Source Code

These source-code files were from the printout at the MIT Museum, with many thanks to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing it to us. The printout was digitally photographed by Paul Fjeld. A team of volunteers transcribed the source code manually from these images or, where appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13) source code to agree with the images from the printout. Note that the page images presented online are of reduced quality, and that higher-quality images are available. Report any conversion errors or legibility problems in page images to info@sandroid.org. Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061
	20'35 OCT. 28,1968
Note that the date is the date of the printout, not the date of the program revision.

032604,000002:                                                                                                  ## Copyright:   Public domain.
032605,000003:                                                                                                  ## Filename:    P40-P47.agc
032606,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
032607,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
032608,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
032609,000007:                                                                                                  ## Assembler:   yaYUL
032610,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032611,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
032612,000010:                                                                                                  ## Pages:       752-784
032613,000011:                                                                                                  ## Mod history: 2009-05-19 RSB  Adapted from the corresponding 
032614,000012:                                                                                                  ##                              Luminary131 file, using page 
032615,000013:                                                                                                  ##                              images from Luminary 1A.
032616,000014:                                                                                                  ##              2011-01-06 JL   Fixed interpretive indentation.
032617,000015:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
032618,000016:                                                                                                  ##              2016-12-15 RSB  Proofed text comments with octopus/ProoferComments
032619,000017:                                                                                                  ##                              and corrected the errors found.
032620,000018:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
032621,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
032622,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
032623,000021:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
032624,000022:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
032625,000023:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
032626,000024: 
032627,000025:                                                                                                  ## This source code has been transcribed or otherwise adapted from
032628,000026:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
032629,000027:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
032630,000028:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
032631,000029:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
032632,000030:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
032633,000031:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
032634,000032:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
032635,000033:                                                                                                  ## actually created.
032636,000034:                                                                                                  ##
032637,000035:                                                                                                  ## Notations on the hardcopy document read, in part:
032638,000036:                                                                                                  ##
032639,000037:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
032640,000038:                                                                                                  ##      16:27 JULY 14, 1969 
032641,000039: 

Page 752

032643,000041:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
032644,000042:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
032645,000043:                                                                                                  #  CALLED VIA JOB FROM V37E
032646,000044: 
032647,000045:                                                                                                  #  FUNCTIONAL DESCRIPTION
032648,000046: 
032649,000047:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032650,000048:                                                                                                  #                THRUSTING MANEUVER.

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

032652,000050:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032653,000051:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032654,000052:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
032655,000053:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032656,000054:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032657,000055: 
032658,000056:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032659,000057:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032660,000058: 
032661,000059:                                                                                                  #  SUBROUTINES USED
032662,000060: 
032663,000061:                                                                                                  #        R02             IMU STATUS CHECK
032664,000062:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
032665,000063:                                                                                                  #        S40.13          LENGTH OF BURN
032666,000064:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
032667,000065:                                                                                                  #        S40.8           X PRODUCT STEERING
032668,000066:                                                                                                  #        S40.9           LAMBERT VTOGAIN
032669,000067:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
032670,000068:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
032671,000069:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
032672,000070:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
032673,000071:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
032674,000072:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032675,000073:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032676,000074:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
032677,000075: 
032678,000076:                                                                                                  #  RESTARTS VIA GROUP 4
032679,000077: 
032680,000078:                                                                                                  #  DISPLAYS
032681,000079: 
032682,000080:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032683,000081:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032684,000082:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
032685,000083:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032686,000084:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
032687,000085:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032688,000086:                                                                                                  #        V05N09  POSSIBLE ALARMS
032689,000087:                                                                                                  #        V50N07  PLEASE SELECT P00
032690,000088: 

Page 753

032692,000090:                                                                                                  #        VIA R30
032693,000091: 
032694,000092:                                                                                                  #        V06N44  HAPO, PERI, TFF
032695,000093:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
032696,000094: 
032697,000095:                                                                                                  #  ALARM OR ABORT EXIT MODES
032698,000096: 
032699,000097:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032700,000098:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
032701,000099: 
032702,000100:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
032703,000101:                                                                                                  #        TIG BY 45 SECS.
032704,000102: 
032705,000103:                                                                                                  #  ERASABLE INITIALIZATION
032706,000104: 
032707,000105:                                                                                                  #  DEBRIS
032708,000106: 
032709,000107:                                                                                                  #  OUTPUT
032710,000108: 
032711,000109:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032712,000110:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
032713,000111:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
032714,000112: 
032715,000113: 27,2246                                           COUNT*   $$/P40                                
032716,000114: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032717,000115: 
032718,000116: 36,3147                                           BANK     36                                    
032719,000117: 36,2000                                           SETLOC   P40S                                  
032720,000118: 36,2000                                           BANK                                           
032721,000119: 
032722,000120: 36,3147           05353        P40LM              TC       PHASCHNG                              
032723,000121: 36,3150           04024                           OCT      04024                                 
032724,000122: 
032725,000123: 36,3151           33133                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032726,000124: 36,3152           55455                           TS       WHICH                                 
032727,000125: 
032728,000126: 36,3153           30106                           CA       FLGWRD10                              
032729,000127: 36,3154           74737                           MASK     APSFLBIT                              
032730,000128: 36,3155           10000                           CCS      A                                     
032731,000129: 36,3156           13121                           TCF      P40ALM                                
032732,000130: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032733,000131: 36,3160           11254                           CADR     R02BOTH                               
032734,000132: 
032735,000133: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032736,000134: 36,3162           74737                           MASK     CSMDOCKD                              
032737,000135: 36,3163           10000                           CCS      A                                     
032738,000136: 36,3164           32020                           CAF      THRESH1                               
032739,000137: 36,3165           62021                           AD       THRESH3                               
032740,000138: 36,3166           55251                           TS       DVTHRUSH                              
032741,000139: 36,3167           34751                           CAF      FOUR                                  
032742,000140: 36,3170           55515                           TS       DVCNTR                                

Page 754

032744,000142: 36,3171           06037                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032745,000143: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032746,000144: 36,3173           34001                                    FDPS                                  
032747,000145: 36,3174           02663                                    NOTHROTL                              
032748,000146: 36,3175           03735                           STORE    F                                     
032749,000147: 36,3176           77735                           SLOAD                                          
032750,000148: 36,3177           26002                                    DPSVEX                                
032751,000149: 36,3200           70476        P40IN              DCOMP    SR1                                   
032752,000150: 36,3201           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032753,000151: 36,3202           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032754,000152: 36,3203           77624                           CALL                                           
032755,000153: 36,3204           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032756,000154: 36,3205           77776                           EXIT                                           
032757,000155: 
032758,000156: 36,3206           00004                           INHINT                                         
032759,000157: 36,3207           04674                           TC       IBNKCALL                              
032760,000158: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032761,000159: 
032762,000160: 36,3211           03213                           TC       P40SXT4                               
032763,000161: 
032764,000162:                                                                                                  #        ***********************
032765,000163: 
032766,000164: 36,3212           12126                           TCF      BURNBABY                              
032767,000165: 
032768,000166:                                                                                                  #        ***********************
032769,000167: 
032770,000168: 36,3213           00006        P40SXT4            EXTEND                                         
032771,000169: 36,3214           23142                           QXCH     P40/RET                               
032772,000170: 36,3215           00003        P41MANU            RELINT                                         
032773,000171: 
032774,000172: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032775,000173: 36,3217           00124                           ADRES    3AXISFLG                              
032776,000174: 
032777,000175: 36,3220           04616                           TC       BANKCALL                              
032778,000176: 36,3221           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032779,000177: 36,3222           01142                           TC       P40/RET                               
032780,000178: 
032781,000179: 36,3223  E7,1462                                  EBANK=   TRKMKCNT                              
032782,000180: 36,3223           30005        POSTBURN           CA       Z                                     
032783,000181: 36,3224           55163                           TS       DISPDEX                               
032784,000182: 36,3225           00006                           EXTEND                                         
032785,000183: 36,3226           32056                           DCA      ACADN85                               
032786,000184: 36,3227           53253                           DXCH     AVEGEXIT                              
032787,000185: 36,3230           33760                           CAF      V16N40                                
032788,000186: 36,3231           04616                           TC       BANKCALL                              
032789,000187: 36,3232           20635                           CADR     GOFLASHR                              
032790,000188: 36,3233           03256                           TC       TERM40                                
032791,000189: 36,3234           13241                           TCF      TIGNOW                                
032792,000190: 36,3235           03223                           TC       POSTBURN                              

Page 755

032794,000192: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
032795,000193: 36,3237           00014                           OCT      00014                                 
032796,000194: 36,3240           15155                           TCF      ENDOFJOB                              
032797,000195: 
032798,000196: 36,3241           00004        TIGNOW             INHINT                                         
032799,000197: 36,3242           04674                           TC       IBNKCALL                              
032800,000198: 36,3243           40153                           CADR     ZATTEROR                              
032801,000199: 36,3244           04674                           TC       IBNKCALL                              
032802,000200: 36,3245           40140                           CADR     SETMINDB                              
032803,000201: 36,3246           00003                           RELINT                                         
032804,000202: 36,3247           33761                           CAF      V16N85B                               
032805,000203: 36,3250           04616                           TC       BANKCALL                              
032806,000204: 36,3251           20462                           CADR     REFLASHR                              
032807,000205: 36,3252           03256                           TC       TERM40                                
032808,000206: 36,3253           13256                           TCF      TERM40                                
032809,000207: 36,3254           03247                           TC       -5                                    
032810,000208: 
032811,000209: 36,3255           13236                           TCF      P40PHS1                               
032812,000210: 
032813,000211: 36,3256           00006        TERM40             EXTEND                                         
032814,000212: 36,3257           32106                           DCA      SERVCADR                              
032815,000213: 36,3260           53253                           DXCH     AVEGEXIT                              
032816,000214: 36,3261           34755                           CAF      ZERO                                  
032817,000215: 36,3262           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
032818,000216: 36,3263           30005                           CA       Z                                     
032819,000217: 36,3264           55163                           TS       DISPDEX                               
032820,000218: 36,3265           00004                           INHINT                                         
032821,000219: 36,3266           04674                           TC       IBNKCALL                              
032822,000220: 36,3267           40123                           CADR     RESTORDB                              
032823,000221: 36,3270           00003                           RELINT                                         
032824,000222: 36,3271           06001                           TC       GOTOPOOH                              
032825,000223: 
032826,000224: 36,3272  E7,1455                                  EBANK=   WHICH                                 
032827,000225: 36,3272                                           COUNT*   $$/P41                                
032828,000226: 36,3272           33134        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032829,000227: 36,3273           55455                           TS       WHICH                                 
032830,000228: 
032831,000229: 36,3274           04616                           TC       BANKCALL                              
032832,000230: 36,3275           11254                           CADR     R02BOTH                               
032833,000231: 
032834,000232: 36,3276           06037                           TC       INTPRET                               #  BOTH LM
032835,000233: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032836,000234: 36,3300           00700                                    NJETSFLG                              
032837,000235: 36,3301           75305                                    P41FJET1                              
032838,000236: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032839,000237: 
032840,000238: 36,3303           37735        P41FJET            STCALL   F                                     
032841,000239: 36,3304           75310                                    P41IN                                 
032842,000240: 36,3305           77745        P41FJET1           DLOAD                                          

Page 756

032844,000242: 36,3306           34017                                    FRCS2                                 
032845,000243: 36,3307           03735                           STORE    F                                     
032846,000244: 
032847,000245: 36,3310           77624        P41IN              CALL                                           
032848,000246: 36,3311           56246                                    S40.1                                 #  BOTH
032849,000247: 36,3312           77624        P41NORM            CALL                                           
032850,000248: 36,3313           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032851,000249: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
032852,000250: 
032853,000251: 36,3315           00004                           INHINT                                         
032854,000252: 36,3316           04674                           TC       IBNKCALL                              
032855,000253: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032856,000254: 36,3320           04674                           TC       IBNKCALL                              
032857,000255: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032858,000256: 36,3322           03213                           TC       P40SXT4                               
032859,000257: 
032860,000258: 36,3323           06037                           TC       INTPRET                               
032861,000259: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032862,000260: 36,3325           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032863,000261: 36,3326           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032864,000262: 36,3327           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032865,000263: 36,3330           77776                           EXIT                                           
032866,000264: 
032867,000265: 36,3331           33761                           CAF      V16N85B                               
032868,000266: 36,3332           04616                           TC       BANKCALL                              
032869,000267: 36,3333           20446                           CADR     GODSPRET                              
032870,000268: 
032871,000269: 36,3334           35017                           CAF      PRIO5                                 
032872,000270: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
032873,000271: 36,3336           05105                           TC       FINDVAC                               
032874,000272: 36,3337  E7,1700                                  EBANK=   VGPREV                                
032875,000273: 36,3337           03361 74067                     2CADR    DYNMDISP                              
032876,000274: 
032877,000275: 36,3341           05327                           TC       2PHSCHNG                              
032878,000276: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032879,000277: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032880,000278: 
032881,000279:                                                                                                  #        ***********************
032882,000280: 
032883,000281: 36,3344           12135                           TCF      B*RNB*B*                              
032884,000282: 
032885,000283:                                                                                                  #        ***********************
032886,000284: 
032887,000285: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
032888,000286: 36,3346           04616                           TC       BANKCALL                              
032889,000287: 36,3347           01735                           CADR     DELAYJOB                              
032890,000288: 
032891,000289: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032892,000290: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032893,000291: 
032894,000292:                                                                                                  #        ***********************

Page 757

032896,000294: 
032897,000295: 36,3352           00006                           EXTEND                                         
032898,000296: 36,3353           13345                           BZF      BLNKWAIT                              
032899,000297: 
032900,000298: 36,3354           33761                           CAF      V16N85B                               
032901,000299: 36,3355           04616                           TC       BANKCALL                              
032902,000300: 36,3356           20446                           CADR     GODSPRET                              
032903,000301: 
032904,000302: 36,3357           35017                           CAF      PRIO5                                 
032905,000303: 36,3360           05146                           TC       PRIOCHNG                              
032906,000304: 
032907,000305: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032908,000306: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032909,000307: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
032910,000308: 36,3364           06037                           TC       INTPRET                               
032911,000309: 36,3365           45175                           VLOAD    CALL                                  
032912,000310: 36,3366           03701                                    VGPREV                                
032913,000311: 36,3367           57267                                    S41.1                                 
032914,000312: 36,3370           03502                           STORE    VGBODY                                
032915,000313: 36,3371           77776                           EXIT                                           
032916,000314: 36,3372           34777                           CAF      1SEC                                  
032917,000315: 36,3373           04616                           TC       BANKCALL                              
032918,000316: 36,3374           01735                           CADR     DELAYJOB                              
032919,000317: 36,3375           13361                           TCF      DYNMDISP                              
032920,000318: 
032921,000319: 36,3376           06037        CALCN85            TC       INTPRET                               
032922,000320: 36,3377           77624                           CALL                                           
032923,000321: 36,3400           75611                                    UPDATEVG                              
032924,000322: 36,3401           45175                           VLOAD    CALL                                  
032925,000323: 36,3402           03701                                    VGPREV                                
032926,000324: 36,3403           57267                                    S41.1                                 
032927,000325: 36,3404           03502                           STORE    VGBODY                                
032928,000326: 36,3405           77776                           EXIT                                           
032929,000327: 36,3406           04635                           TC       POSTJUMP                              
032930,000328: 36,3407           65770                           CADR     SERVEXIT                              
032931,000329: 
032932,000330: 36,3410                                           COUNT*   $$/P42                                
032933,000331: 36,3410  E7,1455                                  EBANK=   WHICH                                 
032934,000332: 
032935,000333: 36,3410           05353        P42LM              TC       PHASCHNG                              
032936,000334: 36,3411           04024                           OCT      04024                                 
032937,000335: 
032938,000336: 36,3412           33135                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032939,000337: 36,3413           55455                           TS       WHICH                                 
032940,000338: 
032941,000339: 36,3414           40106                           CS       FLGWRD10                              
032942,000340: 36,3415           74737                           MASK     APSFLBIT                              
032943,000341: 36,3416           10000                           CCS      A                                     
032944,000342: 36,3417           03121                           TC       P40ALM                                
032945,000343: 36,3420           04616        P42STAGE           TC       BANKCALL                              

Page 758

032947,000345: 36,3421           11254                           CADR     R02BOTH                               
032948,000346: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032949,000347: 36,3423           55251                           TS       DVTHRUSH                              
032950,000348: 36,3424           34751                           CAF      FOUR                                  
032951,000349: 36,3425           55515                           TS       DVCNTR                                
032952,000350: 
032953,000351: 36,3426           06037                           TC       INTPRET                               
032954,000352: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032955,000353: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032956,000354: 36,3431           34007                                    FAPS                                  
032957,000355: 36,3432           03735                           STORE    F                                     
032958,000356: 36,3433           52135                           SLOAD    GOTO                                  
032959,000357: 36,3434           26001                                    APSVEX                                
032960,000358: 36,3435           75200                                    P40IN                                 
032961,000359: 
032962,000360: 36,3436  E7,1455                                  EBANK=   WHICH                                 
032963,000361: 
032964,000362: 36,3436                                           COUNT*   $$/P47                                
032965,000363: 36,3436           04616        P47LM              TC       BANKCALL                              
032966,000364: 36,3437           11254                           CADR     R02BOTH                               
032967,000365: 36,3440           06037                           TC       INTPRET                               
032968,000366: 36,3441           77624                           CALRB                                          
032969,000367: 36,3442           27553                                    MIDTOAV2                              
032970,000368: 
032971,000369: 36,3443           30155                           CA       MPAC       +1                         
032972,000370: 36,3444           05173                           TC       TWIDDLE                               
032973,000371: 36,3445           03447                           ADRES    STARTP47                              
032974,000372: 
032975,000373: 36,3446           15155                           TCF      ENDOFJOB                              
032976,000374: 
032977,000375: 36,3447           05353        STARTP47           TC       PHASCHNG                              
032978,000376: 36,3450           05014                           OCT      05014                                 
032979,000377: 36,3451           77777                           OCT      77777                                 
032980,000378: 
032981,000379: 36,3452           00006                           EXTEND                                         
032982,000380: 36,3453           33764                           DCA      ACADN83                               
032983,000381: 36,3454           53253                           DXCH     AVEGEXIT                              
032984,000382: 36,3455           34736                           CAF      PRIO20                                
032985,000383: 36,3456           05105                           TC       FINDVAC                               
032986,000384: 36,3457  E7,1622                                  EBANK=   DELVIMU                               
032987,000385: 36,3457           03513 74067                     2CADR    P47BODY                               
032988,000386: 
032989,000387: 36,3461           12342                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032990,000388:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032991,000389: 
032992,000390: 36,3462           06037        CALCN83            TC       INTPRET                               
032993,000391: 36,3463           53375                           VLOAD    VAD                                   
032994,000392: 36,3464           03502                                    DELVCTL                               
032995,000393: 36,3465           03527                                    DELVREF                               
032996,000394: 36,3466           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 759

032998,000396: 36,3467           77624                           CALL                                           
032999,000397: 36,3470           57267                                    S41.1                                 
033000,000398: 36,3471           03623                           STORE    DELVIMU                               
033001,000399: 36,3472           77776                           EXIT                                           
033002,000400: 36,3473           05353                           TC       PHASCHNG                              
033003,000401: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
033004,000402: 
033005,000403: 36,3475           06037                           TC       INTPRET                               
033006,000404: 36,3476           77775                           VLOAD                                          
033007,000405: 36,3477           03656                                    DELVSIN                               
033008,000406: 36,3500           03502                           STORE    DELVCTL                               
033009,000407: 36,3501           77776                           EXIT                                           
033010,000408: 
033011,000409: 36,3502           04635                           TC       POSTJUMP                              
033012,000410: 36,3503           65770                           CADR     SERVEXIT                              
033013,000411: 
033014,000412: 36,3504           33762        P47BOD             CAF      V1683                                 
033015,000413: 36,3505           04616                           TC       BANKCALL                              
033016,000414: 36,3506           20635                           CADR     GOFLASHR                              
033017,000415: 36,3507           06001                           TC       GOTOPOOH                              
033018,000416: 36,3510           06001                           TC       GOTOPOOH                              
033019,000417: 
033020,000418: 36,3511           13513                           TCF      P47BODY                               
033021,000419: 
033022,000420: 36,3512           13236                           TCF      P40PHS1                               
033023,000421: 
033024,000422: 36,3513           06037        P47BODY            TC       INTPRET                               
033025,000423: 36,3514           77775                           VLOAD                                          
033026,000424: 36,3515           06522                                    HI6ZEROS                              
033027,000425: 36,3516           03623                           STORE    DELVIMU                               
033028,000426: 36,3517           03502                           STORE    DELVCTL                               
033029,000427: 36,3520           77776                           EXIT                                           
033030,000428: 36,3521           03504                           TC       P47BOD                                
033031,000429: 
033032,000430: 36,3522                                           COUNT*   $$/P40                                
033033,000431: 36,3522           31517        IMPLBURN           CA       TGO        +1                         
033034,000432: 36,3523           03735                           TC       GETDT                                 
033035,000433: 36,3524           05173                           TC       TWIDDLE                               
033036,000434: 36,3525           03542                           ADRES    ENGOFTSK                              
033037,000435: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033038,000436: 36,3527           00153                           ADRES    IGNFLAG                               
033039,000437: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033040,000438: 36,3531           00154                           ADRES    ASTNFLAG                              
033041,000439: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033042,000440: 36,3533           00044                           ADRES    IMPULSW                               
033043,000441: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033044,000442: 36,3535           40114                           OCT      40114                                 
033045,000443: 
033046,000444: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033047,000445: 36,3537           00062                           DEC      50         B-14                       

Page 760

033049,000447: 36,3540           02653                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033050,000448: 
033051,000449: 36,3541           05261                           TC       TASKOVER                              
033052,000450: 
033053,000451: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033054,000452: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033055,000453: 36,3544           05261                           TC       TASKOVER                              
033056,000454: 
033057,000455: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033058,000456: 36,3546           05105                           TC       FINDVAC                               
033059,000457: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
033060,000458: 36,3547           03223 74067                     2CADR    POSTBURN                              
033061,000459: 
033062,000460: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
033063,000461: 36,3552           05203                           TC       WAITLIST                              
033064,000462: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
033065,000463: 36,3553           03606 74066                     2CADR    COASTSET                              
033066,000464: 
033067,000465: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033068,000466: 36,3556           74745                           MASK     IDLEFBIT                              
033069,000467: 36,3557           26103                           ADS      FLAGWRD7                              
033070,000468: 
033071,000469: 36,3560           02653                           TC       NOULLAGE                              
033072,000470: 
033073,000471: 36,3561           00006        ENGINOF4           EXTEND                                         
033074,000472: 36,3562           30025                           DCA      TIME2                                 
033075,000473: 36,3563           53345                           DXCH     TEVENT                                
033076,000474: 
033077,000475: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033078,000476: 36,3565           70101                           MASK     FLAGWRD5                              
033079,000477: 36,3566           54101                           TS       FLAGWRD5                              
033080,000478: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033081,000479: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
033082,000480: 36,3571           02011                           RAND     DSALMOUT                              
033083,000481: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033084,000482: 36,3573           00006                           EXTEND                                         
033085,000483: 36,3574           01011                           WRITE    DSALMOUT                              
033086,000484: 
033087,000485: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033088,000486: 36,3576           74736                           MASK     USEQRJTS                              
033089,000487: 36,3577           26111                           ADS      DAPBOOLS                              
033090,000488: 
033091,000489: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033092,000490: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
033093,000491: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033094,000492: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033095,000493: 36,3604           05014                           WOR      CHAN14                                
033096,000494: 
033097,000495: 36,3605           04707                           TC       ISWRETRN                              

Page 761

033099,000497: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033100,000498: 36,3607           40204                           CADR     ALLCOAST                              
033101,000499: 36,3610           05261                           TC       TASKOVER                              
033102,000500: 
033103,000501: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
033104,000502: 36,3611           45020        UPDATEVG           STQ      CALL                                  
033105,000503: 36,3612           03665                                    QTEMP1                                
033106,000504: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
033107,000505: 36,3614           43014                           BON      BON                                   
033108,000506: 36,3615           01307                                    XDELVFLG                              
033109,000507: 36,3616           03665                                    QTEMP1                                
033110,000508: 36,3617           03705                                    NORMSW                                
033111,000509: 36,3620           75633                                    180SETUP                              
033112,000510: 36,3621           45345                           DLOAD    DSU                                   
033113,000511: 36,3622           01235                                    PIPTIME                               
033114,000512: 36,3623           03763                                    TIGSAVE                               
033115,000513: 36,3624           50025                           DSU      BMN                                   
033116,000514: 36,3625           03432                                    TNEWA                                 
033117,000515: 36,3626           75656                                    GETRANS                               
033118,000516: 36,3627           43345                           DLOAD    DAD                                   
033119,000517: 36,3630           03763                                    TIGSAVE                               
033120,000518: 36,3631           03432                                    TNEWA                                 
033121,000519: 36,3632           03765                           STORE    TIGSAVEP                              
033122,000520: 36,3633           77776        180SETUP           EXIT                                           
033123,000521: 36,3634           10755                           CCS      PHASE2                                
033124,000522: 36,3635           13663                           TCF      NO.9                                  
033125,000523: 36,3636           34737                           CAF      PRIO10                                
033126,000524: 36,3637           00004                           INHINT                                         
033127,000525: 36,3640           05105                           TC       FINDVAC                               
033128,000526: 36,3641  E7,1706                                  EBANK=   VG                                    
033129,000527: 36,3641           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033130,000528: 
033131,000529: 36,3643           05327                           TC       2PHSCHNG                              
033132,000530: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033133,000531: 36,3645           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
033134,000532: 
033135,000533: 36,3646           06037        ENDSTEER           TC       INTPRET                               
033136,000534: 36,3647           77745                           DLOAD                                          
033137,000535: 36,3650           03765                                    TIGSAVEP                              
033138,000536: 36,3651           27763                           STOVL    TIGSAVE                               
033139,000537: 36,3652           01221                                    RN                                    
033140,000538: 36,3653           26323                           STOVL    RINIT                                 
033141,000539: 36,3654           01227                                    VN                                    
033142,000540: 36,3655           02331                           STORE    VINIT                                 
033143,000541: 36,3656           45345        GETRANS            DLOAD    DSU                                   
033144,000542: 36,3657           03631                                    TPASS4                                
033145,000543: 36,3660           01235                                    PIPTIME                               
033146,000544: 36,3661           37452                           STCALL   DELLT4                                
033147,000545: 36,3662           03665                                    QTEMP1                                
033148,000546: 

Page 762

033150,000548: 36,3663           06037        NO.9               TC       INTPRET                               
033151,000549: 36,3664           77650                           GOTO                                           
033152,000550: 36,3665           03665                                    QTEMP1                                
033153,000551: 36,3666           06037        STEERING           TC       INTPRET                               
033154,000552: 
033155,000553: 36,3667           77624                           CALL                                           
033156,000554: 36,3670           75611                                    UPDATEVG                              
033157,000555: 36,3671           77776                           EXIT                                           
033158,000556: 
033159,000557: 36,3672  E7,1515                                  EBANK=   DVCNTR                                
033160,000558: 36,3672           00004        NSTEER             INHINT                                         
033161,000559: 36,3673           35016                           CA       EBANK7                                
033162,000560: 36,3674           54003                           TS       EBANK                                 
033163,000561: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033164,000562: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033165,000563: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033166,000564: 
033167,000565: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0   EXIT
033168,000566: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
033169,000567: 36,3702           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
033170,000568: 36,3703           10000                           CCS      A                                     
033171,000569: 36,3704           13707                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033172,000570: 36,3705           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033173,000571: 36,3706           65770                           CADR     SERVEXIT                              
033174,000572: 
033175,000573: 36,3707           04674                           TC       IBNKCALL                              
033176,000574: 36,3710           40165                           CADR     STOPRATE                              
033177,000575: 
033178,000576: 36,3711           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033179,000577: 36,3712           00044                           ADRES    IMPULSW                               
033180,000578: 
033181,000579: 36,3713           05504                           TC       UPFLAG                                
033182,000580: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033183,000581: 
033184,000582: 36,3715           00004                           INHINT                                         
033185,000583: 36,3716           00006                           EXTEND                                         
033186,000584: 36,3717           31442                           DCA      TIG                                   
033187,000585: 36,3720           52155                           DXCH     MPAC                                  
033188,000586: 36,3721           00006                           EXTEND                                         
033189,000587: 36,3722           40025                           DCS      TIME2                                 
033190,000588: 36,3723           20155                           DAS      MPAC                                  
033191,000589: 36,3724           07257                           TC       TPAGREE                               
033192,000590: 36,3725           30155                           CAE      MPAC       +1                         
033193,000591: 36,3726           03735                           TC       GETDT                                 
033194,000592: 36,3727           05173                           TC       TWIDDLE                               
033195,000593: 36,3730           03542                           ADRES    ENGOFTSK                              
033196,000594: 36,3731           05327                           TC       2PHSCHNG                              
033197,000595: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033198,000596: 36,3733           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 763

033200,000598: 36,3734           15155                           TCF      ENDOFJOB                              
033201,000599: 
033202,000600: 36,3735           10000        GETDT              CCS      A                                     
033203,000601: 36,3736           13741                           TCF      +3                                    
033204,000602: 36,3737           13741                           TCF      +2                                    
033205,000603: 36,3740           34755                           CAF      ZERO                                  
033206,000604: 36,3741           64753                           AD       ONE                                   
033207,000605: 36,3742           56001                           XCH      L                                     
033208,000606: 36,3743           34755                           CAF      ZERO                                  
033209,000607: 36,3744           53517                           DXCH     TGO                                   
033210,000608: 36,3745           31517                           CA       TGO        +1                         
033211,000609: 36,3746           00002                           TC       Q                                     
033212,000610: 
033213,000611:                                                                                                  #  ************************************************************************
033214,000612: 
033215,000613: 36,3747           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
033216,000614: 36,3750           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
033217,000615: 36,3751           00000 05670  SEC30DP            2DEC     3000       B-28                       
033218,000616: 
033219,000617: 36,3753           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
033220,000618: 36,3754           10624        SEC45              DEC      4500       B-14                       
033221,000619: 36,3755           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033222,000620: 36,3756           00764        5SEC               DEC      500        B-14                       
033223,000621: 36,3757           05050        26SECS             DEC      2600       B-14                       
033224,000622: 36,3760           04050        V16N40             VN       1640                                  
033225,000623: 36,3761           04125        V16N85B            VN       1685                                  
033226,000624: 36,3762           04123        V1683              VN       1683                                  
033227,000625: 36,3763     4777               SEC01              =        1SEC                                  
033228,000626: 36,3763  36,2055               ACADN85            =        P41TABLE   +2                         
033229,000627: 
033230,000628: 36,3763  E7,1622                                  EBANK=   DELVIMU                               
033231,000629: 36,3763           03462 74067  ACADN83            2CADR    CALCN83                               
033232,000630: 
033233,000631:                                                                                                  #  *************************************************

Page 764

033235,000633:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
033236,000634:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
033237,000635:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033238,000636: 
033239,000637:                                                                                                  #  FUNCTIONAL DESCRIPTION
033240,000638:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033241,000639:                                                                                                  #        VECTOR(VGTIG).
033242,000640: 
033243,000641:                                                                                                  #  CALLING SEQUENCE
033244,000642:                                                                                                  #        L       CALL
033245,000643:                                                                                                  #        L+1             S40.1
033246,000644: 
033247,000645:                                                                                                  #  NORMAL EXIT MODE
033248,000646:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033249,000647:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
033250,000648: 
033251,000649:                                                                                                  #  SUBROUTINES CALLED
033252,000650:                                                                                                  #        LEMPREC
033253,000651:                                                                                                  #        INITVEL
033254,000652:                                                                                                  #        CALCGRAV
033255,000653:                                                                                                  #        MIDGIM
033256,000654: 
033257,000655:                                                                                                  #  ALARM OR ABORT EXIT MODES
033258,000656:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033259,000657: 
033260,000658:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033261,000659:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
033262,000660:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
033263,000661:                                                                                                  #        F               THRUST FOR ENGINE USED
033264,000662:                                                                                                  #    IF DELTA-V MANEUVER
033265,000663:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
033266,000664:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
033267,000665:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
033268,000666:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
033269,000667:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
033270,000668:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
033271,000669:                                                                                                  #    IF AIMPT STEER
033272,000670:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
033273,000671:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
033274,000672:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
033275,000673:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
033276,000674: 
033277,000675:                                                                                                  #  OUTPUT
033278,000676:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
033279,000677:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
033280,000678:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
033281,000679:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
033282,000680:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033283,000681:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
033284,000682:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
033285,000683:                                                                                                  #                        POSITION AT TIME OF IGNITION
033286,000684: 
033287,000685:                                                                                                  #  DEBRIS        QTEMP1
033288,000686:                                                                                                  #                MPAC, QPRET
033289,000687:                                                                                                  #                PUSHLIST
033290,000688: 
033291,000689: 14,2347                                           BANK     14                                    
033292,000690: 27,2000                                           SETLOC   P40S1                                 
033293,000691: 27,2000                                           BANK                                           

Page 765

033295,000693: 27,2246                                           COUNT*   $$/S40.1                              
033296,000694: 27,2246           71220        S40.1              STQ      DLOAD                                 
033297,000695: 27,2247           03632                                    QTEMP                                 
033298,000696: 27,2250           03442                                    TIG                                   
033299,000697: 27,2251           03763                           STORE    TIGSAVE                               
033300,000698: 27,2252           77614        DELVTEST           BOFF                                           
033301,000699: 27,2253           01347                                    XDELVFLG                              
033302,000700: 27,2254           56336                                    S40.1B                                
033303,000701: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
033304,000702: 27,2256           00001                                    0                                     
033305,000703: 27,2257           03650                                    VTIG                                  
033306,000704: 27,2260           02331                           STORE    VINIT                                 
033307,000705: 27,2261           53435                           VXV      UNIT                                  
033308,000706: 27,2262           03642                                    RTIG                                  
033309,000707: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
033310,000708: 27,2264           03642                                    RTIG                                  
033311,000709: 27,2265           02323                           STORE    RINIT                                 
033312,000710: 27,2266           65236                           VSQ      PDDL                                  
033313,000711: 27,2267           00045                                    36D                                   
033314,000712: 27,2270           56205                           DMP      DDV                                   
033315,000713: 27,2271           16412                                    THETACON                              
033316,000714: 27,2272           41205                           DMP      DMP                                   
033317,000715: 27,2273           03664                                    DELVSAB                               
033318,000716: 27,2274           01245                                    WEIGHT/G                              
033319,000717: 27,2275           77671                           DDV                                            
033320,000718: 27,2276           03735                                    F                                     
033321,000719: 27,2277           24017                           STOVL    14D                                   
033322,000720: 27,2300           03656                                    DELVSIN                               
033323,000721: 
033324,000722: 27,2301           74241                           DOT      VXSC                                  
033325,000723: 27,2302           03673                                    UT                                    
033326,000724: 27,2303           03673                                    UT                                    
033327,000725: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033328,000726: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
033329,000727: 27,2306           03656                                    DELVSIN                               
033330,000728: 27,2307           00017                                    14D                                   
033331,000729: 27,2310           63356                           SIN      PDVL                                  
033332,000730: 27,2311           00007                                    6D                                    
033333,000731: 27,2312           53435                           VXV      UNIT                                  
033334,000732: 27,2313           03673                                    UT                                    
033335,000733: 27,2314           45561                           VXSC     STADR                                 
033336,000734: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033337,000735: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
033338,000736: 27,2317           00017                                    14D                                   
033339,000737: 27,2320           74346                           COS      VXSC                                  
033340,000738: 27,2321           74255                           VAD      VXSC                                  
033341,000739: 27,2322           03701                                    VGTIG                                 
033342,000740: 27,2323           00045                                    36D                                   
033343,000741: 27,2324           53352                           VSL2     VAD                                   
033344,000742: 27,2325           77626                           STADR                                          

Page 766

033346,000744: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
033347,000745: 
033348,000746: 27,2327           77656                           UNIT                                           
033349,000747: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
033350,000748: 27,2331           03701                                    VGTIG                                 
033351,000749: 27,2332           45006                           PUSH     CALL                                  
033352,000750: 27,2333           15733                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033353,000751: 27,2334           77650                           GOTO                                           
033354,000752: 27,2335           03632                                    QTEMP                                 
033355,000753: 27,2336           77745        S40.1B             DLOAD                                          
033356,000754: 27,2337           03442                                    TIG                                   
033357,000755: 27,2340           00041                           STORE    TDEC1                                 
033358,000756: 27,2341           77621                           BDSU                                           
033359,000757: 27,2342           03631                                    TPASS4                                
033360,000758: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
033361,000759: 27,2344           27057                                    LEMPREC                               
033362,000760: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
033363,000761: 27,2346           00001                                    RATT                                  
033364,000762: 27,2347           00001                                    0                                     
033365,000763: 27,2350           03642                           STORE    RTIG                                  
033366,000764: 27,2351           02323                           STORE    RINIT                                 
033367,000765: 27,2352           77656                           UNIT                                           
033368,000766: 27,2353           27537                           STOVL    UNIT/R/                               
033369,000767: 27,2354           00007                                    VATT                                  
033370,000768: 27,2355           03650                           STORE    VTIG                                  
033371,000769: 27,2356           02331                           STORE    VINIT                                 
033372,000770: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
033373,000771: 27,2360           06522                                    ZEROVECS                              
033374,000772: 27,2361           16406                                    EPS1                                  
033375,000773: 27,2362           43214                           BOFF     DAD                                   
033376,000774: 27,2363           03745                                    NORMSW                                
033377,000775: 27,2364           56366                                    SMALLEPS                              
033378,000776: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
033379,000777: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
033380,000778: 27,2367           02776                                    RTX1                                  
033381,000779: 27,2370           45134                           SXA,2    CALL                                  
033382,000780: 27,2371           02777                                    RTX2                                  
033383,000781: 27,2372           22000                                    INITVEL                               
033384,000782: 27,2373           41575                           VLOAD    PUSH                                  
033385,000783: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
033386,000784: 27,2375           03701                           STORE    VGTIG                                 
033387,000785: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
033388,000786: 27,2377           17673                           STODL    UT                                    
033389,000787: 27,2400           00045                                    36D                                   
033390,000788: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
033391,000789: 27,2402           15733                                    GET.LVC                               #  VERTICAL COORDINATES.
033392,000790: 27,2403           77650                           GOTO                                           
033393,000791: 27,2404           03632                                    QTEMP                                 
033394,000792: 
033395,000793: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
033396,000794: 

Page 767

033398,000796: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
033399,000797: 
033400,000798: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
033401,000799: 

Page 768

033403,000801:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
033404,000802:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033405,000803:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
033406,000804:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
033407,000805:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033408,000806: 
033409,000807:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033410,000808:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033411,000809:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033412,000810:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
033413,000811:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033414,000812: 
033415,000813:                                                                                                  #  CALLING SEQUENCE:
033416,000814:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
033417,000815:                                                                                                  #        L +1            S40.2,3
033418,000816:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
033419,000817: 
033420,000818:                                                                                                  #  SUBROUTINES CALLED:  NONE.
033421,000819: 
033422,000820:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
033423,000821: 
033424,000822:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033425,000823: 
033426,000824:                                                                                                  #  INPUT:
033427,000825:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033428,000826:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
033429,000827:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
033430,000828: 
033431,000829:                                                                                                  #  OUTPUT:
033432,000830:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
033433,000831:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
033434,000832:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
033435,000833:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033436,000834:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033437,000835:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033438,000836: 
033439,000837:                                                                                                  #  DEBRIS:  NONE.

Page 769

033441,000839: 
033442,000840: 27,2413                                           COUNT*   $$/S40.2                              
033443,000841: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
033444,000842: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
033445,000843: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
033446,000844: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
033447,000845: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033448,000846: 27,2420           06520                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
033449,000847: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033450,000848: 
033451,000849: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033452,000850: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
033453,000851: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
033454,000852: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
033455,000853: 27,2426           46125                           PDDL     BHIZ                                  
033456,000854: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
033457,000855: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
033458,000856: 27,2431           45575        STORY              VLOAD    STADR                                 
033459,000857: 27,2432           74162                           STORE    YSCREF                                
033460,000858: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
033461,000859: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033462,000860: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
033463,000861: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
033464,000862: 
033465,000863: 27,2437           43414                           SET      RVQ                                   
033466,000864: 27,2440           01073                                    PFRATFLG                              
033467,000865: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
033468,000866: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
033469,000867: 27,2443           03650                                    VTIG                                  
033470,000868: 27,2444           41456                           UNIT     PUSH                                  
033471,000869: 27,2445           77650                           GOTO                                           
033472,000870: 27,2446           56431                                    STORY                                 

Page 770

033474,000872:                                                                                                  #  SUBROUTINE S40.8
033475,000873:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
033476,000874: 
033477,000875:                                                                                                  #  DESCRIPTION
033478,000876:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033479,000877:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033480,000878:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
033481,000879: 
033482,000880:                                                                                                  #  CALLING SEQUENCE
033483,000881:                                                                                                  #        L-1     CALL
033484,000882:                                                                                                  #        L               S40.8
033485,000883:                                                                                                  #        L+1                     INTERPRETIVE RETURN
033486,000884: 
033487,000885:                                                                                                  #  ALARM
033488,000886:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033489,000887:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
033490,000888: 
033491,000889:                                                                                                  #  INPUT AND INITIALIZATION
033492,000890:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
033493,000891:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
033494,000892:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
033495,000893:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
033496,000894:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033497,000895:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033498,000896:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033499,000897: 
033500,000898:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
033501,000899: 
033502,000900:                                                                                                  #  OUTPUT
033503,000901:                                                                                                  #        STEERSW         SEE INPUT
033504,000902:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033505,000903:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
033506,000904:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
033507,000905: 
033508,000906:                                                                                                  #  SUBROUTINE CALLED
033509,000907:                                                                                                  #        FINDCDUW
033510,000908: 
033511,000909:                                                                                                  #  DEBRIS
033512,000910:                                                                                                  #        MPACS, PUSHLIST
033513,000911: 
033514,000912: 27,2447                                           COUNT*   $$/S40.8                              

Page 771

033516,000914: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033517,000915: 27,2450           01347                                    XDELVFLG                              
033518,000916: 27,2451           56731                                    RASTEER1                              
033519,000917: 27,2452           52375                           VLOAD    VSU                                   
033520,000918: 27,2453           03701                                    VGPREV                                
033521,000919: 27,2454           03527                                    DELVREF                               
033522,000920: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
033523,000921: 27,2456           76521                           MXV      VSL1                                  
033524,000922: 27,2457           01734                                    REFSMMAT                              
033525,000923: 27,2460           03254                           STORE    UNFC/2                                
033526,000924: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
033527,000925: 27,2462           03707                                    VG                                    
033528,000926: 27,2463           03664                           STORE    VGDISP                                
033529,000927: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
033530,000928: 27,2465           00001                                    0                                     
033531,000929: 27,2466           03707                                    VG                                    
033532,000930: 27,2467           27701                           STOVL    VGPREV                                
033533,000931: 27,2470           03527                                    DELVREF                               
033534,000932: 27,2471           57414                           BOFF     VCOMP                                 
033535,000933: 27,2472           01344                                    STEERSW                               
033536,000934: 27,2473           00052                                    QPRET                                 
033537,000935: 27,2474           77656                           UNIT                                           
033538,000936: 27,2475           41441                           DOT      PUSH                                  
033539,000937: 27,2476           03707                                    VG                                    
033540,000938: 27,2477           56244                           BPL      DDV                                   
033541,000939: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
033542,000940: 27,2501           03743                                    VEX                                   
033543,000941: 27,2502           41215                           DAD      DMP                                   
033544,000942: 27,2503           06520                                    DPHALF                                
033545,000943: 27,2504           56261                           SR       DDV                                   
033546,000944: 27,2505           20613                                    10D                                   
033547,000945: 27,2506           00045                                    36D                                   
033548,000946: 27,2507           43205                           DMP      DAD                                   
033549,000947: 27,2510           16535                                    -FOURDT                               
033550,000948: 27,2511           03741                                    TDECAY                                
033551,000949: 27,2512           03517                           STORE    TGO                                   
033552,000950: 27,2513           77615                           DAD                                            
033553,000951: 27,2514           01235                                    PIPTIME                               
033554,000952: 27,2515           17442                           STODL    TIG                                   
033555,000953: 27,2516           03517                                    TGO                                   
033556,000954: 27,2517           51025                           DSU      BPL                                   
033557,000955: 27,2520           16537                                    FOURSECS                              #  400 CS
033558,000956: 27,2521           61111                                    FINDCDUW   -2                         
033559,000957: 27,2522           43014                           SET      CLRGO                                 
033560,000958: 27,2523           01066                                    IMPULSW                               
033561,000959: 27,2524           01224                                    STEERSW                               
033562,000960: 27,2525           00052                                    QPRET                                 
033563,000961: 
033564,000962: 27,2526           77776        ALARMIT            EXIT                                           
033565,000963: 

Page 772

033567,000965: 27,2527           05567                           TC       ALARM                                 
033568,000966: 27,2530           01407                           OCT      01407                                 
033569,000967: 27,2531           06037                           TC       INTPRET                               
033570,000968: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033571,000969: 27,2533           61111                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
033572,000970: 
033573,000971: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
033574,000972: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
033575,000973: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
033576,000974: 

Page 773

033578,000976:                                                                                                  #  NAME                  S40.13 - TIMEBURN
033579,000977: 
033580,000978:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033581,000979:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033582,000980:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033583,000981:                                                                                                  #                        BURN
033584,000982:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033585,000983:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033586,000984:                                                                                                  #                        SIGNAL
033587,000985: 
033588,000986:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
033589,000987: 
033590,000988:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033591,000989:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033592,000990:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
033593,000991:                                                                                                  #                                AND ALSO FOR RCS ENGINE
033594,000992:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033595,000993:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
033596,000994:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
033597,000995:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033598,000996:                                                                                                  #                                =0      DPS
033599,000997:                                                                                                  #                                =1      APS
033600,000998: 
033601,000999:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
033602,001000:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
033603,001001:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
033604,001002:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
033605,001003:                                                                                                  #                        TGO             TIME TO BURN IN CS
033606,001004: 
033607,001005:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033608,001006:                                                                                                  #                        FORCE
033609,001007: 
033610,001008: 27,2540  E7,1516                                  EBANK=   TGO                                   
033611,001009: 27,2540                                           COUNT*   $$/40.13                              
033612,001010: 27,2540           06037        S40.13             TC       INTPRET                               
033613,001011: 27,2541           43001                           SETPD    CLEAR                                 
033614,001012: 27,2542           00001                                    00D                                   
033615,001013: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
033616,001014: 27,2544           51575                           VLOAD    ABVAL                                 
033617,001015: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
033618,001016: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
033619,001017: 27,2547           21021                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
033620,001018: 27,2550           34017                                    FRCS2                                 
033621,001019: 27,2551           72471                           DDV      SL1                                   #  SCALE
033622,001020: 27,2552           01245                                    WEIGHT/G                              
033623,001021: 27,2553           41421                           BDSU     PUSH                                  
033624,001022: 27,2554           43014                           BOFF     SET                                   
033625,001023: 27,2555           05342                                    APSFLAG                               
033626,001024: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
033627,001025: 27,2557           02463                                    NOTHROTL                              
033628,001026: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033629,001027: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
033630,001028: 27,2562           01245                                    WEIGHT/G                              
033631,001029: 27,2563           50021                           BDSU     BMN                                   

Page 774

033633,001031: 27,2564           00001                                    00D                                   
033634,001032: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
033635,001033: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033636,001034: 27,2567           03737                                    MDOT                                  
033637,001035: 
033638,001036:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033639,001037:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
033640,001038:                                                                                                  #  REQUIRE ADJUSTMENT
033641,001039: 
033642,001040: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
033643,001041: 27,2571           65221                           BDSU     PDDL                                  
033644,001042: 27,2572           01245                                    WEIGHT/G                              
033645,001043: 27,2573           03735                                    F                                     
033646,001044: 27,2574           60405                           DMP      SR2                                   #  SCALE
033647,001045: 27,2575           16702                                    5SECS                                 
033648,001046: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
033649,001047: 27,2577           51021                           BDSU     BPL                                   
033650,001048: 27,2600           00003                                    02D                                   
033651,001049: 27,2601           56626                                    S40.13D                               
033652,001050: 27,2602           55345                           DLOAD    BDDV                                  
033653,001051: 27,2603           43205                           DMP      DAD                                   
033654,001052: 27,2604           16702                                    5SECS                                 
033655,001053: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
033656,001054: 27,2606           77650                           GOTO                                           
033657,001055: 27,2607           56616                                    S40.132                               
033658,001056: 27,2610           41345        S40.131            DLOAD    DMP                                   
033659,001057: 27,2611           01245                                    WEIGHT/G                              
033660,001058: 27,2612           41542                           SR1      PUSH                                  
033661,001059: 27,2613           56215                           DAD      DDV                                   
033662,001060: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
033663,001061: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
033664,001062: 27,2616           77414        S40.132            SET      EXIT                                  
033665,001063: 27,2617           01066                                    IMPULSW                               
033666,001064: 27,2620           07257        S40.132*           TC       TPAGREE                               
033667,001065: 27,2621           30154                           CA       MPAC                                  
033668,001066: 27,2622           56001                           XCH      L                                     
033669,001067: 27,2623           34755                           CA       ZERO                                  
033670,001068: 27,2624           53517                           DXCH     TGO                                   
033671,001069: 27,2625           12650                           TCF      S40.134                               
033672,001070: 
033673,001071: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033674,001072: 27,2627           00001                                    00D                                   
033675,001073: 27,2630           01245                                    WEIGHT/G                              
033676,001074: 27,2631           43006                           PUSH     BON                                   
033677,001075: 27,2632           05302                                    APSFLAG                               
033678,001076: 27,2633           56671                                    APSTGO                                
033679,001077: 27,2634           43071                           DDV      CLEAR                                 
033680,001078: 27,2635           16007                                    S40.136                               
033681,001079: 27,2636           02663                                    NOTHROTL                              
033682,001080: 27,2637           41400                           BOV      PUSH                                  

Page 775

033684,001082: 27,2640           56653                                    S40.130V                              
033685,001083: 27,2641           51025        S40.137            DSU      BPL                                   
033686,001084: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
033687,001085: 27,2643           56661                                    S40.138                               
033688,001086: 27,2644           52015                           DAD      GOTO                                  
033689,001087: 27,2645           16704                                    6SEC                                  
033690,001088: 27,2646           56616                                    S40.132                               
033691,001089: 27,2647           77776        S40.133            EXIT                                           
033692,001090: 27,2650           05353        S40.134            TC       PHASCHNG                              
033693,001091: 27,2651           00003                           OCT      00003                                 
033694,001092: 27,2652           05155                           TC       ENDOFJOB                              
033695,001093: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033696,001094: 27,2654           77671                           DDV                                            
033697,001095: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033698,001096: 27,2656           03517                           STORE    TGO                                   
033699,001097: 27,2657           77776                           EXIT                                           
033700,001098: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033701,001099: 
033702,001100: 27,2661           51025        S40.138            DSU      BPL                                   
033703,001101: 27,2662           16706                                    89SECS                                
033704,001102: 27,2663           56666                                    STORETGO                              
033705,001103: 27,2664           77614                           SET                                            
033706,001104: 27,2665           02463                                    NOTHROTL                              
033707,001105: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033708,001106: 27,2667           77776                           EXIT                                           
033709,001107: 27,2670           12620                           TCF      S40.132*                              
033710,001108: 
033711,001109: 27,2671           62471        APSTGO             DDV      SL2                                   
033712,001110: 27,2672           34007                                    FAPS                                  
033713,001111: 27,2673           77650                           GOTO                                           
033714,001112: 27,2674           56667                                    STORETGO   +1                         
033715,001113: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033716,001114: 
033717,001115: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033718,001116: 
033719,001117: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033720,001118: 
033721,001119: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033722,001120: 
033723,001121: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
033724,001122: 
033725,001123:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033726,001124:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033727,001125:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
033728,001126:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033729,001127:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033730,001128:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033731,001129: 
033732,001130:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
033733,001131: 
033734,001132:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033735,001133:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 776

033737,001135:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033738,001136:                                                                                                  #                                  METERS/CS AT +7.
033739,001137:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
033740,001138:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033741,001139:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
033742,001140:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033743,001141:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033744,001142:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033745,001143:                                                                                                  #                                  METERS/CS AT +7.
033746,001144: 
033747,001145:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033748,001146:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
033749,001147:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033750,001148:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
033751,001149: 
033752,001150:                                                                                                  #  SUBROUTINES USED - INITVEL
033753,001151: 
033754,001152: 27,2707  E7,1700                                  EBANK=   VGPREV                                
033755,001153: 27,2707                                           COUNT*   $$/S40.9                              
033756,001154: 27,2707           06037        S40.9              TC       INTPRET                               
033757,001155: 27,2710           77601                           SETPD                                          
033758,001156: 27,2711           00001                                    00D                                   
033759,001157: 27,2712           71214                           SET      DLOAD                                 
033760,001158: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033761,001159: 27,2714           06522                                    HI6ZEROS                              
033762,001160: 27,2715           77725                           PDDL                                           
033763,001161: 27,2716           16406                                    EPS1                                  
033764,001162: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033765,001163: 27,2720           03745                                    NORMSW                                
033766,001164: 27,2721           56723                                    EPSSMALL                              
033767,001165: 27,2722           16410                                    EPS2                                  
033768,001166: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
033769,001167: 27,2724           22002                                    HAVEGUES                              
033770,001168: 27,2725           77776        ENDS40.9           EXIT                                           
033771,001169: 27,2726           05353                           TC       PHASCHNG                              
033772,001170: 27,2727           00002                           OCT      2                                     
033773,001171: 27,2730           15155                           TCF      ENDOFJOB                              
033774,001172: 
033775,001173: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
033776,001174: 27,2732           01221                                    RN                                    
033777,001175: 27,2733           53744                           LXC,2    SL*                                   
033778,001176: 27,2734           02777                                    RTX2                                  
033779,001177: 27,2735           57576                                    0,2                                   
033780,001178: 27,2736           27715                           STOVL    RMAG                                  
033781,001179: 27,2737           03444                                    RTARG                                 
033782,001180: 27,2740           47051                           VSU      RTB                                   
033783,001181: 27,2741           01221                                    RN                                    
033784,001182: 27,2742           21724                                    NORMUNX1                              
033785,001183: 27,2743           17656                           STODL    IC                                    
033786,001184: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
033787,001185: 27,2745           53674                           XAD,2    SL*                                   
033788,001186: 27,2746           00046                                    X1                                    

Page 777

033790,001188: 27,2747           57576                                    0,2                                   
033791,001189: 27,2750           00037                           STORE    30D                                   
033792,001190: 27,2751           41301                           NORM     DMP                                   
033793,001191: 27,2752           00050                                    X2                                    
033794,001192: 27,2753           03715                                    RMAG                                  
033795,001193: 27,2754           57101                           NORM     XAD,2                                 
033796,001194: 27,2755           00047                                    X1                                    
033797,001195: 27,2756           00046                                    X1                                    
033798,001196: 27,2757           77734                           SXA,2                                          
033799,001197: 27,2760           03766                                    MUSCALE                               
033800,001198: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
033801,001199: 27,2762           00037                                    30D                                   
033802,001200: 27,2763           65342                           SR1      PDDL                                  
033803,001201: 27,2764           03715                                    RMAG                                  
033804,001202: 27,2765           65342                           SR1      PDDL                                  
033805,001203: 27,2766           03723                                    RTMAG                                 
033806,001204: 27,2767           43342                           SR1      DAD                                   
033807,001205: 27,2770           45415                           DAD      STADR                                 
033808,001206: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
033809,001207: 27,2772           41225                           DSU      DMP                                   
033810,001208: 27,2773           00037                                    30D                                   
033811,001209: 27,2774           03721                                    MU/A                                  
033812,001210: 27,2775           77621                           BDSU                                           
033813,001211: 27,2776           03717                                    MUASTEER                              
033814,001212: 27,2777           45325                           PDDL     DSU                                   
033815,001213: 27,3000           03733                                    SS                                    
033816,001214: 27,3001           03715                                    RMAG                                  
033817,001215: 27,3002           70501                           NORM     SR1                                   
033818,001216: 27,3003           00047                                    X1                                    
033819,001217: 27,3004           41271                           DDV      DMP                                   
033820,001218: 27,3005           03725                                    R1C                                   
033821,001219: 27,3006           53664                           XSU,2    SL*                                   
033822,001220: 27,3007           00046                                    X1                                    
033823,001221: 27,3010           57575                                    1,2                                   
033824,001222: 27,3011           77754                           LXA,2                                          
033825,001223: 27,3012           03766                                    MUSCALE                               
033826,001224: 27,3013           75366                           SQRT     SIGN                                  
033827,001225: 27,3014           02673                                    GEOMSGN                               
033828,001226: 27,3015           00041                           STORE    32D                                   #  + OR - A
033829,001227: 27,3016           41345                           DLOAD    DMP                                   
033830,001228: 27,3017           03733                                    SS                                    
033831,001229: 27,3020           03721                                    MU/A                                  
033832,001230: 27,3021           77621                           BDSU                                           
033833,001231: 27,3022           03717                                    MUASTEER                              
033834,001232: 27,3023           45325                           PDDL     DSU                                   
033835,001233: 27,3024           03733                                    SS                                    
033836,001234: 27,3025           03723                                    RTMAG                                 
033837,001235: 27,3026           70501                           NORM     SR1                                   
033838,001236: 27,3027           00047                                    X1                                    
033839,001237: 27,3030           41271                           DDV      DMP                                   
033840,001238: 

Page 778

033842,001240: 27,3031           03725                                    R1C                                   
033843,001241: 27,3032           53664                           XSU,2    SL*                                   
033844,001242: 27,3033           00046                                    X1                                    
033845,001243: 27,3034           57575                                    1,2                                   
033846,001244: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033847,001245: 27,3036           03733                                    SS                                    
033848,001246: 27,3037           56225                           DSU      DDV                                   
033849,001247: 27,3040           00037                                    30D                                   
033850,001248: 27,3041           03733                                    SS                                    
033851,001249: 27,3042           41566                           SQRT     PUSH                                  
033852,001250: 27,3043           67542                           SR1      ASIN                                  
033853,001251: 27,3044           65205                           DMP      PDDL                                  
033854,001252: 27,3045           17216                                    2PI+3                                 
033855,001253: 27,3046           56325                           PDDL     DDV                                   
033856,001254: 27,3047           00037                                    30D                                   
033857,001255: 27,3050           03733                                    SS                                    
033858,001256: 27,3051           77600                           BOV                                            
033859,001257: 27,3052           57053                                    +1                                    
033860,001258: 27,3053           41366                           SQRT     DMP                                   
033861,001259: 27,3054           44242                           SR3      BDSU                                  
033862,001260: 27,3055           65365                           SIGN     PDDL                                  
033863,001261: 27,3056           02673                                    GEOMSGN                               
033864,001262: 27,3057           17216                                    2PI+3                                 
033865,001263: 27,3060           45302                           SR2      DSU                                   
033866,001264: 27,3061           65205                           DMP      PDDL                                  
033867,001265: 27,3062           03733                                    SS                                    
033868,001266: 27,3063           03733                                    SS                                    
033869,001267: 27,3064           75442                           SR3      SQRT                                  
033870,001268: 27,3065           77605                           DMP                                            
033871,001269: 27,3066           52525                           PDDL     SL3                                   
033872,001270: 27,3067           03717                                    MUASTEER                              
033873,001271: 27,3070           55366                           SQRT     BDDV                                  
033874,001272: 27,3071           43225                           DSU      DAD                                   
033875,001273: 27,3072           03631                                    TPASS4                                
033876,001274: 27,3073           01235                                    PIPTIME                               
033877,001275: 27,3074           14037                           STODL    30D                                   
033878,001276: 27,3075           77765                           SIGN                                           
033879,001277: 27,3076           00037                                    30D                                   #  B WITH SIGN
033880,001278: 27,3077           00037                           STORE    30D                                   
033881,001279: 27,3100           77214                           BON      VLOAD                                 
033882,001280: 27,3101           03705                                    NORMSW                                
033883,001281: 27,3102           57123                                    180MESS                               
033884,001282: 27,3103           03656                                    IC                                    
033885,001283: 27,3104           53451                           VSU      UNIT                                  
033886,001284: 27,3105           03537                                    UNIT/R/                               
033887,001285: 27,3106           63361                           VXSC     PDVL                                  
033888,001286: 27,3107           00037                                    30D                                   
033889,001287: 27,3110           03656                                    IC                                    
033890,001288: 27,3111           53455                           VAD      UNIT                                  
033891,001289: 27,3112           03537                                    UNIT/R/                               

Page 779

033893,001291: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033894,001292: 27,3114           00041                                    32D                                   
033895,001293: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033896,001294: 27,3116           02777                                    RTX2                                  
033897,001295: 27,3117           57177                                    0          -1,2                       
033898,001296: 27,3120           02337                           STORE    VIPRIME                               
033899,001297: 27,3121           77650                           GOTO                                           
033900,001298: 27,3122           57166                                    ASTREND    -2                         
033901,001299: 27,3123           50375        180MESS            VLOAD    DOT                                   
033902,001300: 27,3124           03656                                    IC                                    
033903,001301: 27,3125           03537                                    UNIT/R/                               
033904,001302: 27,3126           77240                           BMN      VLOAD                                 
033905,001303: 27,3127           57146                                    NEGPROD                               
033906,001304: 27,3130           03656                                    IC                                    
033907,001305: 27,3131           63362                           VSR1     PDVL                                  
033908,001306: 27,3132           03537                                    UNIT/R/                               
033909,001307: 27,3133           53362                           VSR1     VAD                                   
033910,001308: 27,3134           77656                           UNIT                                           
033911,001309: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033912,001310: 27,3136           75235                           VXV      SIGN                                  
033913,001311: 27,3137           02674                                    UN                                    
033914,001312: 27,3140           02673                                    GEOMSGN                               
033915,001313: 27,3141           74256                           UNIT     VXSC                                  
033916,001314: 27,3142           00037                                    30D                                   
033917,001315: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033918,001316: 27,3144           77650                           GOTO                                           
033919,001317: 27,3145           57113                                    GETVRVG1                              
033920,001318: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033921,001319: 27,3147           03537                                    UNIT/R/                               
033922,001320: 27,3150           74515                           PDVL     VSR1                                  
033923,001321: 27,3151           03656                                    IC                                    
033924,001322: 27,3152           53451                           VSU      UNIT                                  
033925,001323: 27,3153           77606                           PUSH                                           
033926,001324: 27,3154           75235                           VXV      SIGN                                  
033927,001325: 27,3155           02674                                    UN                                    #  FOR B
033928,001326: 27,3156           02673                                    GEOMSGN                               
033929,001327: 27,3157           74256                           UNIT     VXSC                                  
033930,001328: 27,3160           00041                                    32D                                   
033931,001329: 27,3161           77715                           PDVL                                           
033932,001330: 27,3162           53361                           VXSC     VAD                                   
033933,001331: 27,3163           00037                                    30D                                   
033934,001332: 27,3164           77650                           GOTO                                           
033935,001333: 27,3165           57115                                    GETVRVG2                              
033936,001334: 27,3166           77651                           VSU                                            
033937,001335: 27,3167           03553                                    VN1                                   
033938,001336: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033939,001337: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033940,001338: 27,3172           03000                                    RTX2                                  
033941,001339: 27,3173           57177                                    GETGOBL                               
033942,001340: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 780

033944,001342: 27,3175           02366                                    DELVEET3                              
033945,001343: 27,3176           57212                                    NOGOBL                                
033946,001344: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033947,001345: 27,3200           01221                                    RN                                    
033948,001346: 27,3201           45345                           DLOAD    DSU                                   
033949,001347: 27,3202           01235                                    PIPTIME                               #               2
033950,001348: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033951,001349: 27,3204           56205                           DMP      DDV                                   #   OBL
033952,001350: 27,3205           16023                                    EARTHMU                               
033953,001351: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033954,001352: 27,3207           53361                           VXSC     VAD                                   
033955,001353: 27,3210           03521                                    UNITGOBL                              
033956,001354: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033957,001355: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033958,001356: 27,3213           77650                           GOTO                                           
033959,001357: 27,3214           56455                                    VGAIN*                                
033960,001358: 
033961,001359: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033962,001360: 

Page 781

033964,001362:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033965,001363:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033966,001364: 
033967,001365:                                                                                                  #  FUNCTION:
033968,001366:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033969,001367:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033970,001368:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033971,001369: 
033972,001370:                                                                                                  #  CALLING SEQUENCE:
033973,001371:                                                                                                  #        VIA WAITLIST FROM R03
033974,001372: 
033975,001373:                                                                                                  #  INPUT:
033976,001374:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033977,001375:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033978,001376: 
033979,001377:                                                                                                  #  SUBROUTINES USED:
033980,001378:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033981,001379: 
033982,001380: 27,3217                                           COUNT*   $$/S40.6                              
033983,001381: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033984,001382: 
033985,001383: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033986,001384: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033987,001385: 
033988,001386: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033989,001387: 27,3222           00006                           EXTEND                                         
033990,001388: 27,3223           03012                           WAND     CHAN12                                
033991,001389: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033992,001390: 27,3225           00006                           EXTEND                                         
033993,001391: 27,3226           05012                           WOR      CHAN12                                
033994,001392: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033995,001393: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033996,001394: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033997,001395: 27,3232           00006                           EXTEND                                         
033998,001396: 27,3233           03012                           WAND     CHAN12                                
033999,001397: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034000,001398: 27,3235           00006                           EXTEND                                         
034001,001399: 27,3236           05012                           WOR      CHAN12                                
034002,001400: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034003,001401: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034004,001402: 27,3241           03260                           ADRES    PITCHOFF                              
034005,001403: 
034006,001404: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034007,001405: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
034008,001406: 27,3244           44740                           CS       BIT12                                 
034009,001407: 27,3245           00006                           EXTEND                                         
034010,001408: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034011,001409: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034012,001410: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034013,001411: 27,3251           00006                           EXTEND                                         
034014,001412: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034015,001413: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
034016,001414: 27,3254           05072                           TC       NOVAC                                 
034017,001415: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 782

034019,001417: 27,3255           02323 02067                     2CADR    TRIMDONE                              
034020,001418: 
034021,001419: 27,3257           05261                           TC       TASKOVER                              
034022,001420: 27,3260           44742        PITCHOFF           CS       BIT10                                 
034023,001421: 27,3261           00006                           EXTEND                                         
034024,001422: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034025,001423: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034026,001424: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034027,001425: 27,3265           00137                           ADRES    GMBDRVSW                              
034028,001426: 27,3266           05261                           TC       TASKOVER                              
034029,001427: 

Page 783

034031,001429:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
034032,001430:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034033,001431: 
034034,001432:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034035,001433: 
034036,001434:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034037,001435:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034038,001436:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034039,001437:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034040,001438:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034041,001439:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034042,001440:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034043,001441:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034044,001442: 
034045,001443:                                                                                                  #  CALLING SEQUENCE:
034046,001444:                                                                                                  #        L       VLOAD   CALL
034047,001445:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034048,001446:                                                                                                  #        L +2            S41.1
034049,001447:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034050,001448: 
034051,001449:                                                                                                  #  SUBROUTINES CALLED:
034052,001450:                                                                                                  #        1.      CDUTRIG,
034053,001451:                                                                                                  #                        WHICH CALLS CDULOGIC.
034054,001452:                                                                                                  #        2.      *SMNB*
034055,001453: 
034056,001454:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
034057,001455: 
034058,001456:                                                                                                  #  ALARM/ABORT MODES:  NONE.
034059,001457: 
034060,001458:                                                                                                  #  RESTART PROTECTION:  NONE.
034061,001459: 

Page 784

034063,001461:                                                                                                  #  INPUT:
034064,001462:                                                                                                  #        1.      REFSMMAT.
034065,001463:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
034066,001464:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
034067,001465: 
034068,001466:                                                                                                  #  OUTPUT:
034069,001467:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034070,001468:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
034071,001469:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
034072,001470:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034073,001471: 
034074,001472:                                                                                                  #  DEBRIS:  NONE.
034075,001473: 
034076,001474:                                                                                                  #  CHECKOUT STATUS:  CODED.
034077,001475: 
034078,001476: 27,3267                                           COUNT*   $$/S41.1                              
034079,001477: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034080,001478: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034081,001479: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034082,001480: 27,3272           47646                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034083,001481:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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