Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

033206,000002:                                                                                                  ## Copyright:   Public domain.
033207,000003:                                                                                                  ## Filename:    P40-P47.agc
033208,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
033209,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
033210,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
033211,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
033212,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
033213,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
033214,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
033215,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
033216,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
033217,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
033218,000014:                                                                                                  ##              the original YUL assembler.
033219,000015:                                                                                                  ##
033220,000016:                                                                                                  ## Assembler:   yaYUL
033221,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
033222,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
033223,000019:                                                                                                  ## Pages:       752-784
033224,000020:                                                                                                  ## Mod history: 2009-05-19 RSB  Adapted from the corresponding 
033225,000021:                                                                                                  ##                              Luminary131 file, using page 
033226,000022:                                                                                                  ##                              images from Luminary 1A.
033227,000023:                                                                                                  ##              2011-01-06 JL   Fixed interpretive indentation.
033228,000024:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
033229,000025:                                                                                                  ##              2016-12-15 RSB  Proofed text comments with octopus/ProoferComments
033230,000026:                                                                                                  ##                              and corrected the errors found.
033231,000027:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
033232,000028:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
033233,000029:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
033234,000030:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
033235,000031:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
033236,000032:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
033237,000033:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
033238,000034: 
033239,000035:                                                                                                  ## This source code has been transcribed or otherwise adapted from
033240,000036:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
033241,000037:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
033242,000038:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
033243,000039:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
033244,000040:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
033245,000041:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
033246,000042:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
033247,000043:                                                                                                  ## actually created.
033248,000044:                                                                                                  ##
033249,000045:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
033250,000046:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
033251,000047:                                                                                                  ## the listing from which it was transcribed. It has been verified to
033252,000048:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
033253,000049:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
033254,000050:                                                                                                  ##
033255,000051:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
033256,000052:                                                                                                  ##
033257,000053:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
033258,000054: 

Page 752

033260,000056:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
033261,000057:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
033262,000058:                                                                                                  #  CALLED VIA JOB FROM V37E
033263,000059: 
033264,000060:                                                                                                  #  FUNCTIONAL DESCRIPTION
033265,000061: 
033266,000062:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
033267,000063:                                                                                                  #                THRUSTING MANEUVER.

There is no item #2 in the original program listing — RSB 2009.

033269,000065:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
033270,000066:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
033271,000067:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
033272,000068:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
033273,000069:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
033274,000070: 
033275,000071:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
033276,000072:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
033277,000073: 
033278,000074:                                                                                                  #  SUBROUTINES USED
033279,000075: 
033280,000076:                                                                                                  #        R02             IMU STATUS CHECK
033281,000077:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
033282,000078:                                                                                                  #        S40.13          LENGTH OF BURN
033283,000079:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
033284,000080:                                                                                                  #        S40.8           X PRODUCT STEERING
033285,000081:                                                                                                  #        S40.9           LAMBERT VTOGAIN
033286,000082:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
033287,000083:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
033288,000084:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
033289,000085:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
033290,000086:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
033291,000087:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
033292,000088:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
033293,000089:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
033294,000090: 
033295,000091:                                                                                                  #  RESTARTS VIA GROUP 4
033296,000092: 
033297,000093:                                                                                                  #  DISPLAYS
033298,000094: 
033299,000095:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
033300,000096:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
033301,000097:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
033302,000098:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
033303,000099:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
033304,000100:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
033305,000101:                                                                                                  #        V05N09  POSSIBLE ALARMS
033306,000102:                                                                                                  #        V50N07  PLEASE SELECT P00
033307,000103: 

Page 753

033309,000105:                                                                                                  #        VIA R30
033310,000106: 
033311,000107:                                                                                                  #        V06N44  HAPO, PERI, TFF
033312,000108:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
033313,000109: 
033314,000110:                                                                                                  #  ALARM OR ABORT EXIT MODES
033315,000111: 
033316,000112:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
033317,000113:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
033318,000114: 
033319,000115:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
033320,000116:                                                                                                  #        TIG BY 45 SECS.
033321,000117: 
033322,000118:                                                                                                  #  ERASABLE INITIALIZATION
033323,000119: 
033324,000120:                                                                                                  #  DEBRIS
033325,000121: 
033326,000122:                                                                                                  #  OUTPUT
033327,000123: 
033328,000124:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
033329,000125:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
033330,000126:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
033331,000127: 
033332,000128: 27,2246                                           COUNT*   $$/P40                                
033333,000129: 27,2246  E7,1455                                  EBANK=   WHICH                                 
033334,000130: 
033335,000131: 36,3147                                           BANK     36                                    
033336,000132: 36,2000                                           SETLOC   P40S                                  
033337,000133: 36,2000                                           BANK                                           
033338,000134: 
033339,000135: 36,3147           05353        P40LM              TC       PHASCHNG                              
033340,000136: 36,3150           04024                           OCT      04024                                 
033341,000137: 
033342,000138: 36,3151           33133                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
033343,000139: 36,3152           55455                           TS       WHICH                                 
033344,000140: 
033345,000141: 36,3153           30106                           CA       FLGWRD10                              
033346,000142: 36,3154           74737                           MASK     APSFLBIT                              
033347,000143: 36,3155           10000                           CCS      A                                     
033348,000144: 36,3156           13121                           TCF      P40ALM                                
033349,000145: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
033350,000146: 36,3160           11254                           CADR     R02BOTH                               
033351,000147: 
033352,000148: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
033353,000149: 36,3162           74737                           MASK     CSMDOCKD                              
033354,000150: 36,3163           10000                           CCS      A                                     
033355,000151: 36,3164           32020                           CAF      THRESH1                               
033356,000152: 36,3165           62021                           AD       THRESH3                               
033357,000153: 36,3166           55251                           TS       DVTHRUSH                              
033358,000154: 36,3167           34751                           CAF      FOUR                                  
033359,000155: 36,3170           55515                           TS       DVCNTR                                

Page 754

033361,000157: 36,3171           06037                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
033362,000158: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
033363,000159: 36,3173           34001                                    FDPS                                  
033364,000160: 36,3174           02663                                    NOTHROTL                              
033365,000161: 36,3175           03735                           STORE    F                                     
033366,000162: 36,3176           77735                           SLOAD                                          
033367,000163: 36,3177           26002                                    DPSVEX                                
033368,000164: 36,3200           70476        P40IN              DCOMP    SR1                                   
033369,000165: 36,3201           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
033370,000166: 36,3202           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
033371,000167: 36,3203           77624                           CALL                                           
033372,000168: 36,3204           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
033373,000169: 36,3205           77776                           EXIT                                           
033374,000170: 
033375,000171: 36,3206           00004                           INHINT                                         
033376,000172: 36,3207           04674                           TC       IBNKCALL                              
033377,000173: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
033378,000174: 
033379,000175: 36,3211           03213                           TC       P40SXT4                               
033380,000176: 
033381,000177:                                                                                                  #        ***********************
033382,000178: 
033383,000179: 36,3212           12126                           TCF      BURNBABY                              
033384,000180: 
033385,000181:                                                                                                  #        ***********************
033386,000182: 
033387,000183: 36,3213           00006        P40SXT4            EXTEND                                         
033388,000184: 36,3214           23142                           QXCH     P40/RET                               
033389,000185: 36,3215           00003        P41MANU            RELINT                                         
033390,000186: 
033391,000187: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
033392,000188: 36,3217           00124                           ADRES    3AXISFLG                              
033393,000189: 
033394,000190: 36,3220           04616                           TC       BANKCALL                              
033395,000191: 36,3221           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
033396,000192: 36,3222           01142                           TC       P40/RET                               
033397,000193: 
033398,000194: 36,3223  E7,1462                                  EBANK=   TRKMKCNT                              
033399,000195: 36,3223           30005        POSTBURN           CA       Z                                     
033400,000196: 36,3224           55163                           TS       DISPDEX                               
033401,000197: 36,3225           00006                           EXTEND                                         
033402,000198: 36,3226           32056                           DCA      ACADN85                               
033403,000199: 36,3227           53253                           DXCH     AVEGEXIT                              
033404,000200: 36,3230           33760                           CAF      V16N40                                
033405,000201: 36,3231           04616                           TC       BANKCALL                              
033406,000202: 36,3232           20635                           CADR     GOFLASHR                              
033407,000203: 36,3233           03256                           TC       TERM40                                
033408,000204: 36,3234           13241                           TCF      TIGNOW                                
033409,000205: 36,3235           03223                           TC       POSTBURN                              

Page 755

033411,000207: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
033412,000208: 36,3237           00014                           OCT      00014                                 
033413,000209: 36,3240           15155                           TCF      ENDOFJOB                              
033414,000210: 
033415,000211: 36,3241           00004        TIGNOW             INHINT                                         
033416,000212: 36,3242           04674                           TC       IBNKCALL                              
033417,000213: 36,3243           40153                           CADR     ZATTEROR                              
033418,000214: 36,3244           04674                           TC       IBNKCALL                              
033419,000215: 36,3245           40140                           CADR     SETMINDB                              
033420,000216: 36,3246           00003                           RELINT                                         
033421,000217: 36,3247           33761                           CAF      V16N85B                               
033422,000218: 36,3250           04616                           TC       BANKCALL                              
033423,000219: 36,3251           20462                           CADR     REFLASHR                              
033424,000220: 36,3252           03256                           TC       TERM40                                
033425,000221: 36,3253           13256                           TCF      TERM40                                
033426,000222: 36,3254           03247                           TC       -5                                    
033427,000223: 
033428,000224: 36,3255           13236                           TCF      P40PHS1                               
033429,000225: 
033430,000226: 36,3256           00006        TERM40             EXTEND                                         
033431,000227: 36,3257           32106                           DCA      SERVCADR                              
033432,000228: 36,3260           53253                           DXCH     AVEGEXIT                              
033433,000229: 36,3261           34755                           CAF      ZERO                                  
033434,000230: 36,3262           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
033435,000231: 36,3263           30005                           CA       Z                                     
033436,000232: 36,3264           55163                           TS       DISPDEX                               
033437,000233: 36,3265           00004                           INHINT                                         
033438,000234: 36,3266           04674                           TC       IBNKCALL                              
033439,000235: 36,3267           40123                           CADR     RESTORDB                              
033440,000236: 36,3270           00003                           RELINT                                         
033441,000237: 36,3271           06001                           TC       GOTOPOOH                              
033442,000238: 
033443,000239: 36,3272  E7,1455                                  EBANK=   WHICH                                 
033444,000240: 36,3272                                           COUNT*   $$/P41                                
033445,000241: 36,3272           33134        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
033446,000242: 36,3273           55455                           TS       WHICH                                 
033447,000243: 
033448,000244: 36,3274           04616                           TC       BANKCALL                              
033449,000245: 36,3275           11254                           CADR     R02BOTH                               
033450,000246: 
033451,000247: 36,3276           06037                           TC       INTPRET                               #  BOTH LM
033452,000248: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
033453,000249: 36,3300           00700                                    NJETSFLG                              
033454,000250: 36,3301           75305                                    P41FJET1                              
033455,000251: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033456,000252: 
033457,000253: 36,3303           37735        P41FJET            STCALL   F                                     
033458,000254: 36,3304           75310                                    P41IN                                 
033459,000255: 36,3305           77745        P41FJET1           DLOAD                                          

Page 756

033461,000257: 36,3306           34017                                    FRCS2                                 
033462,000258: 36,3307           03735                           STORE    F                                     
033463,000259: 
033464,000260: 36,3310           77624        P41IN              CALL                                           
033465,000261: 36,3311           56246                                    S40.1                                 #  BOTH
033466,000262: 36,3312           77624        P41NORM            CALL                                           
033467,000263: 36,3313           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
033468,000264: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
033469,000265: 
033470,000266: 36,3315           00004                           INHINT                                         
033471,000267: 36,3316           04674                           TC       IBNKCALL                              
033472,000268: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
033473,000269: 36,3320           04674                           TC       IBNKCALL                              
033474,000270: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
033475,000271: 36,3322           03213                           TC       P40SXT4                               
033476,000272: 
033477,000273: 36,3323           06037                           TC       INTPRET                               
033478,000274: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033479,000275: 36,3325           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
033480,000276: 36,3326           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
033481,000277: 36,3327           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
033482,000278: 36,3330           77776                           EXIT                                           
033483,000279: 
033484,000280: 36,3331           33761                           CAF      V16N85B                               
033485,000281: 36,3332           04616                           TC       BANKCALL                              
033486,000282: 36,3333           20446                           CADR     GODSPRET                              
033487,000283: 
033488,000284: 36,3334           35017                           CAF      PRIO5                                 
033489,000285: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
033490,000286: 36,3336           05105                           TC       FINDVAC                               
033491,000287: 36,3337  E7,1700                                  EBANK=   VGPREV                                
033492,000288: 36,3337           03361 74067                     2CADR    DYNMDISP                              
033493,000289: 
033494,000290: 36,3341           05327                           TC       2PHSCHNG                              
033495,000291: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
033496,000292: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
033497,000293: 
033498,000294:                                                                                                  #        ***********************
033499,000295: 
033500,000296: 36,3344           12135                           TCF      B*RNB*B*                              
033501,000297: 
033502,000298:                                                                                                  #        ***********************
033503,000299: 
033504,000300: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
033505,000301: 36,3346           04616                           TC       BANKCALL                              
033506,000302: 36,3347           01735                           CADR     DELAYJOB                              
033507,000303: 
033508,000304: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
033509,000305: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
033510,000306: 
033511,000307:                                                                                                  #        ***********************

Page 757

033513,000309: 
033514,000310: 36,3352           00006                           EXTEND                                         
033515,000311: 36,3353           13345                           BZF      BLNKWAIT                              
033516,000312: 
033517,000313: 36,3354           33761                           CAF      V16N85B                               
033518,000314: 36,3355           04616                           TC       BANKCALL                              
033519,000315: 36,3356           20446                           CADR     GODSPRET                              
033520,000316: 
033521,000317: 36,3357           35017                           CAF      PRIO5                                 
033522,000318: 36,3360           05146                           TC       PRIOCHNG                              
033523,000319: 
033524,000320: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
033525,000321: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
033526,000322: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
033527,000323: 36,3364           06037                           TC       INTPRET                               
033528,000324: 36,3365           45175                           VLOAD    CALL                                  
033529,000325: 36,3366           03701                                    VGPREV                                
033530,000326: 36,3367           57267                                    S41.1                                 
033531,000327: 36,3370           03502                           STORE    VGBODY                                
033532,000328: 36,3371           77776                           EXIT                                           
033533,000329: 36,3372           34777                           CAF      1SEC                                  
033534,000330: 36,3373           04616                           TC       BANKCALL                              
033535,000331: 36,3374           01735                           CADR     DELAYJOB                              
033536,000332: 36,3375           13361                           TCF      DYNMDISP                              
033537,000333: 
033538,000334: 36,3376           06037        CALCN85            TC       INTPRET                               
033539,000335: 36,3377           77624                           CALL                                           
033540,000336: 36,3400           75611                                    UPDATEVG                              
033541,000337: 36,3401           45175                           VLOAD    CALL                                  
033542,000338: 36,3402           03701                                    VGPREV                                
033543,000339: 36,3403           57267                                    S41.1                                 
033544,000340: 36,3404           03502                           STORE    VGBODY                                
033545,000341: 36,3405           77776                           EXIT                                           
033546,000342: 36,3406           04635                           TC       POSTJUMP                              
033547,000343: 36,3407           65770                           CADR     SERVEXIT                              
033548,000344: 
033549,000345: 36,3410                                           COUNT*   $$/P42                                
033550,000346: 36,3410  E7,1455                                  EBANK=   WHICH                                 
033551,000347: 
033552,000348: 36,3410           05353        P42LM              TC       PHASCHNG                              
033553,000349: 36,3411           04024                           OCT      04024                                 
033554,000350: 
033555,000351: 36,3412           33135                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
033556,000352: 36,3413           55455                           TS       WHICH                                 
033557,000353: 
033558,000354: 36,3414           40106                           CS       FLGWRD10                              
033559,000355: 36,3415           74737                           MASK     APSFLBIT                              
033560,000356: 36,3416           10000                           CCS      A                                     
033561,000357: 36,3417           03121                           TC       P40ALM                                
033562,000358: 36,3420           04616        P42STAGE           TC       BANKCALL                              

Page 758

033564,000360: 36,3421           11254                           CADR     R02BOTH                               
033565,000361: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
033566,000362: 36,3423           55251                           TS       DVTHRUSH                              
033567,000363: 36,3424           34751                           CAF      FOUR                                  
033568,000364: 36,3425           55515                           TS       DVCNTR                                
033569,000365: 
033570,000366: 36,3426           06037                           TC       INTPRET                               
033571,000367: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033572,000368: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
033573,000369: 36,3431           34007                                    FAPS                                  
033574,000370: 36,3432           03735                           STORE    F                                     
033575,000371: 36,3433           52135                           SLOAD    GOTO                                  
033576,000372: 36,3434           26001                                    APSVEX                                
033577,000373: 36,3435           75200                                    P40IN                                 
033578,000374: 
033579,000375: 36,3436  E7,1455                                  EBANK=   WHICH                                 
033580,000376: 
033581,000377: 36,3436                                           COUNT*   $$/P47                                
033582,000378: 36,3436           04616        P47LM              TC       BANKCALL                              
033583,000379: 36,3437           11254                           CADR     R02BOTH                               
033584,000380: 36,3440           06037                           TC       INTPRET                               
033585,000381: 36,3441           77624                           CALRB                                          
033586,000382: 36,3442           27553                                    MIDTOAV2                              
033587,000383: 
033588,000384: 36,3443           30155                           CA       MPAC       +1                         
033589,000385: 36,3444           05173                           TC       TWIDDLE                               
033590,000386: 36,3445           03447                           ADRES    STARTP47                              
033591,000387: 
033592,000388: 36,3446           15155                           TCF      ENDOFJOB                              
033593,000389: 
033594,000390: 36,3447           05353        STARTP47           TC       PHASCHNG                              
033595,000391: 36,3450           05014                           OCT      05014                                 
033596,000392: 36,3451           77777                           OCT      77777                                 
033597,000393: 
033598,000394: 36,3452           00006                           EXTEND                                         
033599,000395: 36,3453           33764                           DCA      ACADN83                               
033600,000396: 36,3454           53253                           DXCH     AVEGEXIT                              
033601,000397: 36,3455           34736                           CAF      PRIO20                                
033602,000398: 36,3456           05105                           TC       FINDVAC                               
033603,000399: 36,3457  E7,1622                                  EBANK=   DELVIMU                               
033604,000400: 36,3457           03513 74067                     2CADR    P47BODY                               
033605,000401: 
033606,000402: 36,3461           12342                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
033607,000403:                                                                                                  #  SEE TIG-30 IN BURNBABY.
033608,000404: 
033609,000405: 36,3462           06037        CALCN83            TC       INTPRET                               
033610,000406: 36,3463           53375                           VLOAD    VAD                                   
033611,000407: 36,3464           03502                                    DELVCTL                               
033612,000408: 36,3465           03527                                    DELVREF                               
033613,000409: 36,3466           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 759

033615,000411: 36,3467           77624                           CALL                                           
033616,000412: 36,3470           57267                                    S41.1                                 
033617,000413: 36,3471           03623                           STORE    DELVIMU                               
033618,000414: 36,3472           77776                           EXIT                                           
033619,000415: 36,3473           05353                           TC       PHASCHNG                              
033620,000416: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
033621,000417: 
033622,000418: 36,3475           06037                           TC       INTPRET                               
033623,000419: 36,3476           77775                           VLOAD                                          
033624,000420: 36,3477           03656                                    DELVSIN                               
033625,000421: 36,3500           03502                           STORE    DELVCTL                               
033626,000422: 36,3501           77776                           EXIT                                           
033627,000423: 
033628,000424: 36,3502           04635                           TC       POSTJUMP                              
033629,000425: 36,3503           65770                           CADR     SERVEXIT                              
033630,000426: 
033631,000427: 36,3504           33762        P47BOD             CAF      V1683                                 
033632,000428: 36,3505           04616                           TC       BANKCALL                              
033633,000429: 36,3506           20635                           CADR     GOFLASHR                              
033634,000430: 36,3507           06001                           TC       GOTOPOOH                              
033635,000431: 36,3510           06001                           TC       GOTOPOOH                              
033636,000432: 
033637,000433: 36,3511           13513                           TCF      P47BODY                               
033638,000434: 
033639,000435: 36,3512           13236                           TCF      P40PHS1                               
033640,000436: 
033641,000437: 36,3513           06037        P47BODY            TC       INTPRET                               
033642,000438: 36,3514           77775                           VLOAD                                          
033643,000439: 36,3515           06522                                    HI6ZEROS                              
033644,000440: 36,3516           03623                           STORE    DELVIMU                               
033645,000441: 36,3517           03502                           STORE    DELVCTL                               
033646,000442: 36,3520           77776                           EXIT                                           
033647,000443: 36,3521           03504                           TC       P47BOD                                
033648,000444: 
033649,000445: 36,3522                                           COUNT*   $$/P40                                
033650,000446: 36,3522           31517        IMPLBURN           CA       TGO        +1                         
033651,000447: 36,3523           03735                           TC       GETDT                                 
033652,000448: 36,3524           05173                           TC       TWIDDLE                               
033653,000449: 36,3525           03542                           ADRES    ENGOFTSK                              
033654,000450: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033655,000451: 36,3527           00153                           ADRES    IGNFLAG                               
033656,000452: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033657,000453: 36,3531           00154                           ADRES    ASTNFLAG                              
033658,000454: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033659,000455: 36,3533           00044                           ADRES    IMPULSW                               
033660,000456: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033661,000457: 36,3535           40114                           OCT      40114                                 
033662,000458: 
033663,000459: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033664,000460: 36,3537           00062                           DEC      50         B-14                       

Page 760

033666,000462: 36,3540           02653                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033667,000463: 
033668,000464: 36,3541           05261                           TC       TASKOVER                              
033669,000465: 
033670,000466: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033671,000467: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033672,000468: 36,3544           05261                           TC       TASKOVER                              
033673,000469: 
033674,000470: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033675,000471: 36,3546           05105                           TC       FINDVAC                               
033676,000472: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
033677,000473: 36,3547           03223 74067                     2CADR    POSTBURN                              
033678,000474: 
033679,000475: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
033680,000476: 36,3552           05203                           TC       WAITLIST                              
033681,000477: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
033682,000478: 36,3553           03606 74066                     2CADR    COASTSET                              
033683,000479: 
033684,000480: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033685,000481: 36,3556           74745                           MASK     IDLEFBIT                              
033686,000482: 36,3557           26103                           ADS      FLAGWRD7                              
033687,000483: 
033688,000484: 36,3560           02653                           TC       NOULLAGE                              
033689,000485: 
033690,000486: 36,3561           00006        ENGINOF4           EXTEND                                         
033691,000487: 36,3562           30025                           DCA      TIME2                                 
033692,000488: 36,3563           53345                           DXCH     TEVENT                                
033693,000489: 
033694,000490: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033695,000491: 36,3565           70101                           MASK     FLAGWRD5                              
033696,000492: 36,3566           54101                           TS       FLAGWRD5                              
033697,000493: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033698,000494: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
033699,000495: 36,3571           02011                           RAND     DSALMOUT                              
033700,000496: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033701,000497: 36,3573           00006                           EXTEND                                         
033702,000498: 36,3574           01011                           WRITE    DSALMOUT                              
033703,000499: 
033704,000500: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033705,000501: 36,3576           74736                           MASK     USEQRJTS                              
033706,000502: 36,3577           26111                           ADS      DAPBOOLS                              
033707,000503: 
033708,000504: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033709,000505: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
033710,000506: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033711,000507: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033712,000508: 36,3604           05014                           WOR      CHAN14                                
033713,000509: 
033714,000510: 36,3605           04707                           TC       ISWRETRN                              

Page 761

033716,000512: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033717,000513: 36,3607           40204                           CADR     ALLCOAST                              
033718,000514: 36,3610           05261                           TC       TASKOVER                              
033719,000515: 
033720,000516: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
033721,000517: 36,3611           45020        UPDATEVG           STQ      CALL                                  
033722,000518: 36,3612           03665                                    QTEMP1                                
033723,000519: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
033724,000520: 36,3614           43014                           BON      BON                                   
033725,000521: 36,3615           01307                                    XDELVFLG                              
033726,000522: 36,3616           03665                                    QTEMP1                                
033727,000523: 36,3617           03705                                    NORMSW                                
033728,000524: 36,3620           75633                                    180SETUP                              
033729,000525: 36,3621           45345                           DLOAD    DSU                                   
033730,000526: 36,3622           01235                                    PIPTIME                               
033731,000527: 36,3623           03763                                    TIGSAVE                               
033732,000528: 36,3624           50025                           DSU      BMN                                   
033733,000529: 36,3625           03432                                    TNEWA                                 
033734,000530: 36,3626           75656                                    GETRANS                               
033735,000531: 36,3627           43345                           DLOAD    DAD                                   
033736,000532: 36,3630           03763                                    TIGSAVE                               
033737,000533: 36,3631           03432                                    TNEWA                                 
033738,000534: 36,3632           03765                           STORE    TIGSAVEP                              
033739,000535: 36,3633           77776        180SETUP           EXIT                                           
033740,000536: 36,3634           10755                           CCS      PHASE2                                
033741,000537: 36,3635           13663                           TCF      NO.9                                  
033742,000538: 36,3636           34737                           CAF      PRIO10                                
033743,000539: 36,3637           00004                           INHINT                                         
033744,000540: 36,3640           05105                           TC       FINDVAC                               
033745,000541: 36,3641  E7,1706                                  EBANK=   VG                                    
033746,000542: 36,3641           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033747,000543: 
033748,000544: 36,3643           05327                           TC       2PHSCHNG                              
033749,000545: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033750,000546: 36,3645           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
033751,000547: 
033752,000548: 36,3646           06037        ENDSTEER           TC       INTPRET                               
033753,000549: 36,3647           77745                           DLOAD                                          
033754,000550: 36,3650           03765                                    TIGSAVEP                              
033755,000551: 36,3651           27763                           STOVL    TIGSAVE                               
033756,000552: 36,3652           01221                                    RN                                    
033757,000553: 36,3653           26323                           STOVL    RINIT                                 
033758,000554: 36,3654           01227                                    VN                                    
033759,000555: 36,3655           02331                           STORE    VINIT                                 
033760,000556: 36,3656           45345        GETRANS            DLOAD    DSU                                   
033761,000557: 36,3657           03631                                    TPASS4                                
033762,000558: 36,3660           01235                                    PIPTIME                               
033763,000559: 36,3661           37452                           STCALL   DELLT4                                
033764,000560: 36,3662           03665                                    QTEMP1                                
033765,000561: 

Page 762

033767,000563: 36,3663           06037        NO.9               TC       INTPRET                               
033768,000564: 36,3664           77650                           GOTO                                           
033769,000565: 36,3665           03665                                    QTEMP1                                
033770,000566: 36,3666           06037        STEERING           TC       INTPRET                               
033771,000567: 
033772,000568: 36,3667           77624                           CALL                                           
033773,000569: 36,3670           75611                                    UPDATEVG                              
033774,000570: 36,3671           77776                           EXIT                                           
033775,000571: 
033776,000572: 36,3672  E7,1515                                  EBANK=   DVCNTR                                
033777,000573: 36,3672           00004        NSTEER             INHINT                                         
033778,000574: 36,3673           35016                           CA       EBANK7                                
033779,000575: 36,3674           54003                           TS       EBANK                                 
033780,000576: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033781,000577: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033782,000578: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033783,000579: 
033784,000580: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0   EXIT
033785,000581: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
033786,000582: 36,3702           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
033787,000583: 36,3703           10000                           CCS      A                                     
033788,000584: 36,3704           13707                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033789,000585: 36,3705           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033790,000586: 36,3706           65770                           CADR     SERVEXIT                              
033791,000587: 
033792,000588: 36,3707           04674                           TC       IBNKCALL                              
033793,000589: 36,3710           40165                           CADR     STOPRATE                              
033794,000590: 
033795,000591: 36,3711           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033796,000592: 36,3712           00044                           ADRES    IMPULSW                               
033797,000593: 
033798,000594: 36,3713           05504                           TC       UPFLAG                                
033799,000595: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033800,000596: 
033801,000597: 36,3715           00004                           INHINT                                         
033802,000598: 36,3716           00006                           EXTEND                                         
033803,000599: 36,3717           31442                           DCA      TIG                                   
033804,000600: 36,3720           52155                           DXCH     MPAC                                  
033805,000601: 36,3721           00006                           EXTEND                                         
033806,000602: 36,3722           40025                           DCS      TIME2                                 
033807,000603: 36,3723           20155                           DAS      MPAC                                  
033808,000604: 36,3724           07257                           TC       TPAGREE                               
033809,000605: 36,3725           30155                           CAE      MPAC       +1                         
033810,000606: 36,3726           03735                           TC       GETDT                                 
033811,000607: 36,3727           05173                           TC       TWIDDLE                               
033812,000608: 36,3730           03542                           ADRES    ENGOFTSK                              
033813,000609: 36,3731           05327                           TC       2PHSCHNG                              
033814,000610: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033815,000611: 36,3733           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 763

033817,000613: 36,3734           15155                           TCF      ENDOFJOB                              
033818,000614: 
033819,000615: 36,3735           10000        GETDT              CCS      A                                     
033820,000616: 36,3736           13741                           TCF      +3                                    
033821,000617: 36,3737           13741                           TCF      +2                                    
033822,000618: 36,3740           34755                           CAF      ZERO                                  
033823,000619: 36,3741           64753                           AD       ONE                                   
033824,000620: 36,3742           56001                           XCH      L                                     
033825,000621: 36,3743           34755                           CAF      ZERO                                  
033826,000622: 36,3744           53517                           DXCH     TGO                                   
033827,000623: 36,3745           31517                           CA       TGO        +1                         
033828,000624: 36,3746           00002                           TC       Q                                     
033829,000625: 
033830,000626:                                                                                                  #  ************************************************************************
033831,000627: 
033832,000628: 36,3747           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
033833,000629: 36,3750           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
033834,000630: 36,3751           00000 05670  SEC30DP            2DEC     3000       B-28                       
033835,000631: 
033836,000632: 36,3753           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
033837,000633: 36,3754           10624        SEC45              DEC      4500       B-14                       
033838,000634: 36,3755           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033839,000635: 36,3756           00764        5SEC               DEC      500        B-14                       
033840,000636: 36,3757           05050        26SECS             DEC      2600       B-14                       
033841,000637: 36,3760           04050        V16N40             VN       1640                                  
033842,000638: 36,3761           04125        V16N85B            VN       1685                                  
033843,000639: 36,3762           04123        V1683              VN       1683                                  
033844,000640: 36,3763     4777               SEC01              =        1SEC                                  
033845,000641: 36,3763  36,2055               ACADN85            =        P41TABLE   +2                         
033846,000642: 
033847,000643: 36,3763  E7,1622                                  EBANK=   DELVIMU                               
033848,000644: 36,3763           03462 74067  ACADN83            2CADR    CALCN83                               
033849,000645: 
033850,000646:                                                                                                  #  *************************************************

Page 764

033852,000648:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
033853,000649:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
033854,000650:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033855,000651: 
033856,000652:                                                                                                  #  FUNCTIONAL DESCRIPTION
033857,000653:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033858,000654:                                                                                                  #        VECTOR(VGTIG).
033859,000655: 
033860,000656:                                                                                                  #  CALLING SEQUENCE
033861,000657:                                                                                                  #        L       CALL
033862,000658:                                                                                                  #        L+1             S40.1
033863,000659: 
033864,000660:                                                                                                  #  NORMAL EXIT MODE
033865,000661:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033866,000662:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
033867,000663: 
033868,000664:                                                                                                  #  SUBROUTINES CALLED
033869,000665:                                                                                                  #        LEMPREC
033870,000666:                                                                                                  #        INITVEL
033871,000667:                                                                                                  #        CALCGRAV
033872,000668:                                                                                                  #        MIDGIM
033873,000669: 
033874,000670:                                                                                                  #  ALARM OR ABORT EXIT MODES
033875,000671:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033876,000672: 
033877,000673:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033878,000674:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
033879,000675:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
033880,000676:                                                                                                  #        F               THRUST FOR ENGINE USED
033881,000677:                                                                                                  #    IF DELTA-V MANEUVER
033882,000678:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
033883,000679:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
033884,000680:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
033885,000681:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
033886,000682:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
033887,000683:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
033888,000684:                                                                                                  #    IF AIMPT STEER
033889,000685:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
033890,000686:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
033891,000687:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
033892,000688:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
033893,000689: 
033894,000690:                                                                                                  #  OUTPUT
033895,000691:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
033896,000692:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
033897,000693:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
033898,000694:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
033899,000695:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033900,000696:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
033901,000697:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
033902,000698:                                                                                                  #                        POSITION AT TIME OF IGNITION
033903,000699: 
033904,000700:                                                                                                  #  DEBRIS        QTEMP1
033905,000701:                                                                                                  #                MPAC, QPRET
033906,000702:                                                                                                  #                PUSHLIST
033907,000703: 
033908,000704: 14,2347                                           BANK     14                                    
033909,000705: 27,2000                                           SETLOC   P40S1                                 
033910,000706: 27,2000                                           BANK                                           

Page 765

033912,000708: 27,2246                                           COUNT*   $$/S40.1                              
033913,000709: 27,2246           71220        S40.1              STQ      DLOAD                                 
033914,000710: 27,2247           03632                                    QTEMP                                 
033915,000711: 27,2250           03442                                    TIG                                   
033916,000712: 27,2251           03763                           STORE    TIGSAVE                               
033917,000713: 27,2252           77614        DELVTEST           BOFF                                           
033918,000714: 27,2253           01347                                    XDELVFLG                              
033919,000715: 27,2254           56336                                    S40.1B                                
033920,000716: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
033921,000717: 27,2256           00001                                    0                                     
033922,000718: 27,2257           03650                                    VTIG                                  
033923,000719: 27,2260           02331                           STORE    VINIT                                 
033924,000720: 27,2261           53435                           VXV      UNIT                                  
033925,000721: 27,2262           03642                                    RTIG                                  
033926,000722: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
033927,000723: 27,2264           03642                                    RTIG                                  
033928,000724: 27,2265           02323                           STORE    RINIT                                 
033929,000725: 27,2266           65236                           VSQ      PDDL                                  
033930,000726: 27,2267           00045                                    36D                                   
033931,000727: 27,2270           56205                           DMP      DDV                                   
033932,000728: 27,2271           16412                                    THETACON                              
033933,000729: 27,2272           41205                           DMP      DMP                                   
033934,000730: 27,2273           03664                                    DELVSAB                               
033935,000731: 27,2274           01245                                    WEIGHT/G                              
033936,000732: 27,2275           77671                           DDV                                            
033937,000733: 27,2276           03735                                    F                                     
033938,000734: 27,2277           24017                           STOVL    14D                                   
033939,000735: 27,2300           03656                                    DELVSIN                               
033940,000736: 
033941,000737: 27,2301           74241                           DOT      VXSC                                  
033942,000738: 27,2302           03673                                    UT                                    
033943,000739: 27,2303           03673                                    UT                                    
033944,000740: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033945,000741: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
033946,000742: 27,2306           03656                                    DELVSIN                               
033947,000743: 27,2307           00017                                    14D                                   
033948,000744: 27,2310           63356                           SIN      PDVL                                  
033949,000745: 27,2311           00007                                    6D                                    
033950,000746: 27,2312           53435                           VXV      UNIT                                  
033951,000747: 27,2313           03673                                    UT                                    
033952,000748: 27,2314           45561                           VXSC     STADR                                 
033953,000749: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033954,000750: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
033955,000751: 27,2317           00017                                    14D                                   
033956,000752: 27,2320           74346                           COS      VXSC                                  
033957,000753: 27,2321           74255                           VAD      VXSC                                  
033958,000754: 27,2322           03701                                    VGTIG                                 
033959,000755: 27,2323           00045                                    36D                                   
033960,000756: 27,2324           53352                           VSL2     VAD                                   
033961,000757: 27,2325           77626                           STADR                                          

Page 766

033963,000759: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
033964,000760: 
033965,000761: 27,2327           77656                           UNIT                                           
033966,000762: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
033967,000763: 27,2331           03701                                    VGTIG                                 
033968,000764: 27,2332           45006                           PUSH     CALL                                  
033969,000765: 27,2333           15733                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033970,000766: 27,2334           77650                           GOTO                                           
033971,000767: 27,2335           03632                                    QTEMP                                 
033972,000768: 27,2336           77745        S40.1B             DLOAD                                          
033973,000769: 27,2337           03442                                    TIG                                   
033974,000770: 27,2340           00041                           STORE    TDEC1                                 
033975,000771: 27,2341           77621                           BDSU                                           
033976,000772: 27,2342           03631                                    TPASS4                                
033977,000773: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
033978,000774: 27,2344           27057                                    LEMPREC                               
033979,000775: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
033980,000776: 27,2346           00001                                    RATT                                  
033981,000777: 27,2347           00001                                    0                                     
033982,000778: 27,2350           03642                           STORE    RTIG                                  
033983,000779: 27,2351           02323                           STORE    RINIT                                 
033984,000780: 27,2352           77656                           UNIT                                           
033985,000781: 27,2353           27537                           STOVL    UNIT/R/                               
033986,000782: 27,2354           00007                                    VATT                                  
033987,000783: 27,2355           03650                           STORE    VTIG                                  
033988,000784: 27,2356           02331                           STORE    VINIT                                 
033989,000785: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
033990,000786: 27,2360           06522                                    ZEROVECS                              
033991,000787: 27,2361           16406                                    EPS1                                  
033992,000788: 27,2362           43214                           BOFF     DAD                                   
033993,000789: 27,2363           03745                                    NORMSW                                
033994,000790: 27,2364           56366                                    SMALLEPS                              
033995,000791: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
033996,000792: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
033997,000793: 27,2367           02776                                    RTX1                                  
033998,000794: 27,2370           45134                           SXA,2    CALL                                  
033999,000795: 27,2371           02777                                    RTX2                                  
034000,000796: 27,2372           22000                                    INITVEL                               
034001,000797: 27,2373           41575                           VLOAD    PUSH                                  
034002,000798: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
034003,000799: 27,2375           03701                           STORE    VGTIG                                 
034004,000800: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
034005,000801: 27,2377           17673                           STODL    UT                                    
034006,000802: 27,2400           00045                                    36D                                   
034007,000803: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
034008,000804: 27,2402           15733                                    GET.LVC                               #  VERTICAL COORDINATES.
034009,000805: 27,2403           77650                           GOTO                                           
034010,000806: 27,2404           03632                                    QTEMP                                 
034011,000807: 
034012,000808: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
034013,000809: 

Page 767

034015,000811: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
034016,000812: 
034017,000813: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
034018,000814: 

Page 768

034020,000816:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
034021,000817:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034022,000818:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
034023,000819:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
034024,000820:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
034025,000821: 
034026,000822:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
034027,000823:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
034028,000824:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
034029,000825:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
034030,000826:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
034031,000827: 
034032,000828:                                                                                                  #  CALLING SEQUENCE:
034033,000829:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
034034,000830:                                                                                                  #        L +1            S40.2,3
034035,000831:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
034036,000832: 
034037,000833:                                                                                                  #  SUBROUTINES CALLED:  NONE.
034038,000834: 
034039,000835:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
034040,000836: 
034041,000837:                                                                                                  #  ALARM/ABORT MODES:  NONE.
034042,000838: 
034043,000839:                                                                                                  #  INPUT:
034044,000840:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
034045,000841:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
034046,000842:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
034047,000843: 
034048,000844:                                                                                                  #  OUTPUT:
034049,000845:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
034050,000846:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
034051,000847:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
034052,000848:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
034053,000849:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
034054,000850:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
034055,000851: 
034056,000852:                                                                                                  #  DEBRIS:  NONE.

Page 769

034058,000854: 
034059,000855: 27,2413                                           COUNT*   $$/S40.2                              
034060,000856: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
034061,000857: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
034062,000858: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
034063,000859: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
034064,000860: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
034065,000861: 27,2420           06520                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
034066,000862: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
034067,000863: 
034068,000864: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
034069,000865: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
034070,000866: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
034071,000867: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
034072,000868: 27,2426           46125                           PDDL     BHIZ                                  
034073,000869: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
034074,000870: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
034075,000871: 27,2431           45575        STORY              VLOAD    STADR                                 
034076,000872: 27,2432           74162                           STORE    YSCREF                                
034077,000873: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
034078,000874: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
034079,000875: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
034080,000876: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
034081,000877: 
034082,000878: 27,2437           43414                           SET      RVQ                                   
034083,000879: 27,2440           01073                                    PFRATFLG                              
034084,000880: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
034085,000881: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
034086,000882: 27,2443           03650                                    VTIG                                  
034087,000883: 27,2444           41456                           UNIT     PUSH                                  
034088,000884: 27,2445           77650                           GOTO                                           
034089,000885: 27,2446           56431                                    STORY                                 

Page 770

034091,000887:                                                                                                  #  SUBROUTINE S40.8
034092,000888:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
034093,000889: 
034094,000890:                                                                                                  #  DESCRIPTION
034095,000891:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
034096,000892:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
034097,000893:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
034098,000894: 
034099,000895:                                                                                                  #  CALLING SEQUENCE
034100,000896:                                                                                                  #        L-1     CALL
034101,000897:                                                                                                  #        L               S40.8
034102,000898:                                                                                                  #        L+1                     INTERPRETIVE RETURN
034103,000899: 
034104,000900:                                                                                                  #  ALARM
034105,000901:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
034106,000902:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
034107,000903: 
034108,000904:                                                                                                  #  INPUT AND INITIALIZATION
034109,000905:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
034110,000906:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
034111,000907:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
034112,000908:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
034113,000909:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
034114,000910:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
034115,000911:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
034116,000912: 
034117,000913:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
034118,000914: 
034119,000915:                                                                                                  #  OUTPUT
034120,000916:                                                                                                  #        STEERSW         SEE INPUT
034121,000917:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
034122,000918:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
034123,000919:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
034124,000920: 
034125,000921:                                                                                                  #  SUBROUTINE CALLED
034126,000922:                                                                                                  #        FINDCDUW
034127,000923: 
034128,000924:                                                                                                  #  DEBRIS
034129,000925:                                                                                                  #        MPACS, PUSHLIST
034130,000926: 
034131,000927: 27,2447                                           COUNT*   $$/S40.8                              

Page 771

034133,000929: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
034134,000930: 27,2450           01347                                    XDELVFLG                              
034135,000931: 27,2451           56731                                    RASTEER1                              
034136,000932: 27,2452           52375                           VLOAD    VSU                                   
034137,000933: 27,2453           03701                                    VGPREV                                
034138,000934: 27,2454           03527                                    DELVREF                               
034139,000935: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
034140,000936: 27,2456           76521                           MXV      VSL1                                  
034141,000937: 27,2457           01734                                    REFSMMAT                              
034142,000938: 27,2460           03254                           STORE    UNFC/2                                
034143,000939: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
034144,000940: 27,2462           03707                                    VG                                    
034145,000941: 27,2463           03664                           STORE    VGDISP                                
034146,000942: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
034147,000943: 27,2465           00001                                    0                                     
034148,000944: 27,2466           03707                                    VG                                    
034149,000945: 27,2467           27701                           STOVL    VGPREV                                
034150,000946: 27,2470           03527                                    DELVREF                               
034151,000947: 27,2471           57414                           BOFF     VCOMP                                 
034152,000948: 27,2472           01344                                    STEERSW                               
034153,000949: 27,2473           00052                                    QPRET                                 
034154,000950: 27,2474           77656                           UNIT                                           
034155,000951: 27,2475           41441                           DOT      PUSH                                  
034156,000952: 27,2476           03707                                    VG                                    
034157,000953: 27,2477           56244                           BPL      DDV                                   
034158,000954: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
034159,000955: 27,2501           03743                                    VEX                                   
034160,000956: 27,2502           41215                           DAD      DMP                                   
034161,000957: 27,2503           06520                                    DPHALF                                
034162,000958: 27,2504           56261                           SR       DDV                                   
034163,000959: 27,2505           20613                                    10D                                   
034164,000960: 27,2506           00045                                    36D                                   
034165,000961: 27,2507           43205                           DMP      DAD                                   
034166,000962: 27,2510           16535                                    -FOURDT                               
034167,000963: 27,2511           03741                                    TDECAY                                
034168,000964: 27,2512           03517                           STORE    TGO                                   
034169,000965: 27,2513           77615                           DAD                                            
034170,000966: 27,2514           01235                                    PIPTIME                               
034171,000967: 27,2515           17442                           STODL    TIG                                   
034172,000968: 27,2516           03517                                    TGO                                   
034173,000969: 27,2517           51025                           DSU      BPL                                   
034174,000970: 27,2520           16537                                    FOURSECS                              #  400 CS
034175,000971: 27,2521           61111                                    FINDCDUW   -2                         
034176,000972: 27,2522           43014                           SET      CLRGO                                 
034177,000973: 27,2523           01066                                    IMPULSW                               
034178,000974: 27,2524           01224                                    STEERSW                               
034179,000975: 27,2525           00052                                    QPRET                                 
034180,000976: 
034181,000977: 27,2526           77776        ALARMIT            EXIT                                           
034182,000978: 

Page 772

034184,000980: 27,2527           05567                           TC       ALARM                                 
034185,000981: 27,2530           01407                           OCT      01407                                 
034186,000982: 27,2531           06037                           TC       INTPRET                               
034187,000983: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
034188,000984: 27,2533           61111                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
034189,000985: 
034190,000986: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
034191,000987: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
034192,000988: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
034193,000989: 

Page 773

034195,000991:                                                                                                  #  NAME                  S40.13 - TIMEBURN
034196,000992: 
034197,000993:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
034198,000994:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
034199,000995:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
034200,000996:                                                                                                  #                        BURN
034201,000997:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
034202,000998:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
034203,000999:                                                                                                  #                        SIGNAL
034204,001000: 
034205,001001:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
034206,001002: 
034207,001003:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
034208,001004:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
034209,001005:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
034210,001006:                                                                                                  #                                AND ALSO FOR RCS ENGINE
034211,001007:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034212,001008:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
034213,001009:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
034214,001010:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
034215,001011:                                                                                                  #                                =0      DPS
034216,001012:                                                                                                  #                                =1      APS
034217,001013: 
034218,001014:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
034219,001015:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
034220,001016:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
034221,001017:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
034222,001018:                                                                                                  #                        TGO             TIME TO BURN IN CS
034223,001019: 
034224,001020:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
034225,001021:                                                                                                  #                        FORCE
034226,001022: 
034227,001023: 27,2540  E7,1516                                  EBANK=   TGO                                   
034228,001024: 27,2540                                           COUNT*   $$/40.13                              
034229,001025: 27,2540           06037        S40.13             TC       INTPRET                               
034230,001026: 27,2541           43001                           SETPD    CLEAR                                 
034231,001027: 27,2542           00001                                    00D                                   
034232,001028: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
034233,001029: 27,2544           51575                           VLOAD    ABVAL                                 
034234,001030: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
034235,001031: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
034236,001032: 27,2547           21021                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
034237,001033: 27,2550           34017                                    FRCS2                                 
034238,001034: 27,2551           72471                           DDV      SL1                                   #  SCALE
034239,001035: 27,2552           01245                                    WEIGHT/G                              
034240,001036: 27,2553           41421                           BDSU     PUSH                                  
034241,001037: 27,2554           43014                           BOFF     SET                                   
034242,001038: 27,2555           05342                                    APSFLAG                               
034243,001039: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
034244,001040: 27,2557           02463                                    NOTHROTL                              
034245,001041: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
034246,001042: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
034247,001043: 27,2562           01245                                    WEIGHT/G                              
034248,001044: 27,2563           50021                           BDSU     BMN                                   

Page 774

034250,001046: 27,2564           00001                                    00D                                   
034251,001047: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
034252,001048: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
034253,001049: 27,2567           03737                                    MDOT                                  
034254,001050: 
034255,001051:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034256,001052:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
034257,001053:                                                                                                  #  REQUIRE ADJUSTMENT
034258,001054: 
034259,001055: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
034260,001056: 27,2571           65221                           BDSU     PDDL                                  
034261,001057: 27,2572           01245                                    WEIGHT/G                              
034262,001058: 27,2573           03735                                    F                                     
034263,001059: 27,2574           60405                           DMP      SR2                                   #  SCALE
034264,001060: 27,2575           16702                                    5SECS                                 
034265,001061: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
034266,001062: 27,2577           51021                           BDSU     BPL                                   
034267,001063: 27,2600           00003                                    02D                                   
034268,001064: 27,2601           56626                                    S40.13D                               
034269,001065: 27,2602           55345                           DLOAD    BDDV                                  
034270,001066: 27,2603           43205                           DMP      DAD                                   
034271,001067: 27,2604           16702                                    5SECS                                 
034272,001068: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
034273,001069: 27,2606           77650                           GOTO                                           
034274,001070: 27,2607           56616                                    S40.132                               
034275,001071: 27,2610           41345        S40.131            DLOAD    DMP                                   
034276,001072: 27,2611           01245                                    WEIGHT/G                              
034277,001073: 27,2612           41542                           SR1      PUSH                                  
034278,001074: 27,2613           56215                           DAD      DDV                                   
034279,001075: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
034280,001076: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
034281,001077: 27,2616           77414        S40.132            SET      EXIT                                  
034282,001078: 27,2617           01066                                    IMPULSW                               
034283,001079: 27,2620           07257        S40.132*           TC       TPAGREE                               
034284,001080: 27,2621           30154                           CA       MPAC                                  
034285,001081: 27,2622           56001                           XCH      L                                     
034286,001082: 27,2623           34755                           CA       ZERO                                  
034287,001083: 27,2624           53517                           DXCH     TGO                                   
034288,001084: 27,2625           12650                           TCF      S40.134                               
034289,001085: 
034290,001086: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
034291,001087: 27,2627           00001                                    00D                                   
034292,001088: 27,2630           01245                                    WEIGHT/G                              
034293,001089: 27,2631           43006                           PUSH     BON                                   
034294,001090: 27,2632           05302                                    APSFLAG                               
034295,001091: 27,2633           56671                                    APSTGO                                
034296,001092: 27,2634           43071                           DDV      CLEAR                                 
034297,001093: 27,2635           16007                                    S40.136                               
034298,001094: 27,2636           02663                                    NOTHROTL                              
034299,001095: 27,2637           41400                           BOV      PUSH                                  

Page 775

034301,001097: 27,2640           56653                                    S40.130V                              
034302,001098: 27,2641           51025        S40.137            DSU      BPL                                   
034303,001099: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
034304,001100: 27,2643           56661                                    S40.138                               
034305,001101: 27,2644           52015                           DAD      GOTO                                  
034306,001102: 27,2645           16704                                    6SEC                                  
034307,001103: 27,2646           56616                                    S40.132                               
034308,001104: 27,2647           77776        S40.133            EXIT                                           
034309,001105: 27,2650           05353        S40.134            TC       PHASCHNG                              
034310,001106: 27,2651           00003                           OCT      00003                                 
034311,001107: 27,2652           05155                           TC       ENDOFJOB                              
034312,001108: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
034313,001109: 27,2654           77671                           DDV                                            
034314,001110: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
034315,001111: 27,2656           03517                           STORE    TGO                                   
034316,001112: 27,2657           77776                           EXIT                                           
034317,001113: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
034318,001114: 
034319,001115: 27,2661           51025        S40.138            DSU      BPL                                   
034320,001116: 27,2662           16706                                    89SECS                                
034321,001117: 27,2663           56666                                    STORETGO                              
034322,001118: 27,2664           77614                           SET                                            
034323,001119: 27,2665           02463                                    NOTHROTL                              
034324,001120: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
034325,001121: 27,2667           77776                           EXIT                                           
034326,001122: 27,2670           12620                           TCF      S40.132*                              
034327,001123: 
034328,001124: 27,2671           62471        APSTGO             DDV      SL2                                   
034329,001125: 27,2672           34007                                    FAPS                                  
034330,001126: 27,2673           77650                           GOTO                                           
034331,001127: 27,2674           56667                                    STORETGO   +1                         
034332,001128: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
034333,001129: 
034334,001130: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
034335,001131: 
034336,001132: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
034337,001133: 
034338,001134: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
034339,001135: 
034340,001136: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
034341,001137: 
034342,001138:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
034343,001139:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
034344,001140:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
034345,001141:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
034346,001142:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
034347,001143:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
034348,001144: 
034349,001145:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
034350,001146: 
034351,001147:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
034352,001148:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 776

034354,001150:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
034355,001151:                                                                                                  #                                  METERS/CS AT +7.
034356,001152:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
034357,001153:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
034358,001154:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
034359,001155:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
034360,001156:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
034361,001157:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
034362,001158:                                                                                                  #                                  METERS/CS AT +7.
034363,001159: 
034364,001160:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
034365,001161:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
034366,001162:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
034367,001163:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
034368,001164: 
034369,001165:                                                                                                  #  SUBROUTINES USED - INITVEL
034370,001166: 
034371,001167: 27,2707  E7,1700                                  EBANK=   VGPREV                                
034372,001168: 27,2707                                           COUNT*   $$/S40.9                              
034373,001169: 27,2707           06037        S40.9              TC       INTPRET                               
034374,001170: 27,2710           77601                           SETPD                                          
034375,001171: 27,2711           00001                                    00D                                   
034376,001172: 27,2712           71214                           SET      DLOAD                                 
034377,001173: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
034378,001174: 27,2714           06522                                    HI6ZEROS                              
034379,001175: 27,2715           77725                           PDDL                                           
034380,001176: 27,2716           16406                                    EPS1                                  
034381,001177: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
034382,001178: 27,2720           03745                                    NORMSW                                
034383,001179: 27,2721           56723                                    EPSSMALL                              
034384,001180: 27,2722           16410                                    EPS2                                  
034385,001181: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
034386,001182: 27,2724           22002                                    HAVEGUES                              
034387,001183: 27,2725           77776        ENDS40.9           EXIT                                           
034388,001184: 27,2726           05353                           TC       PHASCHNG                              
034389,001185: 27,2727           00002                           OCT      2                                     
034390,001186: 27,2730           15155                           TCF      ENDOFJOB                              
034391,001187: 
034392,001188: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
034393,001189: 27,2732           01221                                    RN                                    
034394,001190: 27,2733           53744                           LXC,2    SL*                                   
034395,001191: 27,2734           02777                                    RTX2                                  
034396,001192: 27,2735           57576                                    0,2                                   
034397,001193: 27,2736           27715                           STOVL    RMAG                                  
034398,001194: 27,2737           03444                                    RTARG                                 
034399,001195: 27,2740           47051                           VSU      RTB                                   
034400,001196: 27,2741           01221                                    RN                                    
034401,001197: 27,2742           21724                                    NORMUNX1                              
034402,001198: 27,2743           17656                           STODL    IC                                    
034403,001199: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
034404,001200: 27,2745           53674                           XAD,2    SL*                                   
034405,001201: 27,2746           00046                                    X1                                    

Page 777

034407,001203: 27,2747           57576                                    0,2                                   
034408,001204: 27,2750           00037                           STORE    30D                                   
034409,001205: 27,2751           41301                           NORM     DMP                                   
034410,001206: 27,2752           00050                                    X2                                    
034411,001207: 27,2753           03715                                    RMAG                                  
034412,001208: 27,2754           57101                           NORM     XAD,2                                 
034413,001209: 27,2755           00047                                    X1                                    
034414,001210: 27,2756           00046                                    X1                                    
034415,001211: 27,2757           77734                           SXA,2                                          
034416,001212: 27,2760           03766                                    MUSCALE                               
034417,001213: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
034418,001214: 27,2762           00037                                    30D                                   
034419,001215: 27,2763           65342                           SR1      PDDL                                  
034420,001216: 27,2764           03715                                    RMAG                                  
034421,001217: 27,2765           65342                           SR1      PDDL                                  
034422,001218: 27,2766           03723                                    RTMAG                                 
034423,001219: 27,2767           43342                           SR1      DAD                                   
034424,001220: 27,2770           45415                           DAD      STADR                                 
034425,001221: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
034426,001222: 27,2772           41225                           DSU      DMP                                   
034427,001223: 27,2773           00037                                    30D                                   
034428,001224: 27,2774           03721                                    MU/A                                  
034429,001225: 27,2775           77621                           BDSU                                           
034430,001226: 27,2776           03717                                    MUASTEER                              
034431,001227: 27,2777           45325                           PDDL     DSU                                   
034432,001228: 27,3000           03733                                    SS                                    
034433,001229: 27,3001           03715                                    RMAG                                  
034434,001230: 27,3002           70501                           NORM     SR1                                   
034435,001231: 27,3003           00047                                    X1                                    
034436,001232: 27,3004           41271                           DDV      DMP                                   
034437,001233: 27,3005           03725                                    R1C                                   
034438,001234: 27,3006           53664                           XSU,2    SL*                                   
034439,001235: 27,3007           00046                                    X1                                    
034440,001236: 27,3010           57575                                    1,2                                   
034441,001237: 27,3011           77754                           LXA,2                                          
034442,001238: 27,3012           03766                                    MUSCALE                               
034443,001239: 27,3013           75366                           SQRT     SIGN                                  
034444,001240: 27,3014           02673                                    GEOMSGN                               
034445,001241: 27,3015           00041                           STORE    32D                                   #  + OR - A
034446,001242: 27,3016           41345                           DLOAD    DMP                                   
034447,001243: 27,3017           03733                                    SS                                    
034448,001244: 27,3020           03721                                    MU/A                                  
034449,001245: 27,3021           77621                           BDSU                                           
034450,001246: 27,3022           03717                                    MUASTEER                              
034451,001247: 27,3023           45325                           PDDL     DSU                                   
034452,001248: 27,3024           03733                                    SS                                    
034453,001249: 27,3025           03723                                    RTMAG                                 
034454,001250: 27,3026           70501                           NORM     SR1                                   
034455,001251: 27,3027           00047                                    X1                                    
034456,001252: 27,3030           41271                           DDV      DMP                                   
034457,001253: 

Page 778

034459,001255: 27,3031           03725                                    R1C                                   
034460,001256: 27,3032           53664                           XSU,2    SL*                                   
034461,001257: 27,3033           00046                                    X1                                    
034462,001258: 27,3034           57575                                    1,2                                   
034463,001259: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
034464,001260: 27,3036           03733                                    SS                                    
034465,001261: 27,3037           56225                           DSU      DDV                                   
034466,001262: 27,3040           00037                                    30D                                   
034467,001263: 27,3041           03733                                    SS                                    
034468,001264: 27,3042           41566                           SQRT     PUSH                                  
034469,001265: 27,3043           67542                           SR1      ASIN                                  
034470,001266: 27,3044           65205                           DMP      PDDL                                  
034471,001267: 27,3045           17216                                    2PI+3                                 
034472,001268: 27,3046           56325                           PDDL     DDV                                   
034473,001269: 27,3047           00037                                    30D                                   
034474,001270: 27,3050           03733                                    SS                                    
034475,001271: 27,3051           77600                           BOV                                            
034476,001272: 27,3052           57053                                    +1                                    
034477,001273: 27,3053           41366                           SQRT     DMP                                   
034478,001274: 27,3054           44242                           SR3      BDSU                                  
034479,001275: 27,3055           65365                           SIGN     PDDL                                  
034480,001276: 27,3056           02673                                    GEOMSGN                               
034481,001277: 27,3057           17216                                    2PI+3                                 
034482,001278: 27,3060           45302                           SR2      DSU                                   
034483,001279: 27,3061           65205                           DMP      PDDL                                  
034484,001280: 27,3062           03733                                    SS                                    
034485,001281: 27,3063           03733                                    SS                                    
034486,001282: 27,3064           75442                           SR3      SQRT                                  
034487,001283: 27,3065           77605                           DMP                                            
034488,001284: 27,3066           52525                           PDDL     SL3                                   
034489,001285: 27,3067           03717                                    MUASTEER                              
034490,001286: 27,3070           55366                           SQRT     BDDV                                  
034491,001287: 27,3071           43225                           DSU      DAD                                   
034492,001288: 27,3072           03631                                    TPASS4                                
034493,001289: 27,3073           01235                                    PIPTIME                               
034494,001290: 27,3074           14037                           STODL    30D                                   
034495,001291: 27,3075           77765                           SIGN                                           
034496,001292: 27,3076           00037                                    30D                                   #  B WITH SIGN
034497,001293: 27,3077           00037                           STORE    30D                                   
034498,001294: 27,3100           77214                           BON      VLOAD                                 
034499,001295: 27,3101           03705                                    NORMSW                                
034500,001296: 27,3102           57123                                    180MESS                               
034501,001297: 27,3103           03656                                    IC                                    
034502,001298: 27,3104           53451                           VSU      UNIT                                  
034503,001299: 27,3105           03537                                    UNIT/R/                               
034504,001300: 27,3106           63361                           VXSC     PDVL                                  
034505,001301: 27,3107           00037                                    30D                                   
034506,001302: 27,3110           03656                                    IC                                    
034507,001303: 27,3111           53455                           VAD      UNIT                                  
034508,001304: 27,3112           03537                                    UNIT/R/                               

Page 779

034510,001306: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
034511,001307: 27,3114           00041                                    32D                                   
034512,001308: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
034513,001309: 27,3116           02777                                    RTX2                                  
034514,001310: 27,3117           57177                                    0          -1,2                       
034515,001311: 27,3120           02337                           STORE    VIPRIME                               
034516,001312: 27,3121           77650                           GOTO                                           
034517,001313: 27,3122           57166                                    ASTREND    -2                         
034518,001314: 27,3123           50375        180MESS            VLOAD    DOT                                   
034519,001315: 27,3124           03656                                    IC                                    
034520,001316: 27,3125           03537                                    UNIT/R/                               
034521,001317: 27,3126           77240                           BMN      VLOAD                                 
034522,001318: 27,3127           57146                                    NEGPROD                               
034523,001319: 27,3130           03656                                    IC                                    
034524,001320: 27,3131           63362                           VSR1     PDVL                                  
034525,001321: 27,3132           03537                                    UNIT/R/                               
034526,001322: 27,3133           53362                           VSR1     VAD                                   
034527,001323: 27,3134           77656                           UNIT                                           
034528,001324: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
034529,001325: 27,3136           75235                           VXV      SIGN                                  
034530,001326: 27,3137           02674                                    UN                                    
034531,001327: 27,3140           02673                                    GEOMSGN                               
034532,001328: 27,3141           74256                           UNIT     VXSC                                  
034533,001329: 27,3142           00037                                    30D                                   
034534,001330: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
034535,001331: 27,3144           77650                           GOTO                                           
034536,001332: 27,3145           57113                                    GETVRVG1                              
034537,001333: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
034538,001334: 27,3147           03537                                    UNIT/R/                               
034539,001335: 27,3150           74515                           PDVL     VSR1                                  
034540,001336: 27,3151           03656                                    IC                                    
034541,001337: 27,3152           53451                           VSU      UNIT                                  
034542,001338: 27,3153           77606                           PUSH                                           
034543,001339: 27,3154           75235                           VXV      SIGN                                  
034544,001340: 27,3155           02674                                    UN                                    #  FOR B
034545,001341: 27,3156           02673                                    GEOMSGN                               
034546,001342: 27,3157           74256                           UNIT     VXSC                                  
034547,001343: 27,3160           00041                                    32D                                   
034548,001344: 27,3161           77715                           PDVL                                           
034549,001345: 27,3162           53361                           VXSC     VAD                                   
034550,001346: 27,3163           00037                                    30D                                   
034551,001347: 27,3164           77650                           GOTO                                           
034552,001348: 27,3165           57115                                    GETVRVG2                              
034553,001349: 27,3166           77651                           VSU                                            
034554,001350: 27,3167           03553                                    VN1                                   
034555,001351: 27,3170           02366        ASTREND            STORE    DELVEET3                              
034556,001352: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
034557,001353: 27,3172           03000                                    RTX2                                  
034558,001354: 27,3173           57177                                    GETGOBL                               
034559,001355: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 780

034561,001357: 27,3175           02366                                    DELVEET3                              
034562,001358: 27,3176           57212                                    NOGOBL                                
034563,001359: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
034564,001360: 27,3200           01221                                    RN                                    
034565,001361: 27,3201           45345                           DLOAD    DSU                                   
034566,001362: 27,3202           01235                                    PIPTIME                               #               2
034567,001363: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
034568,001364: 27,3204           56205                           DMP      DDV                                   #   OBL
034569,001365: 27,3205           16023                                    EARTHMU                               
034570,001366: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
034571,001367: 27,3207           53361                           VXSC     VAD                                   
034572,001368: 27,3210           03521                                    UNITGOBL                              
034573,001369: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
034574,001370: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
034575,001371: 27,3213           77650                           GOTO                                           
034576,001372: 27,3214           56455                                    VGAIN*                                
034577,001373: 
034578,001374: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
034579,001375: 

Page 781

034581,001377:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
034582,001378:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
034583,001379: 
034584,001380:                                                                                                  #  FUNCTION:
034585,001381:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034586,001382:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034587,001383:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034588,001384: 
034589,001385:                                                                                                  #  CALLING SEQUENCE:
034590,001386:                                                                                                  #        VIA WAITLIST FROM R03
034591,001387: 
034592,001388:                                                                                                  #  INPUT:
034593,001389:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
034594,001390:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
034595,001391: 
034596,001392:                                                                                                  #  SUBROUTINES USED:
034597,001393:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034598,001394: 
034599,001395: 27,3217                                           COUNT*   $$/S40.6                              
034600,001396: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
034601,001397: 
034602,001398: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034603,001399: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
034604,001400: 
034605,001401: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
034606,001402: 27,3222           00006                           EXTEND                                         
034607,001403: 27,3223           03012                           WAND     CHAN12                                
034608,001404: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
034609,001405: 27,3225           00006                           EXTEND                                         
034610,001406: 27,3226           05012                           WOR      CHAN12                                
034611,001407: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034612,001408: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
034613,001409: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
034614,001410: 27,3232           00006                           EXTEND                                         
034615,001411: 27,3233           03012                           WAND     CHAN12                                
034616,001412: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034617,001413: 27,3235           00006                           EXTEND                                         
034618,001414: 27,3236           05012                           WOR      CHAN12                                
034619,001415: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034620,001416: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034621,001417: 27,3241           03260                           ADRES    PITCHOFF                              
034622,001418: 
034623,001419: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034624,001420: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
034625,001421: 27,3244           44740                           CS       BIT12                                 
034626,001422: 27,3245           00006                           EXTEND                                         
034627,001423: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034628,001424: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034629,001425: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034630,001426: 27,3251           00006                           EXTEND                                         
034631,001427: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034632,001428: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
034633,001429: 27,3254           05072                           TC       NOVAC                                 
034634,001430: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 782

034636,001432: 27,3255           02323 02067                     2CADR    TRIMDONE                              
034637,001433: 
034638,001434: 27,3257           05261                           TC       TASKOVER                              
034639,001435: 27,3260           44742        PITCHOFF           CS       BIT10                                 
034640,001436: 27,3261           00006                           EXTEND                                         
034641,001437: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034642,001438: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034643,001439: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034644,001440: 27,3265           00137                           ADRES    GMBDRVSW                              
034645,001441: 27,3266           05261                           TC       TASKOVER                              
034646,001442: 

Page 783

034648,001444:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
034649,001445:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034650,001446: 
034651,001447:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034652,001448: 
034653,001449:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034654,001450:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034655,001451:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034656,001452:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034657,001453:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034658,001454:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034659,001455:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034660,001456:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034661,001457: 
034662,001458:                                                                                                  #  CALLING SEQUENCE:
034663,001459:                                                                                                  #        L       VLOAD   CALL
034664,001460:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034665,001461:                                                                                                  #        L +2            S41.1
034666,001462:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034667,001463: 
034668,001464:                                                                                                  #  SUBROUTINES CALLED:
034669,001465:                                                                                                  #        1.      CDUTRIG,
034670,001466:                                                                                                  #                        WHICH CALLS CDULOGIC.
034671,001467:                                                                                                  #        2.      *SMNB*
034672,001468: 
034673,001469:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
034674,001470: 
034675,001471:                                                                                                  #  ALARM/ABORT MODES:  NONE.
034676,001472: 
034677,001473:                                                                                                  #  RESTART PROTECTION:  NONE.
034678,001474: 

Page 784

034680,001476:                                                                                                  #  INPUT:
034681,001477:                                                                                                  #        1.      REFSMMAT.
034682,001478:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
034683,001479:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
034684,001480: 
034685,001481:                                                                                                  #  OUTPUT:
034686,001482:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034687,001483:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
034688,001484:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
034689,001485:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034690,001486: 
034691,001487:                                                                                                  #  DEBRIS:  NONE.
034692,001488: 
034693,001489:                                                                                                  #  CHECKOUT STATUS:  CODED.
034694,001490: 
034695,001491: 27,3267                                           COUNT*   $$/S41.1                              
034696,001492: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034697,001493: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034698,001494: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034699,001495: 27,3272           47646                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034700,001496:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

End of include-file P40-P47.agc.  Parent file is MAIN.agc