Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Linden Sims. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

032638,000002:                                                                                                  ## Copyright:   Public domain.
032639,000003:                                                                                                  ## Filename:    P40-P47.agc
032640,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
032641,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
032642,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
032643,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
032644,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
032645,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
032646,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
032647,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
032648,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
032649,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
032650,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
032651,000015:                                                                                                  ## Reference:   pp. 738-770
032652,000016:                                                                                                  ## Assembler:   yaYUL
032653,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032654,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
032655,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
032656,000020:                                                                                                  ##              2017-08-16 RSB  Fixed comment typo identified in AP11ROPE.
032657,000021:                                                                                                  ##              2017-08-26 MAS  Updated for Zerlina 56.
032658,000022: 

Page 738

032660,000024:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH    DECEMBER 22, 1966
032661,000025:                                                                                                  #  MOD 03 BY PETER ADLER           MARCH 3, 1967
032662,000026:                                                                                                  #  CALLED VIA JOB FROM V37E
032663,000027: 
032664,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
032665,000029: 
032666,000030:                                                                                                  #           1)  TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032667,000031:                                                                                                  #               THRUSTING MANEUVER.
032668,000032: 

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

032670,000034: 
032671,000035:                                                                                                  #           3)  TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032672,000036: 
032673,000037:                                                                                                  #           4)  TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032674,000038:                                                                                                  #               PGNCS CONTROLLED DPS MANEUVER.
032675,000039: 
032676,000040:                                                                                                  #           5)  IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032677,000041:                                                                                                  #                            SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032678,000042: 
032679,000043:                                                                                                  #           NOTE:  P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032680,000044:                                                                                                  #                  RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032681,000045: 
032682,000046:                                                                                                  #  SUBROUTINES USED
032683,000047: 
032684,000048:                                                                                                  #           R02      IMU STATUS CHECK
032685,000049:                                                                                                  #           S40.1    COMPUTATION OF THRUST DIRECTION
032686,000050:                                                                                                  #           S40.13   LENGTH OF BURN
032687,000051:                                                                                                  #           S40.2,3  PREFERRED IMU ORIENATTION
032688,000052:                                                                                                  #           S40.8    X PRODUCT STEERING
032689,000053:                                                                                                  #           S40.9    LAMBERT VTOGAIN
032690,000054:                                                                                                  #           R60LEM   ATTITUDE MANEUVER
032691,000055:                                                                                                  #           LEMPREC  EXTRAPOLATE STATE VECTOR
032692,000056:                                                                                                  #           PREREAD  AVERAGE G, SERVICER
032693,000057:                                                                                                  #           ALLCOAST DAP COASTING INITIALIZATION
032694,000058:                                                                                                  #           CLOKTASK ERGO CLOCKJOB--COUNT DOWN
032695,000059:                                                                                                  #           PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032696,000060:                                                                                                  #           PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032697,000061:                                                                                                  #           KILLTASK, SGNAGREE, TPAGREE, ETC.
032698,000062: 
032699,000063:                                                                                                  #  RESTARTS VIA GROUP 4
032700,000064: 
032701,000065:                                                                                                  #  DISPLAYS
032702,000066: 
032703,000067:                                                                                                  #           V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032704,000068:                                                                                                  #           V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032705,000069:                                                                                                  #           V50N99  PLEASE PERFORM ENGINE ON ENABLE
032706,000070:                                                                                                  #           V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032707,000071:                                                                                                  #           V16N40  FINAL VALUES OF TG, VG, DELTAVM
032708,000072:                                                                                                  #           V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032709,000073:                                                                                                  #           V05N09  POSSIBLE ALARMS
032710,000074:                                                                                                  #           V50N07  PLEASE SELECT P00
032711,000075: 

Page 739

032713,000077:                                                                                                  #           VIA R30
032714,000078: 
032715,000079:                                                                                                  #           V06N44  HAPO, PERI, TFF
032716,000080:                                                                                                  #           V06N35  TIME TO PERIGEE, HMS
032717,000081: 
032718,000082:                                                                                                  #  ALARM OR ABORT EXIT MODES
032719,000083: 
032720,000084:                                                                                                  #           PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032721,000085:                                                                                                  #           V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032722,000086: 
032723,000087:                                                                                                  #           PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E=  GOTOPOOH OR V33E=  SLIP
032724,000088:                                                                                                  #           TIG BY 45 SECS.
032725,000089: 
032726,000090:                                                                                                  #  ERASABLE INITIALIZATION
032727,000091:                                                                                                  #  DEBRIS
032728,000092:                                                                                                  #  OUTPUT
032729,000093: 
032730,000094:                                                                                                  #           SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032731,000095:                                                                                                  #           XDELVFLG = 1 FOR EXT DELV COMPUTATION
032732,000096:                                                                                                  #                    = 0 FOR AIMPT (LAMBERT) COMP
032733,000097: 
032734,000098: 27,2246                                           COUNT*   $$/P40                                
032735,000099: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032736,000100: 
032737,000101: 36,3146                                           BANK     36                                    
032738,000102: 36,2000                                           SETLOC   P40S                                  
032739,000103: 36,2000                                           BANK                                           
032740,000104: 
032741,000105: 36,3146           05364        P40LM              TC       PHASCHNG                              
032742,000106: 36,3147           04024                           OCT      04024                                 
032743,000107: 
032744,000108: 36,3150           33132                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032745,000109: 36,3151           55455                           TS       WHICH                                 
032746,000110: 
032747,000111: 36,3152           30106                           CA       FLGWRD10                              
032748,000112: 36,3153           74737                           MASK     APSFLBIT                              
032749,000113: 36,3154           10000                           CCS      A                                     
032750,000114: 36,3155           13120                           TCF      P40ALM                                
032751,000115: 36,3156           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032752,000116: 36,3157           11241                           CADR     R02BOTH                               
032753,000117: 
032754,000118: 36,3160           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032755,000119: 36,3161           74737                           MASK     CSMDOCKD                              
032756,000120: 36,3162           10000                           CCS      A                                     
032757,000121: 36,3163           32022                           CAF      THRESH1                               
032758,000122: 36,3164           62023                           AD       THRESH3                               
032759,000123: 36,3165           55251                           TS       DVTHRUSH                              
032760,000124: 36,3166           34751                           CAF      FOUR                                  
032761,000125: 36,3167           55513                           TS       DVCNTR                                

Page 740

032763,000127: 36,3170           06051                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032764,000128: 36,3171           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032765,000129: 36,3172           34001                                    FDPS                                  
032766,000130: 36,3173           02663                                    NOTHROTL                              
032767,000131: 36,3174           03735                           STORE    F                                     
032768,000132: 36,3175           77735                           SLOAD                                          
032769,000133: 36,3176           26002                                    DPSVEX                                
032770,000134: 36,3177           70476        P40IN              DCOMP    SR1                                   
032771,000135: 36,3200           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032772,000136: 36,3201           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032773,000137: 36,3202           77624                           CALL                                           
032774,000138: 36,3203           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032775,000139: 36,3204           77776                           EXIT                                           
032776,000140: 
032777,000141: 36,3205           00004                           INHINT                                         
032778,000142: 36,3206           04674                           TC       IBNKCALL                              
032779,000143: 36,3207           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032780,000144: 
032781,000145: 36,3210           03212                           TC       P40SXT4                               
032782,000146: 
032783,000147:                                                                                                  #                                               ***********************
032784,000148: 36,3211           12130                           TCF      BURNBABY                              
032785,000149:                                                                                                  #                                               ***********************
032786,000150: 
032787,000151: 36,3212           00006        P40SXT4            EXTEND                                         
032788,000152: 36,3213           23141                           QXCH     P40/RET                               
032789,000153: 36,3214           00003        P41MANU            RELINT                                         
032790,000154: 
032791,000155: 36,3215           05527                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032792,000156: 36,3216           00124                           ADRES    3AXISFLG                              
032793,000157: 
032794,000158: 36,3217           04616                           TC       BANKCALL                              
032795,000159: 36,3220           54125                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032796,000160: 36,3221           01141                           TC       P40/RET                               
032797,000161: 
032798,000162: 
032799,000163: 36,3222  E7,1462                                  EBANK=   TRKMKCNT                              
032800,000164: 36,3222           30005        POSTBURN           CA       Z                                     
032801,000165: 36,3223           55162                           TS       DISPDEX                               
032802,000166: 36,3224           00006                           EXTEND                                         
032803,000167: 36,3225           32060                           DCA      ACADN85                               
032804,000168: 36,3226           53253                           DXCH     AVEGEXIT                              
032805,000169: 36,3227           33751                           CAF      V16N40                                
032806,000170: 36,3230           04616                           TC       BANKCALL                              
032807,000171: 36,3231           20636                           CADR     GOFLASHR                              
032808,000172: 36,3232           03255                           TC       TERM40                                
032809,000173: 36,3233           13240                           TCF      TIGNOW                                
032810,000174: 36,3234           03222                           TC       POSTBURN                              
032811,000175: 

Page 741

032813,000177: 36,3235           05364        P40PHS1            TC       PHASCHNG                              
032814,000178: 36,3236           00014                           OCT      00014                                 
032815,000179: 36,3237           15155                           TCF      ENDOFJOB                              
032816,000180: 
032817,000181: 36,3240           00004        TIGNOW             INHINT                                         
032818,000182: 36,3241           04674                           TC       IBNKCALL                              
032819,000183: 36,3242           40154                           CADR     ZATTEROR                              
032820,000184: 36,3243           04674                           TC       IBNKCALL                              
032821,000185: 36,3244           40141                           CADR     SETMINDB                              
032822,000186: 36,3245           00003                           RELINT                                         
032823,000187: 36,3246           33752                           CAF      V16N85B                               
032824,000188: 36,3247           04616                           TC       BANKCALL                              
032825,000189: 36,3250           20463                           CADR     REFLASHR                              
032826,000190: 36,3251           03255                           TC       TERM40                                
032827,000191: 36,3252           13255                           TCF      TERM40                                
032828,000192: 36,3253           03246                           TC       -5                                    
032829,000193: 
032830,000194: 36,3254           13235                           TCF      P40PHS1                               
032831,000195: 
032832,000196: 36,3255           00006        TERM40             EXTEND                                         
032833,000197: 36,3256           32110                           DCA      SERVCADR                              
032834,000198: 36,3257           53253                           DXCH     AVEGEXIT                              
032835,000199: 36,3260           34755                           CAF      ZERO                                  
032836,000200: 36,3261           55462                           TS       TRKMKCNT                              #       ZERO RENDZVS CNTERS
032837,000201: 36,3262           30005                           CA       Z                                     
032838,000202: 36,3263           55162                           TS       DISPDEX                               
032839,000203: 36,3264           00004                           INHINT                                         
032840,000204: 36,3265           04674                           TC       IBNKCALL                              
032841,000205: 36,3266           40115                           CADR     RESTORDB                              
032842,000206: 36,3267           00003                           RELINT                                         
032843,000207: 36,3270           06001                           TC       GOTOPOOH                              
032844,000208: 
032845,000209: 36,3271  E7,1455                                  EBANK=   WHICH                                 
032846,000210: 36,3271                                           COUNT*   $$/P41                                
032847,000211: 36,3271           33133        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032848,000212: 36,3272           55455                           TS       WHICH                                 
032849,000213: 
032850,000214: 36,3273           04616                           TC       BANKCALL                              
032851,000215: 36,3274           11241                           CADR     R02BOTH                               
032852,000216: 
032853,000217: 36,3275           34755                           CA       ZERO                                  #  ZERO DVTOTAL FOR NOUN 40 DISPLAY
032854,000218: 36,3276           55507                           TS       DVTOTAL                               
032855,000219: 36,3277           55510                           TS       DVTOTAL    +1                         
032856,000220: 36,3300           35017                           CAF      PRIO5                                 
032857,000221: 36,3301           55162                           TS       DISPDEX                               #  FOR SAFETY
032858,000222: 36,3302           05105                           TC       FINDVAC                               
032859,000223: 36,3303  E7,1700                                  EBANK=   VGPREV                                
032860,000224: 36,3303           03366 74067                     2CADR    DYNMDISP                              
032861,000225: 
032862,000226: 36,3305           05340                           TC       2PHSCHNG                              

Page 742

032864,000228: 36,3306           00116                           OCT      00116                                 #  GROUP 6 RESTART AT FKP5RST, PRIO 17
032865,000229: 36,3307           04024                           OCT      04024                                 #  GROUP 4 RESTART HERE, PRIO 13
032866,000230: 
032867,000231: 36,3310           06051                           TC       INTPRET                               #  BOTH LM
032868,000232: 36,3311           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032869,000233: 36,3312           00700                                    NJETSFLG                              
032870,000234: 36,3313           75317                                    P41FJET1                              
032871,000235: 36,3314           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032872,000236: 
032873,000237: 36,3315           37735        P41FJET            STCALL   F                                     
032874,000238: 36,3316           75322                                    P41IN                                 
032875,000239: 
032876,000240: 36,3317           77745        P41FJET1           DLOAD                                          
032877,000241: 36,3320           34021                                    FRCS2                                 
032878,000242: 36,3321           03735                           STORE    F                                     
032879,000243: 
032880,000244: 36,3322           77624        P41IN              CALL                                           
032881,000245: 36,3323           56246                                    S40.1                                 #  BOTH
032882,000246: 36,3324           77624        P41NORM            CALL                                           
032883,000247: 36,3325           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032884,000248: 36,3326           77776                           EXIT                                           #  SET PFRATFLG.
032885,000249: 
032886,000250: 36,3327           00004                           INHINT                                         
032887,000251: 36,3330           04674                           TC       IBNKCALL                              
032888,000252: 36,3331           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032889,000253: 36,3332           04674                           TC       IBNKCALL                              
032890,000254: 36,3333           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032891,000255: 36,3334           03212                           TC       P40SXT4                               
032892,000256: 
032893,000257: 36,3335           06051                           TC       INTPRET                               
032894,000258: 36,3336           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032895,000259: 36,3337           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032896,000260: 36,3340           57266                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032897,000261: 36,3341           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032898,000262: 36,3342           77776                           EXIT                                           
032899,000263: 
032900,000264: 36,3343           33752                           CAF      V16N85B                               
032901,000265: 36,3344           04616                           TC       BANKCALL                              
032902,000266: 36,3345           20447                           CADR     GODSPRET                              
032903,000267: 
032904,000268: 
032905,000269: 36,3346           05340                           TC       2PHSCHNG                              
032906,000270: 36,3347           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032907,000271: 36,3350           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032908,000272: 
032909,000273:                                                                                                  #                                               ***********************
032910,000274: 36,3351           12137                           TCF      B*RNB*B*                              
032911,000275:                                                                                                  #                                               ***********************
032912,000276: 

Page 743

032914,000278: 36,3352           34777        BLNKWAIT           CAF      1SEC                                  
032915,000279: 36,3353           04616                           TC       BANKCALL                              
032916,000280: 36,3354           01736                           CADR     DELAYJOB                              
032917,000281: 
032918,000282: 36,3355           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032919,000283: 36,3356           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032920,000284:                                                                                                  #                                               ***********************
032921,000285: 
032922,000286: 36,3357           00006                           EXTEND                                         
032923,000287: 36,3360           13352                           BZF      BLNKWAIT                              
032924,000288: 
032925,000289: 36,3361           33752                           CAF      V16N85B                               
032926,000290: 36,3362           04616                           TC       BANKCALL                              
032927,000291: 36,3363           20447                           CADR     GODSPRET                              
032928,000292: 
032929,000293: 36,3364           35017        FKP5RST            CAF      PRIO5                                 
032930,000294: 36,3365           05146                           TC       PRIOCHNG                              
032931,000295: 
032932,000296: 36,3366           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032933,000297: 36,3367           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032934,000298: 36,3370           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85. STOP DYNMDISP.
032935,000299: 36,3371           00006                           EXTEND                                         
032936,000300: 36,3372           41442                           DCS      TIG                                   
032937,000301: 36,3373           53454                           DXCH     TTOGO                                 #  UPDATE TFI DISPLAY (NOUN 40)
032938,000302: 36,3374           00006                           EXTEND                                         
032939,000303: 36,3375           30025                           DCA      TIME2                                 
032940,000304: 36,3376           21454                           DAS      TTOGO                                 
032941,000305: 36,3377           06051                           TC       INTPRET                               
032942,000306: 36,3400           45175                           VLOAD    CALL                                  
032943,000307: 36,3401           03701                                    VGPREV                                
032944,000308: 36,3402           57266                                    S41.1                                 #  CONVERT VG FROM REF TO BODY
032945,000309: 36,3403           03502                           STORE    VGBODY                                
032946,000310: 36,3404           77776                           EXIT                                           
032947,000311: 36,3405           34777                           CAF      1SEC                                  
032948,000312: 36,3406           04616                           TC       BANKCALL                              
032949,000313: 36,3407           01736                           CADR     DELAYJOB                              
032950,000314: 36,3410           13366                           TCF      DYNMDISP                              #  RECYCLE ONCE A SECOND
032951,000315: 
032952,000316: 
032953,000317: 36,3411                                           COUNT    $$/P41                                
032954,000318: 32,2407                                           BANK     32                                    
032955,000319: 32,2000                                           SETLOC   P40S4                                 
032956,000320: 32,2000                                           BANK                                           
032957,000321: 
032958,000322: 32,2407           06051        CALCN85            TC       INTPRET                               
032959,000323: 32,2410           77624                           CALL                                           
032960,000324: 32,2411           75611                                    UPDATEVG                              
032961,000325: 32,2412           45175                           VLOAD    CALL                                  
032962,000326: 32,2413           03701                                    VGPREV                                

Page 744

032964,000328: 32,2414           57266                                    S41.1                                 
032965,000329: 32,2415           03502                           STORE    VGBODY                                
032966,000330: 32,2416           77776                           EXIT                                           
032967,000331: 32,2417           04635                           TC       POSTJUMP                              
032968,000332: 32,2420           66102                           CADR     SERVEXIT                              
032969,000333: 
032970,000334: 36,3411                                           BANK     36                                    
032971,000335: 36,2000                                           SETLOC   P40S                                  
032972,000336: 36,2000                                           BANK                                           
032973,000337: 
032974,000338: 36,3411                                           COUNT*   $$/P42                                
032975,000339: 36,3411  E7,1455                                  EBANK=   WHICH                                 
032976,000340: 
032977,000341: 36,3411           05364        P42LM              TC       PHASCHNG                              
032978,000342: 36,3412           04024                           OCT      04024                                 
032979,000343: 
032980,000344: 36,3413           33134                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032981,000345: 36,3414           55455                           TS       WHICH                                 
032982,000346: 
032983,000347: 36,3415           40106                           CS       FLGWRD10                              
032984,000348: 36,3416           74737                           MASK     APSFLBIT                              
032985,000349: 36,3417           10000                           CCS      A                                     
032986,000350: 36,3420           03120                           TC       P40ALM                                
032987,000351: 36,3421           04616        P42STAGE           TC       BANKCALL                              
032988,000352: 36,3422           11241                           CADR     R02BOTH                               
032989,000353: 36,3423           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032990,000354: 36,3424           55251                           TS       DVTHRUSH                              
032991,000355: 36,3425           34751                           CAF      FOUR                                  
032992,000356: 36,3426           55513                           TS       DVCNTR                                
032993,000357: 
032994,000358: 36,3427           06051                           TC       INTPRET                               
032995,000359: 36,3430           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032996,000360: 36,3431           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032997,000361: 36,3432           34007                                    FAPS                                  
032998,000362: 36,3433           03735                           STORE    F                                     
032999,000363: 36,3434           52135                           SLOAD    GOTO                                  
033000,000364: 36,3435           26001                                    APSVEX                                
033001,000365: 36,3436           75177                                    P40IN                                 
033002,000366: 
033003,000367: 36,3437  E7,1455                                  EBANK=   WHICH                                 
033004,000368: 
033005,000369: 36,3437                                           COUNT*   $$/P47                                
033006,000370: 36,3437           04616        P47LM              TC       BANKCALL                              
033007,000371: 36,3440           11241                           CADR     R02BOTH                               
033008,000372: 36,3441           06051                           TC       INTPRET                               
033009,000373: 36,3442           77624                           CALRB                                          
033010,000374: 36,3443           27547                                    MIDTOAV2                              
033011,000375: 
033012,000376: 36,3444           30155                           CA       MPAC       +1                         
033013,000377: 36,3445           05204                           TC       TWIDDLE                               

Page 745

033015,000379: 36,3446           03450                           ADRES    STARTP47                              
033016,000380: 
033017,000381: 36,3447           15155                           TCF      ENDOFJOB                              
033018,000382: 
033019,000383: 36,3450           05364        STARTP47           TC       PHASCHNG                              
033020,000384: 36,3451           05014                           OCT      05014                                 
033021,000385: 36,3452           77777                           OCT      77777                                 
033022,000386: 
033023,000387: 36,3453           00006                           EXTEND                                         
033024,000388: 36,3454           33755                           DCA      ACADN83                               
033025,000389: 36,3455           53253                           DXCH     AVEGEXIT                              
033026,000390: 36,3456           34736                           CAF      PRIO20                                
033027,000391: 36,3457           05105                           TC       FINDVAC                               
033028,000392: 36,3460  E7,1622                                  EBANK=   DELVIMU                               
033029,000393: 36,3460           03513 74067                     2CADR    P47BODY                               
033030,000394: 
033031,000395: 36,3462           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
033032,000396:                                                                                                  #  SEE TIG-30 IN BURNBABY.
033033,000397: 
033034,000398: 36,3463           06051        CALCN83            TC       INTPRET                               
033035,000399: 36,3464           53375                           VLOAD    VAD                                   
033036,000400: 36,3465           03502                                    DELVCTL                               
033037,000401: 36,3466           03525                                    DELVREF                               
033038,000402: 36,3467           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS
033039,000403: 36,3470           77624                           CALL                                           
033040,000404: 36,3471           57266                                    S41.1                                 
033041,000405: 36,3472           03623                           STORE    DELVIMU                               
033042,000406: 36,3473           77776                           EXIT                                           
033043,000407: 36,3474           06042                           TC       SERVCHNG                              
033044,000408: 36,3475           06051                           TC       INTPRET                               
033045,000409: 36,3476           77775                           VLOAD                                          
033046,000410: 36,3477           03656                                    DELVSIN                               
033047,000411: 36,3500           03502                           STORE    DELVCTL                               
033048,000412: 36,3501           77776                           EXIT                                           
033049,000413: 
033050,000414: 36,3502           04635                           TC       POSTJUMP                              
033051,000415: 36,3503           66102                           CADR     SERVEXIT                              
033052,000416: 
033053,000417: 36,3504           33753        P47BOD             CAF      V1683                                 
033054,000418: 36,3505           04616                           TC       BANKCALL                              
033055,000419: 36,3506           20636                           CADR     GOFLASHR                              
033056,000420: 36,3507           06001                           TC       GOTOPOOH                              
033057,000421: 36,3510           06001                           TC       GOTOPOOH                              
033058,000422: 
033059,000423: 36,3511           13513                           TCF      P47BODY                               
033060,000424: 
033061,000425: 36,3512           13235                           TCF      P40PHS1                               
033062,000426: 
033063,000427: 36,3513           06051        P47BODY            TC       INTPRET                               
033064,000428: 36,3514           77775                           VLOAD                                          

Page 746

033066,000430: 36,3515           06520                                    HI6ZEROS                              
033067,000431: 36,3516           03623                           STORE    DELVIMU                               
033068,000432: 36,3517           03502                           STORE    DELVCTL                               
033069,000433: 36,3520           77776                           EXIT                                           
033070,000434: 36,3521           03504                           TC       P47BOD                                
033071,000435: 
033072,000436: 36,3522                                           COUNT*   $$/P40                                
033073,000437: 36,3522           31515        IMPLBURN           CA       TGO        +1                         
033074,000438: 36,3523           03735                           TC       GETDT                                 
033075,000439: 36,3524           05204                           TC       TWIDDLE                               
033076,000440: 36,3525           03542                           ADRES    ENGOFTSK                              
033077,000441: 36,3526           05527                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
033078,000442: 36,3527           00153                           ADRES    IGNFLAG                               
033079,000443: 36,3530           05527                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
033080,000444: 36,3531           00154                           ADRES    ASTNFLAG                              
033081,000445: 36,3532           05527                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033082,000446: 36,3533           00044                           ADRES    IMPULSW                               
033083,000447: 36,3534           05364                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
033084,000448: 36,3535           40114                           OCT      40114                                 
033085,000449: 
033086,000450: 36,3536           05232                           TC       FIXDELAY                              #  WAIT HALF A SECOND
033087,000451: 36,3537           00062                           DEC      50         B-14                       
033088,000452: 
033089,000453: 36,3540           02652                           TC       NOULLAGE                              #  TURN OFF ULLAGE
033090,000454: 
033091,000455: 36,3541           05272                           TC       TASKOVER                              
033092,000456: 
033093,000457: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
033094,000458: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
033095,000459: 36,3544           05272                           TC       TASKOVER                              
033096,000460: 
033097,000461: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
033098,000462: 36,3546           05105                           TC       FINDVAC                               
033099,000463: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
033100,000464: 36,3547           03222 74067                     2CADR    POSTBURN                              
033101,000465: 
033102,000466: 
033103,000467: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
033104,000468: 36,3552           05214                           TC       WAITLIST                              
033105,000469: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
033106,000470: 36,3553           03606 74066                     2CADR    COASTSET                              
033107,000471: 
033108,000472: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
033109,000473: 36,3556           74745                           MASK     IDLEFBIT                              
033110,000474: 36,3557           26103                           ADS      FLAGWRD7                              
033111,000475: 
033112,000476: 36,3560           02652                           TC       NOULLAGE                              
033113,000477: 
033114,000478: 36,3561           00006        ENGINOF4           EXTEND                                         
033115,000479: 36,3562           30025                           DCA      TIME2                                 

Page 747

033117,000481: 36,3563           53342                           DXCH     TEVENT                                
033118,000482: 
033119,000483: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
033120,000484: 36,3565           70101                           MASK     FLAGWRD5                              
033121,000485: 36,3566           54101                           TS       FLAGWRD5                              
033122,000486: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
033123,000487: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
033124,000488: 36,3571           02011                           RAND     DSALMOUT                              
033125,000489: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
033126,000490: 36,3573           00006                           EXTEND                                         
033127,000491: 36,3574           01011                           WRITE    DSALMOUT                              
033128,000492: 
033129,000493: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
033130,000494: 36,3576           74736                           MASK     USEQRJTS                              
033131,000495: 36,3577           26111                           ADS      DAPBOOLS                              
033132,000496: 
033133,000497: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
033134,000498: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
033135,000499: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
033136,000500: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
033137,000501: 36,3604           05014                           WOR      CHAN14                                
033138,000502: 
033139,000503: 36,3605           04707                           TC       ISWRETRN                              
033140,000504: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
033141,000505: 36,3607           40205                           CADR     ALLCOAST                              
033142,000506: 36,3610           05272                           TC       TASKOVER                              
033143,000507: 
033144,000508: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
033145,000509: 36,3611           45020        UPDATEVG           STQ      CALL                                  
033146,000510: 36,3612           03665                                    QTEMP1                                
033147,000511: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
033148,000512: 36,3614           43014        S40RET             BON      BON                                   #  WILL RETURN HERE FROM S40.8
033149,000513: 36,3615           01307                                    XDELVFLG                              
033150,000514: 36,3616           03665                                    QTEMP1                                
033151,000515: 36,3617           03705                                    NORMSW                                
033152,000516: 36,3620           75633                                    180SETUP                              
033153,000517: 36,3621           45345                           DLOAD    DSU                                   
033154,000518: 36,3622           01234                                    PIPTIME                               
033155,000519: 36,3623           03763                                    TIGSAVE                               
033156,000520: 36,3624           50025                           DSU      BMN                                   
033157,000521: 36,3625           03432                                    TNEWA                                 
033158,000522: 36,3626           75656                                    GETRANS                               
033159,000523: 36,3627           43345                           DLOAD    DAD                                   
033160,000524: 36,3630           03763                                    TIGSAVE                               
033161,000525: 36,3631           03432                                    TNEWA                                 
033162,000526: 36,3632           03765                           STORE    TIGSAVEP                              
033163,000527: 36,3633           77776        180SETUP           EXIT                                           
033164,000528: 36,3634           10754                           CCS      PHASE2                                
033165,000529: 36,3635           13663                           TCF      NO.9                                  
033166,000530: 36,3636           34737                           CAF      PRIO10                                

Page 748

033168,000532: 36,3637           00004                           INHINT                                         
033169,000533: 36,3640           05105                           TC       FINDVAC                               
033170,000534: 36,3641  E7,1706                                  EBANK=   VG                                    
033171,000535: 36,3641           02706 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
033172,000536: 
033173,000537: 36,3643           05340                           TC       2PHSCHNG                              
033174,000538: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
033175,000539: 36,3645           04025                           OCT      04025                                 
033176,000540: 36,3646           06051        ENDSTEER           TC       INTPRET                               
033177,000541: 36,3647           77745                           DLOAD                                          
033178,000542: 36,3650           03765                                    TIGSAVEP                              
033179,000543: 36,3651           27763                           STOVL    TIGSAVE                               
033180,000544: 36,3652           01220                                    RN                                    
033181,000545: 36,3653           26314                           STOVL    RINIT                                 
033182,000546: 36,3654           01226                                    VN                                    
033183,000547: 36,3655           02322                           STORE    VINIT                                 
033184,000548: 36,3656           45345        GETRANS            DLOAD    DSU                                   
033185,000549: 36,3657           03631                                    TPASS4                                
033186,000550: 36,3660           01234                                    PIPTIME                               
033187,000551: 36,3661           37452                           STCALL   DELLT4                                
033188,000552: 36,3662           03665                                    QTEMP1                                
033189,000553: 
033190,000554: 36,3663           06051        NO.9               TC       INTPRET                               
033191,000555: 36,3664           77650                           GOTO                                           
033192,000556: 36,3665           03665                                    QTEMP1                                
033193,000557: 36,3666           06051        STEERING           TC       INTPRET                               
033194,000558: 
033195,000559: 36,3667           77624                           CALL                                           
033196,000560: 36,3670           75611                                    UPDATEVG                              
033197,000561: 36,3671           77776                           EXIT                                           
033198,000562: 
033199,000563: 36,3672  E7,1513                                  EBANK=   DVCNTR                                
033200,000564: 36,3672           00004        NSTEER             INHINT                                         
033201,000565: 36,3673           35016                           CA       EBANK7                                
033202,000566: 36,3674           54003                           TS       EBANK                                 
033203,000567: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
033204,000568: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
033205,000569: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
033206,000570: 
033207,000571: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0    EXIT
033208,000572: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1    WHY?  CHECK IDLEFLAG
033209,000573: 36,3702           74745                           MASK     IDLEFBIT                              #      (IDLEFLAG = 0 --> DVMON ON)
033210,000574: 36,3703           10000                           CCS      A                                     
033211,000575: 36,3704           13707                           TCF      +3                                    #  DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
033212,000576: 36,3705           04635        GOPIPCYC           TC       POSTJUMP                              #  DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
033213,000577: 36,3706           66102                           CADR     PIPCYCLE                              
033214,000578: 
033215,000579: 36,3707           04674                           TC       IBNKCALL                              
033216,000580: 36,3710           40166                           CADR     STOPRATE                              
033217,000581: 

Page 749

033219,000583: 36,3711           05527                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
033220,000584: 36,3712           00044                           ADRES    IMPULSW                               
033221,000585: 
033222,000586: 36,3713           05515                           TC       UPFLAG                                
033223,000587: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
033224,000588: 
033225,000589: 36,3715           00004                           INHINT                                         
033226,000590: 36,3716           00006                           EXTEND                                         
033227,000591: 36,3717           31442                           DCA      TIG                                   
033228,000592: 36,3720           52155                           DXCH     MPAC                                  
033229,000593: 36,3721           00006                           EXTEND                                         
033230,000594: 36,3722           40025                           DCS      TIME2                                 
033231,000595: 36,3723           20155                           DAS      MPAC                                  
033232,000596: 36,3724           07271                           TC       TPAGREE                               
033233,000597: 36,3725           30155                           CAE      MPAC       +1                         
033234,000598: 36,3726           03735                           TC       GETDT                                 
033235,000599: 36,3727           05204                           TC       TWIDDLE                               
033236,000600: 36,3730           03542                           ADRES    ENGOFTSK                              
033237,000601: 36,3731           05340                           TC       2PHSCHNG                              
033238,000602: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
033239,000603: 36,3733           04025                           OCT      04025                                 
033240,000604: 36,3734           13705                           TCF      GOPIPCYC                              
033241,000605: 
033242,000606: 36,3735           10000        GETDT              CCS      A                                     
033243,000607: 36,3736           13741                           TCF      +3                                    
033244,000608: 36,3737           13741                           TCF      +2                                    
033245,000609: 36,3740           34755                           CAF      ZERO                                  
033246,000610: 36,3741           64753                           AD       ONE                                   
033247,000611: 36,3742           56001                           XCH      L                                     
033248,000612: 36,3743           34755                           CAF      ZERO                                  
033249,000613: 36,3744           53515                           DXCH     TGO                                   
033250,000614: 36,3745           31515                           CA       TGO        +1                         
033251,000615: 36,3746           00002                           TC       Q                                     
033252,000616: 
033253,000617: 
033254,000618:                                                                                                  #  ************************************************************************
033255,000619: 
033256,000620: 36,3747           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
033257,000621: 36,3750           00764        5SEC               DEC      500        B-14                       
033258,000622: 36,3751           04050        V16N40             VN       1640                                  
033259,000623: 36,3752           04125        V16N85B            VN       1685                                  
033260,000624: 36,3753           04123        V1683              VN       1683                                  
033261,000625: 36,3754     4777               SEC01              =        1SEC                                  
033262,000626: 36,3754  36,2057               ACADN85            =        P41TABLE   +2                         
033263,000627: 
033264,000628: 36,3754  E7,1622                                  EBANK=   DELVIMU                               
033265,000629: 36,3754           03463 74067  ACADN83            2CADR    CALCN83                               
033266,000630: 
033267,000631:                                                                                                  #  *************************************************
033268,000632: 

Page 750

033270,000634:                                                                                                  #  PROGRAM DESCRIPTION S40.1       DATE15NOV66
033271,000635:                                                                                                  #  MOD N02         LOG SECTION  P40-P47
033272,000636:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
033273,000637:                                                                                                  #  FUNCTIONAL DESCRIPTION
033274,000638:                                                                                                  #           COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
033275,000639:                                                                                                  #           VECTOR(VGTIG).
033276,000640:                                                                                                  #  CALLING SEQUENCE
033277,000641:                                                                                                  #         L CALL
033278,000642:                                                                                                  #       L+1        S40.1
033279,000643:                                                                                                  #  NORMAL EXIT MODE
033280,000644:                                                                                                  #           AT L+2 OF CALLING SEQUENCE (GOTO L+2)  NORMAL RETURN OR
033281,000645:                                                                                                  #           ERROR RETURN IF NOSOFLAG =1
033282,000646:                                                                                                  #  SUBROUTINES CALLED
033283,000647:                                                                                                  #           LEMPREC
033284,000648:                                                                                                  #           INITVEL
033285,000649:                                                                                                  #           CALCGRAV
033286,000650:                                                                                                  #           MIDGIM
033287,000651:                                                                                                  #  ALARM OR ABORT EXIT MODES
033288,000652:                                                                                                  #       L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
033289,000653:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
033290,000654:                                                                                                  #                  WEIGHT/G  ANTICIPATED VEHICLE MASS         DP  B16KGM
033291,000655:                                                                                                  #           XDELVFLG       1=DELTA-V MANEUVER,0=AIMPT STEER
033292,000656:                                                                                                  #            F         THRUST FOR ENGINE USED
033293,000657:                                                                                                  #        IF DELTA-V MANEUVER
033294,000658:                                                                                                  #           DELVSIN   SPECIFIED DELTA-V REQUIRED IN
033295,000659:                                                                                                  #                     INERTIAL COORDS. OF ACTIVE VEHICLE
033296,000660:                                                                                                  #                     AT TIME OF IGNITION                 VECTOR B7M/CS
033297,000661:                                                                                                  #           DELVSAB   MAG. OF DELVSIN                     DP     B7M/CS
033298,000662:                                                                                                  #           RTIG      POSITION AT TIME OF IGNITION       VECTOR B29M
033299,000663:                                                                                                  #           VTIG      VELOCITY AT TIME OF IGNITION       VECTOR B7M/CS
033300,000664:                                                                                                  #        IF AIMPT STEER
033301,000665:                                                                                                  #           TIG       TIME OF IGNITION                    DP     B28CS
033302,000666:                                                                                                  #           RTARG     POSITION TARGET TIME               VECTOR B29M
033303,000667:                                                                                                  #           CSTEER    C FOR STEER LAW                     DP     B2
033304,000668:                                                                                                  #           DLTARG    TARGET TIME-IGNITION TIME          DP     B28CS
033305,000669:                                                                                                  #  OUTPUT
033306,000670:                                                                                                  #        UT           DESIRED THRUST DIRECTION            VECT. B2M/(CS.CS)
033307,000671:                                                                                                  #        VGTIG        INITIAL VALUE OF VELOCITY
033308,000672:                                                                                                  #                     TO BE GAINED (INERT. COORD.)        VECTOR B7M/CS
033309,000673:                                                                                                  #        DELVLVC      VGTIG IN LOC. VERT. COORDS.                B7M/CS
033310,000674:                                                                                                  #           BDT   V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
033311,000675:                                                                                                  #           -GDT  FOR S40.13                                   VECT  B7M/CS
033312,000676:                                                                                                  #        RTIG         CALC IN S40.1B(AIMPT) FOR S40.2,3  VECTOR B29M
033313,000677:                                                                                                  #                     POSITION AT TIME OF IGNITION
033314,000678:                                                                                                  #  DEBRIS      QTEMP1
033315,000679:                                                                                                  #        MPAC, QPRET
033316,000680:                                                                                                  #        PUSHLIST
033317,000681: 14,2347                                           BANK     14                                    
033318,000682: 27,2000                                           SETLOC   P40S1                                 
033319,000683: 27,2000                                           BANK                                           
033320,000684: 

Page 751

033322,000686: 27,2246                                           COUNT*   $$/S40.1                              
033323,000687: 27,2246           71220        S40.1              STQ      DLOAD                                 
033324,000688: 27,2247           03632                                    QTEMP                                 
033325,000689: 27,2250           03442                                    TIG                                   
033326,000690: 27,2251           03763                           STORE    TIGSAVE                               
033327,000691: 27,2252           77614        DELVTEST           BOFF                                           
033328,000692: 27,2253           01347                                    XDELVFLG                              
033329,000693: 27,2254           56336                                    S40.1B                                
033330,000694: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
033331,000695: 27,2256           00001                                    0                                     
033332,000696: 27,2257           03650                                    VTIG                                  
033333,000697: 27,2260           02322                           STORE    VINIT                                 
033334,000698: 27,2261           53435                           VXV      UNIT                                  
033335,000699: 27,2262           03642                                    RTIG                                  
033336,000700: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
033337,000701: 27,2264           03642                                    RTIG                                  
033338,000702: 27,2265           02314                           STORE    RINIT                                 
033339,000703: 27,2266           65236                           VSQ      PDDL                                  
033340,000704: 27,2267           00045                                    36D                                   
033341,000705: 27,2270           56205                           DMP      DDV                                   
033342,000706: 27,2271           16412                                    THETACON                              
033343,000707: 27,2272           41205                           DMP      DMP                                   
033344,000708: 27,2273           03664                                    DELVSAB                               
033345,000709: 27,2274           01246                                    WEIGHT/G                              
033346,000710: 27,2275           77671                           DDV                                            
033347,000711: 27,2276           03735                                    F                                     
033348,000712: 27,2277           24017                           STOVL    14D                                   
033349,000713: 27,2300           03656                                    DELVSIN                               
033350,000714: 
033351,000715: 27,2301           74241                           DOT      VXSC                                  
033352,000716: 27,2302           03673                                    UT                                    
033353,000717: 27,2303           03673                                    UT                                    
033354,000718: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
033355,000719: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
033356,000720: 27,2306           03656                                    DELVSIN                               
033357,000721: 27,2307           00017                                    14D                                   
033358,000722: 27,2310           63356                           SIN      PDVL                                  
033359,000723: 27,2311           00007                                    6D                                    
033360,000724: 27,2312           53435                           VXV      UNIT                                  
033361,000725: 27,2313           03673                                    UT                                    
033362,000726: 27,2314           45561                           VXSC     STADR                                 
033363,000727: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
033364,000728: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
033365,000729: 27,2317           00017                                    14D                                   
033366,000730: 27,2320           74346                           COS      VXSC                                  
033367,000731: 27,2321           74255                           VAD      VXSC                                  
033368,000732: 27,2322           03701                                    VGTIG                                 
033369,000733: 27,2323           00045                                    36D                                   
033370,000734: 27,2324           53352                           VSL2     VAD                                   
033371,000735: 27,2325           77626                           STADR                                          

Page 752

033373,000737: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7)M/CS
033374,000738: 
033375,000739: 27,2327           77656                           UNIT                                           
033376,000740: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
033377,000741: 27,2331           03701                                    VGTIG                                 
033378,000742: 27,2332           45006                           PUSH     CALL                                  
033379,000743: 27,2333           15741                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
033380,000744: 27,2334           77650                           GOTO                                           
033381,000745: 27,2335           03632                                    QTEMP                                 
033382,000746: 27,2336           77745        S40.1B             DLOAD                                          
033383,000747: 27,2337           03442                                    TIG                                   
033384,000748: 27,2340           00041                           STORE    TDEC1                                 
033385,000749: 27,2341           77621                           BDSU                                           
033386,000750: 27,2342           03631                                    TPASS4                                
033387,000751: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
033388,000752: 27,2344           27056                                    LEMPREC                               
033389,000753: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
033390,000754: 27,2346           00001                                    RATT                                  
033391,000755: 27,2347           00001                                    0                                     
033392,000756: 27,2350           03642                           STORE    RTIG                                  
033393,000757: 27,2351           02314                           STORE    RINIT                                 
033394,000758: 27,2352           77656                           UNIT                                           
033395,000759: 27,2353           27535                           STOVL    UNIT/R/                               
033396,000760: 27,2354           00007                                    VATT                                  
033397,000761: 27,2355           03650                           STORE    VTIG                                  
033398,000762: 27,2356           02322                           STORE    VINIT                                 
033399,000763: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
033400,000764: 27,2360           06520                                    ZEROVECS                              
033401,000765: 27,2361           16406                                    EPS1                                  
033402,000766: 27,2362           43214                           BOFF     DAD                                   
033403,000767: 27,2363           03745                                    NORMSW                                
033404,000768: 27,2364           56366                                    SMALLEPS                              
033405,000769: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
033406,000770: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
033407,000771: 27,2367           02776                                    RTX1                                  
033408,000772: 27,2370           45134                           SXA,2    CALL                                  
033409,000773: 27,2371           02777                                    RTX2                                  
033410,000774: 27,2372           22000                                    INITVEL                               
033411,000775: 27,2373           41575                           VLOAD    PUSH                                  
033412,000776: 27,2374           02357                                    DELVEET3                              #  VGTIG = VR - VN.
033413,000777: 27,2375           03701                           STORE    VGTIG                                 
033414,000778: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
033415,000779: 27,2377           17673                           STODL    UT                                    
033416,000780: 27,2400           00045                                    36D                                   
033417,000781: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
033418,000782: 27,2402           15741                                    GET.LVC                               #  VERTICAL COORDINATES.
033419,000783: 27,2403           77650                           GOTO                                           
033420,000784: 27,2404           03632                                    QTEMP                                 
033421,000785: 
033422,000786: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
033423,000787: 

Page 753

033425,000789: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
033426,000790: 
033427,000791: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
033428,000792: 

Page 754

033430,000794:                                                                                                  #  SUBROUTINE NAME: S40.2,3        MOD. NO. 3 DATE: APRIL 4, 1967
033431,000795: 
033432,000796:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033433,000797: 
033434,000798:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967:  PETER ADLER (MIT/IL)
033435,000799: 
033436,000800:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
033437,000801: 
033438,000802:                                                                                                  #  ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
033439,000803: 
033440,000804:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
033441,000805:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
033442,000806:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
033443,000807:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
033444,000808:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
033445,000809: 
033446,000810: 
033447,000811:                                                                                                  #  CALLING SEQUENCE:
033448,000812:                                                                                                  #                                          L        CALL                   INTERPRETIVE CALL.
033449,000813:                                                                                                  #                                          L +1            S40.2,3
033450,000814:                                                                                                  #                                          L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
033451,000815: 
033452,000816:                                                                                                  #  SUBROUTINES CALLED:  NONE.
033453,000817: 
033454,000818:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
033455,000819: 
033456,000820:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033457,000821: 
033458,000822:                                                                                                  #  INPUT:
033459,000823: 
033460,000824:                                                                                                  #           1. REFSMMAT            MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
033461,000825:                                                                                                  #           2. UT                  HALF-UNIT DESIRED THRUST DIRECTION.
033462,000826:                                                                                                  #           3. RTIG                POSITION AT TIG IN REFERENCE COORDINATES.
033463,000827: 
033464,000828:                                                                                                  #  OUTPUT:
033465,000829: 
033466,000830:                                                                                                  #           1. : XSCREF :          WINGS-LEVEL HEADS-UP LM ORIENTATION
033467,000831:                                                                                                  #              : YSCREF :          IN REFERENCE COORDINATES
033468,000832:                                                                                                  #              : ZSCREF :          (PREFERRED IMU ORIENTATION).
033469,000833:                                                                                                  #           2. POINTVSM            DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
033470,000834:                                                                                                  #           3. SCAXIS              HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
033471,000835:                                                                                                  #           4. PFRATFLG            INTERPRETIVE FLAG.  ON:  PREFERRED ORIENTATION COMPUTED; OFF:  NOT COMPUTED.
033472,000836: 
033473,000837:                                                                                                  #  DEBRIS:  NONE.
033474,000838: 

Page 755

033476,000840: 27,2413                                           COUNT*   $$/S40.2                              
033477,000841: 27,2413           77775        S40.2,3            VLOAD                                          #  UT: DESIRED THRUST DIRECTION (HALF-UNIT)
033478,000842: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
033479,000843: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
033480,000844: 27,2416           01732                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
033481,000845: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
033482,000846: 27,2420           06516                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
033483,000847: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
033484,000848: 
033485,000849: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
033486,000850: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
033487,000851: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
033488,000852: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
033489,000853: 27,2426           46125                           PDDL     BHIZ                                  
033490,000854: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
033491,000855: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
033492,000856: 27,2431           45575        STORY              VLOAD    STADR                                 
033493,000857: 27,2432           74162                           STORE    YSCREF                                
033494,000858: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
033495,000859: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
033496,000860: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
033497,000861: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
033498,000862: 
033499,000863: 27,2437           43414                           SET      RVQ                                   
033500,000864: 27,2440           01073                                    PFRATFLG                              
033501,000865: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
033502,000866: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
033503,000867: 27,2443           03650                                    VTIG                                  
033504,000868: 27,2444           41456                           UNIT     PUSH                                  
033505,000869: 27,2445           77650                           GOTO                                           
033506,000870: 27,2446           56431                                    STORY                                 
033507,000871: 

Page 756

033509,000873:                                                                                                  #  SUBROUTINE S40.8
033510,000874: 
033511,000875:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER   MIT/IL
033512,000876: 
033513,000877:                                                                                                  #  DESCRIPTION
033514,000878: 
033515,000879:                                                                                                  #       S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
033516,000880:                                                                                                  #  USING THE BDT VECTOR)  COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
033517,000881:                                                                                                  #  "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE DAP.
033518,000882: 
033519,000883:                                                                                                  #  CALLING SEQUENCE
033520,000884: 
033521,000885:                                                                                                  #  L-1      CALL
033522,000886:                                                                                                  #  L               S40.8
033523,000887:                                                                                                  #  L+1                      INTERPRETIVE RETURN
033524,000888: 
033525,000889:                                                                                                  #  ALARM
033526,000890: 
033527,000891:                                                                                                  #       IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
033528,000892:                                                                                                  #  AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
033529,000893: 
033530,000894:                                                                                                  #  INPUT AND INITIALIZATION
033531,000895: 
033532,000896:                                                                                                  #  VGPREV          REFERENCE       2(7) M/CS
033533,000897:                                                                                                  #  DELVREF         REFERENCE       2(7) M/CS
033534,000898:                                                                                                  #  BDT             REFERENCE       2(7) M/CS
033535,000899:                                                                                                  #  TDECAY          TAIL-OFF TIME   2(28)  CS
033536,000900:                                                                                                  #  XDELVFLG        1 = EXTERNAL DELTA-V;  0 = LAMBERT (AIMPOINT)
033537,000901:                                                                                                  #  STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
033538,000902:                                                                                                  #  FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE;  0 = HAVEN'T GONE TO LAMBERT YET
033539,000903: 
033540,000904:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
033541,000905: 
033542,000906:                                                                                                  #  OUTPUT
033543,000907: 
033544,000908:                                                                                                  #  STEERSW         SEE INPUT
033545,000909:                                                                                                  #  IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS;  0 = CONTINUE BURN
033546,000910:                                                                                                  #  TGO             TIME TO CUT-OFF 2(28)   CS
033547,000911:                                                                                                  #  SEE FINDCDUW FOR STEERING OUTPUTS.
033548,000912: 
033549,000913:                                                                                                  #  SUBROUTINE CALLED
033550,000914: 
033551,000915:                                                                                                  #       FINDCDUW
033552,000916: 
033553,000917:                                                                                                  #  DEBRIS
033554,000918: 
033555,000919:                                                                                                  #       MPACS, PUSHLIST
033556,000920: 
033557,000921: 27,2447                                           COUNT*   $$/S40.8                              

Page 757

033559,000923: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
033560,000924: 27,2450           01347                                    XDELVFLG                              
033561,000925: 27,2451           56730                                    RASTEER1                              
033562,000926: 27,2452           52375                           VLOAD    VSU                                   
033563,000927: 27,2453           03701                                    VGPREV                                
033564,000928: 27,2454           03525                                    DELVREF                               
033565,000929: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7)M/CS
033566,000930: 27,2456           76521                           MXV      VSL1                                  
033567,000931: 27,2457           01732                                    REFSMMAT                              
033568,000932: 27,2460           03253                           STORE    UNFC/2                                
033569,000933: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
033570,000934: 27,2462           03707                                    VG                                    
033571,000935: 27,2463           03664                           STORE    VGDISP                                
033572,000936: 27,2464           77776                           EXIT                                           
033573,000937: 27,2465           06042                           TC       SERVCHNG                              
033574,000938: 27,2466           06051                           TC       INTPRET                               
033575,000939: 27,2467           77201        TGDCALC            SETPD    VLOAD                                 
033576,000940: 27,2470           00001                                    0                                     
033577,000941: 27,2471           03707                                    VG                                    
033578,000942: 27,2472           27701                           STOVL    VGPREV                                
033579,000943: 27,2473           03525                                    DELVREF                               
033580,000944: 27,2474           57414                           BOFF     VCOMP                                 
033581,000945: 27,2475           01344                                    STEERSW                               
033582,000946: 27,2476           75614                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033583,000947: 27,2477           77656                           UNIT                                           
033584,000948: 27,2500           41441                           DOT      PUSH                                  
033585,000949: 27,2501           03707                                    VG                                    
033586,000950: 27,2502           56244                           BPL      DDV                                   
033587,000951: 27,2503           51634                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
033588,000952: 27,2504           03743                                    VEX                                   
033589,000953: 27,2505           41215                           DAD      DMP                                   
033590,000954: 27,2506           06516                                    DPHALF                                
033591,000955: 27,2507           56261                           SR       DDV                                   
033592,000956: 27,2510           20613                                    10D                                   
033593,000957: 27,2511           00045                                    36D                                   
033594,000958: 27,2512           43205                           DMP      DAD                                   
033595,000959: 27,2513           16532                                    -FOURDT                               
033596,000960: 27,2514           03741                                    TDECAY                                
033597,000961: 27,2515           03515                           STORE    TGO                                   
033598,000962: 27,2516           77615                           DAD                                            
033599,000963: 27,2517           01234                                    PIPTIME                               
033600,000964: 27,2520           17442                           STODL    TIG                                   
033601,000965: 27,2521           03515                                    TGO                                   
033602,000966: 27,2522           51025                           DSU      BPL                                   
033603,000967: 27,2523           16534                                    FOURSECS                              #  400 CS
033604,000968: 27,2524           51640                                    GOFIND                                #  CALL TO FINDCDUW -2
033605,000969: 27,2525           43014                           SET      CLRGO                                 
033606,000970: 27,2526           01066                                    IMPULSW                               
033607,000971: 27,2527           01224                                    STEERSW                               
033608,000972: 27,2530           75614                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033609,000973: 

Page 758

033611,000975: 24,3634                                           BANK     24                                    
033612,000976: 24,2000                                           SETLOC   S40BNK                                
033613,000977: 24,2000                                           BANK                                           
033614,000978: 
033615,000979: 24,3634           77776        ALARMIT            EXIT                                           
033616,000980: 24,3635           05600                           TC       ALARM                                 
033617,000981: 24,3636           01407                           OCT      01407                                 #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
033618,000982: 24,3637           06051                           TC       INTPRET                               
033619,000983: 24,3640           77624        GOFIND             CALL                                           
033620,000984: 24,3641           61073                                    FINDCDUW   -2                         
033621,000985: 24,3642           77650                           GOTO                                           
033622,000986: 24,3643           75614                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
033623,000987: 
033624,000988: 27,2531                                           BANK     27                                    
033625,000989: 27,2000                                           SETLOC   P40S1                                 
033626,000990: 27,2000                                           BANK                                           
033627,000991: 
033628,000992: 27,2531           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.)  B (-18)
033629,000993: 
033630,000994: 27,2533           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
033631,000995: 
033632,000996: 27,2535  E7,1742               2VEXHUST           =        VEX                                   
033633,000997: 

Page 759

033635,000999:                                                                                                  #  NAME     S40.13 - TIMEBURN
033636,001000:                                                                                                  #  FUNCTION        (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033637,001001:                                                                                                  #                  BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033638,001002:                                                                                                  #                  SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033639,001003:                                                                                                  #                  BURN
033640,001004:                                                                                                  #                  (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033641,001005:                                                                                                  #                  IS SHORT --  AND THE ASSOCIATED TIME OF THE ENGINE OFF
033642,001006:                                                                                                  #                  SIGNAL
033643,001007:                                                                                                  #  CALLING SEQUENCE  VIA FINDVAC AS A NEW JOB
033644,001008:                                                                                                  #  INPUT           VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033645,001009:                                                                                                  #                  WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033646,001010:                                                                                                  #                  F  APS ENGINE THRUST IN M.NEWTONS AT +7
033647,001011:                                                                                                  #                  AND ALSO FOR RCS ENGINE
033648,001012:                                                                                                  #                  MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033649,001013:                                                                                                  #                  BURN IN KILOGRAMS/CS  AT +3 . THIS SCALING MAY
033650,001014:                                                                                                  #                  REQUIRE MODIFICATION FOR SATURN BURNS.
033651,001015:                                                                                                  #           ENG1FLAG     SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033652,001016:                                                                                                  #                   =0   DPS
033653,001017:                                                                                                  #                   =1   APS
033654,001018:                                                                                                  #  OUTPUT          IMPULSW  ZERO FOR STEERING
033655,001019:                                                                                                  #                           ONE FOR ATTITUDE HOLD
033656,001020:                                                                                                  #                  NOTHROTL  ZERO FOR THROTTLING
033657,001021:                                                                                                  #                            ONE  TO INHIBIT THROTTLING
033658,001022:                                                                                                  #                  TGO  TIME TO BURN IN CS
033659,001023:                                                                                                  #           THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033660,001024:                                                                                                  #                  FORCE
033661,001025: 
033662,001026: 27,2535  E7,1514                                  EBANK=   TGO                                   
033663,001027: 27,2535                                           COUNT*   $$/40.13                              
033664,001028: 27,2535           06051        S40.13             TC       INTPRET                               
033665,001029: 27,2536           43001                           SETPD    CLEAR                                 
033666,001030: 27,2537           00001                                    00D                                   
033667,001031: 27,2540           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
033668,001032: 27,2541           51575                           VLOAD    ABVAL                                 
033669,001033: 27,2542           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
033670,001034: 27,2543           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
033671,001035: 27,2544           16705                                    6.5SECS                               #  CORRECT VG FOR 6.5 SECONDS OF ULLAGE
033672,001036: 27,2545           34017                                    FRCS4                                 #  ASSUME 4 JET ULLAGE
033673,001037: 27,2546           72471                           DDV      SL1                                   #  SCALE
033674,001038: 27,2547           01246                                    WEIGHT/G                              
033675,001039: 27,2550           41421                           BDSU     PUSH                                  
033676,001040: 27,2551           43014                           BOFF     SET                                   
033677,001041: 27,2552           05342                                    APSFLAG                               
033678,001042: 27,2553           56623                                    S40.13D                               #  FOR DPS ENGINE
033679,001043: 27,2554           02463                                    NOTHROTL                              
033680,001044: 27,2555           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033681,001045: 27,2556           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
033682,001046: 27,2557           01246                                    WEIGHT/G                              
033683,001047: 27,2560           50021                           BDSU     BMN                                   

Page 760

033685,001049: 27,2561           00001                                    00D                                   
033686,001050: 27,2562           56605                                    S40.131                               #  TGO LESS THAN 100 CS
033687,001051: 27,2563           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033688,001052: 27,2564           03737                                    MDOT                                  
033689,001053: 
033690,001054:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033691,001055:                                                                                                  #  BURN IN KILOGRAMS/CS .  WHEN  SATURN IS USED , THE SCALING MAY
033692,001056:                                                                                                  #  REQUIRE ADJUSTMENT
033693,001057: 
033694,001058: 27,2565           16675                                    3.5SEC                                #  350 CS AT +14
033695,001059: 27,2566           65221                           BDSU     PDDL                                  
033696,001060: 27,2567           01246                                    WEIGHT/G                              
033697,001061: 27,2570           03735                                    F                                     
033698,001062: 27,2571           60405                           DMP      SR2                                   #  SCALE
033699,001063: 27,2572           16677                                    5SECS                                 
033700,001064: 27,2573           41471                           DDV      PUSH                                  #  04D = TEMP2
033701,001065: 27,2574           51021                           BDSU     BPL                                   
033702,001066: 27,2575           00003                                    02D                                   
033703,001067: 27,2576           56623                                    S40.13D                               
033704,001068: 27,2577           55345                           DLOAD    BDDV                                  
033705,001069: 27,2600           43205                           DMP      DAD                                   
033706,001070: 27,2601           16677                                    5SECS                                 
033707,001071: 27,2602           16673                                    1SEC2D                                #  100 CS AT +14
033708,001072: 27,2603           77650                           GOTO                                           
033709,001073: 27,2604           56613                                    S40.132                               
033710,001074: 27,2605           41345        S40.131            DLOAD    DMP                                   
033711,001075: 27,2606           01246                                    WEIGHT/G                              
033712,001076: 27,2607           41542                           SR1      PUSH                                  
033713,001077: 27,2610           56215                           DAD      DDV                                   
033714,001078: 27,2611           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
033715,001079: 27,2612           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
033716,001080: 27,2613           77414        S40.132            SET      EXIT                                  
033717,001081: 27,2614           01066                                    IMPULSW                               
033718,001082: 27,2615           07271        S40.132*           TC       TPAGREE                               
033719,001083: 27,2616           30154                           CA       MPAC                                  
033720,001084: 27,2617           56001                           XCH      L                                     
033721,001085: 27,2620           34755                           CA       ZERO                                  
033722,001086: 27,2621           53515                           DXCH     TGO                                   
033723,001087: 27,2622           12645                           TCF      S40.134                               
033724,001088: 
033725,001089: 27,2623           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033726,001090: 27,2624           00001                                    00D                                   
033727,001091: 27,2625           01246                                    WEIGHT/G                              
033728,001092: 27,2626           43006                           PUSH     BON                                   
033729,001093: 27,2627           05302                                    APSFLAG                               
033730,001094: 27,2630           56666                                    APSTGO                                
033731,001095: 27,2631           43071                           DDV      CLEAR                                 
033732,001096: 27,2632           16007                                    S40.136                               
033733,001097: 27,2633           02663                                    NOTHROTL                              
033734,001098: 27,2634           41400                           BOV      PUSH                                  

Page 761

033736,001100: 27,2635           56650                                    S40.130V                              
033737,001101: 27,2636           51025        S40.137            DSU      BPL                                   
033738,001102: 27,2637           16701                                    6SEC                                  #  600.0 CS AT +14
033739,001103: 27,2640           56656                                    S40.138                               
033740,001104: 27,2641           52015                           DAD      GOTO                                  
033741,001105: 27,2642           16701                                    6SEC                                  
033742,001106: 27,2643           56613                                    S40.132                               
033743,001107: 27,2644           77776        S40.133            EXIT                                           
033744,001108: 27,2645           05364        S40.134            TC       PHASCHNG                              
033745,001109: 27,2646           00003                           OCT      00003                                 
033746,001110: 27,2647           05155                           TC       ENDOFJOB                              
033747,001111: 27,2650           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033748,001112: 27,2651           77671                           DDV                                            
033749,001113: 27,2652           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033750,001114: 27,2653           03515                           STORE    TGO                                   
033751,001115: 27,2654           77776                           EXIT                                           
033752,001116: 27,2655           12645                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033753,001117: 
033754,001118: 27,2656           51025        S40.138            DSU      BPL                                   
033755,001119: 27,2657           16703                                    89SECS                                
033756,001120: 27,2660           56663                                    STORETGO                              
033757,001121: 27,2661           77614                           SET                                            
033758,001122: 27,2662           02463                                    NOTHROTL                              
033759,001123: 27,2663           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033760,001124: 27,2664           77776                           EXIT                                           
033761,001125: 27,2665           12615                           TCF      S40.132*                              
033762,001126: 
033763,001127: 27,2666           62471        APSTGO             DDV      SL2                                   
033764,001128: 27,2667           34007                                    FAPS                                  
033765,001129: 27,2670           77650                           GOTO                                           
033766,001130: 27,2671           56664                                    STORETGO   +1                         
033767,001131: 27,2672           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033768,001132: 
033769,001133: 27,2674           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033770,001134: 
033771,001135: 27,2676           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033772,001136: 
033773,001137: 27,2700           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033774,001138: 
033775,001139: 27,2702           21304 00000  89SECS             2DEC     8900.0     B-14                       
033776,001140: 
033777,001141: 27,2704           00121 10000  6.5SECS            2DEC     650.       B-17                       #  ASSUME 6.5 SECONDS OF ULLAGE
033778,001142: 
033779,001143:                                                                                                  #  FUNCTION    (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033780,001144:                                                                                                  #              VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033781,001145:                                                                                                  #              COMPUTATION CYCLES (4 SECONDS).
033782,001146:                                                                                                  #              (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033783,001147:                                                                                                  #              CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033784,001148:                                                                                                  #              THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033785,001149:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.

Page 762

033787,001151:                                                                                                  #  INPUT       RN       - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033788,001152:                                                                                                  #              VN       - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
033789,001153:                                                                                                  #              VRPREV   - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033790,001154:                                                                                                  #                         METERS/CS AT +7.
033791,001155:                                                                                                  #              TIG      - TIME OF IGNITION IN CS AT +28.
033792,001156:                                                                                                  #              DLTARG   - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033793,001157:                                                                                                  #              PIPTIME  - TIME OF RN AND VN IN CS AT +28.
033794,001158:                                                                                                  #              GDT/2    - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033795,001159:                                                                                                  #                         ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033796,001160:                                                                                                  #              DELVREF  - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033797,001161:                                                                                                  #                         METERS/CS AT +7.
033798,001162:                                                                                                  #  OUTPUT      VGPREV   - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033799,001163:                                                                                                  #              VGDISP   - MAG OF VGPREV FOR DISPLAY PURPOSES.
033800,001164:                                                                                                  #              VRPREV   - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033801,001165:                                                                                                  #              BDT      - B VECTOR IN METERS/CS AT +7.
033802,001166:                                                                                                  #  SUBROUTINES USED  -  INITVEL
033803,001167: 27,2706  E7,1700                                  EBANK=   VGPREV                                
033804,001168: 27,2706                                           COUNT*   $$/S40.9                              
033805,001169: 27,2706           06051        S40.9              TC       INTPRET                               
033806,001170: 27,2707           77601                           SETPD                                          
033807,001171: 27,2710           00001                                    00D                                   
033808,001172: 27,2711           71214                           SET      DLOAD                                 
033809,001173: 27,2712           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033810,001174: 27,2713           06520                                    HI6ZEROS                              
033811,001175: 27,2714           77725                           PDDL                                           
033812,001176: 27,2715           16406                                    EPS1                                  
033813,001177: 27,2716           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033814,001178: 27,2717           03745                                    NORMSW                                
033815,001179: 27,2720           56722                                    EPSSMALL                              
033816,001180: 27,2721           16410                                    EPS2                                  
033817,001181: 27,2722           45006        EPSSMALL           PUSH     CALL                                  
033818,001182: 27,2723           22002                                    HAVEGUES                              
033819,001183: 27,2724           77776        ENDS40.9           EXIT                                           
033820,001184: 27,2725           05364                           TC       PHASCHNG                              
033821,001185: 27,2726           00002                           OCT      2                                     
033822,001186: 27,2727           15155                           TCF      ENDOFJOB                              
033823,001187: 
033824,001188: 
033825,001189: 27,2730           51575        RASTEER1           VLOAD    ABVAL                                 
033826,001190: 27,2731           01220                                    RN                                    
033827,001191: 27,2732           53744                           LXC,2    SL*                                   
033828,001192: 27,2733           02777                                    RTX2                                  
033829,001193: 27,2734           57576                                    0,2                                   
033830,001194: 27,2735           27715                           STOVL    RMAG                                  
033831,001195: 27,2736           03444                                    RTARG                                 
033832,001196: 27,2737           47051                           VSU      RTB                                   
033833,001197: 27,2740           01220                                    RN                                    
033834,001198: 27,2741           21706                                    NORMUNX1                              
033835,001199: 27,2742           17656                           STODL    IC                                    
033836,001200: 27,2743           00045                                    36D                                   #  C(36D) = ABVAL(C)

Page 763

033838,001202: 27,2744           53674                           XAD,2    SL*                                   
033839,001203: 27,2745           00046                                    X1                                    
033840,001204: 27,2746           57576                                    0,2                                   
033841,001205: 27,2747           00037                           STORE    30D                                   
033842,001206: 27,2750           41301                           NORM     DMP                                   
033843,001207: 27,2751           00050                                    X2                                    
033844,001208: 27,2752           03715                                    RMAG                                  
033845,001209: 27,2753           57101                           NORM     XAD,2                                 
033846,001210: 27,2754           00047                                    X1                                    
033847,001211: 27,2755           00046                                    X1                                    
033848,001212: 27,2756           77734                           SXA,2                                          
033849,001213: 27,2757           03766                                    MUSCALE                               
033850,001214: 27,2760           17725                           STODL    R1C                                   #                          2(+58 -X)
033851,001215: 27,2761           00037                                    30D                                   
033852,001216: 27,2762           65342                           SR1      PDDL                                  
033853,001217: 27,2763           03715                                    RMAG                                  
033854,001218: 27,2764           65342                           SR1      PDDL                                  
033855,001219: 27,2765           03723                                    RTMAG                                 
033856,001220: 27,2766           43342                           SR1      DAD                                   
033857,001221: 27,2767           45415                           DAD      STADR                                 
033858,001222: 27,2770           74044                           STORE    SS                                    #  SS = (R1 + R2 +C )/2
033859,001223: 27,2771           41225                           DSU      DMP                                   
033860,001224: 27,2772           00037                                    30D                                   
033861,001225: 27,2773           03721                                    MU/A                                  
033862,001226: 27,2774           77621                           BDSU                                           
033863,001227: 27,2775           03717                                    MUASTEER                              
033864,001228: 27,2776           45325                           PDDL     DSU                                   
033865,001229: 27,2777           03733                                    SS                                    
033866,001230: 27,3000           03715                                    RMAG                                  
033867,001231: 27,3001           70501                           NORM     SR1                                   
033868,001232: 27,3002           00047                                    X1                                    
033869,001233: 27,3003           41271                           DDV      DMP                                   
033870,001234: 27,3004           03725                                    R1C                                   
033871,001235: 27,3005           53664                           XSU,2    SL*                                   
033872,001236: 27,3006           00046                                    X1                                    
033873,001237: 27,3007           57575                                    1,2                                   
033874,001238: 27,3010           77754                           LXA,2                                          
033875,001239: 27,3011           03766                                    MUSCALE                               
033876,001240: 27,3012           75366                           SQRT     SIGN                                  
033877,001241: 27,3013           02673                                    GEOMSGN                               
033878,001242: 27,3014           00041                           STORE    32D                                   #  + OR - A
033879,001243: 27,3015           41345                           DLOAD    DMP                                   
033880,001244: 27,3016           03733                                    SS                                    
033881,001245: 27,3017           03721                                    MU/A                                  
033882,001246: 27,3020           77621                           BDSU                                           
033883,001247: 27,3021           03717                                    MUASTEER                              
033884,001248: 27,3022           45325                           PDDL     DSU                                   
033885,001249: 27,3023           03733                                    SS                                    
033886,001250: 27,3024           03723                                    RTMAG                                 
033887,001251: 27,3025           70501                           NORM     SR1                                   

Page 764

033889,001253: 27,3026           00047                                    X1                                    
033890,001254: 27,3027           41271                           DDV      DMP                                   
033891,001255: 27,3030           03725                                    R1C                                   
033892,001256: 27,3031           53664                           XSU,2    SL*                                   
033893,001257: 27,3032           00046                                    X1                                    
033894,001258: 27,3033           57575                                    1,2                                   
033895,001259: 27,3034           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033896,001260: 27,3035           03733                                    SS                                    
033897,001261: 27,3036           56225                           DSU      DDV                                   
033898,001262: 27,3037           00037                                    30D                                   
033899,001263: 27,3040           03733                                    SS                                    
033900,001264: 27,3041           41566                           SQRT     PUSH                                  
033901,001265: 27,3042           67542                           SR1      ASIN                                  
033902,001266: 27,3043           65205                           DMP      PDDL                                  
033903,001267: 27,3044           17215                                    2PI+3                                 
033904,001268: 27,3045           56325                           PDDL     DDV                                   
033905,001269: 27,3046           00037                                    30D                                   
033906,001270: 27,3047           03733                                    SS                                    
033907,001271: 27,3050           77600                           BOV                                            
033908,001272: 27,3051           57052                                    +1                                    
033909,001273: 27,3052           41366                           SQRT     DMP                                   
033910,001274: 27,3053           44242                           SR3      BDSU                                  
033911,001275: 27,3054           65365                           SIGN     PDDL                                  
033912,001276: 27,3055           02673                                    GEOMSGN                               
033913,001277: 27,3056           17215                                    2PI+3                                 
033914,001278: 27,3057           45302                           SR2      DSU                                   
033915,001279: 27,3060           65205                           DMP      PDDL                                  
033916,001280: 27,3061           03733                                    SS                                    
033917,001281: 27,3062           03733                                    SS                                    
033918,001282: 27,3063           75442                           SR3      SQRT                                  
033919,001283: 27,3064           77605                           DMP                                            
033920,001284: 27,3065           52525                           PDDL     SL3                                   
033921,001285: 27,3066           03717                                    MUASTEER                              
033922,001286: 27,3067           55366                           SQRT     BDDV                                  
033923,001287: 27,3070           43225                           DSU      DAD                                   
033924,001288: 27,3071           03631                                    TPASS4                                
033925,001289: 27,3072           01234                                    PIPTIME                               
033926,001290: 27,3073           14037                           STODL    30D                                   
033927,001291: 27,3074           77765                           SIGN                                           
033928,001292: 27,3075           00037                                    30D                                   #  B WITH SIGN
033929,001293: 27,3076           00037                           STORE    30D                                   
033930,001294: 27,3077           77214                           BON      VLOAD                                 
033931,001295: 27,3100           03705                                    NORMSW                                
033932,001296: 27,3101           57122                                    180MESS                               
033933,001297: 27,3102           03656                                    IC                                    
033934,001298: 27,3103           53451                           VSU      UNIT                                  
033935,001299: 27,3104           03535                                    UNIT/R/                               
033936,001300: 27,3105           63361                           VXSC     PDVL                                  
033937,001301: 27,3106           00037                                    30D                                   
033938,001302: 27,3107           03656                                    IC                                    

Page 765

033940,001304: 27,3110           53455                           VAD      UNIT                                  
033941,001305: 27,3111           03535                                    UNIT/R/                               
033942,001306: 27,3112           53361        GETVRVG1           VXSC     VAD                                   
033943,001307: 27,3113           00041                                    32D                                   
033944,001308: 27,3114           53744        GETVRVG2           LXC,2    VSR*                                  
033945,001309: 27,3115           02777                                    RTX2                                  
033946,001310: 27,3116           57177                                    0          -1,2                       
033947,001311: 27,3117           02330                           STORE    VIPRIME                               
033948,001312: 27,3120           77650                           GOTO                                           
033949,001313: 27,3121           57165                                    ASTREND    -2                         
033950,001314: 27,3122           50375        180MESS            VLOAD    DOT                                   
033951,001315: 27,3123           03656                                    IC                                    
033952,001316: 27,3124           03535                                    UNIT/R/                               
033953,001317: 27,3125           77240                           BMN      VLOAD                                 
033954,001318: 27,3126           57145                                    NEGPROD                               
033955,001319: 27,3127           03656                                    IC                                    
033956,001320: 27,3130           63362                           VSR1     PDVL                                  
033957,001321: 27,3131           03535                                    UNIT/R/                               
033958,001322: 27,3132           53362                           VSR1     VAD                                   
033959,001323: 27,3133           77656                           UNIT                                           
033960,001324: 27,3134           57406                           PUSH     VCOMP                                 #  FOR A
033961,001325: 27,3135           75235                           VXV      SIGN                                  
033962,001326: 27,3136           02674                                    UN                                    
033963,001327: 27,3137           02673                                    GEOMSGN                               
033964,001328: 27,3140           74256                           UNIT     VXSC                                  
033965,001329: 27,3141           00037                                    30D                                   
033966,001330: 27,3142           77715                           PDVL                                           #  UNIT(IC-IR)     +-B
033967,001331: 27,3143           77650                           GOTO                                           
033968,001332: 27,3144           57112                                    GETVRVG1                              
033969,001333: 27,3145           74575        NEGPROD            VLOAD    VSR1                                  
033970,001334: 27,3146           03535                                    UNIT/R/                               
033971,001335: 27,3147           74515                           PDVL     VSR1                                  
033972,001336: 27,3150           03656                                    IC                                    
033973,001337: 27,3151           53451                           VSU      UNIT                                  
033974,001338: 27,3152           77606                           PUSH                                           
033975,001339: 27,3153           75235                           VXV      SIGN                                  
033976,001340: 27,3154           02674                                    UN                                    #  FOR B
033977,001341: 27,3155           02673                                    GEOMSGN                               
033978,001342: 27,3156           74256                           UNIT     VXSC                                  
033979,001343: 27,3157           00041                                    32D                                   
033980,001344: 27,3160           77715                           PDVL                                           
033981,001345: 27,3161           53361                           VXSC     VAD                                   
033982,001346: 27,3162           00037                                    30D                                   
033983,001347: 27,3163           77650                           GOTO                                           
033984,001348: 27,3164           57114                                    GETVRVG2                              
033985,001349: 27,3165           77651                           VSU                                            
033986,001350: 27,3166           03551                                    VN1                                   
033987,001351: 27,3167           02357        ASTREND            STORE    DELVEET3                              
033988,001352: 27,3170           53135        FIRSTTME           SLOAD    BZE                                   
033989,001353: 27,3171           03000                                    RTX2                                  

Page 766

033991,001355: 27,3172           57176                                    GETGOBL                               
033992,001356: 27,3173           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE
033993,001357: 27,3174           02357                                    DELVEET3                              
033994,001358: 27,3175           57211                                    NOGOBL                                
033995,001359: 27,3176           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033996,001360: 27,3177           01220                                    RN                                    
033997,001361: 27,3200           45345                           DLOAD    DSU                                   
033998,001362: 27,3201           01234                                    PIPTIME                               #               2
033999,001363: 27,3202           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T - TIG)
034000,001364: 27,3203           56205                           DMP      DDV                                   #   OBL
034001,001365: 27,3204           16023                                    EARTHMU                               
034002,001366: 27,3205           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
034003,001367: 27,3206           53361                           VXSC     VAD                                   
034004,001368: 27,3207           03517                                    UNITGOBL                              
034005,001369: 27,3210           02357                                    DELVEET3                              #   OUTPUT FROM INITVEL  VG = VR - VN
034006,001370: 27,3211           02357        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
034007,001371: 27,3212           77650                           GOTO                                           
034008,001372: 27,3213           56455                                    VGAIN*                                
034009,001373: 
034010,001374: 
034011,001375: 27,3214           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
034012,001376: 
034013,001377: 

Page 767

034015,001379:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
034016,001380:                                                                                                  #  MOD 0     24 FEB 67     PETER ADLER
034017,001381:                                                                                                  #  FUNCTION:
034018,001382:                                                                                                  #           TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
034019,001383:                                                                                                  #           FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
034020,001384:                                                                                                  #           SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
034021,001385:                                                                                                  #  CALLING SEQUENCE:
034022,001386:                                                                                                  #           VIA WAITLIST FROM R03
034023,001387:                                                                                                  #  INPUT:
034024,001388:                                                                                                  #           PITTIME     TIME TO RUN FROM FULL + PITCH TO TRIM  (CS)
034025,001389:                                                                                                  #           ROLLTIME    TIME TO RUN FROM FULL + ROLL  TO TRIM  (CS)
034026,001390:                                                                                                  #  SUBROUTINES USED:
034027,001391:                                                                                                  #           WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
034028,001392: 
034029,001393: 27,3216                                           COUNT*   $$/S40.6                              
034030,001394: 27,3216  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS:  PRIO5=05000 EBANK5=02400
034031,001395: 
034032,001396: 27,3216           05527        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
034033,001397: 27,3217           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
034034,001398: 
034035,001399: 27,3220           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
034036,001400: 27,3221           00006                           EXTEND                                         
034037,001401: 27,3222           03012                           WAND     CHAN12                                
034038,001402: 27,3223           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
034039,001403: 27,3224           00006                           EXTEND                                         
034040,001404: 27,3225           05012                           WOR      CHAN12                                
034041,001405: 27,3226           05232                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
034042,001406: 27,3227           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
034043,001407: 27,3230           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
034044,001408: 27,3231           00006                           EXTEND                                         
034045,001409: 27,3232           03012                           WAND     CHAN12                                
034046,001410: 27,3233           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
034047,001411: 27,3234           00006                           EXTEND                                         
034048,001412: 27,3235           05012                           WOR      CHAN12                                
034049,001413: 27,3236           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
034050,001414: 27,3237           05204                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
034051,001415: 27,3240           03257                           ADRES    PITCHOFF                              
034052,001416: 
034053,001417: 27,3241           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
034054,001418: 27,3242           05235                           TC       VARDELAY                              #  UNTIL THEN
034055,001419: 27,3243           44740                           CS       BIT12                                 
034056,001420: 27,3244           00006                           EXTEND                                         
034057,001421: 27,3245           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
034058,001422: 27,3246           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
034059,001423: 27,3247           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
034060,001424: 27,3250           00006                           EXTEND                                         
034061,001425: 27,3251           13263                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
034062,001426: 27,3252           34737                           CAF      PRIO10                                #  RETURN TO R03
034063,001427: 27,3253           05072                           TC       NOVAC                                 
034064,001428: 27,3254  E7,1471                                  EBANK=   WHOCARES                              

Page 768

034066,001430: 27,3254           02330 02067                     2CADR    TRIMDONE                              
034067,001431: 
034068,001432: 27,3256           05272                           TC       TASKOVER                              
034069,001433: 27,3257           44742        PITCHOFF           CS       BIT10                                 
034070,001434: 27,3260           00006                           EXTEND                                         
034071,001435: 27,3261           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
034072,001436: 27,3262           13246                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
034073,001437: 27,3263           05515                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
034074,001438: 27,3264           00137                           ADRES    GMBDRVSW                              
034075,001439: 27,3265           05272                           TC       TASKOVER                              
034076,001440: 

Page 769

034078,001442:                                                                                                  #  SUBROUTINE NAME: S41.1          MOD. NO. 0  DATE: FEBRUARY 28, 1967
034079,001443: 
034080,001444:                                                                                                  #                          MOD. NO. 1  DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
034081,001445: 
034082,001446:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
034083,001447: 
034084,001448:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
034085,001449:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
034086,001450:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
034087,001451:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
034088,001452:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
034089,001453:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
034090,001454:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
034091,001455:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
034092,001456: 
034093,001457: 
034094,001458:                                                                                                  #  CALLING SEQUENCE:
034095,001459:                                                                                                  #                                          L        VLOAD  CALL
034096,001460:                                                                                                  #                                          L +1            VELOCITY(REF)   SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
034097,001461:                                                                                                  #                                          L +2            S41.1
034098,001462:                                                                                                  #                                          L +3     STORE  VELOCITY(LM)    SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
034099,001463: 
034100,001464:                                                                                                  #  SUBROUTINES CALLED:
034101,001465: 
034102,001466:                                                                                                  #           1.  CDUTRIG,
034103,001467:                                                                                                  #                  WHICH CALLS CDULOGIC.
034104,001468:                                                                                                  #           2.  *SMNB*
034105,001469: 
034106,001470:                                                                                                  #  NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
034107,001471: 
034108,001472:                                                                                                  #  ALARM/ABORT MODES: NONE.
034109,001473: 
034110,001474:                                                                                                  #  RESTART PROTECTION: NONE.
034111,001475: 

Page 770

034113,001477:                                                                                                  #  INPUT:
034114,001478: 
034115,001479:                                                                                                  #           1.  REFSMMAT.
034116,001480:                                                                                                  #           2.  CDUX, CDUY, CDUZ.
034117,001481:                                                                                                  #           3.  VELOCITY (REF) IN MPAC.
034118,001482: 
034119,001483:                                                                                                  #  OUTPUT:
034120,001484: 
034121,001485:                                                                                                  #           1.  CDUSPOT:  DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
034122,001486:                                                                                                  #           2.  SINCDU:   HALF SINES OF CDUSPOT COMPONENTS.
034123,001487:                                                                                                  #           3.  COSCDU:   HALF COSINES OF CDUSPOT COMPONENTS.
034124,001488:                                                                                                  #           4.  MPAC:     VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
034125,001489: 
034126,001490:                                                                                                  #  DEBRIS: NONE.
034127,001491: 
034128,001492:                                                                                                  #  CHECKOUT STATUS:  CODED.
034129,001493: 
034130,001494: 27,3266                                           COUNT*   $$/S41.1                              
034131,001495: 27,3266           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
034132,001496: 27,3267           01732                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
034133,001497: 27,3270           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
034134,001498: 27,3271           47653                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
034135,001499:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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