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
	16:27 JULY 14,1969
Note that the date is the date of the printout, not the date of the program revision.

032615,000002:                                                                                                  ## Copyright:   Public domain.
032616,000003:                                                                                                  ## Filename:    P40-P47.agc
032617,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
032618,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
032619,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
032620,000007:                                                                                                  ## Assembler:   yaYUL
032621,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032622,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
032623,000010:                                                                                                  ## Pages:       752-784
032624,000011:                                                                                                  ## Mod history: 2009-05-19 RSB  Adapted from the corresponding 
032625,000012:                                                                                                  ##                              Luminary131 file, using page 
032626,000013:                                                                                                  ##                              images from Luminary 1A.
032627,000014:                                                                                                  ##              2011-01-06 JL   Fixed interpretive indentation.
032628,000015:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
032629,000016:                                                                                                  ##              2016-12-15 RSB  Proofed text comments with octopus/ProoferComments
032630,000017:                                                                                                  ##                              and corrected the errors found.
032631,000018:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
032632,000019:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
032633,000020:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
032634,000021:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
032635,000022:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
032636,000023:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
032637,000024:                                                                                                  ##              2021-05-30 ABS  TGDCALC -> TGOCALC
032638,000025: 
032639,000026:                                                                                                  ## This source code has been transcribed or otherwise adapted from
032640,000027:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
032641,000028:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
032642,000029:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
032643,000030:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
032644,000031:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
032645,000032:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
032646,000033:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
032647,000034:                                                                                                  ## actually created.
032648,000035:                                                                                                  ##
032649,000036:                                                                                                  ## Notations on the hardcopy document read, in part:
032650,000037:                                                                                                  ##
032651,000038:                                                                                                  ##      Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
032652,000039:                                                                                                  ##      16:27 JULY 14, 1969 
032653,000040: 

Page 752

032655,000042:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
032656,000043:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
032657,000044:                                                                                                  #  CALLED VIA JOB FROM V37E
032658,000045: 
032659,000046:                                                                                                  #  FUNCTIONAL DESCRIPTION
032660,000047: 
032661,000048:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032662,000049:                                                                                                  #                THRUSTING MANEUVER.

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

032664,000051:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032665,000052:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032666,000053:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
032667,000054:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032668,000055:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032669,000056: 
032670,000057:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032671,000058:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032672,000059: 
032673,000060:                                                                                                  #  SUBROUTINES USED
032674,000061: 
032675,000062:                                                                                                  #        R02             IMU STATUS CHECK
032676,000063:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
032677,000064:                                                                                                  #        S40.13          LENGTH OF BURN
032678,000065:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
032679,000066:                                                                                                  #        S40.8           X PRODUCT STEERING
032680,000067:                                                                                                  #        S40.9           LAMBERT VTOGAIN
032681,000068:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
032682,000069:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
032683,000070:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
032684,000071:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
032685,000072:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
032686,000073:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032687,000074:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032688,000075:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
032689,000076: 
032690,000077:                                                                                                  #  RESTARTS VIA GROUP 4
032691,000078: 
032692,000079:                                                                                                  #  DISPLAYS
032693,000080: 
032694,000081:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032695,000082:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032696,000083:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
032697,000084:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032698,000085:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
032699,000086:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032700,000087:                                                                                                  #        V05N09  POSSIBLE ALARMS
032701,000088:                                                                                                  #        V50N07  PLEASE SELECT P00
032702,000089: 

Page 753

032704,000091:                                                                                                  #        VIA R30
032705,000092: 
032706,000093:                                                                                                  #        V06N44  HAPO, PERI, TFF
032707,000094:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
032708,000095: 
032709,000096:                                                                                                  #  ALARM OR ABORT EXIT MODES
032710,000097: 
032711,000098:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032712,000099:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
032713,000100: 
032714,000101:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
032715,000102:                                                                                                  #        TIG BY 45 SECS.
032716,000103: 
032717,000104:                                                                                                  #  ERASABLE INITIALIZATION
032718,000105: 
032719,000106:                                                                                                  #  DEBRIS
032720,000107: 
032721,000108:                                                                                                  #  OUTPUT
032722,000109: 
032723,000110:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032724,000111:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
032725,000112:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
032726,000113: 
032727,000114: 27,2246                                           COUNT*   $$/P40                                
032728,000115: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032729,000116: 
032730,000117: 36,3147                                           BANK     36                                    
032731,000118: 36,2000                                           SETLOC   P40S                                  
032732,000119: 36,2000                                           BANK                                           
032733,000120: 
032734,000121: 36,3147           05353        P40LM              TC       PHASCHNG                              
032735,000122: 36,3150           04024                           OCT      04024                                 
032736,000123: 
032737,000124: 36,3151           33133                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032738,000125: 36,3152           55455                           TS       WHICH                                 
032739,000126: 
032740,000127: 36,3153           30106                           CA       FLGWRD10                              
032741,000128: 36,3154           74737                           MASK     APSFLBIT                              
032742,000129: 36,3155           10000                           CCS      A                                     
032743,000130: 36,3156           13121                           TCF      P40ALM                                
032744,000131: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032745,000132: 36,3160           11254                           CADR     R02BOTH                               
032746,000133: 
032747,000134: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032748,000135: 36,3162           74737                           MASK     CSMDOCKD                              
032749,000136: 36,3163           10000                           CCS      A                                     
032750,000137: 36,3164           32020                           CAF      THRESH1                               
032751,000138: 36,3165           62021                           AD       THRESH3                               
032752,000139: 36,3166           55251                           TS       DVTHRUSH                              
032753,000140: 36,3167           34751                           CAF      FOUR                                  
032754,000141: 36,3170           55515                           TS       DVCNTR                                

Page 754

032756,000143: 36,3171           06037                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032757,000144: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032758,000145: 36,3173           34001                                    FDPS                                  
032759,000146: 36,3174           02663                                    NOTHROTL                              
032760,000147: 36,3175           03735                           STORE    F                                     
032761,000148: 36,3176           77735                           SLOAD                                          
032762,000149: 36,3177           26002                                    DPSVEX                                
032763,000150: 36,3200           70476        P40IN              DCOMP    SR1                                   
032764,000151: 36,3201           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032765,000152: 36,3202           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032766,000153: 36,3203           77624                           CALL                                           
032767,000154: 36,3204           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032768,000155: 36,3205           77776                           EXIT                                           
032769,000156: 
032770,000157: 36,3206           00004                           INHINT                                         
032771,000158: 36,3207           04674                           TC       IBNKCALL                              
032772,000159: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032773,000160: 
032774,000161: 36,3211           03213                           TC       P40SXT4                               
032775,000162: 
032776,000163:                                                                                                  #        ***********************
032777,000164: 
032778,000165: 36,3212           12126                           TCF      BURNBABY                              
032779,000166: 
032780,000167:                                                                                                  #        ***********************
032781,000168: 
032782,000169: 36,3213           00006        P40SXT4            EXTEND                                         
032783,000170: 36,3214           23142                           QXCH     P40/RET                               
032784,000171: 36,3215           00003        P41MANU            RELINT                                         
032785,000172: 
032786,000173: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032787,000174: 36,3217           00124                           ADRES    3AXISFLG                              
032788,000175: 
032789,000176: 36,3220           04616                           TC       BANKCALL                              
032790,000177: 36,3221           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032791,000178: 36,3222           01142                           TC       P40/RET                               
032792,000179: 
032793,000180: 36,3223  E7,1462                                  EBANK=   TRKMKCNT                              
032794,000181: 36,3223           30005        POSTBURN           CA       Z                                     
032795,000182: 36,3224           55163                           TS       DISPDEX                               
032796,000183: 36,3225           00006                           EXTEND                                         
032797,000184: 36,3226           32056                           DCA      ACADN85                               
032798,000185: 36,3227           53253                           DXCH     AVEGEXIT                              
032799,000186: 36,3230           33760                           CAF      V16N40                                
032800,000187: 36,3231           04616                           TC       BANKCALL                              
032801,000188: 36,3232           20635                           CADR     GOFLASHR                              
032802,000189: 36,3233           03256                           TC       TERM40                                
032803,000190: 36,3234           13241                           TCF      TIGNOW                                
032804,000191: 36,3235           03223                           TC       POSTBURN                              

Page 755

032806,000193: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
032807,000194: 36,3237           00014                           OCT      00014                                 
032808,000195: 36,3240           15155                           TCF      ENDOFJOB                              
032809,000196: 
032810,000197: 36,3241           00004        TIGNOW             INHINT                                         
032811,000198: 36,3242           04674                           TC       IBNKCALL                              
032812,000199: 36,3243           40153                           CADR     ZATTEROR                              
032813,000200: 36,3244           04674                           TC       IBNKCALL                              
032814,000201: 36,3245           40140                           CADR     SETMINDB                              
032815,000202: 36,3246           00003                           RELINT                                         
032816,000203: 36,3247           33761                           CAF      V16N85B                               
032817,000204: 36,3250           04616                           TC       BANKCALL                              
032818,000205: 36,3251           20462                           CADR     REFLASHR                              
032819,000206: 36,3252           03256                           TC       TERM40                                
032820,000207: 36,3253           13256                           TCF      TERM40                                
032821,000208: 36,3254           03247                           TC       -5                                    
032822,000209: 
032823,000210: 36,3255           13236                           TCF      P40PHS1                               
032824,000211: 
032825,000212: 36,3256           00006        TERM40             EXTEND                                         
032826,000213: 36,3257           32106                           DCA      SERVCADR                              
032827,000214: 36,3260           53253                           DXCH     AVEGEXIT                              
032828,000215: 36,3261           34755                           CAF      ZERO                                  
032829,000216: 36,3262           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
032830,000217: 36,3263           30005                           CA       Z                                     
032831,000218: 36,3264           55163                           TS       DISPDEX                               
032832,000219: 36,3265           00004                           INHINT                                         
032833,000220: 36,3266           04674                           TC       IBNKCALL                              
032834,000221: 36,3267           40123                           CADR     RESTORDB                              
032835,000222: 36,3270           00003                           RELINT                                         
032836,000223: 36,3271           06001                           TC       GOTOPOOH                              
032837,000224: 
032838,000225: 36,3272  E7,1455                                  EBANK=   WHICH                                 
032839,000226: 36,3272                                           COUNT*   $$/P41                                
032840,000227: 36,3272           33134        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032841,000228: 36,3273           55455                           TS       WHICH                                 
032842,000229: 
032843,000230: 36,3274           04616                           TC       BANKCALL                              
032844,000231: 36,3275           11254                           CADR     R02BOTH                               
032845,000232: 
032846,000233: 36,3276           06037                           TC       INTPRET                               #  BOTH LM
032847,000234: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032848,000235: 36,3300           00700                                    NJETSFLG                              
032849,000236: 36,3301           75305                                    P41FJET1                              
032850,000237: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032851,000238: 
032852,000239: 36,3303           37735        P41FJET            STCALL   F                                     
032853,000240: 36,3304           75310                                    P41IN                                 
032854,000241: 36,3305           77745        P41FJET1           DLOAD                                          

Page 756

032856,000243: 36,3306           34017                                    FRCS2                                 
032857,000244: 36,3307           03735                           STORE    F                                     
032858,000245: 
032859,000246: 36,3310           77624        P41IN              CALL                                           
032860,000247: 36,3311           56246                                    S40.1                                 #  BOTH
032861,000248: 36,3312           77624        P41NORM            CALL                                           
032862,000249: 36,3313           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032863,000250: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
032864,000251: 
032865,000252: 36,3315           00004                           INHINT                                         
032866,000253: 36,3316           04674                           TC       IBNKCALL                              
032867,000254: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032868,000255: 36,3320           04674                           TC       IBNKCALL                              
032869,000256: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032870,000257: 36,3322           03213                           TC       P40SXT4                               
032871,000258: 
032872,000259: 36,3323           06037                           TC       INTPRET                               
032873,000260: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032874,000261: 36,3325           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032875,000262: 36,3326           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032876,000263: 36,3327           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032877,000264: 36,3330           77776                           EXIT                                           
032878,000265: 
032879,000266: 36,3331           33761                           CAF      V16N85B                               
032880,000267: 36,3332           04616                           TC       BANKCALL                              
032881,000268: 36,3333           20446                           CADR     GODSPRET                              
032882,000269: 
032883,000270: 36,3334           35017                           CAF      PRIO5                                 
032884,000271: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
032885,000272: 36,3336           05105                           TC       FINDVAC                               
032886,000273: 36,3337  E7,1700                                  EBANK=   VGPREV                                
032887,000274: 36,3337           03361 74067                     2CADR    DYNMDISP                              
032888,000275: 
032889,000276: 36,3341           05327                           TC       2PHSCHNG                              
032890,000277: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032891,000278: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032892,000279: 
032893,000280:                                                                                                  #        ***********************
032894,000281: 
032895,000282: 36,3344           12135                           TCF      B*RNB*B*                              
032896,000283: 
032897,000284:                                                                                                  #        ***********************
032898,000285: 
032899,000286: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
032900,000287: 36,3346           04616                           TC       BANKCALL                              
032901,000288: 36,3347           01735                           CADR     DELAYJOB                              
032902,000289: 
032903,000290: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032904,000291: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032905,000292: 
032906,000293:                                                                                                  #        ***********************

Page 757

032908,000295: 
032909,000296: 36,3352           00006                           EXTEND                                         
032910,000297: 36,3353           13345                           BZF      BLNKWAIT                              
032911,000298: 
032912,000299: 36,3354           33761                           CAF      V16N85B                               
032913,000300: 36,3355           04616                           TC       BANKCALL                              
032914,000301: 36,3356           20446                           CADR     GODSPRET                              
032915,000302: 
032916,000303: 36,3357           35017                           CAF      PRIO5                                 
032917,000304: 36,3360           05146                           TC       PRIOCHNG                              
032918,000305: 
032919,000306: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032920,000307: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032921,000308: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
032922,000309: 36,3364           06037                           TC       INTPRET                               
032923,000310: 36,3365           45175                           VLOAD    CALL                                  
032924,000311: 36,3366           03701                                    VGPREV                                
032925,000312: 36,3367           57267                                    S41.1                                 
032926,000313: 36,3370           03502                           STORE    VGBODY                                
032927,000314: 36,3371           77776                           EXIT                                           
032928,000315: 36,3372           34777                           CAF      1SEC                                  
032929,000316: 36,3373           04616                           TC       BANKCALL                              
032930,000317: 36,3374           01735                           CADR     DELAYJOB                              
032931,000318: 36,3375           13361                           TCF      DYNMDISP                              
032932,000319: 
032933,000320: 36,3376           06037        CALCN85            TC       INTPRET                               
032934,000321: 36,3377           77624                           CALL                                           
032935,000322: 36,3400           75611                                    UPDATEVG                              
032936,000323: 36,3401           45175                           VLOAD    CALL                                  
032937,000324: 36,3402           03701                                    VGPREV                                
032938,000325: 36,3403           57267                                    S41.1                                 
032939,000326: 36,3404           03502                           STORE    VGBODY                                
032940,000327: 36,3405           77776                           EXIT                                           
032941,000328: 36,3406           04635                           TC       POSTJUMP                              
032942,000329: 36,3407           65770                           CADR     SERVEXIT                              
032943,000330: 
032944,000331: 36,3410                                           COUNT*   $$/P42                                
032945,000332: 36,3410  E7,1455                                  EBANK=   WHICH                                 
032946,000333: 
032947,000334: 36,3410           05353        P42LM              TC       PHASCHNG                              
032948,000335: 36,3411           04024                           OCT      04024                                 
032949,000336: 
032950,000337: 36,3412           33135                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032951,000338: 36,3413           55455                           TS       WHICH                                 
032952,000339: 
032953,000340: 36,3414           40106                           CS       FLGWRD10                              
032954,000341: 36,3415           74737                           MASK     APSFLBIT                              
032955,000342: 36,3416           10000                           CCS      A                                     
032956,000343: 36,3417           03121                           TC       P40ALM                                
032957,000344: 36,3420           04616        P42STAGE           TC       BANKCALL                              

Page 758

032959,000346: 36,3421           11254                           CADR     R02BOTH                               
032960,000347: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032961,000348: 36,3423           55251                           TS       DVTHRUSH                              
032962,000349: 36,3424           34751                           CAF      FOUR                                  
032963,000350: 36,3425           55515                           TS       DVCNTR                                
032964,000351: 
032965,000352: 36,3426           06037                           TC       INTPRET                               
032966,000353: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032967,000354: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032968,000355: 36,3431           34007                                    FAPS                                  
032969,000356: 36,3432           03735                           STORE    F                                     
032970,000357: 36,3433           52135                           SLOAD    GOTO                                  
032971,000358: 36,3434           26001                                    APSVEX                                
032972,000359: 36,3435           75200                                    P40IN                                 
032973,000360: 
032974,000361: 36,3436  E7,1455                                  EBANK=   WHICH                                 
032975,000362: 
032976,000363: 36,3436                                           COUNT*   $$/P47                                
032977,000364: 36,3436           04616        P47LM              TC       BANKCALL                              
032978,000365: 36,3437           11254                           CADR     R02BOTH                               
032979,000366: 36,3440           06037                           TC       INTPRET                               
032980,000367: 36,3441           77624                           CALRB                                          
032981,000368: 36,3442           27553                                    MIDTOAV2                              
032982,000369: 
032983,000370: 36,3443           30155                           CA       MPAC       +1                         
032984,000371: 36,3444           05173                           TC       TWIDDLE                               
032985,000372: 36,3445           03447                           ADRES    STARTP47                              
032986,000373: 
032987,000374: 36,3446           15155                           TCF      ENDOFJOB                              
032988,000375: 
032989,000376: 36,3447           05353        STARTP47           TC       PHASCHNG                              
032990,000377: 36,3450           05014                           OCT      05014                                 
032991,000378: 36,3451           77777                           OCT      77777                                 
032992,000379: 
032993,000380: 36,3452           00006                           EXTEND                                         
032994,000381: 36,3453           33764                           DCA      ACADN83                               
032995,000382: 36,3454           53253                           DXCH     AVEGEXIT                              
032996,000383: 36,3455           34736                           CAF      PRIO20                                
032997,000384: 36,3456           05105                           TC       FINDVAC                               
032998,000385: 36,3457  E7,1622                                  EBANK=   DELVIMU                               
032999,000386: 36,3457           03513 74067                     2CADR    P47BODY                               
033000,000387: 
033001,000388: 36,3461           12342                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
033002,000389:                                                                                                  #  SEE TIG-30 IN BURNBABY.
033003,000390: 
033004,000391: 36,3462           06037        CALCN83            TC       INTPRET                               
033005,000392: 36,3463           53375                           VLOAD    VAD                                   
033006,000393: 36,3464           03502                                    DELVCTL                               
033007,000394: 36,3465           03527                                    DELVREF                               
033008,000395: 36,3466           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 759

033010,000397: 36,3467           77624                           CALL                                           
033011,000398: 36,3470           57267                                    S41.1                                 
033012,000399: 36,3471           03623                           STORE    DELVIMU                               
033013,000400: 36,3472           77776                           EXIT                                           
033014,000401: 36,3473           05353                           TC       PHASCHNG                              
033015,000402: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
033016,000403: 
033017,000404: 36,3475           06037                           TC       INTPRET                               
033018,000405: 36,3476           77775                           VLOAD                                          
033019,000406: 36,3477           03656                                    DELVSIN                               
033020,000407: 36,3500           03502                           STORE    DELVCTL                               
033021,000408: 36,3501           77776                           EXIT                                           
033022,000409: 
033023,000410: 36,3502           04635                           TC       POSTJUMP                              
033024,000411: 36,3503           65770                           CADR     SERVEXIT                              
033025,000412: 
033026,000413: 36,3504           33762        P47BOD             CAF      V1683                                 
033027,000414: 36,3505           04616                           TC       BANKCALL                              
033028,000415: 36,3506           20635                           CADR     GOFLASHR                              
033029,000416: 36,3507           06001                           TC       GOTOPOOH                              
033030,000417: 36,3510           06001                           TC       GOTOPOOH                              
033031,000418: 
033032,000419: 36,3511           13513                           TCF      P47BODY                               
033033,000420: 
033034,000421: 36,3512           13236                           TCF      P40PHS1                               
033035,000422: 
033036,000423: 36,3513           06037        P47BODY            TC       INTPRET                               
033037,000424: 36,3514           77775                           VLOAD                                          
033038,000425: 36,3515           06522                                    HI6ZEROS                              
033039,000426: 36,3516           03623                           STORE    DELVIMU                               
033040,000427: 36,3517           03502                           STORE    DELVCTL                               
033041,000428: 36,3520           77776                           EXIT                                           
033042,000429: 36,3521           03504                           TC       P47BOD                                
033043,000430: 
033044,000431: 36,3522                                           COUNT*   $$/P40                                
033045,000432: 36,3522           31517        IMPLBURN           CA       TGO        +1                         
033046,000433: 36,3523           03735                           TC       GETDT                                 
033047,000434: 36,3524           05173                           TC       TWIDDLE                               
033048,000435: 36,3525           03542                           ADRES    ENGOFTSK                              
033049,000436: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033050,000437: 36,3527           00153                           ADRES    IGNFLAG                               
033051,000438: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033052,000439: 36,3531           00154                           ADRES    ASTNFLAG                              
033053,000440: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033054,000441: 36,3533           00044                           ADRES    IMPULSW                               
033055,000442: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033056,000443: 36,3535           40114                           OCT      40114                                 
033057,000444: 
033058,000445: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033059,000446: 36,3537           00062                           DEC      50         B-14                       

Page 760

033061,000448: 36,3540           02653                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033062,000449: 
033063,000450: 36,3541           05261                           TC       TASKOVER                              
033064,000451: 
033065,000452: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033066,000453: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033067,000454: 36,3544           05261                           TC       TASKOVER                              
033068,000455: 
033069,000456: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033070,000457: 36,3546           05105                           TC       FINDVAC                               
033071,000458: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
033072,000459: 36,3547           03223 74067                     2CADR    POSTBURN                              
033073,000460: 
033074,000461: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
033075,000462: 36,3552           05203                           TC       WAITLIST                              
033076,000463: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
033077,000464: 36,3553           03606 74066                     2CADR    COASTSET                              
033078,000465: 
033079,000466: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033080,000467: 36,3556           74745                           MASK     IDLEFBIT                              
033081,000468: 36,3557           26103                           ADS      FLAGWRD7                              
033082,000469: 
033083,000470: 36,3560           02653                           TC       NOULLAGE                              
033084,000471: 
033085,000472: 36,3561           00006        ENGINOF4           EXTEND                                         
033086,000473: 36,3562           30025                           DCA      TIME2                                 
033087,000474: 36,3563           53345                           DXCH     TEVENT                                
033088,000475: 
033089,000476: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033090,000477: 36,3565           70101                           MASK     FLAGWRD5                              
033091,000478: 36,3566           54101                           TS       FLAGWRD5                              
033092,000479: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033093,000480: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
033094,000481: 36,3571           02011                           RAND     DSALMOUT                              
033095,000482: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033096,000483: 36,3573           00006                           EXTEND                                         
033097,000484: 36,3574           01011                           WRITE    DSALMOUT                              
033098,000485: 
033099,000486: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033100,000487: 36,3576           74736                           MASK     USEQRJTS                              
033101,000488: 36,3577           26111                           ADS      DAPBOOLS                              
033102,000489: 
033103,000490: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033104,000491: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
033105,000492: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033106,000493: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033107,000494: 36,3604           05014                           WOR      CHAN14                                
033108,000495: 
033109,000496: 36,3605           04707                           TC       ISWRETRN                              

Page 761

033111,000498: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033112,000499: 36,3607           40204                           CADR     ALLCOAST                              
033113,000500: 36,3610           05261                           TC       TASKOVER                              
033114,000501: 
033115,000502: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
033116,000503: 36,3611           45020        UPDATEVG           STQ      CALL                                  
033117,000504: 36,3612           03665                                    QTEMP1                                
033118,000505: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
033119,000506: 36,3614           43014                           BON      BON                                   
033120,000507: 36,3615           01307                                    XDELVFLG                              
033121,000508: 36,3616           03665                                    QTEMP1                                
033122,000509: 36,3617           03705                                    NORMSW                                
033123,000510: 36,3620           75633                                    180SETUP                              
033124,000511: 36,3621           45345                           DLOAD    DSU                                   
033125,000512: 36,3622           01235                                    PIPTIME                               
033126,000513: 36,3623           03763                                    TIGSAVE                               
033127,000514: 36,3624           50025                           DSU      BMN                                   
033128,000515: 36,3625           03432                                    TNEWA                                 
033129,000516: 36,3626           75656                                    GETRANS                               
033130,000517: 36,3627           43345                           DLOAD    DAD                                   
033131,000518: 36,3630           03763                                    TIGSAVE                               
033132,000519: 36,3631           03432                                    TNEWA                                 
033133,000520: 36,3632           03765                           STORE    TIGSAVEP                              
033134,000521: 36,3633           77776        180SETUP           EXIT                                           
033135,000522: 36,3634           10755                           CCS      PHASE2                                
033136,000523: 36,3635           13663                           TCF      NO.9                                  
033137,000524: 36,3636           34737                           CAF      PRIO10                                
033138,000525: 36,3637           00004                           INHINT                                         
033139,000526: 36,3640           05105                           TC       FINDVAC                               
033140,000527: 36,3641  E7,1706                                  EBANK=   VG                                    
033141,000528: 36,3641           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033142,000529: 
033143,000530: 36,3643           05327                           TC       2PHSCHNG                              
033144,000531: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033145,000532: 36,3645           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
033146,000533: 
033147,000534: 36,3646           06037        ENDSTEER           TC       INTPRET                               
033148,000535: 36,3647           77745                           DLOAD                                          
033149,000536: 36,3650           03765                                    TIGSAVEP                              
033150,000537: 36,3651           27763                           STOVL    TIGSAVE                               
033151,000538: 36,3652           01221                                    RN                                    
033152,000539: 36,3653           26323                           STOVL    RINIT                                 
033153,000540: 36,3654           01227                                    VN                                    
033154,000541: 36,3655           02331                           STORE    VINIT                                 
033155,000542: 36,3656           45345        GETRANS            DLOAD    DSU                                   
033156,000543: 36,3657           03631                                    TPASS4                                
033157,000544: 36,3660           01235                                    PIPTIME                               
033158,000545: 36,3661           37452                           STCALL   DELLT4                                
033159,000546: 36,3662           03665                                    QTEMP1                                
033160,000547: 

Page 762

033162,000549: 36,3663           06037        NO.9               TC       INTPRET                               
033163,000550: 36,3664           77650                           GOTO                                           
033164,000551: 36,3665           03665                                    QTEMP1                                
033165,000552: 36,3666           06037        STEERING           TC       INTPRET                               
033166,000553: 
033167,000554: 36,3667           77624                           CALL                                           
033168,000555: 36,3670           75611                                    UPDATEVG                              
033169,000556: 36,3671           77776                           EXIT                                           
033170,000557: 
033171,000558: 36,3672  E7,1515                                  EBANK=   DVCNTR                                
033172,000559: 36,3672           00004        NSTEER             INHINT                                         
033173,000560: 36,3673           35016                           CA       EBANK7                                
033174,000561: 36,3674           54003                           TS       EBANK                                 
033175,000562: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033176,000563: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033177,000564: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033178,000565: 
033179,000566: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0   EXIT
033180,000567: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
033181,000568: 36,3702           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
033182,000569: 36,3703           10000                           CCS      A                                     
033183,000570: 36,3704           13707                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
033184,000571: 36,3705           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
033185,000572: 36,3706           65770                           CADR     SERVEXIT                              
033186,000573: 
033187,000574: 36,3707           04674                           TC       IBNKCALL                              
033188,000575: 36,3710           40165                           CADR     STOPRATE                              
033189,000576: 
033190,000577: 36,3711           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033191,000578: 36,3712           00044                           ADRES    IMPULSW                               
033192,000579: 
033193,000580: 36,3713           05504                           TC       UPFLAG                                
033194,000581: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033195,000582: 
033196,000583: 36,3715           00004                           INHINT                                         
033197,000584: 36,3716           00006                           EXTEND                                         
033198,000585: 36,3717           31442                           DCA      TIG                                   
033199,000586: 36,3720           52155                           DXCH     MPAC                                  
033200,000587: 36,3721           00006                           EXTEND                                         
033201,000588: 36,3722           40025                           DCS      TIME2                                 
033202,000589: 36,3723           20155                           DAS      MPAC                                  
033203,000590: 36,3724           07257                           TC       TPAGREE                               
033204,000591: 36,3725           30155                           CAE      MPAC       +1                         
033205,000592: 36,3726           03735                           TC       GETDT                                 
033206,000593: 36,3727           05173                           TC       TWIDDLE                               
033207,000594: 36,3730           03542                           ADRES    ENGOFTSK                              
033208,000595: 36,3731           05327                           TC       2PHSCHNG                              
033209,000596: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033210,000597: 36,3733           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 763

033212,000599: 36,3734           15155                           TCF      ENDOFJOB                              
033213,000600: 
033214,000601: 36,3735           10000        GETDT              CCS      A                                     
033215,000602: 36,3736           13741                           TCF      +3                                    
033216,000603: 36,3737           13741                           TCF      +2                                    
033217,000604: 36,3740           34755                           CAF      ZERO                                  
033218,000605: 36,3741           64753                           AD       ONE                                   
033219,000606: 36,3742           56001                           XCH      L                                     
033220,000607: 36,3743           34755                           CAF      ZERO                                  
033221,000608: 36,3744           53517                           DXCH     TGO                                   
033222,000609: 36,3745           31517                           CA       TGO        +1                         
033223,000610: 36,3746           00002                           TC       Q                                     
033224,000611: 
033225,000612:                                                                                                  #  ************************************************************************
033226,000613: 
033227,000614: 36,3747           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
033228,000615: 36,3750           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
033229,000616: 36,3751           00000 05670  SEC30DP            2DEC     3000       B-28                       
033230,000617: 
033231,000618: 36,3753           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
033232,000619: 36,3754           10624        SEC45              DEC      4500       B-14                       
033233,000620: 36,3755           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033234,000621: 36,3756           00764        5SEC               DEC      500        B-14                       
033235,000622: 36,3757           05050        26SECS             DEC      2600       B-14                       
033236,000623: 36,3760           04050        V16N40             VN       1640                                  
033237,000624: 36,3761           04125        V16N85B            VN       1685                                  
033238,000625: 36,3762           04123        V1683              VN       1683                                  
033239,000626: 36,3763     4777               SEC01              =        1SEC                                  
033240,000627: 36,3763  36,2055               ACADN85            =        P41TABLE   +2                         
033241,000628: 
033242,000629: 36,3763  E7,1622                                  EBANK=   DELVIMU                               
033243,000630: 36,3763           03462 74067  ACADN83            2CADR    CALCN83                               
033244,000631: 
033245,000632:                                                                                                  #  *************************************************

Page 764

033247,000634:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
033248,000635:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
033249,000636:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033250,000637: 
033251,000638:                                                                                                  #  FUNCTIONAL DESCRIPTION
033252,000639:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033253,000640:                                                                                                  #        VECTOR(VGTIG).
033254,000641: 
033255,000642:                                                                                                  #  CALLING SEQUENCE
033256,000643:                                                                                                  #        L       CALL
033257,000644:                                                                                                  #        L+1             S40.1
033258,000645: 
033259,000646:                                                                                                  #  NORMAL EXIT MODE
033260,000647:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
033261,000648:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
033262,000649: 
033263,000650:                                                                                                  #  SUBROUTINES CALLED
033264,000651:                                                                                                  #        LEMPREC
033265,000652:                                                                                                  #        INITVEL
033266,000653:                                                                                                  #        CALCGRAV
033267,000654:                                                                                                  #        MIDGIM
033268,000655: 
033269,000656:                                                                                                  #  ALARM OR ABORT EXIT MODES
033270,000657:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
033271,000658: 
033272,000659:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033273,000660:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
033274,000661:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
033275,000662:                                                                                                  #        F               THRUST FOR ENGINE USED
033276,000663:                                                                                                  #    IF DELTA-V MANEUVER
033277,000664:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
033278,000665:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
033279,000666:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
033280,000667:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
033281,000668:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
033282,000669:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
033283,000670:                                                                                                  #    IF AIMPT STEER
033284,000671:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
033285,000672:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
033286,000673:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
033287,000674:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
033288,000675: 
033289,000676:                                                                                                  #  OUTPUT
033290,000677:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
033291,000678:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
033292,000679:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
033293,000680:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
033294,000681:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033295,000682:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
033296,000683:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
033297,000684:                                                                                                  #                        POSITION AT TIME OF IGNITION
033298,000685: 
033299,000686:                                                                                                  #  DEBRIS        QTEMP1
033300,000687:                                                                                                  #                MPAC, QPRET
033301,000688:                                                                                                  #                PUSHLIST
033302,000689: 
033303,000690: 14,2347                                           BANK     14                                    
033304,000691: 27,2000                                           SETLOC   P40S1                                 
033305,000692: 27,2000                                           BANK                                           

Page 765

033307,000694: 27,2246                                           COUNT*   $$/S40.1                              
033308,000695: 27,2246           71220        S40.1              STQ      DLOAD                                 
033309,000696: 27,2247           03632                                    QTEMP                                 
033310,000697: 27,2250           03442                                    TIG                                   
033311,000698: 27,2251           03763                           STORE    TIGSAVE                               
033312,000699: 27,2252           77614        DELVTEST           BOFF                                           
033313,000700: 27,2253           01347                                    XDELVFLG                              
033314,000701: 27,2254           56336                                    S40.1B                                
033315,000702: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
033316,000703: 27,2256           00001                                    0                                     
033317,000704: 27,2257           03650                                    VTIG                                  
033318,000705: 27,2260           02331                           STORE    VINIT                                 
033319,000706: 27,2261           53435                           VXV      UNIT                                  
033320,000707: 27,2262           03642                                    RTIG                                  
033321,000708: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
033322,000709: 27,2264           03642                                    RTIG                                  
033323,000710: 27,2265           02323                           STORE    RINIT                                 
033324,000711: 27,2266           65236                           VSQ      PDDL                                  
033325,000712: 27,2267           00045                                    36D                                   
033326,000713: 27,2270           56205                           DMP      DDV                                   
033327,000714: 27,2271           16412                                    THETACON                              
033328,000715: 27,2272           41205                           DMP      DMP                                   
033329,000716: 27,2273           03664                                    DELVSAB                               
033330,000717: 27,2274           01245                                    WEIGHT/G                              
033331,000718: 27,2275           77671                           DDV                                            
033332,000719: 27,2276           03735                                    F                                     
033333,000720: 27,2277           24017                           STOVL    14D                                   
033334,000721: 27,2300           03656                                    DELVSIN                               
033335,000722: 
033336,000723: 27,2301           74241                           DOT      VXSC                                  
033337,000724: 27,2302           03673                                    UT                                    
033338,000725: 27,2303           03673                                    UT                                    
033339,000726: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033340,000727: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
033341,000728: 27,2306           03656                                    DELVSIN                               
033342,000729: 27,2307           00017                                    14D                                   
033343,000730: 27,2310           63356                           SIN      PDVL                                  
033344,000731: 27,2311           00007                                    6D                                    
033345,000732: 27,2312           53435                           VXV      UNIT                                  
033346,000733: 27,2313           03673                                    UT                                    
033347,000734: 27,2314           45561                           VXSC     STADR                                 
033348,000735: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
033349,000736: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
033350,000737: 27,2317           00017                                    14D                                   
033351,000738: 27,2320           74346                           COS      VXSC                                  
033352,000739: 27,2321           74255                           VAD      VXSC                                  
033353,000740: 27,2322           03701                                    VGTIG                                 
033354,000741: 27,2323           00045                                    36D                                   
033355,000742: 27,2324           53352                           VSL2     VAD                                   
033356,000743: 27,2325           77626                           STADR                                          

Page 766

033358,000745: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
033359,000746: 
033360,000747: 27,2327           77656                           UNIT                                           
033361,000748: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
033362,000749: 27,2331           03701                                    VGTIG                                 
033363,000750: 27,2332           45006                           PUSH     CALL                                  
033364,000751: 27,2333           15733                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033365,000752: 27,2334           77650                           GOTO                                           
033366,000753: 27,2335           03632                                    QTEMP                                 
033367,000754: 27,2336           77745        S40.1B             DLOAD                                          
033368,000755: 27,2337           03442                                    TIG                                   
033369,000756: 27,2340           00041                           STORE    TDEC1                                 
033370,000757: 27,2341           77621                           BDSU                                           
033371,000758: 27,2342           03631                                    TPASS4                                
033372,000759: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
033373,000760: 27,2344           27057                                    LEMPREC                               
033374,000761: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
033375,000762: 27,2346           00001                                    RATT                                  
033376,000763: 27,2347           00001                                    0                                     
033377,000764: 27,2350           03642                           STORE    RTIG                                  
033378,000765: 27,2351           02323                           STORE    RINIT                                 
033379,000766: 27,2352           77656                           UNIT                                           
033380,000767: 27,2353           27537                           STOVL    UNIT/R/                               
033381,000768: 27,2354           00007                                    VATT                                  
033382,000769: 27,2355           03650                           STORE    VTIG                                  
033383,000770: 27,2356           02331                           STORE    VINIT                                 
033384,000771: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
033385,000772: 27,2360           06522                                    ZEROVECS                              
033386,000773: 27,2361           16406                                    EPS1                                  
033387,000774: 27,2362           43214                           BOFF     DAD                                   
033388,000775: 27,2363           03745                                    NORMSW                                
033389,000776: 27,2364           56366                                    SMALLEPS                              
033390,000777: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
033391,000778: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
033392,000779: 27,2367           02776                                    RTX1                                  
033393,000780: 27,2370           45134                           SXA,2    CALL                                  
033394,000781: 27,2371           02777                                    RTX2                                  
033395,000782: 27,2372           22000                                    INITVEL                               
033396,000783: 27,2373           41575                           VLOAD    PUSH                                  
033397,000784: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
033398,000785: 27,2375           03701                           STORE    VGTIG                                 
033399,000786: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
033400,000787: 27,2377           17673                           STODL    UT                                    
033401,000788: 27,2400           00045                                    36D                                   
033402,000789: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
033403,000790: 27,2402           15733                                    GET.LVC                               #  VERTICAL COORDINATES.
033404,000791: 27,2403           77650                           GOTO                                           
033405,000792: 27,2404           03632                                    QTEMP                                 
033406,000793: 
033407,000794: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
033408,000795: 

Page 767

033410,000797: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
033411,000798: 
033412,000799: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
033413,000800: 

Page 768

033415,000802:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
033416,000803:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033417,000804:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
033418,000805:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
033419,000806:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033420,000807: 
033421,000808:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033422,000809:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033423,000810:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033424,000811:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
033425,000812:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033426,000813: 
033427,000814:                                                                                                  #  CALLING SEQUENCE:
033428,000815:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
033429,000816:                                                                                                  #        L +1            S40.2,3
033430,000817:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
033431,000818: 
033432,000819:                                                                                                  #  SUBROUTINES CALLED:  NONE.
033433,000820: 
033434,000821:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
033435,000822: 
033436,000823:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033437,000824: 
033438,000825:                                                                                                  #  INPUT:
033439,000826:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033440,000827:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
033441,000828:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
033442,000829: 
033443,000830:                                                                                                  #  OUTPUT:
033444,000831:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
033445,000832:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
033446,000833:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
033447,000834:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033448,000835:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033449,000836:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
033450,000837: 
033451,000838:                                                                                                  #  DEBRIS:  NONE.

Page 769

033453,000840: 
033454,000841: 27,2413                                           COUNT*   $$/S40.2                              
033455,000842: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
033456,000843: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
033457,000844: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
033458,000845: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
033459,000846: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033460,000847: 27,2420           06520                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
033461,000848: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033462,000849: 
033463,000850: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033464,000851: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
033465,000852: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
033466,000853: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
033467,000854: 27,2426           46125                           PDDL     BHIZ                                  
033468,000855: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
033469,000856: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
033470,000857: 27,2431           45575        STORY              VLOAD    STADR                                 
033471,000858: 27,2432           74162                           STORE    YSCREF                                
033472,000859: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
033473,000860: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033474,000861: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
033475,000862: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
033476,000863: 
033477,000864: 27,2437           43414                           SET      RVQ                                   
033478,000865: 27,2440           01073                                    PFRATFLG                              
033479,000866: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
033480,000867: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
033481,000868: 27,2443           03650                                    VTIG                                  
033482,000869: 27,2444           41456                           UNIT     PUSH                                  
033483,000870: 27,2445           77650                           GOTO                                           
033484,000871: 27,2446           56431                                    STORY                                 

Page 770

033486,000873:                                                                                                  #  SUBROUTINE S40.8
033487,000874:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
033488,000875: 
033489,000876:                                                                                                  #  DESCRIPTION
033490,000877:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033491,000878:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033492,000879:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
033493,000880: 
033494,000881:                                                                                                  #  CALLING SEQUENCE
033495,000882:                                                                                                  #        L-1     CALL
033496,000883:                                                                                                  #        L               S40.8
033497,000884:                                                                                                  #        L+1                     INTERPRETIVE RETURN
033498,000885: 
033499,000886:                                                                                                  #  ALARM
033500,000887:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033501,000888:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
033502,000889: 
033503,000890:                                                                                                  #  INPUT AND INITIALIZATION
033504,000891:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
033505,000892:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
033506,000893:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
033507,000894:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
033508,000895:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
033509,000896:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033510,000897:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
033511,000898: 
033512,000899:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
033513,000900: 
033514,000901:                                                                                                  #  OUTPUT
033515,000902:                                                                                                  #        STEERSW         SEE INPUT
033516,000903:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
033517,000904:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
033518,000905:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
033519,000906: 
033520,000907:                                                                                                  #  SUBROUTINE CALLED
033521,000908:                                                                                                  #        FINDCDUW
033522,000909: 
033523,000910:                                                                                                  #  DEBRIS
033524,000911:                                                                                                  #        MPACS, PUSHLIST
033525,000912: 
033526,000913: 27,2447                                           COUNT*   $$/S40.8                              

Page 771

033528,000915: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033529,000916: 27,2450           01347                                    XDELVFLG                              
033530,000917: 27,2451           56731                                    RASTEER1                              
033531,000918: 27,2452           52375                           VLOAD    VSU                                   
033532,000919: 27,2453           03701                                    VGPREV                                
033533,000920: 27,2454           03527                                    DELVREF                               
033534,000921: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
033535,000922: 27,2456           76521                           MXV      VSL1                                  
033536,000923: 27,2457           01734                                    REFSMMAT                              
033537,000924: 27,2460           03254                           STORE    UNFC/2                                
033538,000925: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
033539,000926: 27,2462           03707                                    VG                                    
033540,000927: 27,2463           03664                           STORE    VGDISP                                
033541,000928: 27,2464           77201        TGOCALC            SETPD    VLOAD                                 
033542,000929: 27,2465           00001                                    0                                     
033543,000930: 27,2466           03707                                    VG                                    
033544,000931: 27,2467           27701                           STOVL    VGPREV                                
033545,000932: 27,2470           03527                                    DELVREF                               
033546,000933: 27,2471           57414                           BOFF     VCOMP                                 
033547,000934: 27,2472           01344                                    STEERSW                               
033548,000935: 27,2473           00052                                    QPRET                                 
033549,000936: 27,2474           77656                           UNIT                                           
033550,000937: 27,2475           41441                           DOT      PUSH                                  
033551,000938: 27,2476           03707                                    VG                                    
033552,000939: 27,2477           56244                           BPL      DDV                                   
033553,000940: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
033554,000941: 27,2501           03743                                    VEX                                   
033555,000942: 27,2502           41215                           DAD      DMP                                   
033556,000943: 27,2503           06520                                    DPHALF                                
033557,000944: 27,2504           56261                           SR       DDV                                   
033558,000945: 27,2505           20613                                    10D                                   
033559,000946: 27,2506           00045                                    36D                                   
033560,000947: 27,2507           43205                           DMP      DAD                                   
033561,000948: 27,2510           16535                                    -FOURDT                               
033562,000949: 27,2511           03741                                    TDECAY                                
033563,000950: 27,2512           03517                           STORE    TGO                                   
033564,000951: 27,2513           77615                           DAD                                            
033565,000952: 27,2514           01235                                    PIPTIME                               
033566,000953: 27,2515           17442                           STODL    TIG                                   
033567,000954: 27,2516           03517                                    TGO                                   
033568,000955: 27,2517           51025                           DSU      BPL                                   
033569,000956: 27,2520           16537                                    FOURSECS                              #  400 CS
033570,000957: 27,2521           61111                                    FINDCDUW   -2                         
033571,000958: 27,2522           43014                           SET      CLRGO                                 
033572,000959: 27,2523           01066                                    IMPULSW                               
033573,000960: 27,2524           01224                                    STEERSW                               
033574,000961: 27,2525           00052                                    QPRET                                 
033575,000962: 
033576,000963: 27,2526           77776        ALARMIT            EXIT                                           
033577,000964: 

Page 772

033579,000966: 27,2527           05567                           TC       ALARM                                 
033580,000967: 27,2530           01407                           OCT      01407                                 
033581,000968: 27,2531           06037                           TC       INTPRET                               
033582,000969: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033583,000970: 27,2533           61111                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
033584,000971: 
033585,000972: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
033586,000973: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
033587,000974: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
033588,000975: 

Page 773

033590,000977:                                                                                                  #  NAME                  S40.13 - TIMEBURN
033591,000978: 
033592,000979:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033593,000980:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033594,000981:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033595,000982:                                                                                                  #                        BURN
033596,000983:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033597,000984:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
033598,000985:                                                                                                  #                        SIGNAL
033599,000986: 
033600,000987:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
033601,000988: 
033602,000989:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033603,000990:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033604,000991:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
033605,000992:                                                                                                  #                                AND ALSO FOR RCS ENGINE
033606,000993:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033607,000994:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
033608,000995:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
033609,000996:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033610,000997:                                                                                                  #                                =0      DPS
033611,000998:                                                                                                  #                                =1      APS
033612,000999: 
033613,001000:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
033614,001001:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
033615,001002:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
033616,001003:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
033617,001004:                                                                                                  #                        TGO             TIME TO BURN IN CS
033618,001005: 
033619,001006:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033620,001007:                                                                                                  #                        FORCE
033621,001008: 
033622,001009: 27,2540  E7,1516                                  EBANK=   TGO                                   
033623,001010: 27,2540                                           COUNT*   $$/40.13                              
033624,001011: 27,2540           06037        S40.13             TC       INTPRET                               
033625,001012: 27,2541           43001                           SETPD    CLEAR                                 
033626,001013: 27,2542           00001                                    00D                                   
033627,001014: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
033628,001015: 27,2544           51575                           VLOAD    ABVAL                                 
033629,001016: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
033630,001017: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
033631,001018: 27,2547           21021                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
033632,001019: 27,2550           34017                                    FRCS2                                 
033633,001020: 27,2551           72471                           DDV      SL1                                   #  SCALE
033634,001021: 27,2552           01245                                    WEIGHT/G                              
033635,001022: 27,2553           41421                           BDSU     PUSH                                  
033636,001023: 27,2554           43014                           BOFF     SET                                   
033637,001024: 27,2555           05342                                    APSFLAG                               
033638,001025: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
033639,001026: 27,2557           02463                                    NOTHROTL                              
033640,001027: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033641,001028: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
033642,001029: 27,2562           01245                                    WEIGHT/G                              
033643,001030: 27,2563           50021                           BDSU     BMN                                   

Page 774

033645,001032: 27,2564           00001                                    00D                                   
033646,001033: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
033647,001034: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033648,001035: 27,2567           03737                                    MDOT                                  
033649,001036: 
033650,001037:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033651,001038:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
033652,001039:                                                                                                  #  REQUIRE ADJUSTMENT
033653,001040: 
033654,001041: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
033655,001042: 27,2571           65221                           BDSU     PDDL                                  
033656,001043: 27,2572           01245                                    WEIGHT/G                              
033657,001044: 27,2573           03735                                    F                                     
033658,001045: 27,2574           60405                           DMP      SR2                                   #  SCALE
033659,001046: 27,2575           16702                                    5SECS                                 
033660,001047: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
033661,001048: 27,2577           51021                           BDSU     BPL                                   
033662,001049: 27,2600           00003                                    02D                                   
033663,001050: 27,2601           56626                                    S40.13D                               
033664,001051: 27,2602           55345                           DLOAD    BDDV                                  
033665,001052: 27,2603           43205                           DMP      DAD                                   
033666,001053: 27,2604           16702                                    5SECS                                 
033667,001054: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
033668,001055: 27,2606           77650                           GOTO                                           
033669,001056: 27,2607           56616                                    S40.132                               
033670,001057: 27,2610           41345        S40.131            DLOAD    DMP                                   
033671,001058: 27,2611           01245                                    WEIGHT/G                              
033672,001059: 27,2612           41542                           SR1      PUSH                                  
033673,001060: 27,2613           56215                           DAD      DDV                                   
033674,001061: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
033675,001062: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
033676,001063: 27,2616           77414        S40.132            SET      EXIT                                  
033677,001064: 27,2617           01066                                    IMPULSW                               
033678,001065: 27,2620           07257        S40.132*           TC       TPAGREE                               
033679,001066: 27,2621           30154                           CA       MPAC                                  
033680,001067: 27,2622           56001                           XCH      L                                     
033681,001068: 27,2623           34755                           CA       ZERO                                  
033682,001069: 27,2624           53517                           DXCH     TGO                                   
033683,001070: 27,2625           12650                           TCF      S40.134                               
033684,001071: 
033685,001072: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033686,001073: 27,2627           00001                                    00D                                   
033687,001074: 27,2630           01245                                    WEIGHT/G                              
033688,001075: 27,2631           43006                           PUSH     BON                                   
033689,001076: 27,2632           05302                                    APSFLAG                               
033690,001077: 27,2633           56671                                    APSTGO                                
033691,001078: 27,2634           43071                           DDV      CLEAR                                 
033692,001079: 27,2635           16007                                    S40.136                               
033693,001080: 27,2636           02663                                    NOTHROTL                              
033694,001081: 27,2637           41400                           BOV      PUSH                                  

Page 775

033696,001083: 27,2640           56653                                    S40.130V                              
033697,001084: 27,2641           51025        S40.137            DSU      BPL                                   
033698,001085: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
033699,001086: 27,2643           56661                                    S40.138                               
033700,001087: 27,2644           52015                           DAD      GOTO                                  
033701,001088: 27,2645           16704                                    6SEC                                  
033702,001089: 27,2646           56616                                    S40.132                               
033703,001090: 27,2647           77776        S40.133            EXIT                                           
033704,001091: 27,2650           05353        S40.134            TC       PHASCHNG                              
033705,001092: 27,2651           00003                           OCT      00003                                 
033706,001093: 27,2652           05155                           TC       ENDOFJOB                              
033707,001094: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033708,001095: 27,2654           77671                           DDV                                            
033709,001096: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033710,001097: 27,2656           03517                           STORE    TGO                                   
033711,001098: 27,2657           77776                           EXIT                                           
033712,001099: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033713,001100: 
033714,001101: 27,2661           51025        S40.138            DSU      BPL                                   
033715,001102: 27,2662           16706                                    89SECS                                
033716,001103: 27,2663           56666                                    STORETGO                              
033717,001104: 27,2664           77614                           SET                                            
033718,001105: 27,2665           02463                                    NOTHROTL                              
033719,001106: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033720,001107: 27,2667           77776                           EXIT                                           
033721,001108: 27,2670           12620                           TCF      S40.132*                              
033722,001109: 
033723,001110: 27,2671           62471        APSTGO             DDV      SL2                                   
033724,001111: 27,2672           34007                                    FAPS                                  
033725,001112: 27,2673           77650                           GOTO                                           
033726,001113: 27,2674           56667                                    STORETGO   +1                         
033727,001114: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033728,001115: 
033729,001116: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033730,001117: 
033731,001118: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033732,001119: 
033733,001120: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033734,001121: 
033735,001122: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
033736,001123: 
033737,001124:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033738,001125:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033739,001126:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
033740,001127:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033741,001128:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033742,001129:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033743,001130: 
033744,001131:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
033745,001132: 
033746,001133:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033747,001134:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 776

033749,001136:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033750,001137:                                                                                                  #                                  METERS/CS AT +7.
033751,001138:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
033752,001139:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033753,001140:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
033754,001141:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033755,001142:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033756,001143:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033757,001144:                                                                                                  #                                  METERS/CS AT +7.
033758,001145: 
033759,001146:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033760,001147:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
033761,001148:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033762,001149:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
033763,001150: 
033764,001151:                                                                                                  #  SUBROUTINES USED - INITVEL
033765,001152: 
033766,001153: 27,2707  E7,1700                                  EBANK=   VGPREV                                
033767,001154: 27,2707                                           COUNT*   $$/S40.9                              
033768,001155: 27,2707           06037        S40.9              TC       INTPRET                               
033769,001156: 27,2710           77601                           SETPD                                          
033770,001157: 27,2711           00001                                    00D                                   
033771,001158: 27,2712           71214                           SET      DLOAD                                 
033772,001159: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033773,001160: 27,2714           06522                                    HI6ZEROS                              
033774,001161: 27,2715           77725                           PDDL                                           
033775,001162: 27,2716           16406                                    EPS1                                  
033776,001163: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033777,001164: 27,2720           03745                                    NORMSW                                
033778,001165: 27,2721           56723                                    EPSSMALL                              
033779,001166: 27,2722           16410                                    EPS2                                  
033780,001167: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
033781,001168: 27,2724           22002                                    HAVEGUES                              
033782,001169: 27,2725           77776        ENDS40.9           EXIT                                           
033783,001170: 27,2726           05353                           TC       PHASCHNG                              
033784,001171: 27,2727           00002                           OCT      2                                     
033785,001172: 27,2730           15155                           TCF      ENDOFJOB                              
033786,001173: 
033787,001174: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
033788,001175: 27,2732           01221                                    RN                                    
033789,001176: 27,2733           53744                           LXC,2    SL*                                   
033790,001177: 27,2734           02777                                    RTX2                                  
033791,001178: 27,2735           57576                                    0,2                                   
033792,001179: 27,2736           27715                           STOVL    RMAG                                  
033793,001180: 27,2737           03444                                    RTARG                                 
033794,001181: 27,2740           47051                           VSU      RTB                                   
033795,001182: 27,2741           01221                                    RN                                    
033796,001183: 27,2742           21724                                    NORMUNX1                              
033797,001184: 27,2743           17656                           STODL    IC                                    
033798,001185: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
033799,001186: 27,2745           53674                           XAD,2    SL*                                   
033800,001187: 27,2746           00046                                    X1                                    

Page 777

033802,001189: 27,2747           57576                                    0,2                                   
033803,001190: 27,2750           00037                           STORE    30D                                   
033804,001191: 27,2751           41301                           NORM     DMP                                   
033805,001192: 27,2752           00050                                    X2                                    
033806,001193: 27,2753           03715                                    RMAG                                  
033807,001194: 27,2754           57101                           NORM     XAD,2                                 
033808,001195: 27,2755           00047                                    X1                                    
033809,001196: 27,2756           00046                                    X1                                    
033810,001197: 27,2757           77734                           SXA,2                                          
033811,001198: 27,2760           03766                                    MUSCALE                               
033812,001199: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
033813,001200: 27,2762           00037                                    30D                                   
033814,001201: 27,2763           65342                           SR1      PDDL                                  
033815,001202: 27,2764           03715                                    RMAG                                  
033816,001203: 27,2765           65342                           SR1      PDDL                                  
033817,001204: 27,2766           03723                                    RTMAG                                 
033818,001205: 27,2767           43342                           SR1      DAD                                   
033819,001206: 27,2770           45415                           DAD      STADR                                 
033820,001207: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
033821,001208: 27,2772           41225                           DSU      DMP                                   
033822,001209: 27,2773           00037                                    30D                                   
033823,001210: 27,2774           03721                                    MU/A                                  
033824,001211: 27,2775           77621                           BDSU                                           
033825,001212: 27,2776           03717                                    MUASTEER                              
033826,001213: 27,2777           45325                           PDDL     DSU                                   
033827,001214: 27,3000           03733                                    SS                                    
033828,001215: 27,3001           03715                                    RMAG                                  
033829,001216: 27,3002           70501                           NORM     SR1                                   
033830,001217: 27,3003           00047                                    X1                                    
033831,001218: 27,3004           41271                           DDV      DMP                                   
033832,001219: 27,3005           03725                                    R1C                                   
033833,001220: 27,3006           53664                           XSU,2    SL*                                   
033834,001221: 27,3007           00046                                    X1                                    
033835,001222: 27,3010           57575                                    1,2                                   
033836,001223: 27,3011           77754                           LXA,2                                          
033837,001224: 27,3012           03766                                    MUSCALE                               
033838,001225: 27,3013           75366                           SQRT     SIGN                                  
033839,001226: 27,3014           02673                                    GEOMSGN                               
033840,001227: 27,3015           00041                           STORE    32D                                   #  + OR - A
033841,001228: 27,3016           41345                           DLOAD    DMP                                   
033842,001229: 27,3017           03733                                    SS                                    
033843,001230: 27,3020           03721                                    MU/A                                  
033844,001231: 27,3021           77621                           BDSU                                           
033845,001232: 27,3022           03717                                    MUASTEER                              
033846,001233: 27,3023           45325                           PDDL     DSU                                   
033847,001234: 27,3024           03733                                    SS                                    
033848,001235: 27,3025           03723                                    RTMAG                                 
033849,001236: 27,3026           70501                           NORM     SR1                                   
033850,001237: 27,3027           00047                                    X1                                    
033851,001238: 27,3030           41271                           DDV      DMP                                   
033852,001239: 

Page 778

033854,001241: 27,3031           03725                                    R1C                                   
033855,001242: 27,3032           53664                           XSU,2    SL*                                   
033856,001243: 27,3033           00046                                    X1                                    
033857,001244: 27,3034           57575                                    1,2                                   
033858,001245: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033859,001246: 27,3036           03733                                    SS                                    
033860,001247: 27,3037           56225                           DSU      DDV                                   
033861,001248: 27,3040           00037                                    30D                                   
033862,001249: 27,3041           03733                                    SS                                    
033863,001250: 27,3042           41566                           SQRT     PUSH                                  
033864,001251: 27,3043           67542                           SR1      ASIN                                  
033865,001252: 27,3044           65205                           DMP      PDDL                                  
033866,001253: 27,3045           17216                                    2PI+3                                 
033867,001254: 27,3046           56325                           PDDL     DDV                                   
033868,001255: 27,3047           00037                                    30D                                   
033869,001256: 27,3050           03733                                    SS                                    
033870,001257: 27,3051           77600                           BOV                                            
033871,001258: 27,3052           57053                                    +1                                    
033872,001259: 27,3053           41366                           SQRT     DMP                                   
033873,001260: 27,3054           44242                           SR3      BDSU                                  
033874,001261: 27,3055           65365                           SIGN     PDDL                                  
033875,001262: 27,3056           02673                                    GEOMSGN                               
033876,001263: 27,3057           17216                                    2PI+3                                 
033877,001264: 27,3060           45302                           SR2      DSU                                   
033878,001265: 27,3061           65205                           DMP      PDDL                                  
033879,001266: 27,3062           03733                                    SS                                    
033880,001267: 27,3063           03733                                    SS                                    
033881,001268: 27,3064           75442                           SR3      SQRT                                  
033882,001269: 27,3065           77605                           DMP                                            
033883,001270: 27,3066           52525                           PDDL     SL3                                   
033884,001271: 27,3067           03717                                    MUASTEER                              
033885,001272: 27,3070           55366                           SQRT     BDDV                                  
033886,001273: 27,3071           43225                           DSU      DAD                                   
033887,001274: 27,3072           03631                                    TPASS4                                
033888,001275: 27,3073           01235                                    PIPTIME                               
033889,001276: 27,3074           14037                           STODL    30D                                   
033890,001277: 27,3075           77765                           SIGN                                           
033891,001278: 27,3076           00037                                    30D                                   #  B WITH SIGN
033892,001279: 27,3077           00037                           STORE    30D                                   
033893,001280: 27,3100           77214                           BON      VLOAD                                 
033894,001281: 27,3101           03705                                    NORMSW                                
033895,001282: 27,3102           57123                                    180MESS                               
033896,001283: 27,3103           03656                                    IC                                    
033897,001284: 27,3104           53451                           VSU      UNIT                                  
033898,001285: 27,3105           03537                                    UNIT/R/                               
033899,001286: 27,3106           63361                           VXSC     PDVL                                  
033900,001287: 27,3107           00037                                    30D                                   
033901,001288: 27,3110           03656                                    IC                                    
033902,001289: 27,3111           53455                           VAD      UNIT                                  
033903,001290: 27,3112           03537                                    UNIT/R/                               

Page 779

033905,001292: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033906,001293: 27,3114           00041                                    32D                                   
033907,001294: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033908,001295: 27,3116           02777                                    RTX2                                  
033909,001296: 27,3117           57177                                    0          -1,2                       
033910,001297: 27,3120           02337                           STORE    VIPRIME                               
033911,001298: 27,3121           77650                           GOTO                                           
033912,001299: 27,3122           57166                                    ASTREND    -2                         
033913,001300: 27,3123           50375        180MESS            VLOAD    DOT                                   
033914,001301: 27,3124           03656                                    IC                                    
033915,001302: 27,3125           03537                                    UNIT/R/                               
033916,001303: 27,3126           77240                           BMN      VLOAD                                 
033917,001304: 27,3127           57146                                    NEGPROD                               
033918,001305: 27,3130           03656                                    IC                                    
033919,001306: 27,3131           63362                           VSR1     PDVL                                  
033920,001307: 27,3132           03537                                    UNIT/R/                               
033921,001308: 27,3133           53362                           VSR1     VAD                                   
033922,001309: 27,3134           77656                           UNIT                                           
033923,001310: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033924,001311: 27,3136           75235                           VXV      SIGN                                  
033925,001312: 27,3137           02674                                    UN                                    
033926,001313: 27,3140           02673                                    GEOMSGN                               
033927,001314: 27,3141           74256                           UNIT     VXSC                                  
033928,001315: 27,3142           00037                                    30D                                   
033929,001316: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033930,001317: 27,3144           77650                           GOTO                                           
033931,001318: 27,3145           57113                                    GETVRVG1                              
033932,001319: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033933,001320: 27,3147           03537                                    UNIT/R/                               
033934,001321: 27,3150           74515                           PDVL     VSR1                                  
033935,001322: 27,3151           03656                                    IC                                    
033936,001323: 27,3152           53451                           VSU      UNIT                                  
033937,001324: 27,3153           77606                           PUSH                                           
033938,001325: 27,3154           75235                           VXV      SIGN                                  
033939,001326: 27,3155           02674                                    UN                                    #  FOR B
033940,001327: 27,3156           02673                                    GEOMSGN                               
033941,001328: 27,3157           74256                           UNIT     VXSC                                  
033942,001329: 27,3160           00041                                    32D                                   
033943,001330: 27,3161           77715                           PDVL                                           
033944,001331: 27,3162           53361                           VXSC     VAD                                   
033945,001332: 27,3163           00037                                    30D                                   
033946,001333: 27,3164           77650                           GOTO                                           
033947,001334: 27,3165           57115                                    GETVRVG2                              
033948,001335: 27,3166           77651                           VSU                                            
033949,001336: 27,3167           03553                                    VN1                                   
033950,001337: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033951,001338: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033952,001339: 27,3172           03000                                    RTX2                                  
033953,001340: 27,3173           57177                                    GETGOBL                               
033954,001341: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 780

033956,001343: 27,3175           02366                                    DELVEET3                              
033957,001344: 27,3176           57212                                    NOGOBL                                
033958,001345: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033959,001346: 27,3200           01221                                    RN                                    
033960,001347: 27,3201           45345                           DLOAD    DSU                                   
033961,001348: 27,3202           01235                                    PIPTIME                               #               2
033962,001349: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033963,001350: 27,3204           56205                           DMP      DDV                                   #   OBL
033964,001351: 27,3205           16023                                    EARTHMU                               
033965,001352: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033966,001353: 27,3207           53361                           VXSC     VAD                                   
033967,001354: 27,3210           03521                                    UNITGOBL                              
033968,001355: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033969,001356: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033970,001357: 27,3213           77650                           GOTO                                           
033971,001358: 27,3214           56455                                    VGAIN*                                
033972,001359: 
033973,001360: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033974,001361: 

Page 781

033976,001363:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033977,001364:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033978,001365: 
033979,001366:                                                                                                  #  FUNCTION:
033980,001367:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033981,001368:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033982,001369:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033983,001370: 
033984,001371:                                                                                                  #  CALLING SEQUENCE:
033985,001372:                                                                                                  #        VIA WAITLIST FROM R03
033986,001373: 
033987,001374:                                                                                                  #  INPUT:
033988,001375:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033989,001376:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033990,001377: 
033991,001378:                                                                                                  #  SUBROUTINES USED:
033992,001379:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033993,001380: 
033994,001381: 27,3217                                           COUNT*   $$/S40.6                              
033995,001382: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033996,001383: 
033997,001384: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033998,001385: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033999,001386: 
034000,001387: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
034001,001388: 27,3222           00006                           EXTEND                                         
034002,001389: 27,3223           03012                           WAND     CHAN12                                
034003,001390: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
034004,001391: 27,3225           00006                           EXTEND                                         
034005,001392: 27,3226           05012                           WOR      CHAN12                                
034006,001393: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034007,001394: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
034008,001395: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
034009,001396: 27,3232           00006                           EXTEND                                         
034010,001397: 27,3233           03012                           WAND     CHAN12                                
034011,001398: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034012,001399: 27,3235           00006                           EXTEND                                         
034013,001400: 27,3236           05012                           WOR      CHAN12                                
034014,001401: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034015,001402: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034016,001403: 27,3241           03260                           ADRES    PITCHOFF                              
034017,001404: 
034018,001405: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034019,001406: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
034020,001407: 27,3244           44740                           CS       BIT12                                 
034021,001408: 27,3245           00006                           EXTEND                                         
034022,001409: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034023,001410: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034024,001411: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034025,001412: 27,3251           00006                           EXTEND                                         
034026,001413: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034027,001414: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
034028,001415: 27,3254           05072                           TC       NOVAC                                 
034029,001416: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 782

034031,001418: 27,3255           02323 02067                     2CADR    TRIMDONE                              
034032,001419: 
034033,001420: 27,3257           05261                           TC       TASKOVER                              
034034,001421: 27,3260           44742        PITCHOFF           CS       BIT10                                 
034035,001422: 27,3261           00006                           EXTEND                                         
034036,001423: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034037,001424: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034038,001425: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034039,001426: 27,3265           00137                           ADRES    GMBDRVSW                              
034040,001427: 27,3266           05261                           TC       TASKOVER                              
034041,001428: 

Page 783

034043,001430:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
034044,001431:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034045,001432: 
034046,001433:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034047,001434: 
034048,001435:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034049,001436:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034050,001437:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034051,001438:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034052,001439:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034053,001440:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034054,001441:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034055,001442:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034056,001443: 
034057,001444:                                                                                                  #  CALLING SEQUENCE:
034058,001445:                                                                                                  #        L       VLOAD   CALL
034059,001446:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034060,001447:                                                                                                  #        L +2            S41.1
034061,001448:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034062,001449: 
034063,001450:                                                                                                  #  SUBROUTINES CALLED:
034064,001451:                                                                                                  #        1.      CDUTRIG,
034065,001452:                                                                                                  #                        WHICH CALLS CDULOGIC.
034066,001453:                                                                                                  #        2.      *SMNB*
034067,001454: 
034068,001455:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
034069,001456: 
034070,001457:                                                                                                  #  ALARM/ABORT MODES:  NONE.
034071,001458: 
034072,001459:                                                                                                  #  RESTART PROTECTION:  NONE.
034073,001460: 

Page 784

034075,001462:                                                                                                  #  INPUT:
034076,001463:                                                                                                  #        1.      REFSMMAT.
034077,001464:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
034078,001465:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
034079,001466: 
034080,001467:                                                                                                  #  OUTPUT:
034081,001468:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034082,001469:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
034083,001470:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
034084,001471:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034085,001472: 
034086,001473:                                                                                                  #  DEBRIS:  NONE.
034087,001474: 
034088,001475:                                                                                                  #  CHECKOUT STATUS:  CODED.
034089,001476: 
034090,001477: 27,3267                                           COUNT*   $$/S41.1                              
034091,001478: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034092,001479: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034093,001480: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034094,001481: 27,3272           47646                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034095,001482:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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