Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Linden Sims. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

040505,000002:                                                                                                  ## Copyright:   Public domain.
040506,000003:                                                                                                  ## Filename:    FINDCDUW_-_GUIDAP_INTERFACE.agc
040507,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
040508,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
040509,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
040510,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
040511,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
040512,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
040513,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
040514,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
040515,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
040516,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
040517,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
040518,000015:                                                                                                  ## Reference:   pp. 899-917
040519,000016:                                                                                                  ## Assembler:   yaYUL
040520,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
040521,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
040522,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
040523,000020:                                                                                                  ##              2017-08-26 MAS  Updated for Zerlina 56.
040524,000021: 

Page 899

040526,000023:                                                                                                  #  PROGRAM NAME:   FINDCDUW
040527,000024: 
040528,000025:                                                                                                  #  MOD NUMBER:     1         68 07 15
040529,000026: 
040530,000027:                                                                                                  #  MOD AUTHOR:     KLUMPP
040531,000028: 
040532,000029:                                                                                                  #  OBJECTS OF MOD: 1.        TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
040533,000030:                                                                                                  #                  2.        TO MAINTAIN CORRECT AND CURRENT THRUST
040534,000031:                                                                                                  #                            DIRECTION DATA IN ALL MODES.  THIS IS DONE BY
040535,000032:                                                                                                  #                            FETCHING FOR THE THRUST DIRECTION FILTER THE
040536,000033:                                                                                                  #                            CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
040537,000034:                                                                                                  #                            MODES.
040538,000035:                                                                                                  #                  3.        TO SUBSTITUTE A STOPRATE FOR THE NORMAL
040539,000036:                                                                                                  #                            AUTOPILOT COMMANDS WHENEVER
040540,000037:                                                                                                  #                            1) NOT IN PNGCS-AUTO, OR
040541,000038:                                                                                                  #                            2) ENGINE IS OFF.
040542,000039: 
040543,000040:                                                                                                  #  FUNCTIONAL DESCRIPTION:
040544,000041: 
040545,000042:                                                                                                  #  FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
040546,000043:                                                                                                  #  AND THE DIGITAL AUTOPILOT.  THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
040547,000044:                                                                                                  #  AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
040548,000045:                                                                                                  #  INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
040549,000046:                                                                                                  #  ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
040550,000047:                                                                                                  #  LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
040551,000048:                                                                                                  #  ACCELERATIONS AVAILABLE).
040552,000049: 
040553,000050:                                                                                                  #  FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
040554,000051:                                                                                                  #  FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN  XOVINHIB  SET,
040555,000052:                                                                                                  #  ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
040556,000053: 

Page 900

040558,000055:                                                                                                  #  SPECIFICATIONS:
040559,000056: 
040560,000057:                                                                                                  #  INITIALIZATION: A SINGLE INTERPRETIVE CALL TO  INITCDUW  IS REQUIRED
040561,000058:                                                                                                  #                  BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
040562,000059: 
040563,000060:                                                                                                  #  CALL:           INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
040564,000061:                                                                                                  #                  VECTOR IN MPAC.  INTERPRETIVE CALL TO FINDCDUW -2 WITH
040565,000062:                                                                                                  #                  THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
040566,000063: 
040567,000064:                                                                                                  #  RETURNS:        NORMAL INTERPRETIVE IN ALL CASES
040568,000065: 
040569,000066:                                                                                                  #                  1.       NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
040570,000067: 
040571,000068:                                                                                                  #                  2.       IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
040572,000069:                                                                                                  #                           WITHOUT ISSUING AUTOPILOT CMDS.
040573,000070: 
040574,000071:                                                                                                  #                  3.       IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
040575,000072:                                                                                                  #                           ISSUING AUTOPILOT CMDS.
040576,000073: 
040577,000074:                                                                                                  #  ALARMS:         00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
040578,000075:                                                                                                  #                           FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
040579,000076:                                                                                                  #                           BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
040580,000077:                                                                                                  #                  00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
040581,000078:                                                                                                  #                           UNITIZED USING NORMUNIT.  FINDCDUW ISSUES
040582,000079:                                                                                                  #                           STOPRATE AS ONLY INPUT TO AUTOPILOT.
040583,000080: 
040584,000081:                                                                                                  #  INPUTS:         UNFC/2   THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040585,000082:                                                                                                  #                  UNWC/2   WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
040586,000083:                                                                                                  #                  OGABIAS  POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
040587,000084:                                                                                                  #                  XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
040588,000085:                                                                                                  #                  CSMDOCKD FLAG DENOTING CSM DOCKED.
040589,000086:                                                                                                  #                  STEERSW  FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
040590,000087: 
040591,000088:                                                                                                  #  OUTPUTS:        DELCDUX,Y,Z
040592,000089:                                                                                                  #                  OMEGAPD,+1,+2
040593,000090:                                                                                                  #                  DELPEROR,+1,+2
040594,000091:                                                                                                  #                  CPHI,+1,+2 FOR NOUN22
040595,000092: 
040596,000093:                                                                                                  #  DEBRIS:         FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
040597,000094:                                                                                                  #                  WRITING INTO THESE LOCATIONS THE SINES AND COSINES
040598,000095:                                                                                                  #                  OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
040599,000096: 

Page 901

040601,000098:                                                                                                  #  INITIALIZATION FOR FINDCDUW
040602,000099: 
040603,000100: 30,3064                                           BANK     30                                    
040604,000101: 30,2000                                           SETLOC   FCDUW                                 
040605,000102: 30,2000                                           BANK                                           
040606,000103: 
040607,000104: 30,3064  E6,1645                                  EBANK=   ECDUW                                 
040608,000105: 
040609,000106: 30,3064                                           COUNT*   $$/FCDUW                              
040610,000107: 
040611,000108: 30,3064           77331        INITCDUW           SSP      VLOAD                                 
040612,000109: 30,3065           03300                                    OGABIAS                               
040613,000110: 30,3066           00000                                    0                                     
040614,000111: 30,3067           06516                                    UNITX                                 
040615,000112: 30,3070           03267                           STORE    UNFV/2                                
040616,000113: 30,3071           03261                           STORE    UNWC/2                                
040617,000114: 30,3072           77616                           RVQ                                            
040618,000115: 
040619,000116:                                                                                                  #  FINDCDUW PRELIMINARIES
040620,000117: 
040621,000118: 30,3073           77775                           VLOAD                                          #  FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
040622,000119: 30,3074           03253                                    UNFC/2                                #  INPUT VECTORS NEED NOT BE SEMI-UNIT
040623,000120: 30,3075           40200        FINDCDUW           BOV      SETPD                                 #  FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
040624,000121: 30,3076           61075                                    FINDCDUW                              #  INTERPRETER NOW INITIALIZED
040625,000122: 30,3077           00023                                    22                                    #  LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
040626,000123: 30,3100           77420                           STQ      EXIT                                  
040627,000124: 30,3101           03246                                    QCDUWUSR                              #  SAVE RETURN ADDRESS
040628,000125: 
040629,000126:                                                                                                  #  MORE HAUSKEEPING
040630,000127: 
040631,000128: 30,3102           33745                           CA       ECDUWL                                
040632,000129: 30,3103           56003                           XCH      EBANK                                 #  SET EBANK
040633,000130: 30,3104           55645                           TS       ECDUWUSR                              #  SAVE USER'S EBANK
040634,000131: 
040635,000132: 30,3105           30111                           CA       DAPBOOLS                              
040636,000133: 30,3106           74737                           MASK     CSMDOCKD                              #  CSMDOCKD MUST NOT BE BIT15
040637,000134: 30,3107           10000                           CCS      A                                     
040638,000135: 30,3110           34753                           CA       ONE                                   #  INDEX IF CSM DOCKED
040639,000136: 30,3111           55647                           TS       NDXCDUW                               
040640,000137: 
040641,000138: 30,3112           34743                           CA       XOVINHIB                              #  XOVINHIB MUST NOT BE BIT15
040642,000139: 30,3113           55651                           TS       FLPAUTNO                              #  SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
040643,000140: 
040644,000141: 30,3114           70111                           MASK     DAPBOOLS                              
040645,000142: 30,3115           55650                           TS       FLAGOODW                              #  FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
040646,000143: 

Page 902

040648,000145:                                                                                                  #  FETCH BASIC DATA
040649,000146: 
040650,000147: 30,3116           00004                           INHINT                                         #  RELINT AT PAUTNO (TC INTPRET)
040651,000148: 
040652,000149: 30,3117           30032                           CA       CDUX                                  #  FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
040653,000150: 30,3120           54771                           TS       CDUSPOTX                              #       REPLACE BELOW IF PNGCS AUTO
040654,000151: 30,3121           30033                           CA       CDUY                                  
040655,000152: 30,3122           54765                           TS       CDUSPOTY                              
040656,000153: 30,3123           30034                           CA       CDUZ                                  
040657,000154: 30,3124           54767                           TS       CDUSPOTZ                              
040658,000155: 
040659,000156: 30,3125           34742                           CA       BIT10                                 #  PNGCS CONTROL BIT
040660,000157: 30,3126           00006                           EXTEND                                         
040661,000158: 30,3127           02030                           RAND     CHAN30                                
040662,000159: 30,3130           10000                           CCS      A                                     
040663,000160: 30,3131           13146                           TCF      PAUTNO                                #  NOT PNGCS (BITS INVERTED)
040664,000161: 
040665,000162: 30,3132           34736                           CA       BIT14                                 #  AUTO MODE BIT
040666,000163: 30,3133           00006                           EXTEND                                         
040667,000164: 30,3134           02031                           RAND     CHAN31                                
040668,000165: 30,3135           10000                           CCS      A                                     
040669,000166: 30,3136           13146                           TCF      PAUTNO                                #  NOT AUTO (BITS INVERTED)
040670,000167: 
040671,000168: 30,3137           55651                           TS       FLPAUTNO                              #  RESET FLAG PNGCS AUTO NOT
040672,000169: 
040673,000170: 30,3140           31634                           CA       CDUXD                                 #  PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
040674,000171: 30,3141           54771                           TS       CDUSPOTX                              
040675,000172: 30,3142           31635                           CA       CDUYD                                 
040676,000173: 30,3143           54765                           TS       CDUSPOTY                              
040677,000174: 30,3144           31636                           CA       CDUZD                                 
040678,000175: 30,3145           54767                           TS       CDUSPOTZ                              
040679,000176: 

Page 903

040681,000178:                                                                                                  #  FETCH INPUTS
040682,000179: 
040683,000180: 30,3146           06051        PAUTNO             TC       INTPRET                               #  ENTERING THRUST CMD STILL IN MPAC
040684,000181: 30,3147           77634                           RTB                                            
040685,000182: 30,3150           21710                                    NORMUNIT                              
040686,000183: 30,3151           24001                           STOVL    UNX/2                                 #  SEMI-UNIT THRUST CMD AS INITIAL UNX/2
040687,000184: 30,3152           03261                                    UNWC/2                                
040688,000185: 30,3153           47034                           RTB      RTB                                   
040689,000186: 30,3154           21710                                    NORMUNIT                              
040690,000187: 30,3155           47622                                    QUICTRIG                              #  ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
040691,000188: 30,3156           24015                           STOVL    UNZ/2                                 #  SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
040692,000189: 30,3157           00325                                    DELV                                  
040693,000190: 30,3160           53404                           BOVB     UNIT                                  
040694,000191: 30,3161           61734                                    NOATTCNT                              #  AT LEAST ONE ENTERING CMD VCT ZERO
040695,000192: 30,3162           45000                           BOV      CALL                                  
040696,000193: 30,3163           61177                                    AFTRFLTR                              #  IF UNIT DELV OVERFLOWS, SKIP FILTER
040697,000194: 30,3164           47676                                    *SMNB*                                #  YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
040698,000195: 
040699,000196:                                                                                                  #  THRUST DIRECTION FILTER
040700,000197: 
040701,000198: 30,3165           77776                           EXIT                                           
040702,000199: 
040703,000200: 30,3166           31670                           CA       UNFVY/2                               #  FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
040704,000201: 30,3167           22157                           LXCH     MPAC       +3                         #       RENEWED AFTER RETURN FROM CALLER,
040705,000202: 30,3170           03467                           TC       FLTRSUB                               #       TWO FILTER UPDATES MAY BE DONE.
040706,000203: 30,3171           55670                           TS       UNFVY/2                               #  UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
040707,000204: 
040708,000205: 30,3172           31672                           CA       UNFVZ/2                               
040709,000206: 30,3173           22161                           LXCH     MPAC       +5                         
040710,000207: 30,3174           03467                           TC       FLTRSUB                               
040711,000208: 30,3175           55672                           TS       UNFVZ/2                               
040712,000209: 
040713,000210: 30,3176           06051                           TC       INTPRET                               #  COMPLETES FILTER
040714,000211: 

Page 904

040716,000213:                                                                                                  #  FIND A SUITABLE WINDOW POINTING VECTOR
040717,000214: 
040718,000215: 30,3177           46135        AFTRFLTR           SLOAD    BHIZ                                  #  IF XOV NOT INHIBITED, GO FETCH ZNB
040719,000216: 30,3200           03251                                    FLAGOODW                              
040720,000217: 30,3201           61205                                    FETCHZNB                              
040721,000218: 30,3202           45175                           VLOAD    CALL                                  
040722,000219: 30,3203           00015                                    UNZ/2                                 
040723,000220: 30,3204           61507                                    UNWCTEST                              
040724,000221: 
040725,000222: 30,3205           77775        FETCHZNB           VLOAD                                          
040726,000223: 30,3206           02153                                    ZNBPIP                                
040727,000224: 30,3207           34015                           STCALL   UNZ/2                                 
040728,000225: 30,3210           61507                                    UNWCTEST                              
040729,000226: 
040730,000227: 30,3211           57575                           VLOAD    VCOMP                                 #  Z AND -X CAN'T BOTH PARALLEL UNFC/2
040731,000228: 30,3212           02137                                    XNBPIP                                
040732,000229: 30,3213           00015                           STORE    UNZ/2                                 
040733,000230: 
040734,000231:                                                                                                  #  COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
040735,000232: 
040736,000233: 30,3214           47375        DCMCL              VLOAD    VXV                                   
040737,000234: 30,3215           00015                                    UNZ/2                                 
040738,000235: 30,3216           00001                                    UNX/2                                 
040739,000236: 30,3217           41456                           UNIT     PUSH                                  #  UNY/2 FIRST ITERATION
040740,000237: 30,3220           76435                           VXV      VSL1                                  
040741,000238: 30,3221           00001                                    UNX/2                                 
040742,000239: 30,3222           00015                           STORE    UNZ/2                                 #  -UNZ/2 FIRST ITERATION
040743,000240: 30,3223           63361                           VXSC     PDVL                                  #  EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
040744,000241: 30,3224           03273                                    UNFVZ/2                               #  MUST BE SMALL
040745,000242: 30,3225           51361                           VXSC     BVSU                                  #  YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
040746,000243: 30,3226           03271                                    UNFVY/2                               #  MUST BE SMALL
040747,000244: 30,3227           53372                           VSL1     VAD                                   
040748,000245: 30,3230           00001                                    UNX/2                                 
040749,000246: 30,3231           77656                           UNIT                                           #  TOTALLY ELIMINATES THRUST POINTING ERROR
040750,000247: 30,3232           00001                           STORE    UNX/2                                 #  UNX/2
040751,000248: 30,3233           76435                           VXV      VSL1                                  
040752,000249: 30,3234           00015                                    UNZ/2                                 #  -UNZ/2 WAS STORED HERE REMEMBER
040753,000250: 30,3235           00007                           STORE    UNY/2                                 #  UNY/2
040754,000251: 30,3236           47276                           VCOMP    VXV                                   
040755,000252: 30,3237           00001                                    UNX/2                                 
040756,000253: 30,3240           77772                           VSL1                                           
040757,000254: 30,3241           00015                           STORE    UNZ/2                                 #  UNZ/2
040758,000255: 

Page 905

040760,000257:                                                                                                  #  COMPUTE THE REQUIRED GIMBAL ANGLES
040761,000258: 
040762,000259: 30,3242           77624                           CALL                                           
040763,000260: 30,3243           61517                                    NB2CDUSP                              #  YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
040764,000261: 30,3244           77776                           EXIT                                           
040765,000262: 
040766,000263:                                                                                                  #  BIAS OUTER GIMBAL ANGLE
040767,000264: 
040768,000265: 30,3245           31677                           CA       OGABIAS                               
040769,000266: 30,3246           26154                           ADS      MPAC                                  
040770,000267: 
040771,000268:                                                                                                  #  LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
040772,000269: 
040773,000270: 30,3247           30156                           CA       MPAC       +2                         #  LIMIT THE MGA
040774,000271: 30,3250           54001                           TS       L                                     #  CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
040775,000272: 30,3251           33757                           CA       CDUZDLIM                              
040776,000273: 30,3252           03713                           TC       LIMITSUB                              #  YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
040777,000274: 30,3253           56156                           XCH      MPAC       +2                         #       BECAUSE USING 2'S COMP. WHO CARES?
040778,000275: 30,3254           00006                           EXTEND                                         
040779,000276: 30,3255           20156                           MSU      MPAC       +2                         #  THIS BETTER YIELD ZERO
040780,000277: 30,3256           00006                           EXTEND                                         
040781,000278: 30,3257           13261                           BZF      +2                                    
040782,000279: 30,3260           13742                           TCF      ALARMMGA                              
040783,000280: 
040784,000281: 30,3261           00004        MGARET             INHINT                                         #  RELINT AT TC INTPRET AFTER TCQCDUW
040785,000282: 
040786,000283: 30,3262           22007                           ZL                                             
040787,000284: 30,3263           34752                           CA       TWO                                   
040788,000285: 30,3264           54142        DELGMBLP           TS       TEM2                                  
040789,000286: 
040790,000287: 30,3265           30001                           CA       L                                     #  TO PREVENT FALSE STARTS ABOUT X, ZERO
040791,000288: 30,3266           00006                           EXTEND                                         #       FLAGOODW IF DELGMBZ OR Y TOO BIG.
040792,000289: 30,3267           70000                           SQUARE                                         
040793,000290: 30,3270           64350                           AD       HI5                                   #  WITHIN 1 BIT OF -(45 DEG SQUARED)
040794,000291: 30,3271           00006                           EXTEND                                         
040795,000292: 30,3272           63275                           BZMF     +3                                    
040796,000293: 30,3273           34755                           CA       ZERO                                  
040797,000294: 30,3274           55650                           TS       FLAGOODW                              
040798,000295: 
040799,000296: 30,3275           50142                           INDEX    TEM2                                  
040800,000297: 30,3276           30154                           CA       MPAC                                  
040801,000298: 30,3277           50142                           INDEX    TEM2                                  
040802,000299: 30,3300           54321                           TS       CPHI                                  #  OUTPUTS TO NOUN22
040803,000300: 30,3301           00006                           EXTEND                                         
040804,000301: 30,3302           50142                           INDEX    TEM2                                  
040805,000302: 30,3303           21634                           MSU      CDUXD                                 #  NO MATTER THAT THESE SLIGHTLY DIFFERENT
040806,000303: 30,3304           40000                           COM                                            #       FROM WHEN WE INITIALLY FETCHED THEM
040807,000304: 30,3305           50142                           INDEX    TEM2                                  
040808,000305: 30,3306           55674                           TS       -DELGMB                               #  -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
040809,000306: 30,3307           54001                           TS       L                                     #  FOR PRECEDING TEST ON NEXT LOOP PASS

Page 906

040811,000308: 30,3310           10142                           CCS      TEM2                                  
040812,000309: 30,3311           13264                           TCF      DELGMBLP                              
040813,000310: 

Page 907

040815,000312:                                                                                                  #  BRANCHES TO NOATTCNT
040816,000313: 
040817,000314: 30,3312           11651                           CCS      FLPAUTNO                              
040818,000315: 30,3313           13736                           TCF      NOATTCNT   +2                         #  NOT PNGCS AUTO
040819,000316: 
040820,000317: 30,3314           30101                           CA       FLAGWRD5                              
040821,000318: 30,3315           74745                           MASK     ENGONBIT                              
040822,000319: 30,3316           00006                           EXTEND                                         
040823,000320: 30,3317           13736                           BZF      NOATTCNT   +2                         #  ENGINE NOT ON
040824,000321: 

Page 908

040826,000323:                                                                                                  #  LIMIT THE ATTITUDE ANGLE CHANGES
040827,000324: 
040828,000325:                                                                                                  #  THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
040829,000326:                                                                                                  #  THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO.  THE PRIME SYSTEM IS
040830,000327:                                                                                                  #  THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
040831,000328:                                                                                                  #  AXIS.  ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
040832,000329: 
040833,000330:                                                                                                  #  * -DELATTX      *   * 1  SIN(CDUZD)  0 * * -DELGMBX *
040834,000331:                                                                                                  #  *               *   *                  * *          *
040835,000332:                                                                                                  #  * -DELATTYPRIME * = * 0  COS(CDUZD)  0 * * -DELGMBY *
040836,000333:                                                                                                  #  *               *   *                  * *          *
040837,000334:                                                                                                  #  * -DELATTZPRIME *   * 0  0           1 * * -DELGMBZ *
040838,000335: 
040839,000336: 30,3320           23676                           LXCH     -DELGMB    +2                         #  SAME AS -DELATTZPRIME UNLIMITED
040840,000337: 30,3321           51647                           INDEX    NDXCDUW                               
040841,000338: 30,3322           33753                           CA       DAZMAX                                
040842,000339: 30,3323           03713                           TC       LIMITSUB                              
040843,000340: 30,3324           55676                           TS       -DELGMB    +2                         #  -DELGMBZ
040844,000341: 
040845,000342: 30,3325           31675                           CA       -DELGMB    +1                         
040846,000343: 30,3326           00006                           EXTEND                                         
040847,000344: 30,3327           70745                           MP       COSCDUZ                               #  YIELDS -DELATTYPRIME/2 UNLIMITED
040848,000345: 30,3330           54001                           TS       L                                     
040849,000346: 30,3331           51647                           INDEX    NDXCDUW                               
040850,000347: 30,3332           33755                           CA       DAY/2MAX                              
040851,000348: 30,3333           03713                           TC       LIMITSUB                              
040852,000349: 30,3334           00006                           EXTEND                                         
040853,000350: 30,3335           10745                           DV       COSCDUZ                               
040854,000351: 30,3336           57675                           XCH      -DELGMB    +1                         #  -DELGMBY, FETCHING UNLIMITED VALUE
040855,000352: 
040856,000353: 30,3337           00006                           EXTEND                                         
040857,000354: 30,3340           70737                           MP       SINCDUZ                               
040858,000355: 30,3341           20001                           DDOUBL                                         
040859,000356: 30,3342           40000                           COM                                            
040860,000357: 30,3343           00006                           EXTEND                                         #  YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
040861,000358: 30,3344           21674                           MSU      -DELGMB                               #       BASED ON UNLIMITED DELGMBY.
040862,000359: 30,3345           54001                           TS       L                                     #       ONE BIT ERROR IF OPERANDS IN MSU
040863,000360: 30,3346           51647                           INDEX    NDXCDUW                               #       OF MIXED SIGNS.  WHO CARES?
040864,000361: 30,3347           33753                           CA       DAXMAX                                
040865,000362: 30,3350           03713                           TC       LIMITSUB                              
040866,000363: 30,3351           55674                           TS       -DELGMB                               #  SAVE LIMITED +DELATTX
040867,000364: 30,3352           11650                           CCS      FLAGOODW                              
040868,000365: 30,3353           41674                           CS       -DELGMB                               #  FETCH IT BACK CHGING SIGN IF WINDOW GOOD
040869,000366: 30,3354           55674                           TS       -DELGMB                               #  OTHERWISE USE ZERO FOR -DELATTX
040870,000367: 30,3355           41675                           CS       -DELGMB    +1                         
040871,000368: 30,3356           00006                           EXTEND                                         
040872,000369: 30,3357           70737                           MP       SINCDUZ                               
040873,000370: 30,3360           20001                           DDOUBL                                         #  YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
040874,000371: 30,3361           27674                           ADS      -DELGMB                               #  -DELGMBX.  NO OVERFLOW SINCE LIMITED TO
040875,000372:                                                                                                  #  20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
040876,000373: 

Page 909

040878,000375:                                                                                                  #  COMPUTE COMMANDED ATTITUDE RATES
040879,000376: 
040880,000377:                                                                                                  #  * OMEGAPD *   * -2  -4 SINCDUZ          +0         * * -DELGMBX *
040881,000378:                                                                                                  #  *         *   *                                    * *          *
040882,000379:                                                                                                  #  * OMEGAQD * = * +0  -8 COSCDUZ COSCDUX  -4 SINCDUX * * -DELGMBY *
040883,000380:                                                                                                  #  *         *   *                                    * *          *
040884,000381:                                                                                                  #  * OMEGARD *   * +0  +8 COSCDUZ SINCDUX  -4 COSCDUX * * -DELGMBZ *
040885,000382: 
040886,000383:                                                                                                  #  ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
040887,000384:                                                                                                  #  PI/2 RAD/SEC.  THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
040888,000385:                                                                                                  #  AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
040889,000386: 
040890,000387: 30,3362           41674                           CS       -DELGMB                               
040891,000388: 30,3363           55642                           TS       OMEGAPD                               
040892,000389: 30,3364           41675                           CS       -DELGMB    +1                         
040893,000390: 30,3365           00006                           EXTEND                                         
040894,000391: 30,3366           70737                           MP       SINCDUZ                               
040895,000392: 30,3367           20001                           DDOUBL                                         
040896,000393: 30,3370           27642                           ADS      OMEGAPD                               
040897,000394: 30,3371           27642                           ADS      OMEGAPD                               
040898,000395: 
040899,000396: 30,3372           41675                           CS       -DELGMB    +1                         
040900,000397: 30,3373           00006                           EXTEND                                         
040901,000398: 30,3374           70747                           MP       COSCDUX                               
040902,000399: 30,3375           20001                           DDOUBL                                         
040903,000400: 30,3376           00006                           EXTEND                                         
040904,000401: 30,3377           70745                           MP       COSCDUZ                               
040905,000402: 30,3400           55643                           TS       OMEGAQD                               
040906,000403: 30,3401           41676                           CS       -DELGMB    +2                         
040907,000404: 30,3402           00006                           EXTEND                                         
040908,000405: 30,3403           70741                           MP       SINCDUX                               
040909,000406: 30,3404           27643                           ADS      OMEGAQD                               
040910,000407: 30,3405           27643                           ADS      OMEGAQD                               
040911,000408: 30,3406           27643                           ADS      OMEGAQD                               
040912,000409: 
040913,000410: 30,3407           31675                           CA       -DELGMB    +1                         
040914,000411: 30,3410           00006                           EXTEND                                         
040915,000412: 30,3411           70741                           MP       SINCDUX                               
040916,000413: 30,3412           20001                           DDOUBL                                         
040917,000414: 30,3413           00006                           EXTEND                                         
040918,000415: 30,3414           70745                           MP       COSCDUZ                               
040919,000416: 30,3415           55644                           TS       OMEGARD                               
040920,000417: 30,3416           41676                           CS       -DELGMB    +2                         
040921,000418: 30,3417           00006                           EXTEND                                         
040922,000419: 30,3420           70747                           MP       COSCDUX                               
040923,000420: 30,3421           27644                           ADS      OMEGARD                               
040924,000421: 30,3422           27644                           ADS      OMEGARD                               
040925,000422: 30,3423           27644                           ADS      OMEGARD                               
040926,000423: 

Page 910

040928,000425:                                                                                                  #  FINAL TRANSFER
040929,000426: 
040930,000427: 30,3424           34752                           CA       TWO                                   
040931,000428: 30,3425           54142        CDUWXFR            TS       TEM2                                  
040932,000429: 30,3426           50142                           INDEX    TEM2                                  
040933,000430: 30,3427           31674                           CA       -DELGMB                               
040934,000431: 30,3430           00006                           EXTEND                                         
040935,000432: 30,3431           73760                           MP       DT/DELT                               #  RATIO OF DAP INTERVAL TO CDUW INTERVAL
040936,000433: 30,3432           03727                           TC       ONESTO2S                              
040937,000434: 30,3433           50142                           INDEX    TEM2                                  
040938,000435: 30,3434           55637                           TS       DELCDUX                               #  ANGLE INTERFACE
040939,000436: 
040940,000437: 30,3435           50142                           INDEX    TEM2                                  
040941,000438: 30,3436           11642                           CCS      OMEGAPD                               
040942,000439: 30,3437           64753                           AD       ONE                                   
040943,000440: 30,3440           13442                           TCF      +2                                    
040944,000441: 30,3441           64753                           AD       ONE                                   
040945,000442: 30,3442           00006                           EXTEND                                         #  WE NOW HAVE ABS(OMEGAPD,QD,RD)
040946,000443: 30,3443           50142                           INDEX    TEM2                                  
040947,000444: 30,3444           71642                           MP       OMEGAPD                               
040948,000445: 30,3445           00006                           EXTEND                                         
040949,000446: 30,3446           74741                           MP       BIT11                                 #  1/16
040950,000447: 30,3447           00006                           EXTEND                                         
040951,000448: 30,3450           50142                           INDEX    TEM2                                  #                    2
040952,000449: 30,3451           11530                           DV       1JACC                                 #  UNITS PI/4 RAD/SEC
040953,000450: 30,3452           54001                           TS       L                                     
040954,000451: 30,3453           33755                           CA       DELERLIM                              
040955,000452: 30,3454           03713                           TC       LIMITSUB                              
040956,000453: 30,3455           50142                           INDEX    TEM2                                  
040957,000454: 30,3456           55274                           TS       DELPEROR                              #  LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
040958,000455: 30,3457           10142                           CCS      TEM2                                  
040959,000456: 30,3460           13425                           TCF      CDUWXFR                               
040960,000457: 
040961,000458:                                                                                                  #  HAUSKEEPING AND RETURN
040962,000459: 
040963,000460: 30,3461           31645        TCQCDUW            CA       ECDUWUSR                              
040964,000461: 30,3462           54003                           TS       EBANK                                 #  RETURN USER'S EBANK
040965,000462: 
040966,000463: 30,3463           06051                           TC       INTPRET                               
040967,000464: 30,3464           52001                           SETPD    GOTO                                  
040968,000465: 30,3465           00001                                    0                                     
040969,000466: 30,3466           03246                                    QCDUWUSR                              #  NORMAL AND ABNORMAL RETURN TO USER
040970,000467: 

Page 911

040972,000469:                                                                                                  #  THRUST VECTOR FILTER SUBROUTINE
040973,000470: 
040974,000471: 30,3467           00006        FLTRSUB            EXTEND                                         
040975,000472: 30,3470           22142                           QXCH     TEM2                                  
040976,000473: 30,3471           54143                           TS       TEM3                                  #  SAVE ORIGINAL OFFSET
040977,000474: 30,3472           40000                           COM                                            #  ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
040978,000475: 30,3473           60001                           AD       L                                     #       ORIG OFFSET ARRIVES IN A, BUT IT'S
040979,000476: 30,3474           00006                           EXTEND                                         #       NOT WORTH THE INCREASED OBSCURITY.
040980,000477: 30,3475           51647                           INDEX    NDXCDUW                               
040981,000478: 30,3476           73746                           MP       GAINFLTR                              
040982,000479: 30,3477           54001                           TS       L                                     #  INCR TO OFFSET, UNLIMITED
040983,000480: 30,3500           33750                           CA       DUNFVLIM                              #  SAME LIMIT FOR Y AND Z
040984,000481: 30,3501           03713                           TC       LIMITSUB                              #  YIELDS INCR TO OFFSET, LIMITED
040985,000482: 30,3502           60143                           AD       TEM3                                  #  ORIGINAL OFFSET
040986,000483: 30,3503           54001                           TS       L                                     #  TOTAL OFFSET, UNLIMITED
040987,000484: 30,3504           33751                           CA       UNFVLIM                               #  SAME LIMIT FOR Y AND Z
040988,000485: 30,3505           03713                           TC       LIMITSUB                              #  YIELDS TOTAL OFFSET, LIMITED
040989,000486: 30,3506           00142                           TC       TEM2                                  
040990,000487: 
040991,000488:                                                                                                  #  SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
040992,000489: 
040993,000490: 30,3507           63441        UNWCTEST           DOT      DSQ                                   
040994,000491: 30,3510           00001                                    UNX/2                                 
040995,000492: 30,3511           50025                           DSU      BMN                                   
040996,000493: 30,3512           21753                                    DOTSWFMX                              
040997,000494: 30,3513           61214                                    DCMCL                                 
040998,000495: 30,3514           43531                           SSP      RVQ                                   #  RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
040999,000496: 30,3515           03251                                    FLAGOODW                              #       ZEROING WINDOW GOOD FLAG
041000,000497: 30,3516           00000                                    0                                     
041001,000498: 

Page 912

041003,000500:                                                                                                  #  NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
041004,000501:                                                                                                  #  ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
041005,000502: 
041006,000503:                                                                                                  #  NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
041007,000504: 
041008,000505: 30,3517           63545        NB2CDUSP           DLOAD    DSQ                                   
041009,000506: 30,3520           00003                                    2                                     
041010,000507: 30,3521           51021                           BDSU     BPL                                   
041011,000508: 30,3522           06510                                    DP1/4TH                               
041012,000509: 30,3523           61526                                    +3                                    
041013,000510: 30,3524           77745                           DLOAD                                          
041014,000511: 30,3525           06520                                    ZEROVECS                              #  IN CASE SIN WAS SLIGHTLY > 1/2
041015,000512: 30,3526           77566                           SQRT     EXIT                                  #  YIELDS COS(CDUZ) IN UNITS OF 2
041016,000513: 
041017,000514: 30,3527           00006                           EXTEND                                         
041018,000515: 30,3530           30155                           DCA      MPAC                                  
041019,000516: 30,3531           20001                           DDOUBL                                         
041020,000517: 30,3532           54145                           TS       TEM5                                  
041021,000518: 30,3533           13536                           TCF      +3                                    
041022,000519: 30,3534           34733                           CA       POSMAX                                #  OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
041023,000520: 30,3535           54145                           TS       TEM5                                  #  COS(CDUZ) IN TEM5, UNITS 1
041024,000521: 
041025,000522: 30,3536           50120                           INDEX    FIXLOC                                
041026,000523: 30,3537           30002                           CA       2                                     
041027,000524: 30,3540           22154                           LXCH     MPAC                                  
041028,000525: 30,3541           03606                           TC       ARCTRGSP                              
041029,000526: 30,3542           54156                           TS       MPAC       +2                         #  CDUZ
041030,000527: 
041031,000528: 30,3543           34755                           CA       ZERO                                  
041032,000529: 30,3544           03564                           TC       DVBYCOSM                              
041033,000530: 30,3545           34751                           CA       FOUR                                  
041034,000531: 30,3546           03564                           TC       DVBYCOSM                              
041035,000532: 30,3547           40141                           CS       TEM1                                  
041036,000533: 30,3550           03606                           TC       ARCTRGSP                              
041037,000534: 30,3551           54155                           TS       MPAC       +1                         #  CDUY
041038,000535: 
041039,000536: 30,3552           34750                           CA       BIT4                                  
041040,000537: 30,3553           03564                           TC       DVBYCOSM                              
041041,000538: 30,3554           33563                           CA       16OCT                                 
041042,000539: 30,3555           03564                           TC       DVBYCOSM                              
041043,000540: 30,3556           40141                           CS       TEM1                                  
041044,000541: 30,3557           03606                           TC       ARCTRGSP                              
041045,000542: 30,3560           54154                           TS       MPAC                                  #  CDUX
041046,000543: 
041047,000544: 30,3561           06051                           TC       INTPRET                               
041048,000545: 30,3562           77616                           RVQ                                            
041049,000546: 
041050,000547: 30,3563           00016        16OCT              OCT      16                                    
041051,000548: 

Page 913

041053,000550:                                                                                                  #  THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
041054,000551:                                                                                                  #  ALREADY CONTAIN COS(MGA)/2 AS A FACTOR.  THEREFORE THE QUOTIENT SHOULD
041055,000552:                                                                                                  #  ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE.  BUT IF THE MGA IS NEAR PI/2
041056,000553:                                                                                                  #  THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
041057,000554:                                                                                                  #  ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
041058,000555:                                                                                                  #  BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
041059,000556:                                                                                                  #  THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
041060,000557: 
041061,000558:                                                                                                  #  IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
041062,000559:                                                                                                  #  REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
041063,000560:                                                                                                  #  ANGLES ARE INDETERMINATE.  THE INNER AND OUTER GIMBAL ANGLES RETURNED
041064,000561:                                                                                                  #  IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
041065,000562: 
041066,000563: 30,3564           60120        DVBYCOSM           AD       FIXLOC                                
041067,000564: 30,3565           54116                           TS       ADDRWD                                #  ADRES OF OPERAND
041068,000565: 
041069,000566: 30,3566           50116                           INDEX    ADDRWD                                #  FETCH NEG ABS OF OPERAND, AD TEM5, AND
041070,000567: 30,3567           30000                           CA       0                                     #      SKIP DIVIDE IF RESULT NEG OR ZERO
041071,000568: 30,3570           00006                           EXTEND                                         
041072,000569: 30,3571           63573                           BZMF     +2                                    
041073,000570: 30,3572           40000                           COM                                            
041074,000571: 30,3573           60145                           AD       TEM5                                  #  C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
041075,000572: 30,3574           00006                           EXTEND                                         
041076,000573: 30,3575           63603                           BZMF     TSL&TCQ                               #  DIFFERENCE ALWAYS SMALL IF BRANCH
041077,000574: 
041078,000575: 30,3576           00006                           EXTEND                                         #  TEM5 EXCEEDS ABS HIGH ORDER PART OF
041079,000576: 30,3577           50116                           INDEX    ADDRWD                                #       OPERAND BY AT LEAST ONE BIT.
041080,000577: 30,3600           30001                           DCA      0                                     #       THEREFORE IT EXCEEDS THE DP OPERAND
041081,000578: 30,3601           00006                           EXTEND                                         #       AND DIVISION WILL ALWAYS SUCCEED.
041082,000579: 30,3602           10145                           DV       TEM5                                  
041083,000580: 30,3603           54001        TSL&TCQ            TS       L                                     
041084,000581: 30,3604           22141                           LXCH     TEM1                                  
041085,000582: 30,3605           00002                           TC       Q                                     
041086,000583: 

Page 914

041088,000585:                                                                                                  #  ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
041089,000586:                                                                                                  #  UNITS OF 2.  THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
041090,000587:                                                                                                  #  THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
041091,000588: 
041092,000589: 30,3606           00006        ARCTRGSP           EXTEND                                         
041093,000590: 30,3607           13651                           BZF      SINZERO                               #  TO AVOID DIVIDING BY ZERO
041094,000591: 
041095,000592: 30,3610           00006                           EXTEND                                         
041096,000593: 30,3611           22144                           QXCH     TEM4                                  
041097,000594: 30,3612           54142                           TS       TEM2                                  
041098,000595: 30,3613           30001                           CA       L                                     
041099,000596: 30,3614           54143                           TS       TEM3                                  
041100,000597: 30,3615           34755                           CA       ZERO                                  
041101,000598: 30,3616           00006                           EXTEND                                         
041102,000599: 30,3617           10142                           DV       TEM2                                  
041103,000600: 30,3620           00006                           EXTEND                                         
041104,000601: 30,3621           13640                           BZF      USECOS                                
041105,000602: 
041106,000603: 30,3622           10143                           CCS      TEM3                                  #  SIN IS SMALLER OR EQUAL
041107,000604: 30,3623           34755                           CA       ZERO                                  
041108,000605: 30,3624           13630                           TCF      +4                                    
041109,000606: 30,3625           40142                           CS       TEM2                                  #  IF COS NEG, REVERSE SIGN OF SIN,
041110,000607: 30,3626           54142                           TS       TEM2                                  #       ANGLE = PI-ARCSIN(SIN)
041111,000608: 30,3627           34735                           CA       NEGMAX                                #  PICK UP PI, 2'S COMPLEMENT
041112,000609: 30,3630           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
041113,000610: 30,3631           30142                           CA       TEM2                                  
041114,000611: 30,3632           03656                           TC       SPARCSIN   -1                         
041115,000612: 30,3633           03727                           TC       ONESTO2S                              
041116,000613: 30,3634           00006                           EXTEND                                         
041117,000614: 30,3635           20143                           MSU      TEM3                                  
041118,000615: 30,3636           03727        1TO2&TCQ           TC       ONESTO2S                              
041119,000616: 30,3637           00144                           TC       TEM4                                  
041120,000617: 
041121,000618: 30,3640           40143        USECOS             CS       TEM3                                  #  COS IS SMALLER
041122,000619: 30,3641           03656                           TC       SPARCSIN   -1                         #  ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
041123,000620: 30,3642           64736                           AD       HALF                                  
041124,000621: 30,3643           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
041125,000622: 30,3644           10142                           CCS      TEM2                                  
041126,000623: 30,3645           30143                           CA       TEM3                                  
041127,000624: 30,3646           13636                           TCF      1TO2&TCQ                              
041128,000625: 30,3647           40143                           CS       TEM3                                  
041129,000626: 30,3650           13636                           TCF      1TO2&TCQ                              
041130,000627: 
041131,000628: 30,3651           10001        SINZERO            CCS      L                                     
041132,000629: 30,3652           34755                           CA       ZERO                                  
041133,000630: 30,3653           00002                           TC       Q                                     
041134,000631: 30,3654           34735                           CA       NEGMAX                                #  PI, 2'S COMP
041135,000632: 30,3655           00002                           TC       Q                                     
041136,000633: 

Page 915

041138,000635:                                                                                                  #  SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
041139,000636:                                                                                                  #  180 DEGREES IN A.  IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+- 70
041140,000637:                                                                                                  #  DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
041141,000638:                                                                                                  #  450 MICROSECONDS.  SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.(BOB CRISP)
041142,000639: 
041143,000640: 30,3656           60000                           DOUBLE                                         
041144,000641: 30,3657           54021        SPARCSIN           TS       SR                                    
041145,000642: 30,3660           13664                           TCF      +4                                    
041146,000643: 30,3661           50000                           INDEX    A                                     
041147,000644: 30,3662           44734                           CS       LIMITS                                
041148,000645: 30,3663           54021                           TS       SR                                    
041149,000646: 30,3664           00006                           EXTEND                                         
041150,000647: 30,3665           70000                           MP       A                                     
041151,000648: 30,3666           54141                           TS       TEM1                                  
041152,000649: 30,3667           00006                           EXTEND                                         
041153,000650: 30,3670           73712                           MP       DPL9                                  
041154,000651: 30,3671           63711                           AD       DPL7                                  
041155,000652: 30,3672           00006                           EXTEND                                         
041156,000653: 30,3673           70141                           MP       TEM1                                  
041157,000654: 30,3674           63710                           AD       DPL5                                  
041158,000655: 30,3675           00006                           EXTEND                                         
041159,000656: 30,3676           70141                           MP       TEM1                                  
041160,000657: 30,3677           63707                           AD       DPL3                                  
041161,000658: 30,3700           00006                           EXTEND                                         
041162,000659: 30,3701           70141                           MP       TEM1                                  
041163,000660: 30,3702           63706                           AD       DPL1                                  
041164,000661: 30,3703           00006                           EXTEND                                         
041165,000662: 30,3704           70021                           MP       SR                                    
041166,000663: 30,3705           00002                           TC       Q                                     
041167,000664: 30,3706           24406        DPL1               DEC      10502      B-14                       
041168,000665: 30,3707           00660        DPL3               DEC      432        B-14                       
041169,000666: 30,3710           16204        DPL5               DEC      7300       B-14                       
041170,000667: 30,3711           50744        DPL7               DEC      -11803     B-14                       
041171,000668: 30,3712           20315        DPL9               DEC      8397       B-14                       
041172,000669: 

Page 916

041174,000671:                                                                                                  #  LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
041175,000672:                                                                                                  #  ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
041176,000673:                                                                                                  #  THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
041177,000674: 
041178,000675:                                                                                                  #  VERSION COURTESY HUGH BLAIR-SMITH
041179,000676: 
041180,000677: 30,3713           54141        LIMITSUB           TS       TEM1                                  
041181,000678: 30,3714           34755                           CA       ZERO                                  
041182,000679: 30,3715           00006                           EXTEND                                         
041183,000680: 30,3716           10141                           DV       TEM1                                  
041184,000681: 30,3717           10000                           CCS      A                                     
041185,000682: 30,3720           22141                           LXCH     TEM1                                  
041186,000683: 30,3721           13723                           TCF      +2                                    
041187,000684: 30,3722           13725                           TCF      +3                                    
041188,000685: 30,3723           30001                           CA       L                                     
041189,000686: 30,3724           00002                           TC       Q                                     
041190,000687: 30,3725           40141                           CS       TEM1                                  
041191,000688: 30,3726           00002                           TC       Q                                     
041192,000689: 
041193,000690:                                                                                                  #  SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
041194,000691: 
041195,000692: 30,3727           10000        ONESTO2S           CCS      A                                     
041196,000693: 30,3730           64753                           AD       ONE                                   
041197,000694: 30,3731           00002                           TC       Q                                     
041198,000695: 30,3732           40000                           CS       A                                     
041199,000696: 30,3733           00002                           TC       Q                                     
041200,000697: 
041201,000698:                                                                                                  #  NO ATTITUDE CONTROL
041202,000699: 
041203,000700: 30,3734           05600        NOATTCNT           TC       ALARM                                 
041204,000701: 30,3735           00402                           OCT      00402                                 #  NO ATTITUDE CONTROL
041205,000702: 
041206,000703: 30,3736           00004                 +2        INHINT                                         #  COME HERE FOR NOATTCNT WITHOUT ALARM
041207,000704: 30,3737           04674                           TC       IBNKCALL                              #  RELINT AT TC INTPRET AFTER TCQCDUW
041208,000705: 30,3740           40166                           FCADR    STOPRATE                              
041209,000706: 30,3741           13461                           TCF      TCQCDUW                               #  RETURN TO USER SKIPPING AUTOPILOT CMDS
041210,000707: 
041211,000708:                                                                                                  #  MIDDLE GIMBAL ANGLE ALARM
041212,000709: 
041213,000710: 30,3742           05600        ALARMMGA           TC       ALARM                                 
041214,000711: 30,3743           00401                           OCT      00401                                 
041215,000712: 30,3744           13261                           TCF      MGARET                                
041216,000713: 

Page 917

041218,000715:                                                                                                  #  ************************************************************************
041219,000716:                                                                                                  #  CONSTANTS
041220,000717:                                                                                                  #  ************************************************************************
041221,000718: 
041222,000719:                                                                                                  #  ADDRESS CONSTANTS
041223,000720: 
041224,000721: 30,3745           03245        ECDUWL             ECADR    ECDUW                                 
041225,000722: 
041226,000723:                                                                                                  #  THRUST DIRECTION FILTER CONSTANTS
041227,000724: 
041228,000725: 30,3746           06315        GAINFLTR           DEC      .2                                    #  GAIN FILTER SANS CSM
041229,000726: 30,3747           03146                           DEC      .1                                    #  GAIN FILTER WITH CSM
041230,000727: 
041231,000728: 30,3750           00071        DUNFVLIM           DEC      .007       B-1                        #  7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
041232,000729:                                                                                                  #  THIS DOES NOT ALLOW FOR S/C ROT RATE.
041233,000730: 
041234,000731: 30,3751           02041        UNFVLIM            DEC      .129       B-1                        #  129 MR MAX THRUST OFFSET. 105 MR TRAVEL
041235,000732:                                                                                                  #  +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
041236,000733: 
041237,000734:                                                                                                  #  CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
041238,000735: 
041239,000736: 30,3752           01673        DOTSWFMX           DEC      .93302     B-4                        #  LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
041240,000737:                                                                                                  #  LOWER PART COMES FROM NEXT CONSTANT
041241,000738: 
041242,000739: 30,3753           03434        DAXMAX             DEC      .11111111111                            #  DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
041243,000740: 30,3754           00266                           DEC      .0111111111                            #  2 DEG WHEN CSM DOCKED
041244,000741: 
041245,000742: 30,3755           01616        DAY/2MAX           DEC      .05555555555                            #  LIKEWISE FOR DELATTY
041246,000743: 30,3756           00133                           DEC      .0055555555                            
041247,000744: 
041248,000745: 30,3757  30,3753               DAZMAX             =        DAXMAX                                #  LIKEWISE FOR DELATTZ
041249,000746: 
041250,000747: 30,3757           14344        CDUZDLIM           DEC      .3888888888                            #  70 DEG LIMIT FOR MGA, 1'S, PI
041251,000748: 
041252,000749:                                                                                                  #  CONSTANTS FOR DATA TRANSFER
041253,000750: 
041254,000751: 30,3760           01463        DT/DELT            DEC      .05                                   #  .1 SEC/2 SEC WHICH IS THE AUTOPILOT
041255,000752:                                                                                                  #  CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
041256,000753: 
041257,000754: 30,3761  30,3755               DELERLIM           =        DAY/2MAX                              #  10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
041258,000755: 

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