Source Code

These source-code files were derived originally from the scan from MIT's Dibner Institute's now-discontinued website titled "History of Recent Science and Technology". It is believed that the original listing was preserved by AGC developer Don Eyles, copied/reduced by AGC developer Hugh Blair-Smith, passed by AGC developer James Kernan to collector David Craig, scanned by Gary Neff, and then passed to the Dibner Institute where unfortunately the high-quality scans were reduced in legibility as part of the online-presentation process, and the original scans discarded. The source code was transcribed from those images by Ron Burkey. The images from the Dibner Institute website, and unfortunately not the discarded original high-quality scans, though with a few high-quality replacement scans provided directly by Gary Neff, are now available at the Virtual AGC project website. Report any conversion errors to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date of the printout, not the date of the program revision.

061467,000002:                                                                                                  ## Copyright:   Public domain.
061468,000003:                                                                                                  ## Filename:    TRIM_GIMBAL_CNTROL_SYSTEM.agc
061469,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
061470,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
061471,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13 and Apollo 14.
061472,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
061473,000008:                                                                                                  ##              that the code format has been changed to conform to the
061474,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
061475,000010:                                                                                                  ##              original YUL assembler.
061476,000011:                                                                                                  ## Reference:   pp. 1469-1481 of 1729.pdf.
061477,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
061478,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
061479,000014:                                                                                                  ## Mod history: 06/08/03 RSB.   Began transcribing.
061480,000015:                                                                                                  ##              05/14/05 RSB    Corrected website reference above.
061481,000016:                                                                                                  ##              2010-10-25 JL   Indentation fixes.
061482,000017: 

Page 1469

061484,000019: 21,3076                                           BANK     21                                    
061485,000020: 21,3076  E6,1450                                  EBANK=   QDIFF                                 
061486,000021: 21,2000                                           SETLOC   DAPS4                                 
061487,000022: 21,2000                                           BANK                                           
061488,000023: 
061489,000024: 21,3076                                           COUNT*   $$/DAPGT                              
061490,000025: 
061491,000026:                                                                                                  #  CONTROL REACHES THIS POINT UNDER EITHER OF THE FOLLOWING TWO CONDITIONS ONCE THE DESCENT ENGINE AND THE DIGITAL
061492,000027:                                                                                                  #  AUTOPILOT ARE BOTH ON:
061493,000028:                                                                                                  #        A) THE TRIM GIMBAL CONTROL LAW WAS ON DURING THE PREVIOUS Q,R-AXIS TIME5 INTERRUP1 (OR THE DAPIDLER
061494,000029:                                                                                                  #           INITIALIZATION WAS SET FOR TRIM GIMBAL CONTROL AND THIS IS THE FIRST PASS), OR
061495,000030:                                                                                                  #        B) THE Q,R-AXES RCS AUTOPILOT DETERMINED THAT THE VEHICLE WAS ENTERING (OR HAD JUST ENTERED) A COAST
061496,000031:                                                                                                  #           ZONE WITH A SMALL OFFSET ANGULAR ACCELERATION.
061497,000032:                                                                                                  #  GTS IS THE ENTRY TO THE GIMBAL TRIM SYSTEM FOR CONTROLLING ATTITUDE ERRORS AND RATES AS WELL AS ACCELERATIONS.
061498,000033: 
061499,000034: 21,3076           37752        GTS                CAF      NEGONE                                #  MAKE THE NEXT PASS THROUGH THE DAP BE
061500,000035: 21,3077           55630                           TS       COTROLER                              #        THROUGH RCS CONTROL,
061501,000036: 21,3100           34751                           CAF      FOUR                                  #        AND ENSURE THAT IT IS NOT A SKIP.
061502,000037: 21,3101           55534                           TS       SKIPU                                 
061503,000038: 21,3102           55535                           TS       SKIPV                                 
061504,000039: 
061505,000040: 21,3103           34752                           CAF      TWO                                   
061506,000041: 21,3104           55632                           TS       INGTS                                 #  SET INDICATOR OF GTS CONTROL POSITIVE.
061507,000042: 21,3105           55631                           TS       QGIMTIMR                              #  SET TIMERS TO 200 MSEC TO AVOID BOTH
061508,000043: 21,3106           55633                           TS       RGIMTIMR                              #  RUNAWAY AND INTERFERENCE BY NULLING.
061509,000044: 
061510,000045:                                                                                                  #  THE DRIVE SETTING ALGORITHM
061511,000046:                                                                                                  #        DEL = SGN(OMEGA + ALPHA*ABS(ALPHA)/(2*K))   2               1/2                  2       3/2
061512,000047:                                                                                                  #        NEGUSUM = ERROR*K + ALPHA*(DEL*OMETA + ALPHA /(3*K)) + DEL*K   (DEL*OMEGA + ALPHA /(2*K))
061513,000048:                                                                                                  #        DRIVE = -SGN(NEGUSUM)
061514,000049: 
061515,000050: 21,3107           30021                           CA       SR                                    #  SAVE THE SR.  SHIFT IT LEFT TO CORRECT
061516,000051: 21,3110           60000                           AD       A                                     #  FOR THE RIGHT SHIFT DUE TO EDITING.
061517,000052: 21,3111           55505                           TS       SAVESR                                
061518,000053: 
061519,000054: 21,3112           34752        GTSGO+DN           CAF      TWO                                   #  SET INDEXER FOR R-AXIS CALCULATIONS.
061520,000055: 21,3113           13115                           TCF      GOQTRIMG   +1                         
061521,000056: 
061522,000057: 21,3114           34755        GOQTRIMG           CAF      ZERO                                  #  SET INDEXER FOR Q-AXIS CALCULATIONS
061523,000058: 21,3115           55747                           TS       QRCNTR                                
061524,000059: 
061525,000060: 21,3116           51747                           INDEX    QRCNTR                                #  AOS SCALED AT PI/2
061526,000061: 21,3117           31536                           CA       AOSQ                                  
061527,000062: 21,3120           00006                           EXTEND                                         
061528,000063: 21,3121           74752                           MP       BIT2                                  #  RESCALE AOS TO PI/4

Page 1470

061530,000065: 21,3122           00006                           EXTEND                                         
061531,000066: 21,3123           13127                           BZF      GTSQAXIS   -3                         #  USE FULL SCALE FOR LARGER AOS ESTIMATES.
061532,000067: 
061533,000068: 21,3124           50000                           INDEX    A                                     
061534,000069: 21,3125           44734                           CS       LIMITS                                #  LIMITS +1 CONTAINS NEGMAX.
061535,000070: 21,3126           56001                           XCH      L                                     #  LIMITS -1 CONTAINS POSMAX.
061536,000071: 
061537,000072: 21,3127           11747                           CCS      QRCNTR                                #  PICK UP RATE FOR THIS AXIS.  RATE CELLS
061538,000073: 21,3130           50000                           INDEX    A                                     #  USE ADJACENT, NOT SEPARATED.  AT PI/4
061539,000074: 21,3131           31436                           CA       EDOTQ                                 
061540,000075: 21,3132           53743        GTSQAXIS           DXCH     WCENTRAL                              
061541,000076: 
061542,000077: 21,3133           51747                           INDEX    QRCNTR                                #  COLLECT K FOR THIS AXIS
061543,000078: 21,3134           31504                           CA       KQ                                    
061544,000079: 21,3135           55740                           TS       KCENTRAL                              
061545,000080: 
061546,000081: 21,3136           00006                           EXTEND                                         #  CONTROL AUTHORITY ZERO.  AVOID DRIVING
061547,000082: 21,3137           13575                           BZF      POSDRIVE   +1                         #  ENGINE BELL TO THE STOPS.
061548,000083: 
061549,000084: 21,3140           51747                           INDEX    QRCNTR                                #  QDIFF, RDIFF ARE STORED IN D.P.
061550,000085: 21,3141           31450                           CAE      QDIFF                                 
061551,000086: 
061552,000087: 21,3142           00006        ALGORTHM           EXTEND                                         #  Q(R)DIFF IS THETA (ERROR) SCALED AT PI.
061553,000088: 21,3143           71740                           MP       KCENTRAL                              #  FORM K*ERROR AT PI(2)/2(8), IN D.P.
061554,000089: 21,3144           23736                           LXCH     K2THETA                               
061555,000090: 21,3145           00006                           EXTEND                                         
061556,000091: 21,3146           74747                           MP       BIT5                                  #  RESCALE TO 4*PI(2)
061557,000092: 21,3147           53737                           DXCH     K2THETA                               
061558,000093: 21,3150           00006                           EXTEND                                         
061559,000094: 21,3151           74747                           MP       BIT5                                  #  FIRST TERM OF NEGUSUM IN K2THETA.
061560,000095: 21,3152           27737                           ADS      K2THETA    +1                         #  NO CARRY NEEDED       D.P. AT 4*PI(2)
061561,000096: 
061562,000097: 21,3153           41743                           CS       ACENTRAL                              #  FORM ALPHA(2)/(2*K) AT 16*PI, IN D.P.,
061563,000098: 21,3154           00006                           EXTEND                                         #  LIMITING QUOTIENT TO AVOID OVERFLOW.
061564,000099: 21,3155           74736                           MP       BIT14                                 #  -ALPHA/2 IN A, SCALED AT PI/4
061565,000100: 21,3156           00006                           EXTEND                                         
061566,000101: 21,3157           71743                           MP       ACENTRAL                              #  -ALPHA(2)/2 IN A,L, SCALED AT PI(2)/16)
061567,000102: 21,3160           61740                           AD       KCENTRAL                              
061568,000103: 21,3161           00006                           EXTEND                                         
061569,000104: 21,3162           63177                           BZMF     HUGEQUOT                              #  K-ALPHA(2)/2 SHOULD BE PNZ FO DIVISION
061570,000105: 
061571,000106: 21,3163           00006                           EXTEND                                         
061572,000107: 21,3164           40001                           DCS      A                                     #  ALPHA(2)/2 - K
061573,000108: 21,3165           61740                           AD       KCENTRAL                              
061574,000109: 21,3166           00006                           EXTEND                                         
061575,000110: 21,3167           11740                           DV       KCENTRAL                              #  HIGH ORDER OF QUOTIENT.
061576,000111: 21,3170           57745                           XCH      A2CNTRAL                              
061577,000112: 21,3171           30001                           CA       L                                     #  SHIFT UP THE REMAINDER.
061578,000113: 21,3172           22007                           LXCH     7                                     #  ZERO LOW-ORDER DIVIDEND.
061579,000114: 21,3173           00006                           EXTEND                                         

Page 1471

061581,000116: 21,3174           11740                           DV       KCENTRAL                              
061582,000117: 21,3175           57746                           XCH      A2CNTRAL   +1                         #  QUOTIENT STORED AT 16*PI, D.P.
061583,000118: 21,3176           13202                           TCF      HAVEQUOT                              
061584,000119: 
061585,000120: 21,3177           34733        HUGEQUOT           CA       POSMAX                                
061586,000121: 21,3200           54001                           TS       L                                     
061587,000122: 21,3201           53746                           DXCH     A2CNTRAL                              #  LIMITED QUOTIENT STORED AT 16*PI, D.P.
061588,000123: 
061589,000124: 21,3202           31742        HAVEQUOT           CA       WCENTRAL                              
061590,000125: 21,3203           00006                           EXTEND                                         
061591,000126: 21,3204           74743                           MP       BIT9                                  #  RESCALE OMEGA AT 16*PI IN D.P.
061592,000127: 21,3205           53742                           DXCH     K2CNTRAL                              #  LOWER WORD OVERLAYS OMEGA IN WCENTRAL
061593,000128: 
061594,000129: 21,3206           00006                           EXTEND                                         
061595,000130: 21,3207           31742                           DCA      K2CNTRAL                              
061596,000131: 21,3210           53751                           DXCH     FUNCTION                              
061597,000132: 
061598,000133: 21,3211           31743                           CA       ACENTRAL                              #  GET ALPHA*ABS(ALPHA)/(2*K)
061599,000134: 21,3212           00006                           EXTEND                                         
061600,000135: 21,3213           63217                           BZMF     +4                                    
061601,000136: 
061602,000137: 21,3214           00006                           EXTEND                                         
061603,000138: 21,3215           31746                           DCA      A2CNTRAL                              
061604,000139: 21,3216           13221                           TCF      +3                                    
061605,000140: 
061606,000141: 21,3217           00006                           EXTEND                                         
061607,000142: 21,3220           41746                           DCS      A2CNTRAL                              
061608,000143: 
061609,000144: 21,3221           21751                           DAS      FUNCTION                              #  OMEGA + ALPHA*ABS(ALPHA)/(2*K) AT 16*PI
061610,000145: 
061611,000146: 21,3222           11750                           CCS      FUNCTION                              #  DEL = +1 FOR FUNCT1 GREATER THAN ZERO.
061612,000147: 21,3223           13227                           TCF      POSFNCT1                              #  OTHERWISE DEL = -1
061613,000148: 21,3224           13226                           TCF      +2                                    
061614,000149: 21,3225           13231                           TCF      NEGFNCT1                              
061615,000150: 
061616,000151: 21,3226           11751                           CCS      FUNCTION   +1                         #  USE LOW ORDER WORD SINCE HIGH IS ZERO
061617,000152: 21,3227           34753        POSFNCT1           CAF      BIT1                                  
061618,000153: 21,3230           13232                           TCF      +2                                    
061619,000154: 21,3231           44753        NEGFNCT1           CS       BIT1                                  
061620,000155: 21,3232           55744                           TS       DEL                                   
061621,000156: 
061622,000157: 21,3233           11744                           CCS      DEL                                   #  REPLACE OMEGA BY DEL*OMEGA
061623,000158: 21,3234           13246                           TCF      FUNCT2                                #  POSITIVE DEL VALUE.  PROCEED.
061624,000159: 21,3235           13237                           TCF      DEFUNCT                               
061625,000160: 21,3236           13243                           TCF      NEGFNCT2                              
061626,000161: 
061627,000162: 21,3237           55741        DEFUNCT            TS       K2CNTRAL                              
061628,000163: 21,3240           55742                           TS       K2CNTRAL   +1                         
061629,000164: 21,3241           13246                           TCF      FUNCT2                                
061630,000165: 

Page 1472

061632,000167: 21,3242           65252        NEG1/3             DEC      -.33333                               
061633,000168: 
061634,000169: 21,3243           00006        NEGFNCT2           EXTEND                                         
061635,000170: 21,3244           41742                           DCS      K2CNTRAL                              
061636,000171: 21,3245           53742                           DXCH     K2CNTRAL                              
061637,000172: 
061638,000173: 21,3246           00006        FUNCT2             EXTEND                                         
061639,000174: 21,3247           31746                           DCA      A2CNTRAL                              
061640,000175: 21,3250           21742                           DAS      K2CNTRAL                              #  DEL*OMEGA + ALPHA(2)/(2*K) AT 16*PI, D.P.
061641,000176: 
061642,000177: 21,3251           31745        FUNCT3             CA       A2CNTRAL                              
061643,000178: 21,3252           00006                           EXTEND                                         
061644,000179: 21,3253           73242                           MP       NEG1/3                                
061645,000180: 21,3254           53746                           DXCH     A2CNTRAL                              
061646,000181: 21,3255           30001                           CA       L                                     
061647,000182: 21,3256           00006                           EXTEND                                         
061648,000183: 21,3257           73242                           MP       NEG1/3                                
061649,000184: 21,3260           27746                           ADS      A2CNTRAL   +1                         
061650,000185: 21,3261           54001                           TS       L                                     
061651,000186: 21,3262           13264                           TCF      +2                                    #  A2CNTRAL NOW CONTAINS -ALPHA(2)/(6*K),
061652,000187: 21,3263           27745                           ADS      A2CNTRAL                              #  SCALED AT 16*PI, IN D.P.
061653,000188: 
061654,000189: 21,3264           00006                           EXTEND                                         
061655,000190: 21,3265           31742                           DCA      K2CNTRAL                              #  DEL*OMEGA + ALPHA(2)/(3*K) IN A2CNTRAL,
061656,000191: 21,3266           21746                           DAS      A2CNTRAL                              #  SCALED AT 16*PI, D.P.
061657,000192: 
061658,000193: 21,3267           31745                           CA       A2CNTRAL                              
061659,000194: 21,3270           00006                           EXTEND                                         
061660,000195: 21,3271           71743                           MP       ACENTRAL                              
061661,000196: 21,3272           21737                           DAS      K2THETA                               
061662,000197: 21,3273           31746                           CA       A2CNTRAL   +1                         
061663,000198: 21,3274           00006                           EXTEND                                         
061664,000199: 21,3275           71743                           MP       ACENTRAL                              #  ACENTRAL MAY NOW BE OVERLAID.
061665,000200: 21,3276           27737                           ADS      K2THETA    +1                         
061666,000201: 21,3277           54001                           TS       L                                     
061667,000202: 21,3300           13302                           TCF      +2                                    #  TWO TERMS OF NEGUSUM ACCUMULATED, SO FAR
061668,000203: 21,3301           27736                           ADS      K2THETA                               #  SCALED AT 4*PI(2), IN D.P.
061669,000204: 
061670,000205: 21,3302           31741        GETROOT            CA       K2CNTRAL                              #  K*(DEL*OMEGA + ALPHA(2)/(2*K)) IS THE
061671,000206: 21,3303           00006                           EXTEND                                         #  TERM FOR WHICH A SQUARE ROOT IS NEEDED.
061672,000207: 21,3304           71740                           MP       KCENTRAL                              #  K AT PI/2(8)
061673,000208: 21,3305           53751                           DXCH     FUNCTION                              
061674,000209: 21,3306           31742                           CA       K2CNTRAL   +1                         
061675,000210: 21,3307           00006                           EXTEND                                         
061676,000211: 21,3310           71740                           MP       KCENTRAL                              
061677,000212: 21,3311           27751                           ADS      FUNCTION   +1                         
061678,000213: 21,3312           54001                           TS       L                                     
061679,000214: 21,3313           13315                           TCF      +2                                    
061680,000215: 21,3314           27750                           ADS      FUNCTION                              #  DESIRED TERM IN FUNCTION, AT PI(2)/16

Page 1473

061682,000217: 21,3315           11744                           CCS      DEL                                   
061683,000218: 21,3316           13523                           TCF      RSTOFGTS                              
061684,000219: 21,3317           13565                           TCF      NEGUSUM                               
061685,000220: 21,3320           13322                           TCF      NEGATE                                
061686,000221: 21,3321           13565                           TCF      NEGUSUM                               
061687,000222: 
061688,000223: 21,3322           00006        NEGATE             EXTEND                                         
061689,000224: 21,3323           41742                           DCS      K2CNTRAL                              
061690,000225: 21,3324           53742                           DXCH     K2CNTRAL                              
061691,000226: 21,3325           13523                           TCF      RSTOFGTS                              
061692,000227: 
061693,000228: 16,3741                                           BANK     16                                    
061694,000229: 16,3741  E6,1501                                  EBANK=   NEGUQ                                 
061695,000230: 16,2000                                           SETLOC   DAPS1                                 
061696,000231: 16,2000                                           BANK                                           
061697,000232: 
061698,000233:                                                                                                  #  THE WRCHN12 SUBROUTINE SETS BITS 9,10,11,12 OF CHANNEL 12 ON THE BASIS OF THE CONTENTS OF NEGUQ,NEGUR WHICH ARE
061699,000234:                                                                                                  #  THE NEGATIVES OF THE DESIRED ACCELERTION CHANGES.  ACDT+C12 SETS Q(R)ACCDOT TO REFLECT TEH NEW DRIVES.
061700,000235: 
061701,000236:                                                                                                  #  WARNING:  ACDT+C12 AND WHCHN12 MUST BE CALLED WITH INTERRUPT INHIBITED.
061702,000237: 
061703,000238: 16,3741           07400        BGIM               OCTAL    07400                                 
061704,000239: 16,3742     0066               CHNL12             EQUALS   ITEMP6                                
061705,000240: 16,3742           41501        ACDT+C12           CS       NEGUQ                                 
061706,000241: 16,3743           00006                           EXTEND                                         #  GIMBAL DRIVE REQUESTS.
061707,000242: 16,3744           71507                           MP       ACCDOTQ                               
061708,000243: 16,3745           23510                           LXCH     QACCDOT                               
061709,000244: 16,3746           41503                           CS       NEGUR                                 
061710,000245: 16,3747           00006                           EXTEND                                         
061711,000246: 16,3750           71511                           MP       ACCDOTR                               
061712,000247: 16,3751           23512                           LXCH     RACCDOT                               
061713,000248: 
061714,000249: 16,3752           11501                           CCS      NEGUQ                                 
061715,000250: 16,3753           34742                           CAF      BIT10                                 
061716,000251: 16,3754           13756                           TCF      +2                                    
061717,000252: 16,3755           34743                           CAF      BIT9                                  
061718,000253: 16,3756           54066                           TS       CHNL12                                
061719,000254: 
061720,000255: 16,3757           11503                           CCS      NEGUR                                 
061721,000256: 16,3760           34740                           CAF      BIT12                                 
061722,000257: 16,3761           13763                           TCF      +2                                    
061723,000258: 16,3762           34741                           CAF      BIT11                                 
061724,000259: 16,3763           26066                           ADS      CHNL12                                #  (STORED RESULT NOT USED AT PRESENT)
061725,000260: 
061726,000261: 16,3764           43741                           CS       BGIM                                  
061727,000262: 16,3765           00006                           EXTEND                                         
061728,000263: 16,3766           02012                           RAND     CHAN12                                
061729,000264: 16,3767           60066                           AD       CHNL12                                
061730,000265: 16,3770           00006                           EXTEND                                         
061731,000266: 16,3771           01012                           WRITE    CHAN12                                

Page 1474

061733,000268: 16,3772           44747                           CS       CALLGMBL                              #  TURN OFF REQUEST FOR ACDT+C12 EXECUTION.
061734,000269: 16,3773           71262                           MASK     RCSFLAGS                              
061735,000270: 16,3774           55262                           TS       RCSFLAGS                              
061736,000271: 
061737,000272: 16,3775           00002                           TC       Q                                     #  RETURN TO CALLER.
061738,000273: 
061739,000274: 21,3326                                           BANK     21                                    
061740,000275: 21,3326  E6,1450                                  EBANK=   QDIFF                                 
061741,000276: 21,2000                                           SETLOC   DAPS4                                 
061742,000277: 21,2000                                           BANK                                           
061743,000278: 

Page 1475

061745,000280:                                                                                                  #  SUBROUTINE TIMEGMBL:  MOD 0, OCTOBER 1967, CRAIG WORK
061746,000281: 
061747,000282:                                                                                                  #  TIMEGMBL COMPUTES THE DRIVE TIME NEEDED FOR TEH TRIM GIMBAL TO POSITION THE DESCENT ENGINE NOZZLE SO AS TO NULL
061748,000283:                                                                                                  #  THE OFFSET ANGULAR ACCELERATION ABOUT THE Q (OR R) AXIS.  INSTEAD OF USING AOSQ(R), TIMEBMBL USES .4*AOSQ(R),
061749,000284:                                                                                                  #  SCALED AT PI/8.  FOR EACH AXIS, THE DRIVE TIME IS COMPUTED AS ABS(ALPHA/ACCDOT).  AT ZERO
061750,000285:                                                                                                  #  ALPHA OR ACCDOT OR A ZERO QUOTIENT TURNS OFF THE GIMBAL DRIVE IMMEDIATELY.  OTHERWISE, THE GIMBAL IS TURNED ON
061751,000286:                                                                                                  #  DRIVING IN THE CORRECT DIRECTION.  THE Q(R)GIMTIMR IS SET TO TERMINATE THE DRIVE AND Q(R)ACCDOT
061752,000287:                                                                                                  #  IS STORED TO REFLECT THE NEW ACCELERATION DERIVATIVE.  NEGUQ(R) WILL CONTAIN +1,+0,-1 FOR A Q(R)ACCDOT VALUE
061753,000288:                                                                                                  #  WHICH IS NEGATIVE, ZERO, OR POSITIVE.
061754,000289: 
061755,000290:                                                                                                  #  INPUTS:       AOSQ,AOSR, SCALED AT P1/2, AND ACCDOTQ, ACCDOTR AT PI/2(7).     PI/2(7).
061756,000291: 
061757,000292:                                                                                                  #  OUTPUTS:      NEW GIMBAL DRIVE BITS IN CHANNEL 12, NEGUQ, NEGUR, QACCDOT, AND RACCDOT, THE LAST SCALED AT PI/2(7).
061758,000293:                                                                                                  #                Q(R)GIMTIMR WILL BE SET TO TIME AND TERMINATE GIMBAL DRIVE(S).
061759,000294: 
061760,000295:                                                                                                  #  DEBRIS:       A, L, Q, TEMPS 2, 3, 6, AND RUPTREG2 AND ACDT+C12 DEBRIS.
061761,000296: 
061762,000297:                                                                                                  #  EXITS:        VIA TC Q.
061763,000298: 
061764,000299:                                                                                                  #  ALARMS, ABORTS:  NONE.
061765,000300: 
061766,000301:                                                                                                  #  SUBROUTINES:  ACDT+C12, IBNKCALL
061767,000302: 
061768,000303:                                                                                                  #  WARNING:      THIS SUBROUTINE WRITES INTO CHANNEL 12 AND USES THE ITEMPS.  THEREFORE IT MAY ONLY BE CALLED WITH
061769,000304:                                                                                                  #                INTERRUPT INHIBITED.
061770,000305: 
061771,000306:                                                                                                  #  ERASABLE STORAGE CONFIGURATION (NEEDED BY THE INDEXING METHODS):
061772,000307:                                                                                                  #        NEGUQ           ERASE   +2              # NEGATIVE OF Q-AXIS GIMBAL DRIVE
061773,000308:                                                                                                  #        (SPWORD)        EQUALS  NEGUQ +1        # ANY S.P. ERASABLE NUMBER, NOW THRSTCMD
061774,000309:                                                                                                  #        NEGUR           EQUALS  NEGUQ +2        # NEGATIVE OF R-AXIS GIMBAL DRIVE
061775,000310:                                                                                                  #        ACCDOTQ         ERASE   +2              # Q-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
061776,000311:                                                                                                  #        (SPWORD)        EQUALS  ACCDOTQ +1      # ANY S.P. ERASABLE NUMBER NOW QACCDOT
061777,000312:                                                                                                  #        ACCDOTR         EQUALS  ACCDOTQ +2      # R-JERK TERM SCALED AT PI/2(7) RAD/SEC(3)
061778,000313:                                                                                                  #                                                # ACCDOTQ, ACCDOTR ARE MAGNITUDES.
061779,000314:                                                                                                  #        AOSQ            ERASE   +4              # Q-AXIS ACC., D.P. AT PI/2 R/SEC(2)
061780,000315:                                                                                                  #        AOSR            EQUALS  AOSQ +2         # R-AXIS ACCELERATION SCALED AT PI/2 R/S2
061781,000316: 
061782,000317: 21,3326     0066               QRNDXER            EQUALS   ITEMP6                                
061783,000318: 21,3326           23146        OCT23146           OCTAL    23146                                 #  DECIMAL .6
061784,000319: 21,3327     0063               NZACCDOT           EQUALS   ITEMP3                                
061785,000320: 
061786,000321: 21,3327           34753        TIMEGMBL           CAF      ONE                                   #  INITIALZE ALLOWGTS.
061787,000322: 21,3330           55502                           TS       ALLOWGTS                              
061788,000323: 
061789,000324: 21,3331           34752                           CAF      TWO                                   #  SET UP LOOP FOR R AXIS.
061790,000325: 21,3332           22002                           LXCH     Q                                     #  SAVE RETURN ADDRESS.
061791,000326: 21,3333           22071                           LXCH     RUPTREG2                              

Page 1476

061793,000328: 21,3334           13336                           TCF      +2                                    
061794,000329: 21,3335           34755        TIMQGMBL           CAF      ZERO                                  #  NOW DO THE Q-AXIS
061795,000330: 21,3336           54066                           TS       QRNDXER                               
061796,000331: 21,3337           50066                           INDEX    QRNDXER                               
061797,000332: 21,3340           31507                           CA       ACCDOTQ                               #  ACCDOT IS PRESUMED TO BE AT PI/2(7).
061798,000333: 21,3341           00006                           EXTEND                                         
061799,000334: 21,3342           63412                           BZMF     TGOFFNOW                              #  IS ACCDOT LESS THAN OR EQUAL TO 0?
061800,000335: 21,3343           54063                           TS       NZACCDOT                              #  NO.  STORE NON-ZERO, POSITIVE ACCDOT.
061801,000336: 
061802,000337: 21,3344           50066        ALPHATRY           INDEX    QRNDXER                               
061803,000338: 21,3345           41536                           CS       AOSQ                                  
061804,000339: 21,3346           00006                           EXTEND                                         
061805,000340: 21,3347           13412                           BZF      TGOFFNOW                              #  IS ALPHA ZERO?
061806,000341: 
061807,000342: 21,3350           54002                           TS       Q                                     #  SAVE A COPY OF -ACS.
061808,000343: 21,3351           00006                           EXTEND                                         #  NO.  RESCALE FOR TIMEGMBL USE.
061809,000344: 21,3352           73326                           MP       OCT23146                              #  OCTAL 23146 IS DECIMAL .6
061810,000345: 21,3353           60002                           AD       Q                                     #  -1.6*AOS AT PI/2 = -.4*AOS AT PI/8
061811,000346: 21,3354           54001                           TS       L                                     #  WAS THERE OVERFLOW?
061812,000347: 21,3355           13362                           TCF      SETNEGU                               #  NO.  COMPUTE DRIVE TIME.
061813,000348: 
061814,000349: 21,3356           40000                           CS       A                                     #  RECOVER -SGN(AOS) IN THE A REGISTER.
061815,000350: 21,3357           50066                           INDEX    QRNDXER                               #  YES.  START DRIVE WITHOUT WAITLIST.
061816,000351: 21,3360           57501                           XCH      NEGUQ                                 
061817,000352: 21,3361           13416                           TCF      NOTALLOW                              #  KNOCK DOWN THE ALLOWGTS FLAG.
061818,000353: 
061819,000354: 21,3362           00006        SETNEGU            EXTEND                                         
061820,000355: 21,3363           63370                           BZMF     POSALPH                               
061821,000356: 
061822,000357: 21,3364           40000                           COM                                            
061823,000358: 21,3365           54062                           TS       ITEMP2                                #  STORE -ABS(.4*AOS) SCALED AT PI/8.
061824,000359: 21,3366           44753                           CS       BIT1                                  
061825,000360: 21,3367           13372                           TCF      POSALPH    +2                         
061826,000361: 21,3370           54062        POSALPH            TS       ITEMP2                                #  STORE -ABS(.4*AOS) SCALED AT PI/8.
061827,000362: 21,3371           34753                           CA       BIT1                                  
061828,000363: 21,3372           50066                 +2        INDEX    QRNDXER                               #  SGN(AOS) INTO NEGU
061829,000364: 21,3373           55501                           TS       NEGUQ                                 #  STORE SGN(ALPHA) AS NEGU
061830,000365: 
061831,000366: 21,3374           30063                           CA       NZACCDOT                              
061832,000367: 21,3375           00006                           EXTEND                                         
061833,000368: 21,3376           74740                           MP       BIT12                                 #  2*ACCDOT, SCALED AT PI/8.
061834,000369: 21,3377           60062                           AD       ITEMP2                                #  -ABS(ALPHS) + 2*ACCDOT, AT PI/8.
061835,000370: 21,3400           00006                           EXTEND                                         
061836,000371: 21,3401           63416                           BZMF     NOTALLOW                              #  IS DRIVE TIME MORE THAN TWO SECONDS?
061837,000372: 21,3402           40062                           CS       ITEMP2                                #  NO.  COMPUTE DRIVE TIME.
061838,000373: 21,3403           00006                           EXTEND                                         #  ABS(ALPHA) AT PI/8.
061839,000374: 21,3404           73437                           MP       OCT00240                              #  DECIMAL 10/1024
061840,000375: 21,3405           00006                           EXTEND                                         #  QUOTIENT IS DRIVE TIME AT WAITLIST.
061841,000376: 21,3406           10063                           DV       NZACCDOT                              #  ABS(ALPHA)/ACCDOT AT 2(14)/100

Page 1477

061843,000378: 21,3407           00006                           EXTEND                                         
061844,000379: 21,3410           13412                           BZF      TGOFFNOW                              #  DRIVE TIME MUST BE GREATER THAN ZERO.
061845,000380: 
061846,000381: 21,3411           13424                           TCF      DRIVEON                               
061847,000382: 
061848,000383: 21,3412           34755        TGOFFNOW           CAF      ZERO                                  #  TURN OFF GIMBAL NOW.
061849,000384: 21,3413           50066                           INDEX    QRNDXER                               
061850,000385: 21,3414           55501                           TS       NEGUQ                                 
061851,000386: 
061852,000387: 21,3415           13426                           TCF      DONEYET                               
061853,000388: 
061854,000389: 21,3416           36010        NOTALLOW           CAF      OCT31                                 
061855,000390: 21,3417           50066                           INDEX    QRNDXER                               
061856,000391: 21,3420           55631                           TS       QGIMTIMR                              
061857,000392: 21,3421           34755                           CAF      ZERO                                  #  DRIVE TIME IS MORE THAN 2 SECONDS, SO
061858,000393: 21,3422           55502                           TS       ALLOWGTS                              #  DO NOT PERMIT FURTHER GTS ATTITUDE-RATE
061859,000394:                                                                                                  #  CONTROL UNTIL AOSTASK APPROVES.
061860,000395: 21,3423           13426                           TCF      DONEYET                               #  NO WAITLIST CALL IS MADE.
061861,000396: 
061862,000397: 21,3424           50066        DRIVEON            INDEX    QRNDXER                               
061863,000398: 21,3425           55631                           TS       QGIMTIMR                              #  CHOOSE Q OR R AXIS.
061864,000399: 
061865,000400: 21,3426           10066        DONEYET            CCS      QRNDXER                               
061866,000401: 21,3427           13335                           TCF      TIMQGMBL                              
061867,000402: 
061868,000403: 21,3430           52073                           DXCH     RUPTREG3                              #  PROTECT IBNKCALL ERASABLES.  ACDT+C12
061869,000404: 21,3431           52063                           DXCH     ITEMP2                                #  LEAVES ITEMPS2,3 ALONE.
061870,000405: 
061871,000406: 21,3432           04674                           TC       IBNKCALL                              #  TURN OFF CHANNEL BITS, SET Q(R)ACCDOTS.
061872,000407: 21,3433           35742                           CADR     ACDT+C12                              
061873,000408: 
061874,000409: 21,3434           52063                           DXCH     ITEMP2                                #  RESTORE ERASABLES FOR IBNKCALL.
061875,000410: 21,3435           52073                           DXCH     RUPTREG3                              
061876,000411: 
061877,000412: 21,3436           00071                           TC       RUPTREG2                              #  RETURN TO CALLER.
061878,000413: 
061879,000414: 21,3437           00240        OCT00240           OCTAL    00240                                 #  DECIMAL 10/1024
061880,000415: 

Page 1478

061882,000417:                                                                                                  #  THE FOLLOWING SECTION IS A CONTINUATION OF THE TRIM GIMBAL CONTROL FROM THE LAST GTS ENTRY.  THE QUANTITY NEGUSUM
061883,000418:                                                                                                  #  IS COMPUTED FOR EACH AXIS (Q,R), .707*DEL*FUNCTION(3/2) + K2THETA = NEGUSUM.  NEW DRIVES ARE ENTERED TO CH 12.
061884,000419: 
061885,000420:                                                                                                  #  THE SUBROUTIEN GTSQRT ACCEPTS A DOUBLE PRECISION VALUE IN FUNCTION, FUNCTION +1 AND RETURNS A SINGLE-PRECISION
061886,000421:                                                                                                  #  SQUARE ROOT OF THE FOURTEEN MOST SIGNIFICATN BITS OF THE ARGUMENT.  ALSO, TEH CELL SHFTFLAG CONTAINS A BINARY
061887,000422:                                                                                                  #  EXPONENT S, SUCH THAT THE SQUARE ROOT (RETURNED IN THE A REGISTER) MUST BE SHIFTED RIGHT (MULTIPLIED BY 2 TO THE
061888,000423:                                                                                                  #  POWER (-S)) IN ORDER TO BE THE TRUE SQUARE ROOT OF TEH FOURTEEN MOST SIGNIFICANT BITS OF FUNCTION, FUNCTION +1.
061889,000424:                                                                                                  #  SQUARE ROOT ERROR IS NOT MORE THAN 2 IN THE 14TH SIGNIFICANT BIT.  CELLS CLOBBERED ARE A, L, SHFTFLAG, ININDEX,
061890,000425:                                                                                                  #  HALFARG, SCRATCH, SR, FUNCTION, FUNCTION +1.  GTSQRT IS CALLED BY TC GTSQRT AND RETURNS VIA TC Q OR TC FUNCTION +1.
061891,000426:                                                                                                  #  ZERO OR NEGATIVE ARGUMENTS YIELD ZERO FOR SQUARE ROOTS.
061892,000427: 
061893,000428: 21,3440           11750        GTSQRT             CCS      FUNCTION                              
061894,000429: 21,3441           13457                           TCF      GOODARG                               #  FUNCTION IS POSITIVE.  TAKE SQUARE ROOT.
061895,000430: 21,3442           13444                           TCF      +2                                    #  HIGH ORDER WORD IS ZERO.  TRY THE LOWER.
061896,000431: 21,3443           13450                           TCF      ZEROOT                                
061897,000432: 
061898,000433: 21,3444           31751                           CA       FUNCTION   +1                         
061899,000434: 21,3445           00006                           EXTEND                                         
061900,000435: 21,3446           63450                           BZMF     ZEROOT                                
061901,000436: 
061902,000437: 21,3447           13453                           TCF      ZEROHIGH                              #  PROCEED.
061903,000438: 21,3450           34755        ZEROOT             CA       ZERO                                  
061904,000439: 21,3451           55740                           TS       SHFTFLAG                              
061905,000440: 21,3452           00002                           TC       Q                                     
061906,000441: 
061907,000442: 21,3453           57750        ZEROHIGH           XCH      FUNCTION                              #  14 MOST SIGNIFICANT BITS ARE IN THE
061908,000443: 21,3454           57751                           XCH      FUNCTION   +1                         #  LOWER WORD.  EXCHANGE THEM.
061909,000444: 21,3455           34757                           CA       SEVEN                                 
061910,000445: 21,3456           13460                           TCF      GOODARG    +1                         
061911,000446: 
061912,000447: 21,3457           34755        GOODARG            CA       ZERO                                  
061913,000448: 21,3460           55740                           TS       SHFTFLAG                              
061914,000449: 21,3461           35741                           CA       TWELVE                                #  INITIALIZE THE SCALING LOOP.
061915,000450: 21,3462           55743                           TS       ININDEX                               
061916,000451: 21,3463           13472                           TCF      SCALLOOP                              
061917,000452: 
061918,000453: 21,3464           31750        SCALSTRT           CA       FUNCTION                              
061919,000454: 21,3465           13506                           TCF      SCALDONE                              
061920,000455: 
061921,000456: 21,3466           37751        MULBUSH            CA       NEG2                                  #  IF ARG IS NOT LESS THAN 1/4, INDEX IS
061922,000457: 21,3467           27743                           ADS      ININDEX                               #  ZERO, INDICATING NO SHIFT NEEDED.
061923,000458: 21,3470           00006                           EXTEND                                         #  BRANCH IF ARG IS NOT LESS THAN 1/4.
061924,000459: 21,3471           63464                           BZMF     SCALSTRT                              #  OTHERWISE COMPARE ARG WITH A REFERENCE
061925,000460:                                                                                                  #  WHICH IS 4 TIMES LARGER THAN THE LAST.
061926,000461: 21,3472           41750        SCALLOOP           CS       FUNCTION                              
061927,000462: 21,3473           51743                           INDEX    ININDEX                               
061928,000463: 21,3474           64735                           AD       BIT15                                 #  REFERENCE MAGNITUDE LESS OR EQUAL TO 1/4
061929,000464: 21,3475           00006                           EXTEND                                         
061930,000465: 21,3476           63466                           BZMF     MULBUSH                               #  IF ARG IS NOT LESS THAN REFERENCE, GO
061931,000466:                                                                                                  #  AROUND THE MULBERRY BUSH ONCE MORE.

Page 1479

061933,000468: 21,3477           51743                           INDEX    ININDEX                               
061934,000469: 21,3500           34735                           CA       BIT15                                 #  THIS IS THE SCALE MAGNITUDE
061935,000470: 21,3501           57746                           XCH      HALFARG                               #  2**(-ININDEX) IS THE SHIFT DIVISOR.
061936,000471: 21,3502           00006                           EXTEND                                         #  RESCALE ARGUMENT.
061937,000472: 21,3503           31751                           DCA      FUNCTION                              
061938,000473: 21,3504           00006                           EXTEND                                         
061939,000474: 21,3505           11746                           DV       HALFARG                               
061940,000475:                                                                                                  #  ININDEX AND SHFTFLAG PRESERVE INFO FOR
061941,000476:                                                                                                  #  RESCALING AFTER ROOT PROCESS.
061942,000477: 21,3506           00006        SCALDONE           EXTEND                                         
061943,000478: 21,3507           23751                           QXCH     FUNCTION   +1                         #  SAVE Q FOR RETURN
061944,000479: 21,3510           00006                           EXTEND                                         
061945,000480: 21,3511           74736                           MP       BIT14                                 
061946,000481: 21,3512           55746                           TS       HALFARG                               
061947,000482: 21,3513           74737                           MASK     BIT13                                 
061948,000483: 21,3514           10000                           CCS      A                                     
061949,000484: 21,3515           33633                           CA       OCT11276                              
061950,000485: 21,3516           63631                           AD       ROOTHALF                              #  INITIAL GUESS IS ROOT 1/2 OR POSMAX
061951,000486: 21,3517           03635                           TC       ROOTCYCL                              
061952,000487: 21,3520           03635                           TC       ROOTCYCL                              
061953,000488: 21,3521           03635                           TC       ROOTCYCL                              
061954,000489: 21,3522           01751                           TC       FUNCTION   +1                         
061955,000490: 
061956,000491:                                                                                                  #  ***************************************************************************
061957,000492: 
061958,000493: 21,3523           03440        RSTOFGTS           TC       GTSQRT                                
061959,000494: 21,3524           57741        PRODUCT            XCH      K2CNTRAL                              
061960,000495: 21,3525           00006                           EXTEND                                         
061961,000496: 21,3526           71741                           MP       K2CNTRAL                              
061962,000497: 21,3527           53742                           DXCH     K2CNTRAL                              
061963,000498: 21,3530           00006                           EXTEND                                         #                THE PRODUCT OF
061964,000499: 21,3531           70001                           MP       L                                     #   1/2                   2       1/2
061965,000500: 21,3532           27742                           ADS      K2CNTRAL   +1                         #  K   *(DEL*OMEGA + ALPHA /(2*K))
061966,000501: 21,3533           54001                           TS       L                                     #                      AND
061967,000502: 21,3534           13536                           TCF      +2                                    #                        2
061968,000503: 21,3535           27741                           ADS      K2CNTRAL                              #  DEL*(DEL*OMEGA + ALPHA /(2*K)) NOW IN K2CNTRAL
061969,000504: 
061970,000505: 21,3536           31743        DOSHIFT            CA       ININDEX                               
061971,000506: 21,3537           00006                           EXTEND                                         #  MULTIPLY IN THE FACTOR 2(-S), RETURNED
061972,000507: 21,3540           74736                           MP       BIT14                                 #  BY THE GTSQRT SUBROUTINE
061973,000508: 21,3541           27740                           ADS      SHFTFLAG                              
061974,000509: 21,3542           00006                           EXTEND                                         
061975,000510: 21,3543           13562                           BZF      ADDITIN                               
061976,000511: 21,3544           51740                           INDEX    SHFTFLAG                              
061977,000512: 21,3545           34735                           CA       BIT15                                 

Page 1480

061979,000514: 21,3546           57741                           XCH      K2CNTRAL                              
061980,000515: 21,3547           00006                           EXTEND                                         
061981,000516: 21,3550           71741                           MP       K2CNTRAL                              
061982,000517: 21,3551           21737                           DAS      K2THETA                               
061983,000518: 21,3552           57741                           XCH      K2CNTRAL                              
061984,000519: 21,3553           00006                           EXTEND                                         
061985,000520: 21,3554           71742                           MP       K2CNTRAL   +1                         
061986,000521: 21,3555           27737                           ADS      K2THETA    +1                         
061987,000522: 21,3556           54001                           TS       L                                     
061988,000523: 21,3557           13561                           TCF      +2                                    
061989,000524: 21,3560           27736                           ADS      K2THETA                               
061990,000525: 
061991,000526: 21,3561           13565                           TCF      NEGUSUM                               
061992,000527: 
061993,000528: 21,3562           00006        ADDITIN            EXTEND                                         
061994,000529: 21,3563           31742                           DCA      K2CNTRAL                              
061995,000530: 21,3564           21737                           DAS      K2THETA                               #  NO ADD IN THE K2THETA TERM.
061996,000531: 21,3565           11736        NEGUSUM            CCS      K2THETA                               #  TEST SIGN OF HIGH ORDER PART.
061997,000532: 21,3566           13572                           TCF      NEGDRIVE                              
061998,000533: 21,3567           13571                           TCF      +2                                    
061999,000534: 21,3570           13574                           TCF      POSDRIVE                              
062000,000535: 
062001,000536: 21,3571           11737                           CCS      K2THETA    +1                         #  SIGN TEST FOR LOW ORDER PART.
062002,000537: 21,3572           34753        NEGDRIVE           CA       BIT1                                  
062003,000538: 21,3573           13575                           TCF      +2                                    #  STOP GIMBAL DRIVE FOR A ZERO NEGUSUM.
062004,000539: 21,3574           44753        POSDRIVE           CS       BIT1                                  
062005,000540: 21,3575           54001                           TS       L                                     #  SAVE FOR DRIVE REVERSAL TEST.
062006,000541: 21,3576           51747                           INDEX    QRCNTR                                
062007,000542: 21,3577           57501                           XCH      NEGUQ                                 
062008,000543: 
062009,000544: 21,3600           00006                           EXTEND                                         
062010,000545: 21,3601           70001                           MP       L                                     #  MULTIPLY OLD NEGU AND NEW NEGU.
062011,000546: 21,3602           10001                           CCS      L                                     
062012,000547: 21,3603           13620                           TCF      LOUPE                                 #  NON-ZERO GIMBAL DRIVE BEING CONTINUED.
062013,000548: 
062014,000549: 21,3604           13615                           TCF      ZEROLOUP                              #  NO REVERSAL PROBLEM HERE.
062015,000550: 
062016,000551: 21,3605           13607                           TCF      REVERSAL                              #  NON-ZERO GIMBAL DRIVE BEING REVERSED.
062017,000552: 21,3606           13615                           TCF      ZEROLOUP                              #  NO REVERSAL PROBLEM HERE.
062018,000553: 
062019,000554: 21,3607           51747        REVERSAL           INDEX    QRCNTR                                #  A ZERO-DRIVE PAUSE IS NEEDED HERE.  ZERO
062020,000555: 21,3610           55510                           TS       QACCDOT                               #  IS IN A REGISTER FROM CCS ON (-1).
062021,000556: 21,3611           51747                           INDEX    QRCNTR                                
062022,000557: 21,3612           43632                           CS       GMBLBITA                              
062023,000558: 21,3613           00006                           EXTEND                                         
062024,000559: 21,3614           03012                           WAND     CHAN12                                
062025,000560: 
062026,000561: 21,3615           41262        ZEROLOUP           CS       RCSFLAGS                              #  SET UP REQUEST FOR ACDT+C12 CALL.
062027,000562: 21,3616           74747                           MASK     CALLGMBL                              
062028,000563: 21,3617           27262                           ADS      RCSFLAGS                              

Page 1481

062030,000565: 21,3620           11747        LOUPE              CCS      QRCNTR                                #  HAVE BOTH AXES BEEN PROCESSED?
062031,000566: 21,3621           13114                           TCF      GOQTRIMG                              #  NO.  DO Q AXIS NEXT.
062032,000567: 
062033,000568: 21,3622           31505                           CA       SAVESR                                #  RESTORE THE SR
062034,000569: 21,3623           54021                           TS       SR                                    
062035,000570: 
062036,000571: 21,3624           00006        GOCLOSE            EXTEND                                         #  TERMINATE THE JASK.
062037,000572: 21,3625           33630                           DCA      CLOSEADR                              
062038,000573: 21,3626           52006                           DTCB                                           
062039,000574: 
062040,000575: 21,3627  E6,1536                                  EBANK=   AOSQ                                  
062041,000576: 21,3627           03270 36106  CLOSEADR           2CADR    CLOSEOUT                              #  TERMINATE THE JASK.
062042,000577: 
062043,000578: 21,3631     5741               TWELVE             EQUALS   OCT14                                 
062044,000579: 21,3631           26501        ROOTHALF           OCTAL    26501                                 #  SQUARE ROOT OF 1/2
062045,000580: 21,3632           01400        GMBLBITA           OCTAL    01400                                 #  INDEXED WRT GMBLBITB  DO NOT MOVE *******
062046,000581: 21,3633           11276        OCT11276           OCTAL    11276                                 #  POSMAX -- ROOTHALF
062047,000582: 21,3634           06000        GMBLBITB           OCTAL    06000                                 #  INDEXED WRT GMBLBITA  DO NOT MOVE *******
062048,000583: 
062049,000584:                                                                                                  #  SUBROUTINE ROOTCYCL:  BY CRAIG WORK, 3 APRIL 68
062050,000585: 
062051,000586:                                                                                                  #  ROOTCYCL IS A SUBROUTINE WHICH EXECUTS ONE NEWTON SQUARE ALGORITHM ITERATION.  THE INITIAL GUESS AT THE
062052,000587:                                                                                                  #  SQUARE ROOT IS PRESUMED TO BE IN THE A REGISTER AND ONE-HALF THE SQUARE IS TAKEN FROM HALFARG.  THE NEW APPROXIMATION
062053,000588:                                                                                                  #  TO THE SQUARE ROOT IS RETURNED IN THE A REGISTER.  DEBRIS:  A, L, SR, SCRATCH.  ROOTCYCL IS CALLED FROM
062054,000589:                                                                                                  #  LOCATION (LOC) BY A TC ROOTCYCL, AND RETURNS (TC Q) TO LOC +1.
062055,000590: 
062056,000591:                                                                                                  #  WARNING:  IF THE INITIAL GUESS IS NOT GREATER THAN THE SQUARE, DIVIDE OR ADD OVERFLOW IS A REAL POSSIBILITY.
062057,000592: 
062058,000593: 21,3635           55745        ROOTCYCL           TS       SCRATCH                               #  STORE X
062059,000594: 21,3636           54021                           TS       SR                                    #  X/2 NOW IN SR
062060,000595: 21,3637           31746                           CA       HALFARG                               #  ARG/2 IN THE A REG
062061,000596: 21,3640           22007                           ZL                                             #  PREPARE FOR DIVISION
062062,000597: 21,3641           00006                           EXTEND                                         
062063,000598: 21,3642           11745                           DV       SCRATCH                               #  (ARG/X)/2
062064,000599: 21,3643           60021                           AD       SR                                    #  (X + ARG/X)/2 IN THE A REG
062065,000600: 21,3644           00002                           TC       Q                                     
062066,000601: 
062067,000602: 

End of include-file TRIM_GIMBAL_CNTROL_SYSTEM.agc.  Parent file is MAIN.agc