Source Code

This source code is very close to the Apollo Guidance Computer software for the Apollo 13 Lunar module. This revision of the Luminary 131 program is from December of 1969, whereas there was a later revision in January of 1970, and still another revision in February, which is the code that flew on the mission. As far as this transcription is concerned, it was originally from a copy made in 1991 of a printout from the collection of AGC developer Don Eyles for collector David Craig. It was subsequently scanned by Gary Neff, reprocessed for online presentation at the now-discontinued History of Recent Science and Technology (HRST) website of MIT's Dibner Institute (the full-quality scans being discarded in the process), and finally transcribed by Ron Burkey for the Virtual AGC Project. Although a high-quality replacement scan for a completely illegible page was later provided by Gary Neff, the reduced legibility of the reprocessed HRST posting nevertheless caused many errors to be introduced into the transcription. Accordingly, a second scan of the same physical printout was made in 2017 for the Virtual AGC Project's collection at the Internet Archive, and used to correct the transcription errors. All of the scanned materials mentioned, as well as other Luminary 131 related material, are available online. Don Eyles apprently made additional hand-written notes in printout between 1991 and 2017, so the two scans are not identical in that respect. The page-headings in the printout read, in part:
	GAP:  ASSEMBLE REVISION 131 OF AGC PROGRAM LUMINARY BY NASA 2021112-091
	17:53 DEC. 19, 1969
Note that the date is the date the printout was made, not the date on which the program revision was released, although these happen to be very close together.

031664,000002:                                                                                                  ## Copyright:   Public domain.
031665,000003:                                                                                                  ## Filename:    P40-P47.agc
031666,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
031667,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
031668,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
031669,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
031670,000008:                                                                                                  ##              that the code format has been changed to conform to the
031671,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
031672,000010:                                                                                                  ##              original YUL assembler.
031673,000011:                                                                                                  ## Reference:   pp. 747-779
031674,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
031675,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo
031676,000014:                                                                                                  ## Mod history: 05/24/03 RSB.   Began transcribing.
031677,000015:                                                                                                  ##              2010-01-05 JL   Fixed indentation of STADR instruction.
031678,000016:                                                                                                  ##              2016-12-01 RSB  There were a number of "modern" comments about hand-written
031679,000017:                                                                                                  ##                              notations, which I had added back in 2003, but whiche never
031680,000018:                                                                                                  ##                              got converted to ##-style.  However, after having changed them
031681,000019:                                                                                                  ##                              to ##-style, they no longer worked properly after being rendered
031682,000020:                                                                                                  ##                              to html, so they had to be considerably reworked to fix that.
031683,000021:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
031684,000022:                                                                                                  ##                              original harcopy, as opposed to the PDF page
031685,000023:                                                                                                  ##                              numbers in 1701.pdf.
031686,000024:                                                                                                  ##              2017-02-25 RSB  Proofed comment text using octopus/ProoferComments.
031687,000025:                                                                                                  ##              2017-02-28 RSB  Fixed lingering typos.
031688,000026:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
031689,000027:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
031690,000028:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
031691,000029:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
031692,000030:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
031693,000031:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
031694,000032: 

Page 747

031696,000034:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
031697,000035:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
031698,000036:                                                                                                  #  CALLED VIA JOB FROM V37E
031699,000037: 
031700,000038:                                                                                                  #  FUNCTIONAL DESCRIPTION
031701,000039:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031702,000040:                                                                                                  #                THRUSTING MANEUVER.

There is no item #2 in the original program listing — RSB 2003.

031704,000042:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031705,000043:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031706,000044:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
031707,000045:                                                                                                  #        5)      IN POSTBURN -- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031708,000046:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031709,000047:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031710,000048:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031711,000049: 
031712,000050:                                                                                                  #  SUBROUTINES USED
031713,000051:                                                                                                  #        R02             IMU STATUS CHECK
031714,000052:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
031715,000053:                                                                                                  #        S40.13          LENGTH OF BURN
031716,000054:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
031717,000055:                                                                                                  #        S40.8           X PRODUCT STEERING
031718,000056:                                                                                                  #        S40.9           LAMBERT VTOGAIN
031719,000057:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
031720,000058:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
031721,000059:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
031722,000060:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
031723,000061:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
031724,000062:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031725,000063:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031726,000064:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
031727,000065: 
031728,000066:                                                                                                  #  RESTARTS VIA GROUP 4
031729,000067: 
031730,000068:                                                                                                  #  DISPLAYS
031731,000069:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
031732,000070:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031733,000071:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
031734,000072:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031735,000073:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
031736,000074:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031737,000075:                                                                                                  #        V05N09  POSSIBLE ALARMS
031738,000076:                                                                                                  #        V50N07  PLEASE SELECT P00
031739,000077: 

Page 748

031741,000079:                                                                                                  #        VIA R30
031742,000080: 
031743,000081:                                                                                                  #        V06N44  HAPO, PERI, TFF
031744,000082:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
031745,000083: 
031746,000084:                                                                                                  #  ALARM OR ABORT EXIT MODES
031747,000085:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031748,000086:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
031749,000087: 
031750,000088:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
031751,000089:                                                                                                  #        TIG BY 45 SECS.
031752,000090: 
031753,000091:                                                                                                  #  ERASABLE INITIALIZATION
031754,000092: 
031755,000093:                                                                                                  #  DEBRIS
031756,000094: 
031757,000095:                                                                                                  #  OUTPUT
031758,000096:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031759,000097:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
031760,000098:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
031761,000099: 
031762,000100: 27,2246                                           COUNT*   $$/P40                                
031763,000101: 27,2246  E7,1455                                  EBANK=   WHICH                                 
031764,000102: 
031765,000103: 36,3153                                           BANK     36                                    
031766,000104: 36,2000                                           SETLOC   P40S                                  
031767,000105: 36,2000                                           BANK                                           
031768,000106: 
031769,000107: 36,3153           05353        P40LM              TC       PHASCHNG                              
031770,000108: 36,3154           04024                           OCT      04024                                 
031771,000109: 
031772,000110: 36,3155           33137                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
031773,000111: 36,3156           55455                           TS       WHICH                                 
031774,000112: 
031775,000113: 36,3157           30106                           CA       FLGWRD10                              
031776,000114: 36,3160           74737                           MASK     APSFLBIT                              
031777,000115: 36,3161           10000                           CCS      A                                     
031778,000116: 36,3162           13125                           TCF      P40ALM                                
031779,000117: 36,3163           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
031780,000118: 36,3164           11233                           CADR     R02BOTH                               
031781,000119: 
031782,000120: 36,3165           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
031783,000121: 36,3166           74737                           MASK     CSMDOCKD                              
031784,000122: 36,3167           10000                           CCS      A                                     
031785,000123: 36,3170           32022                           CAF      THRESH1                               
031786,000124: 36,3171           62023                           AD       THRESH3                               
031787,000125: 36,3172           55250                           TS       DVTHRUSH                              
031788,000126: 36,3173           34751                           CAF      FOUR                                  
031789,000127: 36,3174           55515                           TS       DVCNTR                                

Page 749

031791,000129: 36,3175           06042                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
031792,000130: 36,3176           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
031793,000131: 36,3177           34001                                    FDPS                                  
031794,000132: 36,3200           02663                                    NOTHROTL                              
031795,000133: 36,3201           03735                           STORE    F                                     
031796,000134: 36,3202           77735                           SLOAD                                          
031797,000135: 36,3203           26002                                    DPSVEX                                
031798,000136: 36,3204           70476        P40IN              DCOMP    SR1                                   
031799,000137: 36,3205           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
031800,000138: 36,3206           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
031801,000139: 36,3207           77624                           CALL                                           
031802,000140: 36,3210           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
031803,000141: 36,3211           77776                           EXIT                                           
031804,000142: 
031805,000143: 36,3212           00004                           INHINT                                         
031806,000144: 36,3213           04674                           TC       IBNKCALL                              
031807,000145: 36,3214           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031808,000146: 
031809,000147: 36,3215           03217                           TC       P40SXT4                               
031810,000148: 
031811,000149:                                                                                                  #        ***********************
031812,000150: 
031813,000151: 36,3216           12130                           TCF      BURNBABY                              
031814,000152: 
031815,000153:                                                                                                  #        ***********************
031816,000154: 
031817,000155: 36,3217           00006        P40SXT4            EXTEND                                         
031818,000156: 36,3220           23141                           QXCH     P40/RET                               
031819,000157: 36,3221           00003        P41MANU            RELINT                                         
031820,000158: 
031821,000159: 36,3222           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031822,000160: 36,3223           00124                           ADRES    3AXISFLG                              
031823,000161: 
031824,000162: 36,3224           04616                           TC       BANKCALL                              
031825,000163: 36,3225           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
031826,000164: 36,3226           01141                           TC       P40/RET                               
031827,000165: 
031828,000166: 36,3227  E7,1462                                  EBANK=   TRKMKCNT                              
031829,000167: 36,3227           30005        POSTBURN           CA       Z                                     
031830,000168: 36,3230           55162                           TS       DISPDEX                               
031831,000169: 36,3231           00006                           EXTEND                                         
031832,000170: 36,3232           32060                           DCA      ACADN85                               
031833,000171: 36,3233           53252                           DXCH     AVEGEXIT                              
031834,000172: 36,3234           33764                           CAF      V16N40                                
031835,000173: 36,3235           04616                           TC       BANKCALL                              
031836,000174: 36,3236           20636                           CADR     GOFLASHR                              
031837,000175: 36,3237           03262                           TC       TERM40                                
031838,000176: 36,3240           13245                           TCF      TIGNOW                                
031839,000177: 36,3241           03227                           TC       POSTBURN                              

Page 750

031841,000179: 36,3242           05353        P40PHS1            TC       PHASCHNG                              
031842,000180: 36,3243           00014                           OCT      00014                                 
031843,000181: 36,3244           15155                           TCF      ENDOFJOB                              
031844,000182: 
031845,000183: 36,3245           00004        TIGNOW             INHINT                                         
031846,000184: 36,3246           04674                           TC       IBNKCALL                              
031847,000185: 36,3247           40154                           CADR     ZATTEROR                              
031848,000186: 36,3250           04674                           TC       IBNKCALL                              
031849,000187: 36,3251           40141                           CADR     SETMINDB                              
031850,000188: 36,3252           00003                           RELINT                                         
031851,000189: 36,3253           33765                           CAF      V16N85B                               
031852,000190: 36,3254           04616                           TC       BANKCALL                              
031853,000191: 36,3255           20463                           CADR     REFLASHR                              
031854,000192: 36,3256           03262                           TC       TERM40                                
031855,000193: 36,3257           13262                           TCF      TERM40                                
031856,000194: 36,3260           03253                           TC       -5                                    
031857,000195: 
031858,000196: 36,3261           13242                           TCF      P40PHS1                               
031859,000197: 
031860,000198: 36,3262           00006        TERM40             EXTEND                                         
031861,000199: 36,3263           32110                           DCA      SERVCADR                              
031862,000200: 36,3264           53252                           DXCH     AVEGEXIT                              
031863,000201: 36,3265           34755                           CAF      ZERO                                  
031864,000202: 36,3266           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
031865,000203: 36,3267           30005                           CA       Z                                     
031866,000204: 36,3270           55162                           TS       DISPDEX                               
031867,000205: 36,3271           00004                           INHINT                                         
031868,000206: 36,3272           04674                           TC       IBNKCALL                              
031869,000207: 36,3273           40115                           CADR     RESTORDB                              
031870,000208: 36,3274           00003                           RELINT                                         
031871,000209: 36,3275           06001                           TC       GOTOPOOH                              
031872,000210: 
031873,000211: 36,3276  E7,1455                                  EBANK=   WHICH                                 
031874,000212: 36,3276                                           COUNT*   $$/P41                                
031875,000213: 36,3276           33140        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
031876,000214: 36,3277           55455                           TS       WHICH                                 
031877,000215: 
031878,000216: 36,3300           04616                           TC       BANKCALL                              
031879,000217: 36,3301           11233                           CADR     R02BOTH                               
031880,000218: 
031881,000219: 36,3302           06042                           TC       INTPRET                               #  BOTH LM

In the original program listing, the following line has a hand-written notation in the label field which may read "PPPIN".—RSB 2017.

031884,000222: 36,3303           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
031885,000223: 36,3304           00700                                    NJETSFLG                              
031886,000224: 36,3305           75311                                    P41FJET1                              
031887,000225: 36,3306           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
031888,000226: 
031889,000227: 36,3307           37735        P41FJET            STCALL   F                                     
031890,000228: 36,3310           75314                                    P41IN                                 
031891,000229: 36,3311           77745        P41FJET1           DLOAD                                          

Page 751

031893,000231: 36,3312           34021                                    FRCS2                                 
031894,000232: 36,3313           03735                           STORE    F                                     
031895,000233: 
031896,000234: 36,3314           77624        P41IN              CALL                                           
031897,000235: 36,3315           56246                                    S40.1                                 #  BOTH
031898,000236: 36,3316           77624        P41NORM            CALL                                           
031899,000237: 36,3317           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
031900,000238: 36,3320           77776                           EXIT                                           #  SET PFRATFLG.
031901,000239: 
031902,000240: 36,3321           00004                           INHINT                                         
031903,000241: 36,3322           04674                           TC       IBNKCALL                              
031904,000242: 36,3323           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
031905,000243: 36,3324           04674                           TC       IBNKCALL                              
031906,000244: 36,3325           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
031907,000245: 36,3326           03217                           TC       P40SXT4                               
031908,000246: 
031909,000247: 36,3327           06042                           TC       INTPRET                               
031910,000248: 36,3330           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
031911,000249: 36,3331           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
031912,000250: 36,3332           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
031913,000251: 36,3333           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
031914,000252: 36,3334           77776                           EXIT                                           
031915,000253: 
031916,000254: 36,3335           33765                           CAF      V16N85B                               
031917,000255: 36,3336           04616                           TC       BANKCALL                              
031918,000256: 36,3337           20447                           CADR     GODSPRET                              
031919,000257: 
031920,000258: 36,3340           35017                           CAF      PRIO5                                 
031921,000259: 36,3341           55162                           TS       DISPDEX                               #  FOR SAFETY ONLY
031922,000260: 36,3342           05105                           TC       FINDVAC                               
031923,000261: 36,3343  E7,1700                                  EBANK=   VGPREV                                
031924,000262: 36,3343           03365 74067                     2CADR    DYNMDISP                              
031925,000263: 
031926,000264: 36,3345           05327                           TC       2PHSCHNG                              
031927,000265: 36,3346           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
031928,000266: 36,3347           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
031929,000267: 
031930,000268:                                                                                                  #        ***********************
031931,000269: 
031932,000270: 36,3350           12137                           TCF      B*RNB*B*                              
031933,000271: 
031934,000272:                                                                                                  #        ***********************
031935,000273: 
031936,000274: 36,3351           34777        BLNKWAIT           CAF      1SEC                                  
031937,000275: 36,3352           04616                           TC       BANKCALL                              
031938,000276: 36,3353           01736                           CADR     DELAYJOB                              
031939,000277: 
031940,000278: 36,3354           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
031941,000279: 36,3355           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
031942,000280: 
031943,000281:                                                                                                  #        ***********************

Page 752

031945,000283: 
031946,000284: 36,3356           00006                           EXTEND                                         
031947,000285: 36,3357           13351                           BZF      BLNKWAIT                              
031948,000286: 
031949,000287: 36,3360           33765                           CAF      V16N85B                               
031950,000288: 36,3361           04616                           TC       BANKCALL                              
031951,000289: 36,3362           20447                           CADR     GODSPRET                              
031952,000290: 
031953,000291: 36,3363           35017                           CAF      PRIO5                                 
031954,000292: 36,3364           05146                           TC       PRIOCHNG                              
031955,000293: 
031956,000294: 36,3365           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
031957,000295: 36,3366           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
031958,000296: 36,3367           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
031959,000297: 36,3370           06042                           TC       INTPRET                               
031960,000298: 36,3371           45175                           VLOAD    CALL                                  
031961,000299: 36,3372           03701                                    VGPREV                                
031962,000300: 36,3373           57267                                    S41.1                                 
031963,000301: 36,3374           03502                           STORE    VGBODY                                
031964,000302: 36,3375           77776                           EXIT                                           
031965,000303: 36,3376           34777                           CAF      1SEC                                  
031966,000304: 36,3377           04616                           TC       BANKCALL                              
031967,000305: 36,3400           01736                           CADR     DELAYJOB                              
031968,000306: 36,3401           13365                           TCF      DYNMDISP                              
031969,000307: 
031970,000308: 36,3402           06042        CALCN85            TC       INTPRET                               
031971,000309: 36,3403           77624                           CALL                                           
031972,000310: 36,3404           75615                                    UPDATEVG                              
031973,000311: 36,3405           45175                           VLOAD    CALL                                  
031974,000312: 36,3406           03701                                    VGPREV                                
031975,000313: 36,3407           57267                                    S41.1                                 
031976,000314: 36,3410           03502                           STORE    VGBODY                                
031977,000315: 36,3411           77776                           EXIT                                           
031978,000316: 36,3412           04635                           TC       POSTJUMP                              
031979,000317: 36,3413           65746                           CADR     SERVEXIT                              
031980,000318: 
031981,000319: 36,3414                                           COUNT*   $$/P42                                
031982,000320: 36,3414  E7,1455                                  EBANK=   WHICH                                 
031983,000321: 
031984,000322: 36,3414           05353        P42LM              TC       PHASCHNG                              
031985,000323: 36,3415           04024                           OCT      04024                                 
031986,000324: 
031987,000325: 36,3416           33141                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
031988,000326: 36,3417           55455                           TS       WHICH                                 
031989,000327: 
031990,000328: 36,3420           40106                           CS       FLGWRD10                              
031991,000329: 36,3421           74737                           MASK     APSFLBIT                              
031992,000330: 36,3422           10000                           CCS      A                                     
031993,000331: 36,3423           03125                           TC       P40ALM                                
031994,000332: 36,3424           04616        P42STAGE           TC       BANKCALL                              

Page 753

031996,000334: 36,3425           11233                           CADR     R02BOTH                               
031997,000335: 36,3426           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
031998,000336: 36,3427           55250                           TS       DVTHRUSH                              
031999,000337: 36,3430           34751                           CAF      FOUR                                  
032000,000338: 36,3431           55515                           TS       DVCNTR                                
032001,000339: 
032002,000340: 36,3432           06042                           TC       INTPRET                               
032003,000341: 36,3433           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032004,000342: 36,3434           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032005,000343: 36,3435           34007                                    FAPS                                  
032006,000344: 36,3436           03735                           STORE    F                                     
032007,000345: 36,3437           52135                           SLOAD    GOTO                                  
032008,000346: 36,3440           26001                                    APSVEX                                
032009,000347: 36,3441           75204                                    P40IN                                 
032010,000348: 
032011,000349: 36,3442  E7,1455                                  EBANK=   WHICH                                 
032012,000350: 
032013,000351: 36,3442                                           COUNT*   $$/P47                                
032014,000352: 36,3442           04616        P47LM              TC       BANKCALL                              
032015,000353: 36,3443           11233                           CADR     R02BOTH                               
032016,000354: 36,3444           06042                           TC       INTPRET                               
032017,000355: 36,3445           77624                           CALRB                                          
032018,000356: 36,3446           27547                                    MIDTOAV2                              
032019,000357: 
032020,000358: 36,3447           30155                           CA       MPAC       +1                         
032021,000359: 36,3450           05173                           TC       TWIDDLE                               
032022,000360: 36,3451           03453                           ADRES    STARTP47                              
032023,000361: 
032024,000362: 36,3452           15155                           TCF      ENDOFJOB                              
032025,000363: 
032026,000364: 36,3453           05353        STARTP47           TC       PHASCHNG                              
032027,000365: 36,3454           05014                           OCT      05014                                 
032028,000366: 36,3455           77777                           OCT      77777                                 
032029,000367: 
032030,000368: 36,3456           00006                           EXTEND                                         
032031,000369: 36,3457           33770                           DCA      ACADN83                               
032032,000370: 36,3460           53252                           DXCH     AVEGEXIT                              
032033,000371: 36,3461           34736                           CAF      PRIO20                                
032034,000372: 36,3462           05105                           TC       FINDVAC                               
032035,000373: 36,3463  E7,1622                                  EBANK=   DELVIMU                               
032036,000374: 36,3463           03517 74067                     2CADR    P47BODY                               
032037,000375: 
032038,000376: 36,3465           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032039,000377:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032040,000378: 
032041,000379: 36,3466           06042        CALCN83            TC       INTPRET                               
032042,000380: 36,3467           53375                           VLOAD    VAD                                   
032043,000381: 36,3470           03502                                    DELVCTL                               
032044,000382: 36,3471           03527                                    DELVREF                               
032045,000383: 36,3472           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 754

032047,000385: 36,3473           77624                           CALL                                           
032048,000386: 36,3474           57267                                    S41.1                                 
032049,000387: 36,3475           03623                           STORE    DELVIMU                               
032050,000388: 36,3476           77776                           EXIT                                           
032051,000389: 36,3477           05353                           TC       PHASCHNG                              
032052,000390: 36,3500           10035                           OCT      10035                                 #  REREADAC AND HERE
032053,000391: 
032054,000392: 36,3501           06042                           TC       INTPRET                               
032055,000393: 36,3502           77775                           VLOAD                                          
032056,000394: 36,3503           03656                                    DELVSIN                               
032057,000395: 36,3504           03502                           STORE    DELVCTL                               
032058,000396: 36,3505           77776                           EXIT                                           
032059,000397: 
032060,000398: 36,3506           04635                           TC       POSTJUMP                              
032061,000399: 36,3507           65746                           CADR     SERVEXIT                              
032062,000400: 
032063,000401: 36,3510           33766        P47BOD             CAF      V1683                                 
032064,000402: 36,3511           04616                           TC       BANKCALL                              
032065,000403: 36,3512           20636                           CADR     GOFLASHR                              
032066,000404: 36,3513           06001                           TC       GOTOPOOH                              
032067,000405: 36,3514           06001                           TC       GOTOPOOH                              
032068,000406: 
032069,000407: 36,3515           13517                           TCF      P47BODY                               
032070,000408: 
032071,000409: 36,3516           13242                           TCF      P40PHS1                               
032072,000410: 
032073,000411: 36,3517           06042        P47BODY            TC       INTPRET                               
032074,000412: 36,3520           77775                           VLOAD                                          
032075,000413: 36,3521           06524                                    HI6ZEROS                              
032076,000414: 36,3522           03623                           STORE    DELVIMU                               
032077,000415: 36,3523           03502                           STORE    DELVCTL                               
032078,000416: 36,3524           77776                           EXIT                                           
032079,000417: 36,3525           03510                           TC       P47BOD                                
032080,000418: 
032081,000419: 36,3526                                           COUNT*   $$/P40                                
032082,000420: 36,3526           31517        IMPLBURN           CA       TGO        +1                         
032083,000421: 36,3527           03741                           TC       GETDT                                 
032084,000422: 36,3530           05173                           TC       TWIDDLE                               
032085,000423: 36,3531           03546                           ADRES    ENGOFTSK                              
032086,000424: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032087,000425: 36,3533           00153                           ADRES    IGNFLAG                               
032088,000426: 36,3534           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032089,000427: 36,3535           00154                           ADRES    ASTNFLAG                              
032090,000428: 36,3536           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032091,000429: 36,3537           00044                           ADRES    IMPULSW                               
032092,000430: 36,3540           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032093,000431: 36,3541           40114                           OCT      40114                                 
032094,000432: 
032095,000433: 36,3542           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032096,000434: 36,3543           00062                           DEC      50         B-14                       

Page 755

032098,000436: 36,3544           02657                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032099,000437: 
032100,000438: 36,3545           05261                           TC       TASKOVER                              
032101,000439: 
032102,000440: 36,3546           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032103,000441: 36,3547           75551                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032104,000442: 36,3550           05261                           TC       TASKOVER                              
032105,000443: 
032106,000444: 36,3551           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032107,000445: 36,3552           05105                           TC       FINDVAC                               
032108,000446: 36,3553  E7,1462                                  EBANK=   TRKMKCNT                              
032109,000447: 36,3553           03227 74067                     2CADR    POSTBURN                              
032110,000448: 
032111,000449: 36,3555           34753        ENGINOF2           CAF      BIT1                                  
032112,000450: 36,3556           05203                           TC       WAITLIST                              
032113,000451: 36,3557  E6,1422                                  EBANK=   OMEGAQ                                
032114,000452: 36,3557           03612 74066                     2CADR    COASTSET                              
032115,000453: 
032116,000454: 36,3561           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032117,000455: 36,3562           74745                           MASK     IDLEFBIT                              
032118,000456: 36,3563           26103                           ADS      FLAGWRD7                              
032119,000457: 
032120,000458: 36,3564           02657                           TC       NOULLAGE                              
032121,000459: 
032122,000460: 36,3565           00006        ENGINOF4           EXTEND                                         
032123,000461: 36,3566           30025                           DCA      TIME2                                 
032124,000462: 36,3567           53342                           DXCH     TEVENT                                
032125,000463: 
032126,000464: 36,3570           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032127,000465: 36,3571           70101                           MASK     FLAGWRD5                              
032128,000466: 36,3572           54101                           TS       FLAGWRD5                              
032129,000467: 36,3573           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032130,000468: 36,3574           00006                           EXTEND                                         #  SUBROUTINE.
032131,000469: 36,3575           02011                           RAND     DSALMOUT                              
032132,000470: 36,3576           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032133,000471: 36,3577           00006                           EXTEND                                         
032134,000472: 36,3600           01011                           WRITE    DSALMOUT                              
032135,000473: 
032136,000474: 36,3601           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032137,000475: 36,3602           74736                           MASK     USEQRJTS                              
032138,000476: 36,3603           26111                           ADS      DAPBOOLS                              
032139,000477: 
032140,000478: 36,3604           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032141,000479: 36,3605           54055                           TS       THRUST                                #  IS TURNED OFF.
032142,000480: 36,3606           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032143,000481: 36,3607           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032144,000482: 36,3610           05014                           WOR      CHAN14                                
032145,000483: 
032146,000484: 36,3611           04707                           TC       ISWRETRN                              

Page 756

032148,000486: 36,3612           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032149,000487: 36,3613           40205                           CADR     ALLCOAST                              
032150,000488: 36,3614           05261                           TC       TASKOVER                              
032151,000489: 
032152,000490: 36,3615  E6,1422                                  EBANK=   OMEGAQ                                
032153,000491: 36,3615           45020        UPDATEVG           STQ      CALL                                  
032154,000492: 36,3616           03665                                    QTEMP1                                
032155,000493: 36,3617           56447                                    S40.8                                 #  X-PRODUCT STEERING
032156,000494: 36,3620           43014                           BON      BON                                   
032157,000495: 36,3621           01307                                    XDELVFLG                              
032158,000496: 36,3622           03665                                    QTEMP1                                
032159,000497: 36,3623           03705                                    NORMSW                                
032160,000498: 36,3624           75637                                    180SETUP                              
032161,000499: 36,3625           45345                           DLOAD    DSU                                   
032162,000500: 36,3626           01234                                    PIPTIME                               
032163,000501: 36,3627           03763                                    TIGSAVE                               
032164,000502: 36,3630           50025                           DSU      BMN                                   
032165,000503: 36,3631           03432                                    TNEWA                                 
032166,000504: 36,3632           75662                                    GETRANS                               
032167,000505: 36,3633           43345                           DLOAD    DAD                                   
032168,000506: 36,3634           03763                                    TIGSAVE                               
032169,000507: 36,3635           03432                                    TNEWA                                 
032170,000508: 36,3636           03765                           STORE    TIGSAVEP                              
032171,000509: 36,3637           77776        180SETUP           EXIT                                           
032172,000510: 36,3640           10754                           CCS      PHASE2                                
032173,000511: 36,3641           13667                           TCF      NO.9                                  
032174,000512: 36,3642           34737                           CAF      PRIO10                                
032175,000513: 36,3643           00004                           INHINT                                         
032176,000514: 36,3644           05105                           TC       FINDVAC                               
032177,000515: 36,3645  E7,1706                                  EBANK=   VG                                    
032178,000516: 36,3645           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032179,000517: 
032180,000518: 36,3647           05327                           TC       2PHSCHNG                              
032181,000519: 36,3650           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032182,000520: 36,3651           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032183,000521: 
032184,000522: 36,3652           06042        ENDSTEER           TC       INTPRET                               
032185,000523: 36,3653           77745                           DLOAD                                          
032186,000524: 36,3654           03765                                    TIGSAVEP                              
032187,000525: 36,3655           27763                           STOVL    TIGSAVE                               
032188,000526: 36,3656           01220                                    RN                                    
032189,000527: 36,3657           26323                           STOVL    RINIT                                 
032190,000528: 36,3660           01226                                    VN                                    
032191,000529: 36,3661           02331                           STORE    VINIT                                 
032192,000530: 36,3662           45345        GETRANS            DLOAD    DSU                                   
032193,000531: 36,3663           03631                                    TPASS4                                
032194,000532: 36,3664           01234                                    PIPTIME                               
032195,000533: 36,3665           37452                           STCALL   DELLT4                                
032196,000534: 36,3666           03665                                    QTEMP1                                
032197,000535: 

Page 757

032199,000537: 36,3667           06042        NO.9               TC       INTPRET                               
032200,000538: 36,3670           77650                           GOTO                                           
032201,000539: 36,3671           03665                                    QTEMP1                                
032202,000540: 36,3672           06042        STEERING           TC       INTPRET                               
032203,000541: 
032204,000542: 36,3673           77624                           CALL                                           
032205,000543: 36,3674           75615                                    UPDATEVG                              
032206,000544: 36,3675           77776                           EXIT                                           
032207,000545: 
032208,000546: 36,3676  E7,1515                                  EBANK=   DVCNTR                                
032209,000547: 36,3676           00004        NSTEER             INHINT                                         
032210,000548: 36,3677           35016                           CA       EBANK7                                
032211,000549: 36,3700           54003                           TS       EBANK                                 
032212,000550: 36,3701           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032213,000551: 36,3702           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032214,000552: 36,3703           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032215,000553: 
032216,000554: 36,3704           13711                           TCF      +5                                    #  IMPULSW = 0   EXIT
032217,000555: 36,3705           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
032218,000556: 36,3706           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
032219,000557: 36,3707           10000                           CCS      A                                     
032220,000558: 36,3710           13713                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032221,000559: 36,3711           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032222,000560: 36,3712           65746                           CADR     SERVEXIT                              
032223,000561: 
032224,000562: 36,3713           04674                           TC       IBNKCALL                              
032225,000563: 36,3714           40166                           CADR     STOPRATE                              
032226,000564: 
032227,000565: 36,3715           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032228,000566: 36,3716           00044                           ADRES    IMPULSW                               
032229,000567: 
032230,000568: 36,3717           05504                           TC       UPFLAG                                
032231,000569: 36,3720           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032232,000570: 
032233,000571: 36,3721           00004                           INHINT                                         
032234,000572: 36,3722           00006                           EXTEND                                         
032235,000573: 36,3723           31442                           DCA      TIG                                   
032236,000574: 36,3724           52155                           DXCH     MPAC                                  
032237,000575: 36,3725           00006                           EXTEND                                         
032238,000576: 36,3726           40025                           DCS      TIME2                                 
032239,000577: 36,3727           20155                           DAS      MPAC                                  
032240,000578: 36,3730           07262                           TC       TPAGREE                               
032241,000579: 36,3731           30155                           CAE      MPAC       +1                         
032242,000580: 36,3732           03741                           TC       GETDT                                 
032243,000581: 36,3733           05173                           TC       TWIDDLE                               
032244,000582: 36,3734           03546                           ADRES    ENGOFTSK                              
032245,000583: 36,3735           05327                           TC       2PHSCHNG                              
032246,000584: 36,3736           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032247,000585: 36,3737           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 758

032249,000587: 36,3740           15155                           TCF      ENDOFJOB                              
032250,000588: 
032251,000589: 36,3741           10000        GETDT              CCS      A                                     
032252,000590: 36,3742           13745                           TCF      +3                                    
032253,000591: 36,3743           13745                           TCF      +2                                    
032254,000592: 36,3744           34755                           CAF      ZERO                                  
032255,000593: 36,3745           64753                           AD       ONE                                   
032256,000594: 36,3746           56001                           XCH      L                                     
032257,000595: 36,3747           34755                           CAF      ZERO                                  
032258,000596: 36,3750           53517                           DXCH     TGO                                   
032259,000597: 36,3751           31517                           CA       TGO        +1                         
032260,000598: 36,3752           00002                           TC       Q                                     
032261,000599: 
032262,000600:                                                                                                  #  ************************************************************************
032263,000601: 
032264,000602: 36,3753           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
032265,000603: 36,3754           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
032266,000604: 36,3755           00000 05670  SEC30DP            2DEC     3000       B-28                       
032267,000605: 36,3757           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
032268,000606: 36,3760           10624        SEC45              DEC      4500       B-14                       
032269,000607: 36,3761           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032270,000608: 36,3762           00764        5SEC               DEC      500        B-14                       
032271,000609: 36,3763           05050        26SECS             DEC      2600       B-14                       
032272,000610: 36,3764           04050        V16N40             VN       1640                                  
032273,000611: 36,3765           04125        V16N85B            VN       1685                                  
032274,000612: 36,3766           04123        V1683              VN       1683                                  
032275,000613: 36,3767     4777               SEC01              =        1SEC                                  
032276,000614: 36,3767  36,2057               ACADN85            =        P41TABLE   +2                         
032277,000615: 
032278,000616: 36,3767  E7,1622                                  EBANK=   DELVIMU                               
032279,000617: 36,3767           03466 74067  ACADN83            2CADR    CALCN83                               
032280,000618: 
032281,000619:                                                                                                  #  *************************************************

Page 759

032283,000621:                                                                                                  #  PROGRAM DESCRIPTION  S40.1            DATE15NOV66
032284,000622:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
032285,000623:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032286,000624: 
032287,000625:                                                                                                  #  FUNCTIONAL DESCRIPTION
032288,000626:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032289,000627:                                                                                                  #        VECTOR(VGTIG).
032290,000628: 
032291,000629:                                                                                                  #  CALLING SEQUENCE
032292,000630:                                                                                                  #        L       CALL
032293,000631:                                                                                                  #        L+1             S40.1
032294,000632: 
032295,000633:                                                                                                  #  NORMAL EXIT MODE
032296,000634:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032297,000635:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
032298,000636: 
032299,000637:                                                                                                  #  SUBROUTINES CALLED
032300,000638:                                                                                                  #        LEMPREC
032301,000639:                                                                                                  #        INITVEL
032302,000640:                                                                                                  #        CALCGRAV
032303,000641:                                                                                                  #        MIDGIM
032304,000642: 
032305,000643:                                                                                                  #  ALARM OR ABORT EXIT MODES
032306,000644:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032307,000645: 
032308,000646:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032309,000647:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
032310,000648:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
032311,000649:                                                                                                  #        F               THRUST FOR ENGINE USED
032312,000650:                                                                                                  #    IF DELTA-V MANEUVER
032313,000651:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
032314,000652:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
032315,000653:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
032316,000654:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
032317,000655:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
032318,000656:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
032319,000657:                                                                                                  #    IF AIMPT STEER
032320,000658:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
032321,000659:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
032322,000660:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
032323,000661:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
032324,000662: 
032325,000663:                                                                                                  #  OUTPUT
032326,000664:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
032327,000665:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
032328,000666:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
032329,000667:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
032330,000668:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032331,000669:                                                                                                  #        -GDT            FOR S40.13                      VECT B7 M/CS
032332,000670:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
032333,000671:                                                                                                  #                        POSITION AT TIME OF IGNITION
032334,000672: 
032335,000673:                                                                                                  #  DEBRIS        QTEMP1
032336,000674:                                                                                                  #                MPAC, QPRET
032337,000675:                                                                                                  #                PUSHLIST
032338,000676: 
032339,000677: 14,2347                                           BANK     14                                    
032340,000678: 27,2000                                           SETLOC   P40S1                                 
032341,000679: 27,2000                                           BANK                                           

Page 760

032343,000681: 27,2246                                           COUNT*   $$/S40.1                              
032344,000682: 27,2246           71220        S40.1              STQ      DLOAD                                 
032345,000683: 27,2247           03632                                    QTEMP                                 
032346,000684: 27,2250           03442                                    TIG                                   
032347,000685: 27,2251           03763                           STORE    TIGSAVE                               
032348,000686: 27,2252           77614        DELVTEST           BOFF                                           
032349,000687: 27,2253           01347                                    XDELVFLG                              
032350,000688: 27,2254           56336                                    S40.1B                                
032351,000689: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032352,000690: 27,2256           00001                                    0                                     
032353,000691: 27,2257           03650                                    VTIG                                  
032354,000692: 27,2260           02331                           STORE    VINIT                                 
032355,000693: 27,2261           53435                           VXV      UNIT                                  
032356,000694: 27,2262           03642                                    RTIG                                  
032357,000695: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032358,000696: 27,2264           03642                                    RTIG                                  
032359,000697: 27,2265           02323                           STORE    RINIT                                 
032360,000698: 27,2266           65236                           VSQ      PDDL                                  
032361,000699: 27,2267           00045                                    36D                                   
032362,000700: 27,2270           56205                           DMP      DDV                                   
032363,000701: 27,2271           16412                                    THETACON                              
032364,000702: 27,2272           41205                           DMP      DMP                                   
032365,000703: 27,2273           03664                                    DELVSAB                               
032366,000704: 27,2274           01244                                    WEIGHT/G                              
032367,000705: 27,2275           77671                           DDV                                            
032368,000706: 27,2276           03735                                    F                                     
032369,000707: 27,2277           24017                           STOVL    14D                                   
032370,000708: 27,2300           03656                                    DELVSIN                               
032371,000709: 
032372,000710: 27,2301           74241                           DOT      VXSC                                  
032373,000711: 27,2302           03673                                    UT                                    
032374,000712: 27,2303           03673                                    UT                                    
032375,000713: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032376,000714: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032377,000715: 27,2306           03656                                    DELVSIN                               
032378,000716: 27,2307           00017                                    14D                                   
032379,000717: 27,2310           63356                           SIN      PDVL                                  
032380,000718: 27,2311           00007                                    6D                                    
032381,000719: 27,2312           53435                           VXV      UNIT                                  
032382,000720: 27,2313           03673                                    UT                                    
032383,000721: 27,2314           45561                           VXSC     STADR                                 
032384,000722: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032385,000723: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032386,000724: 27,2317           00017                                    14D                                   
032387,000725: 27,2320           74346                           COS      VXSC                                  
032388,000726: 27,2321           74255                           VAD      VXSC                                  
032389,000727: 27,2322           03701                                    VGTIG                                 
032390,000728: 27,2323           00045                                    36D                                   
032391,000729: 27,2324           53352                           VSL2     VAD                                   
032392,000730: 27,2325           77626                           STADR                                          

Page 761

032394,000732: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
032395,000733: 
032396,000734: 27,2327           77656                           UNIT                                           
032397,000735: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032398,000736: 27,2331           03701                                    VGTIG                                 
032399,000737: 27,2332           45006                           PUSH     CALL                                  
032400,000738: 27,2333           15741                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032401,000739: 27,2334           77650                           GOTO                                           
032402,000740: 27,2335           03632                                    QTEMP                                 
032403,000741: 27,2336           77745        S40.1B             DLOAD                                          
032404,000742: 27,2337           03442                                    TIG                                   
032405,000743: 27,2340           00041                           STORE    TDEC1                                 
032406,000744: 27,2341           77621                           BDSU                                           
032407,000745: 27,2342           03631                                    TPASS4                                
032408,000746: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032409,000747: 27,2344           27056                                    LEMPREC                               
032410,000748: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032411,000749: 27,2346           00001                                    RATT                                  
032412,000750: 27,2347           00001                                    0                                     
032413,000751: 27,2350           03642                           STORE    RTIG                                  
032414,000752: 27,2351           02323                           STORE    RINIT                                 
032415,000753: 27,2352           77656                           UNIT                                           
032416,000754: 27,2353           27537                           STOVL    UNIT/R/                               
032417,000755: 27,2354           00007                                    VATT                                  
032418,000756: 27,2355           03650                           STORE    VTIG                                  
032419,000757: 27,2356           02331                           STORE    VINIT                                 
032420,000758: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032421,000759: 27,2360           06524                                    ZEROVECS                              
032422,000760: 27,2361           16406                                    EPS1                                  
032423,000761: 27,2362           43214                           BOFF     DAD                                   
032424,000762: 27,2363           03745                                    NORMSW                                
032425,000763: 27,2364           56366                                    SMALLEPS                              
032426,000764: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032427,000765: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032428,000766: 27,2367           02776                                    RTX1                                  
032429,000767: 27,2370           45134                           SXA,2    CALL                                  
032430,000768: 27,2371           02777                                    RTX2                                  
032431,000769: 27,2372           22000                                    INITVEL                               
032432,000770: 27,2373           41575                           VLOAD    PUSH                                  
032433,000771: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR-VN.
032434,000772: 27,2375           03701                           STORE    VGTIG                                 
032435,000773: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032436,000774: 27,2377           17673                           STODL    UT                                    
032437,000775: 27,2400           00045                                    36D                                   
032438,000776: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032439,000777: 27,2402           15741                                    GET.LVC                               #  VERTICAL COORDINATES.
032440,000778: 27,2403           77650                           GOTO                                           
032441,000779: 27,2404           03632                                    QTEMP                                 
032442,000780: 
032443,000781: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.

Page 762

032445,000783: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032446,000784: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032447,000785: 

Page 763

032449,000787:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
032450,000788:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032451,000789:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
032452,000790:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032453,000791:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032454,000792: 
032455,000793:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032456,000794:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032457,000795:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032458,000796:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032459,000797:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032460,000798: 
032461,000799:                                                                                                  #  CALLING SEQUENCE:
032462,000800:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
032463,000801:                                                                                                  #        L +1            S40.2,3
032464,000802:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032465,000803: 
032466,000804:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032467,000805: 
032468,000806:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032469,000807: 
032470,000808:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032471,000809: 
032472,000810:                                                                                                  #  INPUT:
032473,000811:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032474,000812:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
032475,000813:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
032476,000814: 
032477,000815:                                                                                                  #  OUTPUT:
032478,000816:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
032479,000817:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
032480,000818:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
032481,000819:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032482,000820:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032483,000821:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032484,000822: 
032485,000823:                                                                                                  #  DEBRIS:  NONE.

Page 764

032487,000825: 
032488,000826: 27,2413                                           COUNT*   $$/S40.2                              
032489,000827: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
032490,000828: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032491,000829: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032492,000830: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032493,000831: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032494,000832: 27,2420           06522                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032495,000833: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032496,000834: 
032497,000835: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032498,000836: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032499,000837: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032500,000838: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032501,000839: 27,2426           46125                           PDDL     BHIZ                                  
032502,000840: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032503,000841: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032504,000842: 27,2431           45575        STORY              VLOAD    STADR                                 
032505,000843: 27,2432           74162                           STORE    YSCREF                                
032506,000844: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
032507,000845: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032508,000846: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032509,000847: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032510,000848: 
032511,000849: 27,2437           43414                           SET      RVQ                                   
032512,000850: 27,2440           01073                                    PFRATFLG                              
032513,000851: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032514,000852: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032515,000853: 27,2443           03650                                    VTIG                                  
032516,000854: 27,2444           41456                           UNIT     PUSH                                  
032517,000855: 27,2445           77650                           GOTO                                           
032518,000856: 27,2446           56431                                    STORY                                 

Page 765

032520,000858:                                                                                                  #  SUBROUTINE S40.8
032521,000859:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER   MIT/IL
032522,000860: 
032523,000861:                                                                                                  #  DESCRIPTION
032524,000862:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032525,000863:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032526,000864:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032527,000865: 
032528,000866:                                                                                                  #  CALLING SEQUENCE
032529,000867:                                                                                                  #        L-1     CALL
032530,000868:                                                                                                  #        L               S40.8
032531,000869:                                                                                                  #        L+1                     INTERPRETIVE RETURN
032532,000870: 
032533,000871:                                                                                                  #  ALARM
032534,000872:                                                                                                  #        IF VG.DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032535,000873:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032536,000874: 
032537,000875:                                                                                                  #  INPUT AND INITIALIZATION
032538,000876:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
032539,000877:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
032540,000878:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
032541,000879:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
032542,000880:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032543,000881:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032544,000882:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032545,000883: 
032546,000884:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032547,000885: 
032548,000886:                                                                                                  #  OUTPUT
032549,000887:                                                                                                  #        STEERSW         SEE INPUT
032550,000888:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032551,000889:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
032552,000890:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
032553,000891: 
032554,000892:                                                                                                  #  SUBROUTINE CALLED
032555,000893:                                                                                                  #        FINDCDUW
032556,000894: 
032557,000895:                                                                                                  #  DEBRIS
032558,000896:                                                                                                  #        MPACS, PUSHLIST
032559,000897: 
032560,000898: 27,2447                                           COUNT*   $$/S40.8                              

Page 766

032562,000900: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032563,000901: 27,2450           01347                                    XDELVFLG                              
032564,000902: 27,2451           56731                                    RASTEER1                              
032565,000903: 27,2452           52375                           VLOAD    VSU                                   
032566,000904: 27,2453           03701                                    VGPREV                                
032567,000905: 27,2454           03527                                    DELVREF                               
032568,000906: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
032569,000907: 27,2456           76521                           MXV      VSL1                                  
032570,000908: 27,2457           01734                                    REFSMMAT                              
032571,000909: 27,2460           03253                           STORE    UNFC/2                                
032572,000910: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032573,000911: 27,2462           03707                                    VG                                    
032574,000912: 27,2463           03664                           STORE    VGDISP                                
032575,000913: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
032576,000914: 27,2465           00001                                    0                                     
032577,000915: 27,2466           03707                                    VG                                    
032578,000916: 27,2467           27701                           STOVL    VGPREV                                
032579,000917: 27,2470           03527                                    DELVREF                               
032580,000918: 27,2471           57414                           BOFF     VCOMP                                 
032581,000919: 27,2472           01344                                    STEERSW                               
032582,000920: 27,2473           00052                                    QPRET                                 
032583,000921: 27,2474           77656                           UNIT                                           
032584,000922: 27,2475           41441                           DOT      PUSH                                  
032585,000923: 27,2476           03707                                    VG                                    
032586,000924: 27,2477           56244                           BPL      DDV                                   
032587,000925: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032588,000926: 27,2501           03743                                    VEX                                   
032589,000927: 27,2502           41215                           DAD      DMP                                   
032590,000928: 27,2503           06522                                    DPHALF                                
032591,000929: 27,2504           56261                           SR       DDV                                   
032592,000930: 27,2505           20613                                    10D                                   
032593,000931: 27,2506           00045                                    36D                                   
032594,000932: 27,2507           43205                           DMP      DAD                                   
032595,000933: 27,2510           16535                                    -FOURDT                               
032596,000934: 27,2511           03741                                    TDECAY                                
032597,000935: 27,2512           03517                           STORE    TGO                                   
032598,000936: 27,2513           77615                           DAD                                            
032599,000937: 27,2514           01234                                    PIPTIME                               
032600,000938: 27,2515           17442                           STODL    TIG                                   
032601,000939: 27,2516           03517                                    TGO                                   
032602,000940: 27,2517           51025                           DSU      BPL                                   
032603,000941: 27,2520           16537                                    FOURSECS                              #  400 CS
032604,000942: 27,2521           61100                                    FINDCDUW   -2                         
032605,000943: 27,2522           43014                           SET      CLRGO                                 
032606,000944: 27,2523           01066                                    IMPULSW                               
032607,000945: 27,2524           01224                                    STEERSW                               
032608,000946: 27,2525           00052                                    QPRET                                 
032609,000947: 
032610,000948: 27,2526           77776        ALARMIT            EXIT                                           
032611,000949: 

Page 767

032613,000951: 27,2527           05567                           TC       ALARM                                 
032614,000952: 27,2530           01407                           OCT      01407                                 
032615,000953: 27,2531           06042                           TC       INTPRET                               
032616,000954: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032617,000955: 27,2533           61100                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
032618,000956: 
032619,000957: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
032620,000958: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032621,000959: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
032622,000960: 

Page 768

032624,000962:                                                                                                  #  NAME                  S40.13 - TIMEBURN
032625,000963: 
032626,000964:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032627,000965:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032628,000966:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032629,000967:                                                                                                  #                        BURN
032630,000968:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032631,000969:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032632,000970:                                                                                                  #                        SIGNAL
032633,000971: 
032634,000972:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
032635,000973: 
032636,000974:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032637,000975:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032638,000976:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
032639,000977:                                                                                                  #                        AND ALSO FOR RCS ENGINE
032640,000978:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032641,000979:                                                                                                  #                        BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
032642,000980:                                                                                                  #                        REQUIRE MODIFICATION FOR SATURN BURNS.
032643,000981:                                                                                                  #                ENG1FLAG    SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032644,000982:                                                                                                  #                                =0      DPS
032645,000983:                                                                                                  #                                =1      APS
032646,000984: 
032647,000985:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
032648,000986:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
032649,000987:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
032650,000988:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
032651,000989:                                                                                                  #                        TGO             TIME TO BURN IN CS
032652,000990:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032653,000991:                                                                                                  #                        FORCE
032654,000992: 
032655,000993: 27,2540  E7,1516                                  EBANK=   TGO                                   
032656,000994: 27,2540                                           COUNT*   $$/40.13                              
032657,000995: 27,2540           06042        S40.13             TC       INTPRET                               
032658,000996: 27,2541           43001                           SETPD    CLEAR                                 
032659,000997: 27,2542           00001                                    00D                                   
032660,000998: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
032661,000999: 27,2544           51575                           VLOAD    ABVAL                                 
032662,001000: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
032663,001001: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
032664,001002: 27,2547           21006                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032665,001003: 27,2550           34021                                    FRCS2                                 
032666,001004: 27,2551           72471                           DDV      SL1                                   #  SCALE
032667,001005: 27,2552           01244                                    WEIGHT/G                              
032668,001006: 27,2553           41421                           BDSU     PUSH                                  
032669,001007: 27,2554           43014                           BOFF     SET                                   
032670,001008: 27,2555           05342                                    APSFLAG                               
032671,001009: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
032672,001010: 27,2557           02463                                    NOTHROTL                              
032673,001011: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED

In the following line in the original program listing, +24 is crossed out and +23 written in by hand.—RSB 2003

032676,001014: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
032677,001015: 27,2562           01244                                    WEIGHT/G                              
032678,001016: 27,2563           50021                           BDSU     BMN                                   

Page 769

032680,001018: 27,2564           00001                                    00D                                   
032681,001019: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
032682,001020: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
032683,001021: 27,2567           03737                                    MDOT                                  
032684,001022: 
032685,001023:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032686,001024:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
032687,001025:                                                                                                  #  REQUIRE ADJUSTMENT
032688,001026: 
032689,001027: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
032690,001028: 27,2571           65221                           BDSU     PDDL                                  
032691,001029: 27,2572           01244                                    WEIGHT/G                              
032692,001030: 27,2573           03735                                    F                                     
032693,001031: 27,2574           60405                           DMP      SR2                                   #  SCALE
032694,001032: 27,2575           16702                                    5SECS                                 
032695,001033: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
032696,001034: 27,2577           51021                           BDSU     BPL                                   
032697,001035: 27,2600           00003                                    02D                                   
032698,001036: 27,2601           56626                                    S40.13D                               
032699,001037: 27,2602           55345                           DLOAD    BDDV                                  
032700,001038: 27,2603           43205                           DMP      DAD                                   
032701,001039: 27,2604           16702                                    5SECS                                 
032702,001040: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
032703,001041: 27,2606           77650                           GOTO                                           
032704,001042: 27,2607           56616                                    S40.132                               
032705,001043: 27,2610           41345        S40.131            DLOAD    DMP                                   
032706,001044: 27,2611           01244                                    WEIGHT/G                              

In the following line in the original program listing, PUSH is hand-circled.—RSB 2003

032709,001047: 27,2612           41542                           SR1      PUSH                                  
032710,001048: 27,2613           56215                           DAD      DDV                                   
032711,001049: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24

In the original printout, "CS" is scribbled out in the following line. In Luminary 210, the comment has been corrected to "KG-M/CS/CS AT +10 (SAME VALUE AS FAPS)", which is consistent with the correction.—RSB 2017

032716,001054: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
032717,001055: 27,2616           77414        S40.132            SET      EXIT                                  
032718,001056: 27,2617           01066                                    IMPULSW                               
032719,001057: 27,2620           07262        S40.132*           TC       TPAGREE                               
032720,001058: 27,2621           30154                           CA       MPAC                                  

In the following line in the original program listing, TS TGO +1 is hand-written in the comment area.—RSB 2003

032723,001061: 27,2622           56001                           XCH      L                                     
032724,001062: 27,2623           34755                           CA       ZERO                                  

In the original program listing, TS TGO is hand-written, seemingly between CA ZERO and DXCH TGO.—RSB 2003.

032727,001065: 27,2624           53517                           DXCH     TGO                                   
032728,001066: 27,2625           12650                           TCF      S40.134                               
032729,001067: 
032730,001068: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
032731,001069: 27,2627           00001                                    00D                                   
032732,001070: 27,2630           01244                                    WEIGHT/G                              
032733,001071: 27,2631           43006                           PUSH     BON                                   
032734,001072: 27,2632           05302                                    APSFLAG                               
032735,001073: 27,2633           56671                                    APSTGO                                
032736,001074: 27,2634           43071                           DDV      CLEAR                                 
032737,001075: 27,2635           16007                                    S40.136                               
032738,001076: 27,2636           02663                                    NOTHROTL                              
032739,001077: 27,2637           41400                           BOV      PUSH                                  

Page 770

032741,001079: 27,2640           56653                                    S40.130V                              
032742,001080: 27,2641           51025        S40.137            DSU      BPL                                   
032743,001081: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
032744,001082: 27,2643           56661                                    S40.138                               
032745,001083: 27,2644           52015                           DAD      GOTO                                  
032746,001084: 27,2645           16704                                    6SEC                                  
032747,001085: 27,2646           56616                                    S40.132                               
032748,001086: 27,2647           77776        S40.133            EXIT                                           
032749,001087: 27,2650           05353        S40.134            TC       PHASCHNG                              
032750,001088: 27,2651           00003                           OCT      00003                                 
032751,001089: 27,2652           05155                           TC       ENDOFJOB                              
032752,001090: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
032753,001091: 27,2654           77671                           DDV                                            
032754,001092: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
032755,001093: 27,2656           03517                           STORE    TGO                                   
032756,001094: 27,2657           77776                           EXIT                                           
032757,001095: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
032758,001096: 
032759,001097: 27,2661           51025        S40.138            DSU      BPL                                   
032760,001098: 27,2662           16706                                    89SECS                                
032761,001099: 27,2663           56666                                    STORETGO                              
032762,001100: 27,2664           77614                           SET                                            
032763,001101: 27,2665           02463                                    NOTHROTL                              
032764,001102: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
032765,001103: 27,2667           77776                           EXIT                                           
032766,001104: 27,2670           12620                           TCF      S40.132*                              
032767,001105: 
032768,001106: 27,2671           62471        APSTGO             DDV      SL2                                   
032769,001107: 27,2672           34007                                    FAPS                                  
032770,001108: 27,2673           77650                           GOTO                                           
032771,001109: 27,2674           56667                                    STORETGO   +1                         
032772,001110: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
032773,001111: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
032774,001112: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
032775,001113: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
032776,001114: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
032777,001115: 
032778,001116:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032779,001117:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032780,001118:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
032781,001119:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032782,001120:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032783,001121:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032784,001122: 
032785,001123:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
032786,001124: 
032787,001125:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032788,001126:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 771

032790,001128:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032791,001129:                                                                                                  #                                  METERS/CS AT +7.
032792,001130:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
032793,001131:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032794,001132:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
032795,001133:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032796,001134:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032797,001135:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032798,001136:                                                                                                  #                                  METERS/CS AT +7.
032799,001137: 
032800,001138:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032801,001139:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
032802,001140:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032803,001141:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
032804,001142: 
032805,001143:                                                                                                  #  SUBROUTINES USED      -       INITVEL
032806,001144: 
032807,001145: 27,2707  E7,1700                                  EBANK=   VGPREV                                
032808,001146: 27,2707                                           COUNT*   $$/S40.9                              
032809,001147: 27,2707           06042        S40.9              TC       INTPRET                               
032810,001148: 27,2710           77601                           SETPD                                          
032811,001149: 27,2711           00001                                    00D                                   
032812,001150: 27,2712           71214                           SET      DLOAD                                 
032813,001151: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
032814,001152: 27,2714           06524                                    HI6ZEROS                              
032815,001153: 27,2715           77725                           PDDL                                           
032816,001154: 27,2716           16406                                    EPS1                                  
032817,001155: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
032818,001156: 27,2720           03745                                    NORMSW                                
032819,001157: 27,2721           56723                                    EPSSMALL                              
032820,001158: 27,2722           16410                                    EPS2                                  
032821,001159: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
032822,001160: 27,2724           22002                                    HAVEGUES                              
032823,001161: 27,2725           77776        ENDS40.9           EXIT                                           
032824,001162: 27,2726           05353                           TC       PHASCHNG                              
032825,001163: 27,2727           00002                           OCT      2                                     
032826,001164: 27,2730           15155                           TCF      ENDOFJOB                              
032827,001165: 
032828,001166: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
032829,001167: 27,2732           01220                                    RN                                    
032830,001168: 27,2733           53744                           LXC,2    SL*                                   
032831,001169: 27,2734           02777                                    RTX2                                  
032832,001170: 27,2735           57576                                    0,2                                   
032833,001171: 27,2736           27715                           STOVL    RMAG                                  
032834,001172: 27,2737           03444                                    RTARG                                 
032835,001173: 27,2740           47051                           VSU      RTB                                   
032836,001174: 27,2741           01220                                    RN                                    
032837,001175: 27,2742           21725                                    NORMUNX1                              
032838,001176: 27,2743           17656                           STODL    IC                                    
032839,001177: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
032840,001178: 27,2745           53674                           XAD,2    SL*                                   
032841,001179: 27,2746           00046                                    X1                                    

Page 772

032843,001181: 27,2747           57576                                    0,2                                   
032844,001182: 27,2750           00037                           STORE    30D                                   
032845,001183: 27,2751           41301                           NORM     DMP                                   
032846,001184: 27,2752           00050                                    X2                                    
032847,001185: 27,2753           03715                                    RMAG                                  
032848,001186: 27,2754           57101                           NORM     XAD,2                                 
032849,001187: 27,2755           00047                                    X1                                    
032850,001188: 27,2756           00046                                    X1                                    
032851,001189: 27,2757           77734                           SXA,2                                          
032852,001190: 27,2760           03766                                    MUSCALE                               
032853,001191: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
032854,001192: 27,2762           00037                                    30D                                   
032855,001193: 27,2763           65342                           SR1      PDDL                                  
032856,001194: 27,2764           03715                                    RMAG                                  
032857,001195: 27,2765           65342                           SR1      PDDL                                  
032858,001196: 27,2766           03723                                    RTMAG                                 
032859,001197: 27,2767           43342                           SR1      DAD                                   
032860,001198: 27,2770           45415                           DAD      STADR                                 
032861,001199: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
032862,001200: 27,2772           41225                           DSU      DMP                                   
032863,001201: 27,2773           00037                                    30D                                   
032864,001202: 27,2774           03721                                    MU/A                                  
032865,001203: 27,2775           77621                           BDSU                                           
032866,001204: 27,2776           03717                                    MUASTEER                              

In the original program listing, the following line has a hand-written comment as follows
         (S - C) μ
   ( μ - --------- )
            2 a
Other similar handwritten comments are included below without further apology.—RSB 2003. (RSB 2016.) If you refer to the equivalent log section for Luminary 210, you'll see that the code code has remained the same but that actual program comments similar to these hand-written comments have appeared.

032878,001216: 27,2777           45325                           PDDL     DSU                                   
032879,001217: 27,3000           03733                                    SS                                    

(S-R) is written in by hand.

032881,001219: 27,3001           03715                                    RMAG                                  
032882,001220: 27,3002           70501                           NORM     SR1                                   
032883,001221: 27,3003           00047                                    X1                                    

  (S - R)       μ (S - C)
2 ------- ( μ - --------- )
    R C            2 a

032889,001227: 27,3004           41271                           DDV      DMP                                   
032890,001228: 27,3005           03725                                    R1C                                   
032891,001229: 27,3006           53664                           XSU,2    SL*                                   
032892,001230: 27,3007           00046                                    X1                                    
032893,001231: 27,3010           57575                                    1,2                                   
032894,001232: 27,3011           77754                           LXA,2                                          
032895,001233: 27,3012           03766                                    MUSCALE                               

       2 (S - R)      μ (S - C)
SQRT ( --------- (μ - --------- ) )
          R C            2 a

032901,001239: 27,3013           75366                           SQRT     SIGN                                  

(GEOMSGN = SGNA) or perhaps (GEOMSGN = SGN1)

032903,001241: 27,3014           02673                                    GEOMSGN                               
032904,001242: 27,3015           00041                           STORE    32D                                   #  + OR - A

                 2 (S - R)      μ (S - C)
A = SGNA (SQRT ( --------- (μ - ---------) ) )
                    R C            2 a

032910,001248: 27,3016           41345                           DLOAD    DMP                                   
032911,001249: 27,3017           03733                                    SS                                    
032912,001250: 27,3020           03721                                    MU/A                                  

    μ S
μ - ___
    2 a

032918,001256: 27,3021           77621                           BDSU                                           
032919,001257: 27,3022           03717                                    MUASTEER                              
032920,001258: 27,3023           45325                           PDDL     DSU                                   
032921,001259: 27,3024           03733                                    SS                                    
032922,001260: 27,3025           03723                                    RTMAG                                 
032923,001261: 27,3026           70501                           NORM     SR1                                   
032924,001262: 27,3027           00047                                    X1                                    

2 (S - R T)       μ S
----------- ( μ - --- )
    R C           2 a

032930,001268: 27,3030           41271                           DDV      DMP                                   
032931,001269: 

Page 773

032933,001271: 27,3031           03725                                    R1C                                   
032934,001272: 27,3032           53664                           XSU,2    SL*                                   
032935,001273: 27,3033           00046                                    X1                                    
032936,001274: 27,3034           57575                                    1,2                                   
032937,001275: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
032938,001276: 27,3036           03733                                    SS                                    
032939,001277: 27,3037           56225                           DSU      DDV                                   
032940,001278: 27,3040           00037                                    30D                                   
032941,001279: 27,3041           03733                                    SS                                    
032942,001280: 27,3042           41566                           SQRT     PUSH                                  

ASIN ( SQRT (S-C)/S ) )

032944,001282: 27,3043           67542                           SR1      ASIN                                  
032945,001283: 27,3044           65205                           DMP      PDDL                                  
032946,001284: 27,3045           17216                                    2PI+3                                 
032947,001285: 27,3046           56325                           PDDL     DDV                                   
032948,001286: 27,3047           00037                                    30D                                   
032949,001287: 27,3050           03733                                    SS                                    

SQRT (C/S) SQRT ( (S-C)/S ) =

032951,001289: 27,3051           77600                           BOV                                            
032952,001290: 27,3052           57053                                    +1                                    

SQRT(C/S) SQRT((S-C)/S) = (1/S) SQRT(C(S-C))

032954,001292: 27,3053           41366                           SQRT     DMP                                   
032955,001293: 27,3054           44242                           SR3      BDSU                                  

SGNA( ARCSIN( SQRT((S-C)/S) ) - (1/S) SQRT(C(S-C)) )

032957,001295: 27,3055           65365                           SIGN     PDDL                                  
032958,001296: 27,3056           02673                                    GEOMSGN                               
032959,001297: 27,3057           17216                                    2PI+3                                 

(C/S) (PI/2 - SGNA( empty, aligned with the contents of SGNA above ) )

032961,001299: 27,3060           45302                           SR2      DSU                                   
032962,001300: 27,3061           65205                           DMP      PDDL                                  
032963,001301: 27,3062           03733                                    SS                                    
032964,001302: 27,3063           03733                                    SS                                    

S SQRT(S) = SQRT(S3)

032966,001304: 27,3064           75442                           SR3      SQRT                                  
032967,001305: 27,3065           77605                           DMP                                            
032968,001306: 27,3066           52525                           PDDL     SL3                                   
032969,001307: 27,3067           03717                                    MUASTEER                              

       3
      S
SQRT(---)
     2 μ
TMIN ENERGY

032977,001315: 27,3070           55366                           SQRT     BDDV                                  
032978,001316: 27,3071           43225                           DSU      DAD                                   
032979,001317: 27,3072           03631                                    TPASS4                                
032980,001318: 27,3073           01234                                    PIPTIME                               

(tM - t2 )

032982,001320: 27,3074           14037                           STODL    30D                                   
032983,001321: 27,3075           77765                           SIGN                                           
032984,001322: 27,3076           00037                                    30D                                   #  B WITH SIGN
032985,001323: 27,3077           00037                           STORE    30D                                   
032986,001324: 27,3100           77214                           BON      VLOAD                                 
032987,001325: 27,3101           03705                                    NORMSW                                
032988,001326: 27,3102           57123                                    180MESS                               
032989,001327: 27,3103           03656                                    IC                                    
032990,001328: 27,3104           53451                           VSU      UNIT                                  
032991,001329: 27,3105           03537                                    UNIT/R/                               

UNCM

032993,001331: 27,3106           63361                           VXSC     PDVL                                  

B UNCM

032995,001333: 27,3107           00037                                    30D                                   
032996,001334: 27,3110           03656                                    IC                                    
032997,001335: 27,3111           53455                           VAD      UNIT                                  

VNCP

032999,001337: 27,3112           03537                                    UNIT/R/                               

Page 774

033001,001339: 

A UNCP

033003,001341: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033004,001342: 27,3114           00041                                    32D                                   
033005,001343: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033006,001344: 27,3116           02777                                    RTX2                                  
033007,001345: 27,3117           57177                                    0          -1,2                       
033008,001346: 27,3120           02337                           STORE    VIPRIME                               
033009,001347: 27,3121           77650                           GOTO                                           
033010,001348: 27,3122           57166                                    ASTREND    -2                         
033011,001349: 27,3123           50375        180MESS            VLOAD    DOT                                   
033012,001350: 27,3124           03656                                    IC                                    
033013,001351: 27,3125           03537                                    UNIT/R/                               
033014,001352: 27,3126           77240                           BMN      VLOAD                                 
033015,001353: 27,3127           57146                                    NEGPROD                               
033016,001354: 27,3130           03656                                    IC                                    
033017,001355: 27,3131           63362                           VSR1     PDVL                                  
033018,001356: 27,3132           03537                                    UNIT/R/                               
033019,001357: 27,3133           53362                           VSR1     VAD                                   
033020,001358: 27,3134           77656                           UNIT                                           
033021,001359: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033022,001360: 27,3136           75235                           VXV      SIGN                                  
033023,001361: 27,3137           02674                                    UN                                    
033024,001362: 27,3140           02673                                    GEOMSGN                               
033025,001363: 27,3141           74256                           UNIT     VXSC                                  
033026,001364: 27,3142           00037                                    30D                                   
033027,001365: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033028,001366: 27,3144           77650                           GOTO                                           
033029,001367: 27,3145           57113                                    GETVRVG1                              
033030,001368: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033031,001369: 27,3147           03537                                    UNIT/R/                               
033032,001370: 27,3150           74515                           PDVL     VSR1                                  
033033,001371: 27,3151           03656                                    IC                                    
033034,001372: 27,3152           53451                           VSU      UNIT                                  
033035,001373: 27,3153           77606                           PUSH                                           
033036,001374: 27,3154           75235                           VXV      SIGN                                  
033037,001375: 27,3155           02674                                    UN                                    #  FOR B
033038,001376: 27,3156           02673                                    GEOMSGN                               
033039,001377: 27,3157           74256                           UNIT     VXSC                                  
033040,001378: 27,3160           00041                                    32D                                   
033041,001379: 27,3161           77715                           PDVL                                           
033042,001380: 27,3162           53361                           VXSC     VAD                                   
033043,001381: 27,3163           00037                                    30D                                   
033044,001382: 27,3164           77650                           GOTO                                           
033045,001383: 27,3165           57115                                    GETVRVG2                              
033046,001384: 27,3166           77651                           VSU                                            
033047,001385: 27,3167           03553                                    VN1                                   
033048,001386: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033049,001387: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033050,001388: 27,3172           03000                                    RTX2                                  
033051,001389: 27,3173           57177                                    GETGOBL                               
033052,001390: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 775

033054,001392: 27,3175           02366                                    DELVEET3                              
033055,001393: 27,3176           57212                                    NOGOBL                                

In the original program listing, VLOAD UNIT RN below is circled, and connected to the comment after 34D ("34D = /RN/ etc.") with an arrow.—RSB 2003.

033058,001396: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033059,001397: 27,3200           01220                                    RN                                    
033060,001398: 27,3201           45345                           DLOAD    DSU                                   
033061,001399: 27,3202           01234                                    PIPTIME                               #               2
033062,001400: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033063,001401: 27,3204           56205                           DMP      DDV                                   #   OBL
033064,001402: 27,3205           16023                                    EARTHMU                               
033065,001403: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033066,001404: 27,3207           53361                           VXSC     VAD                                   
033067,001405: 27,3210           03521                                    UNITGOBL                              
033068,001406: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033069,001407: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033070,001408: 27,3213           77650                           GOTO                                           
033071,001409: 27,3214           56455                                    VGAIN*                                
033072,001410: 
033073,001411: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033074,001412: 

Page 776

033076,001414:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033077,001415:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033078,001416: 
033079,001417:                                                                                                  #  FUNCTION:
033080,001418:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033081,001419:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033082,001420:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033083,001421: 
033084,001422:                                                                                                  #  CALLING SEQUENCE:
033085,001423:                                                                                                  #        VIA WAITLIST FROM R03
033086,001424: 
033087,001425:                                                                                                  #  INPUT:
033088,001426:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033089,001427:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033090,001428: 
033091,001429:                                                                                                  #  SUBROUTINES USED:
033092,001430:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033093,001431: 
033094,001432: 27,3217                                           COUNT*   $$/S40.6                              
033095,001433: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033096,001434: 
033097,001435: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033098,001436: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033099,001437: 
033100,001438: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033101,001439: 27,3222           00006                           EXTEND                                         
033102,001440: 27,3223           03012                           WAND     CHAN12                                
033103,001441: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033104,001442: 27,3225           00006                           EXTEND                                         
033105,001443: 27,3226           05012                           WOR      CHAN12                                
033106,001444: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033107,001445: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033108,001446: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033109,001447: 27,3232           00006                           EXTEND                                         
033110,001448: 27,3233           03012                           WAND     CHAN12                                
033111,001449: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033112,001450: 27,3235           00006                           EXTEND                                         
033113,001451: 27,3236           05012                           WOR      CHAN12                                
033114,001452: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033115,001453: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033116,001454: 27,3241           03260                           ADRES    PITCHOFF                              
033117,001455: 
033118,001456: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033119,001457: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
033120,001458: 27,3244           44740                           CS       BIT12                                 
033121,001459: 27,3245           00006                           EXTEND                                         
033122,001460: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033123,001461: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033124,001462: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033125,001463: 27,3251           00006                           EXTEND                                         
033126,001464: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033127,001465: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033128,001466: 27,3254           05072                           TC       NOVAC                                 
033129,001467: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 777

033131,001469: 27,3255           02325 02067                     2CADR    TRIMDONE                              
033132,001470: 
033133,001471: 27,3257           05261                           TC       TASKOVER                              
033134,001472: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033135,001473: 27,3261           00006                           EXTEND                                         
033136,001474: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033137,001475: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033138,001476: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033139,001477: 27,3265           00137                           ADRES    GMBDRVSW                              
033140,001478: 27,3266           05261                           TC       TASKOVER                              
033141,001479: 

Page 778

033143,001481:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
033144,001482:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033145,001483: 
033146,001484:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033147,001485: 
033148,001486:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033149,001487:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033150,001488:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033151,001489:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033152,001490:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033153,001491:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033154,001492:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033155,001493:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033156,001494: 
033157,001495:                                                                                                  #  CALLING SEQUENCE:
033158,001496:                                                                                                  #        L       VLOAD   CALL
033159,001497:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033160,001498:                                                                                                  #        L +2            S41.1
033161,001499:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033162,001500: 
033163,001501:                                                                                                  #  SUBROUTINES CALLED:
033164,001502:                                                                                                  #        1.      CDUTRIG,
033165,001503:                                                                                                  #                        WHICH CALLS CDULOGIC.
033166,001504:                                                                                                  #        2.      *SMNB*
033167,001505: 
033168,001506:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
033169,001507: 
033170,001508:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033171,001509: 
033172,001510:                                                                                                  #  RESTART PROTECTION:  NONE.
033173,001511: 

Page 779

033175,001513:                                                                                                  #  INPUT:
033176,001514:                                                                                                  #        1.      REFSMMAT.
033177,001515:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
033178,001516:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
033179,001517: 
033180,001518:                                                                                                  #  OUTPUT:
033181,001519:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033182,001520:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
033183,001521:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
033184,001522:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033185,001523: 
033186,001524:                                                                                                  #  DEBRIS:  NONE.
033187,001525: 
033188,001526:                                                                                                  #  CHECKOUT STATUS:  CODED.
033189,001527: 
033190,001528: 27,3267                                           COUNT*   $$/S41.1                              
033191,001529: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033192,001530: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033193,001531: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033194,001532: 27,3272           47650                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033195,001533:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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