Source Code

These source-code files were transcribed from scans made from Don Eyles's personal copy of Luminary 069. They were scanned at archive.org's Boston facility, and the scanning was sponsored by Onno Hommes. The code was transcribed from these scans by a team of volunteers who are referenced in the program comments. Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". In some cases, where similar code blocks exist in previously-transcribed AGC programs (primarily Luminary 99, from Apollo 11) those code blocks were used as a starting point and then corrected to agree with the Luminary 69 scans. The full scans are available at the Virtual AGC project's collection at archive.org, while more-convenient reduced-size (but reduced-quality) images are available at the main Virtual AGC website. Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 069 OF AGC PROGRAM LUMINARY BY NASA 2021112-011
	19:02 NOV. 25,1968
Note that the date is the date of the printout, not the date of the program revision.

033305,000002:                                                                                                  ## Copyright:   Public domain.
033306,000003:                                                                                                  ## Filename:    P40-P47.agc
033307,000004:                                                                                                  ## Purpose:     The main source file for Luminary revision 069.
033308,000005:                                                                                                  ##              It is part of the source code for the original release
033309,000006:                                                                                                  ##              of the flight software for the Lunar Module's (LM) Apollo
033310,000007:                                                                                                  ##              Guidance Computer (AGC) for Apollo 10. The actual flown
033311,000008:                                                                                                  ##              version was Luminary 69 revision 2, which included a
033312,000009:                                                                                                  ##              newer lunar gravity model and only affected module 2.
033313,000010:                                                                                                  ##              This file is intended to be a faithful transcription, except
033314,000011:                                                                                                  ##              that the code format has been changed to conform to the
033315,000012:                                                                                                  ##              requirements of the yaYUL assembler rather than the
033316,000013:                                                                                                  ##              original YUL assembler.
033317,000014:                                                                                                  ## Reference:   pp. 759-788
033318,000015:                                                                                                  ## Assembler:   yaYUL
033319,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
033320,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
033321,000018:                                                                                                  ## Mod history: 2016-12-13 MAS  Created from Luminary 99.
033322,000019:                                                                                                  ##              2016-12-15 MAS  Updated from comment-proofed Luminary 99 version.
033323,000020:                                                                                                  ##              2017-01-21 HG   Transcribed
033324,000021:                                                                                                  ##              2017-01-23 HG   Fix operand FIRSTIME -> FIRSTTME
033325,000022:                                                                                                  ##              2017-01-28 RSB  Proofed comment text using octopus/prooferComments
033326,000023:                                                                                                  ##                              and fixed errors found.
033327,000024:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
033328,000025:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
033329,000026:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
033330,000027:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
033331,000028:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
033332,000029: 

Page 759

033334,000031:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH    DECEMBER 22, 1966
033335,000032:                                                                                                  #  MOD 03 BY PETER ADLER           MARCH 3, 1967
033336,000033:                                                                                                  #  CALLED VIA JOB FROM V37E
033337,000034: 
033338,000035:                                                                                                  #  FUNCTIONAL DESCRIPTION
033339,000036: 
033340,000037:                                                                                                  #           1)  TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
033341,000038:                                                                                                  #               THRUSTING MANEUVER.
033342,000039: 

(There is no item #2 in the original program listing.)

033344,000041: 
033345,000042:                                                                                                  #           3)  TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
033346,000043: 
033347,000044:                                                                                                  #           4)  TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
033348,000045:                                                                                                  #               PGNCS CONTROLLED DPS MANEUVER.
033349,000046: 
033350,000047:                                                                                                  #           5)  IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
033351,000048:                                                                                                  #                            SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
033352,000049: 
033353,000050:                                                                                                  #           NOTE:  P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
033354,000051:                                                                                                  #                  RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
033355,000052: 
033356,000053:                                                                                                  #  SUBROUTINES USED
033357,000054: 
033358,000055:                                                                                                  #           R02      IMU STATUS CHECK
033359,000056:                                                                                                  #           S40.1    COMPUTATION OF THRUST DIRECTION
033360,000057:                                                                                                  #           S40.13   LENGTH OF BURN
033361,000058:                                                                                                  #           S40.2,3  PREFERRED IMU ORIENATTION
033362,000059:                                                                                                  #           S40.8    X PRODUCT STEERING
033363,000060:                                                                                                  #           S40.9    LAMBERT VTOGAIN
033364,000061:                                                                                                  #           R60LEM   ATTITUDE MANEUVER
033365,000062:                                                                                                  #           LEMPREC  EXTRAPOLATE STATE VECTOR
033366,000063:                                                                                                  #           PREREAD  AVERAGE G, SERVICER
033367,000064:                                                                                                  #           ALLCOAST DAP COASTING INITIALIZATION
033368,000065:                                                                                                  #           CLOKTASK ERGO CLOCKJOB--COUNT DOWN
033369,000066:                                                                                                  #           PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
033370,000067:                                                                                                  #           PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
033371,000068:                                                                                                  #           KILLTASK, SGNAGREE, TPAGREE, ETC.
033372,000069: 
033373,000070:                                                                                                  #  RESTARTS VIA GROUP 4
033374,000071: 
033375,000072:                                                                                                  #  DISPLAYS
033376,000073: 
033377,000074:                                                                                                  #           V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
033378,000075:                                                                                                  #           V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
033379,000076:                                                                                                  #           V50N99  PLEASE PERFORM ENGINE ON ENABLE
033380,000077:                                                                                                  #           V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
033381,000078:                                                                                                  #           V16N40  FINAL VALUES OF TG, VG, DELTAVM
033382,000079:                                                                                                  #           V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
033383,000080:                                                                                                  #           V05N09  POSSIBLE ALARMS
033384,000081:                                                                                                  #           V50N07  PLEASE SELECT P00
033385,000082: 

Page 760

033387,000084:                                                                                                  #           VIA R30
033388,000085: 
033389,000086:                                                                                                  #           V06N44  HAPO, PERI, TFF
033390,000087:                                                                                                  #           V06N35  TIME TO PERIGEE, HMS
033391,000088: 
033392,000089:                                                                                                  #  ALARM OR ABORT EXIT MODES
033393,000090: 
033394,000091:                                                                                                  #           PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
033395,000092:                                                                                                  #           V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
033396,000093: 
033397,000094:                                                                                                  #           PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E=  GOTOPOOH OR V33E=  SLIP
033398,000095:                                                                                                  #           TIG BY 45 SECS.
033399,000096: 
033400,000097:                                                                                                  #  ERASABLE INITIALIZATION
033401,000098:                                                                                                  #  DEBRIS
033402,000099:                                                                                                  #  OUTPUT
033403,000100: 
033404,000101:                                                                                                  #           SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
033405,000102:                                                                                                  #           XDELVFLG = 1 FOR EXT DELV COMPUTATION
033406,000103:                                                                                                  #                    = 0 FOR AIMPT (LAMBERT) COMP
033407,000104: 
033408,000105: 27,2271                                           COUNT*   $$/P40                                
033409,000106: 27,2271  E7,1453                                  EBANK=   WHICH                                 
033410,000107: 
033411,000108: 36,3147                                           BANK     36                                    
033412,000109: 36,2000                                           SETLOC   P40S                                  
033413,000110: 36,2000                                           BANK                                           
033414,000111: 
033415,000112: 36,3147           05353        P40LM              TC       PHASCHNG                              
033416,000113: 36,3150           04024                           OCT      04024                                 
033417,000114: 
033418,000115: 36,3151           33131                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
033419,000116: 36,3152           55453                           TS       WHICH                                 
033420,000117: 
033421,000118: 36,3153           30106                           CA       FLGWRD10                              
033422,000119: 36,3154           74737                           MASK     APSFLBIT                              
033423,000120: 36,3155           10000                           CCS      A                                     
033424,000121: 36,3156           13722                           TCF      P40ALM                                
033425,000122: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
033426,000123: 36,3160           11175                           CADR     R02BOTH                               
033427,000124: 
033428,000125: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
033429,000126: 36,3162           74737                           MASK     CSMDOCKD                              
033430,000127: 36,3163           10000                           CCS      A                                     
033431,000128: 36,3164           32020                           CAF      THRESH1                               
033432,000129: 36,3165           62021                           AD       THRESH3                               
033433,000130: 36,3166           55251                           TS       DVTHRUSH                              
033434,000131: 36,3167           34751                           CAF      FOUR                                  
033435,000132: 36,3170           55513                           TS       DVCNTR                                
033436,000133: 

Page 761

033438,000135: 36,3171           06036                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
033439,000136: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
033440,000137: 36,3173           34001                                    FDPS                                  
033441,000138: 36,3174           02663                                    NOTHROTL                              
033442,000139: 36,3175           03734                           STORE    F                                     
033443,000140: 36,3176           77735                           SLOAD                                          
033444,000141: 36,3177           26002                                    DPSVEX                                
033445,000142: 36,3200           70476        P40IN              DCOMP    SR1                                   
033446,000143: 36,3201           37742                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
033447,000144: 36,3202           56271                                    S40.1                                 #  COMPUTES UT AND VGTIG
033448,000145: 36,3203           77624                           CALL                                           
033449,000146: 36,3204           56436                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
033450,000147: 36,3205           77776                           EXIT                                           
033451,000148: 
033452,000149: 36,3206           00004                           INHINT                                         
033453,000150: 36,3207           04674                           TC       IBNKCALL                              
033454,000151: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
033455,000152: 
033456,000153: 36,3211           03213                           TC       P40SXT4                               
033457,000154: 
033458,000155: 
033459,000156:                                                                                                  #                ***********************
033460,000157: 36,3212           12124                           TCF      BURNBABY                              
033461,000158:                                                                                                  #                ***********************
033462,000159: 
033463,000160: 
033464,000161: 36,3213           00006        P40SXT4            EXTEND                                         
033465,000162: 36,3214           23142                           QXCH     P40/RET                               
033466,000163: 36,3215           00003        P41MANU            RELINT                                         
033467,000164: 
033468,000165: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
033469,000166: 36,3217           00124                           ADRES    3AXISFLG                              
033470,000167: 
033471,000168: 36,3220           04616                           TC       BANKCALL                              
033472,000169: 36,3221           54101                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
033473,000170: 36,3222           01142                           TC       P40/RET                               
033474,000171: 
033475,000172: 
033476,000173: 36,3223  E7,1460                                  EBANK=   TRKMKCNT                              
033477,000174: 36,3223           30005        POSTBURN           CA       Z                                     
033478,000175: 36,3224           55163                           TS       DISPDEX                               
033479,000176: 36,3225           00006                           EXTEND                                         
033480,000177: 36,3226           32055                           DCA      ACADN85                               
033481,000178: 36,3227           53253                           DXCH     AVEGEXIT                              
033482,000179: 36,3230           33743                           CAF      V16N40                                
033483,000180: 36,3231           04616                           TC       BANKCALL                              
033484,000181: 36,3232           20510                           CADR     GOFLASHR                              
033485,000182: 36,3233           03256                           TC       TERM40                                
033486,000183: 36,3234           13241                           TCF      TIGNOW                                
033487,000184: 36,3235           03223                           TC       POSTBURN                              
033488,000185: 

Page 762

033490,000187: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
033491,000188: 36,3237           00014                           OCT      00014                                 
033492,000189: 36,3240           15155                           TCF      ENDOFJOB                              
033493,000190: 
033494,000191: 36,3241           00004        TIGNOW             INHINT                                         
033495,000192: 36,3242           04674                           TC       IBNKCALL                              
033496,000193: 36,3243           40153                           CADR     ZATTEROR                              
033497,000194: 36,3244           04674                           TC       IBNKCALL                              
033498,000195: 36,3245           40140                           CADR     SETMINDB                              
033499,000196: 36,3246           00003                           RELINT                                         
033500,000197: 36,3247           33744                           CAF      V16N85B                               
033501,000198: 36,3250           04616                           TC       BANKCALL                              
033502,000199: 36,3251           20340                           CADR     REFLASHR                              
033503,000200: 36,3252           03256                           TC       TERM40                                
033504,000201: 36,3253           13256                           TCF      TERM40                                
033505,000202: 36,3254           03247                           TC       -5                                    
033506,000203: 
033507,000204: 36,3255           13236                           TCF      P40PHS1                               
033508,000205: 
033509,000206: 36,3256           00006        TERM40             EXTEND                                         
033510,000207: 36,3257           32104                           DCA      SERVCADR                              
033511,000208: 36,3260           53253                           DXCH     AVEGEXIT                              
033512,000209: 36,3261           34755                           CAF      ZERO                                  
033513,000210: 36,3262           55460                           TS       TRKMKCNT                              #       ZERO RENDZVS CNTERS
033514,000211: 36,3263           30005                           CA       Z                                     
033515,000212: 36,3264           55163                           TS       DISPDEX                               
033516,000213: 36,3265           00004                           INHINT                                         
033517,000214: 36,3266           04674                           TC       IBNKCALL                              
033518,000215: 36,3267           40123                           CADR     RESTORDB                              
033519,000216: 36,3270           00003                           RELINT                                         
033520,000217: 36,3271           06001                           TC       GOTOPOOH                              
033521,000218: 
033522,000219: 36,3272  E7,1453                                  EBANK=   WHICH                                 
033523,000220: 36,3272                                           COUNT*   $$/P41                                
033524,000221: 36,3272           33132        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
033525,000222: 36,3273           55453                           TS       WHICH                                 
033526,000223: 
033527,000224: 36,3274           04616                           TC       BANKCALL                              
033528,000225: 36,3275           11175                           CADR     R02BOTH                               
033529,000226: 
033530,000227: 36,3276           06036                           TC       INTPRET                               #  BOTH LM
033531,000228: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
033532,000229: 36,3300           00700                                    NJETSFLG                              
033533,000230: 36,3301           75305                                    P41FJET1                              
033534,000231: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033535,000232: 
033536,000233: 36,3303           37734        P41FJET            STCALL   F                                     
033537,000234: 36,3304           75310                                    P41IN                                 
033538,000235: 36,3305           77745        P41FJET1           DLOAD                                          
033539,000236: 

Page 763

033541,000238: 36,3306           34017                                    FRCS2                                 
033542,000239: 36,3307           03734                           STORE    F                                     
033543,000240: 
033544,000241: 36,3310           77624        P41IN              CALL                                           
033545,000242: 36,3311           56271                                    S40.1                                 #  BOTH
033546,000243: 36,3312           77624        P41NORM            CALL                                           
033547,000244: 36,3313           56436                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
033548,000245: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
033549,000246: 
033550,000247: 36,3315           00004                           INHINT                                         
033551,000248: 36,3316           04674                           TC       IBNKCALL                              
033552,000249: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
033553,000250: 36,3320           04674                           TC       IBNKCALL                              
033554,000251: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
033555,000252: 36,3322           03213                           TC       P40SXT4                               
033556,000253: 
033557,000254: 36,3323           06036                           TC       INTPRET                               
033558,000255: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033559,000256: 36,3325           03705                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
033560,000257: 36,3326           57156                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
033561,000258: 36,3327           03500                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
033562,000259: 36,3330           77776                           EXIT                                           
033563,000260: 
033564,000261: 36,3331           33744                           CAF      V16N85B                               
033565,000262: 36,3332           04616                           TC       BANKCALL                              
033566,000263: 36,3333           20324                           CADR     GODSPRET                              
033567,000264: 
033568,000265: 
033569,000266: 36,3334           35017                           CAF      PRIO5                                 
033570,000267: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
033571,000268: 36,3336           05105                           TC       FINDVAC                               
033572,000269: 36,3337  E7,1704                                  EBANK=   VGPREV                                
033573,000270: 36,3337           03361 74067                     2CADR    DYNMDISP                              
033574,000271: 
033575,000272: 36,3341           05327                           TC       2PHSCHNG                              
033576,000273: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
033577,000274: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
033578,000275: 
033579,000276:                                                                                                  #                ***********************
033580,000277: 36,3344           12133                           TCF      B*RNB*B*                              
033581,000278:                                                                                                  #                ***********************
033582,000279: 
033583,000280: 
033584,000281: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
033585,000282: 36,3346           04616                           TC       BANKCALL                              
033586,000283: 36,3347           01735                           CADR     DELAYJOB                              
033587,000284: 
033588,000285: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
033589,000286: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
033590,000287: 
033591,000288:                                                                                                  #                ***********************
033592,000289: 

Page 764

033594,000291: 
033595,000292: 36,3352           00006                           EXTEND                                         
033596,000293: 36,3353           13345                           BZF      BLNKWAIT                              
033597,000294: 
033598,000295: 36,3354           33744                           CAF      V16N85B                               
033599,000296: 36,3355           04616                           TC       BANKCALL                              
033600,000297: 36,3356           20324                           CADR     GODSPRET                              
033601,000298: 
033602,000299: 36,3357           35017                           CAF      PRIO5                                 
033603,000300: 36,3360           05146                           TC       PRIOCHNG                              
033604,000301: 
033605,000302: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
033606,000303: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
033607,000304: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85. STOP DYNMDISP.
033608,000305: 36,3364           06036                           TC       INTPRET                               
033609,000306: 36,3365           45175                           VLOAD    CALL                                  
033610,000307: 36,3366           03705                                    VGPREV                                
033611,000308: 36,3367           57156                                    S41.1                                 
033612,000309: 36,3370           03500                           STORE    VGBODY                                
033613,000310: 36,3371           77776                           EXIT                                           
033614,000311: 36,3372           34777                           CAF      1SEC                                  
033615,000312: 36,3373           04616                           TC       BANKCALL                              
033616,000313: 36,3374           01735                           CADR     DELAYJOB                              
033617,000314: 36,3375           13361                           TCF      DYNMDISP                              
033618,000315: 
033619,000316: 36,3376           06036        CALCN85            TC       INTPRET                               
033620,000317: 36,3377           77624                           CALL                                           
033621,000318: 36,3400           75611                                    UPDATEVG                              
033622,000319: 36,3401           45175                           VLOAD    CALL                                  
033623,000320: 36,3402           03705                                    VGPREV                                
033624,000321: 36,3403           57156                                    S41.1                                 
033625,000322: 36,3404           03500                           STORE    VGBODY                                
033626,000323: 36,3405           77776                           EXIT                                           
033627,000324: 36,3406           04635                           TC       POSTJUMP                              
033628,000325: 36,3407           77525                           CADR     SERVEXIT                              
033629,000326: 
033630,000327: 36,3410                                           COUNT*   $$/P42                                
033631,000328: 36,3410  E7,1453                                  EBANK=   WHICH                                 
033632,000329: 
033633,000330: 36,3410           05353        P42LM              TC       PHASCHNG                              
033634,000331: 36,3411           04024                           OCT      04024                                 
033635,000332: 
033636,000333: 36,3412           33133                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
033637,000334: 36,3413           55453                           TS       WHICH                                 
033638,000335: 
033639,000336: 36,3414           40106                           CS       FLGWRD10                              
033640,000337: 36,3415           74737                           MASK     APSFLBIT                              
033641,000338: 36,3416           10000                           CCS      A                                     
033642,000339: 36,3417           03722                           TC       P40ALM                                
033643,000340: 36,3420           04616                           TC       BANKCALL                              
033644,000341: 

Page 765

033646,000343: 36,3421           11175                           CADR     R02BOTH                               
033647,000344: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
033648,000345: 36,3423           55251                           TS       DVTHRUSH                              
033649,000346: 36,3424           34751                           CAF      FOUR                                  
033650,000347: 36,3425           55513                           TS       DVCNTR                                
033651,000348: 
033652,000349: 36,3426           06036                           TC       INTPRET                               
033653,000350: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033654,000351: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
033655,000352: 36,3431           34007                                    FAPS                                  
033656,000353: 36,3432           03734                           STORE    F                                     
033657,000354: 36,3433           52135                           SLOAD    GOTO                                  
033658,000355: 36,3434           26001                                    APSVEX                                
033659,000356: 36,3435           75200                                    P40IN                                 
033660,000357: 
033661,000358: 36,3436  E7,1453                                  EBANK=   WHICH                                 
033662,000359: 
033663,000360: 36,3436                                           COUNT*   $$/P47                                
033664,000361: 36,3436           04616        P47LM              TC       BANKCALL                              
033665,000362: 36,3437           11175                           CADR     R02BOTH                               
033666,000363: 36,3440           06036                           TC       INTPRET                               
033667,000364: 36,3441           77624                           CALRB                                          
033668,000365: 36,3442           27577                                    MIDTOAV2                              
033669,000366: 
033670,000367: 36,3443           30155                           CA       MPAC       +1                         
033671,000368: 36,3444           05173                           TC       TWIDDLE                               
033672,000369: 36,3445           03447                           ADRES    STARTP47                              
033673,000370: 
033674,000371: 36,3446           15155                           TCF      ENDOFJOB                              
033675,000372: 
033676,000373: 36,3447           05353        STARTP47           TC       PHASCHNG                              
033677,000374: 36,3450           05014                           OCT      05014                                 
033678,000375: 36,3451           77777                           OCT      77777                                 
033679,000376: 
033680,000377: 36,3452           00006                           EXTEND                                         
033681,000378: 36,3453           33747                           DCA      ACADN83                               
033682,000379: 36,3454           53253                           DXCH     AVEGEXIT                              
033683,000380: 36,3455           34736                           CAF      PRIO20                                
033684,000381: 36,3456           05105                           TC       FINDVAC                               
033685,000382: 36,3457  E7,1620                                  EBANK=   DELVIMU                               
033686,000383: 36,3457           03513 74067                     2CADR    P47BODY                               
033687,000384: 36,3461           12333                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
033688,000385:                                                                                                  #  SEE TIG-30 IN BURNBABY.
033689,000386: 
033690,000387: 36,3462           06036        CALCN83            TC       INTPRET                               
033691,000388: 36,3463           53375                           VLOAD    VAD                                   
033692,000389: 36,3464           03500                                    DELVCTL                               
033693,000390: 36,3465           03525                                    DELVREF                               
033694,000391: 36,3466           03654                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS
033695,000392: 

Page 766

033697,000394: 36,3467           77624                           CALL                                           
033698,000395: 36,3470           57156                                    S41.1                                 
033699,000396: 36,3471           03621                           STORE    DELVIMU                               
033700,000397: 36,3472           77776                           EXIT                                           
033701,000398: 36,3473           05353                           TC       PHASCHNG                              
033702,000399: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
033703,000400: 
033704,000401: 36,3475           06036                           TC       INTPRET                               
033705,000402: 36,3476           77775                           VLOAD                                          
033706,000403: 36,3477           03654                                    DELVSIN                               
033707,000404: 36,3500           03500                           STORE    DELVCTL                               
033708,000405: 36,3501           77776                           EXIT                                           
033709,000406: 
033710,000407: 36,3502           04635                           TC       POSTJUMP                              
033711,000408: 36,3503           77525                           CADR     SERVEXIT                              
033712,000409: 
033713,000410: 36,3504           33745        P47BOD             CAF      V1683                                 
033714,000411: 36,3505           04616                           TC       BANKCALL                              
033715,000412: 36,3506           20510                           CADR     GOFLASHR                              
033716,000413: 36,3507           06001                           TC       GOTOPOOH                              
033717,000414: 36,3510           06001                           TC       GOTOPOOH                              
033718,000415: 
033719,000416: 36,3511           13513                           TCF      P47BODY                               
033720,000417: 
033721,000418: 36,3512           13236                           TCF      P40PHS1                               
033722,000419: 
033723,000420: 36,3513           06036        P47BODY            TC       INTPRET                               
033724,000421: 36,3514           77775                           VLOAD                                          
033725,000422: 36,3515           06424                                    HI6ZEROS                              
033726,000423: 36,3516           03621                           STORE    DELVIMU                               
033727,000424: 36,3517           03500                           STORE    DELVCTL                               
033728,000425: 36,3520           77776                           EXIT                                           
033729,000426: 36,3521           03504                           TC       P47BOD                                
033730,000427: 
033731,000428: 36,3522                                           COUNT*   $$/P40                                
033732,000429: 36,3522           31515        IMPLBURN           CA       TGO        +1                         
033733,000430: 36,3523           03710                           TC       GETDT                                 
033734,000431: 36,3524           05173                           TC       TWIDDLE                               
033735,000432: 36,3525           03542                           ADRES    ENGOFTSK                              
033736,000433: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033737,000434: 36,3527           00153                           ADRES    IGNFLAG                               
033738,000435: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033739,000436: 36,3531           00154                           ADRES    ASTNFLAG                              
033740,000437: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033741,000438: 36,3533           00044                           ADRES    IMPULSW                               
033742,000439: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033743,000440: 36,3535           40114                           OCT      40114                                 
033744,000441: 
033745,000442: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033746,000443: 36,3537           00062                           DEC      50         B-14                       
033747,000444: 

Page 767

033749,000446: 36,3540           02656                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033750,000447: 
033751,000448: 36,3541           05261                           TC       TASKOVER                              
033752,000449: 
033753,000450: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033754,000451: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033755,000452: 36,3544           05261                           TC       TASKOVER                              
033756,000453: 
033757,000454: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033758,000455: 36,3546           05105                           TC       FINDVAC                               
033759,000456: 36,3547  E7,1460                                  EBANK=   TRKMKCNT                              
033760,000457: 36,3547           03223 74067                     2CADR    POSTBURN                              
033761,000458: 
033762,000459: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
033763,000460: 36,3552           05203                           TC       WAITLIST                              
033764,000461: 36,3553  E6,1420                                  EBANK=   OMEGAQ                                
033765,000462: 36,3553           03606 74066                     2CADR    COASTSET                              
033766,000463: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033767,000464: 36,3556           74745                           MASK     IDLEFBIT                              
033768,000465: 36,3557           26103                           ADS      FLAGWRD7                              
033769,000466: 
033770,000467: 36,3560           02656                           TC       NOULLAGE                              
033771,000468: 
033772,000469: 36,3561           00006        ENGINOF4           EXTEND                                         
033773,000470: 36,3562           30025                           DCA      TIME2                                 
033774,000471: 36,3563           53345                           DXCH     TEVENT                                
033775,000472: 
033776,000473: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033777,000474: 36,3565           70101                           MASK     FLAGWRD5                              
033778,000475: 36,3566           54101                           TS       FLAGWRD5                              
033779,000476: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033780,000477: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
033781,000478: 36,3571           02011                           RAND     DSALMOUT                              
033782,000479: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033783,000480: 36,3573           00006                           EXTEND                                         
033784,000481: 36,3574           01011                           WRITE    DSALMOUT                              
033785,000482: 
033786,000483: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033787,000484: 36,3576           74736                           MASK     USEQRJTS                              
033788,000485: 36,3577           26111                           ADS      DAPBOOLS                              
033789,000486: 
033790,000487: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033791,000488: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
033792,000489: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033793,000490: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033794,000491: 36,3604           05014                           WOR      CHAN14                                
033795,000492: 
033796,000493: 36,3605           04707                           TC       ISWRETRN                              
033797,000494: 

Page 768

033799,000496: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033800,000497: 36,3607           40204                           CADR     ALLCOAST                              
033801,000498: 36,3610           05261                           TC       TASKOVER                              
033802,000499: 
033803,000500: 36,3611  E6,1420                                  EBANK=   OMEGAQ                                
033804,000501: 36,3611           45020        UPDATEVG           STQ      CALL                                  
033805,000502: 36,3612           03663                                    QTEMP1                                
033806,000503: 36,3613           56472                                    S40.8                                 #  X-PRODUCT STEERING
033807,000504: 36,3614           43014                           BON      BOFSET                                
033808,000505: 36,3615           01307                                    XDELVFLG                              
033809,000506: 36,3616           03663                                    QTEMP1                                
033810,000507: 36,3617           01045                                    CYCLESW                               
033811,000508: 36,3620           03663                                    QTEMP1                                
033812,000509: 36,3621           77776                           EXIT                                           
033813,000510: 
033814,000511: 36,3622           10755                           CCS      PHASE2                                
033815,000512: 36,3623           13636                           TCF      ENDSTEER                              #  GROUP 2 ACTIVE --> LAMBERT STILL GOING.
033816,000513: 
033817,000514: 36,3624           34737                           CAF      PRIO10                                
033818,000515: 36,3625           00004                           INHINT                                         
033819,000516: 36,3626           05105                           TC       FINDVAC                               
033820,000517: 36,3627  E7,1713                                  EBANK=   VG                                    
033821,000518: 36,3627           02745 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033822,000519: 
033823,000520: 36,3631           05327                           TC       2PHSCHNG                              
033824,000521: 36,3632           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033825,000522: 36,3633           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
033826,000523: 
033827,000524: 36,3634           05516                           TC       DOWNFLAG                              
033828,000525: 36,3635           00043                           ADRES    CYCLESW                               #  VG CALCULATION OMITTED
033829,000526: 36,3636           06036        ENDSTEER           TC       INTPRET                               
033830,000527: 36,3637           77650                           GOTO                                           
033831,000528: 36,3640           03663                                    QTEMP1                                
033832,000529: 
033833,000530: 36,3641           06036        STEERING           TC       INTPRET                               
033834,000531: 
033835,000532: 36,3642           77624                           CALL                                           
033836,000533: 36,3643           75611                                    UPDATEVG                              
033837,000534: 36,3644           77776                           EXIT                                           
033838,000535: 
033839,000536: 36,3645  E7,1513                                  EBANK=   DVCNTR                                
033840,000537: 36,3645           00004        NSTEER             INHINT                                         
033841,000538: 36,3646           35016                           CA       EBANK7                                
033842,000539: 36,3647           54003                           TS       EBANK                                 
033843,000540:                                                                                                  #  PHASE CHANGE IN SERVERICER NEEDED HERE *********************************
033844,000541: 36,3650           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033845,000542: 36,3651           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033846,000543: 36,3652           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033847,000544: 
033848,000545: 36,3653           13660                           TCF      +5                                    #  IMPULSW = 0    EXIT
033849,000546: 

Page 769

033851,000548: 36,3654           40103                           CS       FLAGWRD7                              #  IMPULSW = 1    WHY?  CHECK IDLEFLAG
033852,000549: 36,3655           74745                           MASK     IDLEFBIT                              #      (IDLEFLAG = 0 --> DVMON ON)
033853,000550: 36,3656           10000                           CCS      A                                     
033854,000551: 36,3657           13662                           TCF      +3                                    #  DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033855,000552: 36,3660           04635                           TC       POSTJUMP                              #  DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033856,000553: 36,3661           77525                           CADR     SERVEXIT                              
033857,000554: 
033858,000555: 36,3662           04674                           TC       IBNKCALL                              
033859,000556: 36,3663           40165                           CADR     STOPRATE                              
033860,000557: 
033861,000558: 36,3664           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033862,000559: 36,3665           00044                           ADRES    IMPULSW                               
033863,000560: 
033864,000561: 36,3666           05504                           TC       UPFLAG                                
033865,000562: 36,3667           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033866,000563: 
033867,000564: 36,3670           00004                           INHINT                                         
033868,000565: 36,3671           00006                           EXTEND                                         
033869,000566: 36,3672           31440                           DCA      TIG                                   
033870,000567: 36,3673           52155                           DXCH     MPAC                                  
033871,000568: 36,3674           00006                           EXTEND                                         
033872,000569: 36,3675           40025                           DCS      TIME2                                 
033873,000570: 36,3676           20155                           DAS      MPAC                                  
033874,000571: 36,3677           07256                           TC       TPAGREE                               
033875,000572: 36,3700           30155                           CAE      MPAC       +1                         
033876,000573: 36,3701           03710                           TC       GETDT                                 
033877,000574: 36,3702           05173                           TC       TWIDDLE                               
033878,000575: 36,3703           03542                           ADRES    ENGOFTSK                              
033879,000576: 36,3704           05327                           TC       2PHSCHNG                              
033880,000577: 36,3705           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033881,000578: 36,3706           00035                           OCT      00035                                 #  SERVICER--REREADAC
033882,000579: 
033883,000580: 36,3707           15155                           TCF      ENDOFJOB                              
033884,000581: 
033885,000582: 36,3710           10000        GETDT              CCS      A                                     
033886,000583: 36,3711           13714                           TCF      +3                                    
033887,000584: 36,3712           13714                           TCF      +2                                    
033888,000585: 36,3713           34755                           CAF      ZERO                                  
033889,000586: 36,3714           64753                           AD       ONE                                   
033890,000587: 36,3715           56001                           XCH      L                                     
033891,000588: 36,3716           34755                           CAF      ZERO                                  
033892,000589: 36,3717           53515                           DXCH     TGO                                   
033893,000590: 36,3720           31515                           CA       TGO        +1                         
033894,000591: 36,3721           00002                           TC       Q                                     
033895,000592: 36,3722           05567        P40ALM             TC       ALARM                                 #  ASTRONAUT DOESN'T AGREE WITH STAGE
033896,000593: 36,3723           01706                           OCT      01706                                 #  VERIFY DISCRETE.  HE HAS SELECTED P40,
033897,000594: 36,3724           35006                           CAF      V05N09                                #  BUT THE DAP THINKS THAT THE DESCENT UNIT
033898,000595: 36,3725           04616                           TC       BANKCALL                              #  IS GONE--A SITUATION THAT WOULD MAKE A
033899,000596: 36,3726           20351                           CADR     GOFLASH                               #  DPS BURN EXCEEDINGLY DIFFICULT.
033900,000597: 

Page 770

033902,000599: 36,3727           16001                           TCF      GOTOPOOH                              #  V34E  TERMINATE
033903,000600: 36,3730           13724                           TCF      -4                                    #  V33E  PROCEED  (ILLEGAL)
033904,000601: 36,3731           13724                           TCF      -5                                    #        RECYCLE  (ILLEGAL)
033905,000602: 
033906,000603:                                                                                                  #  ************************************************************************
033907,000604: 
033908,000605: 36,3732           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
033909,000606: 36,3733           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
033910,000607: 36,3734           00000 05670  SEC30DP            2DEC     3000       B-28                       
033911,000608: 36,3736           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
033912,000609: 36,3737           10624        SEC45              DEC      4500       B-14                       
033913,000610: 36,3740           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033914,000611: 36,3741           00764        5SEC               DEC      500        B-14                       
033915,000612: 36,3742           05050        26SECS             DEC      2600       B-14                       
033916,000613: 36,3743           04050        V16N40             VN       1640                                  
033917,000614: 36,3744           04125        V16N85B            VN       1685                                  
033918,000615: 36,3745           04123        V1683              VN       1683                                  
033919,000616: 36,3746     4777               SEC01              =        1SEC                                  
033920,000617: 36,3746  36,2054               ACADN85            =        P41TABLE   +2                         
033921,000618: 
033922,000619: 36,3746  E7,1620                                  EBANK=   DELVIMU                               
033923,000620: 36,3746           03462 74067  ACADN83            2CADR    CALCN83                               
033924,000621:                                                                                                  #  *************************************************
033925,000622: 

Page 771

033927,000624:                                                                                                  #  PROGRAM DESCRIPTION S40.1       DATE15NOV66
033928,000625:                                                                                                  #  MOD N02         LOG SECTION  P40-P47
033929,000626:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033930,000627:                                                                                                  #  FUNCTIONAL DESCRIPTION
033931,000628:                                                                                                  #           COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033932,000629:                                                                                                  #           VECTOR(VGTIG).
033933,000630:                                                                                                  #  CALLING SEQUENCE
033934,000631:                                                                                                  #         L CALL
033935,000632:                                                                                                  #       L+1        S40.1
033936,000633:                                                                                                  #  NORMAL EXIT MODE
033937,000634:                                                                                                  #           AT L+2 OF CALLING SEQUENCE (GOTO L+2)  NORMAL RETURN OR
033938,000635:                                                                                                  #           ERROR RETURN IF NOSOFLAG =1
033939,000636:                                                                                                  #  SUBROUTINES CALLED
033940,000637:                                                                                                  #           LEMPREC
033941,000638:                                                                                                  #           INITVEL
033942,000639:                                                                                                  #           CALCGRAV
033943,000640:                                                                                                  #           MIDGIM
033944,000641:                                                                                                  #  ALARM OR ABORT EXIT MODES
033945,000642:                                                                                                  #       L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
033946,000643:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033947,000644:                                                                                                  #                  WEIGHT/G  ANTICIPATED VEHICLE MASS         DP  B16KGM
033948,000645:                                                                                                  #           XDELVFLG       1=DELTA-V MANEUVER,0=AIMPT STEER
033949,000646:                                                                                                  #            F         THRUST FOR ENGINE USED
033950,000647:                                                                                                  #        IF DELTA-V MANEUVER
033951,000648:                                                                                                  #           DELVSIN   SPECIFIED DELTA-V REQUIRED IN
033952,000649:                                                                                                  #                     INERTIAL COORDS. OF ACTIVE VEHICLE
033953,000650:                                                                                                  #                     AT TIME OF IGNITION                 VECTOR B7M/CS
033954,000651:                                                                                                  #           DELVSAB   MAG. OF DELVSIN                     DP     B7M/CS
033955,000652:                                                                                                  #           RTIG      POSITION AT TIME OF IGNITION       VECTOR B29M
033956,000653:                                                                                                  #           VTIG      VELOCITY AT TIME OF IGNITION       VECTOR B7M/CS
033957,000654:                                                                                                  #        IF AIMPT STEER
033958,000655:                                                                                                  #           TIG       TIME OF IGNITION                    DP     B28CS
033959,000656:                                                                                                  #           RTARG     POSITION TARGET TIME               VECTOR B29M
033960,000657:                                                                                                  #           CSTEER    C FOR STEER LAW                     DP     B2
033961,000658:                                                                                                  #           DLTARG    TARGET TIME-IGNITION TIME          DP     B28CS
033962,000659:                                                                                                  #  OUTPUT
033963,000660:                                                                                                  #        UT           DESIRED THRUST DIRECTION            VECT. B2M/(CS.CS)
033964,000661:                                                                                                  #        VGTIG        INITIAL VALUE OF VELOCITY
033965,000662:                                                                                                  #                     TO BE GAINED (INERT. COORD.)        VECTOR B7M/CS
033966,000663:                                                                                                  #        DELVLVC      VGTIG IN LOC. VERT. COORDS.                B7M/CS
033967,000664:                                                                                                  #           BDT   V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033968,000665:                                                                                                  #           -GDT  FOR S40.13                                   VECT  B7M/CS
033969,000666:                                                                                                  #        RTIG         CALC IN S40.1B(AIMPT) FOR S40.2,3  VECTOR B29M
033970,000667:                                                                                                  #                     POSITION AT TIME OF IGNITION
033971,000668:                                                                                                  #  DEBRIS      QTEMP1
033972,000669:                                                                                                  #        MPAC,QPRET
033973,000670:                                                                                                  #        PUSHLIST
033974,000671: 
033975,000672: 14,2347                                           BANK     14                                    
033976,000673: 27,2000                                           SETLOC   P40S1                                 
033977,000674: 27,2000                                           BANK                                           
033978,000675: 

Page 772

033980,000677: 27,2271                                           COUNT*   $$/S40.1                              
033981,000678: 27,2271           44014        S40.1              CLEAR    STQ                                   
033982,000679: 27,2272           03264                                    FIRSTFLG                              
033983,000680: 27,2273           03630                                    QTEMP                                 
033984,000681: 27,2274           77614        DELVTEST           BOFF                                           
033985,000682: 27,2275           01347                                    XDELVFLG                              
033986,000683: 27,2276           56363                                    S40.1B                                
033987,000684: 27,2277           77201        CALCTHET           SETPD    VLOAD                                 
033988,000685: 27,2300           00001                                    0                                     
033989,000686: 27,2301           03646                                    VTIG                                  
033990,000687: 27,2302           02335                           STORE    VINIT                                 
033991,000688: 27,2303           53435                           VXV      UNIT                                  
033992,000689: 27,2304           03640                                    RTIG                                  
033993,000690: 27,2305           27677                           STOVL    UT                                    #  UP IN UT
033994,000691: 27,2306           03640                                    RTIG                                  
033995,000692: 27,2307           02327                           STORE    RINIT                                 
033996,000693: 27,2310           65236                           VSQ      PDDL                                  
033997,000694: 27,2311           00045                                    36D                                   
033998,000695: 27,2312           56205                           DMP      DDV                                   
033999,000696: 27,2313           16435                                    THETACON                              
034000,000697: 27,2314           41205                           DMP      DMP                                   
034001,000698: 27,2315           03662                                    DELVSAB                               
034002,000699: 27,2316           01245                                    WEIGHT/G                              
034003,000700: 27,2317           77671                           DDV                                            
034004,000701: 27,2320           03734                                    F                                     
034005,000702: 27,2321           24017                           STOVL    14D                                   
034006,000703: 27,2322           03654                                    DELVSIN                               
034007,000704: 
034008,000705: 27,2323           74241                           DOT      VXSC                                  
034009,000706: 27,2324           03677                                    UT                                    
034010,000707: 27,2325           03677                                    UT                                    
034011,000708: 27,2326           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
034012,000709: 27,2327           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
034013,000710: 27,2330           03654                                    DELVSIN                               
034014,000711: 27,2331           00017                                    14D                                   
034015,000712: 27,2332           63356                           SIN      PDVL                                  
034016,000713: 27,2333           00007                                    6D                                    
034017,000714: 27,2334           53435                           VXV      UNIT                                  
034018,000715: 27,2335           03677                                    UT                                    
034019,000716: 27,2336           45561                           VXSC     STADR                                 
034020,000717: 27,2337           50072                           STOVL    VGTIG                                 #  UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
034021,000718: 27,2340           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
034022,000719: 27,2341           00017                                    14D                                   
034023,000720: 27,2342           74346                           COS      VXSC                                  
034024,000721: 27,2343           74255                           VAD      VXSC                                  
034025,000722: 27,2344           03705                                    VGTIG                                 
034026,000723: 27,2345           00045                                    36D                                   
034027,000724: 27,2346           53352                           VSL2     VAD                                   
034028,000725: 27,2347           77626                           STADR                                          
034029,000726: 27,2350           74072                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
034030,000727: 

Page 773

034032,000729: 27,2351           77656                           UNIT                                           
034033,000730: 27,2352           27677                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
034034,000731: 27,2353           03705                                    VGTIG                                 
034035,000732: 27,2354           45006                           PUSH     CALL                                  
034036,000733: 27,2355           20021                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
034037,000734: 27,2356           77775                           VLOAD                                          
034038,000735: 27,2357           06424                                    ZEROVECS                              
034039,000736: 27,2360           03671                           STORE    BDT                                   
034040,000737: 27,2361           77650                           GOTO                                           
034041,000738: 27,2362           03630                                    QTEMP                                 
034042,000739: 27,2363           77745        S40.1B             DLOAD                                          
034043,000740: 27,2364           03440                                    TIG                                   
034044,000741: 27,2365           00041                           STORE    TDEC1                                 
034045,000742: 27,2366           77621                           BDSU                                           
034046,000743: 27,2367           03627                                    TPASS4                                
034047,000744: 27,2370           37450                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
034048,000745: 27,2371           27057                                    LEMPREC                               
034049,000746: 27,2372           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
034050,000747: 27,2373           00001                                    RATT                                  
034051,000748: 27,2374           00001                                    0                                     
034052,000749: 27,2375           03640                           STORE    RTIG                                  
034053,000750: 27,2376           26327                           STOVL    RINIT                                 
034054,000751: 27,2377           00007                                    VATT                                  
034055,000752: 27,2400           03646                           STORE    VTIG                                  
034056,000753: 27,2401           02335                           STORE    VINIT                                 
034057,000754: 27,2402           65345                           DLOAD    PDDL                                  #  NUMIT = 0
034058,000755: 27,2403           06424                                    ZEROVECS                              
034059,000756: 27,2404           16431                                    EPS1                                  
034060,000757: 27,2405           43214                           BOFF     DAD                                   
034061,000758: 27,2406           03745                                    NORMSW                                
034062,000759: 27,2407           56411                                    SMALLEPS                              
034063,000760: 27,2410           16433                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
034064,000761: 27,2411           66006        SMALLEPS           PUSH     SXA,1                                 
034065,000762: 27,2412           03375                                    RTX1                                  
034066,000763: 27,2413           45134                           SXA,2    CALL                                  
034067,000764: 27,2414           03376                                    RTX2                                  
034068,000765: 27,2415           22000                                    INITVEL                               
034069,000766: 27,2416           41575                           VLOAD    PUSH                                  
034070,000767: 27,2417           03366                                    DELVEET3                              #  VGTIG = VR - VN.
034071,000768: 27,2420           03705                           STORE    VGTIG                                 
034072,000769: 27,2421           77656                           UNIT                                           #  UT = UNIT (VGTIG)
034073,000770: 27,2422           17677                           STODL    UT                                    
034074,000771: 27,2423           00045                                    36D                                   
034075,000772: 27,2424           37662                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
034076,000773: 27,2425           20021                                    GET.LVC                               #  VERTICAL COORDINATES.
034077,000774: 27,2426           77650                           GOTO                                           
034078,000775: 27,2427           03630                                    QTEMP                                 
034079,000776: 
034080,000777: 27,2430           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
034081,000778: 

Page 774

034083,000780: 27,2432           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
034084,000781: 27,2434           00024 13714  THETACON           2DEC     .31830989  B-8                        
034085,000782: 

Page 775

034087,000784:                                                                                                  #  SUBROUTINE NAME: S40.2,3        MOD. NO. 3 DATE: APRIL 4, 1967
034088,000785: 
034089,000786:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034090,000787: 
034091,000788:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967:  PETER ADLER (MIT/IL)
034092,000789: 
034093,000790:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
034094,000791: 
034095,000792:                                                                                                  #  ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
034096,000793: 
034097,000794:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
034098,000795:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
034099,000796:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
034100,000797:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
034101,000798:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
034102,000799: 
034103,000800: 
034104,000801:                                                                                                  #  CALLING SEQUENCE:
034105,000802:                                                                                                  #                                          L        CALL                   INTERPRETIVE CALL.
034106,000803:                                                                                                  #                                          L +1            S40.2,3
034107,000804:                                                                                                  #                                          L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
034108,000805: 
034109,000806:                                                                                                  #  SUBROUTINES CALLED:  NONE.
034110,000807: 
034111,000808:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
034112,000809: 
034113,000810:                                                                                                  #  ALARM/ABORT MODES:  NONE.
034114,000811: 
034115,000812:                                                                                                  #  INPUT:
034116,000813: 
034117,000814:                                                                                                  #           1. REFSMMAT            MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
034118,000815:                                                                                                  #           2. UT                  HALF-UNIT DESIRED THRUST DIRECTION.
034119,000816:                                                                                                  #           3. RTIG                POSITION AT TIG IN REFERENCE COORDINATES.
034120,000817: 
034121,000818:                                                                                                  #  OUTPUT:
034122,000819: 
034123,000820:                                                                                                  #           1. : XSCREF :          WINGS-LEVEL HEADS-UP LM ORIENTATION
034124,000821:                                                                                                  #              : YSCREF :          IN REFERENCE COORDINATES
034125,000822:                                                                                                  #              : ZSCREF :          (PREFERRED IMU ORIENTATION).
034126,000823:                                                                                                  #           2. POINTVSM            DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
034127,000824:                                                                                                  #           3. SCAXIS              HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
034128,000825:                                                                                                  #           4. PFRATFLG            INTERPRETIVE FLAG.  ON:  PREFERRED ORIENTATION COMPUTED; OFF:  NOT COMPUTED.
034129,000826: 
034130,000827:                                                                                                  #  DEBRIS:  NONE.
034131,000828: 

Page 776

034133,000830: 
034134,000831: 27,2436                                           COUNT*   $$/S40.2                              
034135,000832: 27,2436           77775        S40.2,3            VLOAD                                          #  UT: DESIRED THRUST DIRECTION (HALF-UNIT)
034136,000833: 27,2437           03677                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
034137,000834: 27,2440           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
034138,000835: 27,2441           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
034139,000836: 27,2442           27767                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
034140,000837: 27,2443           06422                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
034141,000838: 27,2444           27761                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
034142,000839: 
034143,000840: 27,2445           03677                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
034144,000841: 27,2446           03605        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
034145,000842: 27,2447           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
034146,000843: 27,2450           03640                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
034147,000844: 27,2451           46125                           PDDL     BHIZ                                  
034148,000845: 27,2452           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
034149,000846: 27,2453           56464                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
034150,000847: 27,2454           45575        STORY              VLOAD    STADR                                 
034151,000848: 27,2455           74164                           STORE    YSCREF                                
034152,000849: 27,2456           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
034153,000850: 27,2457           03605                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
034154,000851: 27,2460           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
034155,000852: 27,2461           03621                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
034156,000853: 
034157,000854: 27,2462           43414                           SET      RVQ                                   
034158,000855: 27,2463           01073                                    PFRATFLG                              
034159,000856: 27,2464           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
034160,000857: 27,2465           03605                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
034161,000858: 27,2466           03646                                    VTIG                                  
034162,000859: 27,2467           41456                           UNIT     PUSH                                  
034163,000860: 27,2470           77650                           GOTO                                           
034164,000861: 27,2471           56454                                    STORY                                 
034165,000862: 

Page 777

034167,000864:                                                                                                  #  SUBROUTINE S40.8
034168,000865: 
034169,000866:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER    MIT/IL
034170,000867: 
034171,000868:                                                                                                  #  DESCRIPTION
034172,000869: 
034173,000870:                                                                                                  #       S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
034174,000871:                                                                                                  #  USING THE BDT VECTOR)  COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
034175,000872:                                                                                                  #  "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
034176,000873: 
034177,000874:                                                                                                  #  CALLING SEQUENCE
034178,000875: 
034179,000876:                                                                                                  #  L-1      CALL
034180,000877:                                                                                                  #  L               S40.8
034181,000878:                                                                                                  #  L+1                      INTERPRETIVE RETURN
034182,000879: 
034183,000880:                                                                                                  #  ALARM
034184,000881: 
034185,000882:                                                                                                  #       IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
034186,000883:                                                                                                  #  AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
034187,000884: 
034188,000885:                                                                                                  #  INPUT AND INITIALIZATION
034189,000886: 
034190,000887:                                                                                                  #  VGPREV          REFERENCE       2(7) M/CS
034191,000888:                                                                                                  #  DELVREF         REFERENCE       2(7) M/CS
034192,000889:                                                                                                  #  BDT             REFERENCE       2(7) M/CS
034193,000890:                                                                                                  #  TDECAY          TAIL-OFF TIME   2(28)  CS
034194,000891:                                                                                                  #  XDELVFLG        1 = EXTERNAL DELTA-V;  0 = LAMBERT (AIMPOINT)
034195,000892:                                                                                                  #  STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
034196,000893:                                                                                                  #  FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE;  0 = HAVEN'T GONE TO LAMBERT YET
034197,000894: 
034198,000895:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
034199,000896: 
034200,000897:                                                                                                  #  OUTPUT
034201,000898: 
034202,000899:                                                                                                  #  STEERSW         SEE INPUT
034203,000900:                                                                                                  #  IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS;  0 = CONTINUE BURN
034204,000901:                                                                                                  #  TGO             TIME TO CUT-OFF 2(28)   CS
034205,000902:                                                                                                  #  SEE FINDCDUW FOR STEERING OUTPUTS.
034206,000903: 
034207,000904:                                                                                                  #  SUBROUTINE CALLED
034208,000905: 
034209,000906:                                                                                                  #       FINDCDUW
034210,000907: 
034211,000908:                                                                                                  #  DEBRIS
034212,000909: 
034213,000910:                                                                                                  #       MPACS, PUSHLIST
034214,000911: 
034215,000912: 27,2472                                           COUNT*   $$/S40.8                              
034216,000913: 

Page 778

034218,000915: 27,2472  E6,1420                                  EBANK=   OMEGAQ                                
034219,000916: 27,2472           43175        S40.8              VLOAD    BON                                   
034220,000917: 27,2473           03705                                    VGPREV                                
034221,000918: 27,2474           01307                                    XDELVFLG                              
034222,000919: 27,2475           56502                                    VGNEW                                 
034223,000920: 27,2476           53214                           BOFF     VAD                                   
034224,000921: 27,2477           03344                                    FIRSTFLG                              
034225,000922: 27,2500           56502                                    VGNEW                                 
034226,000923: 27,2501           03671                                    BDT                                   
034227,000924: 27,2502           77651        VGNEW              VSU                                            
034228,000925: 27,2503           03525                                    DELVREF                               
034229,000926: 27,2504           03714        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7)M/CS
034230,000927: 27,2505           76521                           MXV      VSL1                                  
034231,000928: 27,2506           01734                                    REFSMMAT                              
034232,000929: 27,2507           03252                           STORE    UNFC/2                                
034233,000930: 27,2510           77214                           BON      VLOAD                                 
034234,000931: 27,2511           03304                                    FIRSTFLG                              
034235,000932: 27,2512           56515                                    BDTOK                                 
034236,000933: 27,2513           06424                                    HI6ZEROS                              
034237,000934: 27,2514           03671                           STORE    BDT                                   
034238,000935: 27,2515           51575        BDTOK              VLOAD    ABVAL                                 
034239,000936: 27,2516           03714                                    VG                                    
034240,000937: 27,2517           03662                           STORE    VGDISP                                
034241,000938: 27,2520           77201        TGDCALC            SETPD    VLOAD                                 
034242,000939: 27,2521           00001                                    0                                     
034243,000940: 27,2522           03714                                    VG                                    
034244,000941: 27,2523           27705                           STOVL    VGPREV                                
034245,000942: 27,2524           03525                                    DELVREF                               
034246,000943: 27,2525           57414                           BOFF     VCOMP                                 
034247,000944: 27,2526           01344                                    STEERSW                               
034248,000945: 27,2527           00052                                    QPRET                                 
034249,000946: 27,2530           77656                           UNIT                                           
034250,000947: 27,2531           41441                           DOT      PUSH                                  
034251,000948: 27,2532           03714                                    VG                                    
034252,000949: 27,2533           56244                           BPL      DDV                                   
034253,000950: 27,2534           56562                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
034254,000951: 27,2535           03742                                    VEX                                   
034255,000952: 27,2536           41215                           DAD      DMP                                   
034256,000953: 27,2537           06422                                    DPHALF                                
034257,000954: 27,2540           56261                           SR       DDV                                   
034258,000955: 27,2541           20613                                    10D                                   
034259,000956: 27,2542           00045                                    36D                                   
034260,000957: 27,2543           43205                           DMP      DAD                                   
034261,000958: 27,2544           16571                                    -FOURDT                               
034262,000959: 27,2545           03740                                    TDECAY                                
034263,000960: 27,2546           03515                           STORE    TGO                                   
034264,000961: 27,2547           77615                           DAD                                            
034265,000962: 27,2550           01235                                    PIPTIME                               
034266,000963: 27,2551           17440                           STODL    TIG                                   
034267,000964: 27,2552           03515                                    TGO                                   
034268,000965: 

Page 779

034270,000967: 27,2553           51025                           DSU      BPL                                   
034271,000968: 27,2554           16573                                    FOURSECS                              #  400 CS
034272,000969: 27,2555           61062                                    FINDCDUW   -2                         
034273,000970: 27,2556           43014                           SET      CLRGO                                 
034274,000971: 27,2557           01066                                    IMPULSW                               
034275,000972: 27,2560           01224                                    STEERSW                               
034276,000973: 27,2561           00052                                    QPRET                                 
034277,000974: 
034278,000975: 
034279,000976: 27,2562           77776        ALARMIT            EXIT                                           
034280,000977: 27,2563           05567                           TC       ALARM                                 
034281,000978: 27,2564           01407                           OCT      01407                                 
034282,000979: 27,2565           06036                           TC       INTPRET                               
034283,000980: 27,2566           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
034284,000981: 27,2567           61062                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
034285,000982: 
034286,000983: 27,2570           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.)  B(-18)
034287,000984: 27,2572           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28)CS
034288,000985: 27,2574  E7,1741               2VEXHUST           =        VEX                                   
034289,000986: 

Page 780

034291,000988:                                                                                                  #  NAME     S40.13 - TIMEBURN
034292,000989:                                                                                                  #  FUNCTION        (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
034293,000990:                                                                                                  #                  BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
034294,000991:                                                                                                  #                  SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
034295,000992:                                                                                                  #                  BURN
034296,000993:                                                                                                  #                  (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
034297,000994:                                                                                                  #                  IS SHORT --  AND THE ASSOCIATED TIME OF THE ENGINE OFF
034298,000995:                                                                                                  #                  SIGNAL
034299,000996:                                                                                                  #  CALLING SEQUENCE  VIA FINDVAC AS A NEW JOB
034300,000997:                                                                                                  #  INPUT           VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
034301,000998:                                                                                                  #                  WEIGHT/G MASS OF VEHICLE IN KGM AT +16
034302,000999:                                                                                                  #                  F  APS ENGINE THRUST IN M.NEWTONS AT +7
034303,001000:                                                                                                  #                  AND ALSO FOR RCS ENGINE
034304,001001:                                                                                                  #                  MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034305,001002:                                                                                                  #                  BURN IN KILOGRAMS/CS  AT +3 . THIS SCALING MAY
034306,001003:                                                                                                  #                  REQUIRE MODIFICATION FOR SATURN BURNS.
034307,001004:                                                                                                  #           ENG1FLAG     SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
034308,001005:                                                                                                  #                   =0   DPS
034309,001006:                                                                                                  #                   =1   APS
034310,001007:                                                                                                  #  OUTPUT          IMPULSW  ZERO FOR STEERING
034311,001008:                                                                                                  #                           ONE FOR ATTITUDE HOLD
034312,001009:                                                                                                  #                  NOTHROTL  ZERO FOR THROTTLING
034313,001010:                                                                                                  #                            ONE  TO INHIBIT THROTTLING
034314,001011:                                                                                                  #                  TGO  TIME TO BURN IN CS
034315,001012:                                                                                                  #           THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
034316,001013:                                                                                                  #                  FORCE
034317,001014: 
034318,001015: 
034319,001016: 27,2574  E7,1514                                  EBANK=   TGO                                   
034320,001017: 27,2574                                           COUNT*   $$/40.13                              
034321,001018: 27,2574           06036        S40.13             TC       INTPRET                               
034322,001019: 27,2575           43001                           SETPD    CLEAR                                 
034323,001020: 27,2576           00001                                    00D                                   
034324,001021: 27,2577           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
034325,001022: 27,2600           51575                           VLOAD    ABVAL                                 
034326,001023: 27,2601           03705                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
034327,001024: 27,2602           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
034328,001025: 27,2603           16742                                    7SEC                                  #  700 CS AT + 18
034329,001026: 27,2604           34017                                    FRCS2                                 
034330,001027: 27,2605           62471                           DDV      SL2                                   #  SCALE
034331,001028: 27,2606           01245                                    WEIGHT/G                              
034332,001029: 27,2607           41421                           BDSU     PUSH                                  
034333,001030: 27,2610           43014                           BOFF     SET                                   
034334,001031: 27,2611           05342                                    APSFLAG                               
034335,001032: 27,2612           56662                                    S40.13D                               #  FOR DPS ENGINE
034336,001033: 27,2613           02463                                    NOTHROTL                              
034337,001034: 27,2614           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
034338,001035: 27,2615           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
034339,001036: 27,2616           01245                                    WEIGHT/G                              
034340,001037: 27,2617           50021                           BDSU     BMN                                   
034341,001038: 

Page 781

034343,001040: 27,2620           00001                                    00D                                   
034344,001041: 27,2621           56644                                    S40.131                               #  TGO LESS THAN 100 CS
034345,001042: 27,2622           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
034346,001043: 27,2623           03736                                    MDOT                                  
034347,001044: 
034348,001045:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
034349,001046:                                                                                                  #  BURN IN KILOGRAMS/CS .  WHEN  SATURN IS USED , THE SCALING MAY
034350,001047:                                                                                                  #  REQUIRE ADJUSTMENT
034351,001048: 
034352,001049: 27,2624           16734                                    3.5SEC                                #  350 CS AT +14
034353,001050: 27,2625           65221                           BDSU     PDDL                                  
034354,001051: 27,2626           01245                                    WEIGHT/G                              
034355,001052: 27,2627           03734                                    F                                     
034356,001053: 27,2630           60405                           DMP      SR2                                   #  SCALE
034357,001054: 27,2631           16736                                    5SECS                                 
034358,001055: 27,2632           41471                           DDV      PUSH                                  #  04D = TEMP2
034359,001056: 27,2633           51021                           BDSU     BPL                                   
034360,001057: 27,2634           00003                                    02D                                   
034361,001058: 27,2635           56662                                    S40.13D                               
034362,001059: 27,2636           55345                           DLOAD    BDDV                                  
034363,001060: 27,2637           43205                           DMP      DAD                                   
034364,001061: 27,2640           16736                                    5SECS                                 
034365,001062: 27,2641           16732                                    1SEC2D                                #  100 CS AT +14
034366,001063: 27,2642           77650                           GOTO                                           
034367,001064: 27,2643           56652                                    S40.132                               
034368,001065: 27,2644           41345        S40.131            DLOAD    DMP                                   
034369,001066: 27,2645           01245                                    WEIGHT/G                              
034370,001067: 27,2646           41542                           SR1      PUSH                                  
034371,001068: 27,2647           56215                           DAD      DDV                                   
034372,001069: 27,2650           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
034373,001070: 27,2651           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
034374,001071: 27,2652           77414        S40.132            SET      EXIT                                  
034375,001072: 27,2653           01066                                    IMPULSW                               
034376,001073: 27,2654           07256        S40.132*           TC       TPAGREE                               
034377,001074: 27,2655           30154                           CA       MPAC                                  
034378,001075: 27,2656           56001                           XCH      L                                     
034379,001076: 27,2657           34755                           CA       ZERO                                  
034380,001077: 27,2660           53515                           DXCH     TGO                                   
034381,001078: 27,2661           12704                           TCF      S40.134                               
034382,001079: 
034383,001080: 27,2662           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
034384,001081: 27,2663           00001                                    00D                                   
034385,001082: 27,2664           01245                                    WEIGHT/G                              
034386,001083: 27,2665           43006                           PUSH     BON                                   
034387,001084: 27,2666           05302                                    APSFLAG                               
034388,001085: 27,2667           56725                                    APSTGO                                
034389,001086: 27,2670           43071                           DDV      CLEAR                                 
034390,001087: 27,2671           16007                                    S40.136                               
034391,001088: 27,2672           02663                                    NOTHROTL                              
034392,001089: 27,2673           41400                           BOV      PUSH                                  
034393,001090: 

Page 782

034395,001092: 27,2674           56707                                    S40.130V                              
034396,001093: 27,2675           51025        S40.137            DSU      BPL                                   
034397,001094: 27,2676           16740                                    6SEC                                  #  600.0 CS AT +14
034398,001095: 27,2677           56715                                    S40.138                               
034399,001096: 27,2700           52015                           DAD      GOTO                                  
034400,001097: 27,2701           16740                                    6SEC                                  
034401,001098: 27,2702           56652                                    S40.132                               
034402,001099: 27,2703           77776        S40.133            EXIT                                           
034403,001100: 27,2704           05353        S40.134            TC       PHASCHNG                              
034404,001101: 27,2705           00003                           OCT      00003                                 
034405,001102: 27,2706           05155                           TC       ENDOFJOB                              
034406,001103: 27,2707           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
034407,001104: 27,2710           77671                           DDV                                            
034408,001105: 27,2711           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
034409,001106: 27,2712           03515                           STORE    TGO                                   
034410,001107: 27,2713           77776                           EXIT                                           
034411,001108: 27,2714           12704                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
034412,001109: 
034413,001110: 27,2715           51025        S40.138            DSU      BPL                                   
034414,001111: 27,2716           16744                                    89SECS                                
034415,001112: 27,2717           56722                                    STORETGO                              
034416,001113: 27,2720           77614                           SET                                            
034417,001114: 27,2721           02463                                    NOTHROTL                              
034418,001115: 27,2722           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
034419,001116: 27,2723           77776                           EXIT                                           
034420,001117: 27,2724           12654                           TCF      S40.132*                              
034421,001118: 
034422,001119: 27,2725           62471        APSTGO             DDV      SL2                                   
034423,001120: 27,2726           34007                                    FAPS                                  
034424,001121: 27,2727           77650                           GOTO                                           
034425,001122: 27,2730           56723                                    STORETGO   +1                         
034426,001123: 27,2731           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
034427,001124: 27,2733           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
034428,001125: 27,2735           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
034429,001126: 27,2737           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
034430,001127: 27,2741           00053 30000  7SEC               2DEC     700.0      B-18                       #  700.0 CS AT + 18
034431,001128: 27,2743           21304 00000  89SECS             2DEC     8900.0     B-14                       
034432,001129:                                                                                                  #  FUNCTION    (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
034433,001130:                                                                                                  #              VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
034434,001131:                                                                                                  #              COMPUTATION CYCLES (4 SECONDS).
034435,001132:                                                                                                  #              (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
034436,001133:                                                                                                  #              CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
034437,001134:                                                                                                  #              THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
034438,001135:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
034439,001136: 

Page 783

034441,001138:                                                                                                  #  INPUT       RN       - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
034442,001139:                                                                                                  #              VN       - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
034443,001140:                                                                                                  #              VRPREV   - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
034444,001141:                                                                                                  #                         METERS/CS AT +7.
034445,001142:                                                                                                  #              TIG      - TIME OF IGNITION IN CS AT +28.
034446,001143:                                                                                                  #              DLTARG   - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
034447,001144:                                                                                                  #              PIPTIME  - TIME OF RN AND VN IN CS AT +28.
034448,001145:                                                                                                  #              GDT/2    - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
034449,001146:                                                                                                  #                         ACCERERATION OF GRAVITY IN METERS/CS AT +7.
034450,001147:                                                                                                  #              DELVREF  - CHANGE IN VELOCITY DURING LAST 2 SEC IN
034451,001148:                                                                                                  #                         METERS/CS AT +7.
034452,001149:                                                                                                  #  OUTPUT      VGPREV   - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
034453,001150:                                                                                                  #              VGDISP   - MAG OF VGPREV FOR DISPLAY PURPOSES.
034454,001151:                                                                                                  #              VRPREV   - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
034455,001152:                                                                                                  #              BDT      - B VECTOR IN METERS/CS AT +7.
034456,001153:                                                                                                  #  SUBROUTINES USED  -  INITVEL
034457,001154: 
034458,001155: 27,2745  E7,1704                                  EBANK=   VGPREV                                
034459,001156: 27,2745                                           COUNT*   $$/S40.9                              
034460,001157: 27,2745           06036        S40.9              TC       INTPRET                               
034461,001158: 27,2746           77201                           SETPD    VLOAD                                 
034462,001159: 27,2747           00001                                    00D                                   
034463,001160: 27,2750           01221                                    RN                                    #  ACTIVE VEHICLE RADIUS VECTOR AT T1
034464,001161: 27,2751           26327                           STOVL    RINIT                                 
034465,001162: 27,2752           01227                                    VN                                    #  ACTIVE VEHICLE VELOCITY VECTOR AT T1
034466,001163: 27,2753           16335                           STODL    VINIT                                 
034467,001164: 27,2754           01235                                    PIPTIME                               
034468,001165: 27,2755           03730                           STORE    TNIT                                  
034469,001166: 27,2756           77621                           BDSU                                           
034470,001167: 27,2757           03627                                    TPASS4                                
034471,001168: 27,2760           03450                           STORE    DELLT4                                #  T2 - T1
034472,001169: 27,2761           71214                           SET      DLOAD                                 
034473,001170: 27,2762           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
034474,001171: 27,2763           06424                                    HI6ZEROS                              
034475,001172: 27,2764           77725                           PDDL                                           
034476,001173: 27,2765           16431                                    EPS1                                  
034477,001174: 27,2766           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
034478,001175: 27,2767           03745                                    NORMSW                                
034479,001176: 27,2770           56772                                    EPSSMALL                              
034480,001177: 27,2771           16433                                    EPS2                                  
034481,001178: 27,2772           77606        EPSSMALL           PUSH                                           
034482,001179: 27,2773           45014        S40.92             BOFSET   CALL                                  
034483,001180: 27,2774           03044                                    FIRSTFLG                              
034484,001181: 27,2775           57102                                    INITINIT                              
034485,001182: 27,2776           22002                                    HAVEGUES                              
034486,001183: 27,2777           52375                           VLOAD    VSU                                   
034487,001184: 27,3000           02343                                    VIPRIME                               
034488,001185: 27,3001           03722                                    VRPREV                                
034489,001186: 27,3002           45325                           PDDL     DSU                                   
034490,001187: 27,3003           03730                                    TNIT                                  
034491,001188: 27,3004           03732                                    TNITPREV                              
034492,001189: 

Page 784

034494,001191: 27,3005           74265                           BDDV     VXSC                                  
034495,001192: 27,3006           17101                                    100B28                                
034496,001193: 27,3007           76451                           VSU      VSL1                                  
034497,001194: 27,3010           01237                                    GDT/2                                 
034498,001195: 27,3011           03671                           STORE    BDT                                   
034499,001196: 27,3012           53135        FIRSTTME           SLOAD    BZE                                   
034500,001197: 27,3013           03377                                    RTX2                                  
034501,001198: 27,3014           57020                                    GETGOBL                               
034502,001199: 27,3015           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE
034503,001200: 27,3016           03366                                    DELVEET3                              
034504,001201: 27,3017           57034                                    NOGOBL                                
034505,001202: 27,3020           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
034506,001203: 27,3021           01221                                    RN                                    
034507,001204: 27,3022           45345                           DLOAD    DSU                                   
034508,001205: 27,3023           01235                                    PIPTIME                               #               2
034509,001206: 27,3024           03510                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T - TIG)
034510,001207: 27,3025           56205                           DMP      DDV                                   #   OBL
034511,001208: 27,3026           16013                                    EARTHMU                               
034512,001209: 27,3027           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
034513,001210: 27,3030           53361                           VXSC     VAD                                   
034514,001211: 27,3031           03517                                    UNITGOBL                              
034515,001212: 27,3032           03366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
034516,001213: 27,3033           03366                           STORE    DELVEET3                              #  VG = VR + GOBL - VN
034517,001214: 27,3034           77646        NOGOBL             ABVAL                                          
034518,001215: 27,3035           17662                           STODL    VGDISP                                
034519,001216: 27,3036           03730                                    TNIT                                  
034520,001217: 27,3037           03732                           STORE    TNITPREV                              
034521,001218: 27,3040           77776                           EXIT                                           
034522,001219: 27,3041           05353                           TC       PHASCHNG                              
034523,001220: 27,3042           05022                           OCT      05022                                 
034524,001221: 27,3043           14000                           OCT      14000                                 
034525,001222: 27,3044           06036                           TC       INTPRET                               
034526,001223: 27,3045           77775                           VLOAD                                          
034527,001224: 27,3046           02343                                    VIPRIME                               #  VR(T)
034528,001225: 27,3047           03722                           STORE    VRPREV                                
034529,001226: 27,3050           77776                           EXIT                                           
034530,001227: 27,3051           05353                           TC       PHASCHNG                              
034531,001228: 27,3052           04022                           OCT      04022                                 
034532,001229: 27,3053           06036                           TC       INTPRET                               
034533,001230: 27,3054           77214                           BON      VLOAD                                 
034534,001231: 27,3055           01305                                    CYCLESW                               
034535,001232: 27,3056           57064                                    S40.91                                
034536,001233: 27,3057           03366                                    DELVEET3                              
034537,001234: 27,3060           03705                           STORE    VGPREV                                
034538,001235: 27,3061           52014                           SET      GOTO                                  
034539,001236: 27,3062           01065                                    CYCLESW                               
034540,001237: 27,3063           57074                                    ENDS40.9                              
034541,001238: 27,3064           53375        S40.91             VLOAD    VAD                                   #  EXTRAPOLATE FOR V TO GAIN
034542,001239: 27,3065           03366                                    DELVEET3                              
034543,001240: 27,3066           03671                                    BDT                                   
034544,001241: 

Page 785

034546,001243: 27,3067           77651                           VSU                                            
034547,001244: 27,3070           03525                                    DELVREF                               
034548,001245: 27,3071           03705                           STORE    VGPREV                                
034549,001246: 27,3072           77646                           ABVAL                                          
034550,001247: 27,3073           03662                           STORE    VGDISP                                #  FOR DISPLAY PURPOSES
034551,001248: 27,3074           77776        ENDS40.9           EXIT                                           
034552,001249: 27,3075           05353                           TC       PHASCHNG                              
034553,001250: 27,3076           00002                           OCT      2                                     
034554,001251: 27,3077           05155                           TC       ENDOFJOB                              
034555,001252: 27,3100           00000 00144  100B28             2DEC     100        B-28                       
034556,001253: 27,3102           77624        INITINIT           CALL                                           
034557,001254: 27,3103           22002                                    HAVEGUES                              
034558,001255: 27,3104           77650                           GOTO                                           
034559,001256: 27,3105           57012                                    FIRSTTME                              
034560,001257:                                                                                                  #  MOD 0     24 FEB 67     PETER ADLER
034561,001258:                                                                                                  #  FUNCTION:
034562,001259:                                                                                                  #           TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034563,001260:                                                                                                  #           FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034564,001261:                                                                                                  #           SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034565,001262:                                                                                                  #  CALLING SEQUENCE:
034566,001263:                                                                                                  #           VIA WAITLIST FROM R03
034567,001264:                                                                                                  #  INPUT:
034568,001265:                                                                                                  #           PITTIME     TIME TO RUN FROM FULL + PITCH TO TRIM  (CS)
034569,001266:                                                                                                  #           ROLLTIME    TIME TO RUN FROM FULL + ROLL  TO TRIM  (CS)
034570,001267:                                                                                                  #  SUBROUTINES USED:
034571,001268:                                                                                                  #           WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034572,001269: 
034573,001270: 27,3106                                           COUNT*   $$/S40.6                              
034574,001271: 27,3106  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS:  PRIO5=05000 EBANK5=02400
034575,001272: 
034576,001273: 27,3106           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034577,001274: 27,3107           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
034578,001275: 
034579,001276: 27,3110           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
034580,001277: 27,3111           00006                           EXTEND                                         
034581,001278: 27,3112           03012                           WAND     CHAN12                                
034582,001279: 27,3113           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
034583,001280: 27,3114           00006                           EXTEND                                         
034584,001281: 27,3115           05012                           WOR      CHAN12                                
034585,001282: 27,3116           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034586,001283: 27,3117           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
034587,001284: 27,3120           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
034588,001285: 27,3121           00006                           EXTEND                                         
034589,001286: 27,3122           03012                           WAND     CHAN12                                
034590,001287: 27,3123           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034591,001288: 27,3124           00006                           EXTEND                                         
034592,001289: 27,3125           05012                           WOR      CHAN12                                
034593,001290: 27,3126           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034594,001291: 27,3127           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034595,001292: 

Page 786

034597,001294: 27,3130           03147                           ADRES    PITCHOFF                              
034598,001295: 
034599,001296: 27,3131           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034600,001297: 27,3132           05224                           TC       VARDELAY                              #  UNTIL THEN
034601,001298: 27,3133           44740                           CS       BIT12                                 
034602,001299: 27,3134           00006                           EXTEND                                         
034603,001300: 27,3135           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034604,001301: 27,3136           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034605,001302: 27,3137           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034606,001303: 27,3140           00006                           EXTEND                                         
034607,001304: 27,3141           13153                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034608,001305: 27,3142           34737                           CAF      PRIO10                                #  RETURN TO R03
034609,001306: 27,3143           05072                           TC       NOVAC                                 
034610,001307: 27,3144  E7,1467                                  EBANK=   WHOCARES                              
034611,001308: 27,3144           02320 02067                     2CADR    TRIMDONE                              
034612,001309: 27,3146           05261                           TC       TASKOVER                              
034613,001310: 27,3147           44742        PITCHOFF           CS       BIT10                                 
034614,001311: 27,3150           00006                           EXTEND                                         
034615,001312: 27,3151           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034616,001313: 27,3152           13136                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034617,001314: 27,3153           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034618,001315: 27,3154           00137                           ADRES    GMBDRVSW                              
034619,001316: 27,3155           05261                           TC       TASKOVER                              
034620,001317: 

Page 787

034622,001319:                                                                                                  #  SUBROUTINE NAME: S41.1          MOD. NO. 0  DATE: FEBRUARY 28, 1967
034623,001320: 
034624,001321:                                                                                                  #                          MOD. NO. 1  DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034625,001322: 
034626,001323:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034627,001324: 
034628,001325:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034629,001326:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034630,001327:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034631,001328:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034632,001329:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034633,001330:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034634,001331:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034635,001332:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034636,001333: 
034637,001334: 
034638,001335:                                                                                                  #  CALLING SEQUENCE:
034639,001336:                                                                                                  #                                          L        VLOAD  CALL
034640,001337:                                                                                                  #                                          L +1            VELOCITY(REF)   SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
034641,001338:                                                                                                  #                                          L +2            S41.1
034642,001339:                                                                                                  #                                          L +3     STORE  VELOCITY(LM)    SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
034643,001340: 
034644,001341:                                                                                                  #  SUBROUTINES CALLED:
034645,001342: 
034646,001343:                                                                                                  #           1.  CDUTRIG,
034647,001344:                                                                                                  #                  WHICH CALLS CDULOGIC.
034648,001345:                                                                                                  #           2.  *SMNB*
034649,001346: 
034650,001347:                                                                                                  #  NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034651,001348: 
034652,001349:                                                                                                  #  ALARM/ABORT MODES: NONE.
034653,001350: 
034654,001351:                                                                                                  #  RESTART PROTECTION: NONE.
034655,001352: 

Page 788

034657,001354:                                                                                                  #  INPUT:
034658,001355: 
034659,001356:                                                                                                  #           1.  REFSMMAT.
034660,001357:                                                                                                  #           2.  CDUX, CDUY, CDUZ.
034661,001358:                                                                                                  #           3.  VELOCITY (REF) IN MPAC.
034662,001359: 
034663,001360:                                                                                                  #  OUTPUT:
034664,001361: 
034665,001362:                                                                                                  #           1.  CDUSPOT:  DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034666,001363:                                                                                                  #           2.  SINCDU:   HALF SINES OF CDUSPOT COMPONENTS.
034667,001364:                                                                                                  #           3.  COSCDU:   HALF COSINES OF CDUSPOT COMPONENTS.
034668,001365:                                                                                                  #           4.  MPAC:     VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034669,001366: 
034670,001367:                                                                                                  #  DEBRIS: NONE.
034671,001368: 
034672,001369:                                                                                                  #  CHECKOUT STATUS:  CODED.
034673,001370: 
034674,001371: 27,3156                                           COUNT*   $$/S41.1                              
034675,001372: 27,3156           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034676,001373: 27,3157           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034677,001374: 27,3160           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034678,001375: 27,3161           47552                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034679,001376:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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