Your signal
Vdiff is Vin+ − Vin−. The same number in both boxes is one point.
Headroom
Volts short of that rail. 0 means the node can sit on the rail. Negative lets it go past the rail.
Node voltages
\( V_1 = V_{\mathrm{cm}} - \dfrac{V_{\mathrm{out}}-V_{\mathrm{REF}}}{2G_2} \)
\( V_2 = V_{\mathrm{cm}} + \dfrac{V_{\mathrm{out}}-V_{\mathrm{REF}}}{2G_2} \)
\( V_{\mathrm{A3}} = \dfrac{G_2 V_{\mathrm{cm}} + (V_{\mathrm{out}}+V_{\mathrm{REF}})/2}{1+G_2} \)
\( G = 1 + \dfrac{R_R}{R_F} + 2\dfrac{R_R}{R_g} \)
\( V_{\mathrm{int}} = \left(1+\dfrac{R_F}{R_R}\right) V_{\mathrm{cm}} - \dfrac{R_F}{2R_R}(V_{\mathrm{out}}+V_{\mathrm{REF}}) \)