Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

031998,000002:                                                                                                  ## Copyright:   Public domain.
031999,000003:                                                                                                  ## Filename:    P40-P47.agc
032000,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
032001,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
032002,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
032003,000007:                                                                                                  ## Assembler:   yaYUL
032004,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032005,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
032006,000010:                                                                                                  ## Pages:       752-784
032007,000011:                                                                                                  ## Mod history: 2009-05-19 RSB  Adapted from the corresponding 
032008,000012:                                                                                                  ##                              Luminary131 file, using page 
032009,000013:                                                                                                  ##                              images from Luminary 1A.
032010,000014:                                                                                                  ##              2011-01-06 JL   Fixed interpretive indentation.
032011,000015:                                                                                                  ##              2016-12-13 RSB  GOTOP00H -> GOTOPOOH
032012,000016:                                                                                                  ##              2016-12-15 RSB  Proofed text comments with octopus/ProoferComments
032013,000017:                                                                                                  ##                              and corrected the errors found.
032014,000018:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
032015,000019:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
032016,000020:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
032017,000021:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
032018,000022: 

Page 752

032020,000024:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
032021,000025:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
032022,000026:                                                                                                  #  CALLED VIA JOB FROM V37E
032023,000027: 
032024,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
032025,000029: 
032026,000030:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032027,000031:                                                                                                  #                THRUSTING MANEUVER.

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

032029,000033:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032030,000034:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032031,000035:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
032032,000036:                                                                                                  #        5)      IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032033,000037:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032034,000038: 
032035,000039:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032036,000040:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032037,000041: 
032038,000042:                                                                                                  #  SUBROUTINES USED
032039,000043: 
032040,000044:                                                                                                  #        R02             IMU STATUS CHECK
032041,000045:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
032042,000046:                                                                                                  #        S40.13          LENGTH OF BURN
032043,000047:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
032044,000048:                                                                                                  #        S40.8           X PRODUCT STEERING
032045,000049:                                                                                                  #        S40.9           LAMBERT VTOGAIN
032046,000050:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
032047,000051:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
032048,000052:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
032049,000053:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
032050,000054:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
032051,000055:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032052,000056:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032053,000057:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
032054,000058: 
032055,000059:                                                                                                  #  RESTARTS VIA GROUP 4
032056,000060: 
032057,000061:                                                                                                  #  DISPLAYS
032058,000062: 
032059,000063:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTOTHROTTLE MODE, AUTO ATTITUDE CONTROL
032060,000064:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032061,000065:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
032062,000066:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
032063,000067:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
032064,000068:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032065,000069:                                                                                                  #        V05N09  POSSIBLE ALARMS
032066,000070:                                                                                                  #        V50N07  PLEASE SELECT P00
032067,000071: 

Page 753

032069,000073:                                                                                                  #        VIA R30
032070,000074: 
032071,000075:                                                                                                  #        V06N44  HAPO, PERI, TFF
032072,000076:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
032073,000077: 
032074,000078:                                                                                                  #  ALARM OR ABORT EXIT MODES
032075,000079: 
032076,000080:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032077,000081:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
032078,000082: 
032079,000083:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
032080,000084:                                                                                                  #        TIG BY 45 SECS.
032081,000085: 
032082,000086:                                                                                                  #  ERASABLE INITIALIZATION
032083,000087: 
032084,000088:                                                                                                  #  DEBRIS
032085,000089: 
032086,000090:                                                                                                  #  OUTPUT
032087,000091: 
032088,000092:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032089,000093:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
032090,000094:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
032091,000095: 
032092,000096: 27,2246                                           COUNT*   $$/P40                                
032093,000097: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032094,000098: 
032095,000099: 36,3147                                           BANK     36                                    
032096,000100: 36,2000                                           SETLOC   P40S                                  
032097,000101: 36,2000                                           BANK                                           
032098,000102: 
032099,000103: 36,3147           05353        P40LM              TC       PHASCHNG                              
032100,000104: 36,3150           04024                           OCT      04024                                 
032101,000105: 
032102,000106: 36,3151           33133                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032103,000107: 36,3152           55455                           TS       WHICH                                 
032104,000108: 
032105,000109: 36,3153           30106                           CA       FLGWRD10                              
032106,000110: 36,3154           74737                           MASK     APSFLBIT                              
032107,000111: 36,3155           10000                           CCS      A                                     
032108,000112: 36,3156           13121                           TCF      P40ALM                                
032109,000113: 36,3157           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032110,000114: 36,3160           11254                           CADR     R02BOTH                               
032111,000115: 
032112,000116: 36,3161           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032113,000117: 36,3162           74737                           MASK     CSMDOCKD                              
032114,000118: 36,3163           10000                           CCS      A                                     
032115,000119: 36,3164           32020                           CAF      THRESH1                               
032116,000120: 36,3165           62021                           AD       THRESH3                               
032117,000121: 36,3166           55251                           TS       DVTHRUSH                              
032118,000122: 36,3167           34751                           CAF      FOUR                                  
032119,000123: 36,3170           55515                           TS       DVCNTR                                

Page 754

032121,000125: 36,3171           06037                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032122,000126: 36,3172           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032123,000127: 36,3173           34001                                    FDPS                                  
032124,000128: 36,3174           02663                                    NOTHROTL                              
032125,000129: 36,3175           03735                           STORE    F                                     
032126,000130: 36,3176           77735                           SLOAD                                          
032127,000131: 36,3177           26002                                    DPSVEX                                
032128,000132: 36,3200           70476        P40IN              DCOMP    SR1                                   
032129,000133: 36,3201           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032130,000134: 36,3202           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032131,000135: 36,3203           77624                           CALL                                           
032132,000136: 36,3204           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032133,000137: 36,3205           77776                           EXIT                                           
032134,000138: 
032135,000139: 36,3206           00004                           INHINT                                         
032136,000140: 36,3207           04674                           TC       IBNKCALL                              
032137,000141: 36,3210           40142                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032138,000142: 
032139,000143: 36,3211           03213                           TC       P40SXT4                               
032140,000144: 
032141,000145:                                                                                                  #        ***********************
032142,000146: 
032143,000147: 36,3212           12126                           TCF      BURNBABY                              
032144,000148: 
032145,000149:                                                                                                  #        ***********************
032146,000150: 
032147,000151: 36,3213           00006        P40SXT4            EXTEND                                         
032148,000152: 36,3214           23142                           QXCH     P40/RET                               
032149,000153: 36,3215           00003        P41MANU            RELINT                                         
032150,000154: 
032151,000155: 36,3216           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032152,000156: 36,3217           00124                           ADRES    3AXISFLG                              
032153,000157: 
032154,000158: 36,3220           04616                           TC       BANKCALL                              
032155,000159: 36,3221           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032156,000160: 36,3222           01142                           TC       P40/RET                               
032157,000161: 
032158,000162: 36,3223  E7,1462                                  EBANK=   TRKMKCNT                              
032159,000163: 36,3223           30005        POSTBURN           CA       Z                                     
032160,000164: 36,3224           55163                           TS       DISPDEX                               
032161,000165: 36,3225           00006                           EXTEND                                         
032162,000166: 36,3226           32056                           DCA      ACADN85                               
032163,000167: 36,3227           53253                           DXCH     AVEGEXIT                              
032164,000168: 36,3230           33760                           CAF      V16N40                                
032165,000169: 36,3231           04616                           TC       BANKCALL                              
032166,000170: 36,3232           20635                           CADR     GOFLASHR                              
032167,000171: 36,3233           03256                           TC       TERM40                                
032168,000172: 36,3234           13241                           TCF      TIGNOW                                
032169,000173: 36,3235           03223                           TC       POSTBURN                              

Page 755

032171,000175: 36,3236           05353        P40PHS1            TC       PHASCHNG                              
032172,000176: 36,3237           00014                           OCT      00014                                 
032173,000177: 36,3240           15155                           TCF      ENDOFJOB                              
032174,000178: 
032175,000179: 36,3241           00004        TIGNOW             INHINT                                         
032176,000180: 36,3242           04674                           TC       IBNKCALL                              
032177,000181: 36,3243           40153                           CADR     ZATTEROR                              
032178,000182: 36,3244           04674                           TC       IBNKCALL                              
032179,000183: 36,3245           40140                           CADR     SETMINDB                              
032180,000184: 36,3246           00003                           RELINT                                         
032181,000185: 36,3247           33761                           CAF      V16N85B                               
032182,000186: 36,3250           04616                           TC       BANKCALL                              
032183,000187: 36,3251           20462                           CADR     REFLASHR                              
032184,000188: 36,3252           03256                           TC       TERM40                                
032185,000189: 36,3253           13256                           TCF      TERM40                                
032186,000190: 36,3254           03247                           TC       -5                                    
032187,000191: 
032188,000192: 36,3255           13236                           TCF      P40PHS1                               
032189,000193: 
032190,000194: 36,3256           00006        TERM40             EXTEND                                         
032191,000195: 36,3257           32106                           DCA      SERVCADR                              
032192,000196: 36,3260           53253                           DXCH     AVEGEXIT                              
032193,000197: 36,3261           34755                           CAF      ZERO                                  
032194,000198: 36,3262           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
032195,000199: 36,3263           30005                           CA       Z                                     
032196,000200: 36,3264           55163                           TS       DISPDEX                               
032197,000201: 36,3265           00004                           INHINT                                         
032198,000202: 36,3266           04674                           TC       IBNKCALL                              
032199,000203: 36,3267           40123                           CADR     RESTORDB                              
032200,000204: 36,3270           00003                           RELINT                                         
032201,000205: 36,3271           06001                           TC       GOTOPOOH                              
032202,000206: 
032203,000207: 36,3272  E7,1455                                  EBANK=   WHICH                                 
032204,000208: 36,3272                                           COUNT*   $$/P41                                
032205,000209: 36,3272           33134        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032206,000210: 36,3273           55455                           TS       WHICH                                 
032207,000211: 
032208,000212: 36,3274           04616                           TC       BANKCALL                              
032209,000213: 36,3275           11254                           CADR     R02BOTH                               
032210,000214: 
032211,000215: 36,3276           06037                           TC       INTPRET                               #  BOTH LM
032212,000216: 36,3277           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD Z JET F
032213,000217: 36,3300           00700                                    NJETSFLG                              
032214,000218: 36,3301           75305                                    P41FJET1                              
032215,000219: 36,3302           34015                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032216,000220: 
032217,000221: 36,3303           37735        P41FJET            STCALL   F                                     
032218,000222: 36,3304           75310                                    P41IN                                 
032219,000223: 36,3305           77745        P41FJET1           DLOAD                                          

Page 756

032221,000225: 36,3306           34017                                    FRCS2                                 
032222,000226: 36,3307           03735                           STORE    F                                     
032223,000227: 
032224,000228: 36,3310           77624        P41IN              CALL                                           
032225,000229: 36,3311           56246                                    S40.1                                 #  BOTH
032226,000230: 36,3312           77624        P41NORM            CALL                                           
032227,000231: 36,3313           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032228,000232: 36,3314           77776                           EXIT                                           #  SET PFRATFLG.
032229,000233: 
032230,000234: 36,3315           00004                           INHINT                                         
032231,000235: 36,3316           04674                           TC       IBNKCALL                              
032232,000236: 36,3317           40153                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032233,000237: 36,3320           04674                           TC       IBNKCALL                              
032234,000238: 36,3321           40140                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032235,000239: 36,3322           03213                           TC       P40SXT4                               
032236,000240: 
032237,000241: 36,3323           06037                           TC       INTPRET                               
032238,000242: 36,3324           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032239,000243: 36,3325           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032240,000244: 36,3326           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032241,000245: 36,3327           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032242,000246: 36,3330           77776                           EXIT                                           
032243,000247: 
032244,000248: 36,3331           33761                           CAF      V16N85B                               
032245,000249: 36,3332           04616                           TC       BANKCALL                              
032246,000250: 36,3333           20446                           CADR     GODSPRET                              
032247,000251: 
032248,000252: 36,3334           35017                           CAF      PRIO5                                 
032249,000253: 36,3335           55163                           TS       DISPDEX                               #  FOR SAFETY ONLY
032250,000254: 36,3336           05105                           TC       FINDVAC                               
032251,000255: 36,3337  E7,1700                                  EBANK=   VGPREV                                
032252,000256: 36,3337           03361 74067                     2CADR    DYNMDISP                              
032253,000257: 
032254,000258: 36,3341           05327                           TC       2PHSCHNG                              
032255,000259: 36,3342           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032256,000260: 36,3343           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032257,000261: 
032258,000262:                                                                                                  #        ***********************
032259,000263: 
032260,000264: 36,3344           12135                           TCF      B*RNB*B*                              
032261,000265: 
032262,000266:                                                                                                  #        ***********************
032263,000267: 
032264,000268: 36,3345           34777        BLNKWAIT           CAF      1SEC                                  
032265,000269: 36,3346           04616                           TC       BANKCALL                              
032266,000270: 36,3347           01735                           CADR     DELAYJOB                              
032267,000271: 
032268,000272: 36,3350           31163        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032269,000273: 36,3351           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032270,000274: 
032271,000275:                                                                                                  #        ***********************

Page 757

032273,000277: 
032274,000278: 36,3352           00006                           EXTEND                                         
032275,000279: 36,3353           13345                           BZF      BLNKWAIT                              
032276,000280: 
032277,000281: 36,3354           33761                           CAF      V16N85B                               
032278,000282: 36,3355           04616                           TC       BANKCALL                              
032279,000283: 36,3356           20446                           CADR     GODSPRET                              
032280,000284: 
032281,000285: 36,3357           35017                           CAF      PRIO5                                 
032282,000286: 36,3360           05146                           TC       PRIOCHNG                              
032283,000287: 
032284,000288: 36,3361           31163        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032285,000289: 36,3362           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032286,000290: 36,3363           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
032287,000291: 36,3364           06037                           TC       INTPRET                               
032288,000292: 36,3365           45175                           VLOAD    CALL                                  
032289,000293: 36,3366           03701                                    VGPREV                                
032290,000294: 36,3367           57267                                    S41.1                                 
032291,000295: 36,3370           03502                           STORE    VGBODY                                
032292,000296: 36,3371           77776                           EXIT                                           
032293,000297: 36,3372           34777                           CAF      1SEC                                  
032294,000298: 36,3373           04616                           TC       BANKCALL                              
032295,000299: 36,3374           01735                           CADR     DELAYJOB                              
032296,000300: 36,3375           13361                           TCF      DYNMDISP                              
032297,000301: 
032298,000302: 36,3376           06037        CALCN85            TC       INTPRET                               
032299,000303: 36,3377           77624                           CALL                                           
032300,000304: 36,3400           75611                                    UPDATEVG                              
032301,000305: 36,3401           45175                           VLOAD    CALL                                  
032302,000306: 36,3402           03701                                    VGPREV                                
032303,000307: 36,3403           57267                                    S41.1                                 
032304,000308: 36,3404           03502                           STORE    VGBODY                                
032305,000309: 36,3405           77776                           EXIT                                           
032306,000310: 36,3406           04635                           TC       POSTJUMP                              
032307,000311: 36,3407           65770                           CADR     SERVEXIT                              
032308,000312: 
032309,000313: 36,3410                                           COUNT*   $$/P42                                
032310,000314: 36,3410  E7,1455                                  EBANK=   WHICH                                 
032311,000315: 
032312,000316: 36,3410           05353        P42LM              TC       PHASCHNG                              
032313,000317: 36,3411           04024                           OCT      04024                                 
032314,000318: 
032315,000319: 36,3412           33135                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032316,000320: 36,3413           55455                           TS       WHICH                                 
032317,000321: 
032318,000322: 36,3414           40106                           CS       FLGWRD10                              
032319,000323: 36,3415           74737                           MASK     APSFLBIT                              
032320,000324: 36,3416           10000                           CCS      A                                     
032321,000325: 36,3417           03121                           TC       P40ALM                                
032322,000326: 36,3420           04616        P42STAGE           TC       BANKCALL                              

Page 758

032324,000328: 36,3421           11254                           CADR     R02BOTH                               
032325,000329: 36,3422           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032326,000330: 36,3423           55251                           TS       DVTHRUSH                              
032327,000331: 36,3424           34751                           CAF      FOUR                                  
032328,000332: 36,3425           55515                           TS       DVCNTR                                
032329,000333: 
032330,000334: 36,3426           06037                           TC       INTPRET                               
032331,000335: 36,3427           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032332,000336: 36,3430           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032333,000337: 36,3431           34007                                    FAPS                                  
032334,000338: 36,3432           03735                           STORE    F                                     
032335,000339: 36,3433           52135                           SLOAD    GOTO                                  
032336,000340: 36,3434           26001                                    APSVEX                                
032337,000341: 36,3435           75200                                    P40IN                                 
032338,000342: 
032339,000343: 36,3436  E7,1455                                  EBANK=   WHICH                                 
032340,000344: 
032341,000345: 36,3436                                           COUNT*   $$/P47                                
032342,000346: 36,3436           04616        P47LM              TC       BANKCALL                              
032343,000347: 36,3437           11254                           CADR     R02BOTH                               
032344,000348: 36,3440           06037                           TC       INTPRET                               
032345,000349: 36,3441           77624                           CALRB                                          
032346,000350: 36,3442           27553                                    MIDTOAV2                              
032347,000351: 
032348,000352: 36,3443           30155                           CA       MPAC       +1                         
032349,000353: 36,3444           05173                           TC       TWIDDLE                               
032350,000354: 36,3445           03447                           ADRES    STARTP47                              
032351,000355: 
032352,000356: 36,3446           15155                           TCF      ENDOFJOB                              
032353,000357: 
032354,000358: 36,3447           05353        STARTP47           TC       PHASCHNG                              
032355,000359: 36,3450           05014                           OCT      05014                                 
032356,000360: 36,3451           77777                           OCT      77777                                 
032357,000361: 
032358,000362: 36,3452           00006                           EXTEND                                         
032359,000363: 36,3453           33764                           DCA      ACADN83                               
032360,000364: 36,3454           53253                           DXCH     AVEGEXIT                              
032361,000365: 36,3455           34736                           CAF      PRIO20                                
032362,000366: 36,3456           05105                           TC       FINDVAC                               
032363,000367: 36,3457  E7,1622                                  EBANK=   DELVIMU                               
032364,000368: 36,3457           03513 74067                     2CADR    P47BODY                               
032365,000369: 
032366,000370: 36,3461           12342                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032367,000371:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032368,000372: 
032369,000373: 36,3462           06037        CALCN83            TC       INTPRET                               
032370,000374: 36,3463           53375                           VLOAD    VAD                                   
032371,000375: 36,3464           03502                                    DELVCTL                               
032372,000376: 36,3465           03527                                    DELVREF                               
032373,000377: 36,3466           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 759

032375,000379: 36,3467           77624                           CALL                                           
032376,000380: 36,3470           57267                                    S41.1                                 
032377,000381: 36,3471           03623                           STORE    DELVIMU                               
032378,000382: 36,3472           77776                           EXIT                                           
032379,000383: 36,3473           05353                           TC       PHASCHNG                              
032380,000384: 36,3474           10035                           OCT      10035                                 #  REREADAC AND HERE
032381,000385: 
032382,000386: 36,3475           06037                           TC       INTPRET                               
032383,000387: 36,3476           77775                           VLOAD                                          
032384,000388: 36,3477           03656                                    DELVSIN                               
032385,000389: 36,3500           03502                           STORE    DELVCTL                               
032386,000390: 36,3501           77776                           EXIT                                           
032387,000391: 
032388,000392: 36,3502           04635                           TC       POSTJUMP                              
032389,000393: 36,3503           65770                           CADR     SERVEXIT                              
032390,000394: 
032391,000395: 36,3504           33762        P47BOD             CAF      V1683                                 
032392,000396: 36,3505           04616                           TC       BANKCALL                              
032393,000397: 36,3506           20635                           CADR     GOFLASHR                              
032394,000398: 36,3507           06001                           TC       GOTOPOOH                              
032395,000399: 36,3510           06001                           TC       GOTOPOOH                              
032396,000400: 
032397,000401: 36,3511           13513                           TCF      P47BODY                               
032398,000402: 
032399,000403: 36,3512           13236                           TCF      P40PHS1                               
032400,000404: 
032401,000405: 36,3513           06037        P47BODY            TC       INTPRET                               
032402,000406: 36,3514           77775                           VLOAD                                          
032403,000407: 36,3515           06522                                    HI6ZEROS                              
032404,000408: 36,3516           03623                           STORE    DELVIMU                               
032405,000409: 36,3517           03502                           STORE    DELVCTL                               
032406,000410: 36,3520           77776                           EXIT                                           
032407,000411: 36,3521           03504                           TC       P47BOD                                
032408,000412: 
032409,000413: 36,3522                                           COUNT*   $$/P40                                
032410,000414: 36,3522           31517        IMPLBURN           CA       TGO        +1                         
032411,000415: 36,3523           03735                           TC       GETDT                                 
032412,000416: 36,3524           05173                           TC       TWIDDLE                               
032413,000417: 36,3525           03542                           ADRES    ENGOFTSK                              
032414,000418: 36,3526           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032415,000419: 36,3527           00153                           ADRES    IGNFLAG                               
032416,000420: 36,3530           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032417,000421: 36,3531           00154                           ADRES    ASTNFLAG                              
032418,000422: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032419,000423: 36,3533           00044                           ADRES    IMPULSW                               
032420,000424: 36,3534           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032421,000425: 36,3535           40114                           OCT      40114                                 
032422,000426: 
032423,000427: 36,3536           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032424,000428: 36,3537           00062                           DEC      50         B-14                       

Page 760

032426,000430: 36,3540           02653                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032427,000431: 
032428,000432: 36,3541           05261                           TC       TASKOVER                              
032429,000433: 
032430,000434: 36,3542           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032431,000435: 36,3543           75545                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032432,000436: 36,3544           05261                           TC       TASKOVER                              
032433,000437: 
032434,000438: 36,3545           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032435,000439: 36,3546           05105                           TC       FINDVAC                               
032436,000440: 36,3547  E7,1462                                  EBANK=   TRKMKCNT                              
032437,000441: 36,3547           03223 74067                     2CADR    POSTBURN                              
032438,000442: 
032439,000443: 36,3551           34753        ENGINOF2           CAF      BIT1                                  
032440,000444: 36,3552           05203                           TC       WAITLIST                              
032441,000445: 36,3553  E6,1422                                  EBANK=   OMEGAQ                                
032442,000446: 36,3553           03606 74066                     2CADR    COASTSET                              
032443,000447: 
032444,000448: 36,3555           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032445,000449: 36,3556           74745                           MASK     IDLEFBIT                              
032446,000450: 36,3557           26103                           ADS      FLAGWRD7                              
032447,000451: 
032448,000452: 36,3560           02653                           TC       NOULLAGE                              
032449,000453: 
032450,000454: 36,3561           00006        ENGINOF4           EXTEND                                         
032451,000455: 36,3562           30025                           DCA      TIME2                                 
032452,000456: 36,3563           53345                           DXCH     TEVENT                                
032453,000457: 
032454,000458: 36,3564           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032455,000459: 36,3565           70101                           MASK     FLAGWRD5                              
032456,000460: 36,3566           54101                           TS       FLAGWRD5                              
032457,000461: 36,3567           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032458,000462: 36,3570           00006                           EXTEND                                         #  SUBROUTINE.
032459,000463: 36,3571           02011                           RAND     DSALMOUT                              
032460,000464: 36,3572           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032461,000465: 36,3573           00006                           EXTEND                                         
032462,000466: 36,3574           01011                           WRITE    DSALMOUT                              
032463,000467: 
032464,000468: 36,3575           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032465,000469: 36,3576           74736                           MASK     USEQRJTS                              
032466,000470: 36,3577           26111                           ADS      DAPBOOLS                              
032467,000471: 
032468,000472: 36,3600           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032469,000473: 36,3601           54055                           TS       THRUST                                #  IS TURNED OFF.
032470,000474: 36,3602           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032471,000475: 36,3603           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032472,000476: 36,3604           05014                           WOR      CHAN14                                
032473,000477: 
032474,000478: 36,3605           04707                           TC       ISWRETRN                              

Page 761

032476,000480: 36,3606           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032477,000481: 36,3607           40204                           CADR     ALLCOAST                              
032478,000482: 36,3610           05261                           TC       TASKOVER                              
032479,000483: 
032480,000484: 36,3611  E6,1422                                  EBANK=   OMEGAQ                                
032481,000485: 36,3611           45020        UPDATEVG           STQ      CALL                                  
032482,000486: 36,3612           03665                                    QTEMP1                                
032483,000487: 36,3613           56447                                    S40.8                                 #  X-PRODUCT STEERING
032484,000488: 36,3614           43014                           BON      BON                                   
032485,000489: 36,3615           01307                                    XDELVFLG                              
032486,000490: 36,3616           03665                                    QTEMP1                                
032487,000491: 36,3617           03705                                    NORMSW                                
032488,000492: 36,3620           75633                                    180SETUP                              
032489,000493: 36,3621           45345                           DLOAD    DSU                                   
032490,000494: 36,3622           01235                                    PIPTIME                               
032491,000495: 36,3623           03763                                    TIGSAVE                               
032492,000496: 36,3624           50025                           DSU      BMN                                   
032493,000497: 36,3625           03432                                    TNEWA                                 
032494,000498: 36,3626           75656                                    GETRANS                               
032495,000499: 36,3627           43345                           DLOAD    DAD                                   
032496,000500: 36,3630           03763                                    TIGSAVE                               
032497,000501: 36,3631           03432                                    TNEWA                                 
032498,000502: 36,3632           03765                           STORE    TIGSAVEP                              
032499,000503: 36,3633           77776        180SETUP           EXIT                                           
032500,000504: 36,3634           10755                           CCS      PHASE2                                
032501,000505: 36,3635           13663                           TCF      NO.9                                  
032502,000506: 36,3636           34737                           CAF      PRIO10                                
032503,000507: 36,3637           00004                           INHINT                                         
032504,000508: 36,3640           05105                           TC       FINDVAC                               
032505,000509: 36,3641  E7,1706                                  EBANK=   VG                                    
032506,000510: 36,3641           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032507,000511: 
032508,000512: 36,3643           05327                           TC       2PHSCHNG                              
032509,000513: 36,3644           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032510,000514: 36,3645           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032511,000515: 
032512,000516: 36,3646           06037        ENDSTEER           TC       INTPRET                               
032513,000517: 36,3647           77745                           DLOAD                                          
032514,000518: 36,3650           03765                                    TIGSAVEP                              
032515,000519: 36,3651           27763                           STOVL    TIGSAVE                               
032516,000520: 36,3652           01221                                    RN                                    
032517,000521: 36,3653           26323                           STOVL    RINIT                                 
032518,000522: 36,3654           01227                                    VN                                    
032519,000523: 36,3655           02331                           STORE    VINIT                                 
032520,000524: 36,3656           45345        GETRANS            DLOAD    DSU                                   
032521,000525: 36,3657           03631                                    TPASS4                                
032522,000526: 36,3660           01235                                    PIPTIME                               
032523,000527: 36,3661           37452                           STCALL   DELLT4                                
032524,000528: 36,3662           03665                                    QTEMP1                                
032525,000529: 

Page 762

032527,000531: 36,3663           06037        NO.9               TC       INTPRET                               
032528,000532: 36,3664           77650                           GOTO                                           
032529,000533: 36,3665           03665                                    QTEMP1                                
032530,000534: 36,3666           06037        STEERING           TC       INTPRET                               
032531,000535: 
032532,000536: 36,3667           77624                           CALL                                           
032533,000537: 36,3670           75611                                    UPDATEVG                              
032534,000538: 36,3671           77776                           EXIT                                           
032535,000539: 
032536,000540: 36,3672  E7,1515                                  EBANK=   DVCNTR                                
032537,000541: 36,3672           00004        NSTEER             INHINT                                         
032538,000542: 36,3673           35016                           CA       EBANK7                                
032539,000543: 36,3674           54003                           TS       EBANK                                 
032540,000544: 36,3675           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032541,000545: 36,3676           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032542,000546: 36,3677           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032543,000547: 
032544,000548: 36,3700           13705                           TCF      +5                                    #  IMPULSW = 0   EXIT
032545,000549: 36,3701           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
032546,000550: 36,3702           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
032547,000551: 36,3703           10000                           CCS      A                                     
032548,000552: 36,3704           13707                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032549,000553: 36,3705           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032550,000554: 36,3706           65770                           CADR     SERVEXIT                              
032551,000555: 
032552,000556: 36,3707           04674                           TC       IBNKCALL                              
032553,000557: 36,3710           40165                           CADR     STOPRATE                              
032554,000558: 
032555,000559: 36,3711           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032556,000560: 36,3712           00044                           ADRES    IMPULSW                               
032557,000561: 
032558,000562: 36,3713           05504                           TC       UPFLAG                                
032559,000563: 36,3714           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032560,000564: 
032561,000565: 36,3715           00004                           INHINT                                         
032562,000566: 36,3716           00006                           EXTEND                                         
032563,000567: 36,3717           31442                           DCA      TIG                                   
032564,000568: 36,3720           52155                           DXCH     MPAC                                  
032565,000569: 36,3721           00006                           EXTEND                                         
032566,000570: 36,3722           40025                           DCS      TIME2                                 
032567,000571: 36,3723           20155                           DAS      MPAC                                  
032568,000572: 36,3724           07257                           TC       TPAGREE                               
032569,000573: 36,3725           30155                           CAE      MPAC       +1                         
032570,000574: 36,3726           03735                           TC       GETDT                                 
032571,000575: 36,3727           05173                           TC       TWIDDLE                               
032572,000576: 36,3730           03542                           ADRES    ENGOFTSK                              
032573,000577: 36,3731           05327                           TC       2PHSCHNG                              
032574,000578: 36,3732           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032575,000579: 36,3733           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 763

032577,000581: 36,3734           15155                           TCF      ENDOFJOB                              
032578,000582: 
032579,000583: 36,3735           10000        GETDT              CCS      A                                     
032580,000584: 36,3736           13741                           TCF      +3                                    
032581,000585: 36,3737           13741                           TCF      +2                                    
032582,000586: 36,3740           34755                           CAF      ZERO                                  
032583,000587: 36,3741           64753                           AD       ONE                                   
032584,000588: 36,3742           56001                           XCH      L                                     
032585,000589: 36,3743           34755                           CAF      ZERO                                  
032586,000590: 36,3744           53517                           DXCH     TGO                                   
032587,000591: 36,3745           31517                           CA       TGO        +1                         
032588,000592: 36,3746           00002                           TC       Q                                     
032589,000593: 
032590,000594:                                                                                                  #  ************************************************************************
032591,000595: 
032592,000596: 36,3747           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
032593,000597: 36,3750           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
032594,000598: 36,3751           00000 05670  SEC30DP            2DEC     3000       B-28                       
032595,000599: 
032596,000600: 36,3753           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
032597,000601: 36,3754           10624        SEC45              DEC      4500       B-14                       
032598,000602: 36,3755           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032599,000603: 36,3756           00764        5SEC               DEC      500        B-14                       
032600,000604: 36,3757           05050        26SECS             DEC      2600       B-14                       
032601,000605: 36,3760           04050        V16N40             VN       1640                                  
032602,000606: 36,3761           04125        V16N85B            VN       1685                                  
032603,000607: 36,3762           04123        V1683              VN       1683                                  
032604,000608: 36,3763     4777               SEC01              =        1SEC                                  
032605,000609: 36,3763  36,2055               ACADN85            =        P41TABLE   +2                         
032606,000610: 
032607,000611: 36,3763  E7,1622                                  EBANK=   DELVIMU                               
032608,000612: 36,3763           03462 74067  ACADN83            2CADR    CALCN83                               
032609,000613: 
032610,000614:                                                                                                  #  *************************************************

Page 764

032612,000616:                                                                                                  #  PROGRAM DESCRIPTION S40.1             DATE 15NOV66
032613,000617:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
032614,000618:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032615,000619: 
032616,000620:                                                                                                  #  FUNCTIONAL DESCRIPTION
032617,000621:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032618,000622:                                                                                                  #        VECTOR(VGTIG).
032619,000623: 
032620,000624:                                                                                                  #  CALLING SEQUENCE
032621,000625:                                                                                                  #        L       CALL
032622,000626:                                                                                                  #        L+1             S40.1
032623,000627: 
032624,000628:                                                                                                  #  NORMAL EXIT MODE
032625,000629:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032626,000630:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
032627,000631: 
032628,000632:                                                                                                  #  SUBROUTINES CALLED
032629,000633:                                                                                                  #        LEMPREC
032630,000634:                                                                                                  #        INITVEL
032631,000635:                                                                                                  #        CALCGRAV
032632,000636:                                                                                                  #        MIDGIM
032633,000637: 
032634,000638:                                                                                                  #  ALARM OR ABORT EXIT MODES
032635,000639:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032636,000640: 
032637,000641:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032638,000642:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
032639,000643:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
032640,000644:                                                                                                  #        F               THRUST FOR ENGINE USED
032641,000645:                                                                                                  #    IF DELTA-V MANEUVER
032642,000646:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
032643,000647:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
032644,000648:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
032645,000649:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
032646,000650:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
032647,000651:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
032648,000652:                                                                                                  #    IF AIMPT STEER
032649,000653:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
032650,000654:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
032651,000655:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
032652,000656:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
032653,000657: 
032654,000658:                                                                                                  #  OUTPUT
032655,000659:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
032656,000660:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
032657,000661:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
032658,000662:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
032659,000663:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032660,000664:                                                                                                  #           -GDT         FOR S40.13                      VECT B7 M/CS
032661,000665:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
032662,000666:                                                                                                  #                        POSITION AT TIME OF IGNITION
032663,000667: 
032664,000668:                                                                                                  #  DEBRIS        QTEMP1
032665,000669:                                                                                                  #                MPAC, QPRET
032666,000670:                                                                                                  #                PUSHLIST
032667,000671: 
032668,000672: 14,2347                                           BANK     14                                    
032669,000673: 27,2000                                           SETLOC   P40S1                                 
032670,000674: 27,2000                                           BANK                                           

Page 765

032672,000676: 27,2246                                           COUNT*   $$/S40.1                              
032673,000677: 27,2246           71220        S40.1              STQ      DLOAD                                 
032674,000678: 27,2247           03632                                    QTEMP                                 
032675,000679: 27,2250           03442                                    TIG                                   
032676,000680: 27,2251           03763                           STORE    TIGSAVE                               
032677,000681: 27,2252           77614        DELVTEST           BOFF                                           
032678,000682: 27,2253           01347                                    XDELVFLG                              
032679,000683: 27,2254           56336                                    S40.1B                                
032680,000684: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032681,000685: 27,2256           00001                                    0                                     
032682,000686: 27,2257           03650                                    VTIG                                  
032683,000687: 27,2260           02331                           STORE    VINIT                                 
032684,000688: 27,2261           53435                           VXV      UNIT                                  
032685,000689: 27,2262           03642                                    RTIG                                  
032686,000690: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032687,000691: 27,2264           03642                                    RTIG                                  
032688,000692: 27,2265           02323                           STORE    RINIT                                 
032689,000693: 27,2266           65236                           VSQ      PDDL                                  
032690,000694: 27,2267           00045                                    36D                                   
032691,000695: 27,2270           56205                           DMP      DDV                                   
032692,000696: 27,2271           16412                                    THETACON                              
032693,000697: 27,2272           41205                           DMP      DMP                                   
032694,000698: 27,2273           03664                                    DELVSAB                               
032695,000699: 27,2274           01245                                    WEIGHT/G                              
032696,000700: 27,2275           77671                           DDV                                            
032697,000701: 27,2276           03735                                    F                                     
032698,000702: 27,2277           24017                           STOVL    14D                                   
032699,000703: 27,2300           03656                                    DELVSIN                               
032700,000704: 
032701,000705: 27,2301           74241                           DOT      VXSC                                  
032702,000706: 27,2302           03673                                    UT                                    
032703,000707: 27,2303           03673                                    UT                                    
032704,000708: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032705,000709: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032706,000710: 27,2306           03656                                    DELVSIN                               
032707,000711: 27,2307           00017                                    14D                                   
032708,000712: 27,2310           63356                           SIN      PDVL                                  
032709,000713: 27,2311           00007                                    6D                                    
032710,000714: 27,2312           53435                           VXV      UNIT                                  
032711,000715: 27,2313           03673                                    UT                                    
032712,000716: 27,2314           45561                           VXSC     STADR                                 
032713,000717: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032714,000718: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032715,000719: 27,2317           00017                                    14D                                   
032716,000720: 27,2320           74346                           COS      VXSC                                  
032717,000721: 27,2321           74255                           VAD      VXSC                                  
032718,000722: 27,2322           03701                                    VGTIG                                 
032719,000723: 27,2323           00045                                    36D                                   
032720,000724: 27,2324           53352                           VSL2     VAD                                   
032721,000725: 27,2325           77626                           STADR                                          

Page 766

032723,000727: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
032724,000728: 
032725,000729: 27,2327           77656                           UNIT                                           
032726,000730: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032727,000731: 27,2331           03701                                    VGTIG                                 
032728,000732: 27,2332           45006                           PUSH     CALL                                  
032729,000733: 27,2333           15733                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032730,000734: 27,2334           77650                           GOTO                                           
032731,000735: 27,2335           03632                                    QTEMP                                 
032732,000736: 27,2336           77745        S40.1B             DLOAD                                          
032733,000737: 27,2337           03442                                    TIG                                   
032734,000738: 27,2340           00041                           STORE    TDEC1                                 
032735,000739: 27,2341           77621                           BDSU                                           
032736,000740: 27,2342           03631                                    TPASS4                                
032737,000741: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032738,000742: 27,2344           27057                                    LEMPREC                               
032739,000743: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032740,000744: 27,2346           00001                                    RATT                                  
032741,000745: 27,2347           00001                                    0                                     
032742,000746: 27,2350           03642                           STORE    RTIG                                  
032743,000747: 27,2351           02323                           STORE    RINIT                                 
032744,000748: 27,2352           77656                           UNIT                                           
032745,000749: 27,2353           27537                           STOVL    UNIT/R/                               
032746,000750: 27,2354           00007                                    VATT                                  
032747,000751: 27,2355           03650                           STORE    VTIG                                  
032748,000752: 27,2356           02331                           STORE    VINIT                                 
032749,000753: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032750,000754: 27,2360           06522                                    ZEROVECS                              
032751,000755: 27,2361           16406                                    EPS1                                  
032752,000756: 27,2362           43214                           BOFF     DAD                                   
032753,000757: 27,2363           03745                                    NORMSW                                
032754,000758: 27,2364           56366                                    SMALLEPS                              
032755,000759: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032756,000760: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032757,000761: 27,2367           02776                                    RTX1                                  
032758,000762: 27,2370           45134                           SXA,2    CALL                                  
032759,000763: 27,2371           02777                                    RTX2                                  
032760,000764: 27,2372           22000                                    INITVEL                               
032761,000765: 27,2373           41575                           VLOAD    PUSH                                  
032762,000766: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
032763,000767: 27,2375           03701                           STORE    VGTIG                                 
032764,000768: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032765,000769: 27,2377           17673                           STODL    UT                                    
032766,000770: 27,2400           00045                                    36D                                   
032767,000771: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032768,000772: 27,2402           15733                                    GET.LVC                               #  VERTICAL COORDINATES.
032769,000773: 27,2403           77650                           GOTO                                           
032770,000774: 27,2404           03632                                    QTEMP                                 
032771,000775: 
032772,000776: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
032773,000777: 

Page 767

032775,000779: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032776,000780: 
032777,000781: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032778,000782: 

Page 768

032780,000784:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
032781,000785:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032782,000786:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
032783,000787:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032784,000788:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032785,000789: 
032786,000790:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032787,000791:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032788,000792:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032789,000793:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032790,000794:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032791,000795: 
032792,000796:                                                                                                  #  CALLING SEQUENCE:
032793,000797:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
032794,000798:                                                                                                  #        L +1            S40.2,3
032795,000799:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032796,000800: 
032797,000801:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032798,000802: 
032799,000803:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032800,000804: 
032801,000805:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032802,000806: 
032803,000807:                                                                                                  #  INPUT:
032804,000808:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032805,000809:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
032806,000810:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
032807,000811: 
032808,000812:                                                                                                  #  OUTPUT:
032809,000813:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
032810,000814:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
032811,000815:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
032812,000816:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032813,000817:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032814,000818:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032815,000819: 
032816,000820:                                                                                                  #  DEBRIS:  NONE.

Page 769

032818,000822: 
032819,000823: 27,2413                                           COUNT*   $$/S40.2                              
032820,000824: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
032821,000825: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032822,000826: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032823,000827: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032824,000828: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032825,000829: 27,2420           06520                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032826,000830: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032827,000831: 
032828,000832: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032829,000833: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032830,000834: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032831,000835: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032832,000836: 27,2426           46125                           PDDL     BHIZ                                  
032833,000837: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032834,000838: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032835,000839: 27,2431           45575        STORY              VLOAD    STADR                                 
032836,000840: 27,2432           74162                           STORE    YSCREF                                
032837,000841: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF), BUT FOR A
032838,000842: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032839,000843: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032840,000844: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032841,000845: 
032842,000846: 27,2437           43414                           SET      RVQ                                   
032843,000847: 27,2440           01073                                    PFRATFLG                              
032844,000848: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032845,000849: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032846,000850: 27,2443           03650                                    VTIG                                  
032847,000851: 27,2444           41456                           UNIT     PUSH                                  
032848,000852: 27,2445           77650                           GOTO                                           
032849,000853: 27,2446           56431                                    STORY                                 

Page 770

032851,000855:                                                                                                  #  SUBROUTINE S40.8
032852,000856:                                                                                                  #  MODIFIED APRIL 3, 1968 BY PETER ADLER   MIT/IL
032853,000857: 
032854,000858:                                                                                                  #  DESCRIPTION
032855,000859:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032856,000860:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032857,000861:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032858,000862: 
032859,000863:                                                                                                  #  CALLING SEQUENCE
032860,000864:                                                                                                  #        L-1     CALL
032861,000865:                                                                                                  #        L               S40.8
032862,000866:                                                                                                  #        L+1                     INTERPRETIVE RETURN
032863,000867: 
032864,000868:                                                                                                  #  ALARM
032865,000869:                                                                                                  #        IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032866,000870:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032867,000871: 
032868,000872:                                                                                                  #  INPUT AND INITIALIZATION
032869,000873:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
032870,000874:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
032871,000875:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
032872,000876:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
032873,000877:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032874,000878:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032875,000879:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032876,000880: 
032877,000881:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032878,000882: 
032879,000883:                                                                                                  #  OUTPUT
032880,000884:                                                                                                  #        STEERSW         SEE INPUT
032881,000885:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032882,000886:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
032883,000887:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
032884,000888: 
032885,000889:                                                                                                  #  SUBROUTINE CALLED
032886,000890:                                                                                                  #        FINDCDUW
032887,000891: 
032888,000892:                                                                                                  #  DEBRIS
032889,000893:                                                                                                  #        MPACS, PUSHLIST
032890,000894: 
032891,000895: 27,2447                                           COUNT*   $$/S40.8                              

Page 771

032893,000897: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032894,000898: 27,2450           01347                                    XDELVFLG                              
032895,000899: 27,2451           56731                                    RASTEER1                              
032896,000900: 27,2452           52375                           VLOAD    VSU                                   
032897,000901: 27,2453           03701                                    VGPREV                                
032898,000902: 27,2454           03527                                    DELVREF                               
032899,000903: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
032900,000904: 27,2456           76521                           MXV      VSL1                                  
032901,000905: 27,2457           01734                                    REFSMMAT                              
032902,000906: 27,2460           03254                           STORE    UNFC/2                                
032903,000907: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032904,000908: 27,2462           03707                                    VG                                    
032905,000909: 27,2463           03664                           STORE    VGDISP                                
032906,000910: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
032907,000911: 27,2465           00001                                    0                                     
032908,000912: 27,2466           03707                                    VG                                    
032909,000913: 27,2467           27701                           STOVL    VGPREV                                
032910,000914: 27,2470           03527                                    DELVREF                               
032911,000915: 27,2471           57414                           BOFF     VCOMP                                 
032912,000916: 27,2472           01344                                    STEERSW                               
032913,000917: 27,2473           00052                                    QPRET                                 
032914,000918: 27,2474           77656                           UNIT                                           
032915,000919: 27,2475           41441                           DOT      PUSH                                  
032916,000920: 27,2476           03707                                    VG                                    
032917,000921: 27,2477           56244                           BPL      DDV                                   
032918,000922: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032919,000923: 27,2501           03743                                    VEX                                   
032920,000924: 27,2502           41215                           DAD      DMP                                   
032921,000925: 27,2503           06520                                    DPHALF                                
032922,000926: 27,2504           56261                           SR       DDV                                   
032923,000927: 27,2505           20613                                    10D                                   
032924,000928: 27,2506           00045                                    36D                                   
032925,000929: 27,2507           43205                           DMP      DAD                                   
032926,000930: 27,2510           16535                                    -FOURDT                               
032927,000931: 27,2511           03741                                    TDECAY                                
032928,000932: 27,2512           03517                           STORE    TGO                                   
032929,000933: 27,2513           77615                           DAD                                            
032930,000934: 27,2514           01235                                    PIPTIME                               
032931,000935: 27,2515           17442                           STODL    TIG                                   
032932,000936: 27,2516           03517                                    TGO                                   
032933,000937: 27,2517           51025                           DSU      BPL                                   
032934,000938: 27,2520           16537                                    FOURSECS                              #  400 CS
032935,000939: 27,2521           61111                                    FINDCDUW   -2                         
032936,000940: 27,2522           43014                           SET      CLRGO                                 
032937,000941: 27,2523           01066                                    IMPULSW                               
032938,000942: 27,2524           01224                                    STEERSW                               
032939,000943: 27,2525           00052                                    QPRET                                 
032940,000944: 
032941,000945: 27,2526           77776        ALARMIT            EXIT                                           
032942,000946: 

Page 772

032944,000948: 27,2527           05567                           TC       ALARM                                 
032945,000949: 27,2530           01407                           OCT      01407                                 
032946,000950: 27,2531           06037                           TC       INTPRET                               
032947,000951: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032948,000952: 27,2533           61111                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
032949,000953: 
032950,000954: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
032951,000955: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032952,000956: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
032953,000957: 

Page 773

032955,000959:                                                                                                  #  NAME                  S40.13 - TIMEBURN
032956,000960: 
032957,000961:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032958,000962:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032959,000963:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032960,000964:                                                                                                  #                        BURN
032961,000965:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032962,000966:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032963,000967:                                                                                                  #                        SIGNAL
032964,000968: 
032965,000969:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
032966,000970: 
032967,000971:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032968,000972:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032969,000973:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
032970,000974:                                                                                                  #                                AND ALSO FOR RCS ENGINE
032971,000975:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032972,000976:                                                                                                  #                                BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
032973,000977:                                                                                                  #                                REQUIRE MODIFICATION FOR SATURN BURNS.
032974,000978:                                                                                                  #                        ENG1FLAG      SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032975,000979:                                                                                                  #                                =0      DPS
032976,000980:                                                                                                  #                                =1      APS
032977,000981: 
032978,000982:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
032979,000983:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
032980,000984:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
032981,000985:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
032982,000986:                                                                                                  #                        TGO             TIME TO BURN IN CS
032983,000987: 
032984,000988:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032985,000989:                                                                                                  #                        FORCE
032986,000990: 
032987,000991: 27,2540  E7,1516                                  EBANK=   TGO                                   
032988,000992: 27,2540                                           COUNT*   $$/40.13                              
032989,000993: 27,2540           06037        S40.13             TC       INTPRET                               
032990,000994: 27,2541           43001                           SETPD    CLEAR                                 
032991,000995: 27,2542           00001                                    00D                                   
032992,000996: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
032993,000997: 27,2544           51575                           VLOAD    ABVAL                                 
032994,000998: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
032995,000999: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
032996,001000: 27,2547           21021                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032997,001001: 27,2550           34017                                    FRCS2                                 
032998,001002: 27,2551           72471                           DDV      SL1                                   #  SCALE
032999,001003: 27,2552           01245                                    WEIGHT/G                              
033000,001004: 27,2553           41421                           BDSU     PUSH                                  
033001,001005: 27,2554           43014                           BOFF     SET                                   
033002,001006: 27,2555           05342                                    APSFLAG                               
033003,001007: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
033004,001008: 27,2557           02463                                    NOTHROTL                              
033005,001009: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033006,001010: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
033007,001011: 27,2562           01245                                    WEIGHT/G                              
033008,001012: 27,2563           50021                           BDSU     BMN                                   

Page 774

033010,001014: 27,2564           00001                                    00D                                   
033011,001015: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
033012,001016: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033013,001017: 27,2567           03737                                    MDOT                                  
033014,001018: 
033015,001019:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033016,001020:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
033017,001021:                                                                                                  #  REQUIRE ADJUSTMENT
033018,001022: 
033019,001023: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
033020,001024: 27,2571           65221                           BDSU     PDDL                                  
033021,001025: 27,2572           01245                                    WEIGHT/G                              
033022,001026: 27,2573           03735                                    F                                     
033023,001027: 27,2574           60405                           DMP      SR2                                   #  SCALE
033024,001028: 27,2575           16702                                    5SECS                                 
033025,001029: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
033026,001030: 27,2577           51021                           BDSU     BPL                                   
033027,001031: 27,2600           00003                                    02D                                   
033028,001032: 27,2601           56626                                    S40.13D                               
033029,001033: 27,2602           55345                           DLOAD    BDDV                                  
033030,001034: 27,2603           43205                           DMP      DAD                                   
033031,001035: 27,2604           16702                                    5SECS                                 
033032,001036: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
033033,001037: 27,2606           77650                           GOTO                                           
033034,001038: 27,2607           56616                                    S40.132                               
033035,001039: 27,2610           41345        S40.131            DLOAD    DMP                                   
033036,001040: 27,2611           01245                                    WEIGHT/G                              
033037,001041: 27,2612           41542                           SR1      PUSH                                  
033038,001042: 27,2613           56215                           DAD      DDV                                   
033039,001043: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
033040,001044: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
033041,001045: 27,2616           77414        S40.132            SET      EXIT                                  
033042,001046: 27,2617           01066                                    IMPULSW                               
033043,001047: 27,2620           07257        S40.132*           TC       TPAGREE                               
033044,001048: 27,2621           30154                           CA       MPAC                                  
033045,001049: 27,2622           56001                           XCH      L                                     
033046,001050: 27,2623           34755                           CA       ZERO                                  
033047,001051: 27,2624           53517                           DXCH     TGO                                   
033048,001052: 27,2625           12650                           TCF      S40.134                               
033049,001053: 
033050,001054: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033051,001055: 27,2627           00001                                    00D                                   
033052,001056: 27,2630           01245                                    WEIGHT/G                              
033053,001057: 27,2631           43006                           PUSH     BON                                   
033054,001058: 27,2632           05302                                    APSFLAG                               
033055,001059: 27,2633           56671                                    APSTGO                                
033056,001060: 27,2634           43071                           DDV      CLEAR                                 
033057,001061: 27,2635           16007                                    S40.136                               
033058,001062: 27,2636           02663                                    NOTHROTL                              
033059,001063: 27,2637           41400                           BOV      PUSH                                  

Page 775

033061,001065: 27,2640           56653                                    S40.130V                              
033062,001066: 27,2641           51025        S40.127            DSU      BPL                                   
033063,001067: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
033064,001068: 27,2643           56661                                    S40.138                               
033065,001069: 27,2644           52015                           DAD      GOTO                                  
033066,001070: 27,2645           16704                                    6SEC                                  
033067,001071: 27,2646           56616                                    S40.132                               
033068,001072: 27,2647           77776        S40.133            EXIT                                           
033069,001073: 27,2650           05353        S40.134            TC       PHASCHNG                              
033070,001074: 27,2651           00003                           OCT      00003                                 
033071,001075: 27,2652           05155                           TC       ENDOFJOB                              
033072,001076: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033073,001077: 27,2654           77671                           DDV                                            
033074,001078: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033075,001079: 27,2656           03517                           STORE    TGO                                   
033076,001080: 27,2657           77776                           EXIT                                           
033077,001081: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033078,001082: 
033079,001083: 27,2661           51025        S40.138            DSU      BPL                                   
033080,001084: 27,2662           16706                                    89SECS                                
033081,001085: 27,2663           56666                                    STORETGO                              
033082,001086: 27,2664           77614                           SET                                            
033083,001087: 27,2665           02463                                    NOTHROTL                              
033084,001088: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033085,001089: 27,2667           77776                           EXIT                                           
033086,001090: 27,2670           12620                           TCF      S40.132*                              
033087,001091: 
033088,001092: 27,2671           62471        APSTGO             DDV      SL2                                   
033089,001093: 27,2672           34007                                    FAPS                                  
033090,001094: 27,2673           77650                           GOTO                                           
033091,001095: 27,2674           56667                                    STORETGO   +1                         
033092,001096: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033093,001097: 
033094,001098: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033095,001099: 
033096,001100: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033097,001101: 
033098,001102: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033099,001103: 
033100,001104: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
033101,001105: 
033102,001106:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033103,001107:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033104,001108:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
033105,001109:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033106,001110:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033107,001111:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033108,001112: 
033109,001113:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
033110,001114: 
033111,001115:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033112,001116:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 776

033114,001118:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033115,001119:                                                                                                  #                                  METERS/CS AT +7.
033116,001120:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
033117,001121:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033118,001122:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
033119,001123:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033120,001124:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033121,001125:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033122,001126:                                                                                                  #                                  METERS/CS AT +7.
033123,001127: 
033124,001128:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033125,001129:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
033126,001130:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033127,001131:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
033128,001132: 
033129,001133:                                                                                                  #  SUBROUTINES USED - INITVEL
033130,001134: 
033131,001135: 27,2707  E7,1700                                  EBANK=   VGPREV                                
033132,001136: 27,2707                                           COUNT*   $$/S40.9                              
033133,001137: 27,2707           06037        S40.9              TC       INTPRET                               
033134,001138: 27,2710           77601                           SETPD                                          
033135,001139: 27,2711           00001                                    00D                                   
033136,001140: 27,2712           71214                           SET      DLOAD                                 
033137,001141: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033138,001142: 27,2714           06522                                    HI6ZEROS                              
033139,001143: 27,2715           77725                           PDDL                                           
033140,001144: 27,2716           16406                                    EPS1                                  
033141,001145: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033142,001146: 27,2720           03745                                    NORMSW                                
033143,001147: 27,2721           56723                                    EPSSMALL                              
033144,001148: 27,2722           16410                                    EPS2                                  
033145,001149: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
033146,001150: 27,2724           22002                                    HAVEGUES                              
033147,001151: 27,2725           77776        ENDS40.9           EXIT                                           
033148,001152: 27,2726           05353                           TC       PHASCHNG                              
033149,001153: 27,2727           00002                           OCT      2                                     
033150,001154: 27,2730           15155                           TCF      ENDOFJOB                              
033151,001155: 
033152,001156: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
033153,001157: 27,2732           01221                                    RN                                    
033154,001158: 27,2733           53744                           LXC,2    SL*                                   
033155,001159: 27,2734           02777                                    RTX2                                  
033156,001160: 27,2735           57576                                    0,2                                   
033157,001161: 27,2736           27715                           STOVL    RMAG                                  
033158,001162: 27,2737           03444                                    RTARG                                 
033159,001163: 27,2740           47051                           VSU      RTB                                   
033160,001164: 27,2741           01221                                    RN                                    
033161,001165: 27,2742           21724                                    NORMUNX1                              
033162,001166: 27,2743           17656                           STODL    IC                                    
033163,001167: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
033164,001168: 27,2745           53674                           XAD,2    SL*                                   
033165,001169: 27,2746           00046                                    X1                                    

Page 777

033167,001171: 27,2747           57576                                    0,2                                   
033168,001172: 27,2750           00037                           STORE    30D                                   
033169,001173: 27,2751           41301                           NORM     DMP                                   
033170,001174: 27,2752           00050                                    X2                                    
033171,001175: 27,2753           03715                                    RMAG                                  
033172,001176: 27,2754           57101                           NORM     XAD,2                                 
033173,001177: 27,2755           00047                                    X1                                    
033174,001178: 27,2756           00046                                    X1                                    
033175,001179: 27,2757           77734                           SXA,2                                          
033176,001180: 27,2760           03766                                    MUSCALE                               
033177,001181: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
033178,001182: 27,2762           00037                                    30D                                   
033179,001183: 27,2763           65342                           SR1      PDDL                                  
033180,001184: 27,2764           03715                                    RMAG                                  
033181,001185: 27,2765           65342                           SR1      PDDL                                  
033182,001186: 27,2766           03723                                    RTMAG                                 
033183,001187: 27,2767           43342                           SR1      DAD                                   
033184,001188: 27,2770           45415                           DAD      STADR                                 
033185,001189: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
033186,001190: 27,2772           41225                           DSU      DMP                                   
033187,001191: 27,2773           00037                                    30D                                   
033188,001192: 27,2774           03721                                    MU/A                                  
033189,001193: 27,2775           77621                           BDSU                                           
033190,001194: 27,2776           03717                                    MUASTEER                              
033191,001195: 27,2777           45325                           PDDL     DSU                                   
033192,001196: 27,3000           03733                                    SS                                    
033193,001197: 27,3001           03715                                    RMAG                                  
033194,001198: 27,3002           70501                           NORM     SR1                                   
033195,001199: 27,3003           00047                                    X1                                    
033196,001200: 27,3004           41271                           DDV      DMP                                   
033197,001201: 27,3005           03725                                    R1C                                   
033198,001202: 27,3006           53664                           XSU,2    SL*                                   
033199,001203: 27,3007           00046                                    X1                                    
033200,001204: 27,3010           57575                                    1,2                                   
033201,001205: 27,3011           77754                           LXA,2                                          
033202,001206: 27,3012           03766                                    MUSCALE                               
033203,001207: 27,3013           75366                           SQRT     SIGN                                  
033204,001208: 27,3014           02673                                    GEOMSGN                               
033205,001209: 27,3015           00041                           STORE    32D                                   #  + OR - A
033206,001210: 27,3016           41345                           DLOAD    DMP                                   
033207,001211: 27,3017           03733                                    SS                                    
033208,001212: 27,3020           03721                                    MU/A                                  
033209,001213: 27,3021           77621                           BDSU                                           
033210,001214: 27,3022           03717                                    MUASTEER                              
033211,001215: 27,3023           45325                           PDDL     DSU                                   
033212,001216: 27,3024           03733                                    SS                                    
033213,001217: 27,3025           03723                                    RTMAG                                 
033214,001218: 27,3026           70501                           NORM     SR1                                   
033215,001219: 27,3027           00047                                    X1                                    
033216,001220: 27,3030           41271                           DDV      DMP                                   
033217,001221: 

Page 778

033219,001223: 27,3031           03725                                    R1C                                   
033220,001224: 27,3032           53664                           XSU,2    SL*                                   
033221,001225: 27,3033           00046                                    X1                                    
033222,001226: 27,3034           57575                                    1,2                                   
033223,001227: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033224,001228: 27,3036           03733                                    SS                                    
033225,001229: 27,3037           56225                           DSU      DDV                                   
033226,001230: 27,3040           00037                                    30D                                   
033227,001231: 27,3041           03733                                    SS                                    
033228,001232: 27,3042           41566                           SQRT     PUSH                                  
033229,001233: 27,3043           67542                           SR1      ASIN                                  
033230,001234: 27,3044           65205                           DMP      PDDL                                  
033231,001235: 27,3045           17216                                    2PI+3                                 
033232,001236: 27,3046           56325                           PDDL     DDV                                   
033233,001237: 27,3047           00037                                    30D                                   
033234,001238: 27,3050           03733                                    SS                                    
033235,001239: 27,3051           77600                           BOV                                            
033236,001240: 27,3052           57053                                    +1                                    
033237,001241: 27,3053           41366                           SQRT     DMP                                   
033238,001242: 27,3054           44242                           SR3      BDSU                                  
033239,001243: 27,3055           65365                           SIGN     PDDL                                  
033240,001244: 27,3056           02673                                    GEOMSGN                               
033241,001245: 27,3057           17216                                    2PI+3                                 
033242,001246: 27,3060           45302                           SR2      DSU                                   
033243,001247: 27,3061           65205                           DMP      PDDL                                  
033244,001248: 27,3062           03733                                    SS                                    
033245,001249: 27,3063           03733                                    SS                                    
033246,001250: 27,3064           75442                           SR3      SQRT                                  
033247,001251: 27,3065           77605                           DMP                                            
033248,001252: 27,3066           52525                           PDDL     SL3                                   
033249,001253: 27,3067           03717                                    MUASTEER                              
033250,001254: 27,3070           55366                           SQRT     BDDV                                  
033251,001255: 27,3071           43225                           DSU      DAD                                   
033252,001256: 27,3072           03631                                    TPASS4                                
033253,001257: 27,3073           01235                                    PIPTIME                               
033254,001258: 27,3074           14037                           STODL    30D                                   
033255,001259: 27,3075           77765                           SIGN                                           
033256,001260: 27,3076           00037                                    30D                                   #  B WITH SIGN
033257,001261: 27,3077           00037                           STORE    30D                                   
033258,001262: 27,3100           77214                           BON      VLOAD                                 
033259,001263: 27,3101           03705                                    NORMSW                                
033260,001264: 27,3102           57123                                    180MESS                               
033261,001265: 27,3103           03656                                    IC                                    
033262,001266: 27,3104           53451                           VSU      UNIT                                  
033263,001267: 27,3105           03537                                    UNIT/R/                               
033264,001268: 27,3106           63361                           VXSC     PDVL                                  
033265,001269: 27,3107           00037                                    30D                                   
033266,001270: 27,3110           03656                                    IC                                    
033267,001271: 27,3111           53455                           VAD      UNIT                                  
033268,001272: 27,3112           03537                                    UNIT/R/                               

Page 779

033270,001274: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033271,001275: 27,3114           00041                                    32D                                   
033272,001276: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033273,001277: 27,3116           02777                                    RTX2                                  
033274,001278: 27,3117           57177                                    0          -1,2                       
033275,001279: 27,3120           02337                           STORE    VIPRIME                               
033276,001280: 27,3121           77650                           GOTO                                           
033277,001281: 27,3122           57166                                    ASTREND    -2                         
033278,001282: 27,3123           50375        180MESS            VLOAD    DOT                                   
033279,001283: 27,3124           03656                                    IC                                    
033280,001284: 27,3125           03537                                    UNIT/R/                               
033281,001285: 27,3126           77240                           BMN      VLOAD                                 
033282,001286: 27,3127           57146                                    NEGPROD                               
033283,001287: 27,3130           03656                                    IC                                    
033284,001288: 27,3131           63362                           VSR1     PDVL                                  
033285,001289: 27,3132           03537                                    UNIT/R/                               
033286,001290: 27,3133           53362                           VSR1     VAD                                   
033287,001291: 27,3134           77656                           UNIT                                           
033288,001292: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033289,001293: 27,3136           75235                           VXV      SIGN                                  
033290,001294: 27,3137           02674                                    UN                                    
033291,001295: 27,3140           02673                                    GEOMSGN                               
033292,001296: 27,3141           74256                           UNIT     VXSC                                  
033293,001297: 27,3142           00037                                    30D                                   
033294,001298: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033295,001299: 27,3144           77650                           GOTO                                           
033296,001300: 27,3145           57113                                    GETVRVG1                              
033297,001301: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033298,001302: 27,3147           03537                                    UNIT/R/                               
033299,001303: 27,3150           74515                           PDVL     VSR1                                  
033300,001304: 27,3151           03656                                    IC                                    
033301,001305: 27,3152           53451                           VSU      UNIT                                  
033302,001306: 27,3153           77606                           PUSH                                           
033303,001307: 27,3154           75235                           VXV      SIGN                                  
033304,001308: 27,3155           02674                                    UN                                    #  FOR B
033305,001309: 27,3156           02673                                    GEOMSGN                               
033306,001310: 27,3157           74256                           UNIT     VXSC                                  
033307,001311: 27,3160           00041                                    32D                                   
033308,001312: 27,3161           77715                           PDVL                                           
033309,001313: 27,3162           53361                           VXSC     VAD                                   
033310,001314: 27,3163           00037                                    30D                                   
033311,001315: 27,3164           77650                           GOTO                                           
033312,001316: 27,3165           57115                                    GETVRVG2                              
033313,001317: 27,3166           77651                           VSU                                            
033314,001318: 27,3167           03553                                    VN1                                   
033315,001319: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033316,001320: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033317,001321: 27,3172           03000                                    RTX2                                  
033318,001322: 27,3173           57177                                    GETGOBL                               
033319,001323: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 780

033321,001325: 27,3175           02366                                    DELVEET3                              
033322,001326: 27,3176           57212                                    NOGOBL                                
033323,001327: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033324,001328: 27,3200           01221                                    RN                                    
033325,001329: 27,3201           45345                           DLOAD    DSU                                   
033326,001330: 27,3202           01235                                    PIPTIME                               #               2
033327,001331: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033328,001332: 27,3204           56205                           DMP      DDV                                   #   OBL
033329,001333: 27,3205           16023                                    EARTHMU                               
033330,001334: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033331,001335: 27,3207           53361                           VXSC     VAD                                   
033332,001336: 27,3210           03521                                    UNITGOBL                              
033333,001337: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033334,001338: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033335,001339: 27,3213           77650                           GOTO                                           
033336,001340: 27,3214           56455                                    VGAIN*                                
033337,001341: 
033338,001342: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033339,001343: 

Page 781

033341,001345:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033342,001346:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033343,001347: 
033344,001348:                                                                                                  #  FUNCTION:
033345,001349:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033346,001350:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033347,001351:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033348,001352: 
033349,001353:                                                                                                  #  CALLING SEQUENCE:
033350,001354:                                                                                                  #        VIA WAITLIST FROM R03
033351,001355: 
033352,001356:                                                                                                  #  INPUT:
033353,001357:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033354,001358:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033355,001359: 
033356,001360:                                                                                                  #  SUBROUTINES USED:
033357,001361:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033358,001362: 
033359,001363: 27,3217                                           COUNT*   $$/S40.6                              
033360,001364: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033361,001365: 
033362,001366: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033363,001367: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033364,001368: 
033365,001369: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033366,001370: 27,3222           00006                           EXTEND                                         
033367,001371: 27,3223           03012                           WAND     CHAN12                                
033368,001372: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033369,001373: 27,3225           00006                           EXTEND                                         
033370,001374: 27,3226           05012                           WOR      CHAN12                                
033371,001375: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033372,001376: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033373,001377: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033374,001378: 27,3232           00006                           EXTEND                                         
033375,001379: 27,3233           03012                           WAND     CHAN12                                
033376,001380: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033377,001381: 27,3235           00006                           EXTEND                                         
033378,001382: 27,3236           05012                           WOR      CHAN12                                
033379,001383: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033380,001384: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033381,001385: 27,3241           03260                           ADRES    PITCHOFF                              
033382,001386: 
033383,001387: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033384,001388: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
033385,001389: 27,3244           44740                           CS       BIT12                                 
033386,001390: 27,3245           00006                           EXTEND                                         
033387,001391: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033388,001392: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033389,001393: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033390,001394: 27,3251           00006                           EXTEND                                         
033391,001395: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033392,001396: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033393,001397: 27,3254           05072                           TC       NOVAC                                 
033394,001398: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 782

033396,001400: 27,3255           02323 02067                     2CADR    TRIMDONE                              
033397,001401: 
033398,001402: 27,3257           05261                           TC       TASKOVER                              
033399,001403: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033400,001404: 27,3261           00006                           EXTEND                                         
033401,001405: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033402,001406: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033403,001407: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033404,001408: 27,3265           00137                           ADRES    GMBDRVSW                              
033405,001409: 27,3266           05261                           TC       TASKOVER                              
033406,001410: 

Page 783

033408,001412:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
033409,001413:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033410,001414: 
033411,001415:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033412,001416: 
033413,001417:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033414,001418:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033415,001419:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033416,001420:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033417,001421:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033418,001422:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033419,001423:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033420,001424:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033421,001425: 
033422,001426:                                                                                                  #  CALLING SEQUENCE:
033423,001427:                                                                                                  #        L       VLOAD   CALL
033424,001428:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033425,001429:                                                                                                  #        L +2            S41.1
033426,001430:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033427,001431: 
033428,001432:                                                                                                  #  SUBROUTINES CALLED:
033429,001433:                                                                                                  #        1.      CDUTRIG,
033430,001434:                                                                                                  #                        WHICH CALLS CDULOGIC.
033431,001435:                                                                                                  #        2.      *SMNB*
033432,001436: 
033433,001437:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
033434,001438: 
033435,001439:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033436,001440: 
033437,001441:                                                                                                  #  RESTART PROTECTION:  NONE.
033438,001442: 

Page 784

033440,001444:                                                                                                  #  INPUT:
033441,001445:                                                                                                  #        1.      REFSMMAT.
033442,001446:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
033443,001447:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
033444,001448: 
033445,001449:                                                                                                  #  OUTPUT:
033446,001450:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033447,001451:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
033448,001452:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
033449,001453:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033450,001454: 
033451,001455:                                                                                                  #  DEBRIS:  NONE.
033452,001456: 
033453,001457:                                                                                                  #  CHECKOUT STATUS:  CODED.
033454,001458: 
033455,001459: 27,3267                                           COUNT*   $$/S41.1                              
033456,001460: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033457,001461: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033458,001462: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033459,001463: 27,3272           47646                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033460,001464:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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