Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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038985,000002: ## Copyright: Public domain.
038986,000003: ## Filename: FINDCDUW_-_GUIDAP_INTERFACE.agc
038987,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
038988,000005: ## This was the original program released for the Apollo 13 LM,
038989,000006: ## although several more revisions would follow. It has been
038990,000007: ## reconstructed from a listing of Luminary 131, from which it
038991,000008: ## differs on only two lines in P70-P71. The difference is
038992,000009: ## described in detail in Luminary memo #129, which was used
038993,000010: ## to perform the reconstruction. This file is intended to be a
038994,000011: ## faithful reconstruction, except that the code format has been
038995,000012: ## changed to conform to the requirements of the yaYUL assembler
038996,000013: ## rather than the original YUL assembler.
038997,000014: ## Reference: pp. 902-920
038998,000015: ## Contact: Ron Burkey <info@sandroid.org>.
038999,000016: ## Website: www.ibiblio.org/apollo/index.html
039000,000017: ## Mod history: 05/28/03 RSB. Began transcribing.
039001,000018: ## 05/14/05 RSB Corrected website reference above.
039002,000019: ## 2017-02-26 RSB Proofed comment text using octopus/ProoferComments.
039003,000020: ## 2017-03-01 RSB Fixed lingering typos.
039004,000021: ## 2017-03-10 RSB Comment-text fixes noted in proofing Luminary 116.
039005,000022: ## 2017-03-15 RSB Comment-text fixes identified in 5-way
039006,000023: ## side-by-side diff of Luminary 69/99/116/131/210.
039007,000024: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
039008,000025:
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Page 902
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039010,000027: # PROGRAM NAME: FINDCDUW
039011,000028: # MOD NUMBER: 1 68 07 15
039012,000029: # MOD AUTHOR: KLUMPP
039013,000030:
039014,000031: # OBJECTS OF MOD: 1. TO SUPPLY COMMANDED GIMBAL ANGLES FOR NOUN 22.
039015,000032: # 2. TO MAINTAIN CORRECT AND CURRENT THRUST
039016,000033: # DIRECTION DATA IN ALL MODES. THIS IS DONE BY
039017,000034: # FETCHING FOR THE THRUST DIRECTION FILTER THE
039018,000035: # CDUD'S IN PNGCS-AUTO, THE CDU'S IN ALL OTHER
039019,000036: # MODES.
039020,000037: # 3. TO SUBSTITUTE A STOPRATE FOR THE NORMAL
039021,000038: # AUTOPILOT COMMANDS WHENEVER
039022,000039: # 1) NOT IN PNGCS-AUTO, OR
039023,000040: # 2) ENGINE IS OFF.
039024,000041:
039025,000042: # FUNCTIONAL DESCRIPTION:
039026,000043:
039027,000044: # FINDCDUW PROVIDES THE INTERFACES BETWEEN THE VARIOUS POWERED FLITE GUIDANCE PROGRAMS
039028,000045: # AND THE DIGITAL AUTOPILOT. THE INPUTS TO FINDCDUW ARE THE THRUST COMMAND VECTOR
039029,000046: # AND THE WINDOW COMMAND VECTOR, AND THE OUTPUTS ARE THE GIMBAL ANGLE
039030,000047: # INCREMENTS, THE COMMANDED ATTITUDE ANGLE RATES, AND THE COMMANDED
039031,000048: # ATTITUDE LAG ANGLES (WHICH ACCOUNT FOR THE ANGLES BY WHICH THE BODY WILL
039032,000049: # LAG BEHIND A RAMP COMMAND IN ATTITUDE ANGLE DUE TO THE FINITE ANGULAR
039033,000050: # ACCELERATIONS AVAILABLE).
039034,000051:
039035,000052: # FINDCDUW ALINES THE ESTIMATED THRUST VECTOR FROM THE THRUST DIRECTION
039036,000053: # FILTER WITH THE THRUST COMMAND VECTOR, AND, WHEN XOVINHIB SET,
039037,000054: # ALINES THE +Z HALF OF THE LM ZX PLANE WITH THE WINDOW COMMAND VECTOR.
039038,000055:
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Page 903
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039040,000057: # SPECIFICATIONS:
039041,000058:
039042,000059: # INITIALIZATION: A SINGLE INTERPRETIVE CALL TO INITCDUW IS REQUIRED
039043,000060: # BEFORE EACH GUIDED MANEUVER USING FINDCDUW.
039044,000061:
039045,000062: # CALL: INTERPRETIVE CALL TO FINDCDUW WITH THE THRUST COMMAND
039046,000063: # VECTOR IN MPAC. INTERPRETIVE CALL TO FINDCDUW -2 WITH
039047,000064: # THE THRUST COMMAND VECTOR IN UNFC/2 AND NOT IN MPAC.
039048,000065:
039049,000066: # RETURNS: NORMAL INTERPRETIVE IN ALL CASES
039050,000067: # 1. NORMALLY ALL AUTOPILOT CMDS ARE ISSUED.
039051,000068: # 2. IF NOT PNGCS AUTO, DO STOPRATE AND RETURN
039052,000069: # WITHOUT ISSUING AUTOPILOT CMDS.
039053,000070: # 3. IF ENGINE OFF, DO STOPRATE AND RETURN WITHOUT
039054,000071: # ISSUING AUTOPILOT CMDS.
039055,000072:
039056,000073: # ALARMS: 00401 IF INPUTS DETERMINE AN ATTITUDE IN GIMBAL LOCK.
039057,000074: # FINDCDUW DRIVES CDUXD AND CDUYD TO THE RQD VALUES,
039058,000075: # BUT DRIVES CDUZD ONLY TO THE GIMBAL LOCK CONE.
039059,000076:
039060,000077: # 00402 IF UNFC/2 OR UNWC/2 PRODUCE OVERFLOW WHEN
039061,000078: # UNITIZED USING NORMUNIT. FINDCDUW ISSUES
039062,000079: # STOPRATE AS ONLY INPUT TO AUTOPILOT.
039063,000080:
039064,000081: # INPUTS: UNFC/2 THRUST COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039065,000082: # UNWC/2 WINDOW COMMAND VECTOR, NEED NOT BE SEMI-UNIT.
039066,000083: # OGABIAS POSSIBLE BIAS FOR OUTER GIMBAL ANGLE (ZEROED IN INITCDUW), UNITS OF PI.
039067,000084: # XOVINHIB FLAG DENOTING X AXIS OVERRIDE INHIBITED.
039068,000085: # CSMDOCKD FLAG DENOTING CSM DOCKED.
039069,000086: # STEERSW FLAG DENOTING INSUFF THRUST FOR THRUST DIR FLTR.
039070,000087:
039071,000088: # OUTPUTS: DELCDUX,Y,Z
039072,000089: # OMEGAPD,+1,+2
039073,000090: # DELPEROR,+1,+2
039074,000091: # CPHI,+1,+2 FOR NOUN22
039075,000092:
039076,000093: # DEBRIS: FINDCDUW DESTROYS SINCDUX,Y,Z AND COSCDUX,Y,Z BY
039077,000094: # WRITING INTO THESE LOCATIONS THE SINES AND COSINES
039078,000095: # OF THE CDUD'S IN PNGCS-AUTO, OF THE CDU'S OTHERWISE.
039079,000096:
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Page 904
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039081,000098: # INITIALIZATION FOR FINDCDUW
039082,000099:
039083,000100: 30,3071 BANK 30
039084,000101: 30,2000 SETLOC FCDUW
039085,000102: 30,2000 BANK
039086,000103:
039087,000104: 30,3071 E6,1645 EBANK= ECDUW
039088,000105: 30,3071 COUNT* $$/FCDUW
039089,000106:
039090,000107: 30,3071 77331 INITCDUW SSP VLOAD
039091,000108: 30,3072 03300 OGABIAS
039092,000109: 30,3073 00000 0
039093,000110: 30,3074 06522 UNITX
039094,000111: 30,3075 03267 STORE UNFV/2
039095,000112: 30,3076 03261 STORE UNWC/2
039096,000113: 30,3077 77616 RVQ
039097,000114:
039098,000115: # FINDCDUW PRELIMINARIES
039099,000116:
039100,000117: 30,3100 77775 VLOAD # FINDCDUW -2: ENTRY WHEN UNFC/2 PRE-STORD
039101,000118: 30,3101 03253 UNFC/2 # INPUT VECTORS NEED NOT BE SEMI-UNIT
039102,000119: 30,3102 40200 FINDCDUW BOV SETPD # FINDCDUW: ENTRY WHEN UNFC/2 IN MPAC
039103,000120: 30,3103 61102 FINDCDUW # INTERPRETER NOW INITIALIZED
039104,000121: 30,3104 00023 22 # LOCS 0 THRU 21 FOR DIRECTION COSINE MAT
039105,000122: 30,3105 77420 STQ EXIT
039106,000123: 30,3106 03246 QCDUWUSR # SAVE RETURN ADDRESS
039107,000124:
039108,000125: # MORE HAUSKEEPING
039109,000126: 30,3107 33752 CA ECDUWL
039110,000127: 30,3110 56003 XCH EBANK # SET EBANK
039111,000128: 30,3111 55645 TS ECDUWUSR # SAVE USER'S EBANK
039112,000129:
039113,000130: 30,3112 30111 CA DAPBOOLS
039114,000131: 30,3113 74737 MASK CSMDOCKD # CSMDOCKD MUST NOT BE BIT15
039115,000132: 30,3114 10000 CCS A
039116,000133: 30,3115 34753 CA ONE # INDEX IF CSM DOCKED
039117,000134: 30,3116 55647 TS NDXCDUW
039118,000135:
039119,000136: 30,3117 34743 CA XOVINHIB # XOVINHIB MUST NOT BE BIT15
039120,000137: 30,3120 55651 TS FLPAUTNO # SET TO POS-NON-ZERO FLAG PNGCS AUTO NOT
039121,000138:
039122,000139: 30,3121 70111 MASK DAPBOOLS
039123,000140: 30,3122 55650 TS FLAGOODW # FLAGOODW = ANY PNZ NUMBER IF XOV INHIBTD
039124,000141:
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Page 905
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039126,000143: # FETCH BASIC DATA
039127,000144: 30,3123 00004 INHINT # RELINT AT PAUTNO (TC INTPRET)
039128,000145:
039129,000146: 30,3124 30032 CA CDUX # FETCH CDUX,CDUY,CDUZ IN ALL CASES, BUT
039130,000147: 30,3125 54771 TS CDUSPOTX # REPLACE BELOW IF PNGCS AUTO
039131,000148: 30,3126 30033 CA CDUY
039132,000149: 30,3127 54765 TS CDUSPOTY
039133,000150: 30,3130 30034 CA CDUZ
039134,000151: 30,3131 54767 TS CDUSPOTZ
039135,000152:
039136,000153: 30,3132 34742 CA BIT10 # PNGCS CONTROL BIT
039137,000154: 30,3133 00006 EXTEND
039138,000155: 30,3134 02030 RAND CHAN30
039139,000156: 30,3135 10000 CCS A
039140,000157: 30,3136 13153 TCF PAUTNO # NOT PNGCS (BITS INVERTED)
039141,000158:
039142,000159: 30,3137 34736 CA BIT14 # AUTO MODE BIT
039143,000160: 30,3140 00006 EXTEND
039144,000161: 30,3141 02031 RAND CHAN31
039145,000162: 30,3142 10000 CCS A
039146,000163: 30,3143 13153 TCF PAUTNO # NOT AUTO (BITS INVERTED)
039147,000164:
039148,000165: 30,3144 55651 TS FLPAUTNO # RESET FLAG PNGCS AUTO NOT
039149,000166:
039150,000167: 30,3145 31634 CA CDUXD # PNGCS AUTO: FETCH CDUXD,CDUYD,CDUZD
039151,000168: 30,3146 54771 TS CDUSPOTX
039152,000169: 30,3147 31635 CA CDUYD
039153,000170: 30,3150 54765 TS CDUSPOTY
039154,000171: 30,3151 31636 CA CDUZD
039155,000172: 30,3152 54767 TS CDUSPOTZ
039156,000173:
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Page 906
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039158,000175: # FETCH INPUTS
039159,000176: 30,3153 06042 PAUTNO TC INTPRET # ENTERING THRUST CMD STILL IN MPAC
039160,000177: 30,3154 77634 RTB
039161,000178: 30,3155 21727 NORMUNIT
039162,000179: 30,3156 24001 STOVL UNX/2 # SEMI-UNIT THRUST CMD AS INITIAL UNX/2
039163,000180: 30,3157 03261 UNWC/2
039164,000181: 30,3160 47034 RTB RTB
039165,000182: 30,3161 21727 NORMUNIT
039166,000183: 30,3162 47617 QUICTRIG # ALWAYS RQD TO OBTAIN TRIGS OF CDUD'S
039167,000184: 30,3163 24015 STOVL UNZ/2 # SEMI-UNIT WINDOW CMD AS INITIAL UNZ/2
039168,000185: 30,3164 00325 DELV
039169,000186: 30,3165 53404 BOVB UNIT
039170,000187: 30,3166 61741 NOATTCNT # AT LEAST ONE ENTERING CMD VCT ZERO
039171,000188: 30,3167 45000 BOV CALL
039172,000189: 30,3170 61204 AFTRFLTR # IF UNIT DELV OVERFLOWS, SKIP FILTER
039173,000190: 30,3171 47673 *SMNB* # YIELDS UNIT(DELV) IN VEH COORDS FOR FLTR
039174,000191:
039175,000192: # THRUST DIRECTION FILTER
039176,000193:
039177,000194: 30,3172 77776 EXIT
039178,000195:
039179,000196: 30,3173 31670 CA UNFVY/2 # FOR RESTARTS, UNFV/2 ALWAYS INTACT, MPAC
039180,000197: 30,3174 22157 LXCH MPAC +3 # RENEWED AFTER RETURN FROM CALLER,
039181,000198: 30,3175 03474 TC FLTRSUB # TWO FILTER UPDATES MAY BE DONE.
039182,000199: 30,3176 55670 TS UNFVY/2 # UNFV/2 NEED NOT BE EXACTLY SEMI-UNIT.
039183,000200:
039184,000201: 30,3177 31672 CA UNFVZ/2
039185,000202: 30,3200 22161 LXCH MPAC +5
039186,000203: 30,3201 03474 TC FLTRSUB
039187,000204: 30,3202 55672 TS UNFVZ/2
039188,000205:
039189,000206: 30,3203 06042 TC INTPRET # COMPLETES FILTER
039190,000207:
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Page 907
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039192,000209: # FIND A SUITABLE WINDOW POINTING VECTOR
039193,000210:
039194,000211: 30,3204 46135 AFTRFLTR SLOAD BHIZ # IF XOV NOT INHIBITED, GO FETCH ZNB
039195,000212: 30,3205 03251 FLAGOODW
039196,000213: 30,3206 61212 FETCHZNB
039197,000214: 30,3207 45175 VLOAD CALL
039198,000215: 30,3210 00015 UNZ/2
039199,000216: 30,3211 61514 UNWCTEST
039200,000217:
039201,000218: 30,3212 77775 FETCHZNB VLOAD
039202,000219: 30,3213 02162 ZNBPIP
039203,000220: 30,3214 34015 STCALL UNZ/2
039204,000221: 30,3215 61514 UNWCTEST
039205,000222:
039206,000223: 30,3216 57575 VLOAD VCOMP # Z AND -X CAN'T BOTH PARALLEL UNFC/2
039207,000224: 30,3217 02146 XNBPIP
039208,000225: 30,3220 00015 STORE UNZ/2
039209,000226:
039210,000227: # COMPUTE THE REQUIRED DIRECTION COSINE MATRIX
039211,000228:
039212,000229: 30,3221 47375 DCMCL VLOAD VXV
039213,000230: 30,3222 00015 UNZ/2
039214,000231: 30,3223 00001 UNX/2
039215,000232: 30,3224 41456 UNIT PUSH # UNY/2 FIRST ITERATION
039216,000233: 30,3225 76435 VXV VSL1
039217,000234: 30,3226 00001 UNX/2
039218,000235: 30,3227 00015 STORE UNZ/2 # -UNZ/2 FIRST ITERATION
039219,000236: 30,3230 63361 VXSC PDVL # EXCHANGE -UNFVZ/2 UNZ/2 FOR UNY/2
039220,000237: 30,3231 03273 UNFVZ/2 # MUST BE SMALL
039221,000238: 30,3232 51361 VXSC BVSU # YIELDS -UNFVY/2 UNY/2-UNFVZ/2 UNZ/2
039222,000239: 30,3233 03271 UNFVY/2 # MUST BE SMALL
039223,000240: 30,3234 53372 VSL1 VAD
039224,000241: 30,3235 00001 UNX/2
039225,000242: 30,3236 77656 UNIT # TOTALLY ELIMINATES THRUST POINTING ERROR
039226,000243: 30,3237 00001 STORE UNX/2 # UNX/2
039227,000244: 30,3240 76435 VXV VSL1
039228,000245: 30,3241 00015 UNZ/2 # -UNZ/2 WAS STORED HERE REMEMBER
039229,000246: 30,3242 00007 STORE UNY/2 # UNY/2
039230,000247: 30,3243 47276 VCOMP VXV
039231,000248: 30,3244 00001 UNX/2
039232,000249: 30,3245 77772 VSL1
039233,000250: 30,3246 00015 STORE UNZ/2 # UNZ/2
039234,000251:
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Page 908
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039236,000253: # COMPUTE THE REQUIRED GIMBAL ANGLES
039237,000254:
039238,000255: 30,3247 77624 CALL
039239,000256: 30,3250 61524 NB2CDUSP # YIELDS THE RQD GIMBAL ANGLES, 2'S, PI
039240,000257: 30,3251 77776 EXIT
039241,000258:
039242,000259: # BIAS OUTER GIMBAL ANGLE
039243,000260:
039244,000261: 30,3252 31677 CA OGABIAS
039245,000262: 30,3253 26154 ADS MPAC
039246,000263:
039247,000264: # LIMIT THE MIDDLE GIMBAL ANGLE & COMPUTE THE UNLIMITED GIMBAL ANGLE CHGS
039248,000265:
039249,000266: 30,3254 30156 CA MPAC +2 # LIMIT THE MGA
039250,000267: 30,3255 54001 TS L # CAN'T LXCH: NEED UNLIMITED MGA FOR ALARM
039251,000268: 30,3256 33764 CA CDUZDLIM
039252,000269: 30,3257 03720 TC LIMITSUB # YIELDS LIMITED MGA. 1 BIT ERROR POSSIBLE
039253,000270: 30,3260 56156 XCH MPAC +2 # BECAUSE USING 2'S COMP. WHO CARES?
039254,000271: 30,3261 00006 EXTEND
039255,000272: 30,3262 20156 MSU MPAC +2 # THIS BETTER YIELD ZERO
039256,000273: 30,3263 00006 EXTEND
039257,000274: 30,3264 13266 BZF +2
039258,000275: 30,3265 13747 TCF ALARMMGA
039259,000276:
039260,000277: 30,3266 00004 MGARET INHINT # RELINT AT TC INTPRET AFTER TCQCDUW
039261,000278:
039262,000279: 30,3267 22007 ZL
039263,000280: 30,3270 34752 CA TWO
039264,000281: 30,3271 54142 DELGMBLP TS TEM2
039265,000282:
039266,000283: 30,3272 30001 CA L # TO PREVENT FALSE STARTS ABOUT X, ZERO
039267,000284: 30,3273 00006 EXTEND # FLAGOODW IF DELGMBZ OR Y TOO BIG.
039268,000285: 30,3274 70000 SQUARE
039269,000286: 30,3275 64350 AD HI5 # WITHIN 1 BIT OF -(45 DEG SQUARED)
039270,000287: 30,3276 00006 EXTEND
039271,000288: 30,3277 63302 BZMF +3
039272,000289: 30,3300 34755 CA ZERO
039273,000290: 30,3301 55650 TS FLAGOODW
039274,000291:
039275,000292: 30,3302 50142 INDEX TEM2
039276,000293: 30,3303 30154 CA MPAC
039277,000294: 30,3304 50142 INDEX TEM2
039278,000295: 30,3305 54321 TS CPHI # OUTPUTS TO NOUN22
039279,000296: 30,3306 00006 EXTEND
039280,000297: 30,3307 50142 INDEX TEM2
039281,000298: 30,3310 21634 MSU CDUXD # NO MATTER THAT THESE SLIGHTLY DIFFERENT
039282,000299: 30,3311 40000 COM # FROM WHEN WE INITIALLY FETCHED THEM
039283,000300: 30,3312 50142 INDEX TEM2
039284,000301: 30,3313 55674 TS -DELGMB # -UNLIMITED GIMBAL ANGLE CHGS, 1'S, PI
039285,000302: 30,3314 54001 TS L # FOR PRECEDING TEST ON NEXT LOOP PASS
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Page 909
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039287,000304: 30,3315 10142 CCS TEM2
039288,000305: 30,3316 13271 TCF DELGMBLP
039289,000306:
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Page 910
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039291,000308: # BRANCHES TO NOATTCNT
039292,000309: 30,3317 11651 CCS FLPAUTNO
039293,000310: 30,3320 13743 TCF NOATTCNT +2 # NOT PNGCS AUTO
039294,000311:
039295,000312: 30,3321 30101 CA FLAGWRD5
039296,000313: 30,3322 74745 MASK ENGONBIT
039297,000314: 30,3323 00006 EXTEND
039298,000315: 30,3324 13743 BZF NOATTCNT +2 # ENGINE NOT ON
039299,000316:
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Page 911
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039301,000318: # LIMIT THE ATTITUDE ANGLE CHANGES
039302,000319:
039303,000320: # THIS SECTION LIMITS THE ATTITUDE ANGLE CHANGES ABOUT A SET OF ORTHOGONAL VEHICLE AXES X,YPRIME,ZPRIME.
039304,000321: # THESE AXES COINCIDE WITH THE COMMANDED VEHICLE AXES IF AND ONLY IF CDUXD IS ZERO. THE PRIME SYSTEM IS
039305,000322: # THE COMMANDED VEHICLE SYSTEM ROTATED ABOUT THE X AXIS TO BRING THE Z AXIS INTO ALINEMENT WITH THE MIDDLE GIMBAL
039306,000323: # AXIS. ATTITUDE ANGLE CHANGES IN THE PRIME SYSTEM ARE RELATED TO SMALL GIMBAL ANGLE CHANGES BY:
039307,000324:
039308,000325: # * -DELATTX * * 1 SIN(CDUZD) 0 * * -DELGMBX *
039309,000326: # * * * * * *
039310,000327: # * -DELATTYPRIME * = * 0 COS(CDUZD) 0 * * -DELGMBY *
039311,000328: # * * * * * *
039312,000329: # * -DELATTZPRIME * * 0 0 1 * * -DELGMBZ *
039313,000330:
039314,000331: 30,3325 23676 LXCH -DELGMB +2 # SAME AS -DELATTZPRIME UNLIMITED
039315,000332: 30,3326 51647 INDEX NDXCDUW
039316,000333: 30,3327 33760 CA DAZMAX
039317,000334: 30,3330 03720 TC LIMITSUB
039318,000335: 30,3331 55676 TS -DELGMB +2 # -DELGMBZ
039319,000336:
039320,000337: 30,3332 31675 CA -DELGMB +1
039321,000338: 30,3333 00006 EXTEND
039322,000339: 30,3334 70745 MP COSCDUZ # YIELDS -DELATTYPRIME/2 UNLIMITED
039323,000340: 30,3335 54001 TS L
039324,000341: 30,3336 51647 INDEX NDXCDUW
039325,000342: 30,3337 33762 CA DAY/2MAX
039326,000343: 30,3340 03720 TC LIMITSUB
039327,000344: 30,3341 00006 EXTEND
039328,000345: 30,3342 10745 DV COSCDUZ
039329,000346: 30,3343 57675 XCH -DELGMB +1 # -DELGMBY, FETCHING UNLIMITED VALUE
039330,000347:
039331,000348: 30,3344 00006 EXTEND
039332,000349: 30,3345 70737 MP SINCDUZ
039333,000350: 30,3346 20001 DDOUBL
039334,000351: 30,3347 40000 COM
039335,000352: 30,3350 00006 EXTEND # YIELDS +DELATTX UNLIMITD, MAG < 180 DEG,
039336,000353: 30,3351 21674 MSU -DELGMB # BASED ON UNLIMITED DELGMBY.
039337,000354: 30,3352 54001 TS L # ONE BIT ERROR IF OPERANDS IN MSU
039338,000355: 30,3353 51647 INDEX NDXCDUW # OF MIXED SIGNS. WHO CARES?
039339,000356: 30,3354 33760 CA DAXMAX
039340,000357: 30,3355 03720 TC LIMITSUB
039341,000358: 30,3356 55674 TS -DELGMB # SAVE LIMITED +DELATTX
039342,000359: 30,3357 11650 CCS FLAGOODW
039343,000360: 30,3360 41674 CS -DELGMB # FETCH IT BACK CHGING SIGN IF WINDOW GOOD
039344,000361: 30,3361 55674 TS -DELGMB # OTHERWISE USE ZERO FOR -DELATTX
039345,000362: 30,3362 41675 CS -DELGMB +1
039346,000363: 30,3363 00006 EXTEND
039347,000364: 30,3364 70737 MP SINCDUZ
039348,000365: 30,3365 20001 DDOUBL # YIELDS -CNTRIB TO -DELATTX FROM -DELGMBY
039349,000366: 30,3366 27674 ADS -DELGMB # -DELGMBX. NO OVERFLOW SINCE LIMITED TO
039350,000367: # 20DEG(1+SIN(70DEG)/COS(70DEG)) < 180DEG
039351,000368:
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Page 912
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039353,000370: # COMPUTE COMMANDED ATTITUDE RATES
039354,000371:
039355,000372: # * OMEGAPD * * -2 -4 SINCDUZ +0 * * -DELGMBX *
039356,000373: # * * * * * *
039357,000374: # * OMEGAQD * = * +0 -8 COSCDUZ COSCDUX -4 SINCDUX * * -DELGMBY *
039358,000375: # * * * * * *
039359,000376: # * OMEGARD * * +0 +8 COSCDUZ SINCDUX -4 COSCDUX * * -DELGMBZ *
039360,000377:
039361,000378: # ATTITUDE ANGLE RATES IN UNITS OF PI/4 RAD/SEC = K TRIG FCNS IN UNITS OF 2 X GIMBAL ANGLE RATES IN UNITS OF
039362,000379: # PI/2 RAD/SEC. THE CONSTANTS ARE BASED ON DELGMB BEING THE GIMBAL ANGLE CHANGES IN UNITS OF PI RADIANS,
039363,000380: # AND 2 SECONDS BEING THE COMPUTATION PERIOD (THE PERIOD BETWEEN SUCCESSIVE PASSES THRU FINDCDUW).
039364,000381:
039365,000382: 30,3367 41674 CS -DELGMB
039366,000383: 30,3370 55642 TS OMEGAPD
039367,000384: 30,3371 41675 CS -DELGMB +1
039368,000385: 30,3372 00006 EXTEND
039369,000386: 30,3373 70737 MP SINCDUZ
039370,000387: 30,3374 20001 DDOUBL
039371,000388: 30,3375 27642 ADS OMEGAPD
039372,000389: 30,3376 27642 ADS OMEGAPD
039373,000390:
039374,000391: 30,3377 41675 CS -DELGMB +1
039375,000392: 30,3400 00006 EXTEND
039376,000393: 30,3401 70747 MP COSCDUX
039377,000394: 30,3402 20001 DDOUBL
039378,000395: 30,3403 00006 EXTEND
039379,000396: 30,3404 70745 MP COSCDUZ
039380,000397: 30,3405 55643 TS OMEGAQD
039381,000398: 30,3406 41676 CS -DELGMB +2
039382,000399: 30,3407 00006 EXTEND
039383,000400: 30,3410 70741 MP SINCDUX
039384,000401: 30,3411 27643 ADS OMEGAQD
039385,000402: 30,3412 27643 ADS OMEGAQD
039386,000403: 30,3413 27643 ADS OMEGAQD
039387,000404:
039388,000405: 30,3414 31675 CA -DELGMB +1
039389,000406: 30,3415 00006 EXTEND
039390,000407: 30,3416 70741 MP SINCDUX
039391,000408: 30,3417 20001 DDOUBL
039392,000409: 30,3420 00006 EXTEND
039393,000410: 30,3421 70745 MP COSCDUZ
039394,000411: 30,3422 55644 TS OMEGARD
039395,000412: 30,3423 41676 CS -DELGMB +2
039396,000413: 30,3424 00006 EXTEND
039397,000414: 30,3425 70747 MP COSCDUX
039398,000415: 30,3426 27644 ADS OMEGARD
039399,000416: 30,3427 27644 ADS OMEGARD
039400,000417: 30,3430 27644 ADS OMEGARD
039401,000418:
|
|
Page 913
|
039403,000420: # FINAL TRANSFER
039404,000421:
039405,000422: 30,3431 34752 CA TWO
039406,000423: 30,3432 54142 CDUWXFR TS TEM2
039407,000424: 30,3433 50142 INDEX TEM2
039408,000425: 30,3434 31674 CA -DELGMB
039409,000426: 30,3435 00006 EXTEND
039410,000427: 30,3436 73765 MP DT/DELT # RATIO OF DAP INTERVAL TO CDUW INTERVAL
039411,000428: 30,3437 03734 TC ONESTO2S
039412,000429: 30,3440 50142 INDEX TEM2
039413,000430: 30,3441 55637 TS DELCDUX # ANGLE INTERFACE
039414,000431:
039415,000432: 30,3442 50142 INDEX TEM2
039416,000433: 30,3443 11642 CCS OMEGAPD
039417,000434: 30,3444 64753 AD ONE
039418,000435: 30,3445 13447 TCF +2
039419,000436: 30,3446 64753 AD ONE
039420,000437: 30,3447 00006 EXTEND # WE NOW HAVE ABS(OMEGAPD,QD,RD)
039421,000438: 30,3450 50142 INDEX TEM2
039422,000439: 30,3451 71642 MP OMEGAPD
039423,000440: 30,3452 00006 EXTEND
039424,000441: 30,3453 74741 MP BIT11 # 1/16
039425,000442: 30,3454 00006 EXTEND
039426,000443: 30,3455 50142 INDEX TEM2 # 2
039427,000444: 30,3456 11530 DV 1JACC # UNITS PI/4 RAD/SEC
039428,000445: 30,3457 54001 TS L
039429,000446: 30,3460 33762 CA DELERLIM
039430,000447: 30,3461 03720 TC LIMITSUB
039431,000448: 30,3462 50142 INDEX TEM2
039432,000449: 30,3463 55274 TS DELPEROR # LAG ANGLE = OMEGA ABS(OMEGA)/2 ACCEL
039433,000450: 30,3464 10142 CCS TEM2
039434,000451: 30,3465 13432 TCF CDUWXFR
039435,000452:
039436,000453: # HAUSKEEPING AND RETURN
039437,000454:
039438,000455: 30,3466 31645 TCQCDUW CA ECDUWUSR
039439,000456: 30,3467 54003 TS EBANK # RETURN USER'S EBANK
039440,000457:
039441,000458: 30,3470 06042 TC INTPRET
039442,000459: 30,3471 52001 SETPD GOTO
039443,000460: 30,3472 00001 0
039444,000461: 30,3473 03246 QCDUWUSR # NORMAL AND ABNORMAL RETURN TO USER
039445,000462:
|
|
Page 914
|
039447,000464: # THRUST VECTOR FILTER SUBROUTINE
039448,000465:
039449,000466: 30,3474 00006 FLTRSUB EXTEND
039450,000467: 30,3475 22142 QXCH TEM2
039451,000468: 30,3476 54143 TS TEM3 # SAVE ORIGINAL OFFSET
039452,000469: 30,3477 40000 COM # ONE MCT, NO WDS, CAN BE SAVED IF NEG OF
039453,000470: 30,3500 60001 AD L # ORIG OFFSET ARRIVES IN A, BUT IT'S
039454,000471: 30,3501 00006 EXTEND # NOT WORTH THE INCREASED OBSCURITY.
039455,000472: 30,3502 51647 INDEX NDXCDUW
039456,000473: 30,3503 73753 MP GAINFLTR
039457,000474: 30,3504 54001 TS L # INCR TO OFFSET, UNLIMITED
039458,000475: 30,3505 33755 CA DUNFVLIM # SAME LIMIT FOR Y AND Z
039459,000476: 30,3506 03720 TC LIMITSUB # YIELDS INCR TO OFFSET, LIMITED
039460,000477: 30,3507 60143 AD TEM3 # ORIGINAL OFFSET
039461,000478: 30,3510 54001 TS L # TOTAL OFFSET, UNLIMITED
039462,000479: 30,3511 33756 CA UNFVLIM # SAME LIMIT FOR Y AND Z
039463,000480: 30,3512 03720 TC LIMITSUB # YIELDS TOTAL OFFSET, LIMITED
039464,000481: 30,3513 00142 TC TEM2
039465,000482:
039466,000483: # SUBR TO TEST THE ANGLE BETWEEN THE PROPOSED WINDOW AND THRUST CMD VCTS
039467,000484:
039468,000485: 30,3514 63441 UNWCTEST DOT DSQ
039469,000486: 30,3515 00001 UNX/2
039470,000487: 30,3516 50025 DSU BMN
039471,000488: 30,3517 21760 DOTSWFMX
039472,000489: 30,3520 61221 DCMCL
039473,000490: 30,3521 43531 SSP RVQ # RVQ FOR ALT CHOICE IF DOT MAGN TOO LARGE
039474,000491: 30,3522 03251 FLAGOODW # ZEROING WINDOW GOOD FLAG
039475,000492: 30,3523 00000 0
039476,000493:
|
|
Page 915
|
039478,000495: # NB2CDUSP RETURNS THE 2'S COMPLEMENT, PI, SP CDU ANGLES X,Y,Z IN MPAC,+1,+2 GIVEN THE MATRIX WHOSE ROW VECTORS
039479,000496: # ARE THE SEMI-UNIT NAV BASE VECTORS X,Y,Z EXPRESSED IN STABLE MEMBER COORDINATES, LOCATED AT 0 IN THE PUSH LIST.
039480,000497:
039481,000498: # NB2CDUSP USES ARCTRGSP WHICH HAS A MAXIMUM ERROR OF +-4 BITS.
039482,000499:
039483,000500: 30,3524 63545 NB2CDUSP DLOAD DSQ
039484,000501: 30,3525 00003 2
039485,000502: 30,3526 51021 BDSU BPL
039486,000503: 30,3527 06514 DP1/4TH
039487,000504: 30,3530 61533 +3
039488,000505: 30,3531 77745 DLOAD
039489,000506: 30,3532 06524 ZEROVECS # IN CASE SIN WAS SLIGHTLY > 1/2
039490,000507: 30,3533 77566 SQRT EXIT # YIELDS COS(CDUZ) IN UNITS OF 2
039491,000508:
039492,000509: 30,3534 00006 EXTEND
039493,000510: 30,3535 30155 DCA MPAC
039494,000511: 30,3536 20001 DDOUBL
039495,000512: 30,3537 54145 TS TEM5
039496,000513: 30,3540 13543 TCF +3
039497,000514: 30,3541 34733 CA POSMAX # OVERFLOW. FETCH POSMAX, MPAC ALWAYS POS
039498,000515: 30,3542 54145 TS TEM5 # COS(CDUZ) IN TEM5, UNITS 1
039499,000516:
039500,000517: 30,3543 50120 INDEX FIXLOC
039501,000518: 30,3544 30002 CA 2
039502,000519: 30,3545 22154 LXCH MPAC
039503,000520: 30,3546 03613 TC ARCTRGSP
039504,000521: 30,3547 54156 TS MPAC +2 # CDUZ
039505,000522:
039506,000523: 30,3550 34755 CA ZERO
039507,000524: 30,3551 03571 TC DVBYCOSM
039508,000525: 30,3552 34751 CA FOUR
039509,000526: 30,3553 03571 TC DVBYCOSM
039510,000527: 30,3554 40141 CS TEM1
039511,000528: 30,3555 03613 TC ARCTRGSP
039512,000529: 30,3556 54155 TS MPAC +1 # CDUY
039513,000530:
039514,000531: 30,3557 34750 CA BIT4
039515,000532: 30,3560 03571 TC DVBYCOSM
039516,000533: 30,3561 33570 CA 16OCT
039517,000534: 30,3562 03571 TC DVBYCOSM
039518,000535: 30,3563 40141 CS TEM1
039519,000536: 30,3564 03613 TC ARCTRGSP
039520,000537: 30,3565 54154 TS MPAC # CDUX
039521,000538:
039522,000539: 30,3566 06042 TC INTPRET
039523,000540: 30,3567 77616 RVQ
039524,000541:
039525,000542: 30,3570 00016 16OCT OCT 16
039526,000543:
|
|
Page 916
|
039528,000545: # THE ELEMENTS OF THE NAV BASE MATRIX WHICH WE MUST DIVIDE BY COS(MGA)
039529,000546: # ALREADY CONTAIN COS(MGA)/2 AS A FACTOR. THEREFORE THE QUOTIENT SHOULD
039530,000547: # ORDINARILY NEVER EXCEED 1/2 IN MAGNITUDE. BUT IF THE MGA IS NEAR PI/2
039531,000548: # THEN COS(MGA) IS NEAR ZERO, AND THERE MAY BE SOME CHAFF IN THE OTHER
039532,000549: # ELEMENTS OF THE MATRIX WHICH WOULD PRODUCE CHAOS UNDER DIVISION.
039533,000550: # BEFORE DIVIDING WE MAKE SURE COS(MGA) IS AT LEAST ONE BIT LARGER
039534,000551: # THAN THE MAGNITUDE OF THE HIGH ORDER PART OF THE OPERAND.
039535,000552:
039536,000553: # IF ONE OR MORE DIVIDES CANNOT BE PERFORMED, THIS MEANS THAT THE
039537,000554: # REQUIRED MGA IS VERY NEARLY +-PI/2 AND THEREFORE THE OTHER GIMBAL
039538,000555: # ANGLES ARE INDETERMINATE. THE INNER AND OUTER GIMBAL ANGLES RETURNED
039539,000556: # IN THIS CASE WILL BE RANDOM MULTIPLES OF PI/2.
039540,000557:
039541,000558: 30,3571 60120 DVBYCOSM AD FIXLOC
039542,000559: 30,3572 54116 TS ADDRWD # ADRES OF OPERAND
039543,000560:
039544,000561: 30,3573 50116 INDEX ADDRWD # FETCH NEG ABS OF OPERAND, AD TEM5, AND
039545,000562: 30,3574 30000 CA 0 # SKIP DIVIDE IF RESULT NEG OR ZERO
039546,000563: 30,3575 00006 EXTEND
039547,000564: 30,3576 63600 BZMF +2
039548,000565: 30,3577 40000 COM
039549,000566: 30,3600 60145 AD TEM5 # C(A) ZERO OR NEG, C(TEM5) ZERO OR POS
039550,000567: 30,3601 00006 EXTEND
039551,000568: 30,3602 63610 BZMF TSL&TCQ # DIFFERENCE ALWAYS SMALL IF BRANCH
039552,000569:
039553,000570: 30,3603 00006 EXTEND # TEM5 EXCEEDS ABS HIGH ORDER PART OF
039554,000571: 30,3604 50116 INDEX ADDRWD # OPERAND BY AT LEAST ONE BIT.
039555,000572: 30,3605 30001 DCA 0 # THEREFORE IT EXCEEDS THE DP OPERAND
039556,000573: 30,3606 00006 EXTEND # AND DIVISION WILL ALWAYS SUCCEED.
039557,000574: 30,3607 10145 DV TEM5
039558,000575: 30,3610 54001 TSL&TCQ TS L
039559,000576: 30,3611 22141 LXCH TEM1
039560,000577: 30,3612 00002 TC Q
039561,000578:
|
|
Page 917
|
039563,000580: # ARCTRGSP RETURNS THE 2'S COMPLEMENT, PI, SP ANGLE IN THE A REGISTER GIVEN ITS SINE IN A AND ITS COSINE IN L IN
039564,000581: # UNITS OF 2. THE RESULT IS AN UNAMBIGUOUS ANGLE ANYWHERE IN THE CIRCLE, WITH A MAXIMUM ERROR OF +-4 BITS.
039565,000582: # THE ERROR IS PRODUCED BY THE SUBROUTINE SPARCSIN WHICH IS USED ONLY IN THE REGION +-45 DEGREES.
039566,000583:
039567,000584: 30,3613 00006 ARCTRGSP EXTEND
039568,000585: 30,3614 13656 BZF SINZERO # TO AVOID DIVIDING BY ZERO
039569,000586:
039570,000587: 30,3615 00006 EXTEND
039571,000588: 30,3616 22144 QXCH TEM4
039572,000589: 30,3617 54142 TS TEM2
039573,000590: 30,3620 30001 CA L
039574,000591: 30,3621 54143 TS TEM3
039575,000592: 30,3622 34755 CA ZERO
039576,000593: 30,3623 00006 EXTEND
039577,000594: 30,3624 10142 DV TEM2
039578,000595: 30,3625 00006 EXTEND
039579,000596: 30,3626 13645 BZF USECOS
039580,000597:
039581,000598: 30,3627 10143 CCS TEM3 # SIN IS SMALLER OR EQUAL
039582,000599: 30,3630 34755 CA ZERO
039583,000600: 30,3631 13635 TCF +4
039584,000601: 30,3632 40142 CS TEM2 # IF COS NEG, REVERSE SIGN OF SIN,
039585,000602: 30,3633 54142 TS TEM2 # ANGLE = PI-ARCSIN(SIN)
039586,000603: 30,3634 34735 CA NEGMAX # PICK UP PI, 2'S COMPLEMENT
039587,000604: 30,3635 54143 TS TEM3 # WE NO LONGER NEED COS
039588,000605: 30,3636 30142 CA TEM2
039589,000606: 30,3637 03663 TC SPARCSIN -1
039590,000607: 30,3640 03734 TC ONESTO2S
039591,000608: 30,3641 00006 EXTEND
039592,000609: 30,3642 20143 MSU TEM3
039593,000610: 30,3643 03734 1TO2&TCQ TC ONESTO2S
039594,000611: 30,3644 00144 TC TEM4
039595,000612:
039596,000613: 30,3645 40143 USECOS CS TEM3 # COS IS SMALLER
039597,000614: 30,3646 03663 TC SPARCSIN -1 # ANGLE = SIGN(SIN)(PI/2-ARCSIN(COS))
039598,000615: 30,3647 64736 AD HALF
039599,000616: 30,3650 54143 TS TEM3 # WE NO LONGER NEED COS
039600,000617: 30,3651 10142 CCS TEM2
039601,000618: 30,3652 30143 CA TEM3
039602,000619: 30,3653 13643 TCF 1TO2&TCQ
039603,000620: 30,3654 40143 CS TEM3
039604,000621: 30,3655 13643 TCF 1TO2&TCQ
039605,000622:
039606,000623: 30,3656 10001 SINZERO CCS L
039607,000624: 30,3657 34755 CA ZERO
039608,000625: 30,3660 00002 TC Q
039609,000626: 30,3661 34735 CA NEGMAX # PI, 2'S COMP
039610,000627: 30,3662 00002 TC Q
039611,000628:
|
|
Page 918
|
039613,000630: # SPARCSIN TAKES AN ARGUMENT SCALED UNITY IN A AND RETURNS AN ANGLE SCALED
039614,000631: # 180 DEGREES IN A. IT HAS BEEN UNIT TESTED IN THE REGION +-.94 (+-70
039615,000632: # DEGREES) AND THE MAXIMUM ERROR IS +-5 BITS WITH AN AVERAGE TIME OF
039616,000633: # 450 MICROSECONDS. SPARCSIN -1 TAKES THE ARGUMENT SCALED TWO. (BOB CRISP)
039617,000634:
039618,000635: 30,3663 60000 DOUBLE
039619,000636: 30,3664 54021 SPARCSIN TS SR
039620,000637: 30,3665 13671 TCF +4
039621,000638: 30,3666 50000 INDEX A
039622,000639: 30,3667 44734 CS LIMITS
039623,000640: 30,3670 54021 TS SR
039624,000641: 30,3671 00006 EXTEND
039625,000642: 30,3672 70000 MP A
039626,000643: 30,3673 54141 TS TEM1
039627,000644: 30,3674 00006 EXTEND
039628,000645: 30,3675 73717 MP DPL9
039629,000646: 30,3676 63716 AD DPL7
039630,000647: 30,3677 00006 EXTEND
039631,000648: 30,3700 70141 MP TEM1
039632,000649: 30,3701 63715 AD DPL5
039633,000650: 30,3702 00006 EXTEND
039634,000651: 30,3703 70141 MP TEM1
039635,000652: 30,3704 63714 AD DPL3
039636,000653: 30,3705 00006 EXTEND
039637,000654: 30,3706 70141 MP TEM1
039638,000655: 30,3707 63713 AD DPL1
039639,000656: 30,3710 00006 EXTEND
039640,000657: 30,3711 70021 MP SR
039641,000658: 30,3712 00002 TC Q
039642,000659: 30,3713 24406 DPL1 DEC 10502 B-14
039643,000660: 30,3714 00660 DPL3 DEC 432 B-14
039644,000661: 30,3715 16204 DPL5 DEC 7300 B-14
039645,000662: 30,3716 50744 DPL7 DEC -11803 B-14
039646,000663: 30,3717 20315 DPL9 DEC 8397 B-14
039647,000664:
|
|
Page 919
|
039649,000666: # LIMITSUB LIMITS THE MAGNITUDE OF THE POSITIVE OR NEGATIVE VARIABLE
039650,000667: # ARRIVING IN L TO THE POSITIVE LIMIT ARRIVING IN A.
039651,000668: # THE SIGNED LIMITED VARIABLE IS RETURNED IN A.
039652,000669:
039653,000670: # VERSION COURTESY HUGH BLAIR-SMITH
039654,000671:
039655,000672: 30,3720 54141 LIMITSUB TS TEM1
039656,000673: 30,3721 34755 CA ZERO
039657,000674: 30,3722 00006 EXTEND
039658,000675: 30,3723 10141 DV TEM1
039659,000676: 30,3724 10000 CCS A
039660,000677: 30,3725 22141 LXCH TEM1
039661,000678: 30,3726 13730 TCF +2
039662,000679: 30,3727 13732 TCF +3
039663,000680: 30,3730 30001 CA L
039664,000681: 30,3731 00002 TC Q
039665,000682: 30,3732 40141 CS TEM1
039666,000683: 30,3733 00002 TC Q
039667,000684:
039668,000685: # SUBROUTINE TO CONVERT 1'S COMP SP TO 2'S COMP
039669,000686:
039670,000687: 30,3734 10000 ONESTO2S CCS A
039671,000688: 30,3735 64753 AD ONE
039672,000689: 30,3736 00002 TC Q
039673,000690: 30,3737 40000 CS A
039674,000691: 30,3740 00002 TC Q
039675,000692:
039676,000693: # NO ATTITUDE CONTROL
039677,000694:
039678,000695: 30,3741 05567 NOATTCNT TC ALARM
039679,000696: 30,3742 00402 OCT 00402 # NO ATTITUDE CONTROL
039680,000697:
039681,000698: 30,3743 00004 +2 INHINT # COME HERE FOR NOATTCNT WITHOUT ALARM
039682,000699: 30,3744 04674 TC IBNKCALL # RELINT AT TC INTPRET AFTER TCQCDUW
039683,000700: 30,3745 40166 FCADR STOPRATE
039684,000701: 30,3746 13466 TCF TCQCDUW # RETURN TO USER SKIPPING AUTOPILOT CMDS
039685,000702:
039686,000703: # MIDDLE GIMBAL ANGLE ALARM
039687,000704:
039688,000705: 30,3747 05567 ALARMMGA TC ALARM
039689,000706: 30,3750 00401 OCT 00401
039690,000707: 30,3751 13266 TCF MGARET
039691,000708:
|
|
Page 920
|
039693,000710: # ************************************************************************
039694,000711: # CONSTANTS
039695,000712: # ************************************************************************
039696,000713:
039697,000714: # ADDRESS CONSTANTS
039698,000715:
039699,000716: 30,3752 03245 ECDUWL ECADR ECDUW
039700,000717:
039701,000718: # THRUST DIRECTION FILTER CONSTANTS
039702,000719:
039703,000720: 30,3753 06315 GAINFLTR DEC .2 # GAIN FILTER SANS CSM
039704,000721: 30,3754 03146 DEC .1 # GAIN FILTER WITH CSM
039705,000722:
039706,000723: 30,3755 00071 DUNFVLIM DEC .007 B-1 # 7 MR MAX CHG IN F DIR IN VEH IN 2 SECS.
039707,000724: # THIS DOES NOT ALLOW FOR S/C ROT RATE.
039708,000725:
039709,000726: 30,3756 02041 UNFVLIM DEC .129 B-1 # 129 MR MAX THRUST OFFSET. 105 MR TRAVEL
039710,000727: # +10MR DEFL+5MR MECH MOUNT+9MR ABLATION.
039711,000728:
039712,000729: # CONSTANTS RELATED TO GIMBAL ANGLE COMPUTATIONS
039713,000730:
039714,000731: 30,3757 01673 DOTSWFMX DEC .93302 B-4 # LIM COLNRTY OF UNWC/2 & UNFC/2 TO 85 DEG
039715,000732: # LOWER PART COMES FROM NEXT CONSTANT
039716,000733:
039717,000734: 30,3760 03434 DAXMAX DEC .11111111111 # DELATTX LIM TO 20 DEG IN 2 SECS, 1'S, PI
039718,000735: 30,3761 00266 DEC .0111111111 # 2 DEG WHEN CSM DOCKED
039719,000736:
039720,000737: 30,3762 01616 DAY/2MAX DEC .05555555555 # LIKEWISE FOR DELATTY
039721,000738: 30,3763 00133 DEC .0055555555
039722,000739:
039723,000740: 30,3764 30,3760 DAZMAX = DAXMAX # LIKEWISE FOR DELATTZ
039724,000741:
039725,000742: 30,3764 14344 CDUZDLIM DEC .3888888888 # 70 DEG LIMIT FOR MGA, 1'S, PI
039726,000743:
039727,000744: # CONSTANTS FOR DATA TRANSFER
039728,000745:
039729,000746: 30,3765 01463 DT/DELT DEC .05 # .1 SEC/2 SEC WHICH IS THE AUTOPILOT
039730,000747: # CONTROL SAMPLE PERIOD/COMPUTATION PERIOD
039731,000748:
039732,000749: 30,3766 30,3762 DELERLIM = DAY/2MAX # 10 DEG LIMIT FOR LAG ANGLES, 1'S, PI
039733,000750:
End of include-file FINDCDUW_-_GUIDAP_INTERFACE.agc. Parent file is MAIN.agc