Source Code

These source-code files derive from a printout of Luminary 116 (the Apollo 12 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Ron Burkey, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 116 OF AGC PROGRAM LUMINARY BY NASA 2021112-071
	19:09 AUG. 11,1969
Note that the date is the date of the printout, not the date of the program revision.

031784,000002:                                                                                                  ## Copyright:   Public domain.
031785,000003:                                                                                                  ## Filename:    P40-P47.agc
031786,000004:                                                                                                  ## Purpose:     A section of Luminary revision 116.
031787,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM) 
031788,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 12.
031789,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
031790,000008:                                                                                                  ##              that the code format has been changed to conform to the
031791,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
031792,000010:                                                                                                  ##              original YUL assembler.
031793,000011:                                                                                                  ## Reference:   pp. 745-777
031794,000012:                                                                                                  ## Assembler:   yaYUL
031795,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
031796,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
031797,000015:                                                                                                  ## Mod history: 2017-01-22 MAS  Created from Luminary 99.
031798,000016:                                                                                                  ##              2017-03-10 RSB  Transcribed, and then proofed comment-text using
031799,000017:                                                                                                  ##                              3-way diff vs Luminary 99 and Luminary 131.
031800,000018:                                                                                                  ##                              (Admittedly, the former is more for detecting errors
031801,000019:                                                                                                  ##                              in Luminary 99 than the other way around.)
031802,000020:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
031803,000021:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
031804,000022:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
031805,000023:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
031806,000024:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
031807,000025: 

Page 745

031809,000027:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
031810,000028:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
031811,000029:                                                                                                  #  CALLED VIA JOB FROM V37E
031812,000030: 
031813,000031:                                                                                                  #  FUNCTIONAL DESCRIPTION
031814,000032: 
031815,000033:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031816,000034:                                                                                                  #                THRUSTING MANEUVER.
031817,000035:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031818,000036:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031819,000037:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
031820,000038:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031821,000039:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031822,000040: 
031823,000041:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031824,000042:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031825,000043: 
031826,000044:                                                                                                  #  SUBROUTINES USED
031827,000045: 
031828,000046:                                                                                                  #        R02             IMU STATUS CHECK
031829,000047:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
031830,000048:                                                                                                  #        S40.13          LENGTH OF BURN
031831,000049:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
031832,000050:                                                                                                  #        S40.8           X PRODUCT STEERING
031833,000051:                                                                                                  #        S40.9           LAMBERT VTOGAIN
031834,000052:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
031835,000053:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
031836,000054:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
031837,000055:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
031838,000056:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
031839,000057:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031840,000058:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031841,000059:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
031842,000060: 
031843,000061:                                                                                                  #  RESTARTS VIA GROUP 4
031844,000062: 
031845,000063:                                                                                                  #  DISPLAYS
031846,000064: 
031847,000065:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
031848,000066:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031849,000067:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
031850,000068:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031851,000069:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
031852,000070:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031853,000071:                                                                                                  #        V05N09  POSSIBLE ALARMS
031854,000072:                                                                                                  #        V50N07  PLEASE SELECT P00
031855,000073: 

Page 746

031857,000075:                                                                                                  #        VIA R30
031858,000076: 
031859,000077:                                                                                                  #        V06N44  HAPO, PERI, TFF
031860,000078:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
031861,000079: 
031862,000080:                                                                                                  #  ALARM OR ABORT EXIT MODES
031863,000081: 
031864,000082:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031865,000083:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
031866,000084: 
031867,000085:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
031868,000086:                                                                                                  #        TIG BY 45 SECS.
031869,000087: 
031870,000088:                                                                                                  #  ERASABLE INITIALIZATION
031871,000089: 
031872,000090:                                                                                                  #  DEBRIS
031873,000091: 
031874,000092:                                                                                                  #  OUTPUT
031875,000093: 
031876,000094:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031877,000095:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
031878,000096:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
031879,000097: 
031880,000098: 27,2246                                           COUNT*   $$/P40                                
031881,000099: 27,2246  E7,1455                                  EBANK=   WHICH                                 
031882,000100: 
031883,000101: 36,3153                                           BANK     36                                    
031884,000102: 36,2000                                           SETLOC   P40S                                  
031885,000103: 36,2000                                           BANK                                           
031886,000104: 
031887,000105: 36,3153           05353        P40LM              TC       PHASCHNG                              
031888,000106: 36,3154           04024                           OCT      04024                                 
031889,000107: 
031890,000108: 36,3155           33137                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
031891,000109: 36,3156           55455                           TS       WHICH                                 
031892,000110: 
031893,000111: 36,3157           30106                           CA       FLGWRD10                              
031894,000112: 36,3160           74737                           MASK     APSFLBIT                              
031895,000113: 36,3161           10000                           CCS      A                                     
031896,000114: 36,3162           13125                           TCF      P40ALM                                
031897,000115: 36,3163           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
031898,000116: 36,3164           11236                           CADR     R02BOTH                               
031899,000117: 
031900,000118: 36,3165           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
031901,000119: 36,3166           74737                           MASK     CSMDOCKD                              
031902,000120: 36,3167           10000                           CCS      A                                     
031903,000121: 36,3170           32022                           CAF      THRESH1                               
031904,000122: 36,3171           62023                           AD       THRESH3                               
031905,000123: 36,3172           55250                           TS       DVTHRUSH                              
031906,000124: 36,3173           34751                           CAF      FOUR                                  
031907,000125: 36,3174           55515                           TS       DVCNTR                                

Page 747

031909,000127: 36,3175           06042                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
031910,000128: 36,3176           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
031911,000129: 36,3177           34001                                    FDPS                                  
031912,000130: 36,3200           02663                                    NOTHROTL                              
031913,000131: 36,3201           03735                           STORE    F                                     
031914,000132: 36,3202           77735                           SLOAD                                          
031915,000133: 36,3203           26002                                    DPSVEX                                
031916,000134: 36,3204           70476        P40IN              DCOMP    SR1                                   
031917,000135: 36,3205           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
031918,000136: 36,3206           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
031919,000137: 36,3207           77624                           CALL                                           
031920,000138: 36,3210           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
031921,000139: 36,3211           77776                           EXIT                                           
031922,000140: 
031923,000141: 36,3212           00004                           INHINT                                         
031924,000142: 36,3213           04674                           TC       IBNKCALL                              
031925,000143: 36,3214           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031926,000144: 
031927,000145: 36,3215           03217                           TC       P40SXT4                               
031928,000146: 
031929,000147:                                                                                                  #                ***********************
031930,000148: 
031931,000149: 36,3216           12130                           TCF      BURNBABY                              
031932,000150: 
031933,000151:                                                                                                  #                ***********************
031934,000152: 
031935,000153: 36,3217           00006        P40SXT4            EXTEND                                         
031936,000154: 36,3220           23141                           QXCH     P40/RET                               
031937,000155: 36,3221           00003        P41MANU            RELINT                                         
031938,000156: 
031939,000157: 36,3222           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031940,000158: 36,3223           00124                           ADRES    3AXISFLG                              
031941,000159: 
031942,000160: 36,3224           04616                           TC       BANKCALL                              
031943,000161: 36,3225           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
031944,000162: 36,3226           01141                           TC       P40/RET                               
031945,000163: 
031946,000164: 36,3227  E7,1462                                  EBANK=   TRKMKCNT                              
031947,000165: 36,3227           30005        POSTBURN           CA       Z                                     
031948,000166: 36,3230           55162                           TS       DISPDEX                               
031949,000167: 36,3231           00006                           EXTEND                                         
031950,000168: 36,3232           32060                           DCA      ACADN85                               
031951,000169: 36,3233           53252                           DXCH     AVEGEXIT                              
031952,000170: 36,3234           33764                           CAF      V16N40                                
031953,000171: 36,3235           04616                           TC       BANKCALL                              
031954,000172: 36,3236           20636                           CADR     GOFLASHR                              
031955,000173: 36,3237           03262                           TC       TERM40                                
031956,000174: 36,3240           13245                           TCF      TIGNOW                                
031957,000175: 36,3241           03227                           TC       POSTBURN                              

Page 748

031959,000177: 36,3242           05353        P40PHS1            TC       PHASCHNG                              
031960,000178: 36,3243           00014                           OCT      00014                                 
031961,000179: 36,3244           15155                           TCF      ENDOFJOB                              
031962,000180: 
031963,000181: 36,3245           00004        TIGNOW             INHINT                                         
031964,000182: 36,3246           04674                           TC       IBNKCALL                              
031965,000183: 36,3247           40154                           CADR     ZATTEROR                              
031966,000184: 36,3250           04674                           TC       IBNKCALL                              
031967,000185: 36,3251           40141                           CADR     SETMINDB                              
031968,000186: 36,3252           00003                           RELINT                                         
031969,000187: 36,3253           33765                           CAF      V16N85B                               
031970,000188: 36,3254           04616                           TC       BANKCALL                              
031971,000189: 36,3255           20463                           CADR     REFLASHR                              
031972,000190: 36,3256           03262                           TC       TERM40                                
031973,000191: 36,3257           13262                           TCF      TERM40                                
031974,000192: 36,3260           03253                           TC       -5                                    
031975,000193: 
031976,000194: 36,3261           13242                           TCF      P40PHS1                               
031977,000195: 
031978,000196: 36,3262           00006        TERM40             EXTEND                                         
031979,000197: 36,3263           32110                           DCA      SERVCADR                              
031980,000198: 36,3264           53252                           DXCH     AVEGEXIT                              
031981,000199: 36,3265           34755                           CAF      ZERO                                  
031982,000200: 36,3266           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
031983,000201: 36,3267           30005                           CA       Z                                     
031984,000202: 36,3270           55162                           TS       DISPDEX                               
031985,000203: 36,3271           00004                           INHINT                                         
031986,000204: 36,3272           04674                           TC       IBNKCALL                              
031987,000205: 36,3273           40115                           CADR     RESTORDB                              
031988,000206: 36,3274           00003                           RELINT                                         
031989,000207: 36,3275           06001                           TC       GOTOPOOH                              
031990,000208: 
031991,000209: 36,3276  E7,1455                                  EBANK=   WHICH                                 
031992,000210: 36,3276                                           COUNT*   $$/P41                                
031993,000211: 36,3276           33140        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
031994,000212: 36,3277           55455                           TS       WHICH                                 
031995,000213: 
031996,000214: 36,3300           04616                           TC       BANKCALL                              
031997,000215: 36,3301           11236                           CADR     R02BOTH                               
031998,000216: 
031999,000217: 36,3302           06042                           TC       INTPRET                               #  BOTH LM
032000,000218: 36,3303           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032001,000219: 36,3304           00700                                    NJETSFLG                              
032002,000220: 36,3305           75311                                    P41FJET1                              
032003,000221: 36,3306           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032004,000222: 
032005,000223: 36,3307           37735        P41FJET            STCALL   F                                     
032006,000224: 36,3310           75314                                    P41IN                                 
032007,000225: 36,3311           77745        P41FJET1           DLOAD                                          

Page 749

032009,000227: 36,3312           34021                                    FRCS2                                 
032010,000228: 36,3313           03735                           STORE    F                                     
032011,000229: 
032012,000230: 36,3314           77624        P41IN              CALL                                           
032013,000231: 36,3315           56246                                    S40.1                                 #  BOTH
032014,000232: 36,3316           77624        P41NORM            CALL                                           
032015,000233: 36,3317           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032016,000234: 36,3320           77776                           EXIT                                           #  SET PFRATFLG.
032017,000235: 
032018,000236: 36,3321           00004                           INHINT                                         
032019,000237: 36,3322           04674                           TC       IBNKCALL                              
032020,000238: 36,3323           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032021,000239: 36,3324           04674                           TC       IBNKCALL                              
032022,000240: 36,3325           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032023,000241: 36,3326           03217                           TC       P40SXT4                               
032024,000242: 
032025,000243: 36,3327           06042                           TC       INTPRET                               
032026,000244: 36,3330           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032027,000245: 36,3331           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032028,000246: 36,3332           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032029,000247: 36,3333           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032030,000248: 36,3334           77776                           EXIT                                           
032031,000249: 
032032,000250: 36,3335           33765                           CAF      V16N85B                               
032033,000251: 36,3336           04616                           TC       BANKCALL                              
032034,000252: 36,3337           20447                           CADR     GODSPRET                              
032035,000253: 
032036,000254: 36,3340           35017                           CAF      PRIO5                                 
032037,000255: 36,3341           55162                           TS       DISPDEX                               #  FOR SAFETY ONLY
032038,000256: 36,3342           05105                           TC       FINDVAC                               
032039,000257: 36,3343  E7,1700                                  EBANK=   VGPREV                                
032040,000258: 36,3343           03365 74067                     2CADR    DYNMDISP                              
032041,000259: 
032042,000260: 36,3345           05327                           TC       2PHSCHNG                              
032043,000261: 36,3346           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032044,000262: 36,3347           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032045,000263: 
032046,000264:                                                                                                  #                ***********************
032047,000265: 
032048,000266: 36,3350           12137                           TCF      B*RNB*B*                              
032049,000267: 
032050,000268:                                                                                                  #                ***********************
032051,000269: 
032052,000270: 36,3351           34777        BLNKWAIT           CAF      1SEC                                  
032053,000271: 36,3352           04616                           TC       BANKCALL                              
032054,000272: 36,3353           01736                           CADR     DELAYJOB                              
032055,000273: 
032056,000274: 36,3354           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032057,000275: 36,3355           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032058,000276: 
032059,000277:                                                                                                  #                ***********************

Page 750

032061,000279: 
032062,000280: 36,3356           00006                           EXTEND                                         
032063,000281: 36,3357           13351                           BZF      BLNKWAIT                              
032064,000282: 
032065,000283: 36,3360           33765                           CAF      V16N85B                               
032066,000284: 36,3361           04616                           TC       BANKCALL                              
032067,000285: 36,3362           20447                           CADR     GODSPRET                              
032068,000286: 
032069,000287: 36,3363           35017                           CAF      PRIO5                                 
032070,000288: 36,3364           05146                           TC       PRIOCHNG                              
032071,000289: 
032072,000290: 36,3365           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032073,000291: 36,3366           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032074,000292: 36,3367           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
032075,000293: 36,3370           06042                           TC       INTPRET                               
032076,000294: 36,3371           45175                           VLOAD    CALL                                  
032077,000295: 36,3372           03701                                    VGPREV                                
032078,000296: 36,3373           57267                                    S41.1                                 
032079,000297: 36,3374           03502                           STORE    VGBODY                                
032080,000298: 36,3375           77776                           EXIT                                           
032081,000299: 36,3376           34777                           CAF      1SEC                                  
032082,000300: 36,3377           04616                           TC       BANKCALL                              
032083,000301: 36,3400           01736                           CADR     DELAYJOB                              
032084,000302: 36,3401           13365                           TCF      DYNMDISP                              
032085,000303: 
032086,000304: 36,3402           06042        CALCN85            TC       INTPRET                               
032087,000305: 36,3403           77624                           CALL                                           
032088,000306: 36,3404           75615                                    UPDATEVG                              
032089,000307: 36,3405           45175                           VLOAD    CALL                                  
032090,000308: 36,3406           03701                                    VGPREV                                
032091,000309: 36,3407           57267                                    S41.1                                 
032092,000310: 36,3410           03502                           STORE    VGBODY                                
032093,000311: 36,3411           77776                           EXIT                                           
032094,000312: 36,3412           04635                           TC       POSTJUMP                              
032095,000313: 36,3413           65761                           CADR     SERVEXIT                              
032096,000314: 
032097,000315: 36,3414                                           COUNT*   $$/P42                                
032098,000316: 36,3414  E7,1455                                  EBANK=   WHICH                                 
032099,000317: 
032100,000318: 36,3414           05353        P42LM              TC       PHASCHNG                              
032101,000319: 36,3415           04024                           OCT      04024                                 
032102,000320: 
032103,000321: 36,3416           33141                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032104,000322: 36,3417           55455                           TS       WHICH                                 
032105,000323: 
032106,000324: 36,3420           40106                           CS       FLGWRD10                              
032107,000325: 36,3421           74737                           MASK     APSFLBIT                              
032108,000326: 36,3422           10000                           CCS      A                                     
032109,000327: 36,3423           03125                           TC       P40ALM                                
032110,000328: 36,3424           04616        P42STAGE           TC       BANKCALL                              

Page 751

032112,000330: 36,3425           11236                           CADR     R02BOTH                               
032113,000331: 36,3426           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032114,000332: 36,3427           55250                           TS       DVTHRUSH                              
032115,000333: 36,3430           34751                           CAF      FOUR                                  
032116,000334: 36,3431           55515                           TS       DVCNTR                                
032117,000335: 
032118,000336: 36,3432           06042                           TC       INTPRET                               
032119,000337: 36,3433           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032120,000338: 36,3434           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032121,000339: 36,3435           34007                                    FAPS                                  
032122,000340: 36,3436           03735                           STORE    F                                     
032123,000341: 36,3437           52135                           SLOAD    GOTO                                  
032124,000342: 36,3440           26001                                    APSVEX                                
032125,000343: 36,3441           75204                                    P40IN                                 
032126,000344: 
032127,000345: 36,3442  E7,1455                                  EBANK=   WHICH                                 
032128,000346: 
032129,000347: 36,3442                                           COUNT*   $$/P47                                
032130,000348: 36,3442           04616        P47LM              TC       BANKCALL                              
032131,000349: 36,3443           11236                           CADR     R02BOTH                               
032132,000350: 36,3444           06042                           TC       INTPRET                               
032133,000351: 36,3445           77624                           CALRB                                          
032134,000352: 36,3446           27551                                    MIDTOAV2                              
032135,000353: 
032136,000354: 36,3447           30155                           CA       MPAC       +1                         
032137,000355: 36,3450           05173                           TC       TWIDDLE                               
032138,000356: 36,3451           03453                           ADRES    STARTP47                              
032139,000357: 
032140,000358: 36,3452           15155                           TCF      ENDOFJOB                              
032141,000359: 
032142,000360: 36,3453           05353        STARTP47           TC       PHASCHNG                              
032143,000361: 36,3454           05014                           OCT      05014                                 
032144,000362: 36,3455           77777                           OCT      77777                                 
032145,000363: 
032146,000364: 36,3456           00006                           EXTEND                                         
032147,000365: 36,3457           33770                           DCA      ACADN83                               
032148,000366: 36,3460           53252                           DXCH     AVEGEXIT                              
032149,000367: 36,3461           34736                           CAF      PRIO20                                
032150,000368: 36,3462           05105                           TC       FINDVAC                               
032151,000369: 36,3463  E7,1622                                  EBANK=   DELVIMU                               
032152,000370: 36,3463           03517 74067                     2CADR    P47BODY                               
032153,000371: 
032154,000372: 36,3465           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032155,000373:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032156,000374: 
032157,000375: 36,3466           06042        CALCN83            TC       INTPRET                               
032158,000376: 36,3467           53375                           VLOAD    VAD                                   
032159,000377: 36,3470           03502                                    DELVCTL                               
032160,000378: 36,3471           03527                                    DELVREF                               
032161,000379: 36,3472           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 752

032163,000381: 36,3473           77624                           CALL                                           
032164,000382: 36,3474           57267                                    S41.1                                 
032165,000383: 36,3475           03623                           STORE    DELVIMU                               
032166,000384: 36,3476           77776                           EXIT                                           
032167,000385: 36,3477           05353                           TC       PHASCHNG                              
032168,000386: 36,3500           10035                           OCT      10035                                 #  REREADAC AND HERE
032169,000387: 
032170,000388: 36,3501           06042                           TC       INTPRET                               
032171,000389: 36,3502           77775                           VLOAD                                          
032172,000390: 36,3503           03656                                    DELVSIN                               
032173,000391: 36,3504           03502                           STORE    DELVCTL                               
032174,000392: 36,3505           77776                           EXIT                                           
032175,000393: 
032176,000394: 36,3506           04635                           TC       POSTJUMP                              
032177,000395: 36,3507           65761                           CADR     SERVEXIT                              
032178,000396: 
032179,000397: 36,3510           33766        P47BOD             CAF      V1683                                 
032180,000398: 36,3511           04616                           TC       BANKCALL                              
032181,000399: 36,3512           20636                           CADR     GOFLASHR                              
032182,000400: 36,3513           06001                           TC       GOTOPOOH                              
032183,000401: 36,3514           06001                           TC       GOTOPOOH                              
032184,000402: 
032185,000403: 36,3515           13517                           TCF      P47BODY                               
032186,000404: 
032187,000405: 36,3516           13242                           TCF      P40PHS1                               
032188,000406: 
032189,000407: 36,3517           06042        P47BODY            TC       INTPRET                               
032190,000408: 36,3520           77775                           VLOAD                                          
032191,000409: 36,3521           06524                                    HI6ZEROS                              
032192,000410: 36,3522           03623                           STORE    DELVIMU                               
032193,000411: 36,3523           03502                           STORE    DELVCTL                               
032194,000412: 36,3524           77776                           EXIT                                           
032195,000413: 36,3525           03510                           TC       P47BOD                                
032196,000414: 
032197,000415: 36,3526                                           COUNT*   $$/P40                                
032198,000416: 36,3526           31517        IMPLBURN           CA       TGO        +1                         
032199,000417: 36,3527           03741                           TC       GETDT                                 
032200,000418: 36,3530           05173                           TC       TWIDDLE                               
032201,000419: 36,3531           03546                           ADRES    ENGOFTSK                              
032202,000420: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032203,000421: 36,3533           00153                           ADRES    IGNFLAG                               
032204,000422: 36,3534           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032205,000423: 36,3535           00154                           ADRES    ASTNFLAG                              
032206,000424: 36,3536           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032207,000425: 36,3537           00044                           ADRES    IMPULSW                               
032208,000426: 36,3540           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032209,000427: 36,3541           40114                           OCT      40114                                 
032210,000428: 
032211,000429: 36,3542           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032212,000430: 36,3543           00062                           DEC      50         B-14                       

Page 753

032214,000432: 36,3544           02657                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032215,000433: 
032216,000434: 36,3545           05261                           TC       TASKOVER                              
032217,000435: 
032218,000436: 36,3546           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032219,000437: 36,3547           75551                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032220,000438: 36,3550           05261                           TC       TASKOVER                              
032221,000439: 
032222,000440: 36,3551           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032223,000441: 36,3552           05105                           TC       FINDVAC                               
032224,000442: 36,3553  E7,1462                                  EBANK=   TRKMKCNT                              
032225,000443: 36,3553           03227 74067                     2CADR    POSTBURN                              
032226,000444: 
032227,000445: 36,3555           34753        ENGINOF2           CAF      BIT1                                  
032228,000446: 36,3556           05203                           TC       WAITLIST                              
032229,000447: 36,3557  E6,1422                                  EBANK=   OMEGAQ                                
032230,000448: 36,3557           03612 74066                     2CADR    COASTSET                              
032231,000449: 
032232,000450: 36,3561           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032233,000451: 36,3562           74745                           MASK     IDLEFBIT                              
032234,000452: 36,3563           26103                           ADS      FLAGWRD7                              
032235,000453: 
032236,000454: 36,3564           02657                           TC       NOULLAGE                              
032237,000455: 
032238,000456: 36,3565           00006        ENGINOF4           EXTEND                                         
032239,000457: 36,3566           30025                           DCA      TIME2                                 
032240,000458: 36,3567           53342                           DXCH     TEVENT                                
032241,000459: 
032242,000460: 36,3570           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032243,000461: 36,3571           70101                           MASK     FLAGWRD5                              
032244,000462: 36,3572           54101                           TS       FLAGWRD5                              
032245,000463: 36,3573           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032246,000464: 36,3574           00006                           EXTEND                                         #  SUBROUTINE.
032247,000465: 36,3575           02011                           RAND     DSALMOUT                              
032248,000466: 36,3576           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032249,000467: 36,3577           00006                           EXTEND                                         
032250,000468: 36,3600           01011                           WRITE    DSALMOUT                              
032251,000469: 
032252,000470: 36,3601           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032253,000471: 36,3602           74736                           MASK     USEQRJTS                              
032254,000472: 36,3603           26111                           ADS      DAPBOOLS                              
032255,000473: 
032256,000474: 36,3604           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032257,000475: 36,3605           54055                           TS       THRUST                                #  IS TURNED OFF.
032258,000476: 36,3606           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032259,000477: 36,3607           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032260,000478: 36,3610           05014                           WOR      CHAN14                                
032261,000479: 
032262,000480: 36,3611           04707                           TC       ISWRETRN                              

Page 754

032264,000482: 36,3612           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032265,000483: 36,3613           40205                           CADR     ALLCOAST                              
032266,000484: 36,3614           05261                           TC       TASKOVER                              
032267,000485: 
032268,000486: 36,3615  E6,1422                                  EBANK=   OMEGAQ                                
032269,000487: 36,3615           45020        UPDATEVG           STQ      CALL                                  
032270,000488: 36,3616           03665                                    QTEMP1                                
032271,000489: 36,3617           56447                                    S40.8                                 #  X-PRODUCT STEERING
032272,000490: 36,3620           43014                           BON      BON                                   
032273,000491: 36,3621           01307                                    XDELVFLG                              
032274,000492: 36,3622           03665                                    QTEMP1                                
032275,000493: 36,3623           03705                                    NORMSW                                
032276,000494: 36,3624           75637                                    180SETUP                              
032277,000495: 36,3625           45345                           DLOAD    DSU                                   
032278,000496: 36,3626           01234                                    PIPTIME                               
032279,000497: 36,3627           03763                                    TIGSAVE                               
032280,000498: 36,3630           50025                           DSU      BMN                                   
032281,000499: 36,3631           03432                                    TNEWA                                 
032282,000500: 36,3632           75662                                    GETRANS                               
032283,000501: 36,3633           43345                           DLOAD    DAD                                   
032284,000502: 36,3634           03763                                    TIGSAVE                               
032285,000503: 36,3635           03432                                    TNEWA                                 
032286,000504: 36,3636           03765                           STORE    TIGSAVEP                              
032287,000505: 36,3637           77776        180SETUP           EXIT                                           
032288,000506: 36,3640           10754                           CCS      PHASE2                                
032289,000507: 36,3641           13667                           TCF      NO.9                                  
032290,000508: 36,3642           34737                           CAF      PRIO10                                
032291,000509: 36,3643           00004                           INHINT                                         
032292,000510: 36,3644           05105                           TC       FINDVAC                               
032293,000511: 36,3645  E7,1706                                  EBANK=   VG                                    
032294,000512: 36,3645           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032295,000513: 
032296,000514: 36,3647           05327                           TC       2PHSCHNG                              
032297,000515: 36,3650           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032298,000516: 36,3651           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032299,000517: 
032300,000518: 36,3652           06042        ENDSTEER           TC       INTPRET                               
032301,000519: 36,3653           77745                           DLOAD                                          
032302,000520: 36,3654           03765                                    TIGSAVEP                              
032303,000521: 36,3655           27763                           STOVL    TIGSAVE                               
032304,000522: 36,3656           01220                                    RN                                    
032305,000523: 36,3657           26323                           STOVL    RINIT                                 
032306,000524: 36,3660           01226                                    VN                                    
032307,000525: 36,3661           02331                           STORE    VINIT                                 
032308,000526: 36,3662           45345        GETRANS            DLOAD    DSU                                   
032309,000527: 36,3663           03631                                    TPASS4                                
032310,000528: 36,3664           01234                                    PIPTIME                               
032311,000529: 36,3665           37452                           STCALL   DELLT4                                
032312,000530: 36,3666           03665                                    QTEMP1                                
032313,000531: 

Page 755

032315,000533: 36,3667           06042        NO.9               TC       INTPRET                               
032316,000534: 36,3670           77650                           GOTO                                           
032317,000535: 36,3671           03665                                    QTEMP1                                
032318,000536: 36,3672           06042        STEERING           TC       INTPRET                               
032319,000537: 
032320,000538: 36,3673           77624                           CALL                                           
032321,000539: 36,3674           75615                                    UPDATEVG                              
032322,000540: 36,3675           77776                           EXIT                                           
032323,000541: 
032324,000542: 36,3676  E7,1515                                  EBANK=   DVCNTR                                
032325,000543: 36,3676           00004        NSTEER             INHINT                                         
032326,000544: 36,3677           35016                           CA       EBANK7                                
032327,000545: 36,3700           54003                           TS       EBANK                                 
032328,000546: 36,3701           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032329,000547: 36,3702           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032330,000548: 36,3703           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032331,000549: 
032332,000550: 36,3704           13711                           TCF      +5                                    #  IMPULSW = 0   EXIT
032333,000551: 36,3705           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
032334,000552: 36,3706           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
032335,000553: 36,3707           10000                           CCS      A                                     
032336,000554: 36,3710           13713                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032337,000555: 36,3711           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032338,000556: 36,3712           65761                           CADR     SERVEXIT                              
032339,000557: 
032340,000558: 36,3713           04674                           TC       IBNKCALL                              
032341,000559: 36,3714           40166                           CADR     STOPRATE                              
032342,000560: 
032343,000561: 36,3715           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032344,000562: 36,3716           00044                           ADRES    IMPULSW                               
032345,000563: 
032346,000564: 36,3717           05504                           TC       UPFLAG                                
032347,000565: 36,3720           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032348,000566: 
032349,000567: 36,3721           00004                           INHINT                                         
032350,000568: 36,3722           00006                           EXTEND                                         
032351,000569: 36,3723           31442                           DCA      TIG                                   
032352,000570: 36,3724           52155                           DXCH     MPAC                                  
032353,000571: 36,3725           00006                           EXTEND                                         
032354,000572: 36,3726           40025                           DCS      TIME2                                 
032355,000573: 36,3727           20155                           DAS      MPAC                                  
032356,000574: 36,3730           07262                           TC       TPAGREE                               
032357,000575: 36,3731           30155                           CAE      MPAC       +1                         
032358,000576: 36,3732           03741                           TC       GETDT                                 
032359,000577: 36,3733           05173                           TC       TWIDDLE                               
032360,000578: 36,3734           03546                           ADRES    ENGOFTSK                              
032361,000579: 36,3735           05327                           TC       2PHSCHNG                              
032362,000580: 36,3736           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032363,000581: 36,3737           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 756

032365,000583: 36,3740           15155                           TCF      ENDOFJOB                              
032366,000584: 
032367,000585: 36,3741           10000        GETDT              CCS      A                                     
032368,000586: 36,3742           13745                           TCF      +3                                    
032369,000587: 36,3743           13745                           TCF      +2                                    
032370,000588: 36,3744           34755                           CAF      ZERO                                  
032371,000589: 36,3745           64753                           AD       ONE                                   
032372,000590: 36,3746           56001                           XCH      L                                     
032373,000591: 36,3747           34755                           CAF      ZERO                                  
032374,000592: 36,3750           53517                           DXCH     TGO                                   
032375,000593: 36,3751           31517                           CA       TGO        +1                         
032376,000594: 36,3752           00002                           TC       Q                                     
032377,000595: 
032378,000596:                                                                                                  #  ************************************************************************
032379,000597: 
032380,000598: 36,3753           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
032381,000599: 36,3754           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
032382,000600: 36,3755           00000 05670  SEC30DP            2DEC     3000       B-28                       
032383,000601: 
032384,000602: 36,3757           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
032385,000603: 36,3760           10624        SEC45              DEC      4500       B-14                       
032386,000604: 36,3761           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032387,000605: 36,3762           00764        5SEC               DEC      500        B-14                       
032388,000606: 36,3763           05050        26SECS             DEC      2600       B-14                       
032389,000607: 36,3764           04050        V16N40             VN       1640                                  
032390,000608: 36,3765           04125        V16N85B            VN       1685                                  
032391,000609: 36,3766           04123        V1683              VN       1683                                  
032392,000610: 36,3767     4777               SEC01              =        1SEC                                  
032393,000611: 36,3767  36,2057               ACADN85            =        P41TABLE   +2                         
032394,000612: 
032395,000613: 36,3767  E7,1622                                  EBANK=   DELVIMU                               
032396,000614: 36,3767           03466 74067  ACADN83            2CADR    CALCN83                               
032397,000615: 
032398,000616:                                                                                                  #  *************************************************

Page 757

032400,000618:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
032401,000619:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
032402,000620:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032403,000621: 
032404,000622:                                                                                                  #  FUNCTIONAL DESCRIPTION
032405,000623:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032406,000624:                                                                                                  #        VECTOR(VGTIG).
032407,000625: 
032408,000626:                                                                                                  #  CALLING SEQUENCE
032409,000627:                                                                                                  #        L       CALL
032410,000628:                                                                                                  #        L+1             S40.1
032411,000629: 
032412,000630:                                                                                                  #  NORMAL EXIT MODE
032413,000631:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032414,000632:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
032415,000633: 
032416,000634:                                                                                                  #  SUBROUTINES CALLED
032417,000635:                                                                                                  #        LEMPREC
032418,000636:                                                                                                  #        INITVEL
032419,000637:                                                                                                  #        CALCGRAV
032420,000638:                                                                                                  #        MIDGIM
032421,000639: 
032422,000640:                                                                                                  #  ALARM OR ABORT EXIT MODES
032423,000641:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032424,000642: 
032425,000643:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032426,000644:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
032427,000645:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
032428,000646:                                                                                                  #        F               THRUST FOR ENGINE USED
032429,000647:                                                                                                  #    IF DELTA-V MANEUVER
032430,000648:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
032431,000649:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
032432,000650:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
032433,000651:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
032434,000652:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
032435,000653:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
032436,000654:                                                                                                  #    IF AIMPT STEER
032437,000655:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
032438,000656:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
032439,000657:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
032440,000658:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
032441,000659: 
032442,000660:                                                                                                  #  OUTPUT
032443,000661:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
032444,000662:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
032445,000663:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
032446,000664:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
032447,000665:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032448,000666:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
032449,000667:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
032450,000668:                                                                                                  #                        POSITION AT TIME OF IGNITION
032451,000669: 
032452,000670:                                                                                                  #  DEBRIS        QTEMP1
032453,000671:                                                                                                  #                MPAC, QPRET
032454,000672:                                                                                                  #                PUSHLIST
032455,000673: 
032456,000674: 14,2347                                           BANK     14                                    
032457,000675: 27,2000                                           SETLOC   P40S1                                 
032458,000676: 27,2000                                           BANK                                           

Page 758

032460,000678: 27,2246                                           COUNT*   $$/S40.1                              
032461,000679: 27,2246           71220        S40.1              STQ      DLOAD                                 
032462,000680: 27,2247           03632                                    QTEMP                                 
032463,000681: 27,2250           03442                                    TIG                                   
032464,000682: 27,2251           03763                           STORE    TIGSAVE                               
032465,000683: 27,2252           77614        DELVTEST           BOFF                                           
032466,000684: 27,2253           01347                                    XDELVFLG                              
032467,000685: 27,2254           56336                                    S40.1B                                
032468,000686: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032469,000687: 27,2256           00001                                    0                                     
032470,000688: 27,2257           03650                                    VTIG                                  
032471,000689: 27,2260           02331                           STORE    VINIT                                 
032472,000690: 27,2261           53435                           VXV      UNIT                                  
032473,000691: 27,2262           03642                                    RTIG                                  
032474,000692: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032475,000693: 27,2264           03642                                    RTIG                                  
032476,000694: 27,2265           02323                           STORE    RINIT                                 
032477,000695: 27,2266           65236                           VSQ      PDDL                                  
032478,000696: 27,2267           00045                                    36D                                   
032479,000697: 27,2270           56205                           DMP      DDV                                   
032480,000698: 27,2271           16412                                    THETACON                              
032481,000699: 27,2272           41205                           DMP      DMP                                   
032482,000700: 27,2273           03664                                    DELVSAB                               
032483,000701: 27,2274           01244                                    WEIGHT/G                              
032484,000702: 27,2275           77671                           DDV                                            
032485,000703: 27,2276           03735                                    F                                     
032486,000704: 27,2277           24017                           STOVL    14D                                   
032487,000705: 27,2300           03656                                    DELVSIN                               
032488,000706: 
032489,000707: 27,2301           74241                           DOT      VXSC                                  
032490,000708: 27,2302           03673                                    UT                                    
032491,000709: 27,2303           03673                                    UT                                    
032492,000710: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032493,000711: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032494,000712: 27,2306           03656                                    DELVSIN                               
032495,000713: 27,2307           00017                                    14D                                   
032496,000714: 27,2310           63356                           SIN      PDVL                                  
032497,000715: 27,2311           00007                                    6D                                    
032498,000716: 27,2312           53435                           VXV      UNIT                                  
032499,000717: 27,2313           03673                                    UT                                    
032500,000718: 27,2314           45561                           VXSC     STADR                                 
032501,000719: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032502,000720: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032503,000721: 27,2317           00017                                    14D                                   
032504,000722: 27,2320           74346                           COS      VXSC                                  
032505,000723: 27,2321           74255                           VAD      VXSC                                  
032506,000724: 27,2322           03701                                    VGTIG                                 
032507,000725: 27,2323           00045                                    36D                                   
032508,000726: 27,2324           53352                           VSL2     VAD                                   
032509,000727: 27,2325           77626                           STADR                                          

Page 759

032511,000729: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
032512,000730: 
032513,000731: 27,2327           77656                           UNIT                                           
032514,000732: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032515,000733: 27,2331           03701                                    VGTIG                                 
032516,000734: 27,2332           45006                           PUSH     CALL                                  
032517,000735: 27,2333           15741                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032518,000736: 27,2334           77650                           GOTO                                           
032519,000737: 27,2335           03632                                    QTEMP                                 
032520,000738: 27,2336           77745        S40.1B             DLOAD                                          
032521,000739: 27,2337           03442                                    TIG                                   
032522,000740: 27,2340           00041                           STORE    TDEC1                                 
032523,000741: 27,2341           77621                           BDSU                                           
032524,000742: 27,2342           03631                                    TPASS4                                
032525,000743: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032526,000744: 27,2344           27060                                    LEMPREC                               
032527,000745: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032528,000746: 27,2346           00001                                    RATT                                  
032529,000747: 27,2347           00001                                    0                                     
032530,000748: 27,2350           03642                           STORE    RTIG                                  
032531,000749: 27,2351           02323                           STORE    RINIT                                 
032532,000750: 27,2352           77656                           UNIT                                           
032533,000751: 27,2353           27537                           STOVL    UNIT/R/                               
032534,000752: 27,2354           00007                                    VATT                                  
032535,000753: 27,2355           03650                           STORE    VTIG                                  
032536,000754: 27,2356           02331                           STORE    VINIT                                 
032537,000755: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032538,000756: 27,2360           06524                                    ZEROVECS                              
032539,000757: 27,2361           16406                                    EPS1                                  
032540,000758: 27,2362           43214                           BOFF     DAD                                   
032541,000759: 27,2363           03745                                    NORMSW                                
032542,000760: 27,2364           56366                                    SMALLEPS                              
032543,000761: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032544,000762: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032545,000763: 27,2367           02776                                    RTX1                                  
032546,000764: 27,2370           45134                           SXA,2    CALL                                  
032547,000765: 27,2371           02777                                    RTX2                                  
032548,000766: 27,2372           22000                                    INITVEL                               
032549,000767: 27,2373           41575                           VLOAD    PUSH                                  
032550,000768: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
032551,000769: 27,2375           03701                           STORE    VGTIG                                 
032552,000770: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032553,000771: 27,2377           17673                           STODL    UT                                    
032554,000772: 27,2400           00045                                    36D                                   
032555,000773: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032556,000774: 27,2402           15741                                    GET.LVC                               #  VERTICAL COORDINATES.
032557,000775: 27,2403           77650                           GOTO                                           
032558,000776: 27,2404           03632                                    QTEMP                                 
032559,000777: 
032560,000778: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
032561,000779: 

Page 760

032563,000781: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032564,000782: 
032565,000783: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032566,000784: 

Page 761

032568,000786:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
032569,000787:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032570,000788:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
032571,000789:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032572,000790:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032573,000791: 
032574,000792:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032575,000793:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032576,000794:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032577,000795:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032578,000796:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032579,000797: 
032580,000798:                                                                                                  #  CALLING SEQUENCE:
032581,000799:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
032582,000800:                                                                                                  #        L +1            S40.2,3
032583,000801:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032584,000802: 
032585,000803:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032586,000804: 
032587,000805:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032588,000806: 
032589,000807:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032590,000808: 
032591,000809:                                                                                                  #  INPUT:
032592,000810:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032593,000811:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
032594,000812:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
032595,000813: 
032596,000814:                                                                                                  #  OUTPUT:
032597,000815:                                                                                                  #        1.      : XSCREF :      WINGS-LEVEL HEADS-UP LM ORIENTATION
032598,000816:                                                                                                  #                : YSCREF :      IN REFERENCE COORDINATES
032599,000817:                                                                                                  #                : ZSCREF :      (PREFERRED IMU ORIENTATION).
032600,000818:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032601,000819:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032602,000820:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032603,000821: 
032604,000822:                                                                                                  #  DEBRIS:  NONE.

Page 762

032606,000824: 
032607,000825: 27,2413                                           COUNT*   $$/S40.2                              
032608,000826: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
032609,000827: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032610,000828: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032611,000829: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032612,000830: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032613,000831: 27,2420           06522                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032614,000832: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032615,000833: 
032616,000834: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032617,000835: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032618,000836: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032619,000837: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032620,000838: 27,2426           46125                           PDDL     BHIZ                                  
032621,000839: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032622,000840: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032623,000841: 27,2431           45575        STORY              VLOAD    STADR                                 
032624,000842: 27,2432           74162                           STORE    YSCREF                                
032625,000843: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
032626,000844: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032627,000845: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032628,000846: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032629,000847: 
032630,000848: 27,2437           43414                           SET      RVQ                                   
032631,000849: 27,2440           01073                                    PFRATFLG                              
032632,000850: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032633,000851: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032634,000852: 27,2443           03650                                    VTIG                                  
032635,000853: 27,2444           41456                           UNIT     PUSH                                  
032636,000854: 27,2445           77650                           GOTO                                           
032637,000855: 27,2446           56431                                    STORY                                 

Page 763

032639,000857:                                                                                                  #  SUBROUTINE S40.8
032640,000858:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
032641,000859: 
032642,000860:                                                                                                  #  DESCRIPTION
032643,000861:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032644,000862:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032645,000863:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032646,000864: 
032647,000865:                                                                                                  #  CALLING SEQUENCE
032648,000866:                                                                                                  #        L-1     CALL
032649,000867:                                                                                                  #        L               S40.8
032650,000868:                                                                                                  #        L+1                     INTERPRETIVE RETURN
032651,000869: 
032652,000870:                                                                                                  #  ALARM
032653,000871:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032654,000872:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032655,000873: 
032656,000874:                                                                                                  #  INPUT AND INITIALIZATION
032657,000875:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
032658,000876:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
032659,000877:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
032660,000878:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
032661,000879:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032662,000880:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032663,000881:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032664,000882: 
032665,000883:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032666,000884: 
032667,000885:                                                                                                  #  OUTPUT
032668,000886:                                                                                                  #        STEERSW         SEE INPUT
032669,000887:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032670,000888:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
032671,000889:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
032672,000890: 
032673,000891:                                                                                                  #  SUBROUTINE CALLED
032674,000892:                                                                                                  #        FINDCDUW
032675,000893: 
032676,000894:                                                                                                  #  DEBRIS
032677,000895:                                                                                                  #        MPACS, PUSHLIST
032678,000896: 
032679,000897: 27,2447                                           COUNT*   $$/S40.8                              

Page 764

032681,000899: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032682,000900: 27,2450           01347                                    XDELVFLG                              
032683,000901: 27,2451           56731                                    RASTEER1                              
032684,000902: 27,2452           52375                           VLOAD    VSU                                   
032685,000903: 27,2453           03701                                    VGPREV                                
032686,000904: 27,2454           03527                                    DELVREF                               
032687,000905: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
032688,000906: 27,2456           76521                           MXV      VSL1                                  
032689,000907: 27,2457           01734                                    REFSMMAT                              
032690,000908: 27,2460           03254                           STORE    UNFC/2                                
032691,000909: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032692,000910: 27,2462           03707                                    VG                                    
032693,000911: 27,2463           03664                           STORE    VGDISP                                
032694,000912: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
032695,000913: 27,2465           00001                                    0                                     
032696,000914: 27,2466           03707                                    VG                                    
032697,000915: 27,2467           27701                           STOVL    VGPREV                                
032698,000916: 27,2470           03527                                    DELVREF                               
032699,000917: 27,2471           57414                           BOFF     VCOMP                                 
032700,000918: 27,2472           01344                                    STEERSW                               
032701,000919: 27,2473           00052                                    QPRET                                 
032702,000920: 27,2474           77656                           UNIT                                           
032703,000921: 27,2475           41441                           DOT      PUSH                                  
032704,000922: 27,2476           03707                                    VG                                    
032705,000923: 27,2477           56244                           BPL      DDV                                   
032706,000924: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032707,000925: 27,2501           03743                                    VEX                                   
032708,000926: 27,2502           41215                           DAD      DMP                                   
032709,000927: 27,2503           06522                                    DPHALF                                
032710,000928: 27,2504           56261                           SR       DDV                                   
032711,000929: 27,2505           20613                                    10D                                   
032712,000930: 27,2506           00045                                    36D                                   
032713,000931: 27,2507           43205                           DMP      DAD                                   
032714,000932: 27,2510           16535                                    -FOURDT                               
032715,000933: 27,2511           03741                                    TDECAY                                
032716,000934: 27,2512           03517                           STORE    TGO                                   
032717,000935: 27,2513           77615                           DAD                                            
032718,000936: 27,2514           01234                                    PIPTIME                               
032719,000937: 27,2515           17442                           STODL    TIG                                   
032720,000938: 27,2516           03517                                    TGO                                   
032721,000939: 27,2517           51025                           DSU      BPL                                   
032722,000940: 27,2520           16537                                    FOURSECS                              #  400 CS
032723,000941: 27,2521           61076                                    FINDCDUW   -2                         
032724,000942: 27,2522           43014                           SET      CLRGO                                 
032725,000943: 27,2523           01066                                    IMPULSW                               
032726,000944: 27,2524           01224                                    STEERSW                               
032727,000945: 27,2525           00052                                    QPRET                                 
032728,000946: 
032729,000947: 27,2526           77776        ALARMIT            EXIT                                           
032730,000948: 

Page 765

032732,000950: 27,2527           05567                           TC       ALARM                                 
032733,000951: 27,2530           01407                           OCT      01407                                 
032734,000952: 27,2531           06042                           TC       INTPRET                               
032735,000953: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032736,000954: 27,2533           61076                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
032737,000955: 
032738,000956: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
032739,000957: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032740,000958: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
032741,000959: 

Page 766

032743,000961:                                                                                                  #  NAME                  S40.13 - TIMEBURN
032744,000962: 
032745,000963:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032746,000964:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032747,000965:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032748,000966:                                                                                                  #                        BURN
032749,000967:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032750,000968:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032751,000969:                                                                                                  #                        SIGNAL
032752,000970: 
032753,000971:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
032754,000972: 
032755,000973:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032756,000974:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032757,000975:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
032758,000976:                                                                                                  #                                AND ALSO FOR RCS ENGINE
032759,000977:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032760,000978:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
032761,000979:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
032762,000980:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032763,000981:                                                                                                  #                                =0      DPS
032764,000982:                                                                                                  #                                =1      APS
032765,000983: 
032766,000984:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
032767,000985:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
032768,000986:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
032769,000987:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
032770,000988:                                                                                                  #                        TGO             TIME TO BURN IN CS
032771,000989: 
032772,000990:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032773,000991:                                                                                                  #                        FORCE
032774,000992: 
032775,000993: 27,2540  E7,1516                                  EBANK=   TGO                                   
032776,000994: 27,2540                                           COUNT*   $$/40.13                              
032777,000995: 27,2540           06042        S40.13             TC       INTPRET                               
032778,000996: 27,2541           43001                           SETPD    CLEAR                                 
032779,000997: 27,2542           00001                                    00D                                   
032780,000998: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
032781,000999: 27,2544           51575                           VLOAD    ABVAL                                 
032782,001000: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
032783,001001: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
032784,001002: 27,2547           21006                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032785,001003: 27,2550           34021                                    FRCS2                                 
032786,001004: 27,2551           72471                           DDV      SL1                                   #  SCALE
032787,001005: 27,2552           01244                                    WEIGHT/G                              
032788,001006: 27,2553           41421                           BDSU     PUSH                                  
032789,001007: 27,2554           43014                           BOFF     SET                                   
032790,001008: 27,2555           05342                                    APSFLAG                               
032791,001009: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
032792,001010: 27,2557           02463                                    NOTHROTL                              
032793,001011: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
032794,001012: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
032795,001013: 27,2562           01244                                    WEIGHT/G                              
032796,001014: 27,2563           50021                           BDSU     BMN                                   

Page 767

032798,001016: 27,2564           00001                                    00D                                   
032799,001017: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
032800,001018: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
032801,001019: 27,2567           03737                                    MDOT                                  
032802,001020: 
032803,001021:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032804,001022:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
032805,001023:                                                                                                  #  REQUIRE ADJUSTMENT
032806,001024: 
032807,001025: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
032808,001026: 27,2571           65221                           BDSU     PDDL                                  
032809,001027: 27,2572           01244                                    WEIGHT/G                              
032810,001028: 27,2573           03735                                    F                                     
032811,001029: 27,2574           60405                           DMP      SR2                                   #  SCALE
032812,001030: 27,2575           16702                                    5SECS                                 
032813,001031: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
032814,001032: 27,2577           51021                           BDSU     BPL                                   
032815,001033: 27,2600           00003                                    02D                                   
032816,001034: 27,2601           56626                                    S40.13D                               
032817,001035: 27,2602           55345                           DLOAD    BDDV                                  
032818,001036: 27,2603           43205                           DMP      DAD                                   
032819,001037: 27,2604           16702                                    5SECS                                 
032820,001038: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
032821,001039: 27,2606           77650                           GOTO                                           
032822,001040: 27,2607           56616                                    S40.132                               
032823,001041: 27,2610           41345        S40.131            DLOAD    DMP                                   
032824,001042: 27,2611           01244                                    WEIGHT/G                              
032825,001043: 27,2612           41542                           SR1      PUSH                                  
032826,001044: 27,2613           56215                           DAD      DDV                                   
032827,001045: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
032828,001046: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
032829,001047: 27,2616           77414        S40.132            SET      EXIT                                  
032830,001048: 27,2617           01066                                    IMPULSW                               
032831,001049: 27,2620           07262        S40.132*           TC       TPAGREE                               
032832,001050: 27,2621           30154                           CA       MPAC                                  
032833,001051: 27,2622           56001                           XCH      L                                     
032834,001052: 27,2623           34755                           CA       ZERO                                  
032835,001053: 27,2624           53517                           DXCH     TGO                                   
032836,001054: 27,2625           12650                           TCF      S40.134                               
032837,001055: 
032838,001056: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
032839,001057: 27,2627           00001                                    00D                                   
032840,001058: 27,2630           01244                                    WEIGHT/G                              
032841,001059: 27,2631           43006                           PUSH     BON                                   
032842,001060: 27,2632           05302                                    APSFLAG                               
032843,001061: 27,2633           56671                                    APSTGO                                
032844,001062: 27,2634           43071                           DDV      CLEAR                                 
032845,001063: 27,2635           16007                                    S40.136                               
032846,001064: 27,2636           02663                                    NOTHROTL                              
032847,001065: 27,2637           41400                           BOV      PUSH                                  

Page 768

032849,001067: 27,2640           56653                                    S40.130V                              
032850,001068: 27,2641           51025        S40.137            DSU      BPL                                   
032851,001069: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
032852,001070: 27,2643           56661                                    S40.138                               
032853,001071: 27,2644           52015                           DAD      GOTO                                  
032854,001072: 27,2645           16704                                    6SEC                                  
032855,001073: 27,2646           56616                                    S40.132                               
032856,001074: 27,2647           77776        S40.133            EXIT                                           
032857,001075: 27,2650           05353        S40.134            TC       PHASCHNG                              
032858,001076: 27,2651           00003                           OCT      00003                                 
032859,001077: 27,2652           05155                           TC       ENDOFJOB                              
032860,001078: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
032861,001079: 27,2654           77671                           DDV                                            
032862,001080: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
032863,001081: 27,2656           03517                           STORE    TGO                                   
032864,001082: 27,2657           77776                           EXIT                                           
032865,001083: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
032866,001084: 
032867,001085: 27,2661           51025        S40.138            DSU      BPL                                   
032868,001086: 27,2662           16706                                    89SECS                                
032869,001087: 27,2663           56666                                    STORETGO                              
032870,001088: 27,2664           77614                           SET                                            
032871,001089: 27,2665           02463                                    NOTHROTL                              
032872,001090: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
032873,001091: 27,2667           77776                           EXIT                                           
032874,001092: 27,2670           12620                           TCF      S40.132*                              
032875,001093: 
032876,001094: 27,2671           62471        APSTGO             DDV      SL2                                   
032877,001095: 27,2672           34007                                    FAPS                                  
032878,001096: 27,2673           77650                           GOTO                                           
032879,001097: 27,2674           56667                                    STORETGO   +1                         
032880,001098: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
032881,001099: 
032882,001100: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
032883,001101: 
032884,001102: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
032885,001103: 
032886,001104: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
032887,001105: 
032888,001106: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
032889,001107: 
032890,001108:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032891,001109:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032892,001110:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
032893,001111:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032894,001112:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032895,001113:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032896,001114: 
032897,001115:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
032898,001116: 
032899,001117:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032900,001118:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 769

032902,001120:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032903,001121:                                                                                                  #                                  METERS/CS AT +7.
032904,001122:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
032905,001123:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032906,001124:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
032907,001125:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032908,001126:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032909,001127:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032910,001128:                                                                                                  #                                  METERS/CS AT +7.
032911,001129: 
032912,001130:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032913,001131:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
032914,001132:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032915,001133:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
032916,001134: 
032917,001135:                                                                                                  #  SUBROUTINES USED - INITVEL
032918,001136: 
032919,001137: 27,2707  E7,1700                                  EBANK=   VGPREV                                
032920,001138: 27,2707                                           COUNT*   $$/S40.9                              
032921,001139: 27,2707           06042        S40.9              TC       INTPRET                               
032922,001140: 27,2710           77601                           SETPD                                          
032923,001141: 27,2711           00001                                    00D                                   
032924,001142: 27,2712           71214                           SET      DLOAD                                 
032925,001143: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
032926,001144: 27,2714           06524                                    HI6ZEROS                              
032927,001145: 27,2715           77725                           PDDL                                           
032928,001146: 27,2716           16406                                    EPS1                                  
032929,001147: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
032930,001148: 27,2720           03745                                    NORMSW                                
032931,001149: 27,2721           56723                                    EPSSMALL                              
032932,001150: 27,2722           16410                                    EPS2                                  
032933,001151: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
032934,001152: 27,2724           22002                                    HAVEGUES                              
032935,001153: 27,2725           77776        ENDS40.9           EXIT                                           
032936,001154: 27,2726           05353                           TC       PHASCHNG                              
032937,001155: 27,2727           00002                           OCT      2                                     
032938,001156: 27,2730           15155                           TCF      ENDOFJOB                              
032939,001157: 
032940,001158: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
032941,001159: 27,2732           01220                                    RN                                    
032942,001160: 27,2733           53744                           LXC,2    SL*                                   
032943,001161: 27,2734           02777                                    RTX2                                  
032944,001162: 27,2735           57576                                    0,2                                   
032945,001163: 27,2736           27715                           STOVL    RMAG                                  
032946,001164: 27,2737           03444                                    RTARG                                 
032947,001165: 27,2740           47051                           VSU      RTB                                   
032948,001166: 27,2741           01220                                    RN                                    
032949,001167: 27,2742           21725                                    NORMUNX1                              
032950,001168: 27,2743           17656                           STODL    IC                                    
032951,001169: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
032952,001170: 27,2745           53674                           XAD,2    SL*                                   
032953,001171: 27,2746           00046                                    X1                                    

Page 770

032955,001173: 27,2747           57576                                    0,2                                   
032956,001174: 27,2750           00037                           STORE    30D                                   
032957,001175: 27,2751           41301                           NORM     DMP                                   
032958,001176: 27,2752           00050                                    X2                                    
032959,001177: 27,2753           03715                                    RMAG                                  
032960,001178: 27,2754           57101                           NORM     XAD,2                                 
032961,001179: 27,2755           00047                                    X1                                    
032962,001180: 27,2756           00046                                    X1                                    
032963,001181: 27,2757           77734                           SXA,2                                          
032964,001182: 27,2760           03766                                    MUSCALE                               
032965,001183: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
032966,001184: 27,2762           00037                                    30D                                   
032967,001185: 27,2763           65342                           SR1      PDDL                                  
032968,001186: 27,2764           03715                                    RMAG                                  
032969,001187: 27,2765           65342                           SR1      PDDL                                  
032970,001188: 27,2766           03723                                    RTMAG                                 
032971,001189: 27,2767           43342                           SR1      DAD                                   
032972,001190: 27,2770           45415                           DAD      STADR                                 
032973,001191: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
032974,001192: 27,2772           41225                           DSU      DMP                                   
032975,001193: 27,2773           00037                                    30D                                   
032976,001194: 27,2774           03721                                    MU/A                                  
032977,001195: 27,2775           77621                           BDSU                                           
032978,001196: 27,2776           03717                                    MUASTEER                              
032979,001197: 27,2777           45325                           PDDL     DSU                                   
032980,001198: 27,3000           03733                                    SS                                    
032981,001199: 27,3001           03715                                    RMAG                                  
032982,001200: 27,3002           70501                           NORM     SR1                                   
032983,001201: 27,3003           00047                                    X1                                    
032984,001202: 27,3004           41271                           DDV      DMP                                   
032985,001203: 27,3005           03725                                    R1C                                   
032986,001204: 27,3006           53664                           XSU,2    SL*                                   
032987,001205: 27,3007           00046                                    X1                                    
032988,001206: 27,3010           57575                                    1,2                                   
032989,001207: 27,3011           77754                           LXA,2                                          
032990,001208: 27,3012           03766                                    MUSCALE                               
032991,001209: 27,3013           75366                           SQRT     SIGN                                  
032992,001210: 27,3014           02673                                    GEOMSGN                               
032993,001211: 27,3015           00041                           STORE    32D                                   #  + OR - A
032994,001212: 27,3016           41345                           DLOAD    DMP                                   
032995,001213: 27,3017           03733                                    SS                                    
032996,001214: 27,3020           03721                                    MU/A                                  
032997,001215: 27,3021           77621                           BDSU                                           
032998,001216: 27,3022           03717                                    MUASTEER                              
032999,001217: 27,3023           45325                           PDDL     DSU                                   
033000,001218: 27,3024           03733                                    SS                                    
033001,001219: 27,3025           03723                                    RTMAG                                 
033002,001220: 27,3026           70501                           NORM     SR1                                   
033003,001221: 27,3027           00047                                    X1                                    
033004,001222: 27,3030           41271                           DDV      DMP                                   
033005,001223: 

Page 771

033007,001225: 27,3031           03725                                    R1C                                   
033008,001226: 27,3032           53664                           XSU,2    SL*                                   
033009,001227: 27,3033           00046                                    X1                                    
033010,001228: 27,3034           57575                                    1,2                                   
033011,001229: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033012,001230: 27,3036           03733                                    SS                                    
033013,001231: 27,3037           56225                           DSU      DDV                                   
033014,001232: 27,3040           00037                                    30D                                   
033015,001233: 27,3041           03733                                    SS                                    
033016,001234: 27,3042           41566                           SQRT     PUSH                                  
033017,001235: 27,3043           67542                           SR1      ASIN                                  
033018,001236: 27,3044           65205                           DMP      PDDL                                  
033019,001237: 27,3045           17216                                    2PI+3                                 
033020,001238: 27,3046           56325                           PDDL     DDV                                   
033021,001239: 27,3047           00037                                    30D                                   
033022,001240: 27,3050           03733                                    SS                                    
033023,001241: 27,3051           77600                           BOV                                            
033024,001242: 27,3052           57053                                    +1                                    
033025,001243: 27,3053           41366                           SQRT     DMP                                   
033026,001244: 27,3054           44242                           SR3      BDSU                                  
033027,001245: 27,3055           65365                           SIGN     PDDL                                  
033028,001246: 27,3056           02673                                    GEOMSGN                               
033029,001247: 27,3057           17216                                    2PI+3                                 
033030,001248: 27,3060           45302                           SR2      DSU                                   
033031,001249: 27,3061           65205                           DMP      PDDL                                  
033032,001250: 27,3062           03733                                    SS                                    
033033,001251: 27,3063           03733                                    SS                                    
033034,001252: 27,3064           75442                           SR3      SQRT                                  
033035,001253: 27,3065           77605                           DMP                                            
033036,001254: 27,3066           52525                           PDDL     SL3                                   
033037,001255: 27,3067           03717                                    MUASTEER                              
033038,001256: 27,3070           55366                           SQRT     BDDV                                  
033039,001257: 27,3071           43225                           DSU      DAD                                   
033040,001258: 27,3072           03631                                    TPASS4                                
033041,001259: 27,3073           01234                                    PIPTIME                               
033042,001260: 27,3074           14037                           STODL    30D                                   
033043,001261: 27,3075           77765                           SIGN                                           
033044,001262: 27,3076           00037                                    30D                                   #  B WITH SIGN
033045,001263: 27,3077           00037                           STORE    30D                                   
033046,001264: 27,3100           77214                           BON      VLOAD                                 
033047,001265: 27,3101           03705                                    NORMSW                                
033048,001266: 27,3102           57123                                    180MESS                               
033049,001267: 27,3103           03656                                    IC                                    
033050,001268: 27,3104           53451                           VSU      UNIT                                  
033051,001269: 27,3105           03537                                    UNIT/R/                               
033052,001270: 27,3106           63361                           VXSC     PDVL                                  
033053,001271: 27,3107           00037                                    30D                                   
033054,001272: 27,3110           03656                                    IC                                    
033055,001273: 27,3111           53455                           VAD      UNIT                                  
033056,001274: 27,3112           03537                                    UNIT/R/                               

Page 772

033058,001276: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033059,001277: 27,3114           00041                                    32D                                   
033060,001278: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033061,001279: 27,3116           02777                                    RTX2                                  
033062,001280: 27,3117           57177                                    0          -1,2                       
033063,001281: 27,3120           02337                           STORE    VIPRIME                               
033064,001282: 27,3121           77650                           GOTO                                           
033065,001283: 27,3122           57166                                    ASTREND    -2                         
033066,001284: 27,3123           50375        180MESS            VLOAD    DOT                                   
033067,001285: 27,3124           03656                                    IC                                    
033068,001286: 27,3125           03537                                    UNIT/R/                               
033069,001287: 27,3126           77240                           BMN      VLOAD                                 
033070,001288: 27,3127           57146                                    NEGPROD                               
033071,001289: 27,3130           03656                                    IC                                    
033072,001290: 27,3131           63362                           VSR1     PDVL                                  
033073,001291: 27,3132           03537                                    UNIT/R/                               
033074,001292: 27,3133           53362                           VSR1     VAD                                   
033075,001293: 27,3134           77656                           UNIT                                           
033076,001294: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033077,001295: 27,3136           75235                           VXV      SIGN                                  
033078,001296: 27,3137           02674                                    UN                                    
033079,001297: 27,3140           02673                                    GEOMSGN                               
033080,001298: 27,3141           74256                           UNIT     VXSC                                  
033081,001299: 27,3142           00037                                    30D                                   
033082,001300: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033083,001301: 27,3144           77650                           GOTO                                           
033084,001302: 27,3145           57113                                    GETVRVG1                              
033085,001303: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033086,001304: 27,3147           03537                                    UNIT/R/                               
033087,001305: 27,3150           74515                           PDVL     VSR1                                  
033088,001306: 27,3151           03656                                    IC                                    
033089,001307: 27,3152           53451                           VSU      UNIT                                  
033090,001308: 27,3153           77606                           PUSH                                           
033091,001309: 27,3154           75235                           VXV      SIGN                                  
033092,001310: 27,3155           02674                                    UN                                    #  FOR B
033093,001311: 27,3156           02673                                    GEOMSGN                               
033094,001312: 27,3157           74256                           UNIT     VXSC                                  
033095,001313: 27,3160           00041                                    32D                                   
033096,001314: 27,3161           77715                           PDVL                                           
033097,001315: 27,3162           53361                           VXSC     VAD                                   
033098,001316: 27,3163           00037                                    30D                                   
033099,001317: 27,3164           77650                           GOTO                                           
033100,001318: 27,3165           57115                                    GETVRVG2                              
033101,001319: 27,3166           77651                           VSU                                            
033102,001320: 27,3167           03553                                    VN1                                   
033103,001321: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033104,001322: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033105,001323: 27,3172           03000                                    RTX2                                  
033106,001324: 27,3173           57177                                    GETGOBL                               
033107,001325: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 773

033109,001327: 27,3175           02366                                    DELVEET3                              
033110,001328: 27,3176           57212                                    NOGOBL                                
033111,001329: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033112,001330: 27,3200           01220                                    RN                                    
033113,001331: 27,3201           45345                           DLOAD    DSU                                   
033114,001332: 27,3202           01234                                    PIPTIME                               #               2
033115,001333: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033116,001334: 27,3204           56205                           DMP      DDV                                   #   OBL
033117,001335: 27,3205           16023                                    EARTHMU                               
033118,001336: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033119,001337: 27,3207           53361                           VXSC     VAD                                   
033120,001338: 27,3210           03521                                    UNITGOBL                              
033121,001339: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033122,001340: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033123,001341: 27,3213           77650                           GOTO                                           
033124,001342: 27,3214           56455                                    VGAIN*                                
033125,001343: 
033126,001344: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033127,001345: 

Page 774

033129,001347:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033130,001348:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033131,001349: 
033132,001350:                                                                                                  #  FUNCTION:
033133,001351:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033134,001352:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033135,001353:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033136,001354: 
033137,001355:                                                                                                  #  CALLING SEQUENCE:
033138,001356:                                                                                                  #        VIA WAITLIST FROM R03
033139,001357: 
033140,001358:                                                                                                  #  INPUT:
033141,001359:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033142,001360:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033143,001361: 
033144,001362:                                                                                                  #  SUBROUTINES USED:
033145,001363:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033146,001364: 
033147,001365: 27,3217                                           COUNT*   $$/S40.6                              
033148,001366: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033149,001367: 
033150,001368: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033151,001369: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033152,001370: 
033153,001371: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033154,001372: 27,3222           00006                           EXTEND                                         
033155,001373: 27,3223           03012                           WAND     CHAN12                                
033156,001374: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033157,001375: 27,3225           00006                           EXTEND                                         
033158,001376: 27,3226           05012                           WOR      CHAN12                                
033159,001377: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033160,001378: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033161,001379: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033162,001380: 27,3232           00006                           EXTEND                                         
033163,001381: 27,3233           03012                           WAND     CHAN12                                
033164,001382: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033165,001383: 27,3235           00006                           EXTEND                                         
033166,001384: 27,3236           05012                           WOR      CHAN12                                
033167,001385: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033168,001386: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033169,001387: 27,3241           03260                           ADRES    PITCHOFF                              
033170,001388: 
033171,001389: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033172,001390: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
033173,001391: 27,3244           44740                           CS       BIT12                                 
033174,001392: 27,3245           00006                           EXTEND                                         
033175,001393: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033176,001394: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033177,001395: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033178,001396: 27,3251           00006                           EXTEND                                         
033179,001397: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033180,001398: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033181,001399: 27,3254           05072                           TC       NOVAC                                 
033182,001400: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 775

033184,001402: 27,3255           02325 02067                     2CADR    TRIMDONE                              
033185,001403: 
033186,001404: 27,3257           05261                           TC       TASKOVER                              
033187,001405: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033188,001406: 27,3261           00006                           EXTEND                                         
033189,001407: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033190,001408: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033191,001409: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033192,001410: 27,3265           00137                           ADRES    GMBDRVSW                              
033193,001411: 27,3266           05261                           TC       TASKOVER                              
033194,001412: 

Page 776

033196,001414:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
033197,001415:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033198,001416: 
033199,001417:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033200,001418: 
033201,001419:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033202,001420:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033203,001421:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033204,001422:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033205,001423:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033206,001424:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033207,001425:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033208,001426:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033209,001427: 
033210,001428:                                                                                                  #  CALLING SEQUENCE:
033211,001429:                                                                                                  #        L       VLOAD   CALL
033212,001430:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033213,001431:                                                                                                  #        L +2            S41.1
033214,001432:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033215,001433: 
033216,001434:                                                                                                  #  SUBROUTINES CALLED:
033217,001435:                                                                                                  #        1.      CDUTRIG,
033218,001436:                                                                                                  #                        WHICH CALLS CDULOGIC.
033219,001437:                                                                                                  #        2.      *SMNB*
033220,001438: 
033221,001439:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
033222,001440: 
033223,001441:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033224,001442: 
033225,001443:                                                                                                  #  RESTART PROTECTION:  NONE.
033226,001444: 

Page 777

033228,001446:                                                                                                  #  INPUT:
033229,001447:                                                                                                  #        1.      REFSMMAT.
033230,001448:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
033231,001449:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
033232,001450: 
033233,001451:                                                                                                  #  OUTPUT:
033234,001452:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033235,001453:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
033236,001454:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
033237,001455:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033238,001456: 
033239,001457:                                                                                                  #  DEBRIS:  NONE.
033240,001458: 
033241,001459:                                                                                                  #  CHECKOUT STATUS:  CODED.
033242,001460: 
033243,001461: 27,3267                                           COUNT*   $$/S41.1                              
033244,001462: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033245,001463: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033246,001464: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033247,001465: 27,3272           47650                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033248,001466:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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