Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Luminary 99 revision 1 previously transcribed from a digitized copy of that program. The code was then updated by undoing changes described in original Luminary memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. Note that page numbers in the reconstructed code match those on the Luminary 099 revision 001 printout, although the added code would likely have changed page numbers for a real Luminary 98 listing.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

031830,000002:                                                                                                  ## Copyright:   Public domain.
031831,000003:                                                                                                  ## Filename:    P40-P47.agc
031832,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
031833,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
031834,000006:                                                                                                  ##              development version of the flight software for the Lunar 
031835,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
031836,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
031837,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
031838,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
031839,000011:                                                                                                  ##              Luminary 98 and 99.
031840,000012:                                                                                                  ## Reference:   pp. 752-784
031841,000013:                                                                                                  ## Assembler:   yaYUL
031842,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
031843,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
031844,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
031845,000017:                                                                                                  ##              2021-05-30 ABS  TGDCALC -> TGOCALC
031846,000018: 

Page 752

031848,000020:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
031849,000021:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
031850,000022:                                                                                                  #  CALLED VIA JOB FROM V37E
031851,000023: 
031852,000024:                                                                                                  #  FUNCTIONAL DESCRIPTION
031853,000025: 
031854,000026:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031855,000027:                                                                                                  #                THRUSTING MANEUVER.

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

031857,000029:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031858,000030:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031859,000031:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
031860,000032:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031861,000033:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031862,000034: 
031863,000035:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031864,000036:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031865,000037: 
031866,000038:                                                                                                  #  SUBROUTINES USED
031867,000039: 
031868,000040:                                                                                                  #        R02             IMU STATUS CHECK
031869,000041:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
031870,000042:                                                                                                  #        S40.13          LENGTH OF BURN
031871,000043:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
031872,000044:                                                                                                  #        S40.8           X PRODUCT STEERING
031873,000045:                                                                                                  #        S40.9           LAMBERT VTOGAIN
031874,000046:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
031875,000047:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
031876,000048:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
031877,000049:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
031878,000050:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
031879,000051:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031880,000052:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031881,000053:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
031882,000054: 
031883,000055:                                                                                                  #  RESTARTS VIA GROUP 4
031884,000056: 
031885,000057:                                                                                                  #  DISPLAYS
031886,000058: 
031887,000059:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031888,000060:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031889,000061:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
031890,000062:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031891,000063:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
031892,000064:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031893,000065:                                                                                                  #        V05N09  POSSIBLE ALARMS
031894,000066:                                                                                                  #        V50N07  PLEASE SELECT P00
031895,000067: 

Page 753

031897,000069:                                                                                                  #        VIA R30
031898,000070: 
031899,000071:                                                                                                  #        V06N44  HAPO, PERI, TFF
031900,000072:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
031901,000073: 
031902,000074:                                                                                                  #  ALARM OR ABORT EXIT MODES
031903,000075: 
031904,000076:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031905,000077:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
031906,000078: 
031907,000079:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
031908,000080:                                                                                                  #        TIG BY 45 SECS.
031909,000081: 
031910,000082:                                                                                                  #  ERASABLE INITIALIZATION
031911,000083: 
031912,000084:                                                                                                  #  DEBRIS
031913,000085: 
031914,000086:                                                                                                  #  OUTPUT
031915,000087: 
031916,000088:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031917,000089:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
031918,000090:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
031919,000091: 
031920,000092: 27,2246                                           COUNT*   $$/P40                                
031921,000093: 27,2246  E7,1455                                  EBANK=   WHICH                                 
031922,000094: 
031923,000095: 36,3147                                           BANK     36                                    
031924,000096: 36,2000                                           SETLOC   P40S                                  
031925,000097: 36,2000                                           BANK                                           
031926,000098: 
031927,000099: 36,3147           05353        P40LM              TC       PHASCHNG                              
031928,000100: 36,3150           04024                           OCT      04024                                 
031929,000101: 
031930,000102: 36,3151           33133                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
031931,000103: 36,3152           55455                           TS       WHICH                                 
031932,000104: 
031933,000105: 36,3153           30106                           CA       FLGWRD10                              
031934,000106: 36,3154           74737                           MASK     APSFLBIT                              
031935,000107: 36,3155           10000                           CCS      A                                     
031936,000108: 36,3156           13121                           TCF      P40ALM                                
031937,000109: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
031938,000110: 36,3160           11254                           CADR     R02BOTH                               
031939,000111: 
031940,000112: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
031941,000113: 36,3162           74737                           MASK     CSMDOCKD                              
031942,000114: 36,3163           10000                           CCS      A                                     
031943,000115: 36,3164           32020                           CAF      THRESH1                               
031944,000116: 36,3165           62021                           AD       THRESH3                               
031945,000117: 36,3166           55251                           TS       DVTHRUSH                              
031946,000118: 36,3167           34751                           CAF      FOUR                                  
031947,000119: 36,3170           55515                           TS       DVCNTR                                

Page 754

031949,000121: 36,3171           06037                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
031950,000122: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
031951,000123: 36,3173           34001                                    FDPS                                  
031952,000124: 36,3174           02663                                    NOTHROTL                              
031953,000125: 36,3175           03735                           STORE    F                                     
031954,000126: 36,3176           77735                           SLOAD                                          
031955,000127: 36,3177           26002                                    DPSVEX                                
031956,000128: 36,3200           70476        P40IN              DCOMP    SR1                                   
031957,000129: 36,3201           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
031958,000130: 36,3202           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
031959,000131: 36,3203           77624                           CALL                                           
031960,000132: 36,3204           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
031961,000133: 36,3205           77776                           EXIT                                           
031962,000134: 
031963,000135: 36,3206           00004                           INHINT                                         
031964,000136: 36,3207           04674                           TC       IBNKCALL                              
031965,000137: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031966,000138: 
031967,000139: 36,3211           03213                           TC       P40SXT4                               
031968,000140: 
031969,000141:                                                                                                  #        ***********************
031970,000142: 
031971,000143: 36,3212           12126                           TCF      BURNBABY                              
031972,000144: 
031973,000145:                                                                                                  #        ***********************
031974,000146: 
031975,000147: 36,3213           00006        P40SXT4            EXTEND                                         
031976,000148: 36,3214           23142                           QXCH     P40/RET                               
031977,000149: 36,3215           00003        P41MANU            RELINT                                         
031978,000150: 
031979,000151: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031980,000152: 36,3217           00124                           ADRES    3AXISFLG                              
031981,000153: 
031982,000154: 36,3220           04616                           TC       BANKCALL                              
031983,000155: 36,3221           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
031984,000156: 36,3222           01142                           TC       P40/RET                               
031985,000157: 
031986,000158: 36,3223  E7,1462                                  EBANK=   TRKMKCNT                              
031987,000159: 36,3223           30005        POSTBURN           CA       Z                                     
031988,000160: 36,3224           55163                           TS       DISPDEX                               
031989,000161: 36,3225           00006                           EXTEND                                         
031990,000162: 36,3226           32056                           DCA      ACADN85                               
031991,000163: 36,3227           53253                           DXCH     AVEGEXIT                              
031992,000164: 36,3230           33760                           CAF      V16N40                                
031993,000165: 36,3231           04616                           TC       BANKCALL                              
031994,000166: 36,3232           20635                           CADR     GOFLASHR                              
031995,000167: 36,3233           03256                           TC       TERM40                                
031996,000168: 36,3234           13241                           TCF      TIGNOW                                
031997,000169: 36,3235           03223                           TC       POSTBURN                              

Page 755

031999,000171: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
032000,000172: 36,3237           00014                           OCT      00014                                 
032001,000173: 36,3240           15155                           TCF      ENDOFJOB                              
032002,000174: 
032003,000175: 36,3241           00004        TIGNOW             INHINT                                         
032004,000176: 36,3242           04674                           TC       IBNKCALL                              
032005,000177: 36,3243           40153                           CADR     ZATTEROR                              
032006,000178: 36,3244           04674                           TC       IBNKCALL                              
032007,000179: 36,3245           40140                           CADR     SETMINDB                              
032008,000180: 36,3246           00003                           RELINT                                         
032009,000181: 36,3247           33761                           CAF      V16N85B                               
032010,000182: 36,3250           04616                           TC       BANKCALL                              
032011,000183: 36,3251           20462                           CADR     REFLASHR                              
032012,000184: 36,3252           03256                           TC       TERM40                                
032013,000185: 36,3253           13256                           TCF      TERM40                                
032014,000186: 36,3254           03247                           TC       -5                                    
032015,000187: 
032016,000188: 36,3255           13236                           TCF      P40PHS1                               
032017,000189: 
032018,000190: 36,3256           00006        TERM40             EXTEND                                         
032019,000191: 36,3257           32106                           DCA      SERVCADR                              
032020,000192: 36,3260           53253                           DXCH     AVEGEXIT                              
032021,000193: 36,3261           34755                           CAF      ZERO                                  
032022,000194: 36,3262           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
032023,000195: 36,3263           30005                           CA       Z                                     
032024,000196: 36,3264           55163                           TS       DISPDEX                               
032025,000197: 36,3265           00004                           INHINT                                         
032026,000198: 36,3266           04674                           TC       IBNKCALL                              
032027,000199: 36,3267           40123                           CADR     RESTORDB                              
032028,000200: 36,3270           00003                           RELINT                                         
032029,000201: 36,3271           06001                           TC       GOTOPOOH                              
032030,000202: 
032031,000203: 36,3272  E7,1455                                  EBANK=   WHICH                                 
032032,000204: 36,3272                                           COUNT*   $$/P41                                
032033,000205: 36,3272           33134        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032034,000206: 36,3273           55455                           TS       WHICH                                 
032035,000207: 
032036,000208: 36,3274           04616                           TC       BANKCALL                              
032037,000209: 36,3275           11254                           CADR     R02BOTH                               
032038,000210: 
032039,000211: 36,3276           06037                           TC       INTPRET                               #  BOTH LM
032040,000212: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032041,000213: 36,3300           00700                                    NJETSFLG                              
032042,000214: 36,3301           75305                                    P41FJET1                              
032043,000215: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032044,000216: 
032045,000217: 36,3303           37735        P41FJET            STCALL   F                                     
032046,000218: 36,3304           75310                                    P41IN                                 
032047,000219: 36,3305           77745        P41FJET1           DLOAD                                          

Page 756

032049,000221: 36,3306           34017                                    FRCS2                                 
032050,000222: 36,3307           03735                           STORE    F                                     
032051,000223: 
032052,000224: 36,3310           77624        P41IN              CALL                                           
032053,000225: 36,3311           56246                                    S40.1                                 #  BOTH
032054,000226: 36,3312           77624        P41NORM            CALL                                           
032055,000227: 36,3313           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032056,000228: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
032057,000229: 
032058,000230: 36,3315           00004                           INHINT                                         
032059,000231: 36,3316           04674                           TC       IBNKCALL                              
032060,000232: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032061,000233: 36,3320           04674                           TC       IBNKCALL                              
032062,000234: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032063,000235: 36,3322           03213                           TC       P40SXT4                               
032064,000236: 
032065,000237: 36,3323           06037                           TC       INTPRET                               
032066,000238: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032067,000239: 36,3325           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032068,000240: 36,3326           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032069,000241: 36,3327           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032070,000242: 36,3330           77776                           EXIT                                           
032071,000243: 
032072,000244: 36,3331           33761                           CAF      V16N85B                               
032073,000245: 36,3332           04616                           TC       BANKCALL                              
032074,000246: 36,3333           20446                           CADR     GODSPRET                              
032075,000247: 
032076,000248: 36,3334           35017                           CAF      PRIO5                                 
032077,000249: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
032078,000250: 36,3336           05105                           TC       FINDVAC                               
032079,000251: 36,3337  E7,1700                                  EBANK=   VGPREV                                
032080,000252: 36,3337           03361 74067                     2CADR    DYNMDISP                              
032081,000253: 
032082,000254: 36,3341           05327                           TC       2PHSCHNG                              
032083,000255: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032084,000256: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032085,000257: 
032086,000258:                                                                                                  #        ***********************
032087,000259: 
032088,000260: 36,3344           12135                           TCF      B*RNB*B*                              
032089,000261: 
032090,000262:                                                                                                  #        ***********************
032091,000263: 
032092,000264: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
032093,000265: 36,3346           04616                           TC       BANKCALL                              
032094,000266: 36,3347           01735                           CADR     DELAYJOB                              
032095,000267: 
032096,000268: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032097,000269: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032098,000270: 
032099,000271:                                                                                                  #        ***********************

Page 757

032101,000273: 
032102,000274: 36,3352           00006                           EXTEND                                         
032103,000275: 36,3353           13345                           BZF      BLNKWAIT                              
032104,000276: 
032105,000277: 36,3354           33761                           CAF      V16N85B                               
032106,000278: 36,3355           04616                           TC       BANKCALL                              
032107,000279: 36,3356           20446                           CADR     GODSPRET                              
032108,000280: 
032109,000281: 36,3357           35017                           CAF      PRIO5                                 
032110,000282: 36,3360           05146                           TC       PRIOCHNG                              
032111,000283: 
032112,000284: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032113,000285: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032114,000286: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
032115,000287: 36,3364           06037                           TC       INTPRET                               
032116,000288: 36,3365           45175                           VLOAD    CALL                                  
032117,000289: 36,3366           03701                                    VGPREV                                
032118,000290: 36,3367           57267                                    S41.1                                 
032119,000291: 36,3370           03502                           STORE    VGBODY                                
032120,000292: 36,3371           77776                           EXIT                                           
032121,000293: 36,3372           34777                           CAF      1SEC                                  
032122,000294: 36,3373           04616                           TC       BANKCALL                              
032123,000295: 36,3374           01735                           CADR     DELAYJOB                              
032124,000296: 36,3375           13361                           TCF      DYNMDISP                              
032125,000297: 
032126,000298: 36,3376           06037        CALCN85            TC       INTPRET                               
032127,000299: 36,3377           77624                           CALL                                           
032128,000300: 36,3400           75611                                    UPDATEVG                              
032129,000301: 36,3401           45175                           VLOAD    CALL                                  
032130,000302: 36,3402           03701                                    VGPREV                                
032131,000303: 36,3403           57267                                    S41.1                                 
032132,000304: 36,3404           03502                           STORE    VGBODY                                
032133,000305: 36,3405           77776                           EXIT                                           
032134,000306: 36,3406           04635                           TC       POSTJUMP                              
032135,000307: 36,3407           65770                           CADR     SERVEXIT                              
032136,000308: 
032137,000309: 36,3410                                           COUNT*   $$/P42                                
032138,000310: 36,3410  E7,1455                                  EBANK=   WHICH                                 
032139,000311: 
032140,000312: 36,3410           05353        P42LM              TC       PHASCHNG                              
032141,000313: 36,3411           04024                           OCT      04024                                 
032142,000314: 
032143,000315: 36,3412           33135                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032144,000316: 36,3413           55455                           TS       WHICH                                 
032145,000317: 
032146,000318: 36,3414           40106                           CS       FLGWRD10                              
032147,000319: 36,3415           74737                           MASK     APSFLBIT                              
032148,000320: 36,3416           10000                           CCS      A                                     
032149,000321: 36,3417           03121                           TC       P40ALM                                
032150,000322: 36,3420           04616        P42STAGE           TC       BANKCALL                              

Page 758

032152,000324: 36,3421           11254                           CADR     R02BOTH                               
032153,000325: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032154,000326: 36,3423           55251                           TS       DVTHRUSH                              
032155,000327: 36,3424           34751                           CAF      FOUR                                  
032156,000328: 36,3425           55515                           TS       DVCNTR                                
032157,000329: 
032158,000330: 36,3426           06037                           TC       INTPRET                               
032159,000331: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032160,000332: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032161,000333: 36,3431           34007                                    FAPS                                  
032162,000334: 36,3432           03735                           STORE    F                                     
032163,000335: 36,3433           52135                           SLOAD    GOTO                                  
032164,000336: 36,3434           26001                                    APSVEX                                
032165,000337: 36,3435           75200                                    P40IN                                 
032166,000338: 
032167,000339: 36,3436  E7,1455                                  EBANK=   WHICH                                 
032168,000340: 
032169,000341: 36,3436                                           COUNT*   $$/P47                                
032170,000342: 36,3436           04616        P47LM              TC       BANKCALL                              
032171,000343: 36,3437           11254                           CADR     R02BOTH                               
032172,000344: 36,3440           06037                           TC       INTPRET                               
032173,000345: 36,3441           77624                           CALRB                                          
032174,000346: 36,3442           27553                                    MIDTOAV2                              
032175,000347: 
032176,000348: 36,3443           30155                           CA       MPAC       +1                         
032177,000349: 36,3444           05173                           TC       TWIDDLE                               
032178,000350: 36,3445           03447                           ADRES    STARTP47                              
032179,000351: 
032180,000352: 36,3446           15155                           TCF      ENDOFJOB                              
032181,000353: 
032182,000354: 36,3447           05353        STARTP47           TC       PHASCHNG                              
032183,000355: 36,3450           05014                           OCT      05014                                 
032184,000356: 36,3451           77777                           OCT      77777                                 
032185,000357: 
032186,000358: 36,3452           00006                           EXTEND                                         
032187,000359: 36,3453           33764                           DCA      ACADN83                               
032188,000360: 36,3454           53253                           DXCH     AVEGEXIT                              
032189,000361: 36,3455           34736                           CAF      PRIO20                                
032190,000362: 36,3456           05105                           TC       FINDVAC                               
032191,000363: 36,3457  E7,1622                                  EBANK=   DELVIMU                               
032192,000364: 36,3457           03513 74067                     2CADR    P47BODY                               
032193,000365: 
032194,000366: 36,3461           12342                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032195,000367:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032196,000368: 
032197,000369: 36,3462           06037        CALCN83            TC       INTPRET                               
032198,000370: 36,3463           53375                           VLOAD    VAD                                   
032199,000371: 36,3464           03502                                    DELVCTL                               
032200,000372: 36,3465           03527                                    DELVREF                               
032201,000373: 36,3466           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 759

032203,000375: 36,3467           77624                           CALL                                           
032204,000376: 36,3470           57267                                    S41.1                                 
032205,000377: 36,3471           03623                           STORE    DELVIMU                               
032206,000378: 36,3472           77776                           EXIT                                           
032207,000379: 36,3473           05353                           TC       PHASCHNG                              
032208,000380: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
032209,000381: 
032210,000382: 36,3475           06037                           TC       INTPRET                               
032211,000383: 36,3476           77775                           VLOAD                                          
032212,000384: 36,3477           03656                                    DELVSIN                               
032213,000385: 36,3500           03502                           STORE    DELVCTL                               
032214,000386: 36,3501           77776                           EXIT                                           
032215,000387: 
032216,000388: 36,3502           04635                           TC       POSTJUMP                              
032217,000389: 36,3503           65770                           CADR     SERVEXIT                              
032218,000390: 
032219,000391: 36,3504           33762        P47BOD             CAF      V1683                                 
032220,000392: 36,3505           04616                           TC       BANKCALL                              
032221,000393: 36,3506           20635                           CADR     GOFLASHR                              
032222,000394: 36,3507           06001                           TC       GOTOPOOH                              
032223,000395: 36,3510           06001                           TC       GOTOPOOH                              
032224,000396: 
032225,000397: 36,3511           13513                           TCF      P47BODY                               
032226,000398: 
032227,000399: 36,3512           13236                           TCF      P40PHS1                               
032228,000400: 
032229,000401: 36,3513           06037        P47BODY            TC       INTPRET                               
032230,000402: 36,3514           77775                           VLOAD                                          
032231,000403: 36,3515           06522                                    HI6ZEROS                              
032232,000404: 36,3516           03623                           STORE    DELVIMU                               
032233,000405: 36,3517           03502                           STORE    DELVCTL                               
032234,000406: 36,3520           77776                           EXIT                                           
032235,000407: 36,3521           03504                           TC       P47BOD                                
032236,000408: 
032237,000409: 36,3522                                           COUNT*   $$/P40                                
032238,000410: 36,3522           31517        IMPLBURN           CA       TGO        +1                         
032239,000411: 36,3523           03735                           TC       GETDT                                 
032240,000412: 36,3524           05173                           TC       TWIDDLE                               
032241,000413: 36,3525           03542                           ADRES    ENGOFTSK                              
032242,000414: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032243,000415: 36,3527           00153                           ADRES    IGNFLAG                               
032244,000416: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032245,000417: 36,3531           00154                           ADRES    ASTNFLAG                              
032246,000418: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032247,000419: 36,3533           00044                           ADRES    IMPULSW                               
032248,000420: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032249,000421: 36,3535           40114                           OCT      40114                                 
032250,000422: 
032251,000423: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032252,000424: 36,3537           00062                           DEC      50         B-14                       

Page 760

032254,000426: 36,3540           02653                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032255,000427: 
032256,000428: 36,3541           05261                           TC       TASKOVER                              
032257,000429: 
032258,000430: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032259,000431: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032260,000432: 36,3544           05261                           TC       TASKOVER                              
032261,000433: 
032262,000434: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032263,000435: 36,3546           05105                           TC       FINDVAC                               
032264,000436: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
032265,000437: 36,3547           03223 74067                     2CADR    POSTBURN                              
032266,000438: 
032267,000439: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
032268,000440: 36,3552           05203                           TC       WAITLIST                              
032269,000441: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
032270,000442: 36,3553           03606 74066                     2CADR    COASTSET                              
032271,000443: 
032272,000444: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032273,000445: 36,3556           74745                           MASK     IDLEFBIT                              
032274,000446: 36,3557           26103                           ADS      FLAGWRD7                              
032275,000447: 
032276,000448: 36,3560           02653                           TC       NOULLAGE                              
032277,000449: 
032278,000450: 36,3561           00006        ENGINOF4           EXTEND                                         
032279,000451: 36,3562           30025                           DCA      TIME2                                 
032280,000452: 36,3563           53345                           DXCH     TEVENT                                
032281,000453: 
032282,000454: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032283,000455: 36,3565           70101                           MASK     FLAGWRD5                              
032284,000456: 36,3566           54101                           TS       FLAGWRD5                              
032285,000457: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032286,000458: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
032287,000459: 36,3571           02011                           RAND     DSALMOUT                              
032288,000460: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032289,000461: 36,3573           00006                           EXTEND                                         
032290,000462: 36,3574           01011                           WRITE    DSALMOUT                              
032291,000463: 
032292,000464: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032293,000465: 36,3576           74736                           MASK     USEQRJTS                              
032294,000466: 36,3577           26111                           ADS      DAPBOOLS                              
032295,000467: 
032296,000468: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032297,000469: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
032298,000470: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032299,000471: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032300,000472: 36,3604           05014                           WOR      CHAN14                                
032301,000473: 
032302,000474: 36,3605           04707                           TC       ISWRETRN                              

Page 761

032304,000476: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032305,000477: 36,3607           40204                           CADR     ALLCOAST                              
032306,000478: 36,3610           05261                           TC       TASKOVER                              
032307,000479: 
032308,000480: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
032309,000481: 36,3611           45020        UPDATEVG           STQ      CALL                                  
032310,000482: 36,3612           03665                                    QTEMP1                                
032311,000483: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
032312,000484: 36,3614           43014                           BON      BON                                   
032313,000485: 36,3615           01307                                    XDELVFLG                              
032314,000486: 36,3616           03665                                    QTEMP1                                
032315,000487: 36,3617           03705                                    NORMSW                                
032316,000488: 36,3620           75633                                    180SETUP                              
032317,000489: 36,3621           45345                           DLOAD    DSU                                   
032318,000490: 36,3622           01235                                    PIPTIME                               
032319,000491: 36,3623           03763                                    TIGSAVE                               
032320,000492: 36,3624           50025                           DSU      BMN                                   
032321,000493: 36,3625           03432                                    TNEWA                                 
032322,000494: 36,3626           75656                                    GETRANS                               
032323,000495: 36,3627           43345                           DLOAD    DAD                                   
032324,000496: 36,3630           03763                                    TIGSAVE                               
032325,000497: 36,3631           03432                                    TNEWA                                 
032326,000498: 36,3632           03765                           STORE    TIGSAVEP                              
032327,000499: 36,3633           77776        180SETUP           EXIT                                           
032328,000500: 36,3634           10755                           CCS      PHASE2                                
032329,000501: 36,3635           13663                           TCF      NO.9                                  
032330,000502: 36,3636           34737                           CAF      PRIO10                                
032331,000503: 36,3637           00004                           INHINT                                         
032332,000504: 36,3640           05105                           TC       FINDVAC                               
032333,000505: 36,3641  E7,1706                                  EBANK=   VG                                    
032334,000506: 36,3641           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032335,000507: 
032336,000508: 36,3643           05327                           TC       2PHSCHNG                              
032337,000509: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032338,000510: 36,3645           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032339,000511: 
032340,000512: 36,3646           06037        ENDSTEER           TC       INTPRET                               
032341,000513: 36,3647           77745                           DLOAD                                          
032342,000514: 36,3650           03765                                    TIGSAVEP                              
032343,000515: 36,3651           27763                           STOVL    TIGSAVE                               
032344,000516: 36,3652           01221                                    RN                                    
032345,000517: 36,3653           26323                           STOVL    RINIT                                 
032346,000518: 36,3654           01227                                    VN                                    
032347,000519: 36,3655           02331                           STORE    VINIT                                 
032348,000520: 36,3656           45345        GETRANS            DLOAD    DSU                                   
032349,000521: 36,3657           03631                                    TPASS4                                
032350,000522: 36,3660           01235                                    PIPTIME                               
032351,000523: 36,3661           37452                           STCALL   DELLT4                                
032352,000524: 36,3662           03665                                    QTEMP1                                
032353,000525: 

Page 762

032355,000527: 36,3663           06037        NO.9               TC       INTPRET                               
032356,000528: 36,3664           77650                           GOTO                                           
032357,000529: 36,3665           03665                                    QTEMP1                                
032358,000530: 36,3666           06037        STEERING           TC       INTPRET                               
032359,000531: 
032360,000532: 36,3667           77624                           CALL                                           
032361,000533: 36,3670           75611                                    UPDATEVG                              
032362,000534: 36,3671           77776                           EXIT                                           
032363,000535: 
032364,000536: 36,3672  E7,1515                                  EBANK=   DVCNTR                                
032365,000537: 36,3672           00004        NSTEER             INHINT                                         
032366,000538: 36,3673           35016                           CA       EBANK7                                
032367,000539: 36,3674           54003                           TS       EBANK                                 
032368,000540: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032369,000541: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032370,000542: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032371,000543: 
032372,000544: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0   EXIT
032373,000545: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
032374,000546: 36,3702           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
032375,000547: 36,3703           10000                           CCS      A                                     
032376,000548: 36,3704           13707                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032377,000549: 36,3705           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032378,000550: 36,3706           65770                           CADR     SERVEXIT                              
032379,000551: 
032380,000552: 36,3707           04674                           TC       IBNKCALL                              
032381,000553: 36,3710           40165                           CADR     STOPRATE                              
032382,000554: 
032383,000555: 36,3711           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032384,000556: 36,3712           00044                           ADRES    IMPULSW                               
032385,000557: 
032386,000558: 36,3713           05504                           TC       UPFLAG                                
032387,000559: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032388,000560: 
032389,000561: 36,3715           00004                           INHINT                                         
032390,000562: 36,3716           00006                           EXTEND                                         
032391,000563: 36,3717           31442                           DCA      TIG                                   
032392,000564: 36,3720           52155                           DXCH     MPAC                                  
032393,000565: 36,3721           00006                           EXTEND                                         
032394,000566: 36,3722           40025                           DCS      TIME2                                 
032395,000567: 36,3723           20155                           DAS      MPAC                                  
032396,000568: 36,3724           07257                           TC       TPAGREE                               
032397,000569: 36,3725           30155                           CAE      MPAC       +1                         
032398,000570: 36,3726           03735                           TC       GETDT                                 
032399,000571: 36,3727           05173                           TC       TWIDDLE                               
032400,000572: 36,3730           03542                           ADRES    ENGOFTSK                              
032401,000573: 36,3731           05327                           TC       2PHSCHNG                              
032402,000574: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032403,000575: 36,3733           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 763

032405,000577: 36,3734           15155                           TCF      ENDOFJOB                              
032406,000578: 
032407,000579: 36,3735           10000        GETDT              CCS      A                                     
032408,000580: 36,3736           13741                           TCF      +3                                    
032409,000581: 36,3737           13741                           TCF      +2                                    
032410,000582: 36,3740           34755                           CAF      ZERO                                  
032411,000583: 36,3741           64753                           AD       ONE                                   
032412,000584: 36,3742           56001                           XCH      L                                     
032413,000585: 36,3743           34755                           CAF      ZERO                                  
032414,000586: 36,3744           53517                           DXCH     TGO                                   
032415,000587: 36,3745           31517                           CA       TGO        +1                         
032416,000588: 36,3746           00002                           TC       Q                                     
032417,000589: 
032418,000590:                                                                                                  #  ************************************************************************
032419,000591: 
032420,000592: 36,3747           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
032421,000593: 36,3750           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
032422,000594: 36,3751           00000 05670  SEC30DP            2DEC     3000       B-28                       
032423,000595: 
032424,000596: 36,3753           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
032425,000597: 36,3754           10624        SEC45              DEC      4500       B-14                       
032426,000598: 36,3755           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032427,000599: 36,3756           00764        5SEC               DEC      500        B-14                       
032428,000600: 36,3757           05050        26SECS             DEC      2600       B-14                       
032429,000601: 36,3760           04050        V16N40             VN       1640                                  
032430,000602: 36,3761           04125        V16N85B            VN       1685                                  
032431,000603: 36,3762           04123        V1683              VN       1683                                  
032432,000604: 36,3763     4777               SEC01              =        1SEC                                  
032433,000605: 36,3763  36,2055               ACADN85            =        P41TABLE   +2                         
032434,000606: 
032435,000607: 36,3763  E7,1622                                  EBANK=   DELVIMU                               
032436,000608: 36,3763           03462 74067  ACADN83            2CADR    CALCN83                               
032437,000609: 
032438,000610:                                                                                                  #  *************************************************

Page 764

032440,000612:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
032441,000613:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
032442,000614:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032443,000615: 
032444,000616:                                                                                                  #  FUNCTIONAL DESCRIPTION
032445,000617:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032446,000618:                                                                                                  #        VECTOR(VGTIG).
032447,000619: 
032448,000620:                                                                                                  #  CALLING SEQUENCE
032449,000621:                                                                                                  #        L       CALL
032450,000622:                                                                                                  #        L+1             S40.1
032451,000623: 
032452,000624:                                                                                                  #  NORMAL EXIT MODE
032453,000625:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032454,000626:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
032455,000627: 
032456,000628:                                                                                                  #  SUBROUTINES CALLED
032457,000629:                                                                                                  #        LEMPREC
032458,000630:                                                                                                  #        INITVEL
032459,000631:                                                                                                  #        CALCGRAV
032460,000632:                                                                                                  #        MIDGIM
032461,000633: 
032462,000634:                                                                                                  #  ALARM OR ABORT EXIT MODES
032463,000635:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032464,000636: 
032465,000637:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032466,000638:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
032467,000639:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
032468,000640:                                                                                                  #        F               THRUST FOR ENGINE USED
032469,000641:                                                                                                  #    IF DELTA-V MANEUVER
032470,000642:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
032471,000643:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
032472,000644:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
032473,000645:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
032474,000646:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
032475,000647:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
032476,000648:                                                                                                  #    IF AIMPT STEER
032477,000649:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
032478,000650:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
032479,000651:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
032480,000652:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
032481,000653: 
032482,000654:                                                                                                  #  OUTPUT
032483,000655:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
032484,000656:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
032485,000657:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
032486,000658:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
032487,000659:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032488,000660:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
032489,000661:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
032490,000662:                                                                                                  #                        POSITION AT TIME OF IGNITION
032491,000663: 
032492,000664:                                                                                                  #  DEBRIS        QTEMP1
032493,000665:                                                                                                  #                MPAC, QPRET
032494,000666:                                                                                                  #                PUSHLIST
032495,000667: 
032496,000668: 14,2347                                           BANK     14                                    
032497,000669: 27,2000                                           SETLOC   P40S1                                 
032498,000670: 27,2000                                           BANK                                           

Page 765

032500,000672: 27,2246                                           COUNT*   $$/S40.1                              
032501,000673: 27,2246           71220        S40.1              STQ      DLOAD                                 
032502,000674: 27,2247           03632                                    QTEMP                                 
032503,000675: 27,2250           03442                                    TIG                                   
032504,000676: 27,2251           03763                           STORE    TIGSAVE                               
032505,000677: 27,2252           77614        DELVTEST           BOFF                                           
032506,000678: 27,2253           01347                                    XDELVFLG                              
032507,000679: 27,2254           56336                                    S40.1B                                
032508,000680: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032509,000681: 27,2256           00001                                    0                                     
032510,000682: 27,2257           03650                                    VTIG                                  
032511,000683: 27,2260           02331                           STORE    VINIT                                 
032512,000684: 27,2261           53435                           VXV      UNIT                                  
032513,000685: 27,2262           03642                                    RTIG                                  
032514,000686: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032515,000687: 27,2264           03642                                    RTIG                                  
032516,000688: 27,2265           02323                           STORE    RINIT                                 
032517,000689: 27,2266           65236                           VSQ      PDDL                                  
032518,000690: 27,2267           00045                                    36D                                   
032519,000691: 27,2270           56205                           DMP      DDV                                   
032520,000692: 27,2271           16412                                    THETACON                              
032521,000693: 27,2272           41205                           DMP      DMP                                   
032522,000694: 27,2273           03664                                    DELVSAB                               
032523,000695: 27,2274           01245                                    WEIGHT/G                              
032524,000696: 27,2275           77671                           DDV                                            
032525,000697: 27,2276           03735                                    F                                     
032526,000698: 27,2277           24017                           STOVL    14D                                   
032527,000699: 27,2300           03656                                    DELVSIN                               
032528,000700: 
032529,000701: 27,2301           74241                           DOT      VXSC                                  
032530,000702: 27,2302           03673                                    UT                                    
032531,000703: 27,2303           03673                                    UT                                    
032532,000704: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032533,000705: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032534,000706: 27,2306           03656                                    DELVSIN                               
032535,000707: 27,2307           00017                                    14D                                   
032536,000708: 27,2310           63356                           SIN      PDVL                                  
032537,000709: 27,2311           00007                                    6D                                    
032538,000710: 27,2312           53435                           VXV      UNIT                                  
032539,000711: 27,2313           03673                                    UT                                    
032540,000712: 27,2314           45561                           VXSC     STADR                                 
032541,000713: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032542,000714: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032543,000715: 27,2317           00017                                    14D                                   
032544,000716: 27,2320           74346                           COS      VXSC                                  
032545,000717: 27,2321           74255                           VAD      VXSC                                  
032546,000718: 27,2322           03701                                    VGTIG                                 
032547,000719: 27,2323           00045                                    36D                                   
032548,000720: 27,2324           53352                           VSL2     VAD                                   
032549,000721: 27,2325           77626                           STADR                                          

Page 766

032551,000723: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
032552,000724: 
032553,000725: 27,2327           77656                           UNIT                                           
032554,000726: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032555,000727: 27,2331           03701                                    VGTIG                                 
032556,000728: 27,2332           45006                           PUSH     CALL                                  
032557,000729: 27,2333           15733                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032558,000730: 27,2334           77650                           GOTO                                           
032559,000731: 27,2335           03632                                    QTEMP                                 
032560,000732: 27,2336           77745        S40.1B             DLOAD                                          
032561,000733: 27,2337           03442                                    TIG                                   
032562,000734: 27,2340           00041                           STORE    TDEC1                                 
032563,000735: 27,2341           77621                           BDSU                                           
032564,000736: 27,2342           03631                                    TPASS4                                
032565,000737: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032566,000738: 27,2344           27057                                    LEMPREC                               
032567,000739: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032568,000740: 27,2346           00001                                    RATT                                  
032569,000741: 27,2347           00001                                    0                                     
032570,000742: 27,2350           03642                           STORE    RTIG                                  
032571,000743: 27,2351           02323                           STORE    RINIT                                 
032572,000744: 27,2352           77656                           UNIT                                           
032573,000745: 27,2353           27537                           STOVL    UNIT/R/                               
032574,000746: 27,2354           00007                                    VATT                                  
032575,000747: 27,2355           03650                           STORE    VTIG                                  
032576,000748: 27,2356           02331                           STORE    VINIT                                 
032577,000749: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032578,000750: 27,2360           06522                                    ZEROVECS                              
032579,000751: 27,2361           16406                                    EPS1                                  
032580,000752: 27,2362           43214                           BOFF     DAD                                   
032581,000753: 27,2363           03745                                    NORMSW                                
032582,000754: 27,2364           56366                                    SMALLEPS                              
032583,000755: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032584,000756: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032585,000757: 27,2367           02776                                    RTX1                                  
032586,000758: 27,2370           45134                           SXA,2    CALL                                  
032587,000759: 27,2371           02777                                    RTX2                                  
032588,000760: 27,2372           22000                                    INITVEL                               
032589,000761: 27,2373           41575                           VLOAD    PUSH                                  
032590,000762: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
032591,000763: 27,2375           03701                           STORE    VGTIG                                 
032592,000764: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032593,000765: 27,2377           17673                           STODL    UT                                    
032594,000766: 27,2400           00045                                    36D                                   
032595,000767: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032596,000768: 27,2402           15733                                    GET.LVC                               #  VERTICAL COORDINATES.
032597,000769: 27,2403           77650                           GOTO                                           
032598,000770: 27,2404           03632                                    QTEMP                                 
032599,000771: 
032600,000772: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
032601,000773: 

Page 767

032603,000775: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032604,000776: 
032605,000777: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032606,000778: 

Page 768

032608,000780:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
032609,000781:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032610,000782:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
032611,000783:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032612,000784:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032613,000785: 
032614,000786:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032615,000787:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032616,000788:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032617,000789:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032618,000790:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032619,000791: 
032620,000792:                                                                                                  #  CALLING SEQUENCE:
032621,000793:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
032622,000794:                                                                                                  #        L +1            S40.2,3
032623,000795:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032624,000796: 
032625,000797:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032626,000798: 
032627,000799:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032628,000800: 
032629,000801:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032630,000802: 
032631,000803:                                                                                                  #  INPUT:
032632,000804:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032633,000805:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
032634,000806:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
032635,000807: 
032636,000808:                                                                                                  #  OUTPUT:
032637,000809:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
032638,000810:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
032639,000811:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
032640,000812:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032641,000813:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032642,000814:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032643,000815: 
032644,000816:                                                                                                  #  DEBRIS:  NONE.

Page 769

032646,000818: 
032647,000819: 27,2413                                           COUNT*   $$/S40.2                              
032648,000820: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
032649,000821: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032650,000822: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032651,000823: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032652,000824: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032653,000825: 27,2420           06520                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032654,000826: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032655,000827: 
032656,000828: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032657,000829: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032658,000830: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032659,000831: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032660,000832: 27,2426           46125                           PDDL     BHIZ                                  
032661,000833: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032662,000834: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032663,000835: 27,2431           45575        STORY              VLOAD    STADR                                 
032664,000836: 27,2432           74162                           STORE    YSCREF                                
032665,000837: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
032666,000838: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032667,000839: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032668,000840: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032669,000841: 
032670,000842: 27,2437           43414                           SET      RVQ                                   
032671,000843: 27,2440           01073                                    PFRATFLG                              
032672,000844: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032673,000845: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032674,000846: 27,2443           03650                                    VTIG                                  
032675,000847: 27,2444           41456                           UNIT     PUSH                                  
032676,000848: 27,2445           77650                           GOTO                                           
032677,000849: 27,2446           56431                                    STORY                                 

Page 770

032679,000851:                                                                                                  #  SUBROUTINE S40.8
032680,000852:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
032681,000853: 
032682,000854:                                                                                                  #  DESCRIPTION
032683,000855:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032684,000856:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032685,000857:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032686,000858: 
032687,000859:                                                                                                  #  CALLING SEQUENCE
032688,000860:                                                                                                  #        L-1     CALL
032689,000861:                                                                                                  #        L               S40.8
032690,000862:                                                                                                  #        L+1                     INTERPRETIVE RETURN
032691,000863: 
032692,000864:                                                                                                  #  ALARM
032693,000865:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032694,000866:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032695,000867: 
032696,000868:                                                                                                  #  INPUT AND INITIALIZATION
032697,000869:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
032698,000870:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
032699,000871:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
032700,000872:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
032701,000873:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032702,000874:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032703,000875:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032704,000876: 
032705,000877:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032706,000878: 
032707,000879:                                                                                                  #  OUTPUT
032708,000880:                                                                                                  #        STEERSW         SEE INPUT
032709,000881:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032710,000882:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
032711,000883:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
032712,000884: 
032713,000885:                                                                                                  #  SUBROUTINE CALLED
032714,000886:                                                                                                  #        FINDCDUW
032715,000887: 
032716,000888:                                                                                                  #  DEBRIS
032717,000889:                                                                                                  #        MPACS, PUSHLIST
032718,000890: 
032719,000891: 27,2447                                           COUNT*   $$/S40.8                              

Page 771

032721,000893: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032722,000894: 27,2450           01347                                    XDELVFLG                              
032723,000895: 27,2451           56731                                    RASTEER1                              
032724,000896: 27,2452           52375                           VLOAD    VSU                                   
032725,000897: 27,2453           03701                                    VGPREV                                
032726,000898: 27,2454           03527                                    DELVREF                               
032727,000899: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
032728,000900: 27,2456           76521                           MXV      VSL1                                  
032729,000901: 27,2457           01734                                    REFSMMAT                              
032730,000902: 27,2460           03254                           STORE    UNFC/2                                
032731,000903: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032732,000904: 27,2462           03707                                    VG                                    
032733,000905: 27,2463           03664                           STORE    VGDISP                                
032734,000906: 27,2464           77201        TGOCALC            SETPD    VLOAD                                 
032735,000907: 27,2465           00001                                    0                                     
032736,000908: 27,2466           03707                                    VG                                    
032737,000909: 27,2467           27701                           STOVL    VGPREV                                
032738,000910: 27,2470           03527                                    DELVREF                               
032739,000911: 27,2471           57414                           BOFF     VCOMP                                 
032740,000912: 27,2472           01344                                    STEERSW                               
032741,000913: 27,2473           00052                                    QPRET                                 
032742,000914: 27,2474           77656                           UNIT                                           
032743,000915: 27,2475           41441                           DOT      PUSH                                  
032744,000916: 27,2476           03707                                    VG                                    
032745,000917: 27,2477           56244                           BPL      DDV                                   
032746,000918: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032747,000919: 27,2501           03743                                    VEX                                   
032748,000920: 27,2502           41215                           DAD      DMP                                   
032749,000921: 27,2503           06520                                    DPHALF                                
032750,000922: 27,2504           56261                           SR       DDV                                   
032751,000923: 27,2505           20613                                    10D                                   
032752,000924: 27,2506           00045                                    36D                                   
032753,000925: 27,2507           43205                           DMP      DAD                                   
032754,000926: 27,2510           16535                                    -FOURDT                               
032755,000927: 27,2511           03741                                    TDECAY                                
032756,000928: 27,2512           03517                           STORE    TGO                                   
032757,000929: 27,2513           77615                           DAD                                            
032758,000930: 27,2514           01235                                    PIPTIME                               
032759,000931: 27,2515           17442                           STODL    TIG                                   
032760,000932: 27,2516           03517                                    TGO                                   
032761,000933: 27,2517           51025                           DSU      BPL                                   
032762,000934: 27,2520           16537                                    FOURSECS                              #  400 CS
032763,000935: 27,2521           61111                                    FINDCDUW   -2                         
032764,000936: 27,2522           43014                           SET      CLRGO                                 
032765,000937: 27,2523           01066                                    IMPULSW                               
032766,000938: 27,2524           01224                                    STEERSW                               
032767,000939: 27,2525           00052                                    QPRET                                 
032768,000940: 
032769,000941: 27,2526           77776        ALARMIT            EXIT                                           
032770,000942: 

Page 772

032772,000944: 27,2527           05567                           TC       ALARM                                 
032773,000945: 27,2530           01407                           OCT      01407                                 
032774,000946: 27,2531           06037                           TC       INTPRET                               
032775,000947: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032776,000948: 27,2533           61111                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
032777,000949: 
032778,000950: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
032779,000951: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032780,000952: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
032781,000953: 

Page 773

032783,000955:                                                                                                  #  NAME                  S40.13 - TIMEBURN
032784,000956: 
032785,000957:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032786,000958:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032787,000959:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032788,000960:                                                                                                  #                        BURN
032789,000961:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032790,000962:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032791,000963:                                                                                                  #                        SIGNAL
032792,000964: 
032793,000965:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
032794,000966: 
032795,000967:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032796,000968:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032797,000969:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
032798,000970:                                                                                                  #                                AND ALSO FOR RCS ENGINE
032799,000971:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032800,000972:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
032801,000973:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
032802,000974:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032803,000975:                                                                                                  #                                =0      DPS
032804,000976:                                                                                                  #                                =1      APS
032805,000977: 
032806,000978:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
032807,000979:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
032808,000980:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
032809,000981:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
032810,000982:                                                                                                  #                        TGO             TIME TO BURN IN CS
032811,000983: 
032812,000984:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032813,000985:                                                                                                  #                        FORCE
032814,000986: 
032815,000987: 27,2540  E7,1516                                  EBANK=   TGO                                   
032816,000988: 27,2540                                           COUNT*   $$/40.13                              
032817,000989: 27,2540           06037        S40.13             TC       INTPRET                               
032818,000990: 27,2541           43001                           SETPD    CLEAR                                 
032819,000991: 27,2542           00001                                    00D                                   
032820,000992: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
032821,000993: 27,2544           51575                           VLOAD    ABVAL                                 
032822,000994: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
032823,000995: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
032824,000996: 27,2547           21021                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032825,000997: 27,2550           34017                                    FRCS2                                 
032826,000998: 27,2551           72471                           DDV      SL1                                   #  SCALE
032827,000999: 27,2552           01245                                    WEIGHT/G                              
032828,001000: 27,2553           41421                           BDSU     PUSH                                  
032829,001001: 27,2554           43014                           BOFF     SET                                   
032830,001002: 27,2555           05342                                    APSFLAG                               
032831,001003: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
032832,001004: 27,2557           02463                                    NOTHROTL                              
032833,001005: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
032834,001006: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
032835,001007: 27,2562           01245                                    WEIGHT/G                              
032836,001008: 27,2563           50021                           BDSU     BMN                                   

Page 774

032838,001010: 27,2564           00001                                    00D                                   
032839,001011: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
032840,001012: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
032841,001013: 27,2567           03737                                    MDOT                                  
032842,001014: 
032843,001015:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032844,001016:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
032845,001017:                                                                                                  #  REQUIRE ADJUSTMENT
032846,001018: 
032847,001019: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
032848,001020: 27,2571           65221                           BDSU     PDDL                                  
032849,001021: 27,2572           01245                                    WEIGHT/G                              
032850,001022: 27,2573           03735                                    F                                     
032851,001023: 27,2574           60405                           DMP      SR2                                   #  SCALE
032852,001024: 27,2575           16702                                    5SECS                                 
032853,001025: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
032854,001026: 27,2577           51021                           BDSU     BPL                                   
032855,001027: 27,2600           00003                                    02D                                   
032856,001028: 27,2601           56626                                    S40.13D                               
032857,001029: 27,2602           55345                           DLOAD    BDDV                                  
032858,001030: 27,2603           43205                           DMP      DAD                                   
032859,001031: 27,2604           16702                                    5SECS                                 
032860,001032: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
032861,001033: 27,2606           77650                           GOTO                                           
032862,001034: 27,2607           56616                                    S40.132                               
032863,001035: 27,2610           41345        S40.131            DLOAD    DMP                                   
032864,001036: 27,2611           01245                                    WEIGHT/G                              
032865,001037: 27,2612           41542                           SR1      PUSH                                  
032866,001038: 27,2613           56215                           DAD      DDV                                   
032867,001039: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
032868,001040: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
032869,001041: 27,2616           77414        S40.132            SET      EXIT                                  
032870,001042: 27,2617           01066                                    IMPULSW                               
032871,001043: 27,2620           07257        S40.132*           TC       TPAGREE                               
032872,001044: 27,2621           30154                           CA       MPAC                                  
032873,001045: 27,2622           56001                           XCH      L                                     
032874,001046: 27,2623           34755                           CA       ZERO                                  
032875,001047: 27,2624           53517                           DXCH     TGO                                   
032876,001048: 27,2625           12650                           TCF      S40.134                               
032877,001049: 
032878,001050: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
032879,001051: 27,2627           00001                                    00D                                   
032880,001052: 27,2630           01245                                    WEIGHT/G                              
032881,001053: 27,2631           43006                           PUSH     BON                                   
032882,001054: 27,2632           05302                                    APSFLAG                               
032883,001055: 27,2633           56671                                    APSTGO                                
032884,001056: 27,2634           43071                           DDV      CLEAR                                 
032885,001057: 27,2635           16007                                    S40.136                               
032886,001058: 27,2636           02663                                    NOTHROTL                              
032887,001059: 27,2637           41400                           BOV      PUSH                                  

Page 775

032889,001061: 27,2640           56653                                    S40.130V                              
032890,001062: 27,2641           51025        S40.137            DSU      BPL                                   
032891,001063: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
032892,001064: 27,2643           56661                                    S40.138                               
032893,001065: 27,2644           52015                           DAD      GOTO                                  
032894,001066: 27,2645           16704                                    6SEC                                  
032895,001067: 27,2646           56616                                    S40.132                               
032896,001068: 27,2647           77776        S40.133            EXIT                                           
032897,001069: 27,2650           05353        S40.134            TC       PHASCHNG                              
032898,001070: 27,2651           00003                           OCT      00003                                 
032899,001071: 27,2652           05155                           TC       ENDOFJOB                              
032900,001072: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
032901,001073: 27,2654           77671                           DDV                                            
032902,001074: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
032903,001075: 27,2656           03517                           STORE    TGO                                   
032904,001076: 27,2657           77776                           EXIT                                           
032905,001077: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
032906,001078: 
032907,001079: 27,2661           51025        S40.138            DSU      BPL                                   
032908,001080: 27,2662           16706                                    89SECS                                
032909,001081: 27,2663           56666                                    STORETGO                              
032910,001082: 27,2664           77614                           SET                                            
032911,001083: 27,2665           02463                                    NOTHROTL                              
032912,001084: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
032913,001085: 27,2667           77776                           EXIT                                           
032914,001086: 27,2670           12620                           TCF      S40.132*                              
032915,001087: 
032916,001088: 27,2671           62471        APSTGO             DDV      SL2                                   
032917,001089: 27,2672           34007                                    FAPS                                  
032918,001090: 27,2673           77650                           GOTO                                           
032919,001091: 27,2674           56667                                    STORETGO   +1                         
032920,001092: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
032921,001093: 
032922,001094: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
032923,001095: 
032924,001096: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
032925,001097: 
032926,001098: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
032927,001099: 
032928,001100: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
032929,001101: 
032930,001102:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032931,001103:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032932,001104:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
032933,001105:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032934,001106:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032935,001107:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032936,001108: 
032937,001109:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
032938,001110: 
032939,001111:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032940,001112:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 776

032942,001114:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032943,001115:                                                                                                  #                                  METERS/CS AT +7.
032944,001116:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
032945,001117:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032946,001118:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
032947,001119:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032948,001120:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032949,001121:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032950,001122:                                                                                                  #                                  METERS/CS AT +7.
032951,001123: 
032952,001124:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032953,001125:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
032954,001126:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032955,001127:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
032956,001128: 
032957,001129:                                                                                                  #  SUBROUTINES USED - INITVEL
032958,001130: 
032959,001131: 27,2707  E7,1700                                  EBANK=   VGPREV                                
032960,001132: 27,2707                                           COUNT*   $$/S40.9                              
032961,001133: 27,2707           06037        S40.9              TC       INTPRET                               
032962,001134: 27,2710           77601                           SETPD                                          
032963,001135: 27,2711           00001                                    00D                                   
032964,001136: 27,2712           71214                           SET      DLOAD                                 
032965,001137: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
032966,001138: 27,2714           06522                                    HI6ZEROS                              
032967,001139: 27,2715           77725                           PDDL                                           
032968,001140: 27,2716           16406                                    EPS1                                  
032969,001141: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
032970,001142: 27,2720           03745                                    NORMSW                                
032971,001143: 27,2721           56723                                    EPSSMALL                              
032972,001144: 27,2722           16410                                    EPS2                                  
032973,001145: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
032974,001146: 27,2724           22002                                    HAVEGUES                              
032975,001147: 27,2725           77776        ENDS40.9           EXIT                                           
032976,001148: 27,2726           05353                           TC       PHASCHNG                              
032977,001149: 27,2727           00002                           OCT      2                                     
032978,001150: 27,2730           15155                           TCF      ENDOFJOB                              
032979,001151: 
032980,001152: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
032981,001153: 27,2732           01221                                    RN                                    
032982,001154: 27,2733           53744                           LXC,2    SL*                                   
032983,001155: 27,2734           02777                                    RTX2                                  
032984,001156: 27,2735           57576                                    0,2                                   
032985,001157: 27,2736           27715                           STOVL    RMAG                                  
032986,001158: 27,2737           03444                                    RTARG                                 
032987,001159: 27,2740           47051                           VSU      RTB                                   
032988,001160: 27,2741           01221                                    RN                                    
032989,001161: 27,2742           21724                                    NORMUNX1                              
032990,001162: 27,2743           17656                           STODL    IC                                    
032991,001163: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
032992,001164: 27,2745           53674                           XAD,2    SL*                                   
032993,001165: 27,2746           00046                                    X1                                    

Page 777

032995,001167: 27,2747           57576                                    0,2                                   
032996,001168: 27,2750           00037                           STORE    30D                                   
032997,001169: 27,2751           41301                           NORM     DMP                                   
032998,001170: 27,2752           00050                                    X2                                    
032999,001171: 27,2753           03715                                    RMAG                                  
033000,001172: 27,2754           57101                           NORM     XAD,2                                 
033001,001173: 27,2755           00047                                    X1                                    
033002,001174: 27,2756           00046                                    X1                                    
033003,001175: 27,2757           77734                           SXA,2                                          
033004,001176: 27,2760           03766                                    MUSCALE                               
033005,001177: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
033006,001178: 27,2762           00037                                    30D                                   
033007,001179: 27,2763           65342                           SR1      PDDL                                  
033008,001180: 27,2764           03715                                    RMAG                                  
033009,001181: 27,2765           65342                           SR1      PDDL                                  
033010,001182: 27,2766           03723                                    RTMAG                                 
033011,001183: 27,2767           43342                           SR1      DAD                                   
033012,001184: 27,2770           45415                           DAD      STADR                                 
033013,001185: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
033014,001186: 27,2772           41225                           DSU      DMP                                   
033015,001187: 27,2773           00037                                    30D                                   
033016,001188: 27,2774           03721                                    MU/A                                  
033017,001189: 27,2775           77621                           BDSU                                           
033018,001190: 27,2776           03717                                    MUASTEER                              
033019,001191: 27,2777           45325                           PDDL     DSU                                   
033020,001192: 27,3000           03733                                    SS                                    
033021,001193: 27,3001           03715                                    RMAG                                  
033022,001194: 27,3002           70501                           NORM     SR1                                   
033023,001195: 27,3003           00047                                    X1                                    
033024,001196: 27,3004           41271                           DDV      DMP                                   
033025,001197: 27,3005           03725                                    R1C                                   
033026,001198: 27,3006           53664                           XSU,2    SL*                                   
033027,001199: 27,3007           00046                                    X1                                    
033028,001200: 27,3010           57575                                    1,2                                   
033029,001201: 27,3011           77754                           LXA,2                                          
033030,001202: 27,3012           03766                                    MUSCALE                               
033031,001203: 27,3013           75366                           SQRT     SIGN                                  
033032,001204: 27,3014           02673                                    GEOMSGN                               
033033,001205: 27,3015           00041                           STORE    32D                                   #  + OR - A
033034,001206: 27,3016           41345                           DLOAD    DMP                                   
033035,001207: 27,3017           03733                                    SS                                    
033036,001208: 27,3020           03721                                    MU/A                                  
033037,001209: 27,3021           77621                           BDSU                                           
033038,001210: 27,3022           03717                                    MUASTEER                              
033039,001211: 27,3023           45325                           PDDL     DSU                                   
033040,001212: 27,3024           03733                                    SS                                    
033041,001213: 27,3025           03723                                    RTMAG                                 
033042,001214: 27,3026           70501                           NORM     SR1                                   
033043,001215: 27,3027           00047                                    X1                                    
033044,001216: 27,3030           41271                           DDV      DMP                                   
033045,001217: 

Page 778

033047,001219: 27,3031           03725                                    R1C                                   
033048,001220: 27,3032           53664                           XSU,2    SL*                                   
033049,001221: 27,3033           00046                                    X1                                    
033050,001222: 27,3034           57575                                    1,2                                   
033051,001223: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033052,001224: 27,3036           03733                                    SS                                    
033053,001225: 27,3037           56225                           DSU      DDV                                   
033054,001226: 27,3040           00037                                    30D                                   
033055,001227: 27,3041           03733                                    SS                                    
033056,001228: 27,3042           41566                           SQRT     PUSH                                  
033057,001229: 27,3043           67542                           SR1      ASIN                                  
033058,001230: 27,3044           65205                           DMP      PDDL                                  
033059,001231: 27,3045           17216                                    2PI+3                                 
033060,001232: 27,3046           56325                           PDDL     DDV                                   
033061,001233: 27,3047           00037                                    30D                                   
033062,001234: 27,3050           03733                                    SS                                    
033063,001235: 27,3051           77600                           BOV                                            
033064,001236: 27,3052           57053                                    +1                                    
033065,001237: 27,3053           41366                           SQRT     DMP                                   
033066,001238: 27,3054           44242                           SR3      BDSU                                  
033067,001239: 27,3055           65365                           SIGN     PDDL                                  
033068,001240: 27,3056           02673                                    GEOMSGN                               
033069,001241: 27,3057           17216                                    2PI+3                                 
033070,001242: 27,3060           45302                           SR2      DSU                                   
033071,001243: 27,3061           65205                           DMP      PDDL                                  
033072,001244: 27,3062           03733                                    SS                                    
033073,001245: 27,3063           03733                                    SS                                    
033074,001246: 27,3064           75442                           SR3      SQRT                                  
033075,001247: 27,3065           77605                           DMP                                            
033076,001248: 27,3066           52525                           PDDL     SL3                                   
033077,001249: 27,3067           03717                                    MUASTEER                              
033078,001250: 27,3070           55366                           SQRT     BDDV                                  
033079,001251: 27,3071           43225                           DSU      DAD                                   
033080,001252: 27,3072           03631                                    TPASS4                                
033081,001253: 27,3073           01235                                    PIPTIME                               
033082,001254: 27,3074           14037                           STODL    30D                                   
033083,001255: 27,3075           77765                           SIGN                                           
033084,001256: 27,3076           00037                                    30D                                   #  B WITH SIGN
033085,001257: 27,3077           00037                           STORE    30D                                   
033086,001258: 27,3100           77214                           BON      VLOAD                                 
033087,001259: 27,3101           03705                                    NORMSW                                
033088,001260: 27,3102           57123                                    180MESS                               
033089,001261: 27,3103           03656                                    IC                                    
033090,001262: 27,3104           53451                           VSU      UNIT                                  
033091,001263: 27,3105           03537                                    UNIT/R/                               
033092,001264: 27,3106           63361                           VXSC     PDVL                                  
033093,001265: 27,3107           00037                                    30D                                   
033094,001266: 27,3110           03656                                    IC                                    
033095,001267: 27,3111           53455                           VAD      UNIT                                  
033096,001268: 27,3112           03537                                    UNIT/R/                               

Page 779

033098,001270: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033099,001271: 27,3114           00041                                    32D                                   
033100,001272: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033101,001273: 27,3116           02777                                    RTX2                                  
033102,001274: 27,3117           57177                                    0          -1,2                       
033103,001275: 27,3120           02337                           STORE    VIPRIME                               
033104,001276: 27,3121           77650                           GOTO                                           
033105,001277: 27,3122           57166                                    ASTREND    -2                         
033106,001278: 27,3123           50375        180MESS            VLOAD    DOT                                   
033107,001279: 27,3124           03656                                    IC                                    
033108,001280: 27,3125           03537                                    UNIT/R/                               
033109,001281: 27,3126           77240                           BMN      VLOAD                                 
033110,001282: 27,3127           57146                                    NEGPROD                               
033111,001283: 27,3130           03656                                    IC                                    
033112,001284: 27,3131           63362                           VSR1     PDVL                                  
033113,001285: 27,3132           03537                                    UNIT/R/                               
033114,001286: 27,3133           53362                           VSR1     VAD                                   
033115,001287: 27,3134           77656                           UNIT                                           
033116,001288: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033117,001289: 27,3136           75235                           VXV      SIGN                                  
033118,001290: 27,3137           02674                                    UN                                    
033119,001291: 27,3140           02673                                    GEOMSGN                               
033120,001292: 27,3141           74256                           UNIT     VXSC                                  
033121,001293: 27,3142           00037                                    30D                                   
033122,001294: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033123,001295: 27,3144           77650                           GOTO                                           
033124,001296: 27,3145           57113                                    GETVRVG1                              
033125,001297: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033126,001298: 27,3147           03537                                    UNIT/R/                               
033127,001299: 27,3150           74515                           PDVL     VSR1                                  
033128,001300: 27,3151           03656                                    IC                                    
033129,001301: 27,3152           53451                           VSU      UNIT                                  
033130,001302: 27,3153           77606                           PUSH                                           
033131,001303: 27,3154           75235                           VXV      SIGN                                  
033132,001304: 27,3155           02674                                    UN                                    #  FOR B
033133,001305: 27,3156           02673                                    GEOMSGN                               
033134,001306: 27,3157           74256                           UNIT     VXSC                                  
033135,001307: 27,3160           00041                                    32D                                   
033136,001308: 27,3161           77715                           PDVL                                           
033137,001309: 27,3162           53361                           VXSC     VAD                                   
033138,001310: 27,3163           00037                                    30D                                   
033139,001311: 27,3164           77650                           GOTO                                           
033140,001312: 27,3165           57115                                    GETVRVG2                              
033141,001313: 27,3166           77651                           VSU                                            
033142,001314: 27,3167           03553                                    VN1                                   
033143,001315: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033144,001316: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033145,001317: 27,3172           03000                                    RTX2                                  
033146,001318: 27,3173           57177                                    GETGOBL                               
033147,001319: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 780

033149,001321: 27,3175           02366                                    DELVEET3                              
033150,001322: 27,3176           57212                                    NOGOBL                                
033151,001323: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033152,001324: 27,3200           01221                                    RN                                    
033153,001325: 27,3201           45345                           DLOAD    DSU                                   
033154,001326: 27,3202           01235                                    PIPTIME                               #               2
033155,001327: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033156,001328: 27,3204           56205                           DMP      DDV                                   #   OBL
033157,001329: 27,3205           16023                                    EARTHMU                               
033158,001330: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033159,001331: 27,3207           53361                           VXSC     VAD                                   
033160,001332: 27,3210           03521                                    UNITGOBL                              
033161,001333: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033162,001334: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033163,001335: 27,3213           77650                           GOTO                                           
033164,001336: 27,3214           56455                                    VGAIN*                                
033165,001337: 
033166,001338: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033167,001339: 

Page 781

033169,001341:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033170,001342:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033171,001343: 
033172,001344:                                                                                                  #  FUNCTION:
033173,001345:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033174,001346:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033175,001347:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033176,001348: 
033177,001349:                                                                                                  #  CALLING SEQUENCE:
033178,001350:                                                                                                  #        VIA WAITLIST FROM R03
033179,001351: 
033180,001352:                                                                                                  #  INPUT:
033181,001353:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033182,001354:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033183,001355: 
033184,001356:                                                                                                  #  SUBROUTINES USED:
033185,001357:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033186,001358: 
033187,001359: 27,3217                                           COUNT*   $$/S40.6                              
033188,001360: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033189,001361: 
033190,001362: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033191,001363: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033192,001364: 
033193,001365: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033194,001366: 27,3222           00006                           EXTEND                                         
033195,001367: 27,3223           03012                           WAND     CHAN12                                
033196,001368: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033197,001369: 27,3225           00006                           EXTEND                                         
033198,001370: 27,3226           05012                           WOR      CHAN12                                
033199,001371: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033200,001372: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033201,001373: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033202,001374: 27,3232           00006                           EXTEND                                         
033203,001375: 27,3233           03012                           WAND     CHAN12                                
033204,001376: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033205,001377: 27,3235           00006                           EXTEND                                         
033206,001378: 27,3236           05012                           WOR      CHAN12                                
033207,001379: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033208,001380: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033209,001381: 27,3241           03260                           ADRES    PITCHOFF                              
033210,001382: 
033211,001383: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033212,001384: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
033213,001385: 27,3244           44740                           CS       BIT12                                 
033214,001386: 27,3245           00006                           EXTEND                                         
033215,001387: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033216,001388: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033217,001389: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033218,001390: 27,3251           00006                           EXTEND                                         
033219,001391: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033220,001392: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033221,001393: 27,3254           05072                           TC       NOVAC                                 
033222,001394: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 782

033224,001396: 27,3255           02323 02067                     2CADR    TRIMDONE                              
033225,001397: 
033226,001398: 27,3257           05261                           TC       TASKOVER                              
033227,001399: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033228,001400: 27,3261           00006                           EXTEND                                         
033229,001401: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033230,001402: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033231,001403: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033232,001404: 27,3265           00137                           ADRES    GMBDRVSW                              
033233,001405: 27,3266           05261                           TC       TASKOVER                              
033234,001406: 

Page 783

033236,001408:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
033237,001409:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033238,001410: 
033239,001411:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033240,001412: 
033241,001413:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033242,001414:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033243,001415:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033244,001416:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033245,001417:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033246,001418:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033247,001419:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033248,001420:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033249,001421: 
033250,001422:                                                                                                  #  CALLING SEQUENCE:
033251,001423:                                                                                                  #        L       VLOAD   CALL
033252,001424:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033253,001425:                                                                                                  #        L +2            S41.1
033254,001426:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033255,001427: 
033256,001428:                                                                                                  #  SUBROUTINES CALLED:
033257,001429:                                                                                                  #        1.      CDUTRIG,
033258,001430:                                                                                                  #                        WHICH CALLS CDULOGIC.
033259,001431:                                                                                                  #        2.      *SMNB*
033260,001432: 
033261,001433:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
033262,001434: 
033263,001435:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033264,001436: 
033265,001437:                                                                                                  #  RESTART PROTECTION:  NONE.
033266,001438: 

Page 784

033268,001440:                                                                                                  #  INPUT:
033269,001441:                                                                                                  #        1.      REFSMMAT.
033270,001442:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
033271,001443:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
033272,001444: 
033273,001445:                                                                                                  #  OUTPUT:
033274,001446:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033275,001447:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
033276,001448:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
033277,001449:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033278,001450: 
033279,001451:                                                                                                  #  DEBRIS:  NONE.
033280,001452: 
033281,001453:                                                                                                  #  CHECKOUT STATUS:  CODED.
033282,001454: 
033283,001455: 27,3267                                           COUNT*   $$/S41.1                              
033284,001456: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033285,001457: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033286,001458: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033287,001459: 27,3272           47646                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033288,001460:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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