                         
040143,000383: 30,3401           00006                           EXTEND                                         
040144,000384: 30,3402           70740                           MP       SINCDUZ                               
040145,000385: 30,3403           20001                           DDOUBL                                         
040146,000386: 30,3404           27643                           ADS      OMEGAPD                               
040147,000387: 30,3405           27643                           ADS      OMEGAPD                               
040148,000388: 
040149,000389: 30,3406           41676                           CS       -DELGMB    +1                         
040150,000390: 30,3407           00006                           EXTEND                                         
040151,000391: 30,3410           70750                           MP       COSCDUX                               
040152,000392: 30,3411           20001                           DDOUBL                                         
040153,000393: 30,3412           00006                           EXTEND                                         
040154,000394: 30,3413           70746                           MP       COSCDUZ                               
040155,000395: 30,3414           55644                           TS       OMEGAQD                               
040156,000396: 30,3415           41677                           CS       -DELGMB    +2                         
040157,000397: 30,3416           00006                           EXTEND                                         
040158,000398: 30,3417           70742                           MP       SINCDUX                               
040159,000399: 30,3420           27644                           ADS      OMEGAQD                               
040160,000400: 30,3421           27644                           ADS      OMEGAQD                               
040161,000401: 30,3422           27644                           ADS      OMEGAQD                               
040162,000402: 
040163,000403: 30,3423           31676                           CA       -DELGMB    +1                         
040164,000404: 30,3424           00006                           EXTEND                                         
040165,000405: 30,3425           70742                           MP       SINCDUX                               
040166,000406: 30,3426           20001                           DDOUBL                                         
040167,000407: 30,3427           00006                           EXTEND                                         
040168,000408: 30,3430           70746                           MP       COSCDUZ                               
040169,000409: 30,3431           55645                           TS       OMEGARD                               
040170,000410: 30,3432           41677                           CS       -DELGMB    +2                         
040171,000411: 30,3433           00006                           EXTEND                                         
040172,000412: 30,3434           70750                           MP       COSCDUX                               
040173,000413: 30,3435           27645                           ADS      OMEGARD                               
040174,000414: 30,3436           27645                           ADS      OMEGARD                               
040175,000415: 30,3437           27645                           ADS      OMEGARD                               
040176,000416: 

Page 918

040178,000418:                                                                                                  #  FINAL TRANSFER
040179,000419: 
040180,000420: 30,3440           34752                           CA       TWO                                   
040181,000421: 30,3441           54142        CDUWXFR            TS       TEM2                                  
040182,000422: 30,3442           50142                           INDEX    TEM2                                  
040183,000423: 30,3443           31675                           CA       -DELGMB                               
040184,000424: 30,3444           00006                           EXTEND                                         
040185,000425: 30,3445           73774                           MP       DT/DELT                               #  RATIO OF DAP INTERVAL TO CDUW INTERVAL
040186,000426: 30,3446           03743                           TC       ONESTO2S                              
040187,000427: 30,3447           50142                           INDEX    TEM2                                  
040188,000428: 30,3450           55640                           TS       DELCDUX                               #  ANGLE INTERFACE
040189,000429: 
040190,000430: 30,3451           50142                           INDEX    TEM2                                  
040191,000431: 30,3452           11643                           CCS      OMEGAPD                               
040192,000432: 30,3453           64753                           AD       ONE                                   
040193,000433: 30,3454           13456                           TCF      +2                                    
040194,000434: 30,3455           64753                           AD       ONE                                   
040195,000435: 30,3456           00006                           EXTEND                                         #  WE NOW HAVE ABS(OMEGAPD,QD,RD)
040196,000436: 30,3457           50142                           INDEX    TEM2                                  
040197,000437: 30,3460           71643                           MP       OMEGAPD                               
040198,000438: 30,3461           00006                           EXTEND                                         
040199,000439: 30,3462           74741                           MP       BIT11                                 #  1/16
040200,000440: 30,3463           00006                           EXTEND                                         
040201,000441: 30,3464           50142                           INDEX    TEM2                                  #                   2
040202,000442: 30,3465           11530                           DV       1JACC                                 #  UNITS PI/4 RAD/SEC
040203,000443: 30,3466           54001                           TS       L                                     
040204,000444: 30,3467           33771                           CA       DELERLIM                              
040205,000445: 30,3470           03727                           TC       LIMITSUB                              
040206,000446: 30,3471           50142                           INDEX    TEM2                                  
040207,000447: 30,3472           55277                           TS       DELPEROR                              #  LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040208,000448: 30,3473           10142                           CCS      TEM2                                  
040209,000449: 30,3474           13441                           TCF      CDUWXFR                               
040210,000450: 
040211,000451:                                                                                                  #  HAUSKEEPING AND RETURN
040212,000452: 
040213,000453: 30,3475           31646        TCQCDUW            CA       ECDUWUSR                              
040214,000454: 30,3476           54003                           TS       EBANK                                 #  RETURN USER'S EBANK
040215,000455: 
040216,000456: 30,3477           06037                           TC       INTPRET                               
040217,000457: 30,3500           52001                           SETPD    GOTO                                  
040218,000458: 30,3501           00001                                    0                                     
040219,000459: 30,3502           03247                                    QCDUWUSR                              #  NORMAL AND ABNORMAL RETURN TO USER
040220,000460: 

Page 919

040222,000462:                                                                                                  #  THRUST VECTOR FILTER SUBROUTINE
040223,000463: 
040224,000464: 30,3503           00006        FLTRSUB            EXTEND                                         
040225,000465: 30,3504           22142                           QXCH     TEM2                                  
040226,000466: 30,3505           54143                           TS       TEM3                                  #  SAVE ORIGINAL OFFSET
040227,000467: 30,3506           40000                           COM                                            #  ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040228,000468: 30,3507           60001                           AD       L                                     #        ORIG OFFSET ARRIVES IN A, BUT IT'S
040229,000469: 30,3510           00006                           EXTEND                                         #        NOT WORTH THE INCREASED OBSCURITY.
040230,000470: 30,3511           51650                           INDEX    NDXCDUW                               
040231,000471: 30,3512           73762                           MP       GAINFLTR                              
040232,000472: 30,3513           54001                           TS       L                                     #  INCR TO OFFSET, UNLIMITED
040233,000473: 30,3514           33764                           CA       DUNFVLIM                              #  SAME LIMIT FOR Y AND Z
040234,000474: 30,3515           03727                           TC       LIMITSUB                              #  YIELDS INCR TO OFFSET, LIMITED
040235,000475: 30,3516           60143                           AD       TEM3                                  #  ORIGINAL OFFSET
040236,000476: 30,3517           54001                           TS       L                                     #  TOTAL OFFSET, UNLIMITED
040237,000477: 30,3520           33765                           CA       UNFVLIM                               #  SAME LIMIT FOR Y AND Z
040238,000478: 30,3521           03727                           TC       LIMITSUB                              #  YIELDS TOTAL OFFSET, LIMITED
040239,000479: 30,3522           00142                           TC       TEM2                                  
040240,000480: 
040241,000481:                                                                                                  #  SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040242,000482: 
040243,000483: 30,3523           63441        UNWCTEST           DOT      DSQ                                   
040244,000484: 30,3524           00001                                    UNX/2                                 
040245,000485: 30,3525           50025                           DSU      BMN                                   
040246,000486: 30,3526           21767                                    DOTSWFMX                              
040247,000487: 30,3527           61232                                    DCMCL                                 
040248,000488: 30,3530           43531                           SSP      RVQ                                   #  RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040249,000489: 30,3531           03252                                    FLAGOODW                              #        ZEROING WINDOW GOOD FLAG
040250,000490: 30,3532           00000                                    0                                     
040251,000491: 

Page 920

040253,000493:                                                                                                  #  NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040254,000494:                                                                                                  #  ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040255,000495:                                                                                                  #  NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040256,000496: 
040257,000497: 30,3533           63545        NB2CDUSP           DLOAD    DSQ                                   
040258,000498: 30,3534           00003                                    2                                     
040259,000499: 30,3535           51021                           BDSU     BPL                                   
040260,000500: 30,3536           06512                                    DP1/4TH                               
040261,000501: 30,3537           61542                                    +3                                    
040262,000502: 30,3540           77745                           DLOAD                                          
040263,000503: 30,3541           06522                                    ZEROVECS                              #  IN CASE SIN WAS SLIGHTLY > 1/2
040264,000504: 30,3542           77566                           SQRT     EXIT                                  #  YIELDS COS(CDUZ) IN UNITS OF 2
040265,000505: 
040266,000506: 30,3543           00006                           EXTEND                                         
040267,000507: 30,3544           30155                           DCA      MPAC                                  
040268,000508: 30,3545           20001                           DDOUBL                                         
040269,000509: 30,3546           54145                           TS       TEM5                                  
040270,000510: 30,3547           13552                           TCF      +3                                    
040271,000511: 30,3550           34733                           CA       POSMAX                                #  OVERFLOW.  FETCH POSMAX, MPAC ALWAYS POS
040272,000512: 30,3551           54145                           TS       TEM5                                  #  COS(CDUZ) IN TEM5, UNITS 1
040273,000513: 
040274,000514: 30,3552           50120                           INDEX    FIXLOC                                
040275,000515: 30,3553           30002                           CA       2                                     
040276,000516: 30,3554           22154                           LXCH     MPAC                                  
040277,000517: 30,3555           03622                           TC       ARCTRGSP                              
040278,000518: 30,3556           54156                           TS       MPAC       +2                         #  CDUZ
040279,000519: 
040280,000520: 30,3557           34755                           CA       ZERO                                  
040281,000521: 30,3560           03600                           TC       DVBYCOSM                              
040282,000522: 30,3561           34751                           CA       FOUR                                  
040283,000523: 30,3562           03600                           TC       DVBYCOSM                              
040284,000524: 30,3563           40141                           CS       TEM1                                  
040285,000525: 30,3564           03622                           TC       ARCTRGSP                              
040286,000526: 30,3565           54155                           TS       MPAC       +1                         #  CDUY
040287,000527: 
040288,000528: 30,3566           34750                           CA       BIT4                                  
040289,000529: 30,3567           03600                           TC       DVBYCOSM                              
040290,000530: 30,3570           33577                           CA       16OCT                                 
040291,000531: 30,3571           03600                           TC       DVBYCOSM                              
040292,000532: 30,3572           40141                           CS       TEM1                                  
040293,000533: 30,3573           03622                           TC       ARCTRGSP                              
040294,000534: 30,3574           54154                           TS       MPAC                                  #  CDUX
040295,000535: 
040296,000536: 30,3575           06037                           TC       INTPRET                               
040297,000537: 30,3576           77616                           RVQ                                            
040298,000538: 
040299,000539: 30,3577           00016        16OCT              OCT      16                                    
040300,000540: 

Page 921

040302,000542:                                                                                                  #  THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040303,000543:                                                                                                  #  ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040304,000544:                                                                                                  #  ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE.  BUT IF THE MGA IS NEAR PI/2
040305,000545:                                                                                                  #  THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040306,000546:                                                                                                  #  ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040307,000547:                                                                                                  #  BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040308,000548:                                                                                                  #  THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040309,000549: 
040310,000550:                                                                                                  #  IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040311,000551:                                                                                                  #  REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040312,000552:                                                                                                  #  ANGLES ARE INDETERMINATE.  THE INNER AND OUTER GIMBAL ANGLES RETURNED
040313,000553:                                                                                                  #  IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040314,000554: 
040315,000555: 30,3600           60120        DVBYCOSM           AD       FIXLOC                                
040316,000556: 30,3601           54116                           TS       ADDRWD                                #  ADRES OF OPERAND
040317,000557: 
040318,000558: 30,3602           50116                           INDEX    ADDRWD                                #  FETCH NEG ABS OF OPERAND, AD TEM5, AND
040319,000559: 30,3603           30000                           CA       0                                     #        SKIP DIVIDE IF RESULT NEG OR ZERO
040320,000560: 30,3604           00006                           EXTEND                                         
040321,000561: 30,3605           63607                           BZMF     +2                                    
040322,000562: 30,3606           40000                           COM                                            
040323,000563: 30,3607           60145                           AD       TEM5                                  #  C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040324,000564: 30,3610           00006                           EXTEND                                         
040325,000565: 30,3611           63617                           BZMF     TSL&TCQ                               #  DIFFERENCE ALWAYS SMALL IF BRANCH
040326,000566: 
040327,000567: 30,3612           00006                           EXTEND                                         #  TEM5 EXCEEDS ABS HIGH ORDER PART OF
040328,000568: 30,3613           50116                           INDEX    ADDRWD                                #        OPERAND BY AT LEAST ONE BIT.
040329,000569: 30,3614           30001                           DCA      0                                     #        THEREFORE IT EXCEEDS THE DP OPERAND
040330,000570: 30,3615           00006                           EXTEND                                         #        AND DIVISION WILL ALWAYS SUCCEED.
040331,000571: 30,3616           10145                           DV       TEM5                                  
040332,000572: 30,3617           54001        TSL&TCQ            TS       L                                     
040333,000573: 30,3620           22141                           LXCH     TEM1                                  
040334,000574: 30,3621           00002                           TC       Q                                     
040335,000575: 

Page 922

040337,000577:                                                                                                  #  ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040338,000578:                                                                                                  #  UNITS OF 2.  THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040339,000579:                                                                                                  #  THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040340,000580: 
040341,000581: 30,3622           00006        ARCTRGSP           EXTEND                                         
040342,000582: 30,3623           13665                           BZF      SINZERO                               #  TO AVOID DIVIDING BY ZERO
040343,000583: 
040344,000584: 30,3624           00006                           EXTEND                                         
040345,000585: 30,3625           22144                           QXCH     TEM4                                  
040346,000586: 30,3626           54142                           TS       TEM2                                  
040347,000587: 30,3627           30001                           CA       L                                     
040348,000588: 30,3630           54143                           TS       TEM3                                  
040349,000589: 30,3631           34755                           CA       ZERO                                  
040350,000590: 30,3632           00006                           EXTEND                                         
040351,000591: 30,3633           10142                           DV       TEM2                                  
040352,000592: 30,3634           00006                           EXTEND                                         
040353,000593: 30,3635           13654                           BZF      USECOS                                
040354,000594: 
040355,000595: 30,3636           10143                           CCS      TEM3                                  #  SIN IS SMALLER OR EQUAL
040356,000596: 30,3637           34755                           CA       ZERO                                  
040357,000597: 30,3640           13644                           TCF      +4                                    
040358,000598: 30,3641           40142                           CS       TEM2                                  #  IF COS NEG, REVERSE SIGN OF SIN,
040359,000599: 30,3642           54142                           TS       TEM2                                  #        ANGLE = PI-ARCSIN(SIN)
040360,000600: 30,3643           34735                           CA       NEGMAX                                #  PICK UP PI, 2'S COMPLEMENT
040361,000601: 30,3644           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
040362,000602: 30,3645           30142                           CA       TEM2                                  
040363,000603: 30,3646           03672                           TC       SPARCSIN   -1                         
040364,000604: 30,3647           03743                           TC       ONESTO2S                              
040365,000605: 30,3650           00006                           EXTEND                                         
040366,000606: 30,3651           20143                           MSU      TEM3                                  
040367,000607: 30,3652           03743        1TO2&TCQ           TC       ONESTO2S                              
040368,000608: 30,3653           00144                           TC       TEM4                                  
040369,000609: 
040370,000610: 30,3654           40143        USECOS             CS       TEM3                                  #  COS IS SMALLER
040371,000611: 30,3655           03672                           TC       SPARCSIN   -1                         #  ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040372,000612: 30,3656           64736                           AD       HALF                                  
040373,000613: 30,3657           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
040374,000614: 30,3660           10142                           CCS      TEM2                                  
040375,000615: 30,3661           30143                           CA       TEM3                                  
040376,000616: 30,3662           13652                           TCF      1TO2&TCQ                              
040377,000617: 30,3663           40143                           CS       TEM3                                  
040378,000618: 30,3664           13652                           TCF      1TO2&TCQ                              
040379,000619: 
040380,000620: 30,3665           10001        SINZERO            CCS      L                                     
040381,000621: 30,3666           34755                           CA       ZERO                                  
040382,000622: 30,3667           00002                           TC       Q                                     
040383,000623: 30,3670           34735                           CA       NEGMAX                                #  PI, 2'S COMP
040384,000624: 30,3671           00002                           TC       Q                                     
040385,000625: 

Page 923

040387,000627:                                                                                                  #  SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040388,000628:                                                                                                  #  180 DEGREES IN A.  IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040389,000629:                                                                                                  #  DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040390,000630:                                                                                                  #  450 MICROSECONDS.  SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.  (BOB CRISP)
040391,000631: 
040392,000632: 30,3672           60000                           DOUBLE                                         
040393,000633: 30,3673           54021        SPARCSIN           TS       SR                                    
040394,000634: 30,3674           13700                           TCF      +4                                    
040395,000635: 30,3675           50000                           INDEX    A                                     
040396,000636: 30,3676           44734                           CS       LIMITS                                
040397,000637: 30,3677           54021                           TS       SR                                    
040398,000638: 30,3700           00006                           EXTEND                                         
040399,000639: 30,3701           70000                           MP       A                                     
040400,000640: 30,3702           54141                           TS       TEM1                                  
040401,000641: 30,3703           00006                           EXTEND                                         
040402,000642: 30,3704           73726                           MP       DPL9                                  
040403,000643: 30,3705           63725                           AD       DPL7                                  
040404,000644: 30,3706           00006                           EXTEND                                         
040405,000645: 30,3707           70141                           MP       TEM1                                  
040406,000646: 30,3710           63724                           AD       DPL5                                  
040407,000647: 30,3711           00006                           EXTEND                                         
040408,000648: 30,3712           70141                           MP       TEM1                                  
040409,000649: 30,3713           63723                           AD       DPL3                                  
040410,000650: 30,3714           00006                           EXTEND                                         
040411,000651: 30,3715           70141                           MP       TEM1                                  
040412,000652: 30,3716           63722                           AD       DPL1                                  
040413,000653: 30,3717           00006                           EXTEND                                         
040414,000654: 30,3720           70021                           MP       SR                                    
040415,000655: 30,3721           00002                           TC       Q                                     
040416,000656: 30,3722           24406        DPL1               DEC      10502      B-14                       
040417,000657: 30,3723           00660        DPL3               DEC      432        B-14                       
040418,000658: 30,3724           16204        DPL5               DEC      7300       B-14                       
040419,000659: 30,3725           50744        DPL7               DEC      -11803     B-14                       
040420,000660: 30,3726           20315        DPL9               DEC      8397       B-14                       
040421,000661: 

Page 924

040423,000663:                                                                                                  #  LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040424,000664:                                                                                                  #  ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040425,000665:                                                                                                  #  THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040426,000666: 
040427,000667:                                                                                                  #  VERSION COURTESY HUGH BLAIR-SMITH
040428,000668: 
040429,000669: 30,3727           54141        LIMITSUB           TS       TEM1                                  
040430,000670: 30,3730           34755                           CA       ZERO                                  
040431,000671: 30,3731           00006                           EXTEND                                         
040432,000672: 30,3732           10141                           DV       TEM1                                  
040433,000673: 30,3733           10000                           CCS      A                                     
040434,000674: 30,3734           22141                           LXCH     TEM1                                  
040435,000675: 30,3735           13737                           TCF      +2                                    
040436,000676: 30,3736           13741                           TCF      +3                                    
040437,000677: 30,3737           30001                           CA       L                                     
040438,000678: 30,3740           00002                           TC       Q                                     
040439,000679: 30,3741           40141                           CS       TEM1                                  
040440,000680: 30,3742           00002                           TC       Q                                     
040441,000681: 
040442,000682:                                                                                                  #  SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040443,000683: 
040444,000684: 30,3743           10000        ONESTO2S           CCS      A                                     
040445,000685: 30,3744           64753                           AD       ONE                                   
040446,000686: 30,3745           00002                           TC       Q                                     
040447,000687: 30,3746           40000                           CS       A                                     
040448,000688: 30,3747           00002                           TC       Q                                     
040449,000689: 
040450,000690:                                                                                                  #  NO ATTITUDE CONTROL
040451,000691: 
040452,000692: 30,3750           05567        NOATTCNT           TC       ALARM                                 
040453,000693: 30,3751           00402                           OCT      00402                                 #  NO ATTITUDE CONTROL
040454,000694: 
040455,000695: 30,3752           00004                 +2        INHINT                                         #  COME HERE FOR NOATTCNT WITHOUT ALARM
040456,000696: 30,3753           04674                           TC       IBNKCALL                              #  RELINT AT TC INTPRET AFTER TCQCDUW
040457,000697: 30,3754           40165                           FCADR    STOPRATE                              
040458,000698: 30,3755           13475                           TCF      TCQCDUW                               #  RETURN TO USER SKIPPING AUTOPILOT CMDS
040459,000699: 
040460,000700:                                                                                                  #  MIDDLE GIMBAL ANGLE ALARM
040461,000701: 
040462,000702: 30,3756           05567        ALARMMGA           TC       ALARM                                 
040463,000703: 30,3757           00401                           OCT      00401                                 
040464,000704: 30,3760           13275                           TCF      MGARET                                
040465,000705: 

Page 925

040467,000707:                                                                                                  # ************************************************************************
040468,000708:                                                                                                  #  CONSTANTS
040469,000709:                                                                                                  # ************************************************************************
040470,000710: 
040471,000711:                                                                                                  #  ADDRESS CONSTANTS
040472,000712: 
040473,000713: 30,3761           03246        ECDUWL             ECADR    ECDUW                                 
040474,000714: 
040475,000715:                                                                                                  #  THRUST DIRECTION FILTER CONSTANTS
040476,000716: 
040477,000717: 30,3762           06315        GAINFLTR           DEC      .2                                    #  GAIN FILTER SANS CSM
040478,000718: 30,3763           03146                           DEC      .1                                    #  GAIN FILTER WITH CSM
040479,000719: 
040480,000720: 30,3764           00071        DUNFVLIM           DEC      .007       B-1                        #  7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040481,000721:                                                                                                  #  THIS DOES NOT ALLOW FOR S/C ROT RATE.
040482,000722: 
040483,000723: 30,3765           02041        UNFVLIM            DEC      .129       B-1                        #  129 MR MAX THRUST OFFSET.  105 MR TRAVEL
040484,000724:                                                                                                  #  +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040485,000725: 
040486,000726:                                                                                                  #  CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040487,000727: 
040488,000728: 30,3766           01673        DOTSWFMX           DEC      .93302     B-4                        #  LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040489,000729:                                                                                                  #  LOWER PART COMES FROM NEXT CONSTANT
040490,000730: 
040491,000731: 30,3767           03434        DAXMAX             DEC      .11111111111                            #  DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040492,000732: 30,3770           00266                           DEC      .0111111111                            #  2 DEG WHEN CSM DOCKED
040493,000733: 
040494,000734: 30,3771           01616        DAY/2MAX           DEC      .05555555555                            #  LIKEWISE FOR DELATTY
040495,000735: 30,3772           00133                           DEC      .0055555555                            
040496,000736: 
040497,000737: 30,3773  30,3767               DAZMAX             =        DAXMAX                                #  LIKEWISE FOR DELATTZ
040498,000738: 
040499,000739: 30,3773           14344        CDUZDLIM           DEC      .3888888888                            #  70 DEG LIMIT FOR MGA, 1'S, PI
040500,000740: 
040501,000741:                                                                                                  #  CONSTANTS FOR DATA TRANSFER
040502,000742: 
040503,000743: 30,3774           01463        DT/DELT            DEC      .05                                   #  .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040504,000744:                                                                                                  #  CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040505,000745: 
040506,000746: 30,3775  30,3771               DELERLIM           =        DAY/2MAX                              #  10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040507,000747: 

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