GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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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 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
039776,000002: ## Copyright: Public domain.
039777,000003: ## Filename: FINDCDUW--GUIDAP_INTERFACE.agc
039778,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
039779,000005: ## It is part of the source code for the Lunar Module's (LM)
039780,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
039781,000007: ## Assembler: yaYUL
039782,000008: ## Contact: Hartmuth Gutsche <hgutsche@xplornet.com>.
039783,000009: ## Website: www.ibiblio.org/apollo.
039784,000010: ## Pages: 908-925
039785,000011: ## Mod history: 2009-05-28 HG Transcribed from page images.
039786,000012: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
039787,000013: ## and corrected the errors found.
039788,000014: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039789,000015: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039790,000016: ## side-by-side diff of Luminary 69/99/116/131/210.
039791,000017:
039792,000018: ## This source code has been transcribed or otherwise adapted from
039793,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
039794,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
039795,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
039796,000022: ## in storage size and consequent reduction in image quality as well) are
039797,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
039798,000024: ## find that the images are illegible, contact me at info@sandroid.org
039799,000025: ## about getting access to the (much) higher-quality images which Paul
039800,000026: ## actually created.
039801,000027: ##
039802,000028: ## Notations on the hardcopy document read, in part:
039803,000029: ##
039804,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
039805,000031: ## 16:27 JULY 14, 1969
039806,000032:
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Page 908 |
039808,000034: # PROGRAM NAME: FINDCDUW
039809,000035: # MOD NUMBER: 1 68 07 15
039810,000036: # MOD AUTHOR: KLUMPP
039811,000037:
039812,000038: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039813,000039: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039814,000040: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039815,000041: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039816,000042: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039817,000043: # MODES.
039818,000044: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039819,000045: # AUTOPILOT COMMANDS WHENEVER
039820,000046: # 1) NOT IN PNGCS-AUTO, OR
039821,000047: # 2) ENGINE IS OFF.
039822,000048:
039823,000049: # FUNCTIONAL DESCRIPTION:
039824,000050:
039825,000051: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039826,000052: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039827,000053: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039828,000054: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039829,000055: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039830,000056: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039831,000057: # ACCELERATIONS AVAILABLE).
039832,000058:
039833,000059: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039834,000060: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039835,000061: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039836,000062:
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Page 909 |
039838,000064: # SPECIFICATIONS:
039839,000065:
039840,000066: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039841,000067: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039842,000068:
039843,000069: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039844,000070: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039845,000071: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039846,000072:
039847,000073: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039848,000074: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039849,000075: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039850,000076: # WITHOUT ISSUING AUTOPILOT CMDS.
039851,000077: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039852,000078: # ISSUING AUTOPILOT CMDS.
039853,000079:
039854,000080: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039855,000081: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039856,000082: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039857,000083:
039858,000084: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039859,000085: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039860,000086: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039861,000087:
039862,000088: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039863,000089: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039864,000090: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039865,000091: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039866,000092: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039867,000093:
039868,000094: # OUTPUTS: DELCDUX,Y,Z
039869,000095: # OMEGAPD,+1,+2
039870,000096: # DELPEROR,+1,+2
039871,000097: # CPHI,+1,+2 FOR NOUN22
039872,000098:
039873,000099: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039874,000100: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039875,000101: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039876,000102:
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Page 910 |
039878,000104: # INITIALIZATION FOR FINDCDUW
039879,000105:
039880,000106: 30,3104 BANK 30
039881,000107: 30,2000 SETLOC FCDUW
039882,000108: 30,2000 BANK
039883,000109:
039884,000110: 30,3104 E6,1646 EBANK= ECDUW
039885,000111: 30,3104 COUNT* $$/FCDUW
039886,000112:
039887,000113: 30,3104 77775 INITCDUW VLOAD
039888,000114: 30,3105 06520 UNITX
039889,000115: 30,3106 03270 STORE UNFV/2
039890,000116: 30,3107 03262 STORE UNWC/2
039891,000117: 30,3110 77616 RVQ
039892,000118:
039893,000119: # FINDCDUW PRELIMINARIES
039894,000120:
039895,000121: 30,3111 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039896,000122: 30,3112 03254 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039897,000123: 30,3113 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039898,000124: 30,3114 61113 FINDCDUW # INTERPRETER NOW INITIALIZED
039899,000125: 30,3115 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039900,000126: 30,3116 77420 STQ EXIT
039901,000127: 30,3117 03247 QCDUWUSR # SAVE RETURN ADDRESS
039902,000128:
039903,000129: # MORE HAUSKEEPING
039904,000130: 30,3120 33761 CA ECDUWL
039905,000131: 30,3121 56003 XCH EBANK # SET EBANK
039906,000132: 30,3122 55646 TS ECDUWUSR # SAVE USER'S EBANK
039907,000133:
039908,000134: 30,3123 30111 CA DAPBOOLS
039909,000135: 30,3124 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039910,000136: 30,3125 10000 CCS A
039911,000137: 30,3126 34753 CA ONE # INDEX IF CSM DOCKED
039912,000138: 30,3127 55650 TS NDXCDUW
039913,000139:
039914,000140: 30,3130 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039915,000141: 30,3131 55652 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039916,000142:
039917,000143: 30,3132 70111 MASK DAPBOOLS
039918,000144: 30,3133 55651 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039919,000145:
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Page 911 |
039921,000147: # FETCH BASIC DATA
039922,000148: 30,3134 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039923,000149:
039924,000150: 30,3135 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039925,000151: 30,3136 54772 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039926,000152: 30,3137 30033 CA CDUY
039927,000153: 30,3140 54766 TS CDUSPOTY
039928,000154: 30,3141 30034 CA CDUZ
039929,000155: 30,3142 54770 TS CDUSPOTZ
039930,000156:
039931,000157: 30,3143 34742 CA BIT10 # PNGCS CONTROL BIT
039932,000158: 30,3144 00006 EXTEND
039933,000159: 30,3145 02030 RAND CHAN30
039934,000160: 30,3146 10000 CCS A
039935,000161: 30,3147 13164 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039936,000162:
039937,000163: 30,3150 34736 CA BIT14 # AUTO MODE BIT
039938,000164: 30,3151 00006 EXTEND
039939,000165: 30,3152 02031 RAND CHAN31
039940,000166: 30,3153 10000 CCS A
039941,000167: 30,3154 13164 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039942,000168:
039943,000169: 30,3155 55652 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039944,000170:
039945,000171: 30,3156 31635 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039946,000172: 30,3157 54772 TS CDUSPOTX
039947,000173: 30,3160 31636 CA CDUYD
039948,000174: 30,3161 54766 TS CDUSPOTY
039949,000175: 30,3162 31637 CA CDUZD
039950,000176: 30,3163 54770 TS CDUSPOTZ
039951,000177:
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Page 912 |
039953,000179: # FETCH INPUTS
039954,000180: 30,3164 06037 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039955,000181: 30,3165 77634 RTB
039956,000182: 30,3166 21726 NORMUNIT
039957,000183: 30,3167 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039958,000184: 30,3170 03262 UNWC/2
039959,000185: 30,3171 47034 RTB RTB
039960,000186: 30,3172 21726 NORMUNIT
039961,000187: 30,3173 47615 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039962,000188: 30,3174 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039963,000189: 30,3175 00325 DELV
039964,000190: 30,3176 53404 BOVB UNIT
039965,000191: 30,3177 61750 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039966,000192: 30,3200 45000 BOV CALL
039967,000193: 30,3201 61215 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039968,000194: 30,3202 47671 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039969,000195:
039970,000196: # THRUST DIRECTION FILTER
039971,000197:
039972,000198: 30,3203 77776 EXIT
039973,000199:
039974,000200: 30,3204 31671 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039975,000201: 30,3205 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039976,000202: 30,3206 03503 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039977,000203: 30,3207 55671 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039978,000204:
039979,000205: 30,3210 31673 CA UNFVZ/2
039980,000206: 30,3211 22161 LXCH MPAC +5
039981,000207: 30,3212 03503 TC FLTRSUB
039982,000208: 30,3213 55673 TS UNFVZ/2
039983,000209:
039984,000210: 30,3214 06037 TC INTPRET # COMPLETES FILTER
039985,000211:
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Page 913 |
039987,000213: # FIND A SUITABLE WINDOW POINTING VECTOR
039988,000214:
039989,000215: 30,3215 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039990,000216: 30,3216 03252 FLAGOODW
039991,000217: 30,3217 61223 FETCHZNB
039992,000218: 30,3220 45175 VLOAD CALL
039993,000219: 30,3221 00015 UNZ/2
039994,000220: 30,3222 61523 UNWCTEST
039995,000221:
039996,000222: 30,3223 77775 FETCHZNB VLOAD
039997,000223: 30,3224 02162 ZNBPIP
039998,000224: 30,3225 34015 STCALL UNZ/2
039999,000225: 30,3226 61523 UNWCTEST
040000,000226:
040001,000227: 30,3227 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
040002,000228: 30,3230 02146 XNBPIP
040003,000229: 30,3231 00015 STORE UNZ/2
040004,000230:
040005,000231: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040006,000232:
040007,000233: 30,3232 47375 DCMCL VLOAD VXV
040008,000234: 30,3233 00015 UNZ/2
040009,000235: 30,3234 00001 UNX/2
040010,000236: 30,3235 41456 UNIT PUSH # UNY/2 FIRST ITERATION
040011,000237: 30,3236 76435 VXV VSL1
040012,000238: 30,3237 00001 UNX/2
040013,000239: 30,3240 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
040014,000240: 30,3241 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040015,000241: 30,3242 03274 UNFVZ/2 # MUST BE SMALL
040016,000242: 30,3243 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040017,000243: 30,3244 03272 UNFVY/2 # MUST BE SMALL
040018,000244: 30,3245 53372 VSL1 VAD
040019,000245: 30,3246 00001 UNX/2
040020,000246: 30,3247 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
040021,000247: 30,3250 00001 STORE UNX/2 # UNX/2
040022,000248: 30,3251 76435 VXV VSL1
040023,000249: 30,3252 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
040024,000250: 30,3253 00007 STORE UNY/2 # UNY/2
040025,000251: 30,3254 47276 VCOMP VXV
040026,000252: 30,3255 00001 UNX/2
040027,000253: 30,3256 77772 VSL1
040028,000254: 30,3257 00015 STORE UNZ/2 # UNZ/2
040029,000255:
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040031,000257: # COMPUTE THE REQUIRED GIMBAL ANGLES
040032,000258:
040033,000259: 30,3260 77624 CALL
040034,000260: 30,3261 61533 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040035,000261: 30,3262 77776 EXIT
040036,000262:
040037,000263: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040038,000264:
040039,000265: 30,3263 30156 CA MPAC +2 # LIMIT THE MGA
040040,000266: 30,3264 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040041,000267: 30,3265 33773 CA CDUZDLIM
040042,000268: 30,3266 03727 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040043,000269: 30,3267 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
040044,000270: 30,3270 00006 EXTEND
040045,000271: 30,3271 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
040046,000272: 30,3272 00006 EXTEND
040047,000273: 30,3273 13275 BZF +2
040048,000274: 30,3274 13756 TCF ALARMMGA
040049,000275:
040050,000276: 30,3275 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
040051,000277:
040052,000278: 30,3276 22007 ZL
040053,000279: 30,3277 34752 CA TWO
040054,000280: 30,3300 54142 DELGMBLP TS TEM2
040055,000281:
040056,000282: 30,3301 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
040057,000283: 30,3302 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
040058,000284: 30,3303 70000 SQUARE
040059,000285: 30,3304 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
040060,000286: 30,3305 00006 EXTEND
040061,000287: 30,3306 63311 BZMF +3
040062,000288: 30,3307 34755 CA ZERO
040063,000289: 30,3310 55651 TS FLAGOODW
040064,000290:
040065,000291: 30,3311 50142 INDEX TEM2
040066,000292: 30,3312 30154 CA MPAC
040067,000293: 30,3313 50142 INDEX TEM2
040068,000294: 30,3314 54321 TS CPHI # OUTPUTS TO NOUN22
040069,000295: 30,3315 00006 EXTEND
040070,000296: 30,3316 50142 INDEX TEM2
040071,000297: 30,3317 21635 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
040072,000298: 30,3320 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
040073,000299: 30,3321 50142 INDEX TEM2
040074,000300: 30,3322 55675 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040075,000301: 30,3323 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
040076,000302: 30,3324 10142 CCS TEM2
040077,000303: 30,3325 13300 TCF DELGMBLP
040078,000304:
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Page 915 |
040080,000306: # BRANCHES TO NOATTCNT
040081,000307: 30,3326 11652 CCS FLPAUTNO
040082,000308: 30,3327 13752 TCF NOATTCNT +2 # NOT PNGCS AUTO
040083,000309:
040084,000310: 30,3330 30101 CA FLAGWRD5
040085,000311: 30,3331 74745 MASK ENGONBIT
040086,000312: 30,3332 00006 EXTEND
040087,000313: 30,3333 13752 BZF NOATTCNT +2 # ENGINE NOT ON
040088,000314:
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Page 916 |
040090,000316: # LIMIT THE ATTITUDE ANGLE CHANGES
040091,000317:
040092,000318: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040093,000319: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
040094,000320: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040095,000321: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040096,000322:
040097,000323: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
040098,000324: # * * * * * *
040099,000325: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
040100,000326: # * * * * * *
040101,000327: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
040102,000328:
040103,000329: 30,3334 23677 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
040104,000330: 30,3335 51650 INDEX NDXCDUW
040105,000331: 30,3336 33767 CA DAZMAX
040106,000332: 30,3337 03727 TC LIMITSUB
040107,000333: 30,3340 55677 TS -DELGMB +2 # -DELGMBZ
040108,000334:
040109,000335: 30,3341 31676 CA -DELGMB +1
040110,000336: 30,3342 00006 EXTEND
040111,000337: 30,3343 70746 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
040112,000338: 30,3344 54001 TS L
040113,000339: 30,3345 51650 INDEX NDXCDUW
040114,000340: 30,3346 33771 CA DAY/2MAX
040115,000341: 30,3347 03727 TC LIMITSUB
040116,000342: 30,3350 00006 EXTEND
040117,000343: 30,3351 10746 DV COSCDUZ
040118,000344: 30,3352 57676 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
040119,000345:
040120,000346: 30,3353 00006 EXTEND
040121,000347: 30,3354 70740 MP SINCDUZ
040122,000348: 30,3355 20001 DDOUBL
040123,000349: 30,3356 40000 COM
040124,000350: 30,3357 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040125,000351: 30,3360 21675 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
040126,000352: 30,3361 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
040127,000353: 30,3362 51650 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
040128,000354: 30,3363 33767 CA DAXMAX
040129,000355: 30,3364 03727 TC LIMITSUB
040130,000356: 30,3365 55675 TS -DELGMB # SAVE LIMITED +DELATTX
040131,000357: 30,3366 11651 CCS FLAGOODW
040132,000358: 30,3367 41675 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040133,000359: 30,3370 55675 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
040134,000360: 30,3371 41676 CS -DELGMB +1
040135,000361: 30,3372 00006 EXTEND
040136,000362: 30,3373 70740 MP SINCDUZ
040137,000363: 30,3374 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040138,000364: 30,3375 27675 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
040139,000365: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040140,000366:
|
|
Page 917 |
040142,000368: # COMPUTE COMMANDED ATTITUDE RATES
040143,000369:
040144,000370: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
040145,000371: # * * * * * *
040146,000372: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
040147,000373: # * * * * * *
040148,000374: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
040149,000375:
040150,000376: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040151,000377: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040152,000378: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040153,000379:
040154,000380: 30,3376 41675 CS -DELGMB
040155,000381: 30,3377 55643 TS OMEGAPD
040156,000382: 30,3400 41676 CS -DELGMB +1
040157,000383: 30,3401 00006 EXTEND
040158,000384: 30,3402 70740 MP SINCDUZ
040159,000385: 30,3403 20001 DDOUBL
040160,000386: 30,3404 27643 ADS OMEGAPD
040161,000387: 30,3405 27643 ADS OMEGAPD
040162,000388:
040163,000389: 30,3406 41676 CS -DELGMB +1
040164,000390: 30,3407 00006 EXTEND
040165,000391: 30,3410 70750 MP COSCDUX
040166,000392: 30,3411 20001 DDOUBL
040167,000393: 30,3412 00006 EXTEND
040168,000394: 30,3413 70746 MP COSCDUZ
040169,000395: 30,3414 55644 TS OMEGAQD
040170,000396: 30,3415 41677 CS -DELGMB +2
040171,000397: 30,3416 00006 EXTEND
040172,000398: 30,3417 70742 MP SINCDUX
040173,000399: 30,3420 27644 ADS OMEGAQD
040174,000400: 30,3421 27644 ADS OMEGAQD
040175,000401: 30,3422 27644 ADS OMEGAQD
040176,000402:
040177,000403: 30,3423 31676 CA -DELGMB +1
040178,000404: 30,3424 00006 EXTEND
040179,000405: 30,3425 70742 MP SINCDUX
040180,000406: 30,3426 20001 DDOUBL
040181,000407: 30,3427 00006 EXTEND
040182,000408: 30,3430 70746 MP COSCDUZ
040183,000409: 30,3431 55645 TS OMEGARD
040184,000410: 30,3432 41677 CS -DELGMB +2
040185,000411: 30,3433 00006 EXTEND
040186,000412: 30,3434 70750 MP COSCDUX
040187,000413: 30,3435 27645 ADS OMEGARD
040188,000414: 30,3436 27645 ADS OMEGARD
040189,000415: 30,3437 27645 ADS OMEGARD
040190,000416:
|
|
Page 918 |
040192,000418: # FINAL TRANSFER
040193,000419:
040194,000420: 30,3440 34752 CA TWO
040195,000421: 30,3441 54142 CDUWXFR TS TEM2
040196,000422: 30,3442 50142 INDEX TEM2
040197,000423: 30,3443 31675 CA -DELGMB
040198,000424: 30,3444 00006 EXTEND
040199,000425: 30,3445 73774 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
040200,000426: 30,3446 03743 TC ONESTO2S
040201,000427: 30,3447 50142 INDEX TEM2
040202,000428: 30,3450 55640 TS DELCDUX # ANGLE INTERFACE
040203,000429:
040204,000430: 30,3451 50142 INDEX TEM2
040205,000431: 30,3452 11643 CCS OMEGAPD
040206,000432: 30,3453 64753 AD ONE
040207,000433: 30,3454 13456 TCF +2
040208,000434: 30,3455 64753 AD ONE
040209,000435: 30,3456 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
040210,000436: 30,3457 50142 INDEX TEM2
040211,000437: 30,3460 71643 MP OMEGAPD
040212,000438: 30,3461 00006 EXTEND
040213,000439: 30,3462 74741 MP BIT11 # 1/16
040214,000440: 30,3463 00006 EXTEND
040215,000441: 30,3464 50142 INDEX TEM2 # 2
040216,000442: 30,3465 11530 DV 1JACC # UNITS PI/4 RAD/SEC
040217,000443: 30,3466 54001 TS L
040218,000444: 30,3467 33771 CA DELERLIM
040219,000445: 30,3470 03727 TC LIMITSUB
040220,000446: 30,3471 50142 INDEX TEM2
040221,000447: 30,3472 55277 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040222,000448: 30,3473 10142 CCS TEM2
040223,000449: 30,3474 13441 TCF CDUWXFR
040224,000450:
040225,000451: # HAUSKEEPING AND RETURN
040226,000452:
040227,000453: 30,3475 31646 TCQCDUW CA ECDUWUSR
040228,000454: 30,3476 54003 TS EBANK # RETURN USER'S EBANK
040229,000455:
040230,000456: 30,3477 06037 TC INTPRET
040231,000457: 30,3500 52001 SETPD GOTO
040232,000458: 30,3501 00001 0
040233,000459: 30,3502 03247 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
040234,000460:
|
|
Page 919 |
040236,000462: # THRUST VECTOR FILTER SUBROUTINE
040237,000463:
040238,000464: 30,3503 00006 FLTRSUB EXTEND
040239,000465: 30,3504 22142 QXCH TEM2
040240,000466: 30,3505 54143 TS TEM3 # SAVE ORIGINAL OFFSET
040241,000467: 30,3506 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040242,000468: 30,3507 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
040243,000469: 30,3510 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
040244,000470: 30,3511 51650 INDEX NDXCDUW
040245,000471: 30,3512 73762 MP GAINFLTR
040246,000472: 30,3513 54001 TS L # INCR TO OFFSET, UNLIMITED
040247,000473: 30,3514 33764 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
040248,000474: 30,3515 03727 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
040249,000475: 30,3516 60143 AD TEM3 # ORIGINAL OFFSET
040250,000476: 30,3517 54001 TS L # TOTAL OFFSET, UNLIMITED
040251,000477: 30,3520 33765 CA UNFVLIM # SAME LIMIT FOR Y AND Z
040252,000478: 30,3521 03727 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
040253,000479: 30,3522 00142 TC TEM2
040254,000480:
040255,000481: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040256,000482:
040257,000483: 30,3523 63441 UNWCTEST DOT DSQ
040258,000484: 30,3524 00001 UNX/2
040259,000485: 30,3525 50025 DSU BMN
040260,000486: 30,3526 21767 DOTSWFMX
040261,000487: 30,3527 61232 DCMCL
040262,000488: 30,3530 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040263,000489: 30,3531 03252 FLAGOODW # ZEROING WINDOW GOOD FLAG
040264,000490: 30,3532 00000 0
040265,000491:
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|
Page 920 |
040267,000493: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
040268,000494: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
040269,000495: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
040270,000496:
040271,000497: 30,3533 63545 NB2CDUSP DLOAD DSQ
040272,000498: 30,3534 00003 2
040273,000499: 30,3535 51021 BDSU BPL
040274,000500: 30,3536 06512 DP1/4TH
040275,000501: 30,3537 61542 +3
040276,000502: 30,3540 77745 DLOAD
040277,000503: 30,3541 06522 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
040278,000504: 30,3542 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
040279,000505:
040280,000506: 30,3543 00006 EXTEND
040281,000507: 30,3544 30155 DCA MPAC
040282,000508: 30,3545 20001 DDOUBL
040283,000509: 30,3546 54145 TS TEM5
040284,000510: 30,3547 13552 TCF +3
040285,000511: 30,3550 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
040286,000512: 30,3551 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
040287,000513:
040288,000514: 30,3552 50120 INDEX FIXLOC
040289,000515: 30,3553 30002 CA 2
040290,000516: 30,3554 22154 LXCH MPAC
040291,000517: 30,3555 03622 TC ARCTRGSP
040292,000518: 30,3556 54156 TS MPAC +2 # CDUZ
040293,000519:
040294,000520: 30,3557 34755 CA ZERO
040295,000521: 30,3560 03600 TC DVBYCOSM
040296,000522: 30,3561 34751 CA FOUR
040297,000523: 30,3562 03600 TC DVBYCOSM
040298,000524: 30,3563 40141 CS TEM1
040299,000525: 30,3564 03622 TC ARCTRGSP
040300,000526: 30,3565 54155 TS MPAC +1 # CDUY
040301,000527:
040302,000528: 30,3566 34750 CA BIT4
040303,000529: 30,3567 03600 TC DVBYCOSM
040304,000530: 30,3570 33577 CA 16OCT
040305,000531: 30,3571 03600 TC DVBYCOSM
040306,000532: 30,3572 40141 CS TEM1
040307,000533: 30,3573 03622 TC ARCTRGSP
040308,000534: 30,3574 54154 TS MPAC # CDUX
040309,000535:
040310,000536: 30,3575 06037 TC INTPRET
040311,000537: 30,3576 77616 RVQ
040312,000538:
040313,000539: 30,3577 00016 16OCT OCT 16
040314,000540:
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|
Page 921 |
040316,000542: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040317,000543: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040318,000544: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
040319,000545: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040320,000546: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040321,000547: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040322,000548: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040323,000549:
040324,000550: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040325,000551: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040326,000552: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
040327,000553: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040328,000554:
040329,000555: 30,3600 60120 DVBYCOSM AD FIXLOC
040330,000556: 30,3601 54116 TS ADDRWD # ADRES OF OPERAND
040331,000557:
040332,000558: 30,3602 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
040333,000559: 30,3603 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
040334,000560: 30,3604 00006 EXTEND
040335,000561: 30,3605 63607 BZMF +2
040336,000562: 30,3606 40000 COM
040337,000563: 30,3607 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040338,000564: 30,3610 00006 EXTEND
040339,000565: 30,3611 63617 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
040340,000566:
040341,000567: 30,3612 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
040342,000568: 30,3613 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
040343,000569: 30,3614 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
040344,000570: 30,3615 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
040345,000571: 30,3616 10145 DV TEM5
040346,000572: 30,3617 54001 TSL&TCQ TS L
040347,000573: 30,3620 22141 LXCH TEM1
040348,000574: 30,3621 00002 TC Q
040349,000575:
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|
Page 922 |
040351,000577: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040352,000578: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040353,000579: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040354,000580:
040355,000581: 30,3622 00006 ARCTRGSP EXTEND
040356,000582: 30,3623 13665 BZF SINZERO # TO AVOID DIVIDING BY ZERO
040357,000583:
040358,000584: 30,3624 00006 EXTEND
040359,000585: 30,3625 22144 QXCH TEM4
040360,000586: 30,3626 54142 TS TEM2
040361,000587: 30,3627 30001 CA L
040362,000588: 30,3630 54143 TS TEM3
040363,000589: 30,3631 34755 CA ZERO
040364,000590: 30,3632 00006 EXTEND
040365,000591: 30,3633 10142 DV TEM2
040366,000592: 30,3634 00006 EXTEND
040367,000593: 30,3635 13654 BZF USECOS
040368,000594:
040369,000595: 30,3636 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
040370,000596: 30,3637 34755 CA ZERO
040371,000597: 30,3640 13644 TCF +4
040372,000598: 30,3641 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
040373,000599: 30,3642 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
040374,000600: 30,3643 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
040375,000601: 30,3644 54143 TS TEM3 # WE NO LONGER NEED COS
040376,000602: 30,3645 30142 CA TEM2
040377,000603: 30,3646 03672 TC SPARCSIN -1
040378,000604: 30,3647 03743 TC ONESTO2S
040379,000605: 30,3650 00006 EXTEND
040380,000606: 30,3651 20143 MSU TEM3
040381,000607: 30,3652 03743 1TO2&TCQ TC ONESTO2S
040382,000608: 30,3653 00144 TC TEM4
040383,000609:
040384,000610: 30,3654 40143 USECOS CS TEM3 # COS IS SMALLER
040385,000611: 30,3655 03672 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
040386,000612: 30,3656 64736 AD HALF
040387,000613: 30,3657 54143 TS TEM3 # WE NO LONGER NEED COS
040388,000614: 30,3660 10142 CCS TEM2
040389,000615: 30,3661 30143 CA TEM3
040390,000616: 30,3662 13652 TCF 1TO2&TCQ
040391,000617: 30,3663 40143 CS TEM3
040392,000618: 30,3664 13652 TCF 1TO2&TCQ
040393,000619:
040394,000620: 30,3665 10001 SINZERO CCS L
040395,000621: 30,3666 34755 CA ZERO
040396,000622: 30,3667 00002 TC Q
040397,000623: 30,3670 34735 CA NEGMAX # PI, 2'S COMP
040398,000624: 30,3671 00002 TC Q
040399,000625:
|
|
Page 923 |
040401,000627: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040402,000628: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040403,000629: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040404,000630: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
040405,000631:
040406,000632: 30,3672 60000 DOUBLE
040407,000633: 30,3673 54021 SPARCSIN TS SR
040408,000634: 30,3674 13700 TCF +4
040409,000635: 30,3675 50000 INDEX A
040410,000636: 30,3676 44734 CS LIMITS
040411,000637: 30,3677 54021 TS SR
040412,000638: 30,3700 00006 EXTEND
040413,000639: 30,3701 70000 MP A
040414,000640: 30,3702 54141 TS TEM1
040415,000641: 30,3703 00006 EXTEND
040416,000642: 30,3704 73726 MP DPL9
040417,000643: 30,3705 63725 AD DPL7
040418,000644: 30,3706 00006 EXTEND
040419,000645: 30,3707 70141 MP TEM1
040420,000646: 30,3710 63724 AD DPL5
040421,000647: 30,3711 00006 EXTEND
040422,000648: 30,3712 70141 MP TEM1
040423,000649: 30,3713 63723 AD DPL3
040424,000650: 30,3714 00006 EXTEND
040425,000651: 30,3715 70141 MP TEM1
040426,000652: 30,3716 63722 AD DPL1
040427,000653: 30,3717 00006 EXTEND
040428,000654: 30,3720 70021 MP SR
040429,000655: 30,3721 00002 TC Q
040430,000656: 30,3722 24406 DPL1 DEC 10502 B-14
040431,000657: 30,3723 00660 DPL3 DEC 432 B-14
040432,000658: 30,3724 16204 DPL5 DEC 7300 B-14
040433,000659: 30,3725 50744 DPL7 DEC -11803 B-14
040434,000660: 30,3726 20315 DPL9 DEC 8397 B-14
040435,000661:
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|
Page 924 |
040437,000663: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040438,000664: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040439,000665: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040440,000666:
040441,000667: # VERSION COURTESY HUGH BLAIR-SMITH
040442,000668:
040443,000669: 30,3727 54141 LIMITSUB TS TEM1
040444,000670: 30,3730 34755 CA ZERO
040445,000671: 30,3731 00006 EXTEND
040446,000672: 30,3732 10141 DV TEM1
040447,000673: 30,3733 10000 CCS A
040448,000674: 30,3734 22141 LXCH TEM1
040449,000675: 30,3735 13737 TCF +2
040450,000676: 30,3736 13741 TCF +3
040451,000677: 30,3737 30001 CA L
040452,000678: 30,3740 00002 TC Q
040453,000679: 30,3741 40141 CS TEM1
040454,000680: 30,3742 00002 TC Q
040455,000681:
040456,000682: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040457,000683:
040458,000684: 30,3743 10000 ONESTO2S CCS A
040459,000685: 30,3744 64753 AD ONE
040460,000686: 30,3745 00002 TC Q
040461,000687: 30,3746 40000 CS A
040462,000688: 30,3747 00002 TC Q
040463,000689:
040464,000690: # NO ATTITUDE CONTROL
040465,000691:
040466,000692: 30,3750 05567 NOATTCNT TC ALARM
040467,000693: 30,3751 00402 OCT 00402 # NO ATTITUDE CONTROL
040468,000694:
040469,000695: 30,3752 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
040470,000696: 30,3753 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
040471,000697: 30,3754 40165 FCADR STOPRATE
040472,000698: 30,3755 13475 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
040473,000699:
040474,000700: # MIDDLE GIMBAL ANGLE ALARM
040475,000701:
040476,000702: 30,3756 05567 ALARMMGA TC ALARM
040477,000703: 30,3757 00401 OCT 00401
040478,000704: 30,3760 13275 TCF MGARET
040479,000705:
|
|
Page 925 |
040481,000707: # ************************************************************************
040482,000708: # CONSTANTS
040483,000709: # ************************************************************************
040484,000710:
040485,000711: # ADDRESS CONSTANTS
040486,000712:
040487,000713: 30,3761 03246 ECDUWL ECADR ECDUW
040488,000714:
040489,000715: # THRUST DIRECTION FILTER CONSTANTS
040490,000716:
040491,000717: 30,3762 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
040492,000718: 30,3763 03146 DEC .1 # GAIN FILTER WITH CSM
040493,000719:
040494,000720: 30,3764 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040495,000721: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
040496,000722:
040497,000723: 30,3765 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
040498,000724: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040499,000725:
040500,000726: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
040501,000727:
040502,000728: 30,3766 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040503,000729: # LOWER PART COMES FROM NEXT CONSTANT
040504,000730:
040505,000731: 30,3767 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040506,000732: 30,3770 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
040507,000733:
040508,000734: 30,3771 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
040509,000735: 30,3772 00133 DEC .0055555555
040510,000736:
040511,000737: 30,3773 30,3767 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
040512,000738:
040513,000739: 30,3773 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
040514,000740:
040515,000741: # CONSTANTS FOR DATA TRANSFER
040516,000742:
040517,000743: 30,3774 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040518,000744: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040519,000745:
040520,000746: 30,3775 30,3771 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040521,000747:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc