Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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039007,000002: ## Copyright: Public domain.
039008,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
039009,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
039010,000005: ## This was the original program released for the Apollo 13 LM,
039011,000006: ## although several more revisions would follow. It has been
039012,000007: ## reconstructed from a listing of Luminary 131, from which it
039013,000008: ## differs on only two lines in P70-P71. The difference is
039014,000009: ## described in detail in Luminary memo #129, which was used
039015,000010: ## to perform the reconstruction. This file is intended to be a
039016,000011: ## faithful reconstruction, except that the code format has been
039017,000012: ## changed to conform to the requirements of the yaYUL assembler
039018,000013: ## rather than the original YUL assembler.
039019,000014: ## Reference: pp. 902-920
039020,000015: ## Contact: Ron Burkey <info@sandroid.org>.
039021,000016: ## Website: www.ibiblio.org/apollo/index.html
039022,000017: ## Mod history: 05/28/03 RSB. Began transcribing.
039023,000018: ## 05/14/05 RSB Corrected website reference above.
039024,000019: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039025,000020: ## 2017-03-01 RSB Fixed lingering typos.
039026,000021: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039027,000022: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039028,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
039029,000024: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
039030,000025:
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Page 902
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039032,000027: # PROGRAM NAME: FINDCDUW
039033,000028: # MOD NUMBER: 1 68 07 15
039034,000029: # MOD AUTHOR: KLUMPP
039035,000030:
039036,000031: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039037,000032: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039038,000033: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039039,000034: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039040,000035: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039041,000036: # MODES.
039042,000037: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039043,000038: # AUTOPILOT COMMANDS WHENEVER
039044,000039: # 1) NOT IN PNGCS-AUTO, OR
039045,000040: # 2) ENGINE IS OFF.
039046,000041:
039047,000042: # FUNCTIONAL DESCRIPTION:
039048,000043:
039049,000044: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039050,000045: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039051,000046: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039052,000047: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039053,000048: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039054,000049: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039055,000050: # ACCELERATIONS AVAILABLE).
039056,000051:
039057,000052: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039058,000053: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039059,000054: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039060,000055:
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Page 903
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039062,000057: # SPECIFICATIONS:
039063,000058:
039064,000059: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039065,000060: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039066,000061:
039067,000062: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039068,000063: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039069,000064: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039070,000065:
039071,000066: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039072,000067: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039073,000068: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039074,000069: # WITHOUT ISSUING AUTOPILOT CMDS.
039075,000070: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039076,000071: # ISSUING AUTOPILOT CMDS.
039077,000072:
039078,000073: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039079,000074: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039080,000075: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039081,000076:
039082,000077: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039083,000078: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039084,000079: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039085,000080:
039086,000081: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039087,000082: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039088,000083: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
039089,000084: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039090,000085: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039091,000086: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039092,000087:
039093,000088: # OUTPUTS: DELCDUX,Y,Z
039094,000089: # OMEGAPD,+1,+2
039095,000090: # DELPEROR,+1,+2
039096,000091: # CPHI,+1,+2 FOR NOUN22
039097,000092:
039098,000093: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039099,000094: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039100,000095: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039101,000096:
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Page 904
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039103,000098: # INITIALIZATION FOR FINDCDUW
039104,000099:
039105,000100: 30,3071 BANK 30
039106,000101: 30,2000 SETLOC FCDUW
039107,000102: 30,2000 BANK
039108,000103:
039109,000104: 30,3071 E6,1645 EBANK= ECDUW
039110,000105: 30,3071 COUNT* $$/FCDUW
039111,000106:
039112,000107: 30,3071 77331 INITCDUW SSP VLOAD
039113,000108: 30,3072 03300 OGABIAS
039114,000109: 30,3073 00000 0
039115,000110: 30,3074 06522 UNITX
039116,000111: 30,3075 03267 STORE UNFV/2
039117,000112: 30,3076 03261 STORE UNWC/2
039118,000113: 30,3077 77616 RVQ
039119,000114:
039120,000115: # FINDCDUW PRELIMINARIES
039121,000116:
039122,000117: 30,3100 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039123,000118: 30,3101 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039124,000119: 30,3102 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039125,000120: 30,3103 61102 FINDCDUW # INTERPRETER NOW INITIALIZED
039126,000121: 30,3104 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039127,000122: 30,3105 77420 STQ EXIT
039128,000123: 30,3106 03246 QCDUWUSR # SAVE RETURN ADDRESS
039129,000124:
039130,000125: # MORE HAUSKEEPING
039131,000126: 30,3107 33752 CA ECDUWL
039132,000127: 30,3110 56003 XCH EBANK # SET EBANK
039133,000128: 30,3111 55645 TS ECDUWUSR # SAVE USER'S EBANK
039134,000129:
039135,000130: 30,3112 30111 CA DAPBOOLS
039136,000131: 30,3113 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039137,000132: 30,3114 10000 CCS A
039138,000133: 30,3115 34753 CA ONE # INDEX IF CSM DOCKED
039139,000134: 30,3116 55647 TS NDXCDUW
039140,000135:
039141,000136: 30,3117 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039142,000137: 30,3120 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039143,000138:
039144,000139: 30,3121 70111 MASK DAPBOOLS
039145,000140: 30,3122 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039146,000141:
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Page 905
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039148,000143: # FETCH BASIC DATA
039149,000144: 30,3123 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039150,000145:
039151,000146: 30,3124 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039152,000147: 30,3125 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039153,000148: 30,3126 30033 CA CDUY
039154,000149: 30,3127 54765 TS CDUSPOTY
039155,000150: 30,3130 30034 CA CDUZ
039156,000151: 30,3131 54767 TS CDUSPOTZ
039157,000152:
039158,000153: 30,3132 34742 CA BIT10 # PNGCS CONTROL BIT
039159,000154: 30,3133 00006 EXTEND
039160,000155: 30,3134 02030 RAND CHAN30
039161,000156: 30,3135 10000 CCS A
039162,000157: 30,3136 13153 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039163,000158:
039164,000159: 30,3137 34736 CA BIT14 # AUTO MODE BIT
039165,000160: 30,3140 00006 EXTEND
039166,000161: 30,3141 02031 RAND CHAN31
039167,000162: 30,3142 10000 CCS A
039168,000163: 30,3143 13153 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039169,000164:
039170,000165: 30,3144 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039171,000166:
039172,000167: 30,3145 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039173,000168: 30,3146 54771 TS CDUSPOTX
039174,000169: 30,3147 31635 CA CDUYD
039175,000170: 30,3150 54765 TS CDUSPOTY
039176,000171: 30,3151 31636 CA CDUZD
039177,000172: 30,3152 54767 TS CDUSPOTZ
039178,000173:
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Page 906
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039180,000175: # FETCH INPUTS
039181,000176: 30,3153 06042 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039182,000177: 30,3154 77634 RTB
039183,000178: 30,3155 21727 NORMUNIT
039184,000179: 30,3156 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039185,000180: 30,3157 03261 UNWC/2
039186,000181: 30,3160 47034 RTB RTB
039187,000182: 30,3161 21727 NORMUNIT
039188,000183: 30,3162 47617 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039189,000184: 30,3163 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039190,000185: 30,3164 00325 DELV
039191,000186: 30,3165 53404 BOVB UNIT
039192,000187: 30,3166 61741 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039193,000188: 30,3167 45000 BOV CALL
039194,000189: 30,3170 61204 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039195,000190: 30,3171 47673 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039196,000191:
039197,000192: # THRUST DIRECTION FILTER
039198,000193:
039199,000194: 30,3172 77776 EXIT
039200,000195:
039201,000196: 30,3173 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039202,000197: 30,3174 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039203,000198: 30,3175 03474 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039204,000199: 30,3176 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039205,000200:
039206,000201: 30,3177 31672 CA UNFVZ/2
039207,000202: 30,3200 22161 LXCH MPAC +5
039208,000203: 30,3201 03474 TC FLTRSUB
039209,000204: 30,3202 55672 TS UNFVZ/2
039210,000205:
039211,000206: 30,3203 06042 TC INTPRET # COMPLETES FILTER
039212,000207:
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Page 907
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039214,000209: # FIND A SUITABLE WINDOW POINTING VECTOR
039215,000210:
039216,000211: 30,3204 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039217,000212: 30,3205 03251 FLAGOODW
039218,000213: 30,3206 61212 FETCHZNB
039219,000214: 30,3207 45175 VLOAD CALL
039220,000215: 30,3210 00015 UNZ/2
039221,000216: 30,3211 61514 UNWCTEST
039222,000217:
039223,000218: 30,3212 77775 FETCHZNB VLOAD
039224,000219: 30,3213 02162 ZNBPIP
039225,000220: 30,3214 34015 STCALL UNZ/2
039226,000221: 30,3215 61514 UNWCTEST
039227,000222:
039228,000223: 30,3216 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039229,000224: 30,3217 02146 XNBPIP
039230,000225: 30,3220 00015 STORE UNZ/2
039231,000226:
039232,000227: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039233,000228:
039234,000229: 30,3221 47375 DCMCL VLOAD VXV
039235,000230: 30,3222 00015 UNZ/2
039236,000231: 30,3223 00001 UNX/2
039237,000232: 30,3224 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039238,000233: 30,3225 76435 VXV VSL1
039239,000234: 30,3226 00001 UNX/2
039240,000235: 30,3227 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039241,000236: 30,3230 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039242,000237: 30,3231 03273 UNFVZ/2 # MUST BE SMALL
039243,000238: 30,3232 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039244,000239: 30,3233 03271 UNFVY/2 # MUST BE SMALL
039245,000240: 30,3234 53372 VSL1 VAD
039246,000241: 30,3235 00001 UNX/2
039247,000242: 30,3236 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039248,000243: 30,3237 00001 STORE UNX/2 # UNX/2
039249,000244: 30,3240 76435 VXV VSL1
039250,000245: 30,3241 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039251,000246: 30,3242 00007 STORE UNY/2 # UNY/2
039252,000247: 30,3243 47276 VCOMP VXV
039253,000248: 30,3244 00001 UNX/2
039254,000249: 30,3245 77772 VSL1
039255,000250: 30,3246 00015 STORE UNZ/2 # UNZ/2
039256,000251:
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Page 908
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039258,000253: # COMPUTE THE REQUIRED GIMBAL ANGLES
039259,000254:
039260,000255: 30,3247 77624 CALL
039261,000256: 30,3250 61524 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039262,000257: 30,3251 77776 EXIT
039263,000258:
039264,000259: # BIAS OUTER GIMBAL ANGLE
039265,000260:
039266,000261: 30,3252 31677 CA OGABIAS
039267,000262: 30,3253 26154 ADS MPAC
039268,000263:
039269,000264: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039270,000265:
039271,000266: 30,3254 30156 CA MPAC +2 # LIMIT THE MGA
039272,000267: 30,3255 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039273,000268: 30,3256 33764 CA CDUZDLIM
039274,000269: 30,3257 03720 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039275,000270: 30,3260 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039276,000271: 30,3261 00006 EXTEND
039277,000272: 30,3262 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039278,000273: 30,3263 00006 EXTEND
039279,000274: 30,3264 13266 BZF +2
039280,000275: 30,3265 13747 TCF ALARMMGA
039281,000276:
039282,000277: 30,3266 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039283,000278:
039284,000279: 30,3267 22007 ZL
039285,000280: 30,3270 34752 CA TWO
039286,000281: 30,3271 54142 DELGMBLP TS TEM2
039287,000282:
039288,000283: 30,3272 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039289,000284: 30,3273 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039290,000285: 30,3274 70000 SQUARE
039291,000286: 30,3275 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039292,000287: 30,3276 00006 EXTEND
039293,000288: 30,3277 63302 BZMF +3
039294,000289: 30,3300 34755 CA ZERO
039295,000290: 30,3301 55650 TS FLAGOODW
039296,000291:
039297,000292: 30,3302 50142 INDEX TEM2
039298,000293: 30,3303 30154 CA MPAC
039299,000294: 30,3304 50142 INDEX TEM2
039300,000295: 30,3305 54321 TS CPHI # OUTPUTS TO NOUN22
039301,000296: 30,3306 00006 EXTEND
039302,000297: 30,3307 50142 INDEX TEM2
039303,000298: 30,3310 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039304,000299: 30,3311 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039305,000300: 30,3312 50142 INDEX TEM2
039306,000301: 30,3313 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039307,000302: 30,3314 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 909
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039309,000304: 30,3315 10142 CCS TEM2
039310,000305: 30,3316 13271 TCF DELGMBLP
039311,000306:
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Page 910
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039313,000308: # BRANCHES TO NOATTCNT
039314,000309: 30,3317 11651 CCS FLPAUTNO
039315,000310: 30,3320 13743 TCF NOATTCNT +2 # NOT PNGCS AUTO
039316,000311:
039317,000312: 30,3321 30101 CA FLAGWRD5
039318,000313: 30,3322 74745 MASK ENGONBIT
039319,000314: 30,3323 00006 EXTEND
039320,000315: 30,3324 13743 BZF NOATTCNT +2 # ENGINE NOT ON
039321,000316:
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Page 911
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039323,000318: # LIMIT THE ATTITUDE ANGLE CHANGES
039324,000319:
039325,000320: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039326,000321: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039327,000322: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039328,000323: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039329,000324:
039330,000325: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039331,000326: # * * * * * *
039332,000327: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039333,000328: # * * * * * *
039334,000329: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039335,000330:
039336,000331: 30,3325 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039337,000332: 30,3326 51647 INDEX NDXCDUW
039338,000333: 30,3327 33760 CA DAZMAX
039339,000334: 30,3330 03720 TC LIMITSUB
039340,000335: 30,3331 55676 TS -DELGMB +2 # -DELGMBZ
039341,000336:
039342,000337: 30,3332 31675 CA -DELGMB +1
039343,000338: 30,3333 00006 EXTEND
039344,000339: 30,3334 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039345,000340: 30,3335 54001 TS L
039346,000341: 30,3336 51647 INDEX NDXCDUW
039347,000342: 30,3337 33762 CA DAY/2MAX
039348,000343: 30,3340 03720 TC LIMITSUB
039349,000344: 30,3341 00006 EXTEND
039350,000345: 30,3342 10745 DV COSCDUZ
039351,000346: 30,3343 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039352,000347:
039353,000348: 30,3344 00006 EXTEND
039354,000349: 30,3345 70737 MP SINCDUZ
039355,000350: 30,3346 20001 DDOUBL
039356,000351: 30,3347 40000 COM
039357,000352: 30,3350 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039358,000353: 30,3351 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039359,000354: 30,3352 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039360,000355: 30,3353 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039361,000356: 30,3354 33760 CA DAXMAX
039362,000357: 30,3355 03720 TC LIMITSUB
039363,000358: 30,3356 55674 TS -DELGMB # SAVE LIMITED +DELATTX
039364,000359: 30,3357 11650 CCS FLAGOODW
039365,000360: 30,3360 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039366,000361: 30,3361 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039367,000362: 30,3362 41675 CS -DELGMB +1
039368,000363: 30,3363 00006 EXTEND
039369,000364: 30,3364 70737 MP SINCDUZ
039370,000365: 30,3365 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039371,000366: 30,3366 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039372,000367: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039373,000368:
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Page 912
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039375,000370: # COMPUTE COMMANDED ATTITUDE RATES
039376,000371:
039377,000372: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039378,000373: # * * * * * *
039379,000374: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039380,000375: # * * * * * *
039381,000376: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039382,000377:
039383,000378: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039384,000379: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039385,000380: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039386,000381:
039387,000382: 30,3367 41674 CS -DELGMB
039388,000383: 30,3370 55642 TS OMEGAPD
039389,000384: 30,3371 41675 CS -DELGMB +1
039390,000385: 30,3372 00006 EXTEND
039391,000386: 30,3373 70737 MP SINCDUZ
039392,000387: 30,3374 20001 DDOUBL
039393,000388: 30,3375 27642 ADS OMEGAPD
039394,000389: 30,3376 27642 ADS OMEGAPD
039395,000390:
039396,000391: 30,3377 41675 CS -DELGMB +1
039397,000392: 30,3400 00006 EXTEND
039398,000393: 30,3401 70747 MP COSCDUX
039399,000394: 30,3402 20001 DDOUBL
039400,000395: 30,3403 00006 EXTEND
039401,000396: 30,3404 70745 MP COSCDUZ
039402,000397: 30,3405 55643 TS OMEGAQD
039403,000398: 30,3406 41676 CS -DELGMB +2
039404,000399: 30,3407 00006 EXTEND
039405,000400: 30,3410 70741 MP SINCDUX
039406,000401: 30,3411 27643 ADS OMEGAQD
039407,000402: 30,3412 27643 ADS OMEGAQD
039408,000403: 30,3413 27643 ADS OMEGAQD
039409,000404:
039410,000405: 30,3414 31675 CA -DELGMB +1
039411,000406: 30,3415 00006 EXTEND
039412,000407: 30,3416 70741 MP SINCDUX
039413,000408: 30,3417 20001 DDOUBL
039414,000409: 30,3420 00006 EXTEND
039415,000410: 30,3421 70745 MP COSCDUZ
039416,000411: 30,3422 55644 TS OMEGARD
039417,000412: 30,3423 41676 CS -DELGMB +2
039418,000413: 30,3424 00006 EXTEND
039419,000414: 30,3425 70747 MP COSCDUX
039420,000415: 30,3426 27644 ADS OMEGARD
039421,000416: 30,3427 27644 ADS OMEGARD
039422,000417: 30,3430 27644 ADS OMEGARD
039423,000418:
|
|
Page 913
|
039425,000420: # FINAL TRANSFER
039426,000421:
039427,000422: 30,3431 34752 CA TWO
039428,000423: 30,3432 54142 CDUWXFR TS TEM2
039429,000424: 30,3433 50142 INDEX TEM2
039430,000425: 30,3434 31674 CA -DELGMB
039431,000426: 30,3435 00006 EXTEND
039432,000427: 30,3436 73765 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039433,000428: 30,3437 03734 TC ONESTO2S
039434,000429: 30,3440 50142 INDEX TEM2
039435,000430: 30,3441 55637 TS DELCDUX # ANGLE INTERFACE
039436,000431:
039437,000432: 30,3442 50142 INDEX TEM2
039438,000433: 30,3443 11642 CCS OMEGAPD
039439,000434: 30,3444 64753 AD ONE
039440,000435: 30,3445 13447 TCF +2
039441,000436: 30,3446 64753 AD ONE
039442,000437: 30,3447 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039443,000438: 30,3450 50142 INDEX TEM2
039444,000439: 30,3451 71642 MP OMEGAPD
039445,000440: 30,3452 00006 EXTEND
039446,000441: 30,3453 74741 MP BIT11 # 1/16
039447,000442: 30,3454 00006 EXTEND
039448,000443: 30,3455 50142 INDEX TEM2 # 2
039449,000444: 30,3456 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039450,000445: 30,3457 54001 TS L
039451,000446: 30,3460 33762 CA DELERLIM
039452,000447: 30,3461 03720 TC LIMITSUB
039453,000448: 30,3462 50142 INDEX TEM2
039454,000449: 30,3463 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039455,000450: 30,3464 10142 CCS TEM2
039456,000451: 30,3465 13432 TCF CDUWXFR
039457,000452:
039458,000453: # HAUSKEEPING AND RETURN
039459,000454:
039460,000455: 30,3466 31645 TCQCDUW CA ECDUWUSR
039461,000456: 30,3467 54003 TS EBANK # RETURN USER'S EBANK
039462,000457:
039463,000458: 30,3470 06042 TC INTPRET
039464,000459: 30,3471 52001 SETPD GOTO
039465,000460: 30,3472 00001 0
039466,000461: 30,3473 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039467,000462:
|
|
Page 914
|
039469,000464: # THRUST VECTOR FILTER SUBROUTINE
039470,000465:
039471,000466: 30,3474 00006 FLTRSUB EXTEND
039472,000467: 30,3475 22142 QXCH TEM2
039473,000468: 30,3476 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039474,000469: 30,3477 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039475,000470: 30,3500 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039476,000471: 30,3501 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039477,000472: 30,3502 51647 INDEX NDXCDUW
039478,000473: 30,3503 73753 MP GAINFLTR
039479,000474: 30,3504 54001 TS L # INCR TO OFFSET, UNLIMITED
039480,000475: 30,3505 33755 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039481,000476: 30,3506 03720 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039482,000477: 30,3507 60143 AD TEM3 # ORIGINAL OFFSET
039483,000478: 30,3510 54001 TS L # TOTAL OFFSET, UNLIMITED
039484,000479: 30,3511 33756 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039485,000480: 30,3512 03720 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039486,000481: 30,3513 00142 TC TEM2
039487,000482:
039488,000483: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039489,000484:
039490,000485: 30,3514 63441 UNWCTEST DOT DSQ
039491,000486: 30,3515 00001 UNX/2
039492,000487: 30,3516 50025 DSU BMN
039493,000488: 30,3517 21760 DOTSWFMX
039494,000489: 30,3520 61221 DCMCL
039495,000490: 30,3521 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039496,000491: 30,3522 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
039497,000492: 30,3523 00000 0
039498,000493:
|
|
Page 915
|
039500,000495: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039501,000496: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039502,000497:
039503,000498: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039504,000499:
039505,000500: 30,3524 63545 NB2CDUSP DLOAD DSQ
039506,000501: 30,3525 00003 2
039507,000502: 30,3526 51021 BDSU BPL
039508,000503: 30,3527 06514 DP1/4TH
039509,000504: 30,3530 61533 +3
039510,000505: 30,3531 77745 DLOAD
039511,000506: 30,3532 06524 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039512,000507: 30,3533 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039513,000508:
039514,000509: 30,3534 00006 EXTEND
039515,000510: 30,3535 30155 DCA MPAC
039516,000511: 30,3536 20001 DDOUBL
039517,000512: 30,3537 54145 TS TEM5
039518,000513: 30,3540 13543 TCF +3
039519,000514: 30,3541 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039520,000515: 30,3542 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039521,000516:
039522,000517: 30,3543 50120 INDEX FIXLOC
039523,000518: 30,3544 30002 CA 2
039524,000519: 30,3545 22154 LXCH MPAC
039525,000520: 30,3546 03613 TC ARCTRGSP
039526,000521: 30,3547 54156 TS MPAC +2 # CDUZ
039527,000522:
039528,000523: 30,3550 34755 CA ZERO
039529,000524: 30,3551 03571 TC DVBYCOSM
039530,000525: 30,3552 34751 CA FOUR
039531,000526: 30,3553 03571 TC DVBYCOSM
039532,000527: 30,3554 40141 CS TEM1
039533,000528: 30,3555 03613 TC ARCTRGSP
039534,000529: 30,3556 54155 TS MPAC +1 # CDUY
039535,000530:
039536,000531: 30,3557 34750 CA BIT4
039537,000532: 30,3560 03571 TC DVBYCOSM
039538,000533: 30,3561 33570 CA 16OCT
039539,000534: 30,3562 03571 TC DVBYCOSM
039540,000535: 30,3563 40141 CS TEM1
039541,000536: 30,3564 03613 TC ARCTRGSP
039542,000537: 30,3565 54154 TS MPAC # CDUX
039543,000538:
039544,000539: 30,3566 06042 TC INTPRET
039545,000540: 30,3567 77616 RVQ
039546,000541:
039547,000542: 30,3570 00016 16OCT OCT 16
039548,000543:
|
|
Page 916
|
039550,000545: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039551,000546: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039552,000547: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039553,000548: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039554,000549: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039555,000550: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039556,000551: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039557,000552:
039558,000553: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039559,000554: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039560,000555: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039561,000556: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039562,000557:
039563,000558: 30,3571 60120 DVBYCOSM AD FIXLOC
039564,000559: 30,3572 54116 TS ADDRWD # ADRES OF OPERAND
039565,000560:
039566,000561: 30,3573 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039567,000562: 30,3574 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039568,000563: 30,3575 00006 EXTEND
039569,000564: 30,3576 63600 BZMF +2
039570,000565: 30,3577 40000 COM
039571,000566: 30,3600 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039572,000567: 30,3601 00006 EXTEND
039573,000568: 30,3602 63610 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039574,000569:
039575,000570: 30,3603 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039576,000571: 30,3604 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039577,000572: 30,3605 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039578,000573: 30,3606 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039579,000574: 30,3607 10145 DV TEM5
039580,000575: 30,3610 54001 TSL&TCQ TS L
039581,000576: 30,3611 22141 LXCH TEM1
039582,000577: 30,3612 00002 TC Q
039583,000578:
|
|
Page 917
|
039585,000580: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039586,000581: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039587,000582: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039588,000583:
039589,000584: 30,3613 00006 ARCTRGSP EXTEND
039590,000585: 30,3614 13656 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039591,000586:
039592,000587: 30,3615 00006 EXTEND
039593,000588: 30,3616 22144 QXCH TEM4
039594,000589: 30,3617 54142 TS TEM2
039595,000590: 30,3620 30001 CA L
039596,000591: 30,3621 54143 TS TEM3
039597,000592: 30,3622 34755 CA ZERO
039598,000593: 30,3623 00006 EXTEND
039599,000594: 30,3624 10142 DV TEM2
039600,000595: 30,3625 00006 EXTEND
039601,000596: 30,3626 13645 BZF USECOS
039602,000597:
039603,000598: 30,3627 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039604,000599: 30,3630 34755 CA ZERO
039605,000600: 30,3631 13635 TCF +4
039606,000601: 30,3632 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039607,000602: 30,3633 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039608,000603: 30,3634 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039609,000604: 30,3635 54143 TS TEM3 # WE NO LONGER NEED COS
039610,000605: 30,3636 30142 CA TEM2
039611,000606: 30,3637 03663 TC SPARCSIN -1
039612,000607: 30,3640 03734 TC ONESTO2S
039613,000608: 30,3641 00006 EXTEND
039614,000609: 30,3642 20143 MSU TEM3
039615,000610: 30,3643 03734 1TO2&TCQ TC ONESTO2S
039616,000611: 30,3644 00144 TC TEM4
039617,000612:
039618,000613: 30,3645 40143 USECOS CS TEM3 # COS IS SMALLER
039619,000614: 30,3646 03663 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039620,000615: 30,3647 64736 AD HALF
039621,000616: 30,3650 54143 TS TEM3 # WE NO LONGER NEED COS
039622,000617: 30,3651 10142 CCS TEM2
039623,000618: 30,3652 30143 CA TEM3
039624,000619: 30,3653 13643 TCF 1TO2&TCQ
039625,000620: 30,3654 40143 CS TEM3
039626,000621: 30,3655 13643 TCF 1TO2&TCQ
039627,000622:
039628,000623: 30,3656 10001 SINZERO CCS L
039629,000624: 30,3657 34755 CA ZERO
039630,000625: 30,3660 00002 TC Q
039631,000626: 30,3661 34735 CA NEGMAX # PI, 2'S COMP
039632,000627: 30,3662 00002 TC Q
039633,000628:
|
|
Page 918
|
039635,000630: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039636,000631: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039637,000632: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039638,000633: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039639,000634:
039640,000635: 30,3663 60000 DOUBLE
039641,000636: 30,3664 54021 SPARCSIN TS SR
039642,000637: 30,3665 13671 TCF +4
039643,000638: 30,3666 50000 INDEX A
039644,000639: 30,3667 44734 CS LIMITS
039645,000640: 30,3670 54021 TS SR
039646,000641: 30,3671 00006 EXTEND
039647,000642: 30,3672 70000 MP A
039648,000643: 30,3673 54141 TS TEM1
039649,000644: 30,3674 00006 EXTEND
039650,000645: 30,3675 73717 MP DPL9
039651,000646: 30,3676 63716 AD DPL7
039652,000647: 30,3677 00006 EXTEND
039653,000648: 30,3700 70141 MP TEM1
039654,000649: 30,3701 63715 AD DPL5
039655,000650: 30,3702 00006 EXTEND
039656,000651: 30,3703 70141 MP TEM1
039657,000652: 30,3704 63714 AD DPL3
039658,000653: 30,3705 00006 EXTEND
039659,000654: 30,3706 70141 MP TEM1
039660,000655: 30,3707 63713 AD DPL1
039661,000656: 30,3710 00006 EXTEND
039662,000657: 30,3711 70021 MP SR
039663,000658: 30,3712 00002 TC Q
039664,000659: 30,3713 24406 DPL1 DEC 10502 B-14
039665,000660: 30,3714 00660 DPL3 DEC 432 B-14
039666,000661: 30,3715 16204 DPL5 DEC 7300 B-14
039667,000662: 30,3716 50744 DPL7 DEC -11803 B-14
039668,000663: 30,3717 20315 DPL9 DEC 8397 B-14
039669,000664:
|
|
Page 919
|
039671,000666: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039672,000667: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039673,000668: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039674,000669:
039675,000670: # VERSION COURTESY HUGH BLAIR-SMITH
039676,000671:
039677,000672: 30,3720 54141 LIMITSUB TS TEM1
039678,000673: 30,3721 34755 CA ZERO
039679,000674: 30,3722 00006 EXTEND
039680,000675: 30,3723 10141 DV TEM1
039681,000676: 30,3724 10000 CCS A
039682,000677: 30,3725 22141 LXCH TEM1
039683,000678: 30,3726 13730 TCF +2
039684,000679: 30,3727 13732 TCF +3
039685,000680: 30,3730 30001 CA L
039686,000681: 30,3731 00002 TC Q
039687,000682: 30,3732 40141 CS TEM1
039688,000683: 30,3733 00002 TC Q
039689,000684:
039690,000685: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039691,000686:
039692,000687: 30,3734 10000 ONESTO2S CCS A
039693,000688: 30,3735 64753 AD ONE
039694,000689: 30,3736 00002 TC Q
039695,000690: 30,3737 40000 CS A
039696,000691: 30,3740 00002 TC Q
039697,000692:
039698,000693: # NO ATTITUDE CONTROL
039699,000694:
039700,000695: 30,3741 05567 NOATTCNT TC ALARM
039701,000696: 30,3742 00402 OCT 00402 # NO ATTITUDE CONTROL
039702,000697:
039703,000698: 30,3743 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039704,000699: 30,3744 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039705,000700: 30,3745 40166 FCADR STOPRATE
039706,000701: 30,3746 13466 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039707,000702:
039708,000703: # MIDDLE GIMBAL ANGLE ALARM
039709,000704:
039710,000705: 30,3747 05567 ALARMMGA TC ALARM
039711,000706: 30,3750 00401 OCT 00401
039712,000707: 30,3751 13266 TCF MGARET
039713,000708:
|
|
Page 920
|
039715,000710: # ************************************************************************
039716,000711: # CONSTANTS
039717,000712: # ************************************************************************
039718,000713:
039719,000714: # ADDRESS CONSTANTS
039720,000715:
039721,000716: 30,3752 03245 ECDUWL ECADR ECDUW
039722,000717:
039723,000718: # THRUST DIRECTION FILTER CONSTANTS
039724,000719:
039725,000720: 30,3753 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039726,000721: 30,3754 03146 DEC .1 # GAIN FILTER WITH CSM
039727,000722:
039728,000723: 30,3755 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039729,000724: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039730,000725:
039731,000726: 30,3756 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039732,000727: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039733,000728:
039734,000729: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039735,000730:
039736,000731: 30,3757 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039737,000732: # LOWER PART COMES FROM NEXT CONSTANT
039738,000733:
039739,000734: 30,3760 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039740,000735: 30,3761 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039741,000736:
039742,000737: 30,3762 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039743,000738: 30,3763 00133 DEC .0055555555
039744,000739:
039745,000740: 30,3764 30,3760 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039746,000741:
039747,000742: 30,3764 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039748,000743:
039749,000744: # CONSTANTS FOR DATA TRANSFER
039750,000745:
039751,000746: 30,3765 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039752,000747: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039753,000748:
039754,000749: 30,3766 30,3762 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039755,000750:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc