Source Code

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

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

039506,000002:                                                                                                  ## Copyright:   Public domain.
039507,000003:                                                                                                  ## Filename:    FINDCDUW--GUIDAP_INTERFACE.agc
039508,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
039509,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
039510,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
039511,000007:                                                                                                  ## Assembler:   yaYUL
039512,000008:                                                                                                  ## Contact:     Hartmuth Gutsche <hgutsche@xplornet.com>.
039513,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
039514,000010:                                                                                                  ## Pages:       908-925
039515,000011:                                                                                                  ## Mod history: 2009-05-28 HG   Transcribed from page images.
039516,000012:                                                                                                  ##
039517,000013:                                                                                                  ## This source code has been transcribed or otherwise adapted from
039518,000014:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
039519,000015:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
039520,000016:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
039521,000017:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
039522,000018:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
039523,000019:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
039524,000020:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
039525,000021:                                                                                                  ## actually created.
039526,000022:                                                                                                  ##
039527,000023:                                                                                                  ## Notations on the hardcopy document read, in part:
039528,000024:                                                                                                  ##
039529,000025:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
039530,000026:                                                                                                  ##      16:27 JULY 14, 1969 
039531,000027: 

Page 908

039533,000029:                                                                                                  #  PROGRAM NAME:  FINDCDUW
039534,000030:                                                                                                  #  MOD NUMBER:  1        68-07-15
039535,000031:                                                                                                  #  MOD AUTHOR:  KLUMPP
039536,000032: 
039537,000033:                                                                                                  #  OBJECTS OF MOD:       1.      TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039538,000034:                                                                                                  #                        2.      TO MAINTAIN CORRECT AND CURRENT THRUST
039539,000035:                                                                                                  #                                DIRECTION DATA IN ALL MODES.  THIS IS DONE BY
039540,000036:                                                                                                  #                                FETCHING FOR THE THRUST DIRECTION FILTER THE
039541,000037:                                                                                                  #                                CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039542,000038:                                                                                                  #                                MODES.
039543,000039:                                                                                                  #                        3.      TO SUBSTITUDE A STOPRATE FOR THE NORMAL
039544,000040:                                                                                                  #                                AUTOPILOT COMMANDS WHENEVER
039545,000041:                                                                                                  #                                1) NOT IN PNGCS-AUTO, OR
039546,000042:                                                                                                  #                                2) ENGINE IS OFF.
039547,000043: 
039548,000044:                                                                                                  #  FUNCTIONAL DESCRIPTION:
039549,000045: 
039550,000046:                                                                                                  #  FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039551,000047:                                                                                                  #  AND THE DIGITAL AUTOPILOT.  THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039552,000048:                                                                                                  #  AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039553,000049:                                                                                                  #  INCRMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039554,000050:                                                                                                  #  ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039555,000051:                                                                                                  #  LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039556,000052:                                                                                                  #  ACCELERATIONS AVAILABLE).
039557,000053: 
039558,000054:                                                                                                  #  FINDCDUW ALIGNS THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039559,000055:                                                                                                  #  FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XDVINHIB SET,
039560,000056:                                                                                                  #  ALIGNS THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039561,000057: 

Page 909

039563,000059:                                                                                                  #  SPECIFICATIONS:
039564,000060: 
039565,000061:                                                                                                  #  INITIALIZATION:       A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039566,000062:                                                                                                  #                        BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039567,000063: 
039568,000064:                                                                                                  #  CALL:                 INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039569,000065:                                                                                                  #                        VECTOR IN MPAC.  INTERPRETIVE CALL TO FINDCDUW -2 WITH
039570,000066:                                                                                                  #                        THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039571,000067: 
039572,000068:                                                                                                  #  RETURNS:              NORMAL INTERPRETIVE IN ALL CASES
039573,000069:                                                                                                  #                        1.      NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039574,000070:                                                                                                  #                        2.      IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039575,000071:                                                                                                  #                                WITHOUT ISSUING AUTOPILOT CMDS.
039576,000072:                                                                                                  #                        3.      IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039577,000073:                                                                                                  #                                ISSUING AUTOPILOT CMDS.
039578,000074: 
039579,000075:                                                                                                  #  ALARMS:               00401   IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039580,000076:                                                                                                  #                                FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039581,000077:                                                                                                  #                                BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039582,000078: 
039583,000079:                                                                                                  #                        00402   IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039584,000080:                                                                                                  #                                UNITIZED USING NORMUNIT.  FINDCDUW ISSUES
039585,000081:                                                                                                  #                                STOPRATE AS ONLY INPUT TO AUTOPILOT.
039586,000082: 
039587,000083:                                                                                                  #  INPUTS:               UNFC/2          THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039588,000084:                                                                                                  #                        UNWC/2          WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039589,000085:                                                                                                  #                        OGABIAS         POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
039590,000086:                                                                                                  #                        XOVINHIB        FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039591,000087:                                                                                                  #                        CSMDOCKD        FLAG DENOTING CSM DOCKED.
039592,000088:                                                                                                  #                        STEERSW         FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039593,000089: 
039594,000090:                                                                                                  #  OUTPUTS:              DELCDUX,Y,Z
039595,000091:                                                                                                  #                        OMEGAPD,+1,+2
039596,000092:                                                                                                  #                        DELPEROR,+1,+2
039597,000093:                                                                                                  #                        CPHI,+1,+2 FOR NOUN22
039598,000094: 
039599,000095:                                                                                                  #  DEBRIS:               FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039600,000096:                                                                                                  #                        WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039601,000097:                                                                                                  #                        OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039602,000098: 

Page 910

039604,000100:                                                                                                  #  INITIALIZATION FOR FINDCDUW
039605,000101: 
039606,000102: 30,3104                                           BANK     30                                    
039607,000103: 30,2000                                           SETLOC   FCDUW                                 
039608,000104: 30,2000                                           BANK                                           
039609,000105: 
039610,000106: 30,3104  E6,1646                                  EBANK=   ECDUW                                 
039611,000107: 30,3104                                           COUNT*   $$/FCDUW                              
039612,000108: 
039613,000109: 30,3104           77775        INITCDUW           VLOAD                                          
039614,000110: 30,3105           06520                                    UNITX                                 
039615,000111: 30,3106           03270                           STORE    UNFV/2                                
039616,000112: 30,3107           03262                           STORE    UNWC/2                                
039617,000113: 30,3110           77616                           RVQ                                            
039618,000114: 
039619,000115:                                                                                                  #  FINDCDUW PRELIMINARIES
039620,000116: 
039621,000117: 30,3111           77775                           VLOAD                                          #  FINDCDUW -2:  ENTRY WHEN UNFC/2 PRE-STORD
039622,000118: 30,3112           03254                                    UNFC/2                                #  INPUT VECTORS NEED NOT BE SEMI-UNIT
039623,000119: 30,3113           40200        FINDCDUW           BOV      SETPD                                 #  FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039624,000120: 30,3114           61113                                    FINDCDUW                              #  INTERPRETER NOW INITIALIZED
039625,000121: 30,3115           00023                                    22                                    #  LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039626,000122: 30,3116           77420                           STQ      EXIT                                  
039627,000123: 30,3117           03247                                    QCDUWUSR                              #  SAVE RETURN ADDRESS
039628,000124: 
039629,000125:                                                                                                  #  MORE HAUSKEEPING
039630,000126: 30,3120           33761                           CA       ECDUWL                                
039631,000127: 30,3121           56003                           XCH      EBANK                                 #  SET EBANK
039632,000128: 30,3122           55646                           TS       ECDUWUSR                              #  SAVE USER'S EBANK
039633,000129: 
039634,000130: 30,3123           30111                           CA       DAPBOOLS                              
039635,000131: 30,3124           74737                           MASK     CSMDOCKD                              #  CSMDOCKD MUST NOT BE BIT15
039636,000132: 30,3125           10000                           CCS      A                                     
039637,000133: 30,3126           34753                           CA       ONE                                   #  INDEX IF CSM DOCKED
039638,000134: 30,3127           55650                           TS       NDXCDUW                               
039639,000135: 
039640,000136: 30,3130           34743                           CA       XOVINHIB                              #  XOVINHIB MUST NOT BE BIT15
039641,000137: 30,3131           55652                           TS       FLPAUTNO                              #  SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039642,000138: 
039643,000139: 30,3132           70111                           MASK     DAPBOOLS                              
039644,000140: 30,3133           55651                           TS       FLAGOODW                              #  FLAG0ODW = ANY PNZ NUMBER IF XOV INHIBTD
039645,000141: 

Page 911

039647,000143:                                                                                                  #  FETCH BASIC DATA
039648,000144: 30,3134           00004                           INHINT                                         #  RELINT AT PAUTNO (TC INTPRET)
039649,000145: 
039650,000146: 30,3135           30032                           CA       CDUX                                  #  FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039651,000147: 30,3136           54772                           TS       CDUSPOTX                              #        REPLACE BELOW IF PNGCS AUTO
039652,000148: 30,3137           30033                           CA       CDUY                                  
039653,000149: 30,3140           54766                           TS       CDUSPOTY                              
039654,000150: 30,3141           30034                           CA       CDUZ                                  
039655,000151: 30,3142           54770                           TS       CDUSPOTZ                              
039656,000152: 
039657,000153: 30,3143           34742                           CA       BIT10                                 #  PNGCS CONTROL BIT
039658,000154: 30,3144           00006                           EXTEND                                         
039659,000155: 30,3145           02030                           RAND     CHAN30                                
039660,000156: 30,3146           10000                           CCS      A                                     
039661,000157: 30,3147           13164                           TCF      PAUTNO                                #  NOT PNGCS (BITS INVERTED)
039662,000158: 
039663,000159: 30,3150           34736                           CA       BIT14                                 #  AUTO MODE BIT
039664,000160: 30,3151           00006                           EXTEND                                         
039665,000161: 30,3152           02031                           RAND     CHAN31                                
039666,000162: 30,3153           10000                           CCS      A                                     
039667,000163: 30,3154           13164                           TCF      PAUTNO                                #  NOT AUTO (BITS INVERTED)
039668,000164: 
039669,000165: 30,3155           55652                           TS       FLPAUTNO                              #  RESET FLAG PNGCS AUTO NOT
039670,000166: 
039671,000167: 30,3156           31635                           CA       CDUXD                                 #  PNGCS AUTO:  FETCH CDUXD,CDUYD,CDUZD
039672,000168: 30,3157           54772                           TS       CDUSPOTX                              
039673,000169: 30,3160           31636                           CA       CDUYD                                 
039674,000170: 30,3161           54766                           TS       CDUSPOTY                              
039675,000171: 30,3162           31637                           CA       CDUZD                                 
039676,000172: 30,3163           54770                           TS       CDUSPOTZ                              
039677,000173: 

Page 912

039679,000175:                                                                                                  #  FETCH INPUTS
039680,000176: 30,3164           06037        PAUTNO             TC       INTPRET                               #  ENTERING THRUST CMD STILL IN MPAC
039681,000177: 30,3165           77634                           RTB                                            
039682,000178: 30,3166           21726                                    NORMUNIT                              
039683,000179: 30,3167           24001                           STOVL    UNX/2                                 #  SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039684,000180: 30,3170           03262                                    UNWC/2                                
039685,000181: 30,3171           47034                           RTB      RTB                                   
039686,000182: 30,3172           21726                                    NORMUNIT                              
039687,000183: 30,3173           47615                                    QUICTRIG                              #  ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039688,000184: 30,3174           24015                           STOVL    UNZ/2                                 #  SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039689,000185: 30,3175           00325                                    DELV                                  
039690,000186: 30,3176           53404                           BOVB     UNIT                                  
039691,000187: 30,3177           61750                                    NOATTCNT                              #  AT LEAST ONE ENTERING CMD VCT ZERO
039692,000188: 30,3200           45000                           BOV      CALL                                  
039693,000189: 30,3201           61215                                    AFTRFLTR                              #  IF UNIT DELV OVERFLOWS SKIP FILTER
039694,000190: 30,3202           47671                                    *SMNB*                                #  YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039695,000191: 
039696,000192:                                                                                                  #  THRUST DIRECTION FILTER
039697,000193: 
039698,000194: 30,3203           77776                           EXIT                                           
039699,000195: 
039700,000196: 30,3204           31671                           CA       UNFVY/2                               #  FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039701,000197: 30,3205           22157                           LXCH     MPAC       +3                         #        RENEWD AFTER RETURN FROM CALLER,
039702,000198: 30,3206           03503                           TC       FLTRSUB                               #        TWO FILTER UPDATES MAY BE DONE.
039703,000199: 30,3207           55671                           TS       UNFVY/2                               #  UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039704,000200: 
039705,000201: 30,3210           31673                           CA       UNFVZ/2                               
039706,000202: 30,3211           22161                           LXCH     MPAC       +5                         
039707,000203: 30,3212           03503                           TC       FLTRSUB                               
039708,000204: 30,3213           55673                           TS       UNFVZ/2                               
039709,000205: 
039710,000206: 30,3214           06037                           TC       INTPRET                               #  COMPLETES FILTER
039711,000207: 

Page 913

039713,000209:                                                                                                  #  FIND A SUITABLE WINDOW POINTING VECTOR
039714,000210: 
039715,000211: 30,3215           46135        AFTRFLTR           SLOAD    BHIZ                                  #  IF XOV NOT INHIBITED, GO FETCH ZNB
039716,000212: 30,3216           03252                                    FLAGOODW                              
039717,000213: 30,3217           61223                                    FETCHZNB                              
039718,000214: 30,3220           45175                           VLOAD    CALL                                  
039719,000215: 30,3221           00015                                    UNZ/2                                 
039720,000216: 30,3222           61523                                    UNWCTEST                              
039721,000217: 
039722,000218: 30,3223           77775        FETCHZNB           VLOAD                                          
039723,000219: 30,3224           02162                                    ZNBPIP                                
039724,000220: 30,3225           34015                           STCALL   UNZ/2                                 
039725,000221: 30,3226           61523                                    UNWCTEST                              
039726,000222: 
039727,000223: 30,3227           57575                           VLOAD    VCOMP                                 #  Z AND -X CAN'T BOTH PARALLEL UNFC/2
039728,000224: 30,3230           02146                                    XNBPIP                                
039729,000225: 30,3231           00015                           STORE    UNZ/2                                 
039730,000226: 
039731,000227:                                                                                                  #  COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039732,000228: 
039733,000229: 30,3232           47375        DCMCL              VLOAD    VXV                                   
039734,000230: 30,3233           00015                                    UNZ/2                                 
039735,000231: 30,3234           00001                                    UNX/2                                 
039736,000232: 30,3235           41456                           UNIT     PUSH                                  #  UNY/2 FIRST ITERATION
039737,000233: 30,3236           76435                           VXV      VSL1                                  
039738,000234: 30,3237           00001                                    UNX/2                                 
039739,000235: 30,3240           00015                           STORE    UNZ/2                                 #  -UNZ/2 FIRST ITERATION
039740,000236: 30,3241           63361                           VXSC     PDVL                                  #  EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039741,000237: 30,3242           03274                                    UNFVZ/2                               #  MUST BE SMALL
039742,000238: 30,3243           51361                           VXSC     BVSU                                  #  YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039743,000239: 30,3244           03272                                    UNFVY/2                               #  MUST BE SMALL
039744,000240: 30,3245           53372                           VSL1     VAD                                   
039745,000241: 30,3246           00001                                    UNX/2                                 
039746,000242: 30,3247           77656                           UNIT                                           #  TOTALLY ELIMINATES THRUST POINTING ERROR
039747,000243: 30,3250           00001                           STORE    UNX/2                                 #  UNX/2
039748,000244: 30,3251           76435                           VXV      VSL1                                  
039749,000245: 30,3252           00015                                    UNZ/2                                 #  -UNZ/2 WAS STORED HERE REMEMBER
039750,000246: 30,3253           00007                           STORE    UNY/2                                 #  UNY/2
039751,000247: 30,3254           47276                           VCOMP    VXV                                   
039752,000248: 30,3255           00001                                    UNX/2                                 
039753,000249: 30,3256           77772                           VSL1                                           
039754,000250: 30,3257           00015                           STORE    UNZ/2                                 #  UNZ/2
039755,000251: 

Page 914

039757,000253:                                                                                                  #  COMPUTES THE REQUIRED GIMBAL ANGLES
039758,000254: 
039759,000255: 30,3260           77624                           CALL                                           
039760,000256: 30,3261           61533                                    NB2CDUSP                              #  YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039761,000257: 30,3262           77776                           EXIT                                           
039762,000258: 
039763,000259:                                                                                                  #  LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039764,000260: 
039765,000261: 30,3263           30156                           CA       MPAC       +2                         #  LIMIT THE MGA
039766,000262: 30,3264           54001                           TS       L                                     #  CAN'T LXCH:  NEED UNLIMITED MGA FOR ALARM
039767,000263: 30,3265           33773                           CA       CDUZDLIM                              
039768,000264: 30,3266           03727                           TC       LIMITSUB                              #  YIELDS LIMITED MGA.  1 BIT ERROR POSSIBLE
039769,000265: 30,3267           56156                           XCH      MPAC       +2                         #        BECAUSE USING 2'S COMP.  WHO CARES?
039770,000266: 30,3270           00006                           EXTEND                                         
039771,000267: 30,3271           20156                           MSU      MPAC       +2                         #  THIS BETTER YIELD ZERO
039772,000268: 30,3272           00006                           EXTEND                                         
039773,000269: 30,3273           13275                           BZF      +2                                    
039774,000270: 30,3274           13756                           TCF      ALARMMGA                              
039775,000271: 
039776,000272: 30,3275           00004        MGARET             INHINT                                         #  RELINT AT TC INTPRET AFTER TCQCDUW
039777,000273: 
039778,000274: 30,3276           22007                           ZL                                             
039779,000275: 30,3277           34752                           CA       TWO                                   
039780,000276: 30,3300           54142        DELGMBLP           TS       TEM2                                  
039781,000277: 
039782,000278: 30,3301           30001                           CA       L                                     #  TO PREVENT FALSE STARTS ABOUT X, ZERO
039783,000279: 30,3302           00006                           EXTEND                                         #        FLAGOODW IF DELGMBZ OR Y TOO BIG.
039784,000280: 30,3303           70000                           SQUARE                                         
039785,000281: 30,3304           64350                           AD       HI5                                   #  WITHIN 1 BIT OF -(45 DEG SQUARED)
039786,000282: 30,3305           00006                           EXTEND                                         
039787,000283: 30,3306           63311                           BZMF     +3                                    
039788,000284: 30,3307           34755                           CA       ZERO                                  
039789,000285: 30,3310           55651                           TS       FLAGOODW                              
039790,000286: 
039791,000287: 30,3311           50142                           INDEX    TEM2                                  
039792,000288: 30,3312           30154                           CA       MPAC                                  
039793,000289: 30,3313           50142                           INDEX    TEM2                                  
039794,000290: 30,3314           54321                           TS       CPHI                                  #  OUTPUTS TO NOUN22
039795,000291: 30,3315           00006                           EXTEND                                         
039796,000292: 30,3316           50142                           INDEX    TEM2                                  
039797,000293: 30,3317           21635                           MSU      CDUXD                                 #  NO MATTER THAT THESE SLIGHLTY DIFFERENT
039798,000294: 30,3320           40000                           COM                                            #  FROM WHEN WE INITIALLY FETCHED THEM
039799,000295: 30,3321           50142                           INDEX    TEM2                                  
039800,000296: 30,3322           55675                           TS       -DELGMB                               #  -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039801,000297: 30,3323           54001                           TS       L                                     #  FOR PRECEDING TEST ON NEXT LOOP PASS
039802,000298: 30,3324           10142                           CCS      TEM2                                  
039803,000299: 30,3325           13300                           TCF      DELGMBLP                              
039804,000300: 

Page 915

039806,000302:                                                                                                  #  BRANCHES TO NOATTCNT
039807,000303: 30,3326           11652                           CCS      FLPAUTNO                              
039808,000304: 30,3327           13752                           TCF      NOATTCNT   +2                         #  NO PNGCS AUTO
039809,000305: 
039810,000306: 30,3330           30101                           CA       FLAGWRD5                              
039811,000307: 30,3331           74745                           MASK     ENGONBIT                              
039812,000308: 30,3332           00006                           EXTEND                                         
039813,000309: 30,3333           13752                           BZF      NOATTCNT   +2                         #  ENGINE NOT ON
039814,000310: 

Page 916

039816,000312:                                                                                                  #  LIMIT THE ATTITUDE ANGLE CHANGES
039817,000313: 
039818,000314:                                                                                                  #  THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME,
039819,000315:                                                                                                  #  THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO.  THE PRIME SYSTEM IS
039820,000316:                                                                                                  #  THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALIGNMENT WITH THE MIDDLE GIMBAL
039821,000317:                                                                                                  #  AXIS.  ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039822,000318: 
039823,000319:                                                                                                  #        [   -DELATTX    ]   [ 1     SIN(CDUZD)     0 ] [ -DELGMBX ]
039824,000320:                                                                                                  #        [               ]   [                        ] [          ]
039825,000321:                                                                                                  #        [ -DELATTYPRIME ] = [ 0     COS(CDUZD)     0 ] [ -DELGMBY ]
039826,000322:                                                                                                  #        [               ]   [                        ] [          ]
039827,000323:                                                                                                  #        [ -DELATTZPRIME ]   [ 0         0          1 ] [ -DELGMBZ ]
039828,000324: 
039829,000325: 30,3334           23677                           LXCH     -DELGMB    +2                         #  SAME AS -DELATTZPRIME UNLIMITED
039830,000326: 30,3335           51650                           INDEX    NDXCDUW                               
039831,000327: 30,3336           33767                           CA       DAZMAX                                
039832,000328: 30,3337           03727                           TC       LIMITSUB                              
039833,000329: 30,3340           55677                           TS       -DELGMB    +2                         #  -DELGMBZ
039834,000330: 
039835,000331: 30,3341           31676                           CA       -DELGMB    +1                         
039836,000332: 30,3342           00006                           EXTEND                                         
039837,000333: 30,3343           70746                           MP       COSCDUZ                               #  YIELDS -DELATTYPRIME/2 UNLIMITED
039838,000334: 30,3344           54001                           TS       L                                     
039839,000335: 30,3345           51650                           INDEX    NDXCDUW                               
039840,000336: 30,3346           33771                           CA       DAY/2MAX                              
039841,000337: 30,3347           03727                           TC       LIMITSUB                              
039842,000338: 30,3350           00006                           EXTEND                                         
039843,000339: 30,3351           10746                           DV       COSCDUZ                               
039844,000340: 30,3352           57676                           XCH      -DELGMB    +1                         #  -DELGMBY, FETCHING UNLIMITED VALUE
039845,000341: 
039846,000342: 30,3353           00006                           EXTEND                                         
039847,000343: 30,3354           70740                           MP       SINCDUZ                               
039848,000344: 30,3355           20001                           DDOUBL                                         
039849,000345: 30,3356           40000                           COM                                            
039850,000346: 30,3357           00006                           EXTEND                                         #  YIELDS +DELATTX UNLIMITD, MAG < 180 DEG.
039851,000347: 30,3360           21675                           MSU      -DELGMB                               #        BASED ON UNLIMITED DELGMBV.
039852,000348: 30,3361           54001                           TS       L                                     #        ONE BIT ERROR IF OPERANDS IN MSU
039853,000349: 30,3362           51650                           INDEX    NDXCDUW                               #        OF MIXED SIGNS.  WHO CARES?
039854,000350: 30,3363           33767                           CA       DAXMAX                                
039855,000351: 30,3364           03727                           TC       LIMITSUB                              
039856,000352: 30,3365           55675                           TS       -DELGMB                               #  SAVE LIMITED +DELATTX
039857,000353: 30,3366           11651                           CCS      FLAGOODW                              
039858,000354: 30,3367           41675                           CS       -DELGMB                               #  FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039859,000355: 30,3370           55675                           TS       -DELGMB                               #  OTHERWISE USE ZERO FOR -DELATTX
039860,000356: 30,3371           41676                           CS       -DELGMB    +1                         
039861,000357: 30,3372           00006                           EXTEND                                         
039862,000358: 30,3373           70740                           MP       SINCDUZ                               
039863,000359: 30,3374           20001                           DDOUBL                                         #  YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039864,000360: 30,3375           27675                           ADS      -DELGMB                               #  -DELGMBX.  NO OVERFLOW SINCE LIMITED TO
039865,000361:                                                                                                  #  20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039866,000362: 

Page 917

039868,000364:                                                                                                  #  COMPUTE COMMANDED ATTITUDE RATES
039869,000365: 
039870,000366:                                                                                                  #        [ OMEGAPD ]   [ -2         -4 SINCDUZ              +0    ] [ -DELGMBZ ]
039871,000367:                                                                                                  #        [         ]   [                                          ] [          ]
039872,000368:                                                                                                  #        [ OMEGAQD ] = [ +0     -8 COSCDUZ COSCDUX     -4 SINCDUX ] [ -DELGMBY ]
039873,000369:                                                                                                  #        [         ]   [                                          ] [          ]
039874,000370:                                                                                                  #        [ OMEGARD ]   [ +0     +8 COSCDUZ SINCDUX     -4 COSCDUX ] [ -DELGMBZ ]
039875,000371: 
039876,000372:                                                                                                  #  ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039877,000373:                                                                                                  #  PI/2 RAD/SEC.  THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039878,000374:                                                                                                  #  AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039879,000375: 
039880,000376: 30,3376           41675                           CS       -DELGMB                               
039881,000377: 30,3377           55643                           TS       OMEGAPD                               
039882,000378: 30,3400           41676                           CS       -DELGMB    +1                         
039883,000379: 30,3401           00006                           EXTEND                                         
039884,000380: 30,3402           70740                           MP       SINCDUZ                               
039885,000381: 30,3403           20001                           DDOUBL                                         
039886,000382: 30,3404           27643                           ADS      OMEGAPD                               
039887,000383: 30,3405           27643                           ADS      OMEGAPD                               
039888,000384: 
039889,000385: 30,3406           41676                           CS       -DELGMB    +1                         
039890,000386: 30,3407           00006                           EXTEND                                         
039891,000387: 30,3410           70750                           MP       COSCDUX                               
039892,000388: 30,3411           20001                           DDOUBL                                         
039893,000389: 30,3412           00006                           EXTEND                                         
039894,000390: 30,3413           70746                           MP       COSCDUZ                               
039895,000391: 30,3414           55644                           TS       OMEGAQD                               
039896,000392: 30,3415           41677                           CS       -DELGMB    +2                         
039897,000393: 30,3416           00006                           EXTEND                                         
039898,000394: 30,3417           70742                           MP       SINCDUX                               
039899,000395: 30,3420           27644                           ADS      OMEGAQD                               
039900,000396: 30,3421           27644                           ADS      OMEGAQD                               
039901,000397: 30,3422           27644                           ADS      OMEGAQD                               
039902,000398: 
039903,000399: 30,3423           31676                           CA       -DELGMB    +1                         
039904,000400: 30,3424           00006                           EXTEND                                         
039905,000401: 30,3425           70742                           MP       SINCDUX                               
039906,000402: 30,3426           20001                           DDOUBL                                         
039907,000403: 30,3427           00006                           EXTEND                                         
039908,000404: 30,3430           70746                           MP       COSCDUZ                               
039909,000405: 30,3431           55645                           TS       OMEGARD                               
039910,000406: 30,3432           41677                           CS       -DELGMB    +2                         
039911,000407: 30,3433           00006                           EXTEND                                         
039912,000408: 30,3434           70750                           MP       COSCDUX                               
039913,000409: 30,3435           27645                           ADS      OMEGARD                               
039914,000410: 30,3436           27645                           ADS      OMEGARD                               
039915,000411: 30,3437           27645                           ADS      OMEGARD                               
039916,000412: 

Page 918

039918,000414:                                                                                                  #  FINAL TRANSFER
039919,000415: 
039920,000416: 30,3440           34752                           CA       TWO                                   
039921,000417: 30,3441           54142        CDUWXFR            TS       TEM2                                  
039922,000418: 30,3442           50142                           INDEX    TEM2                                  
039923,000419: 30,3443           31675                           CA       -DELGMB                               
039924,000420: 30,3444           00006                           EXTEND                                         
039925,000421: 30,3445           73774                           MP       DT/DELT                               #  RATIO OF DAP INTERVAL TO CDUW INTERVAL
039926,000422: 30,3446           03743                           TC       ONESTO2S                              
039927,000423: 30,3447           50142                           INDEX    TEM2                                  
039928,000424: 30,3450           55640                           TS       DELCDUX                               #  ANGLE INTERFACE
039929,000425: 
039930,000426: 30,3451           50142                           INDEX    TEM2                                  
039931,000427: 30,3452           11643                           CCS      OMEGAPD                               
039932,000428: 30,3453           64753                           AD       ONE                                   
039933,000429: 30,3454           13456                           TCF      +2                                    
039934,000430: 30,3455           64753                           AD       ONE                                   
039935,000431: 30,3456           00006                           EXTEND                                         #  WE NOW HAVE ABS(OMEGAPD,QD,RD)
039936,000432: 30,3457           50142                           INDEX    TEM2                                  
039937,000433: 30,3460           71643                           MP       OMEGAPD                               
039938,000434: 30,3461           00006                           EXTEND                                         
039939,000435: 30,3462           74741                           MP       BIT11                                 #  1/16
039940,000436: 30,3463           00006                           EXTEND                                         
039941,000437: 30,3464           50142                           INDEX    TEM2                                  #                   2
039942,000438: 30,3465           11530                           DV       1JACC                                 #  UNITS PI/4 RAD/SEC
039943,000439: 30,3466           54001                           TS       L                                     
039944,000440: 30,3467           33771                           CA       DELERLIM                              
039945,000441: 30,3470           03727                           TC       LIMITSUB                              
039946,000442: 30,3471           50142                           INDEX    TEM2                                  
039947,000443: 30,3472           55277                           TS       DELPEROR                              #  LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039948,000444: 30,3473           10142                           CCS      TEM2                                  
039949,000445: 30,3474           13441                           TCF      CDUWXFR                               
039950,000446: 
039951,000447:                                                                                                  #  HAUSKEEPING AND RETURN
039952,000448: 
039953,000449: 30,3475           31646        TCQCDUW            CA       ECDUWUSR                              
039954,000450: 30,3476           54003                           TS       EBANK                                 #  RETURN USER'S EBANK
039955,000451: 
039956,000452: 30,3477           06037                           TC       INTPRET                               
039957,000453: 30,3500           52001                           SETPD    GOTO                                  
039958,000454: 30,3501           00001                                    0                                     
039959,000455: 30,3502           03247                                    QCDUWUSR                              #  NORMAL AND ABNORMAL RETURN TO USER
039960,000456: 

Page 919

039962,000458:                                                                                                  #  THRUST VECTOR FILTER SUBROUTINE
039963,000459: 
039964,000460: 30,3503           00006        FLTRSUB            EXTEND                                         
039965,000461: 30,3504           22142                           QXCH     TEM2                                  
039966,000462: 30,3505           54143                           TS       TEM3                                  #  SAVE ORIGINAL OFFSET
039967,000463: 30,3506           40000                           COM                                            #  ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039968,000464: 30,3507           60001                           AD       L                                     #        ORIG OFFSET ARRIVES IN A, BUT IT'S
039969,000465: 30,3510           00006                           EXTEND                                         #        NOT WORTH THE INCREASED OBSCURITY.
039970,000466: 30,3511           51650                           INDEX    NDXCDUW                               
039971,000467: 30,3512           73762                           MP       GAINFLTR                              
039972,000468: 30,3513           54001                           TS       L                                     #  INCR TO OFFSET, UNLIMITED
039973,000469: 30,3514           33764                           CA       DUNFVLIM                              #  SAME LIMIT FOR Y AND Z
039974,000470: 30,3515           03727                           TC       LIMITSUB                              #  YIELDS INCR TO OFFSET, LIMITED
039975,000471: 30,3516           60143                           AD       TEM3                                  #  ORIGINAL OFFSET
039976,000472: 30,3517           54001                           TS       L                                     #  TOTAL OFFSET, UNLIMITED
039977,000473: 30,3520           33765                           CA       UNFVLIM                               #  SAME LIMIT FOR Y AND Z
039978,000474: 30,3521           03727                           TC       LIMITSUB                              #  YIELDS TOTAL OFFSET, LIMITED
039979,000475: 30,3522           00142                           TC       TEM2                                  
039980,000476: 
039981,000477:                                                                                                  #  SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039982,000478: 
039983,000479: 30,3523           63441        UNWCTEST           DOT      DSQ                                   
039984,000480: 30,3524           00001                                    UNX/2                                 
039985,000481: 30,3525           50025                           DSU      BMN                                   
039986,000482: 30,3526           21767                                    DOTSWFMX                              
039987,000483: 30,3527           61232                                    DCMCL                                 
039988,000484: 30,3530           43531                           SSP      RVQ                                   #  RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039989,000485: 30,3531           03252                                    FLAGOODW                              #        ZEROING WINDOW GOOD FLAG
039990,000486: 30,3532           00000                                    0                                     
039991,000487: 

Page 920

039993,000489:                                                                                                  #  NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039994,000490:                                                                                                  #  ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,X EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039995,000491:                                                                                                  #  NB2CDUSP USES THE ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039996,000492: 
039997,000493: 30,3533           63545        NB2CDUSP           DLOAD    DSQ                                   
039998,000494: 30,3534           00003                                    2                                     
039999,000495: 30,3535           51021                           BDSU     BPL                                   
040000,000496: 30,3536           06512                                    DP1/4TH                               
040001,000497: 30,3537           61542                                    +3                                    
040002,000498: 30,3540           77745                           DLOAD                                          
040003,000499: 30,3541           06522                                    ZEROVECS                              #  IN CASE SIN WAS SLIGHTLY > 1/2
040004,000500: 30,3542           77566                           SQRT     EXIT                                  #  YIELDS COS(CDUZ) IN UNITS OF 2
040005,000501: 
040006,000502: 30,3543           00006                           EXTEND                                         
040007,000503: 30,3544           30155                           DCA      MPAC                                  
040008,000504: 30,3545           20001                           DDOUBL                                         
040009,000505: 30,3546           54145                           TS       TEM5                                  
040010,000506: 30,3547           13552                           TCF      +3                                    
040011,000507: 30,3550           34733                           CA       POSMAX                                #  OVERFLOW.  FETCH POSMAX, MPAC ALWAYS POS
040012,000508: 30,3551           54145                           TS       TEM5                                  #  COS(CDUZ) IN TEM5, UNITS 1
040013,000509: 
040014,000510: 30,3552           50120                           INDEX    FIXLOC                                
040015,000511: 30,3553           30002                           CA       2                                     
040016,000512: 30,3554           22154                           LXCH     MPAC                                  
040017,000513: 30,3555           03622                           TC       ARCTRGSP                              
040018,000514: 30,3556           54156                           TS       MPAC       +2                         #  CDUZ
040019,000515: 
040020,000516: 30,3557           34755                           CA       ZERO                                  
040021,000517: 30,3560           03600                           TC       DVBYCOSM                              
040022,000518: 30,3561           34751                           CA       FOUR                                  
040023,000519: 30,3562           03600                           TC       DVBYCOSM                              
040024,000520: 30,3563           40141                           CS       TEM1                                  
040025,000521: 30,3564           03622                           TC       ARCTRGSP                              
040026,000522: 30,3565           54155                           TS       MPAC       +1                         #  CDUY
040027,000523: 
040028,000524: 30,3566           34750                           CA       BIT4                                  
040029,000525: 30,3567           03600                           TC       DVBYCOSM                              
040030,000526: 30,3570           33577                           CA       16OCT                                 
040031,000527: 30,3571           03600                           TC       DVBYCOSM                              
040032,000528: 30,3572           40141                           CS       TEM1                                  
040033,000529: 30,3573           03622                           TC       ARCTRGSP                              
040034,000530: 30,3574           54154                           TS       MPAC                                  #  CDUX
040035,000531: 
040036,000532: 30,3575           06037                           TC       INTPRET                               
040037,000533: 30,3576           77616                           RVQ                                            
040038,000534: 
040039,000535: 30,3577           00016        16OCT              OCT      16                                    
040040,000536: 

Page 921

040042,000538:                                                                                                  #  THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
040043,000539:                                                                                                  #  ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
040044,000540:                                                                                                  #  ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE.  BUT IF THE MGA IS NEAR PI/2
040045,000541:                                                                                                  #  THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
040046,000542:                                                                                                  #  ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
040047,000543:                                                                                                  #  BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
040048,000544:                                                                                                  #  THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
040049,000545: 
040050,000546:                                                                                                  #  IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
040051,000547:                                                                                                  #  REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
040052,000548:                                                                                                  #  ANGLES ARE INDETERMINATE.  THE INNER AND OUTER GIMBAL ANGLES RETURNED
040053,000549:                                                                                                  #  IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
040054,000550: 
040055,000551: 30,3600           60120        DVBYCOSM           AD       FIXLOC                                
040056,000552: 30,3601           54116                           TS       ADDRWD                                #  ADRES OF OPERAND
040057,000553: 
040058,000554: 30,3602           50116                           INDEX    ADDRWD                                #  FETCH NEG ABS OF OPERAND, AD TEM5, AND
040059,000555: 30,3603           30000                           CA       0                                     #        SKIP DIVIDE IF RESULT NEG OR ZERO
040060,000556: 30,3604           00006                           EXTEND                                         
040061,000557: 30,3605           63607                           BZMF     +2                                    
040062,000558: 30,3606           40000                           COM                                            
040063,000559: 30,3607           60145                           AD       TEM5                                  #  C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
040064,000560: 30,3610           00006                           EXTEND                                         
040065,000561: 30,3611           63617                           BZMF     TSL&TCQ                               #  DIFFERENCE ALWAYS SMALL IF BRANCH
040066,000562: 
040067,000563: 30,3612           00006                           EXTEND                                         #  TEM5 EXCEEDS ABS HIGH ORDER PART OF
040068,000564: 30,3613           50116                           INDEX    ADDRWD                                #        OPERAND BY AT LEAST ONE BIT.
040069,000565: 30,3614           30001                           DCA      0                                     #        THEREFORE IT EXCEEDS THE DP OPERAND
040070,000566: 30,3615           00006                           EXTEND                                         #        AND DIVISION WILL ALWAYS SUCCEED.
040071,000567: 30,3616           10145                           DV       TEM5                                  
040072,000568: 30,3617           54001        TSL&TCQ            TS       L                                     
040073,000569: 30,3620           22141                           LXCH     TEM1                                  
040074,000570: 30,3621           00002                           TC       Q                                     
040075,000571: 

Page 922

040077,000573:                                                                                                  #  ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
040078,000574:                                                                                                  #  UNITS OF 2.  THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
040079,000575:                                                                                                  #  THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
040080,000576: 
040081,000577: 30,3622           00006        ARCTRGSP           EXTEND                                         
040082,000578: 30,3623           13665                           BZF      SINZERO                               #  TO AVOID DIVIDING BY ZERO
040083,000579: 
040084,000580: 30,3624           00006                           EXTEND                                         
040085,000581: 30,3625           22144                           QXCH     TEM4                                  
040086,000582: 30,3626           54142                           TS       TEM2                                  
040087,000583: 30,3627           30001                           CA       L                                     
040088,000584: 30,3630           54143                           TS       TEM3                                  
040089,000585: 30,3631           34755                           CA       ZERO                                  
040090,000586: 30,3632           00006                           EXTEND                                         
040091,000587: 30,3633           10142                           DV       TEM2                                  
040092,000588: 30,3634           00006                           EXTEND                                         
040093,000589: 30,3635           13654                           BZF      USECOS                                
040094,000590: 
040095,000591: 30,3636           10143                           CCS      TEM3                                  #  SIN IS SMALLER OR EQUAL
040096,000592: 30,3637           34755                           CA       ZERO                                  
040097,000593: 30,3640           13644                           TCF      +4                                    
040098,000594: 30,3641           40142                           CS       TEM2                                  #  IF COS NEG, REVERSE SIGN OF SIN,
040099,000595: 30,3642           54142                           TS       TEM2                                  #        ANGLE = PI-ARCSIN(SIN)
040100,000596: 30,3643           34735                           CA       NEGMAX                                #  PICK UP PI, 2'S COMPLEMENT
040101,000597: 30,3644           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
040102,000598: 30,3645           30142                           CA       TEM2                                  
040103,000599: 30,3646           03672                           TC       SPARCSIN   -1                         
040104,000600: 30,3647           03743                           TC       ONESTO2S                              
040105,000601: 30,3650           00006                           EXTEND                                         
040106,000602: 30,3651           20143                           MSU      TEM3                                  
040107,000603: 30,3652           03743        1TO2&TCQ           TC       ONESTO2S                              
040108,000604: 30,3653           00144                           TC       TEM4                                  
040109,000605: 
040110,000606: 30,3654           40143        USECOS             CS       TEM3                                  #  COS IS SMALLER
040111,000607: 30,3655           03672                           TC       SPARCSIN   -1                         #  ANGLE = SIGN(SIN)(FI/2-ARCSIN(COS))
040112,000608: 30,3656           64736                           AD       HALF                                  
040113,000609: 30,3657           54143                           TS       TEM3                                  #  WE NO LONGER NEED COS
040114,000610: 30,3660           10142                           CCS      TEM2                                  
040115,000611: 30,3661           30143                           CA       TEM3                                  
040116,000612: 30,3662           13652                           TCF      1TO2&TCQ                              
040117,000613: 30,3663           40143                           CS       TEM3                                  
040118,000614: 30,3664           13652                           TCF      1TO2&TCQ                              
040119,000615: 
040120,000616: 30,3665           10001        SINZERO            CCS      L                                     
040121,000617: 30,3666           34755                           CA       ZERO                                  
040122,000618: 30,3667           00002                           TC       Q                                     
040123,000619: 30,3670           34735                           CA       NEGMAX                                #  PI, 2'S COMP
040124,000620: 30,3671           00002                           TC       Q                                     
040125,000621: 

Page 923

040127,000623:                                                                                                  #  SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
040128,000624:                                                                                                  #  180 DEGREES IN A.  IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
040129,000625:                                                                                                  #  DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
040130,000626:                                                                                                  #  450 MICROSECONDS.  SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO.  (BOB CRISP)
040131,000627: 
040132,000628: 30,3672           60000                           DOUBLE                                         
040133,000629: 30,3673           54021        SPARCSIN           TS       SR                                    
040134,000630: 30,3674           13700                           TCF      +4                                    
040135,000631: 30,3675           50000                           INDEX    A                                     
040136,000632: 30,3676           44734                           CS       LIMITS                                
040137,000633: 30,3677           54021                           TS       SR                                    
040138,000634: 30,3700           00006                           EXTEND                                         
040139,000635: 30,3701           70000                           MP       A                                     
040140,000636: 30,3702           54141                           TS       TEM1                                  
040141,000637: 30,3703           00006                           EXTEND                                         
040142,000638: 30,3704           73726                           MP       DPL9                                  
040143,000639: 30,3705           63725                           AD       DPL7                                  
040144,000640: 30,3706           00006                           EXTEND                                         
040145,000641: 30,3707           70141                           MP       TEM1                                  
040146,000642: 30,3710           63724                           AD       DPL5                                  
040147,000643: 30,3711           00006                           EXTEND                                         
040148,000644: 30,3712           70141                           MP       TEM1                                  
040149,000645: 30,3713           63723                           AD       DPL3                                  
040150,000646: 30,3714           00006                           EXTEND                                         
040151,000647: 30,3715           70141                           MP       TEM1                                  
040152,000648: 30,3716           63722                           AD       DPL1                                  
040153,000649: 30,3717           00006                           EXTEND                                         
040154,000650: 30,3720           70021                           MP       SR                                    
040155,000651: 30,3721           00002                           TC       Q                                     
040156,000652: 30,3722           24406        DPL1               DEC      10502      B-14                       
040157,000653: 30,3723           00660        DPL3               DEC      432        B-14                       
040158,000654: 30,3724           16204        DPL5               DEC      7300       B-14                       
040159,000655: 30,3725           50744        DPL7               DEC      -11803     B-14                       
040160,000656: 30,3726           20315        DPL9               DEC      8397       B-14                       
040161,000657: 

Page 924

040163,000659:                                                                                                  #  LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
040164,000660:                                                                                                  #  ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
040165,000661:                                                                                                  #  THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
040166,000662: 
040167,000663:                                                                                                  #  VERSION COUTESY HUGH BLAIR-SMITH
040168,000664: 
040169,000665: 30,3727           54141        LIMITSUB           TS       TEM1                                  
040170,000666: 30,3730           34755                           CA       ZERO                                  
040171,000667: 30,3731           00006                           EXTEND                                         
040172,000668: 30,3732           10141                           DV       TEM1                                  
040173,000669: 30,3733           10000                           CCS      A                                     
040174,000670: 30,3734           22141                           LXCH     TEM1                                  
040175,000671: 30,3735           13737                           TCF      +2                                    
040176,000672: 30,3736           13741                           TCF      +3                                    
040177,000673: 30,3737           30001                           CA       L                                     
040178,000674: 30,3740           00002                           TC       Q                                     
040179,000675: 30,3741           40141                           CS       TEM1                                  
040180,000676: 30,3742           00002                           TC       Q                                     
040181,000677: 
040182,000678:                                                                                                  #  SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
040183,000679: 
040184,000680: 30,3743           10000        ONESTO2S           CCS      A                                     
040185,000681: 30,3744           64753                           AD       ONE                                   
040186,000682: 30,3745           00002                           TC       Q                                     
040187,000683: 30,3746           40000                           CS       A                                     
040188,000684: 30,3747           00002                           TC       Q                                     
040189,000685: 
040190,000686:                                                                                                  #  NO ATTITUDE CONTROL
040191,000687: 
040192,000688: 30,3750           05567        NOATTCNT           TC       ALARM                                 
040193,000689: 30,3751           00402                           OCT      00402                                 #  NO ATTITUDE CONTROL
040194,000690: 
040195,000691: 30,3752           00004                 +2        INHINT                                         #  COME HERE FOR NOATTCNT WITHOUT ALARM
040196,000692: 30,3753           04674                           TC       IBNKCALL                              #  RELINT AT TC INTPRET AFTER TCQCDUW
040197,000693: 30,3754           40165                           FCADR    STOPRATE                              
040198,000694: 30,3755           13475                           TCF      TCQCDUW                               #  RETURN TO USER SKIPPING AUTOPILOT CMDS
040199,000695: 
040200,000696:                                                                                                  #  MIDDLE GIMBAL ANGLE ALARM
040201,000697: 
040202,000698: 30,3756           05567        ALARMMGA           TC       ALARM                                 
040203,000699: 30,3757           00401                           OCT      00401                                 
040204,000700: 30,3760           13275                           TCF      MGARET                                
040205,000701: 

Page 925

040207,000703:                                                                                                  # ******************************************************************
040208,000704:                                                                                                  #  CONSTANTS
040209,000705:                                                                                                  # ******************************************************************
040210,000706: 
040211,000707:                                                                                                  #  ADDRESS CONSTANTS
040212,000708: 
040213,000709: 30,3761           03246        ECDUWL             ECADR    ECDUW                                 
040214,000710: 
040215,000711:                                                                                                  #  THRUST DIRECTION FILTER CONSTANTS
040216,000712: 
040217,000713: 30,3762           06315        GAINFLTR           DEC      .2                                    #  GAIN FILTER SANS CSM
040218,000714: 30,3763           03146                           DEC      .1                                    #  GAIN FILTER WITH CSM
040219,000715: 
040220,000716: 30,3764           00071        DUNFVLIM           DEC      .007       B-1                        #  7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
040221,000717:                                                                                                  #  THIS DOES NOT ALLOW FOR S/C ROT RATE.
040222,000718: 
040223,000719: 30,3765           02041        UNFVLIM            DEC      .129       B-1                        #  129 MR MAX THRUST OFFSET.  105 MR TRAVEL
040224,000720:                                                                                                  #  +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
040225,000721: 
040226,000722:                                                                                                  #  CONSTANT RELATED TO GIMBAL ANGLE COMPUTATIONS
040227,000723: 
040228,000724: 30,3766           01673        DOTSWFMX           DEC      .93302     B-4                        #  LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
040229,000725:                                                                                                  #  LOWER PART COMES FROM NEXT CONSTANT
040230,000726: 
040231,000727: 30,3767           03434        DAXMAX             DEC      .11111111111                            #  DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
040232,000728: 30,3770           00266                           DEC      .0111111111                            #  2 DEG WHEN CSM DOCKED
040233,000729: 
040234,000730: 30,3771           01616        DAY/2MAX           DEC      .05555555555                            #  LIKEWISE FOR DELATTY
040235,000731: 30,3772           00133                           DEC      .0055555555                            
040236,000732: 
040237,000733: 30,3773  30,3767               DAZMAX             =        DAXMAX                                #  LIKEWISE FOR DELATTZ
040238,000734: 
040239,000735: 30,3773           14344        CDUZDLIM           DEC      .3888888888                            #  70 DEG LIMIT FOR MGA, 1'S, PI
040240,000736: 
040241,000737:                                                                                                  #  CONSTANTS FOR DATA TRANSFER
040242,000738: 
040243,000739: 30,3774           01463        DT/DELT            DEC      .05                                   #  .1 SEC/2 SEC WHICH IS THE AUTOPILOT
040244,000740:                                                                                                  #  CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
040245,000741: 
040246,000742: 30,3775  30,3771               DELERLIM           =        DAY/2MAX                              #        0 DEG LIMIT FOR LAG ANGLES, 1'S, PI
040247,000743: 
040248,000744:                                                                                                  #  *** END OF FLY        .132 ***

End of include-file FINDCDUW--GUIDAP_INTERFACE.agc.  Parent file is MAIN.agc