A dual cavity toroidal type CVT includes two toroidal transmission units. The magnet produces a magnetic field directed to a gear tooth of the rotating body. The control signal is coupled to the frequency control input of said voltage controlled oscillator. Related systems, apparatus, methods, andor articles are also described. Each of the sections has an outer surface that converges to a common forward pointed tip for enclosing and protecting a guidance head when in an extended position and is retractable into a corresponding recessed region formed within a missile nose when the drive unit is activated releasing the restraint. Path metrics are computed in the backward direction in two other parts of the sliding window in such a way that the input of the computation units comes from the fourpart memory; the computed metrics are applied to the synthesis unit; and a decoding result is computed.