Source Code

These source-code files derive from a printout of Luminary 210 (Apollo 15-17 Lunar Module guidance computer program), from the personal library of original AGC developer Don Eyles, digitally photographed at archive.org, financially sponsored by Jim Lawton, and transcribed to source code by a team of volunteers. This colorized, syntax-highlighted form was created by assembling that transcribed source code. Note that the full page images are available on the Virtual AGC project page at archive.org, while reduced-size images are presented at the VirtualAGC project website. Report or fix any transcription errors at the Virtual AGC project code repository.

Notations on the program listing read, in part:

	GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY 
	BY NASA 2021112-161 17:11 MAR. 19,1971
Note that the date is the date of the printout, not the date of the program revision.

032770,000002:                                                                                                  ## Copyright:   Public domain.
032771,000003:                                                                                                  ## Filename:    P40-P47.agc
032772,000004:                                                                                                  ## Purpose:     A section of Luminary revision 210.
032773,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
032774,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 15-17.
032775,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
032776,000008:                                                                                                  ##              that the code format has been changed to conform to the
032777,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
032778,000010:                                                                                                  ##              original YUL assembler.
032779,000011:                                                                                                  ## Reference:   pp. 747-780
032780,000012:                                                                                                  ## Assembler:   yaYUL
032781,000013:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032782,000014:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
032783,000015:                                                                                                  ## Mod history: 2016-11-17 JL   Created from Luminary131 version.
032784,000016:                                                                                                  ##              2016-12-01 RSB  Completed transcription.
032785,000017:                                                                                                  ##              2016-12-02 RSB  Fixed a bunch of typos in comments, which I discovered
032786,000018:                                                                                                  ##                              by playing around with ProoferComments.py.  By my count,
032787,000019:                                                                                                  ##                              I fixed 31 errors in 34 pages, almost all of them actual
032788,000020:                                                                                                  ##                              textual errors, as opposed to whitespace errors ... i.e., 
032789,000021:                                                                                                  ##                              on average, in this file anyway, there was an average of 
032790,000022:                                                                                                  ##                              about one error per page!
032791,000023:                                                                                                  ##              2016-12-02 RSB  3 more errors found, after fixes to ProoferComments.py,
032792,000024:                                                                                                  ##                              bringing the average errors-per-page to *exactly* 1.  :-)
032793,000025:                                                                                                  ##              2015-12-02 RSB  4 more errors found, with additional improvements to
032794,000026:                                                                                                  ##                              ProoferComments.py ... so, 38 errors for 34 lines.
032795,000027:                                                                                                  ##              2016-12-07 HG   fix P00 -> POO (appears only in a comment)
032796,000028:                                                                                                  ##                              revert above change
032797,000029:                                                                                                  ##              2016-12-07 HG   Add missing label S40RET
032798,000030:                                                                                                  ##              2016-12-11 HG   Fix pseudo operation GOTO -> CALL
032799,000031:                                                                                                  ##              2016-12-12 hg   Fix interpretive operand FRCS2 -> FRCS4
032800,000032:                                                                                                  ##                                               operator GOTO -> SET  
032801,000033:                                                                                                  ##                                  operand PHASCHNG -> 2PHSCHNG                    
032802,000034:                                                                                                  ##              2016-12-25 RSB  Comment-text proofed using ProoferComments
032803,000035:                                                                                                  ##                              and corrected errors found.
032804,000036:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
032805,000037:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
032806,000038:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
032807,000039:                                                                                                  ##              2017-08-26 MAS  Fixed an incorrect label found while transcribing
032808,000040:                                                                                                  ##                              Zerlina 56 (it was unreferenced so caused no errors).
032809,000041: 

Page 747

032811,000043:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH    DECEMBER 22, 1966
032812,000044:                                                                                                  #  MOD 03 BY PETER ADLER           MARCH 3, 1967
032813,000045:                                                                                                  #  CALLED VIA JOB FROM V37E
032814,000046: 
032815,000047:                                                                                                  #  FUNCTIONAL DESCRIPTION
032816,000048: 
032817,000049:                                                                                                  #           1)  TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032818,000050:                                                                                                  #               THRUSTING MANEUVER.
032819,000051: 

(There is no item #2 in the original program listing.)

032821,000053: 
032822,000054:                                                                                                  #           3)  TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032823,000055: 
032824,000056:                                                                                                  #           4)  TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032825,000057:                                                                                                  #               PGNCS CONTROLLED DPS MANEUVER.
032826,000058: 
032827,000059:                                                                                                  #           5)  IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032828,000060:                                                                                                  #                            SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032829,000061: 
032830,000062:                                                                                                  #           NOTE:  P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032831,000063:                                                                                                  #                  RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032832,000064: 
032833,000065:                                                                                                  #  SUBROUTINES USED
032834,000066: 
032835,000067:                                                                                                  #           R02      IMU STATUS CHECK
032836,000068:                                                                                                  #           S40.1    COMPUTATION OF THRUST DIRECTION
032837,000069:                                                                                                  #           S40.13   LENGTH OF BURN
032838,000070:                                                                                                  #           S40.2,3  PREFERRED IMU ORIENATTION
032839,000071:                                                                                                  #           S40.8    X PRODUCT STEERING
032840,000072:                                                                                                  #           S40.9    LAMBERT VTOGAIN
032841,000073:                                                                                                  #           R60LEM   ATTITUDE MANEUVER
032842,000074:                                                                                                  #           LEMPREC  EXTRAPOLATE STATE VECTOR
032843,000075:                                                                                                  #           PREREAD  AVERAGE G, SERVICER
032844,000076:                                                                                                  #           ALLCOAST DAP COASTING INITIALIZATION
032845,000077:                                                                                                  #           CLOKTASK ERGO CLOCKJOB--COUNT DOWN
032846,000078:                                                                                                  #           PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032847,000079:                                                                                                  #           PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032848,000080:                                                                                                  #           KILLTASK, SGNAGREE, TPAGREE, ETC.
032849,000081: 
032850,000082:                                                                                                  #  RESTARTS VIA GROUP 4
032851,000083: 
032852,000084:                                                                                                  #  DISPLAYS
032853,000085: 
032854,000086:                                                                                                  #           V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032855,000087:                                                                                                  #           V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032856,000088:                                                                                                  #           V50N99  PLEASE PERFORM ENGINE ON ENABLE
032857,000089:                                                                                                  #           V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032858,000090:                                                                                                  #           V16N40  FINAL VALUES OF TG, VG, DELTAVM
032859,000091:                                                                                                  #           V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032860,000092:                                                                                                  #           V05N09  POSSIBLE ALARMS
032861,000093:                                                                                                  #           V50N07  PLEASE SELECT P00
032862,000094: 

Page 748

032864,000096:                                                                                                  #           VIA R30
032865,000097: 
032866,000098:                                                                                                  #           V06N44  HAPO, PERI, TFF
032867,000099:                                                                                                  #           V06N35  TIME TO PERIGEE, HMS
032868,000100: 
032869,000101:                                                                                                  #  ALARM OR ABORT EXIT MODES
032870,000102: 
032871,000103:                                                                                                  #           PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032872,000104:                                                                                                  #           V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
032873,000105: 
032874,000106:                                                                                                  #           PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E=  GOTOPOOH OR V33E=  SLIP
032875,000107:                                                                                                  #           TIG BY 45 SECS.
032876,000108: 
032877,000109:                                                                                                  #  ERASABLE INITIALIZATION
032878,000110: 
032879,000111:                                                                                                  #  DEBRIS
032880,000112: 
032881,000113:                                                                                                  #  OUTPUT
032882,000114: 
032883,000115:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032884,000116:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
032885,000117:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
032886,000118: 
032887,000119: 27,2246                                           COUNT*   $$/P40                                
032888,000120: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032889,000121: 
032890,000122: 36,3146                                           BANK     36                                    
032891,000123: 36,2000                                           SETLOC   P40S                                  
032892,000124: 36,2000                                           BANK                                           
032893,000125: 
032894,000126: 36,3146           05355        P40LM              TC       PHASCHNG                              
032895,000127: 36,3147           04024                           OCT      04024                                 
032896,000128: 
032897,000129: 36,3150           33132                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032898,000130: 36,3151           55455                           TS       WHICH                                 
032899,000131: 
032900,000132: 36,3152           30106                           CA       FLGWRD10                              
032901,000133: 36,3153           74730                           MASK     APSFLBIT                              
032902,000134: 36,3154           10000                           CCS      A                                     
032903,000135: 36,3155           13120                           TCF      P40ALM                                
032904,000136: 36,3156           04607                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032905,000137: 36,3157           33757                           CADR     R02BOTH                               
032906,000138: 
032907,000139: 36,3160           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032908,000140: 36,3161           74730                           MASK     CSMDOCKD                              
032909,000141: 36,3162           10000                           CCS      A                                     
032910,000142: 36,3163           32022                           CAF      THRESH1                               
032911,000143: 36,3164           62023                           AD       THRESH3                               
032912,000144: 36,3165           55250                           TS       DVTHRUSH                              
032913,000145: 36,3166           34742                           CAF      FOUR                                  
032914,000146: 36,3167           55515                           TS       DVCNTR                                

Page 749

032916,000148: 36,3170           06060                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032917,000149: 36,3171           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032918,000150: 36,3172           34001                                    FDPS                                  
032919,000151: 36,3173           02663                                    NOTHROTL                              
032920,000152: 36,3174           03735                           STORE    F                                     
032921,000153: 36,3175           77735                           SLOAD                                          
032922,000154: 36,3176           26002                                    DPSVEX                                
032923,000155: 36,3177           70476        P40IN              DCOMP    SR1                                   
032924,000156: 36,3200           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032925,000157: 36,3201           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032926,000158: 36,3202           77624                           CALL                                           
032927,000159: 36,3203           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032928,000160: 36,3204           77776                           EXIT                                           
032929,000161: 
032930,000162: 36,3205           00004                           INHINT                                         
032931,000163: 36,3206           04665                           TC       IBNKCALL                              
032932,000164: 36,3207           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032933,000165: 
032934,000166: 36,3210           03212                           TC       P40SXT4                               
032935,000167: 
032936,000168:                                                                                                  #        ***********************
032937,000169: 36,3211           12130                           TCF      BURNBABY                              
032938,000170:                                                                                                  #        ***********************
032939,000171: 
032940,000172: 36,3212           00006        P40SXT4            EXTEND                                         
032941,000173: 36,3213           23141                           QXCH     P40/RET                               
032942,000174: 36,3214           00003        P41MANU            RELINT                                         
032943,000175: 
032944,000176: 36,3215           05520                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032945,000177: 36,3216           00124                           ADRES    3AXISFLG                              
032946,000178: 
032947,000179: 36,3217           04607                           TC       BANKCALL                              
032948,000180: 36,3220           54125                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032949,000181: 36,3221           01141                           TC       P40/RET                               
032950,000182: 
032951,000183: 36,3222  E7,1462                                  EBANK=   TRKMKCNT                              
032952,000184: 36,3222           30005        POSTBURN           CA       Z                                     
032953,000185: 36,3223           55162                           TS       DISPDEX                               
032954,000186: 36,3224           00006                           EXTEND                                         
032955,000187: 36,3225           32060                           DCA      ACADN85                               
032956,000188: 36,3226           53252                           DXCH     AVEGEXIT                              
032957,000189: 36,3227           33752                           CAF      V16N40                                
032958,000190: 36,3230           04607                           TC       BANKCALL                              
032959,000191: 36,3231           20647                           CADR     GOFLASHR                              
032960,000192: 36,3232           03255                           TC       TERM40                                
032961,000193: 36,3233           13240                           TCF      TIGNOW                                
032962,000194: 36,3234           03222                           TC       POSTBURN                              

Page 750

032964,000196: 36,3235           05355        P40PHS1            TC       PHASCHNG                              
032965,000197: 36,3236           00014                           OCT      00014                                 
032966,000198: 36,3237           15146                           TCF      ENDOFJOB                              
032967,000199: 
032968,000200: 36,3240           00004        TIGNOW             INHINT                                         
032969,000201: 36,3241           04665                           TC       IBNKCALL                              
032970,000202: 36,3242           40154                           CADR     ZATTEROR                              
032971,000203: 36,3243           04665                           TC       IBNKCALL                              
032972,000204: 36,3244           40141                           CADR     SETMINDB                              
032973,000205: 36,3245           00003                           RELINT                                         
032974,000206: 36,3246           33753                           CAF      V16N85B                               
032975,000207: 36,3247           04607                           TC       BANKCALL                              
032976,000208: 36,3250           20455                           CADR     REFLASHR                              
032977,000209: 36,3251           03255                           TC       TERM40                                
032978,000210: 36,3252           13255                           TCF      TERM40                                
032979,000211: 36,3253           03246                           TC       -5                                    
032980,000212: 
032981,000213: 36,3254           13235                           TCF      P40PHS1                               
032982,000214: 
032983,000215: 36,3255           00006        TERM40             EXTEND                                         
032984,000216: 36,3256           32110                           DCA      SERVCADR                              
032985,000217: 36,3257           53252                           DXCH     AVEGEXIT                              
032986,000218: 36,3260           34746                           CAF      ZERO                                  
032987,000219: 36,3261           55462                           TS       TRKMKCNT                              #       ZERO RENDZVS CNTERS
032988,000220: 36,3262           30005                           CA       Z                                     
032989,000221: 36,3263           55162                           TS       DISPDEX                               
032990,000222: 36,3264           00004                           INHINT                                         
032991,000223: 36,3265           04665                           TC       IBNKCALL                              
032992,000224: 36,3266           40115                           CADR     RESTORDB                              
032993,000225: 36,3267           00003                           RELINT                                         
032994,000226: 36,3270           06001                           TC       GOTOPOOH                              
032995,000227: 
032996,000228: 36,3271  E7,1455                                  EBANK=   WHICH                                 
032997,000229: 36,3271                                           COUNT*   $$/P41                                
032998,000230: 36,3271           33133        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032999,000231: 36,3272           55455                           TS       WHICH                                 
033000,000232: 
033001,000233: 36,3273           04607                           TC       BANKCALL                              
033002,000234: 36,3274           33757                           CADR     R02BOTH                               
033003,000235: 
033004,000236: 36,3275           34746                           CA       ZERO                                  #  ZERO DVTOTAL FOR NOUN 40 DISPLAY
033005,000237: 36,3276           55507                           TS       DVTOTAL                               
033006,000238: 36,3277           55510                           TS       DVTOTAL    +1                         
033007,000239: 36,3300           35010                           CAF      PRIO5                                 
033008,000240: 36,3301           55162                           TS       DISPDEX                               #  FOR SAFETY
033009,000241: 36,3302           05076                           TC       FINDVAC                               
033010,000242: 36,3303  E7,1700                                  EBANK=   VGPREV                                
033011,000243: 36,3303           03366 74067                     2CADR    DYNMDISP                              
033012,000244: 
033013,000245: 36,3305           05331                           TC       2PHSCHNG                              
033014,000246: 

Page 751

033016,000248: 36,3306           00116                           OCT      00116                                 #  GROUP 6 RESTART AT FKP5RST, PRIO 17
033017,000249: 36,3307           04024                           OCT      04024                                 #  GROUP 4 RESTART HERE, PRIO 13
033018,000250: 
033019,000251: 36,3310           06060                           TC       INTPRET                               #  BOTH LM
033020,000252: 36,3311           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
033021,000253: 36,3312           00700                                    NJETSFLG                              
033022,000254: 36,3313           75317                                    P41FJET1                              
033023,000255: 36,3314           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
033024,000256: 
033025,000257: 36,3315           37735        P41FJET            STCALL   F                                     
033026,000258: 36,3316           75322                                    P41IN                                 
033027,000259: 
033028,000260: 36,3317           77745        P41FJET1           DLOAD                                          
033029,000261: 36,3320           34021                                    FRCS2                                 
033030,000262: 36,3321           03735                           STORE    F                                     
033031,000263: 
033032,000264: 36,3322           77624        P41IN              CALL                                           
033033,000265: 36,3323           56246                                    S40.1                                 #  BOTH
033034,000266: 36,3324           77624        P41NORM            CALL                                           
033035,000267: 36,3325           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
033036,000268: 36,3326           77776                           EXIT                                           #  SET PFRATFLG.
033037,000269: 
033038,000270: 36,3327           00004                           INHINT                                         
033039,000271: 36,3330           04665                           TC       IBNKCALL                              
033040,000272: 36,3331           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
033041,000273: 36,3332           04665                           TC       IBNKCALL                              
033042,000274: 36,3333           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
033043,000275: 36,3334           03212                           TC       P40SXT4                               
033044,000276: 
033045,000277: 36,3335           06060                           TC       INTPRET                               
033046,000278: 36,3336           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
033047,000279: 36,3337           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
033048,000280: 36,3340           57271                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
033049,000281: 36,3341           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
033050,000282: 36,3342           77776                           EXIT                                           
033051,000283: 
033052,000284: 36,3343           33753                           CAF      V16N85B                               
033053,000285: 36,3344           04607                           TC       BANKCALL                              
033054,000286: 36,3345           20441                           CADR     GODSPRET                              
033055,000287: 
033056,000288: 
033057,000289: 36,3346           05331                           TC       2PHSCHNG                              
033058,000290: 36,3347           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
033059,000291: 36,3350           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
033060,000292: 
033061,000293:                                                                                                  #        ***********************
033062,000294: 36,3351           12137                           TCF      B*RNB*B*                              
033063,000295:                                                                                                  #        ***********************
033064,000296: 

Page 752

033066,000298: 36,3352           34770        BLNKWAIT           CAF      1SEC                                  
033067,000299: 36,3353           04607                           TC       BANKCALL                              
033068,000300: 36,3354           01736                           CADR     DELAYJOB                              
033069,000301: 
033070,000302: 36,3355           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
033071,000303: 36,3356           64743                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
033072,000304:                                                                                                  #        ***********************
033073,000305: 
033074,000306: 36,3357           00006                           EXTEND                                         
033075,000307: 36,3360           13352                           BZF      BLNKWAIT                              
033076,000308: 
033077,000309: 36,3361           33753                           CAF      V16N85B                               
033078,000310: 36,3362           04607                           TC       BANKCALL                              
033079,000311: 36,3363           20441                           CADR     GODSPRET                              
033080,000312: 
033081,000313: 36,3364           35010        FKP5RST            CAF      PRIO5                                 
033082,000314: 36,3365           05137                           TC       PRIOCHNG                              
033083,000315: 
033084,000316: 36,3366           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
033085,000317: 36,3367           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
033086,000318: 36,3370           65146                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85. STOP DYNMDISP.
033087,000319: 36,3371           00006                           EXTEND                                         
033088,000320: 36,3372           41442                           DCS      TIG                                   
033089,000321: 36,3373           53454                           DXCH     TTOGO                                 #  UPDATE TFI DISPLAY (NOUN 40)
033090,000322: 36,3374           00006                           EXTEND                                         
033091,000323: 36,3375           30025                           DCA      TIME2                                 
033092,000324: 36,3376           21454                           DAS      TTOGO                                 
033093,000325: 36,3377           06060                           TC       INTPRET                               
033094,000326: 36,3400           45175                           VLOAD    CALL                                  
033095,000327: 36,3401           03701                                    VGPREV                                
033096,000328: 36,3402           57271                                    S41.1                                 #  CONVERT VG FROM REF TO BODY
033097,000329: 36,3403           03502                           STORE    VGBODY                                
033098,000330: 36,3404           77776                           EXIT                                           
033099,000331: 36,3405           34770                           CAF      1SEC                                  
033100,000332: 36,3406           04607                           TC       BANKCALL                              
033101,000333: 36,3407           01736                           CADR     DELAYJOB                              
033102,000334: 36,3410           13366                           TCF      DYNMDISP                              #  RECYCLE ONCE A SECOND
033103,000335: 
033104,000336: 36,3411                                           COUNT    $$/P41                                
033105,000337: 32,2570                                           BANK     32                                    
033106,000338: 32,2000                                           SETLOC   P40S4                                 
033107,000339: 32,2000                                           BANK                                           
033108,000340: 
033109,000341: 32,2570           06060        CALCN85            TC       INTPRET                               
033110,000342: 32,2571           77624                           CALL                                           
033111,000343: 32,2572           75612                                    UPDATEVG                              
033112,000344: 32,2573           45175                           VLOAD    CALL                                  
033113,000345: 32,2574           03701                                    VGPREV                                

Page 753

033115,000347: 32,2575           57271                                    S41.1                                 
033116,000348: 32,2576           03502                           STORE    VGBODY                                
033117,000349: 32,2577           77776                           EXIT                                           
033118,000350: 32,2600           04626                           TC       POSTJUMP                              
033119,000351: 32,2601           65656                           CADR     SERVEXIT                              
033120,000352: 
033121,000353: 36,3411                                           BANK     36                                    
033122,000354: 36,2000                                           SETLOC   P40S                                  
033123,000355: 36,2000                                           BANK                                           
033124,000356: 
033125,000357: 36,3411                                           COUNT*   $$/P42                                
033126,000358: 36,3411  E7,1455                                  EBANK=   WHICH                                 
033127,000359: 
033128,000360: 36,3411           05355        P42LM              TC       PHASCHNG                              
033129,000361: 36,3412           04024                           OCT      04024                                 
033130,000362: 
033131,000363: 36,3413           33134                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
033132,000364: 36,3414           55455                           TS       WHICH                                 
033133,000365: 
033134,000366: 36,3415           40106                           CS       FLGWRD10                              
033135,000367: 36,3416           74730                           MASK     APSFLBIT                              
033136,000368: 36,3417           10000                           CCS      A                                     
033137,000369: 36,3420           03120                           TC       P40ALM                                
033138,000370: 36,3421           04607        P42STAGE           TC       BANKCALL                              
033139,000371: 36,3422           33757                           CADR     R02BOTH                               
033140,000372: 36,3423           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
033141,000373: 36,3424           55250                           TS       DVTHRUSH                              
033142,000374: 36,3425           34742                           CAF      FOUR                                  
033143,000375: 36,3426           55515                           TS       DVCNTR                                
033144,000376: 
033145,000377: 36,3427           06060                           TC       INTPRET                               
033146,000378: 36,3430           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
033147,000379: 36,3431           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
033148,000380: 36,3432           34007                                    FAPS                                  
033149,000381: 36,3433           03735                           STORE    F                                     
033150,000382: 36,3434           52135                           SLOAD    GOTO                                  
033151,000383: 36,3435           26001                                    APSVEX                                
033152,000384: 36,3436           75177                                    P40IN                                 
033153,000385: 
033154,000386: 36,3437  E7,1455                                  EBANK=   WHICH                                 
033155,000387: 
033156,000388: 36,3437                                           COUNT*   $$/P47                                
033157,000389: 36,3437           04607        P47LM              TC       BANKCALL                              
033158,000390: 36,3440           33757                           CADR     R02BOTH                               
033159,000391: 36,3441           06060                           TC       INTPRET                               
033160,000392: 36,3442           77624                           CALRB                                          
033161,000393: 36,3443           42760                                    MIDTOAV2                              
033162,000394: 
033163,000395: 36,3444           30155                           CA       MPAC       +1                         
033164,000396: 36,3445           05175                           TC       TWIDDLE                               

Page 754

033166,000398: 36,3446           03450                           ADRES    STARTP47                              
033167,000399: 
033168,000400: 36,3447           15146                           TCF      ENDOFJOB                              
033169,000401: 
033170,000402: 36,3450           05355        STARTP47           TC       PHASCHNG                              
033171,000403: 36,3451           05014                           OCT      05014                                 
033172,000404: 36,3452           77777                           OCT      77777                                 
033173,000405: 
033174,000406: 36,3453           00006                           EXTEND                                         
033175,000407: 36,3454           33756                           DCA      ACADN83                               
033176,000408: 36,3455           53252                           DXCH     AVEGEXIT                              
033177,000409: 36,3456           34727                           CAF      PRIO20                                
033178,000410: 36,3457           05076                           TC       FINDVAC                               
033179,000411: 36,3460  E7,1622                                  EBANK=   DELVIMU                               
033180,000412: 36,3460           03514 74067                     2CADR    P47BODY                               
033181,000413: 
033182,000414: 36,3462           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
033183,000415:                                                                                                  #  SEE TIG-30 IN BURNBABY.
033184,000416: 
033185,000417: 36,3463           06060        CALCN83            TC       INTPRET                               
033186,000418: 36,3464           53375                           VLOAD    VAD                                   
033187,000419: 36,3465           03502                                    DELVCTL                               
033188,000420: 36,3466           03527                                    DELVREF                               
033189,000421: 36,3467           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS
033190,000422: 36,3470           77624                           CALL                                           
033191,000423: 36,3471           57271                                    S41.1                                 
033192,000424: 36,3472           03623                           STORE    DELVIMU                               
033193,000425: 36,3473           77776                           EXIT                                           
033194,000426: 36,3474           05355                           TC       PHASCHNG                              
033195,000427: 36,3475           10035                           OCT      10035                                 #  REREADAC AND HERE
033196,000428: 
033197,000429: 36,3476           06060                           TC       INTPRET                               
033198,000430: 36,3477           77775                           VLOAD                                          
033199,000431: 36,3500           03656                                    DELVSIN                               
033200,000432: 36,3501           03502                           STORE    DELVCTL                               
033201,000433: 36,3502           77776                           EXIT                                           
033202,000434: 
033203,000435: 36,3503           04626                           TC       POSTJUMP                              
033204,000436: 36,3504           65656                           CADR     SERVEXIT                              
033205,000437: 
033206,000438: 36,3505           33754        P47BOD             CAF      V1683                                 
033207,000439: 36,3506           04607                           TC       BANKCALL                              
033208,000440: 36,3507           20647                           CADR     GOFLASHR                              
033209,000441: 36,3510           06001                           TC       GOTOPOOH                              
033210,000442: 36,3511           06001                           TC       GOTOPOOH                              
033211,000443: 
033212,000444: 36,3512           13514                           TCF      P47BODY                               
033213,000445: 
033214,000446: 36,3513           13235                           TCF      P40PHS1                               
033215,000447: 

Page 755

033217,000449: 36,3514           06060        P47BODY            TC       INTPRET                               
033218,000450: 36,3515           77775                           VLOAD                                          
033219,000451: 36,3516           06505                                    HI6ZEROS                              
033220,000452: 36,3517           03623                           STORE    DELVIMU                               
033221,000453: 36,3520           03502                           STORE    DELVCTL                               
033222,000454: 36,3521           77776                           EXIT                                           
033223,000455: 36,3522           03505                           TC       P47BOD                                
033224,000456: 
033225,000457: 36,3523                                           COUNT*   $$/P40                                
033226,000458: 36,3523           31517        IMPLBURN           CA       TGO        +1                         
033227,000459: 36,3524           03736                           TC       GETDT                                 
033228,000460: 36,3525           05175                           TC       TWIDDLE                               
033229,000461: 36,3526           03543                           ADRES    ENGOFTSK                              
033230,000462: 36,3527           05520                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033231,000463: 36,3530           00153                           ADRES    IGNFLAG                               
033232,000464: 36,3531           05520                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033233,000465: 36,3532           00154                           ADRES    ASTNFLAG                              
033234,000466: 36,3533           05520                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033235,000467: 36,3534           00044                           ADRES    IMPULSW                               
033236,000468: 36,3535           05355                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033237,000469: 36,3536           40114                           OCT      40114                                 
033238,000470: 
033239,000471: 36,3537           05223                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033240,000472: 36,3540           00062                           DEC      50         B-14                       
033241,000473: 36,3541           02652                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033242,000474: 
033243,000475: 36,3542           05263                           TC       TASKOVER                              
033244,000476: 
033245,000477: 36,3543           04665        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033246,000478: 36,3544           75546                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033247,000479: 36,3545           05263                           TC       TASKOVER                              
033248,000480: 
033249,000481: 36,3546           34635        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033250,000482: 36,3547           05076                           TC       FINDVAC                               
033251,000483: 36,3550  E7,1462                                  EBANK=   TRKMKCNT                              
033252,000484: 36,3550           03222 74067                     2CADR    POSTBURN                              
033253,000485: 
033254,000486: 36,3552           34744        ENGINOF2           CAF      BIT1                                  
033255,000487: 36,3553           05205                           TC       WAITLIST                              
033256,000488: 36,3554  E6,1422                                  EBANK=   OMEGAQ                                
033257,000489: 36,3554           03607 74066                     2CADR    COASTSET                              
033258,000490: 
033259,000491: 36,3556           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033260,000492: 36,3557           74736                           MASK     IDLEFBIT                              
033261,000493: 36,3560           26103                           ADS      FLAGWRD7                              
033262,000494: 
033263,000495: 36,3561           02652                           TC       NOULLAGE                              
033264,000496: 

Page 756

033266,000498: 36,3562           00006        ENGINOF4           EXTEND                                         
033267,000499: 36,3563           30025                           DCA      TIME2                                 
033268,000500: 36,3564           53342                           DXCH     TEVENT                                
033269,000501: 
033270,000502: 36,3565           44736        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033271,000503: 36,3566           70101                           MASK     FLAGWRD5                              
033272,000504: 36,3567           54101                           TS       FLAGWRD5                              
033273,000505: 36,3570           44346                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033274,000506: 36,3571           00006                           EXTEND                                         #  SUBROUTINE.
033275,000507: 36,3572           02011                           RAND     DSALMOUT                              
033276,000508: 36,3573           64727                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033277,000509: 36,3574           00006                           EXTEND                                         
033278,000510: 36,3575           01011                           WRITE    DSALMOUT                              
033279,000511: 
033280,000512: 36,3576           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033281,000513: 36,3577           74727                           MASK     USEQRJTS                              
033282,000514: 36,3600           26111                           ADS      DAPBOOLS                              
033283,000515: 
033284,000516: 36,3601           44730                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033285,000517: 36,3602           54055                           TS       THRUST                                #  IS TURNED OFF.
033286,000518: 36,3603           34741                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033287,000519: 36,3604           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033288,000520: 36,3605           05014                           WOR      CHAN14                                
033289,000521: 
033290,000522: 36,3606           04700                           TC       ISWRETRN                              
033291,000523: 36,3607           04665        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033292,000524: 36,3610           40205                           CADR     ALLCOAST                              
033293,000525: 36,3611           05263                           TC       TASKOVER                              
033294,000526: 
033295,000527: 36,3612  E6,1422                                  EBANK=   OMEGAQ                                
033296,000528: 36,3612           45020        UPDATEVG           STQ      CALL                                  
033297,000529: 36,3613           03665                                    QTEMP1                                
033298,000530: 36,3614           56447                                    S40.8                                 #  X-PRODUCT STEERING
033299,000531: 36,3615           43014        S40RET             BON      BON                                   #  WILL RETURN HERE FROM S40.8
033300,000532: 36,3616           01307                                    XDELVFLG                              
033301,000533: 36,3617           03665                                    QTEMP1                                
033302,000534: 36,3620           03705                                    NORMSW                                
033303,000535: 36,3621           75634                                    180SETUP                              
033304,000536: 36,3622           45345                           DLOAD    DSU                                   
033305,000537: 36,3623           01234                                    PIPTIME                               
033306,000538: 36,3624           03763                                    TIGSAVE                               
033307,000539: 36,3625           50025                           DSU      BMN                                   
033308,000540: 36,3626           03432                                    TNEWA                                 
033309,000541: 36,3627           75657                                    GETRANS                               
033310,000542: 36,3630           43345                           DLOAD    DAD                                   
033311,000543: 36,3631           03763                                    TIGSAVE                               
033312,000544: 36,3632           03432                                    TNEWA                                 
033313,000545: 36,3633           03765                           STORE    TIGSAVEP                              
033314,000546: 36,3634           77776        180SETUP           EXIT                                           
033315,000547: 36,3635           10754                           CCS      PHASE2                                

Page 757

033317,000549: 36,3636           13664                           TCF      NO.9                                  
033318,000550: 36,3637           34730                           CAF      PRIO10                                
033319,000551: 36,3640           00004                           INHINT                                         
033320,000552: 36,3641           05076                           TC       FINDVAC                               
033321,000553: 36,3642  E7,1706                                  EBANK=   VG                                    
033322,000554: 36,3642           02711 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033323,000555: 
033324,000556: 36,3644           05331                           TC       2PHSCHNG                              
033325,000557: 36,3645           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033326,000558: 36,3646           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
033327,000559: 
033328,000560: 36,3647           06060        ENDSTEER           TC       INTPRET                               
033329,000561: 36,3650           77745                           DLOAD                                          
033330,000562: 36,3651           03765                                    TIGSAVEP                              
033331,000563: 36,3652           27763                           STOVL    TIGSAVE                               
033332,000564: 36,3653           01220                                    RN                                    
033333,000565: 36,3654           26314                           STOVL    RINIT                                 
033334,000566: 36,3655           01226                                    VN                                    
033335,000567: 36,3656           02322                           STORE    VINIT                                 
033336,000568: 36,3657           45345        GETRANS            DLOAD    DSU                                   
033337,000569: 36,3660           03631                                    TPASS4                                
033338,000570: 36,3661           01234                                    PIPTIME                               
033339,000571: 36,3662           37452                           STCALL   DELLT4                                
033340,000572: 36,3663           03665                                    QTEMP1                                
033341,000573: 
033342,000574: 36,3664           06060        NO.9               TC       INTPRET                               
033343,000575: 36,3665           77650                           GOTO                                           
033344,000576: 36,3666           03665                                    QTEMP1                                
033345,000577: 36,3667           06060        STEERING           TC       INTPRET                               
033346,000578: 
033347,000579: 36,3670           77624                           CALL                                           
033348,000580: 36,3671           75612                                    UPDATEVG                              
033349,000581: 36,3672           77776                           EXIT                                           
033350,000582: 
033351,000583: 36,3673  E7,1515                                  EBANK=   DVCNTR                                
033352,000584: 36,3673           00004        NSTEER             INHINT                                         
033353,000585: 36,3674           35007                           CA       EBANK7                                
033354,000586: 36,3675           54003                           TS       EBANK                                 
033355,000587: 36,3676           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033356,000588: 36,3677           74734                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033357,000589: 36,3700           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033358,000590: 
033359,000591: 36,3701           13706                           TCF      +5                                    #  IMPULSW = 0    EXIT
033360,000592: 36,3702           40103                           CS       FLAGWRD7                              #  IMPULSW = 1    WHY?  CHECK IDLEFLAG
033361,000593: 36,3703           74736                           MASK     IDLEFBIT                              #      (IDLEFLAG = 0 --> DVMON ON)
033362,000594: 36,3704           10000                           CCS      A                                     
033363,000595: 36,3705           13710                           TCF      +3                                    #  DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033364,000596: 36,3706           04626                           TC       POSTJUMP                              #  DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033365,000597: 36,3707           65656                           CADR     SERVEXIT                              
033366,000598: 

Page 758

033368,000600: 36,3710           04665                           TC       IBNKCALL                              
033369,000601: 36,3711           40166                           CADR     STOPRATE                              
033370,000602: 
033371,000603: 36,3712           05520                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033372,000604: 36,3713           00044                           ADRES    IMPULSW                               
033373,000605: 
033374,000606: 36,3714           05506                           TC       UPFLAG                                
033375,000607: 36,3715           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033376,000608: 
033377,000609: 36,3716           00004                           INHINT                                         
033378,000610: 36,3717           00006                           EXTEND                                         
033379,000611: 36,3720           31442                           DCA      TIG                                   
033380,000612: 36,3721           52155                           DXCH     MPAC                                  
033381,000613: 36,3722           00006                           EXTEND                                         
033382,000614: 36,3723           40025                           DCS      TIME2                                 
033383,000615: 36,3724           20155                           DAS      MPAC                                  
033384,000616: 36,3725           07300                           TC       TPAGREE                               
033385,000617: 36,3726           30155                           CAE      MPAC       +1                         
033386,000618: 36,3727           03736                           TC       GETDT                                 
033387,000619: 36,3730           05175                           TC       TWIDDLE                               
033388,000620: 36,3731           03543                           ADRES    ENGOFTSK                              
033389,000621: 36,3732           05331                           TC       2PHSCHNG                              
033390,000622: 36,3733           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033391,000623: 36,3734           00035                           OCT      00035                                 #  SERVICER--REREADAC
033392,000624: 36,3735           15146                           TCF      ENDOFJOB                              
033393,000625: 
033394,000626: 36,3736           10000        GETDT              CCS      A                                     
033395,000627: 36,3737           13742                           TCF      +3                                    
033396,000628: 36,3740           13742                           TCF      +2                                    
033397,000629: 36,3741           34746                           CAF      ZERO                                  
033398,000630: 36,3742           64744                           AD       ONE                                   
033399,000631: 36,3743           56001                           XCH      L                                     
033400,000632: 36,3744           34746                           CAF      ZERO                                  
033401,000633: 36,3745           53517                           DXCH     TGO                                   
033402,000634: 36,3746           31517                           CA       TGO        +1                         
033403,000635: 36,3747           00002                           TC       Q                                     
033404,000636: 
033405,000637:                                                                                                  #  ************************************************************************
033406,000638: 
033407,000639: 36,3750           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033408,000640: 36,3751           00764        5SEC               DEC      500        B-14                       
033409,000641: 36,3752           04050        V16N40             VN       1640                                  
033410,000642: 36,3753           04125        V16N85B            VN       1685                                  
033411,000643: 36,3754           04123        V1683              VN       1683                                  
033412,000644: 36,3755     4770               SEC01              =        1SEC                                  
033413,000645: 36,3755  36,2057               ACADN85            =        P41TABLE   +2                         
033414,000646: 
033415,000647: 36,3755  E7,1622                                  EBANK=   DELVIMU                               

Page 759

033417,000649: 36,3755           03463 74067  ACADN83            2CADR    CALCN83                               
033418,000650: 
033419,000651:                                                                                                  #  *************************************************

Page 760

033421,000653:                                                                                                  #  PROGRAM DESCRIPTION S40.1       DATE15NOV66
033422,000654:                                                                                                  #  MOD N02         LOG SECTION  P40-P47
033423,000655:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033424,000656:                                                                                                  #  FUNCTIONAL DESCRIPTION
033425,000657:                                                                                                  #           COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033426,000658:                                                                                                  #           VECTOR(VGTIG).
033427,000659:                                                                                                  #  CALLING SEQUENCE
033428,000660:                                                                                                  #         L CALL
033429,000661:                                                                                                  #       L+1        S40.1
033430,000662:                                                                                                  #  NORMAL EXIT MODE
033431,000663:                                                                                                  #           AT L+2 OF CALLING SEQUENCE
033432,000664:                                                                                                  #  SUBROUTINES CALLED
033433,000665:                                                                                                  #           LEMPREC
033434,000666:                                                                                                  #           INITVEL
033435,000667:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033436,000668:                                                                                                  #                  WEIGHT/G  ANTICIPATED VEHICLE MASS         DP B16 KGM
033437,000669:                                                                                                  #           XDELVFLG       1=DELTA-V MANEUVER,0=AIMPT STEER
033438,000670:                                                                                                  #            F         THRUST FOR ENGINE USED
033439,000671:                                                                                                  #        IF DELTA-V MANEUVER
033440,000672:                                                                                                  #           DELVSIN   SPECIFIED DELTA-V REQUIRED IN
033441,000673:                                                                                                  #                     INERTIAL COORDS. OF ACTIVE VEHICLE
033442,000674:                                                                                                  #                     AT TIME OF IGNITION                 VECTOR B7M/CS
033443,000675:                                                                                                  #           DELVSAB   MAG. OF DELVSIN                     DP     B7M/CS
033444,000676:                                                                                                  #           RTIG      POSITION AT TIME OF IGNITION       VECTOR B29M
033445,000677:                                                                                                  #           VTIG      VELOCITY AT TIME OF IGNITION       VECTOR B7M/CS
033446,000678:                                                                                                  #        IF AIMPT STEER
033447,000679:                                                                                                  #           TIG       TIME OF IGNITION                    DP     B28 CS
033448,000680:                                                                                                  #           RTARG     POSITION TARGET TIME               VECTOR B29M
033449,000681:                                                                                                  #           TPASS4    TARGET INTERCEPT TIME              DP     B28 CS
033450,000682:                                                                                                  #  OUTPUT
033451,000683:                                                                                                  #        UT           DESIRED THRUST DIRECTION            VECT. B2M/(CS.CS)
033452,000684:                                                                                                  #        VGTIG        INITIAL VALUE OF VELOCITY
033453,000685:                                                                                                  #                     TO BE GAINED (INERT. COORD.)        VECTOR B7M/CS
033454,000686:                                                                                                  #        DELVLVC      VGTIG IN LOC. VERT. COORDS.                B7M/CS
033455,000687:                                                                                                  #           UNIT/R/   POSITION AT TIG FOR ASTEER          VECTOR B1
033456,000688:                                                                                                  #        RTIG         CALC IN S40.1B (AIMPT) FOR S40.2,3  VECTOR B29M
033457,000689:                                                                                                  #                     POSITION AT TIME OF IGNITION
033458,000690:                                                                                                  #  DEBRIS      QTEMP1
033459,000691:                                                                                                  #        MPAC, QPRET
033460,000692:                                                                                                  #        PUSHLIST
033461,000693: 14,2455                                           BANK     14                                    
033462,000694: 27,2000                                           SETLOC   P40S1                                 
033463,000695: 27,2000                                           BANK                                           
033464,000696: 
033465,000697: 27,2246                                           COUNT*   $$/S40.1                              
033466,000698: 27,2246           71220        S40.1              STQ      DLOAD                                 
033467,000699: 27,2247           03632                                    QTEMP                                 
033468,000700: 27,2250           03442                                    TIG                                   
033469,000701: 27,2251           03763                           STORE    TIGSAVE                               
033470,000702: 27,2252           77614        DELVTEST           BOFF                                           

Page 761

033472,000704: 27,2253           01347                                    XDELVFLG                              
033473,000705: 27,2254           56336                                    S40.1B                                
033474,000706: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
033475,000707: 27,2256           00001                                    0                                     
033476,000708: 27,2257           03650                                    VTIG                                  
033477,000709: 27,2260           02322                           STORE    VINIT                                 
033478,000710: 27,2261           53435                           VXV      UNIT                                  
033479,000711: 27,2262           03642                                    RTIG                                  
033480,000712: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
033481,000713: 27,2264           03642                                    RTIG                                  
033482,000714: 27,2265           02314                           STORE    RINIT                                 
033483,000715: 27,2266           65236                           VSQ      PDDL                                  
033484,000716: 27,2267           00045                                    36D                                   
033485,000717: 27,2270           56205                           DMP      DDV                                   
033486,000718: 27,2271           16412                                    THETACON                              
033487,000719: 27,2272           41205                           DMP      DMP                                   
033488,000720: 27,2273           03664                                    DELVSAB                               
033489,000721: 27,2274           01244                                    WEIGHT/G                              
033490,000722: 27,2275           77671                           DDV                                            
033491,000723: 27,2276           03735                                    F                                     
033492,000724: 27,2277           24017                           STOVL    14D                                   
033493,000725: 27,2300           03656                                    DELVSIN                               
033494,000726: 
033495,000727: 27,2301           74241                           DOT      VXSC                                  
033496,000728: 27,2302           03673                                    UT                                    
033497,000729: 27,2303           03673                                    UT                                    
033498,000730: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033499,000731: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
033500,000732: 27,2306           03656                                    DELVSIN                               
033501,000733: 27,2307           00017                                    14D                                   
033502,000734: 27,2310           63356                           SIN      PDVL                                  
033503,000735: 27,2311           00007                                    6D                                    
033504,000736: 27,2312           53435                           VXV      UNIT                                  
033505,000737: 27,2313           03673                                    UT                                    
033506,000738: 27,2314           45561                           VXSC     STADR                                 
033507,000739: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
033508,000740: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
033509,000741: 27,2317           00017                                    14D                                   
033510,000742: 27,2320           74346                           COS      VXSC                                  
033511,000743: 27,2321           74255                           VAD      VXSC                                  
033512,000744: 27,2322           03701                                    VGTIG                                 
033513,000745: 27,2323           00045                                    36D                                   
033514,000746: 27,2324           53352                           VSL2     VAD                                   
033515,000747: 27,2325           77626                           STADR                                          
033516,000748: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7)M/CS
033517,000749: 
033518,000750: 27,2327           77656                           UNIT                                           
033519,000751: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
033520,000752: 27,2331           03701                                    VGTIG                                 
033521,000753: 27,2332           45006                           PUSH     CALL                                  

Page 762

033523,000755: 27,2333           42022                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033524,000756: 27,2334           77650                           GOTO                                           
033525,000757: 27,2335           03632                                    QTEMP                                 
033526,000758: 27,2336           77745        S40.1B             DLOAD                                          
033527,000759: 27,2337           03442                                    TIG                                   
033528,000760: 27,2340           00041                           STORE    TDEC1                                 
033529,000761: 27,2341           77621                           BDSU                                           
033530,000762: 27,2342           03631                                    TPASS4                                
033531,000763: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
033532,000764: 27,2344           27115                                    LEMPREC                               
033533,000765: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
033534,000766: 27,2346           00001                                    RATT                                  
033535,000767: 27,2347           00001                                    0                                     
033536,000768: 27,2350           03642                           STORE    RTIG                                  
033537,000769: 27,2351           02314                           STORE    RINIT                                 
033538,000770: 27,2352           77656                           UNIT                                           
033539,000771: 27,2353           27537                           STOVL    UNIT/R/                               
033540,000772: 27,2354           00007                                    VATT                                  
033541,000773: 27,2355           03650                           STORE    VTIG                                  
033542,000774: 27,2356           02322                           STORE    VINIT                                 
033543,000775: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
033544,000776: 27,2360           06505                                    ZEROVECS                              
033545,000777: 27,2361           16406                                    EPS1                                  
033546,000778: 27,2362           43214                           BOFF     DAD                                   
033547,000779: 27,2363           03745                                    NORMSW                                
033548,000780: 27,2364           56366                                    SMALLEPS                              
033549,000781: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
033550,000782: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
033551,000783: 27,2367           02776                                    RTX1                                  
033552,000784: 27,2370           45134                           SXA,2    CALL                                  
033553,000785: 27,2371           02777                                    RTX2                                  
033554,000786: 27,2372           22000                                    INITVEL                               
033555,000787: 27,2373           41575                           VLOAD    PUSH                                  
033556,000788: 27,2374           02357                                    DELVEET3                              #  VGTIG = VR - VN.
033557,000789: 27,2375           03701                           STORE    VGTIG                                 
033558,000790: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
033559,000791: 27,2377           17673                           STODL    UT                                    
033560,000792: 27,2400           00045                                    36D                                   
033561,000793: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
033562,000794: 27,2402           42022                                    GET.LVC                               #  VERTICAL COORDINATES.
033563,000795: 27,2403           77650                           GOTO                                           
033564,000796: 27,2404           03632                                    QTEMP                                 
033565,000797: 
033566,000798: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
033567,000799: 
033568,000800: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
033569,000801: 
033570,000802: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
033571,000803: 

Page 763

033573,000805:                                                                                                  #  SUBROUTINE NAME: S40.2,3        MOD. NO. 3 DATE: APRIL 4, 1967
033574,000806: 
033575,000807:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033576,000808: 
033577,000809:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967:  PETER ADLER (MIT/IL)
033578,000810: 
033579,000811:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
033580,000812: 
033581,000813:                                                                                                  #  ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033582,000814: 
033583,000815:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033584,000816:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033585,000817:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033586,000818:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
033587,000819:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033588,000820: 
033589,000821: 
033590,000822:                                                                                                  #  CALLING SEQUENCE:
033591,000823:                                                                                                  #                                          L        CALL                   INTERPRETIVE CALL.
033592,000824:                                                                                                  #                                          L +1            S40.2,3
033593,000825:                                                                                                  #                                          L +2     (RETURN)               GIMBAL ANGLE VECTOR IN MPAC.
033594,000826: 
033595,000827:                                                                                                  #  SUBROUTINES CALLED:  NONE.
033596,000828: 
033597,000829:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
033598,000830: 
033599,000831:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033600,000832: 
033601,000833:                                                                                                  #  INPUT:
033602,000834: 
033603,000835:                                                                                                  #           1. REFSMMAT            MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033604,000836:                                                                                                  #           2. UT                  HALF-UNIT DESIRED THRUST DIRECTION.
033605,000837:                                                                                                  #           3. RTIG                POSITION AT TIG IN REFERENCE COORDINATES.
033606,000838: 
033607,000839:                                                                                                  #  OUTPUT:
033608,000840: 
033609,000841:                                                                                                  #           1. : XSCREF :          WINGS-LEVEL HEADS-UP LM ORIENTATION
033610,000842:                                                                                                  #              : YSCREF :          IN REFERENCE COORDINATES
033611,000843:                                                                                                  #              : ZSCREF :          (PREFERRED IMU ORIENTATION).
033612,000844:                                                                                                  #           2. POINTVSM            DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033613,000845:                                                                                                  #           3. SCAXIS              HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033614,000846:                                                                                                  #           4. PFRATFLG            INTERPRETIVE FLAG.  ON:  PREFERRED ORIENTATION COMPUTED; OFF:  NOT COMPUTED.
033615,000847: 
033616,000848:                                                                                                  #  DEBRIS:  NONE.

Page 764

033618,000850: 
033619,000851: 27,2413                                           COUNT*   $$/S40.2                              
033620,000852: 27,2413           77775        S40.2,3            VLOAD                                          #  UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033621,000853: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
033622,000854: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
033623,000855: 27,2416           01732                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
033624,000856: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033625,000857: 27,2420           06503                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
033626,000858: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033627,000859: 
033628,000860: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033629,000861: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
033630,000862: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
033631,000863: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
033632,000864: 27,2426           46125                           PDDL     BHIZ                                  
033633,000865: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
033634,000866: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
033635,000867: 27,2431           45575        STORY              VLOAD    STADR                                 
033636,000868: 27,2432           74162                           STORE    YSCREF                                
033637,000869: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
033638,000870: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033639,000871: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
033640,000872: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
033641,000873: 
033642,000874: 27,2437           43414                           SET      RVQ                                   
033643,000875: 27,2440           01073                                    PFRATFLG                              
033644,000876: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
033645,000877: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
033646,000878: 27,2443           03650                                    VTIG                                  
033647,000879: 27,2444           41456                           UNIT     PUSH                                  
033648,000880: 27,2445           77650                           GOTO                                           
033649,000881: 27,2446           56431                                    STORY                                 

Page 765

033651,000883:                                                                                                  #  SUBROUTINE S40.8
033652,000884: 
033653,000885:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER    MIT/IL
033654,000886: 
033655,000887:                                                                                                  #  DESCRIPTION
033656,000888: 
033657,000889:                                                                                                  #            S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND,
033658,000890:                                                                                                  #       TGO, AND CALLS THE ROUTINE "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE AUTOPILOT.  FOR "ASTEER"
033659,000891:                                                                                                  #       TYPE MANEUVERS, SUBROUTINE "RASTEER1" IS CALLED EACH PASS TO GENERATE A NEW VELOCITY-TO-BE-GAINED.
033660,000892: 
033661,000893:                                                                                                  #  CALLING SEQUENCE
033662,000894: 
033663,000895:                                                                                                  #  L-1      CALL
033664,000896:                                                                                                  #  L                    S40.8
033665,000897:                                                                                                  #  L+1                           INTERPRETIVE RETURN
033666,000898: 
033667,000899:                                                                                                  #  ALARM
033668,000900: 
033669,000901:                                                                                                  #       IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO COMPUTATIONS, BUT DO FINDCDU
033670,000902:                                                                                                  #  (STEERING)  SET ALARM 1407 AND RETURN TO CALLER NORMALLY.
033671,000903: 
033672,000904:                                                                                                  #  INPUT AND INITIALIZATION
033673,000905: 
033674,000906:                                                                                                  #  VGPREV          REFERENCE       2(7) M/CS
033675,000907:                                                                                                  #  DELVREF         REFERENCE       2(7) M/CS
033676,000908:                                                                                                  #  TDECAY          TAIL-OFF TIME   2(28)  CS
033677,000909:                                                                                                  #  XDELVFLG        1 = EXTERNAL DELTA-V;  0 = LAMBERT (AIMPOINT)
033678,000910:                                                                                                  #  STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033679,000911: 
033680,000912:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
033681,000913: 
033682,000914:                                                                                                  #  OUTPUT
033683,000915: 
033684,000916:                                                                                                  #  STEERSW         SEE INPUT
033685,000917:                                                                                                  #  IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS;  0 = CONTINUE BURN
033686,000918:                                                                                                  #  TGO             TIME TO CUT-OFF 2(28)   CS
033687,000919:                                                                                                  #  SEE FINDCDUW FOR STEERING OUTPUTS.
033688,000920: 
033689,000921:                                                                                                  #  SUBROUTINE CALLED
033690,000922: 
033691,000923:                                                                                                  #       FINDCDUW
033692,000924: 
033693,000925:                                                                                                  #       RASTEER1
033694,000926:                                                                                                  #  DEBRIS
033695,000927: 
033696,000928:                                                                                                  #       MPACS, PUSHLIST
033697,000929: 
033698,000930: 27,2447                                           COUNT*   $$/S40.8                              

Page 766

033700,000932: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033701,000933: 27,2450           01347                                    XDELVFLG                              
033702,000934: 27,2451           56733                                    RASTEER1                              
033703,000935: 27,2452           52375                           VLOAD    VSU                                   
033704,000936: 27,2453           03701                                    VGPREV                                
033705,000937: 27,2454           03527                                    DELVREF                               
033706,000938: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7)M/CS
033707,000939: 27,2456           76521                           MXV      VSL1                                  
033708,000940: 27,2457           01732                                    REFSMMAT                              
033709,000941: 27,2460           03252                           STORE    UNFC/2                                
033710,000942: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
033711,000943: 27,2462           03707                                    VG                                    
033712,000944: 27,2463           03664                           STORE    VGDISP                                
033713,000945: 27,2464           77776                           EXIT                                           
033714,000946: 27,2465           05355                           TC       PHASCHNG                              
033715,000947: 27,2466           10035                           OCT      10035                                 
033716,000948: 27,2467           06060                           TC       INTPRET                               
033717,000949: 27,2470           77201        TGDCALC            SETPD    VLOAD                                 
033718,000950: 27,2471           00001                                    0                                     
033719,000951: 27,2472           03707                                    VG                                    
033720,000952: 27,2473           27701                           STOVL    VGPREV                                
033721,000953: 27,2474           03527                                    DELVREF                               
033722,000954: 27,2475           57414                           BOFF     VCOMP                                 
033723,000955: 27,2476           01344                                    STEERSW                               
033724,000956: 27,2477           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033725,000957: 27,2500           77656                           UNIT                                           
033726,000958: 27,2501           41441                           DOT      PUSH                                  
033727,000959: 27,2502           03707                                    VG                                    
033728,000960: 27,2503           56244                           BPL      DDV                                   
033729,000961: 27,2504           51634                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
033730,000962: 27,2505           03743                                    VEX                                   
033731,000963: 27,2506           41215                           DAD      DMP                                   
033732,000964: 27,2507           06503                                    DPHALF                                
033733,000965: 27,2510           56261                           SR       DDV                                   
033734,000966: 27,2511           20613                                    10D                                   
033735,000967: 27,2512           00045                                    36D                                   
033736,000968: 27,2513           43205                           DMP      DAD                                   
033737,000969: 27,2514           16533                                    -FOURDT                               
033738,000970: 27,2515           03741                                    TDECAY                                
033739,000971: 27,2516           03517                           STORE    TGO                                   
033740,000972: 27,2517           77615                           DAD                                            
033741,000973: 27,2520           01234                                    PIPTIME                               
033742,000974: 27,2521           17442                           STODL    TIG                                   
033743,000975: 27,2522           03517                                    TGO                                   
033744,000976: 27,2523           51025                           DSU      BPL                                   
033745,000977: 27,2524           16535                                    FOURSECS                              #  400 CS
033746,000978: 27,2525           51640                                    GOFIND                                #  CALL TO FINDCDUW -2
033747,000979: 27,2526           43014                           SET      CLRGO                                 
033748,000980: 27,2527           01066                                    IMPULSW                               
033749,000981: 27,2530           01224                                    STEERSW                               

Page 767

033751,000983: 27,2531           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033752,000984: 24,3634                                           BANK     24                                    
033753,000985: 24,2000                                           SETLOC   S40BNK                                
033754,000986: 24,2000                                           BANK                                           
033755,000987: 
033756,000988: 24,3634           77776        ALARMIT            EXIT                                           
033757,000989: 24,3635           05571                           TC       ALARM                                 
033758,000990: 24,3636           01407                           OCT      01407                                 #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033759,000991: 24,3637           06060                           TC       INTPRET                               
033760,000992: 24,3640           77624        GOFIND             CALL                                           
033761,000993: 24,3641           61072                                    FINDCDUW   -2                         
033762,000994: 24,3642           77650                           GOTO                                           
033763,000995: 24,3643           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033764,000996: 
033765,000997: 27,2532                                           BANK     27                                    
033766,000998: 27,2000                                           SETLOC   P40S1                                 
033767,000999: 27,2000                                           BANK                                           
033768,001000: 
033769,001001: 27,2532           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
033770,001002: 
033771,001003: 27,2534           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
033772,001004: 
033773,001005: 27,2536  E7,1742               2VEXHUST           =        VEX                                   
033774,001006: 

Page 768

033776,001008:                                                                                                  #  NAME     S40.13 - TIMEBURN
033777,001009:                                                                                                  #  FUNCTION        (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033778,001010:                                                                                                  #                  BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033779,001011:                                                                                                  #                  SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033780,001012:                                                                                                  #                  BURN
033781,001013:                                                                                                  #                  (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033782,001014:                                                                                                  #                  IS SHORT --  AND THE ASSOCIATED TIME OF THE ENGINE OFF
033783,001015:                                                                                                  #                  SIGNAL
033784,001016:                                                                                                  #  CALLING SEQUENCE  VIA FINDVAC AS A NEW JOB
033785,001017:                                                                                                  #  INPUT           VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033786,001018:                                                                                                  #                  WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033787,001019:                                                                                                  #                  F  ENGINE THRUST  (USED ONLY FOR APS CALCULATIONS)  IN KG-M/CS/CS AT +7
033788,001020:                                                                                                  #                  FRCS4  4 JET RCS THRUST IN KG-M/CS/CS AT +7
033789,001021:                                                                                                  #                  MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033790,001022:                                                                                                  #                  BURN IN KG/CS AT +3
033791,001023:                                                                                                  #                  APSFLAG:
033792,001024:                                                                                                  #                   =0   DPS
033793,001025:                                                                                                  #                   =1   APS
033794,001026:                                                                                                  #  OUTPUT          IMPULSW  ZERO FOR STEERING
033795,001027:                                                                                                  #                           ONE FOR ATTITUDE HOLD
033796,001028:                                                                                                  #                  NOTHROTL  ZERO FOR THROTTLING
033797,001029:                                                                                                  #                            ONE  TO INHIBIT THROTTLING
033798,001030:                                                                                                  #                  TGO  TIME TO BURN IN CS
033799,001031: 
033800,001032: 27,2536  E7,1516                                  EBANK=   TGO                                   
033801,001033: 27,2536                                           COUNT*   $$/40.13                              
033802,001034: 27,2536           06060        S40.13             TC       INTPRET                               
033803,001035: 27,2537           43001                           SETPD    CLEAR                                 
033804,001036: 27,2540           00001                                    00D                                   
033805,001037: 27,2541           01266                                    IMPULSW                               #  ASSUME STEERING UNTIL FOUND OTHERWISE
033806,001038: 27,2542           51575                           VLOAD    ABVAL                                 
033807,001039: 27,2543           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
033808,001040: 27,2544           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
033809,001041: 27,2545           16710                                    6.5SECS                               #  CORRECT VG FOR 6.5 SECONDS OF ULLAGE
033810,001042: 27,2546           34017                                    FRCS4                                 #  ASSUME 4 JET ULLAGE
033811,001043: 27,2547           72471                           DDV      SL1                                   #  SCALE
033812,001044: 27,2550           01244                                    WEIGHT/G                              
033813,001045: 27,2551           41421                           BDSU     PUSH                                  
033814,001046: 27,2552           43014                           BOFF     SET                                   
033815,001047: 27,2553           05342                                    APSFLAG                               
033816,001048: 27,2554           56624                                    S40.13D                               #  FOR DPS ENGINE
033817,001049: 27,2555           02463                                    NOTHROTL                              
033818,001050: 27,2556           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033819,001051: 27,2557           16001                                    K1VAL                                 #  KG-M/CS AT +23
033820,001052: 27,2560           01244                                    WEIGHT/G                              
033821,001053: 27,2561           50021                           BDSU     BMN                                   
033822,001054: 27,2562           00001                                    00D                                   
033823,001055: 27,2563           56606                                    S40.131                               #  TGO LESS THAN 100 CS

Page 769

033825,001057: 27,2564           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033826,001058: 27,2565           03737                                    MDOT                                  
033827,001059: 
033828,001060: 27,2566           16700                                    3.5SEC                                #  350 CS AT +14
033829,001061: 27,2567           65221                           BDSU     PDDL                                  
033830,001062: 27,2570           01244                                    WEIGHT/G                              
033831,001063: 27,2571           03735                                    F                                     
033832,001064: 27,2572           60405                           DMP      SR2                                   #  SCALE
033833,001065: 27,2573           16702                                    5SECS                                 
033834,001066: 27,2574           41471                           DDV      PUSH                                  #  04D = TEMP2
033835,001067: 27,2575           51021                           BDSU     BPL                                   
033836,001068: 27,2576           00003                                    02D                                   
033837,001069: 27,2577           56624                                    S40.13D                               
033838,001070: 27,2600           55345                           DLOAD    BDDV                                  
033839,001071: 27,2601           43205                           DMP      DAD                                   
033840,001072: 27,2602           16702                                    5SECS                                 
033841,001073: 27,2603           16676                                    1SEC2D                                #  100 CS AT +14
033842,001074: 27,2604           77650                           GOTO                                           
033843,001075: 27,2605           56614                                    S40.132                               
033844,001076: 27,2606           41345        S40.131            DLOAD    DMP                                   
033845,001077: 27,2607           01244                                    WEIGHT/G                              
033846,001078: 27,2610           41542                           SR1      PUSH                                  
033847,001079: 27,2611           56215                           DAD      DDV                                   
033848,001080: 27,2612           16003                                    K2VAL                                 #  KG-M/CS AT +24
033849,001081: 27,2613           16005                                    K3VAL                                 #  KG-M/CS/CS AT +10 (SAME VALUE AS FAPS)
033850,001082: 27,2614           77414        S40.132            SET      EXIT                                  
033851,001083: 27,2615           01066                                    IMPULSW                               
033852,001084: 27,2616           07300        S40.132*           TC       TPAGREE                               
033853,001085: 27,2617           30154                           CA       MPAC                                  
033854,001086: 27,2620           56001                           XCH      L                                     
033855,001087: 27,2621           34746                           CA       ZERO                                  
033856,001088: 27,2622           53517                           DXCH     TGO                                   
033857,001089: 27,2623           12650                           TCF      S40.134                               
033858,001090: 
033859,001091: 27,2624           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033860,001092: 27,2625           00001                                    00D                                   
033861,001093: 27,2626           01244                                    WEIGHT/G                              
033862,001094: 27,2627           43006                           PUSH     BON                                   
033863,001095: 27,2630           05302                                    APSFLAG                               
033864,001096: 27,2631           56671                                    APSTGO                                
033865,001097: 27,2632           43071                           DDV      CLEAR                                 
033866,001098: 27,2633           16007                                    S40.136                               
033867,001099: 27,2634           02663                                    NOTHROTL                              
033868,001100: 27,2635           41400                           BOV      PUSH                                  
033869,001101: 27,2636           56653                                    S40.130V                              
033870,001102: 27,2637           51025        S40.137            DSU      BPL                                   
033871,001103: 27,2640           16704                                    6SEC                                  #  600.0 CS AT +14
033872,001104: 27,2641           56661                                    S40.138                               
033873,001105: 27,2642           43015                           DAD      SET                                   
033874,001106: 27,2643           16704                                    6SEC                                  

Page 770

033876,001108: 27,2644           02463                                    NOTHROTL                              
033877,001109: 27,2645           77650                           GOTO                                           
033878,001110: 27,2646           56614                                    S40.132                               
033879,001111: 27,2647           77776        S40.133            EXIT                                           
033880,001112: 27,2650           05355        S40.134            TC       PHASCHNG                              
033881,001113: 27,2651           00003                           OCT      00003                                 
033882,001114: 27,2652           05146                           TC       ENDOFJOB                              
033883,001115: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033884,001116: 27,2654           77671                           DDV                                            
033885,001117: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033886,001118: 27,2656           03517                           STORE    TGO                                   
033887,001119: 27,2657           77776                           EXIT                                           
033888,001120: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033889,001121: 
033890,001122: 27,2661           51025        S40.138            DSU      BPL                                   
033891,001123: 27,2662           16706                                    89SECS                                
033892,001124: 27,2663           56666                                    STORETGO                              
033893,001125: 27,2664           77614                           SET                                            
033894,001126: 27,2665           02463                                    NOTHROTL                              
033895,001127: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033896,001128: 27,2667           77776                           EXIT                                           
033897,001129: 27,2670           12616                           TCF      S40.132*                              
033898,001130: 
033899,001131: 27,2671           62471        APSTGO             DDV      SL2                                   
033900,001132: 27,2672           34007                                    FAPS                                  
033901,001133: 27,2673           77650                           GOTO                                           
033902,001134: 27,2674           56667                                    STORETGO   +1                         
033903,001135: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033904,001136: 
033905,001137: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033906,001138: 
033907,001139: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033908,001140: 
033909,001141: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033910,001142: 
033911,001143: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
033912,001144: 
033913,001145: 27,2707           00121 10000  6.5SECS            2DEC     650.       B-17                       #  ASSUME 6.5 SECONDS OF ULLAGE
033914,001146: 

Page 771

033916,001148:                                                                                                  #  S40.9 AND RASTEER1
033917,001149: 
033918,001150:                                                                                                  #  S40.9
033919,001151: 
033920,001152:                                                                                                  #  FUNCTION        TO UPDATE "A" (THE SEMI-MAJOR AXIS OF THE ELLIPTICAL TRAJECTORY) BY CALLING "HAVEGUES" (INITVEL)
033921,001153:                                                                                                  #                  EVERY "TNEWA" SECONDS.
033922,001154: 
033923,001155:                                                                                                  #  CALLING SEQ     VIA FINDVAC (FROM "STEERING", EVERY "TNEWA" SECONDS)
033924,001156: 
033925,001157:                                                                                                  #  INPUT AND       SEE INITVEL FOR A COMPLETE DESCRIPTION
033926,001158:                                                                                                  #    OUTPUT
033927,001159:                                                                                                  #                  RINIT     - ACTIVE VEHICLE RADIUS VECTOR      METERS +29
033928,001160:                                                                                                  #                  VINIT     - ACTIVE VEHICLE VELOCITY VECTOR     M/CS + 7
033929,001161:                                                                                                  #                            - BOTH RINIT AND VINIT ARE VALID AT LAST PIPTIME (FROM SERVICER)
033930,001162:                                                                                                  #                  DELLT4    - DESIRED TIME OF FLIGHT FROM RINIT TO RTARG IN CS  +28
033931,001163:                                                                                                  #                            - THE PREVIOUS THREE QUANTITIES ARE SET EVERY GUIDANCE CYCLE AT "ENDSTEER"
033932,001164:                                                                                                  #                  RTX1      - -2 EARTH  -10D MOON  SET IN S40.1
033933,001165:                                                                                                  #                  RTX2      -  0 EARTH    2  MOON  SET IN S40.1
033934,001166: 
033935,001167:                                                                                                  #                  THE ONLY OUTPUTS FROM INITVEL THAT ARE OF INTEREST HERE ARE:
033936,001168: 
033937,001169:                                                                                                  #                  MUASTEER  - MU (GRAVITATIONAL CONSTANT) AT +42 EARTH,   +36 MOON
033938,001170:                                                                                                  #                  MU/A      - RATIO  OF MU TO SEMI-MAJOR AXIS AT +14 EARTH,   +10  MOON
033939,001171: 
033940,001172: 
033941,001173:                                                                                                  #  RASTEER1
033942,001174: 
033943,001175:                                                                                                  #  FUNCTION        GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED VECTORS FOR USE DURING AIMPOINT MANEUVERS.
033944,001176:                                                                                                  #  ALSO ADJUSTS FOR GRAVITATIONAL EFFECTS DUE TO OBLATENESS.
033945,001177: 
033946,001178:                                                                                                  #  CALLING SEQ     CALLED EVERY GUIDANCE PASS (DURING AIMPOINT MANEUVERS) FROM S40.8 AS AN INTERPRETIVE SUBROUTINE.
033947,001179: 
033948,001180:                                                                                                  #  INPUT
033949,001181:                                                                                                  #    FROM S40.1    RTX2      - -2 FOR EARTH, -10D FOR MOON
033950,001182:                                                                                                  #    FROM SERVICER UNIT/R/   - POSITION VECTOR HALF-UNIT
033951,001183:                                                                                                  #                  RN        - POSITION VECTOR  METERS AT +29
033952,001184:                                                                                                  #                  VN1       - VELOCITY VECTOR M/CS AT +7 EARTH OR +5 MOON
033953,001185:                                                                                                  #                  UNITGOBL  - OBLATENESS TERM OF GRAVITY VECTOR
033954,001186:                                                                                                  #                  PIPTIME   - TIME OF RN AND VN1  CS  AT +28
033955,001187:                                                                                                  #    FROM INITVEL  RTARG     - TARGET VECTOR  METERS  AT +29
033956,001188:                                                                                                  #                  RTMAG     - MAGNITUDE OF RTARG    AT +29
033957,001189:                                                                                                  #                  MUASTEER  - MU (SEE ABOVE, S40.9)
033958,001190:                                                                                                  #                  MU/A      - RATIO  OF MU TO SEMI-MAJOR AXIS (SEE S40.9)
033959,001191:                                                                                                  #                  GEOMSGN   - 1 IF TRANSFER ANGLE < 180, -1 IF > 180
033960,001192:                                                                                                  #    FROM TARGETTING
033961,001193:                                                                                                  #                  NORMSW    - 1 IF TRANSFER ANGLE CLOSE TO 180, 0 IF NOT
033962,001194:                                                                                                  #                  TPASS4    - DESIRED INTERCEPT TIME    CS  AT +28
033963,001195:                                                                                                  #    FROM OTHERS   GOBLTIME  - NOMINAL (NOT ACTUAL) IGNITION TIME  CS AT+28

Page 772

033965,001197: 
033966,001198:                                                                                                  #  OUTPUT          DELVEET3  - VELOCITY-TO-BE-GAINED   M/CS   AT +7
033967,001199: 
033968,001200: 
033969,001201: 27,2711  E7,1700                                  EBANK=   VGPREV                                
033970,001202: 27,2711                                           COUNT*   $$/S40.9                              
033971,001203: 27,2711           06060        S40.9              TC       INTPRET                               
033972,001204: 27,2712           77601                           SETPD                                          
033973,001205: 27,2713           00001                                    00D                                   
033974,001206: 27,2714           71214                           SET      DLOAD                                 
033975,001207: 27,2715           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033976,001208: 27,2716           06505                                    HI6ZEROS                              
033977,001209: 27,2717           77725                           PDDL                                           
033978,001210: 27,2720           16406                                    EPS1                                  
033979,001211: 27,2721           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033980,001212: 27,2722           03745                                    NORMSW                                
033981,001213: 27,2723           56725                                    EPSSMALL                              
033982,001214: 27,2724           16410                                    EPS2                                  
033983,001215: 27,2725           45006        EPSSMALL           PUSH     CALL                                  
033984,001216: 27,2726           22002                                    HAVEGUES                              
033985,001217: 27,2727           77776        ENDS40.9           EXIT                                           
033986,001218: 27,2730           05355                           TC       PHASCHNG                              
033987,001219: 27,2731           00002                           OCT      2                                     
033988,001220: 27,2732           15146                           TCF      ENDOFJOB                              
033989,001221: 
033990,001222: 
033991,001223: 27,2733           51575        RASTEER1           VLOAD    ABVAL                                 
033992,001224: 27,2734           01220                                    RN                                    
033993,001225: 27,2735           53744                           LXC,2    SL*                                   
033994,001226: 27,2736           02777                                    RTX2                                  
033995,001227: 27,2737           57576                                    0,2                                   
033996,001228: 27,2740           27715                           STOVL    RMAG                                  
033997,001229: 27,2741           03444                                    RTARG                                 
033998,001230: 27,2742           47051                           VSU      RTB                                   
033999,001231: 27,2743           01220                                    RN                                    
034000,001232: 27,2744           21722                                    NORMUNX1                              
034001,001233: 27,2745           17656                           STODL    IC                                    #  UNIT(C)  C IS CHORD VECTOR
034002,001234: 27,2746           00045                                    36D                                   #  C(36D) = ABVAL(C)
034003,001235: 27,2747           53674                           XAD,2    SL*                                   
034004,001236: 27,2750           00046                                    X1                                    
034005,001237: 27,2751           57576                                    0,2                                   
034006,001238: 27,2752           00037                           STORE    30D                                   
034007,001239: 27,2753           41301                           NORM     DMP                                   
034008,001240: 27,2754           00050                                    X2                                    
034009,001241: 27,2755           03715                                    RMAG                                  
034010,001242: 27,2756           57101                           NORM     XAD,2                                 
034011,001243: 27,2757           00047                                    X1                                    
034012,001244: 27,2760           00046                                    X1                                    
034013,001245: 27,2761           77734                           SXA,2                                          
034014,001246: 27,2762           03766                                    MUSCALE                               
034015,001247: 27,2763           17725                           STODL    R1C                                   #                        2(+58 -X)

Page 773

034017,001249: 27,2764           00037                                    30D                                   
034018,001250: 27,2765           65342                           SR1      PDDL                                  
034019,001251: 27,2766           03715                                    RMAG                                  
034020,001252: 27,2767           65342                           SR1      PDDL                                  
034021,001253: 27,2770           03723                                    RTMAG                                 
034022,001254: 27,2771           43342                           SR1      DAD                                   
034023,001255: 27,2772           45415                           DAD      STADR                                 
034024,001256: 27,2773           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
034025,001257: 27,2774           41225                           DSU      DMP                                   
034026,001258: 27,2775           00037                                    30D                                   
034027,001259: 27,2776           03721                                    MU/A                                  
034028,001260: 27,2777           77621                           BDSU                                           
034029,001261: 27,3000           03717                                    MUASTEER                              #  (MU - MU(S-C)/2A)
034030,001262: 27,3001           45325                           PDDL     DSU                                   
034031,001263: 27,3002           03733                                    SS                                    
034032,001264: 27,3003           03715                                    RMAG                                  #  (S-R)
034033,001265: 27,3004           70501                           NORM     SR1                                   
034034,001266: 27,3005           00047                                    X1                                    
034035,001267: 27,3006           41271                           DDV      DMP                                   #  (2(S-R)/RC) (MU - MU(S-C)/2A)
034036,001268: 27,3007           03725                                    R1C                                   
034037,001269: 27,3010           53664                           XSU,2    SL*                                   
034038,001270: 27,3011           00046                                    X1                                    
034039,001271: 27,3012           57575                                    1,2                                   
034040,001272: 27,3013           77754                           LXA,2                                          
034041,001273: 27,3014           03766                                    MUSCALE                               
034042,001274: 27,3015           75366                           SQRT     SIGN                                  #  SQRT((2(S-R)/RC)(MU - MU(S-C)/2A))
034043,001275: 27,3016           02673                                    GEOMSGN                               #  (GEOMSGN = SGNA IN GSOP)
034044,001276: 27,3017           00041                           STORE    32D                                   #  + OR - A
034045,001277: 27,3020           41345                           DLOAD    DMP                                   #  A=SGNA(SQRT((2(S-R)/RC)(MU-MU(S-C)/2A)))
034046,001278: 27,3021           03733                                    SS                                    
034047,001279: 27,3022           03721                                    MU/A                                  
034048,001280: 27,3023           77621                           BDSU                                           
034049,001281: 27,3024           03717                                    MUASTEER                              #   MU - (MU S / 2A)
034050,001282: 27,3025           45325                           PDDL     DSU                                   
034051,001283: 27,3026           03733                                    SS                                    
034052,001284: 27,3027           03723                                    RTMAG                                 
034053,001285: 27,3030           70501                           NORM     SR1                                   
034054,001286: 27,3031           00047                                    X1                                    
034055,001287: 27,3032           41271                           DDV      DMP                                   #  (2(S-R2)/RC)  (MU - MU S / 2A)  R2=RTARG
034056,001288: 27,3033           03725                                    R1C                                   
034057,001289: 27,3034           53664                           XSU,2    SL*                                   
034058,001290: 27,3035           00046                                    X1                                    
034059,001291: 27,3036           57575                                    1,2                                   
034060,001292: 27,3037           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
034061,001293: 27,3040           03733                                    SS                                    
034062,001294: 27,3041           56225                           DSU      DDV                                   
034063,001295: 27,3042           00037                                    30D                                   
034064,001296: 27,3043           03733                                    SS                                    
034065,001297: 27,3044           41566                           SQRT     PUSH                                  
034066,001298: 27,3045           67542                           SR1      ASIN                                  #  ARCSIN(SQRT((S-C)/S))

Page 774

034068,001300: 27,3046           65205                           DMP      PDDL                                  
034069,001301: 27,3047           17220                                    2PI+3                                 
034070,001302: 27,3050           56325                           PDDL     DDV                                   
034071,001303: 27,3051           00037                                    30D                                   
034072,001304: 27,3052           03733                                    SS                                    
034073,001305: 27,3053           77600                           BOV                                            
034074,001306: 27,3054           57055                                    +1                                    
034075,001307: 27,3055           41366                           SQRT     DMP                                   #  SQRT(C/S) SQRT((S-C)/S)=(1/S)(SQRT(C
034076,001308: 27,3056           44242                           SR3      BDSU                                  #                                 (S-C)))
034077,001309: 27,3057           65365                           SIGN     PDDL                                  #  SGNA(ARCSIN((S-C)/S)-(1/S)SQRT(C(S-C)))
034078,001310: 27,3060           02673                                    GEOMSGN                               
034079,001311: 27,3061           17220                                    2PI+3                                 
034080,001312: 27,3062           45302                           SR2      DSU                                   #  (PI/2) - SGNA(ABOVE MESS)
034081,001313: 27,3063           65205                           DMP      PDDL                                  
034082,001314: 27,3064           03733                                    SS                                    
034083,001315: 27,3065           03733                                    SS                                    
034084,001316: 27,3066           75442                           SR3      SQRT                                  
034085,001317: 27,3067           77605                           DMP                                            #  S SQRT(S) = SQRT(S CUBED)
034086,001318: 27,3070           52525                           PDDL     SL3                                   
034087,001319: 27,3071           03717                                    MUASTEER                              
034088,001320: 27,3072           55366                           SQRT     BDDV                                  #  T MINIMUM ENERGY  (TM)
034089,001321: 27,3073           43225                           DSU      DAD                                   
034090,001322: 27,3074           03631                                    TPASS4                                
034091,001323: 27,3075           01234                                    PIPTIME                               
034092,001324: 27,3076           14037                           STODL    30D                                   #  (TM - T2)  FOR SIGN OF B
034093,001325: 27,3077           77765                           SIGN                                           
034094,001326: 27,3100           00037                                    30D                                   #  B WITH SIGN
034095,001327: 27,3101           00037                           STORE    30D                                   
034096,001328: 27,3102           77214                           BON      VLOAD                                 
034097,001329: 27,3103           03705                                    NORMSW                                
034098,001330: 27,3104           57125                                    180MESS                               
034099,001331: 27,3105           03656                                    IC                                    
034100,001332: 27,3106           53451                           VSU      UNIT                                  
034101,001333: 27,3107           03537                                    UNIT/R/                               
034102,001334: 27,3110           63361                           VXSC     PDVL                                  #  UNCM
034103,001335: 27,3111           00037                                    30D                                   #  B  UNCM
034104,001336: 27,3112           03656                                    IC                                    
034105,001337: 27,3113           53455                           VAD      UNIT                                  
034106,001338: 27,3114           03537                                    UNIT/R/                               #  UNCP
034107,001339: 27,3115           53361        GETVRVG1           VXSC     VAD                                   #  A  UNCP
034108,001340: 27,3116           00041                                    32D                                   
034109,001341: 27,3117           53744        GETVRVG2           LXC,2    VSR*                                  
034110,001342: 27,3120           02777                                    RTX2                                  
034111,001343: 27,3121           57177                                    0          -1,2                       
034112,001344: 27,3122           02330                           STORE    VIPRIME                               
034113,001345: 27,3123           77650                           GOTO                                           
034114,001346: 27,3124           57170                                    ASTREND    -2                         
034115,001347: 27,3125           50375        180MESS            VLOAD    DOT                                   
034116,001348: 27,3126           03656                                    IC                                    
034117,001349: 27,3127           03537                                    UNIT/R/                               

Page 775

034119,001351: 27,3130           77240                           BMN      VLOAD                                 
034120,001352: 27,3131           57150                                    NEGPROD                               
034121,001353: 27,3132           03656                                    IC                                    
034122,001354: 27,3133           63362                           VSR1     PDVL                                  
034123,001355: 27,3134           03537                                    UNIT/R/                               
034124,001356: 27,3135           53362                           VSR1     VAD                                   
034125,001357: 27,3136           77656                           UNIT                                           
034126,001358: 27,3137           57406                           PUSH     VCOMP                                 #  FOR A
034127,001359: 27,3140           75235                           VXV      SIGN                                  
034128,001360: 27,3141           02674                                    UN                                    
034129,001361: 27,3142           02673                                    GEOMSGN                               
034130,001362: 27,3143           74256                           UNIT     VXSC                                  
034131,001363: 27,3144           00037                                    30D                                   
034132,001364: 27,3145           77715                           PDVL                                           #  UNIT(IC-IR)     +-B
034133,001365: 27,3146           77650                           GOTO                                           
034134,001366: 27,3147           57115                                    GETVRVG1                              
034135,001367: 27,3150           74575        NEGPROD            VLOAD    VSR1                                  
034136,001368: 27,3151           03537                                    UNIT/R/                               
034137,001369: 27,3152           74515                           PDVL     VSR1                                  
034138,001370: 27,3153           03656                                    IC                                    
034139,001371: 27,3154           53451                           VSU      UNIT                                  
034140,001372: 27,3155           77606                           PUSH                                           
034141,001373: 27,3156           75235                           VXV      SIGN                                  
034142,001374: 27,3157           02674                                    UN                                    #  FOR B
034143,001375: 27,3160           02673                                    GEOMSGN                               
034144,001376: 27,3161           74256                           UNIT     VXSC                                  
034145,001377: 27,3162           00041                                    32D                                   
034146,001378: 27,3163           77715                           PDVL                                           
034147,001379: 27,3164           53361                           VXSC     VAD                                   
034148,001380: 27,3165           00037                                    30D                                   
034149,001381: 27,3166           77650                           GOTO                                           
034150,001382: 27,3167           57117                                    GETVRVG2                              
034151,001383: 27,3170           77651                           VSU                                            
034152,001384: 27,3171           03553                                    VN1                                   
034153,001385: 27,3172           02357        ASTREND            STORE    DELVEET3                              
034154,001386: 27,3173           53135        FIRSTTME           SLOAD    BZE                                   
034155,001387: 27,3174           03000                                    RTX2                                  
034156,001388: 27,3175           57201                                    GETGOBL                               
034157,001389: 27,3176           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE
034158,001390: 27,3177           02357                                    DELVEET3                              
034159,001391: 27,3200           57214                                    NOGOBL                                
034160,001392: 27,3201           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
034161,001393: 27,3202           01220                                    RN                                    
034162,001394: 27,3203           45345                           DLOAD    DSU                                   
034163,001395: 27,3204           01234                                    PIPTIME                               #               2
034164,001396: 27,3205           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T - TIG)
034165,001397: 27,3206           56205                           DMP      DDV                                   #   OBL
034166,001398: 27,3207           16023                                    EARTHMU                               
034167,001399: 27,3210           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
034168,001400: 27,3211           53361                           VXSC     VAD                                   

Page 776

034170,001402: 27,3212           03521                                    UNITGOBL                              
034171,001403: 27,3213           02357                                    DELVEET3                              #   OUTPUT FROM INITVEL  VG = VR - VN
034172,001404: 27,3214           02357        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
034173,001405: 27,3215           77650                           GOTO                                           
034174,001406: 27,3216           56455                                    VGAIN*                                
034175,001407: 
034176,001408: 27,3217           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
034177,001409: 

Page 777

034179,001411:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
034180,001412:                                                                                                  #  MOD 0     24 FEB 67     PETER ADLER
034181,001413:                                                                                                  #  FUNCTION:
034182,001414:                                                                                                  #           TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034183,001415:                                                                                                  #           FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034184,001416:                                                                                                  #           SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034185,001417:                                                                                                  #  CALLING SEQUENCE:
034186,001418:                                                                                                  #           VIA WAITLIST FROM R03
034187,001419:                                                                                                  #  INPUT:
034188,001420:                                                                                                  #           PITTIME     TIME TO RUN FROM FULL + PITCH TO TRIM  (CS)
034189,001421:                                                                                                  #           ROLLTIME    TIME TO RUN FROM FULL + ROLL  TO TRIM  (CS)
034190,001422:                                                                                                  #  SUBROUTINES USED:
034191,001423:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034192,001424: 
034193,001425: 27,3221                                           COUNT*   $$/S40.6                              
034194,001426: 27,3221  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS:  PRIO5=05000 EBANK5=02400
034195,001427: 
034196,001428: 27,3221           05520        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034197,001429: 27,3222           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
034198,001430: 
034199,001431: 27,3223           45010                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
034200,001432: 27,3224           00006                           EXTEND                                         
034201,001433: 27,3225           03012                           WAND     CHAN12                                
034202,001434: 27,3226           35005                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
034203,001435: 27,3227           00006                           EXTEND                                         
034204,001436: 27,3230           05012                           WOR      CHAN12                                
034205,001437: 27,3231           05223                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034206,001438: 27,3232           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
034207,001439: 27,3233           45005                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
034208,001440: 27,3234           00006                           EXTEND                                         
034209,001441: 27,3235           03012                           WAND     CHAN12                                
034210,001442: 27,3236           35010                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034211,001443: 27,3237           00006                           EXTEND                                         
034212,001444: 27,3240           05012                           WOR      CHAN12                                
034213,001445: 27,3241           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034214,001446: 27,3242           05175                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034215,001447: 27,3243           03262                           ADRES    PITCHOFF                              
034216,001448: 
034217,001449: 27,3244           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034218,001450: 27,3245           05226                           TC       VARDELAY                              #  UNTIL THEN
034219,001451: 27,3246           44731                           CS       BIT12                                 
034220,001452: 27,3247           00006                           EXTEND                                         
034221,001453: 27,3250           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034222,001454: 27,3251           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034223,001455: 27,3252           74733                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034224,001456: 27,3253           00006                           EXTEND                                         
034225,001457: 27,3254           13266                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034226,001458: 27,3255           34730                           CAF      PRIO10                                #  RETURN TO R03
034227,001459: 27,3256           05063                           TC       NOVAC                                 
034228,001460: 27,3257  E7,1471                                  EBANK=   WHOCARES                              

Page 778

034230,001462: 27,3257           02330 02067                     2CADR    TRIMDONE                              
034231,001463: 
034232,001464: 27,3261           05263                           TC       TASKOVER                              
034233,001465: 27,3262           44733        PITCHOFF           CS       BIT10                                 
034234,001466: 27,3263           00006                           EXTEND                                         
034235,001467: 27,3264           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034236,001468: 27,3265           13251                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034237,001469: 27,3266           05506                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034238,001470: 27,3267           00137                           ADRES    GMBDRVSW                              
034239,001471: 27,3270           05263                           TC       TASKOVER                              
034240,001472: 

Page 779

034242,001474:                                                                                                  #  SUBROUTINE NAME: S41.1         MOD. NO. 0  DATE: FEBRUARY 28, 1967
034243,001475: 
034244,001476:                                                                                                  #                         MOD. NO. 1  DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034245,001477: 
034246,001478:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034247,001479: 
034248,001480:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034249,001481:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034250,001482:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034251,001483:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034252,001484:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034253,001485:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034254,001486:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034255,001487:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034256,001488: 
034257,001489: 
034258,001490:                                                                                                  #  CALLING SEQUENCE:
034259,001491:                                                                                                  #                                          L        VLOAD  CALL
034260,001492:                                                                                                  #                                          L +1            VELOCITY(REF)   SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
034261,001493:                                                                                                  #                                          L +2            S41.1
034262,001494:                                                                                                  #                                          L +3     STORE  VELOCITY(LM)    SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
034263,001495: 
034264,001496:                                                                                                  #  SUBROUTINES CALLED:
034265,001497: 
034266,001498:                                                                                                  #           1.  CDUTRIG,
034267,001499:                                                                                                  #                  WHICH CALLS CDULOGIC.
034268,001500:                                                                                                  #           2.  *SMNB*
034269,001501: 
034270,001502:                                                                                                  #  NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034271,001503: 
034272,001504:                                                                                                  #  ALARM/ABORT MODES: NONE.
034273,001505: 
034274,001506:                                                                                                  #  RESTART PROTECTION: NONE.
034275,001507: 

Page 780

034277,001509:                                                                                                  #  INPUT:
034278,001510: 
034279,001511:                                                                                                  #           1.  REFSMMAT.
034280,001512:                                                                                                  #           2.  CDUX, CDUY, CDUZ.
034281,001513:                                                                                                  #           3.  VELOCITY (REF) IN MPAC.
034282,001514: 
034283,001515:                                                                                                  #  OUTPUT:
034284,001516: 
034285,001517:                                                                                                  #           1.  CDUSPOT:  DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034286,001518:                                                                                                  #           2.  SINCDU:   HALF SINES OF CDUSPOT COMPONENTS.
034287,001519:                                                                                                  #           3.  COSCDU:   HALF COSINES OF CDUSPOT COMPONENTS.
034288,001520:                                                                                                  #           4.  MPAC:     VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034289,001521: 
034290,001522:                                                                                                  #  DEBRIS: NONE.
034291,001523: 
034292,001524:                                                                                                  #  CHECKOUT STATUS:  CODED.
034293,001525: 
034294,001526: 27,3271                                           COUNT*   $$/S41.1                              
034295,001527: 27,3271           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034296,001528: 27,3272           01732                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034297,001529: 27,3273           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034298,001530: 27,3274           47640                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034299,001531:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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