Source Code

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

031655,000002:                                                                                                  ## Copyright:   Public domain.
031656,000003:                                                                                                  ## Filename:    P40-P47.agc
031657,000004:                                                                                                  ## Purpose:     A section of Luminary 1C, revision 131.
031658,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
031659,000006:                                                                                                  ##              Apollo Guidance Computer (AGC) for Apollo 13.
031660,000007:                                                                                                  ##              This file is intended to be a faithful transcription, except
031661,000008:                                                                                                  ##              that the code format has been changed to conform to the
031662,000009:                                                                                                  ##              requirements of the yaYUL assembler rather than the
031663,000010:                                                                                                  ##              original YUL assembler.
031664,000011:                                                                                                  ## Reference:   pp. 747-779
031665,000012:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
031666,000013:                                                                                                  ## Website:     www.ibiblio.org/apollo
031667,000014:                                                                                                  ## Mod history: 05/24/03 RSB.   Began transcribing.
031668,000015:                                                                                                  ##              2010-01-05 JL   Fixed indentation of STADR instruction.
031669,000016:                                                                                                  ##              2016-12-01 RSB  There were a number of "modern" comments about hand-written
031670,000017:                                                                                                  ##                              notations, which I had added back in 2003, but whiche never
031671,000018:                                                                                                  ##                              got converted to ##-style.  However, after having changed them
031672,000019:                                                                                                  ##                              to ##-style, they no longer worked properly after being rendered
031673,000020:                                                                                                  ##                              to html, so they had to be considerably reworked to fix that.
031674,000021:                                                                                                  ##              2017-01-06 RSB  Page numbers now agree with those on the
031675,000022:                                                                                                  ##                              original harcopy, as opposed to the PDF page
031676,000023:                                                                                                  ##                              numbers in 1701.pdf.
031677,000024:                                                                                                  ##              2017-02-25 RSB  Proofed comment text using octopus/ProoferComments.
031678,000025:                                                                                                  ##              2017-02-28 RSB  Fixed lingering typos.
031679,000026:                                                                                                  ##              2017-03-10 RSB  Comment-text fixes noted in proofing Luminary 116.
031680,000027:                                                                                                  ##              2017-03-16 RSB  Comment-text fixes identified in 5-way
031681,000028:                                                                                                  ##                              side-by-side diff of Luminary 69/99/116/131/210.
031682,000029: 

Page 747

031684,000031:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH          DECEMBER 22, 1966
031685,000032:                                                                                                  #  MOD 03 BY PETER ADLER                 MARCH 3, 1967
031686,000033:                                                                                                  #  CALLED VIA JOB FROM V37E
031687,000034: 
031688,000035:                                                                                                  #  FUNCTIONAL DESCRIPTION
031689,000036:                                                                                                  #        1)      TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
031690,000037:                                                                                                  #                THRUSTING MANEUVER.

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

031692,000039:                                                                                                  #        3)      TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
031693,000040:                                                                                                  #        4)      TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
031694,000041:                                                                                                  #                PGNCS CONTROLLED DPS MANEUVER.
031695,000042:                                                                                                  #        5)      IN POSTBURN -- ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
031696,000043:                                                                                                  #                SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
031697,000044:                                                                                                  #        NOTE:   P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
031698,000045:                                                                                                  #                RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
031699,000046: 
031700,000047:                                                                                                  #  SUBROUTINES USED
031701,000048:                                                                                                  #        R02             IMU STATUS CHECK
031702,000049:                                                                                                  #        S40.1           COMPUTATION OF THRUST DIRECTION
031703,000050:                                                                                                  #        S40.13          LENGTH OF BURN
031704,000051:                                                                                                  #        S40.2,3         PREFERRED IMU ORIENATTION
031705,000052:                                                                                                  #        S40.8           X PRODUCT STEERING
031706,000053:                                                                                                  #        S40.9           LAMBERT VTOGAIN
031707,000054:                                                                                                  #        R60LEM          ATTITUDE MANEUVER
031708,000055:                                                                                                  #        LEMPREC         EXTRAPOLATE STATE VECTOR
031709,000056:                                                                                                  #        PREREAD         AVERAGE G, SERVICER
031710,000057:                                                                                                  #        ALLCOAST        DAP COASTING INITIALIZATION
031711,000058:                                                                                                  #        CLOKTASK        ERGO CLOCKJOB -- COUNT DOWN
031712,000059:                                                                                                  #        PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
031713,000060:                                                                                                  #        PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
031714,000061:                                                                                                  #        KILLTASK, SGNAGREE, TPAGREE, ETC.
031715,000062: 
031716,000063:                                                                                                  #  RESTARTS VIA GROUP 4
031717,000064: 
031718,000065:                                                                                                  #  DISPLAYS
031719,000066:                                                                                                  #        V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
031720,000067:                                                                                                  #        V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
031721,000068:                                                                                                  #        V50N99  PLEASE PERFORM ENGINE ON ENABLE
031722,000069:                                                                                                  #        V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM -- ONCE/SECOND
031723,000070:                                                                                                  #        V16N40  FINAL VALUES OF TG, VG, DELTAVM
031724,000071:                                                                                                  #        V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
031725,000072:                                                                                                  #        V05N09  POSSIBLE ALARMS
031726,000073:                                                                                                  #        V50N07  PLEASE SELECT P00
031727,000074: 

Page 748

031729,000076:                                                                                                  #        VIA R30
031730,000077: 
031731,000078:                                                                                                  #        V06N44  HAPO, PERI, TFF
031732,000079:                                                                                                  #        V06N35  TIME TO PERIGEE, HMS
031733,000080: 
031734,000081:                                                                                                  #  ALARM OR ABORT EXIT MODES
031735,000082:                                                                                                  #        PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
031736,000083:                                                                                                  #        V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED.  TC GOTOPOOH.
031737,000084: 
031738,000085:                                                                                                  #        PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E= GOTOPOOH OR V33E= SLIP
031739,000086:                                                                                                  #        TIG BY 45 SECS.
031740,000087: 
031741,000088:                                                                                                  #  ERASABLE INITIALIZATION
031742,000089: 
031743,000090:                                                                                                  #  DEBRIS
031744,000091: 
031745,000092:                                                                                                  #  OUTPUT
031746,000093:                                                                                                  #        SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
031747,000094:                                                                                                  #        XDELVFLG = 1 FOR EXT DELV COMPUTATION
031748,000095:                                                                                                  #                 = 0 FOR AIMPT (LAMBERT) COMP
031749,000096: 
031750,000097: 27,2246                                           COUNT*   $$/P40                                
031751,000098: 27,2246  E7,1455                                  EBANK=   WHICH                                 
031752,000099: 
031753,000100: 36,3153                                           BANK     36                                    
031754,000101: 36,2000                                           SETLOC   P40S                                  
031755,000102: 36,2000                                           BANK                                           
031756,000103: 
031757,000104: 36,3153           05353        P40LM              TC       PHASCHNG                              
031758,000105: 36,3154           04024                           OCT      04024                                 
031759,000106: 
031760,000107: 36,3155           33137                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
031761,000108: 36,3156           55455                           TS       WHICH                                 
031762,000109: 
031763,000110: 36,3157           30106                           CA       FLGWRD10                              
031764,000111: 36,3160           74737                           MASK     APSFLBIT                              
031765,000112: 36,3161           10000                           CCS      A                                     
031766,000113: 36,3162           13125                           TCF      P40ALM                                
031767,000114: 36,3163           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
031768,000115: 36,3164           11233                           CADR     R02BOTH                               
031769,000116: 
031770,000117: 36,3165           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
031771,000118: 36,3166           74737                           MASK     CSMDOCKD                              
031772,000119: 36,3167           10000                           CCS      A                                     
031773,000120: 36,3170           32022                           CAF      THRESH1                               
031774,000121: 36,3171           62023                           AD       THRESH3                               
031775,000122: 36,3172           55250                           TS       DVTHRUSH                              
031776,000123: 36,3173           34751                           CAF      FOUR                                  
031777,000124: 36,3174           55515                           TS       DVCNTR                                

Page 749

031779,000126: 36,3175           06042                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
031780,000127: 36,3176           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
031781,000128: 36,3177           34001                                    FDPS                                  
031782,000129: 36,3200           02663                                    NOTHROTL                              
031783,000130: 36,3201           03735                           STORE    F                                     
031784,000131: 36,3202           77735                           SLOAD                                          
031785,000132: 36,3203           26002                                    DPSVEX                                
031786,000133: 36,3204           70476        P40IN              DCOMP    SR1                                   
031787,000134: 36,3205           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
031788,000135: 36,3206           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
031789,000136: 36,3207           77624                           CALL                                           
031790,000137: 36,3210           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
031791,000138: 36,3211           77776                           EXIT                                           
031792,000139: 
031793,000140: 36,3212           00004                           INHINT                                         
031794,000141: 36,3213           04674                           TC       IBNKCALL                              
031795,000142: 36,3214           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
031796,000143: 
031797,000144: 36,3215           03217                           TC       P40SXT4                               
031798,000145: 
031799,000146:                                                                                                  #        ***********************
031800,000147: 
031801,000148: 36,3216           12130                           TCF      BURNBABY                              
031802,000149: 
031803,000150:                                                                                                  #        ***********************
031804,000151: 
031805,000152: 36,3217           00006        P40SXT4            EXTEND                                         
031806,000153: 36,3220           23141                           QXCH     P40/RET                               
031807,000154: 36,3221           00003        P41MANU            RELINT                                         
031808,000155: 
031809,000156: 36,3222           05516                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
031810,000157: 36,3223           00124                           ADRES    3AXISFLG                              
031811,000158: 
031812,000159: 36,3224           04616                           TC       BANKCALL                              
031813,000160: 36,3225           54123                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
031814,000161: 36,3226           01141                           TC       P40/RET                               
031815,000162: 
031816,000163: 36,3227  E7,1462                                  EBANK=   TRKMKCNT                              
031817,000164: 36,3227           30005        POSTBURN           CA       Z                                     
031818,000165: 36,3230           55162                           TS       DISPDEX                               
031819,000166: 36,3231           00006                           EXTEND                                         
031820,000167: 36,3232           32060                           DCA      ACADN85                               
031821,000168: 36,3233           53252                           DXCH     AVEGEXIT                              
031822,000169: 36,3234           33764                           CAF      V16N40                                
031823,000170: 36,3235           04616                           TC       BANKCALL                              
031824,000171: 36,3236           20636                           CADR     GOFLASHR                              
031825,000172: 36,3237           03262                           TC       TERM40                                
031826,000173: 36,3240           13245                           TCF      TIGNOW                                
031827,000174: 36,3241           03227                           TC       POSTBURN                              

Page 750

031829,000176: 36,3242           05353        P40PHS1            TC       PHASCHNG                              
031830,000177: 36,3243           00014                           OCT      00014                                 
031831,000178: 36,3244           15155                           TCF      ENDOFJOB                              
031832,000179: 
031833,000180: 36,3245           00004        TIGNOW             INHINT                                         
031834,000181: 36,3246           04674                           TC       IBNKCALL                              
031835,000182: 36,3247           40154                           CADR     ZATTEROR                              
031836,000183: 36,3250           04674                           TC       IBNKCALL                              
031837,000184: 36,3251           40141                           CADR     SETMINDB                              
031838,000185: 36,3252           00003                           RELINT                                         
031839,000186: 36,3253           33765                           CAF      V16N85B                               
031840,000187: 36,3254           04616                           TC       BANKCALL                              
031841,000188: 36,3255           20463                           CADR     REFLASHR                              
031842,000189: 36,3256           03262                           TC       TERM40                                
031843,000190: 36,3257           13262                           TCF      TERM40                                
031844,000191: 36,3260           03253                           TC       -5                                    
031845,000192: 
031846,000193: 36,3261           13242                           TCF      P40PHS1                               
031847,000194: 
031848,000195: 36,3262           00006        TERM40             EXTEND                                         
031849,000196: 36,3263           32110                           DCA      SERVCADR                              
031850,000197: 36,3264           53252                           DXCH     AVEGEXIT                              
031851,000198: 36,3265           34755                           CAF      ZERO                                  
031852,000199: 36,3266           55462                           TS       TRKMKCNT                              #  ZERO RENDZVS CNTERS
031853,000200: 36,3267           30005                           CA       Z                                     
031854,000201: 36,3270           55162                           TS       DISPDEX                               
031855,000202: 36,3271           00004                           INHINT                                         
031856,000203: 36,3272           04674                           TC       IBNKCALL                              
031857,000204: 36,3273           40115                           CADR     RESTORDB                              
031858,000205: 36,3274           00003                           RELINT                                         
031859,000206: 36,3275           06001                           TC       GOTOPOOH                              
031860,000207: 
031861,000208: 36,3276  E7,1455                                  EBANK=   WHICH                                 
031862,000209: 36,3276                                           COUNT*   $$/P41                                
031863,000210: 36,3276           33140        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
031864,000211: 36,3277           55455                           TS       WHICH                                 
031865,000212: 
031866,000213: 36,3300           04616                           TC       BANKCALL                              
031867,000214: 36,3301           11233                           CADR     R02BOTH                               
031868,000215: 
031869,000216: 36,3302           06042                           TC       INTPRET                               #  BOTH LM

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

031872,000219: 36,3303           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD Z JET F
031873,000220: 36,3304           00700                                    NJETSFLG                              
031874,000221: 36,3305           75311                                    P41FJET1                              
031875,000222: 36,3306           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
031876,000223: 
031877,000224: 36,3307           37735        P41FJET            STCALL   F                                     
031878,000225: 36,3310           75314                                    P41IN                                 
031879,000226: 36,3311           77745        P41FJET1           DLOAD                                          

Page 751

031881,000228: 36,3312           34021                                    FRCS2                                 
031882,000229: 36,3313           03735                           STORE    F                                     
031883,000230: 
031884,000231: 36,3314           77624        P41IN              CALL                                           
031885,000232: 36,3315           56246                                    S40.1                                 #  BOTH
031886,000233: 36,3316           77624        P41NORM            CALL                                           
031887,000234: 36,3317           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
031888,000235: 36,3320           77776                           EXIT                                           #  SET PFRATFLG.
031889,000236: 
031890,000237: 36,3321           00004                           INHINT                                         
031891,000238: 36,3322           04674                           TC       IBNKCALL                              
031892,000239: 36,3323           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
031893,000240: 36,3324           04674                           TC       IBNKCALL                              
031894,000241: 36,3325           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
031895,000242: 36,3326           03217                           TC       P40SXT4                               
031896,000243: 
031897,000244: 36,3327           06042                           TC       INTPRET                               
031898,000245: 36,3330           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
031899,000246: 36,3331           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
031900,000247: 36,3332           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
031901,000248: 36,3333           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
031902,000249: 36,3334           77776                           EXIT                                           
031903,000250: 
031904,000251: 36,3335           33765                           CAF      V16N85B                               
031905,000252: 36,3336           04616                           TC       BANKCALL                              
031906,000253: 36,3337           20447                           CADR     GODSPRET                              
031907,000254: 
031908,000255: 36,3340           35017                           CAF      PRIO5                                 
031909,000256: 36,3341           55162                           TS       DISPDEX                               #  FOR SAFETY ONLY
031910,000257: 36,3342           05105                           TC       FINDVAC                               
031911,000258: 36,3343  E7,1700                                  EBANK=   VGPREV                                
031912,000259: 36,3343           03365 74067                     2CADR    DYNMDISP                              
031913,000260: 
031914,000261: 36,3345           05327                           TC       2PHSCHNG                              
031915,000262: 36,3346           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
031916,000263: 36,3347           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
031917,000264: 
031918,000265:                                                                                                  #        ***********************
031919,000266: 
031920,000267: 36,3350           12137                           TCF      B*RNB*B*                              
031921,000268: 
031922,000269:                                                                                                  #        ***********************
031923,000270: 
031924,000271: 36,3351           34777        BLNKWAIT           CAF      1SEC                                  
031925,000272: 36,3352           04616                           TC       BANKCALL                              
031926,000273: 36,3353           01736                           CADR     DELAYJOB                              
031927,000274: 
031928,000275: 36,3354           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
031929,000276: 36,3355           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
031930,000277: 
031931,000278:                                                                                                  #        ***********************

Page 752

031933,000280: 
031934,000281: 36,3356           00006                           EXTEND                                         
031935,000282: 36,3357           13351                           BZF      BLNKWAIT                              
031936,000283: 
031937,000284: 36,3360           33765                           CAF      V16N85B                               
031938,000285: 36,3361           04616                           TC       BANKCALL                              
031939,000286: 36,3362           20447                           CADR     GODSPRET                              
031940,000287: 
031941,000288: 36,3363           35017                           CAF      PRIO5                                 
031942,000289: 36,3364           05146                           TC       PRIOCHNG                              
031943,000290: 
031944,000291: 36,3365           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
031945,000292: 36,3366           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
031946,000293: 36,3367           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85.  STOP DYNMDISP.
031947,000294: 36,3370           06042                           TC       INTPRET                               
031948,000295: 36,3371           45175                           VLOAD    CALL                                  
031949,000296: 36,3372           03701                                    VGPREV                                
031950,000297: 36,3373           57267                                    S41.1                                 
031951,000298: 36,3374           03502                           STORE    VGBODY                                
031952,000299: 36,3375           77776                           EXIT                                           
031953,000300: 36,3376           34777                           CAF      1SEC                                  
031954,000301: 36,3377           04616                           TC       BANKCALL                              
031955,000302: 36,3400           01736                           CADR     DELAYJOB                              
031956,000303: 36,3401           13365                           TCF      DYNMDISP                              
031957,000304: 
031958,000305: 36,3402           06042        CALCN85            TC       INTPRET                               
031959,000306: 36,3403           77624                           CALL                                           
031960,000307: 36,3404           75615                                    UPDATEVG                              
031961,000308: 36,3405           45175                           VLOAD    CALL                                  
031962,000309: 36,3406           03701                                    VGPREV                                
031963,000310: 36,3407           57267                                    S41.1                                 
031964,000311: 36,3410           03502                           STORE    VGBODY                                
031965,000312: 36,3411           77776                           EXIT                                           
031966,000313: 36,3412           04635                           TC       POSTJUMP                              
031967,000314: 36,3413           65746                           CADR     SERVEXIT                              
031968,000315: 
031969,000316: 36,3414                                           COUNT*   $$/P42                                
031970,000317: 36,3414  E7,1455                                  EBANK=   WHICH                                 
031971,000318: 
031972,000319: 36,3414           05353        P42LM              TC       PHASCHNG                              
031973,000320: 36,3415           04024                           OCT      04024                                 
031974,000321: 
031975,000322: 36,3416           33141                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
031976,000323: 36,3417           55455                           TS       WHICH                                 
031977,000324: 
031978,000325: 36,3420           40106                           CS       FLGWRD10                              
031979,000326: 36,3421           74737                           MASK     APSFLBIT                              
031980,000327: 36,3422           10000                           CCS      A                                     
031981,000328: 36,3423           03125                           TC       P40ALM                                
031982,000329: 36,3424           04616        P42STAGE           TC       BANKCALL                              

Page 753

031984,000331: 36,3425           11233                           CADR     R02BOTH                               
031985,000332: 36,3426           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
031986,000333: 36,3427           55250                           TS       DVTHRUSH                              
031987,000334: 36,3430           34751                           CAF      FOUR                                  
031988,000335: 36,3431           55515                           TS       DVCNTR                                
031989,000336: 
031990,000337: 36,3432           06042                           TC       INTPRET                               
031991,000338: 36,3433           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
031992,000339: 36,3434           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
031993,000340: 36,3435           34007                                    FAPS                                  
031994,000341: 36,3436           03735                           STORE    F                                     
031995,000342: 36,3437           52135                           SLOAD    GOTO                                  
031996,000343: 36,3440           26001                                    APSVEX                                
031997,000344: 36,3441           75204                                    P40IN                                 
031998,000345: 
031999,000346: 36,3442  E7,1455                                  EBANK=   WHICH                                 
032000,000347: 
032001,000348: 36,3442                                           COUNT*   $$/P47                                
032002,000349: 36,3442           04616        P47LM              TC       BANKCALL                              
032003,000350: 36,3443           11233                           CADR     R02BOTH                               
032004,000351: 36,3444           06042                           TC       INTPRET                               
032005,000352: 36,3445           77624                           CALRB                                          
032006,000353: 36,3446           27547                                    MIDTOAV2                              
032007,000354: 
032008,000355: 36,3447           30155                           CA       MPAC       +1                         
032009,000356: 36,3450           05173                           TC       TWIDDLE                               
032010,000357: 36,3451           03453                           ADRES    STARTP47                              
032011,000358: 
032012,000359: 36,3452           15155                           TCF      ENDOFJOB                              
032013,000360: 
032014,000361: 36,3453           05353        STARTP47           TC       PHASCHNG                              
032015,000362: 36,3454           05014                           OCT      05014                                 
032016,000363: 36,3455           77777                           OCT      77777                                 
032017,000364: 
032018,000365: 36,3456           00006                           EXTEND                                         
032019,000366: 36,3457           33770                           DCA      ACADN83                               
032020,000367: 36,3460           53252                           DXCH     AVEGEXIT                              
032021,000368: 36,3461           34736                           CAF      PRIO20                                
032022,000369: 36,3462           05105                           TC       FINDVAC                               
032023,000370: 36,3463  E7,1622                                  EBANK=   DELVIMU                               
032024,000371: 36,3463           03517 74067                     2CADR    P47BODY                               
032025,000372: 
032026,000373: 36,3465           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032027,000374:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032028,000375: 
032029,000376: 36,3466           06042        CALCN83            TC       INTPRET                               
032030,000377: 36,3467           53375                           VLOAD    VAD                                   
032031,000378: 36,3470           03502                                    DELVCTL                               
032032,000379: 36,3471           03527                                    DELVREF                               
032033,000380: 36,3472           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS

Page 754

032035,000382: 36,3473           77624                           CALL                                           
032036,000383: 36,3474           57267                                    S41.1                                 
032037,000384: 36,3475           03623                           STORE    DELVIMU                               
032038,000385: 36,3476           77776                           EXIT                                           
032039,000386: 36,3477           05353                           TC       PHASCHNG                              
032040,000387: 36,3500           10035                           OCT      10035                                 #  REREADAC AND HERE
032041,000388: 
032042,000389: 36,3501           06042                           TC       INTPRET                               
032043,000390: 36,3502           77775                           VLOAD                                          
032044,000391: 36,3503           03656                                    DELVSIN                               
032045,000392: 36,3504           03502                           STORE    DELVCTL                               
032046,000393: 36,3505           77776                           EXIT                                           
032047,000394: 
032048,000395: 36,3506           04635                           TC       POSTJUMP                              
032049,000396: 36,3507           65746                           CADR     SERVEXIT                              
032050,000397: 
032051,000398: 36,3510           33766        P47BOD             CAF      V1683                                 
032052,000399: 36,3511           04616                           TC       BANKCALL                              
032053,000400: 36,3512           20636                           CADR     GOFLASHR                              
032054,000401: 36,3513           06001                           TC       GOTOPOOH                              
032055,000402: 36,3514           06001                           TC       GOTOPOOH                              
032056,000403: 
032057,000404: 36,3515           13517                           TCF      P47BODY                               
032058,000405: 
032059,000406: 36,3516           13242                           TCF      P40PHS1                               
032060,000407: 
032061,000408: 36,3517           06042        P47BODY            TC       INTPRET                               
032062,000409: 36,3520           77775                           VLOAD                                          
032063,000410: 36,3521           06524                                    HI6ZEROS                              
032064,000411: 36,3522           03623                           STORE    DELVIMU                               
032065,000412: 36,3523           03502                           STORE    DELVCTL                               
032066,000413: 36,3524           77776                           EXIT                                           
032067,000414: 36,3525           03510                           TC       P47BOD                                
032068,000415: 
032069,000416: 36,3526                                           COUNT*   $$/P40                                
032070,000417: 36,3526           31517        IMPLBURN           CA       TGO        +1                         
032071,000418: 36,3527           03741                           TC       GETDT                                 
032072,000419: 36,3530           05173                           TC       TWIDDLE                               
032073,000420: 36,3531           03546                           ADRES    ENGOFTSK                              
032074,000421: 36,3532           05516                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032075,000422: 36,3533           00153                           ADRES    IGNFLAG                               
032076,000423: 36,3534           05516                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032077,000424: 36,3535           00154                           ADRES    ASTNFLAG                              
032078,000425: 36,3536           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032079,000426: 36,3537           00044                           ADRES    IMPULSW                               
032080,000427: 36,3540           05353                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032081,000428: 36,3541           40114                           OCT      40114                                 
032082,000429: 
032083,000430: 36,3542           05221                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032084,000431: 36,3543           00062                           DEC      50         B-14                       

Page 755

032086,000433: 36,3544           02657                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032087,000434: 
032088,000435: 36,3545           05261                           TC       TASKOVER                              
032089,000436: 
032090,000437: 36,3546           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032091,000438: 36,3547           75551                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032092,000439: 36,3550           05261                           TC       TASKOVER                              
032093,000440: 
032094,000441: 36,3551           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032095,000442: 36,3552           05105                           TC       FINDVAC                               
032096,000443: 36,3553  E7,1462                                  EBANK=   TRKMKCNT                              
032097,000444: 36,3553           03227 74067                     2CADR    POSTBURN                              
032098,000445: 
032099,000446: 36,3555           34753        ENGINOF2           CAF      BIT1                                  
032100,000447: 36,3556           05203                           TC       WAITLIST                              
032101,000448: 36,3557  E6,1422                                  EBANK=   OMEGAQ                                
032102,000449: 36,3557           03612 74066                     2CADR    COASTSET                              
032103,000450: 
032104,000451: 36,3561           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032105,000452: 36,3562           74745                           MASK     IDLEFBIT                              
032106,000453: 36,3563           26103                           ADS      FLAGWRD7                              
032107,000454: 
032108,000455: 36,3564           02657                           TC       NOULLAGE                              
032109,000456: 
032110,000457: 36,3565           00006        ENGINOF4           EXTEND                                         
032111,000458: 36,3566           30025                           DCA      TIME2                                 
032112,000459: 36,3567           53342                           DXCH     TEVENT                                
032113,000460: 
032114,000461: 36,3570           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032115,000462: 36,3571           70101                           MASK     FLAGWRD5                              
032116,000463: 36,3572           54101                           TS       FLAGWRD5                              
032117,000464: 36,3573           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032118,000465: 36,3574           00006                           EXTEND                                         #  SUBROUTINE.
032119,000466: 36,3575           02011                           RAND     DSALMOUT                              
032120,000467: 36,3576           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032121,000468: 36,3577           00006                           EXTEND                                         
032122,000469: 36,3600           01011                           WRITE    DSALMOUT                              
032123,000470: 
032124,000471: 36,3601           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032125,000472: 36,3602           74736                           MASK     USEQRJTS                              
032126,000473: 36,3603           26111                           ADS      DAPBOOLS                              
032127,000474: 
032128,000475: 36,3604           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032129,000476: 36,3605           54055                           TS       THRUST                                #  IS TURNED OFF.
032130,000477: 36,3606           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032131,000478: 36,3607           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032132,000479: 36,3610           05014                           WOR      CHAN14                                
032133,000480: 
032134,000481: 36,3611           04707                           TC       ISWRETRN                              

Page 756

032136,000483: 36,3612           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032137,000484: 36,3613           40205                           CADR     ALLCOAST                              
032138,000485: 36,3614           05261                           TC       TASKOVER                              
032139,000486: 
032140,000487: 36,3615  E6,1422                                  EBANK=   OMEGAQ                                
032141,000488: 36,3615           45020        UPDATEVG           STQ      CALL                                  
032142,000489: 36,3616           03665                                    QTEMP1                                
032143,000490: 36,3617           56447                                    S40.8                                 #  X-PRODUCT STEERING
032144,000491: 36,3620           43014                           BON      BON                                   
032145,000492: 36,3621           01307                                    XDELVFLG                              
032146,000493: 36,3622           03665                                    QTEMP1                                
032147,000494: 36,3623           03705                                    NORMSW                                
032148,000495: 36,3624           75637                                    180SETUP                              
032149,000496: 36,3625           45345                           DLOAD    DSU                                   
032150,000497: 36,3626           01234                                    PIPTIME                               
032151,000498: 36,3627           03763                                    TIGSAVE                               
032152,000499: 36,3630           50025                           DSU      BMN                                   
032153,000500: 36,3631           03432                                    TNEWA                                 
032154,000501: 36,3632           75662                                    GETRANS                               
032155,000502: 36,3633           43345                           DLOAD    DAD                                   
032156,000503: 36,3634           03763                                    TIGSAVE                               
032157,000504: 36,3635           03432                                    TNEWA                                 
032158,000505: 36,3636           03765                           STORE    TIGSAVEP                              
032159,000506: 36,3637           77776        180SETUP           EXIT                                           
032160,000507: 36,3640           10754                           CCS      PHASE2                                
032161,000508: 36,3641           13667                           TCF      NO.9                                  
032162,000509: 36,3642           34737                           CAF      PRIO10                                
032163,000510: 36,3643           00004                           INHINT                                         
032164,000511: 36,3644           05105                           TC       FINDVAC                               
032165,000512: 36,3645  E7,1706                                  EBANK=   VG                                    
032166,000513: 36,3645           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032167,000514: 
032168,000515: 36,3647           05327                           TC       2PHSCHNG                              
032169,000516: 36,3650           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032170,000517: 36,3651           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032171,000518: 
032172,000519: 36,3652           06042        ENDSTEER           TC       INTPRET                               
032173,000520: 36,3653           77745                           DLOAD                                          
032174,000521: 36,3654           03765                                    TIGSAVEP                              
032175,000522: 36,3655           27763                           STOVL    TIGSAVE                               
032176,000523: 36,3656           01220                                    RN                                    
032177,000524: 36,3657           26323                           STOVL    RINIT                                 
032178,000525: 36,3660           01226                                    VN                                    
032179,000526: 36,3661           02331                           STORE    VINIT                                 
032180,000527: 36,3662           45345        GETRANS            DLOAD    DSU                                   
032181,000528: 36,3663           03631                                    TPASS4                                
032182,000529: 36,3664           01234                                    PIPTIME                               
032183,000530: 36,3665           37452                           STCALL   DELLT4                                
032184,000531: 36,3666           03665                                    QTEMP1                                
032185,000532: 

Page 757

032187,000534: 36,3667           06042        NO.9               TC       INTPRET                               
032188,000535: 36,3670           77650                           GOTO                                           
032189,000536: 36,3671           03665                                    QTEMP1                                
032190,000537: 36,3672           06042        STEERING           TC       INTPRET                               
032191,000538: 
032192,000539: 36,3673           77624                           CALL                                           
032193,000540: 36,3674           75615                                    UPDATEVG                              
032194,000541: 36,3675           77776                           EXIT                                           
032195,000542: 
032196,000543: 36,3676  E7,1515                                  EBANK=   DVCNTR                                
032197,000544: 36,3676           00004        NSTEER             INHINT                                         
032198,000545: 36,3677           35016                           CA       EBANK7                                
032199,000546: 36,3700           54003                           TS       EBANK                                 
032200,000547: 36,3701           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032201,000548: 36,3702           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032202,000549: 36,3703           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032203,000550: 
032204,000551: 36,3704           13711                           TCF      +5                                    #  IMPULSW = 0   EXIT
032205,000552: 36,3705           40103                           CS       FLAGWRD7                              #  IMPULSW = 1   WHY?  CHECK IDLEFLAG
032206,000553: 36,3706           74745                           MASK     IDLEFBIT                              #        (IDLEFLAG = 0 --> DVMON ON)
032207,000554: 36,3707           10000                           CCS      A                                     
032208,000555: 36,3710           13713                           TCF      +3                                    #  DVMON ON --> THRUSTING --> IMPULSW VIA S40.8
032209,000556: 36,3711           04635                           TC       POSTJUMP                              #  DVMON OFF --> IMPULSW ON VIA S40.13 --> EXIT
032210,000557: 36,3712           65746                           CADR     SERVEXIT                              
032211,000558: 
032212,000559: 36,3713           04674                           TC       IBNKCALL                              
032213,000560: 36,3714           40166                           CADR     STOPRATE                              
032214,000561: 
032215,000562: 36,3715           05516                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032216,000563: 36,3716           00044                           ADRES    IMPULSW                               
032217,000564: 
032218,000565: 36,3717           05504                           TC       UPFLAG                                
032219,000566: 36,3720           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032220,000567: 
032221,000568: 36,3721           00004                           INHINT                                         
032222,000569: 36,3722           00006                           EXTEND                                         
032223,000570: 36,3723           31442                           DCA      TIG                                   
032224,000571: 36,3724           52155                           DXCH     MPAC                                  
032225,000572: 36,3725           00006                           EXTEND                                         
032226,000573: 36,3726           40025                           DCS      TIME2                                 
032227,000574: 36,3727           20155                           DAS      MPAC                                  
032228,000575: 36,3730           07262                           TC       TPAGREE                               
032229,000576: 36,3731           30155                           CAE      MPAC       +1                         
032230,000577: 36,3732           03741                           TC       GETDT                                 
032231,000578: 36,3733           05173                           TC       TWIDDLE                               
032232,000579: 36,3734           03546                           ADRES    ENGOFTSK                              
032233,000580: 36,3735           05327                           TC       2PHSCHNG                              
032234,000581: 36,3736           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032235,000582: 36,3737           00035                           OCT      00035                                 #  SERVICER -- REREADAC

Page 758

032237,000584: 36,3740           15155                           TCF      ENDOFJOB                              
032238,000585: 
032239,000586: 36,3741           10000        GETDT              CCS      A                                     
032240,000587: 36,3742           13745                           TCF      +3                                    
032241,000588: 36,3743           13745                           TCF      +2                                    
032242,000589: 36,3744           34755                           CAF      ZERO                                  
032243,000590: 36,3745           64753                           AD       ONE                                   
032244,000591: 36,3746           56001                           XCH      L                                     
032245,000592: 36,3747           34755                           CAF      ZERO                                  
032246,000593: 36,3750           53517                           DXCH     TGO                                   
032247,000594: 36,3751           31517                           CA       TGO        +1                         
032248,000595: 36,3752           00002                           TC       Q                                     
032249,000596: 
032250,000597:                                                                                                  #  ************************************************************************
032251,000598: 
032252,000599: 36,3753           00000        SEC15DP            OCT      00000                                 #  DON'T SEPARATE
032253,000600: 36,3754           02734        SEC15              DEC      1500       B-14                       #  DON'T SEPARATE
032254,000601: 36,3755           00000 05670  SEC30DP            2DEC     3000       B-28                       
032255,000602: 36,3757           00000        SEC45DP            OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE SEC45
032256,000603: 36,3760           10624        SEC45              DEC      4500       B-14                       
032257,000604: 36,3761           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032258,000605: 36,3762           00764        5SEC               DEC      500        B-14                       
032259,000606: 36,3763           05050        26SECS             DEC      2600       B-14                       
032260,000607: 36,3764           04050        V16N40             VN       1640                                  
032261,000608: 36,3765           04125        V16N85B            VN       1685                                  
032262,000609: 36,3766           04123        V1683              VN       1683                                  
032263,000610: 36,3767     4777               SEC01              =        1SEC                                  
032264,000611: 36,3767  36,2057               ACADN85            =        P41TABLE   +2                         
032265,000612: 
032266,000613: 36,3767  E7,1622                                  EBANK=   DELVIMU                               
032267,000614: 36,3767           03466 74067  ACADN83            2CADR    CALCN83                               
032268,000615: 
032269,000616:                                                                                                  #  *************************************************

Page 759

032271,000618:                                                                                                  #  PROGRAM DESCRIPTION  S40.1            DATE15NOV66
032272,000619:                                                                                                  #  MOD N02                               LOG SECTION P40-P47
032273,000620:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032274,000621: 
032275,000622:                                                                                                  #  FUNCTIONAL DESCRIPTION
032276,000623:                                                                                                  #        COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032277,000624:                                                                                                  #        VECTOR(VGTIG).
032278,000625: 
032279,000626:                                                                                                  #  CALLING SEQUENCE
032280,000627:                                                                                                  #        L       CALL
032281,000628:                                                                                                  #        L+1             S40.1
032282,000629: 
032283,000630:                                                                                                  #  NORMAL EXIT MODE
032284,000631:                                                                                                  #        AT L+2 OF CALLING SEQUENCE (GOTO L+2) NORMAL RETURN OR
032285,000632:                                                                                                  #        ERROR RETURN IF NOSOFLAG =1
032286,000633: 
032287,000634:                                                                                                  #  SUBROUTINES CALLED
032288,000635:                                                                                                  #        LEMPREC
032289,000636:                                                                                                  #        INITVEL
032290,000637:                                                                                                  #        CALCGRAV
032291,000638:                                                                                                  #        MIDGIM
032292,000639: 
032293,000640:                                                                                                  #  ALARM OR ABORT EXIT MODES
032294,000641:                                                                                                  #        L+2 OF CALLING SEQUENCE, UNSOLVABLE CONIC IF NOSOFLAG=1
032295,000642: 
032296,000643:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032297,000644:                                                                                                  #        WEIGHT/G        ANTICIPATED VEHICLE MASS        DP B16 KGM
032298,000645:                                                                                                  #        XDELVFLG        1=DELTA-V MANEUVER, 0=AIMPT STEER
032299,000646:                                                                                                  #        F               THRUST FOR ENGINE USED
032300,000647:                                                                                                  #    IF DELTA-V MANEUVER
032301,000648:                                                                                                  #        DELVSIN         SPECIFIED DELTA-V REQUIRED IN
032302,000649:                                                                                                  #                        INERTIAL COORDS. OF ACTIVE VEHICLE
032303,000650:                                                                                                  #                        AT TIME OF IGNITION             VECTOR B7 M/CS
032304,000651:                                                                                                  #        DELVSAB         MAG. OF DELVSIN                 DP B7 M/CS
032305,000652:                                                                                                  #        RTIG            POSITION AT TIME OF IGNITION    VECTOR B29 M
032306,000653:                                                                                                  #        VTIG            VELOCITY AT TIME OF IGNITION    VECTOR B7 M/CS
032307,000654:                                                                                                  #    IF AIMPT STEER
032308,000655:                                                                                                  #        TIG             TIME OF IGNITION                DP B28 CS
032309,000656:                                                                                                  #        RTARG           POSITION TARGET TIME            VECTOR B29 M
032310,000657:                                                                                                  #        CSTEER          C FOR STEER LAW                 DP B2
032311,000658:                                                                                                  #        DLTARG          TARGET TIME-IGNITION TIME       DP B28 CS
032312,000659: 
032313,000660:                                                                                                  #  OUTPUT
032314,000661:                                                                                                  #        UT              DESIRED THRUST DIRECTION        VECT. B2 M/(CS.CS)
032315,000662:                                                                                                  #        VGTIG           INITIAL VALUE OF VELOCITY
032316,000663:                                                                                                  #                        TO BE GAINED (INERT. COORD.)    VECTOR B7 M/CS
032317,000664:                                                                                                  #        DELVLVC         VGTIG IN LOC. VERT. COORDS.     B7 M/CS
032318,000665:                                                                                                  #        BDT             V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032319,000666:                                                                                                  #        -GDT            FOR S40.13                      VECT B7 M/CS
032320,000667:                                                                                                  #        RTIG            CALC IN S40.1B (AIMPT) FOR S40.2,3      VECTOR B29M
032321,000668:                                                                                                  #                        POSITION AT TIME OF IGNITION
032322,000669: 
032323,000670:                                                                                                  #  DEBRIS        QTEMP1
032324,000671:                                                                                                  #                MPAC, QPRET
032325,000672:                                                                                                  #                PUSHLIST
032326,000673: 
032327,000674: 14,2347                                           BANK     14                                    
032328,000675: 27,2000                                           SETLOC   P40S1                                 
032329,000676: 27,2000                                           BANK                                           

Page 760

032331,000678: 27,2246                                           COUNT*   $$/S40.1                              
032332,000679: 27,2246           71220        S40.1              STQ      DLOAD                                 
032333,000680: 27,2247           03632                                    QTEMP                                 
032334,000681: 27,2250           03442                                    TIG                                   
032335,000682: 27,2251           03763                           STORE    TIGSAVE                               
032336,000683: 27,2252           77614        DELVTEST           BOFF                                           
032337,000684: 27,2253           01347                                    XDELVFLG                              
032338,000685: 27,2254           56336                                    S40.1B                                
032339,000686: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032340,000687: 27,2256           00001                                    0                                     
032341,000688: 27,2257           03650                                    VTIG                                  
032342,000689: 27,2260           02331                           STORE    VINIT                                 
032343,000690: 27,2261           53435                           VXV      UNIT                                  
032344,000691: 27,2262           03642                                    RTIG                                  
032345,000692: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032346,000693: 27,2264           03642                                    RTIG                                  
032347,000694: 27,2265           02323                           STORE    RINIT                                 
032348,000695: 27,2266           65236                           VSQ      PDDL                                  
032349,000696: 27,2267           00045                                    36D                                   
032350,000697: 27,2270           56205                           DMP      DDV                                   
032351,000698: 27,2271           16412                                    THETACON                              
032352,000699: 27,2272           41205                           DMP      DMP                                   
032353,000700: 27,2273           03664                                    DELVSAB                               
032354,000701: 27,2274           01244                                    WEIGHT/G                              
032355,000702: 27,2275           77671                           DDV                                            
032356,000703: 27,2276           03735                                    F                                     
032357,000704: 27,2277           24017                           STOVL    14D                                   
032358,000705: 27,2300           03656                                    DELVSIN                               
032359,000706: 
032360,000707: 27,2301           74241                           DOT      VXSC                                  
032361,000708: 27,2302           03673                                    UT                                    
032362,000709: 27,2303           03673                                    UT                                    
032363,000710: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032364,000711: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032365,000712: 27,2306           03656                                    DELVSIN                               
032366,000713: 27,2307           00017                                    14D                                   
032367,000714: 27,2310           63356                           SIN      PDVL                                  
032368,000715: 27,2311           00007                                    6D                                    
032369,000716: 27,2312           53435                           VXV      UNIT                                  
032370,000717: 27,2313           03673                                    UT                                    
032371,000718: 27,2314           45561                           VXSC     STADR                                 
032372,000719: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VP X UP)SIN(THETAT/2) IN VGTIG.
032373,000720: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032374,000721: 27,2317           00017                                    14D                                   
032375,000722: 27,2320           74346                           COS      VXSC                                  
032376,000723: 27,2321           74255                           VAD      VXSC                                  
032377,000724: 27,2322           03701                                    VGTIG                                 
032378,000725: 27,2323           00045                                    36D                                   
032379,000726: 27,2324           53352                           VSL2     VAD                                   
032380,000727: 27,2325           77626                           STADR                                          

Page 761

032382,000729: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7) M/CS
032383,000730: 
032384,000731: 27,2327           77656                           UNIT                                           
032385,000732: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032386,000733: 27,2331           03701                                    VGTIG                                 
032387,000734: 27,2332           45006                           PUSH     CALL                                  
032388,000735: 27,2333           15741                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032389,000736: 27,2334           77650                           GOTO                                           
032390,000737: 27,2335           03632                                    QTEMP                                 
032391,000738: 27,2336           77745        S40.1B             DLOAD                                          
032392,000739: 27,2337           03442                                    TIG                                   
032393,000740: 27,2340           00041                           STORE    TDEC1                                 
032394,000741: 27,2341           77621                           BDSU                                           
032395,000742: 27,2342           03631                                    TPASS4                                
032396,000743: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032397,000744: 27,2344           27056                                    LEMPREC                               
032398,000745: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032399,000746: 27,2346           00001                                    RATT                                  
032400,000747: 27,2347           00001                                    0                                     
032401,000748: 27,2350           03642                           STORE    RTIG                                  
032402,000749: 27,2351           02323                           STORE    RINIT                                 
032403,000750: 27,2352           77656                           UNIT                                           
032404,000751: 27,2353           27537                           STOVL    UNIT/R/                               
032405,000752: 27,2354           00007                                    VATT                                  
032406,000753: 27,2355           03650                           STORE    VTIG                                  
032407,000754: 27,2356           02331                           STORE    VINIT                                 
032408,000755: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032409,000756: 27,2360           06524                                    ZEROVECS                              
032410,000757: 27,2361           16406                                    EPS1                                  
032411,000758: 27,2362           43214                           BOFF     DAD                                   
032412,000759: 27,2363           03745                                    NORMSW                                
032413,000760: 27,2364           56366                                    SMALLEPS                              
032414,000761: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032415,000762: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032416,000763: 27,2367           02776                                    RTX1                                  
032417,000764: 27,2370           45134                           SXA,2    CALL                                  
032418,000765: 27,2371           02777                                    RTX2                                  
032419,000766: 27,2372           22000                                    INITVEL                               
032420,000767: 27,2373           41575                           VLOAD    PUSH                                  
032421,000768: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR-VN.
032422,000769: 27,2375           03701                           STORE    VGTIG                                 
032423,000770: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032424,000771: 27,2377           17673                           STODL    UT                                    
032425,000772: 27,2400           00045                                    36D                                   
032426,000773: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST) TO LOCAL
032427,000774: 27,2402           15741                                    GET.LVC                               #  VERTICAL COORDINATES.
032428,000775: 27,2403           77650                           GOTO                                           
032429,000776: 27,2404           03632                                    QTEMP                                 
032430,000777: 
032431,000778: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.

Page 762

032433,000780: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032434,000781: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032435,000782: 

Page 763

032437,000784:                                                                                                  #  SUBROUTINE NAME:  S40.2,3             MOD. NO. 3 DATE: APRIL 4, 1967
032438,000785:                                                                                                  #  MODIFICATION BY:  JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032439,000786:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967: PETER ADLER (MIT/IL)
032440,000787:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032441,000788:                                                                                                  #  ORIGINALLY BY:  SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032442,000789: 
032443,000790:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032444,000791:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032445,000792:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032446,000793:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032447,000794:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032448,000795: 
032449,000796:                                                                                                  #  CALLING SEQUENCE:
032450,000797:                                                                                                  #        L       CALL                    INTERPRETIVE CALL.
032451,000798:                                                                                                  #        L +1            S40.2,3
032452,000799:                                                                                                  #        L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032453,000800: 
032454,000801:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032455,000802: 
032456,000803:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032457,000804: 
032458,000805:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032459,000806: 
032460,000807:                                                                                                  #  INPUT:
032461,000808:                                                                                                  #        1.      REFSMMAT        MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032462,000809:                                                                                                  #        2.      UT              HALF-UNIT DESIRED THRUST DIRECTION.
032463,000810:                                                                                                  #        3.      RTIG            POSITION AT TIG IN REFERENCE COORDINATES.
032464,000811: 
032465,000812:                                                                                                  #  OUTPUT:
032466,000813:                                                                                                  #        1.      :XSCREF:        WINGS-LEVEL HEADS-UP LM ORIENTATION
032467,000814:                                                                                                  #                :YSCREF:        IN REFERENCE COORDINATES
032468,000815:                                                                                                  #                :ZSCREF:        (PREFERRED IMU ORIENTATION).
032469,000816:                                                                                                  #        2.      POINTVSM        DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032470,000817:                                                                                                  #        3.      SCAXIS          HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032471,000818:                                                                                                  #        4.      PFRATFLG        INTERPRETIVE FLAG.  ON: PREFERRED ORIENTATION COMPUTED; OFF: NOT COMPUTED.
032472,000819: 
032473,000820:                                                                                                  #  DEBRIS:  NONE.

Page 764

032475,000822: 
032476,000823: 27,2413                                           COUNT*   $$/S40.2                              
032477,000824: 27,2413           77775        S40.2,3            VLOAD                                          #  UT:  DESIRED THRUST DIRECTION (HALF-UNIT)
032478,000825: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032479,000826: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032480,000827: 27,2416           01734                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032481,000828: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032482,000829: 27,2420           06522                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032483,000830: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032484,000831: 
032485,000832: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032486,000833: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032487,000834: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032488,000835: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032489,000836: 27,2426           46125                           PDDL     BHIZ                                  
032490,000837: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032491,000838: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032492,000839: 27,2431           45575        STORY              VLOAD    STADR                                 
032493,000840: 27,2432           74162                           STORE    YSCREF                                
032494,000841: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
032495,000842: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032496,000843: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032497,000844: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032498,000845: 
032499,000846: 27,2437           43414                           SET      RVQ                                   
032500,000847: 27,2440           01073                                    PFRATFLG                              
032501,000848: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032502,000849: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032503,000850: 27,2443           03650                                    VTIG                                  
032504,000851: 27,2444           41456                           UNIT     PUSH                                  
032505,000852: 27,2445           77650                           GOTO                                           
032506,000853: 27,2446           56431                                    STORY                                 

Page 765

032508,000855:                                                                                                  #  SUBROUTINE S40.8
032509,000856:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER   MIT/IL
032510,000857: 
032511,000858:                                                                                                  #  DESCRIPTION
032512,000859:                                                                                                  #        S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032513,000860:                                                                                                  #        USING THE BDT VECTOR) COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032514,000861:                                                                                                  #        "FINDCDUW", WHICH GENERATES STEERING COMMANDS FOR THE DAP.
032515,000862: 
032516,000863:                                                                                                  #  CALLING SEQUENCE
032517,000864:                                                                                                  #        L-1     CALL
032518,000865:                                                                                                  #        L               S40.8
032519,000866:                                                                                                  #        L+1                     INTERPRETIVE RETURN
032520,000867: 
032521,000868:                                                                                                  #  ALARM
032522,000869:                                                                                                  #        IF VG.DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032523,000870:                                                                                                  #        AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032524,000871: 
032525,000872:                                                                                                  #  INPUT AND INITIALIZATION
032526,000873:                                                                                                  #        VGPREV          REFERENCE       2(7) M/CS
032527,000874:                                                                                                  #        DELVREF         REFERENCE       2(7) M/CS
032528,000875:                                                                                                  #        BDT             REFERENCE       2(7) M/CS
032529,000876:                                                                                                  #        TDECAY          TAIL-OFF TIME   2(28) CS
032530,000877:                                                                                                  #        XDELVFLG        1 = EXTERNAL DELTA-V; 0 = LAMBERT (AIMPOINT)
032531,000878:                                                                                                  #        STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032532,000879:                                                                                                  #        FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE; 0 = HAVEN'T GONE TO LAMBERT YET
032533,000880: 
032534,000881:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032535,000882: 
032536,000883:                                                                                                  #  OUTPUT
032537,000884:                                                                                                  #        STEERSW         SEE INPUT
032538,000885:                                                                                                  #        IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS; 0 = CONTINUE BURN
032539,000886:                                                                                                  #        TGO             TIME TO CUT-OFF 2(28) CS
032540,000887:                                                                                                  #        SEE FINDCDUW FOR STEERING OUTPUTS.
032541,000888: 
032542,000889:                                                                                                  #  SUBROUTINE CALLED
032543,000890:                                                                                                  #        FINDCDUW
032544,000891: 
032545,000892:                                                                                                  #  DEBRIS
032546,000893:                                                                                                  #        MPACS, PUSHLIST
032547,000894: 
032548,000895: 27,2447                                           COUNT*   $$/S40.8                              

Page 766

032550,000897: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032551,000898: 27,2450           01347                                    XDELVFLG                              
032552,000899: 27,2451           56731                                    RASTEER1                              
032553,000900: 27,2452           52375                           VLOAD    VSU                                   
032554,000901: 27,2453           03701                                    VGPREV                                
032555,000902: 27,2454           03527                                    DELVREF                               
032556,000903: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7) M/CS
032557,000904: 27,2456           76521                           MXV      VSL1                                  
032558,000905: 27,2457           01734                                    REFSMMAT                              
032559,000906: 27,2460           03253                           STORE    UNFC/2                                
032560,000907: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032561,000908: 27,2462           03707                                    VG                                    
032562,000909: 27,2463           03664                           STORE    VGDISP                                
032563,000910: 27,2464           77201        TGDCALC            SETPD    VLOAD                                 
032564,000911: 27,2465           00001                                    0                                     
032565,000912: 27,2466           03707                                    VG                                    
032566,000913: 27,2467           27701                           STOVL    VGPREV                                
032567,000914: 27,2470           03527                                    DELVREF                               
032568,000915: 27,2471           57414                           BOFF     VCOMP                                 
032569,000916: 27,2472           01344                                    STEERSW                               
032570,000917: 27,2473           00052                                    QPRET                                 
032571,000918: 27,2474           77656                           UNIT                                           
032572,000919: 27,2475           41441                           DOT      PUSH                                  
032573,000920: 27,2476           03707                                    VG                                    
032574,000921: 27,2477           56244                           BPL      DDV                                   
032575,000922: 27,2500           56526                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032576,000923: 27,2501           03743                                    VEX                                   
032577,000924: 27,2502           41215                           DAD      DMP                                   
032578,000925: 27,2503           06522                                    DPHALF                                
032579,000926: 27,2504           56261                           SR       DDV                                   
032580,000927: 27,2505           20613                                    10D                                   
032581,000928: 27,2506           00045                                    36D                                   
032582,000929: 27,2507           43205                           DMP      DAD                                   
032583,000930: 27,2510           16535                                    -FOURDT                               
032584,000931: 27,2511           03741                                    TDECAY                                
032585,000932: 27,2512           03517                           STORE    TGO                                   
032586,000933: 27,2513           77615                           DAD                                            
032587,000934: 27,2514           01234                                    PIPTIME                               
032588,000935: 27,2515           17442                           STODL    TIG                                   
032589,000936: 27,2516           03517                                    TGO                                   
032590,000937: 27,2517           51025                           DSU      BPL                                   
032591,000938: 27,2520           16537                                    FOURSECS                              #  400 CS
032592,000939: 27,2521           61100                                    FINDCDUW   -2                         
032593,000940: 27,2522           43014                           SET      CLRGO                                 
032594,000941: 27,2523           01066                                    IMPULSW                               
032595,000942: 27,2524           01224                                    STEERSW                               
032596,000943: 27,2525           00052                                    QPRET                                 
032597,000944: 
032598,000945: 27,2526           77776        ALARMIT            EXIT                                           
032599,000946: 

Page 767

032601,000948: 27,2527           05567                           TC       ALARM                                 
032602,000949: 27,2530           01407                           OCT      01407                                 
032603,000950: 27,2531           06042                           TC       INTPRET                               
032604,000951: 27,2532           77650                           GOTO                                           #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032605,000952: 27,2533           61100                                    FINDCDUW   -2                         #  FINDCDUW WILL EXIT TO UPDATEVG +3.
032606,000953: 
032607,000954: 27,2534           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.) B(-18)
032608,000955: 27,2536           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032609,000956: 27,2540  E7,1742               2VEXHUST           =        VEX                                   
032610,000957: 

Page 768

032612,000959:                                                                                                  #  NAME                  S40.13 - TIMEBURN
032613,000960: 
032614,000961:                                                                                                  #  FUNCTION              (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
032615,000962:                                                                                                  #                        BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
032616,000963:                                                                                                  #                        SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
032617,000964:                                                                                                  #                        BURN
032618,000965:                                                                                                  #                        (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
032619,000966:                                                                                                  #                        IS SHORT -- AND THE ASSOCIATED TIME OF THE ENGINE OFF
032620,000967:                                                                                                  #                        SIGNAL
032621,000968: 
032622,000969:                                                                                                  #  CALLING SEQUENCE      VIA FINDVAC AS A NEW JOB
032623,000970: 
032624,000971:                                                                                                  #  INPUT                 VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
032625,000972:                                                                                                  #                        WEIGHT/G MASS OF VEHICLE IN KGM AT +16
032626,000973:                                                                                                  #                        F  APS ENGINE THRUST IN M.NEWTONS AT +7
032627,000974:                                                                                                  #                        AND ALSO FOR RCS ENGINE
032628,000975:                                                                                                  #                        MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032629,000976:                                                                                                  #                        BURN IN KILOGRAMS/CS AT +3.  THIS SCALING MAY
032630,000977:                                                                                                  #                        REQUIRE MODIFICATION FOR SATURN BURNS.
032631,000978:                                                                                                  #                ENG1FLAG    SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
032632,000979:                                                                                                  #                                =0      DPS
032633,000980:                                                                                                  #                                =1      APS
032634,000981: 
032635,000982:                                                                                                  #  OUTPUT                IMPULSW         ZERO FOR STEERING
032636,000983:                                                                                                  #                                        ONE FOR ATTITUDE HOLD
032637,000984:                                                                                                  #                        NOTHROTL        ZERO FOR THROTTLING
032638,000985:                                                                                                  #                                        ONE TO INHIBIT THROTTLING
032639,000986:                                                                                                  #                        TGO             TIME TO BURN IN CS
032640,000987:                                                                                                  #                        THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
032641,000988:                                                                                                  #                        FORCE
032642,000989: 
032643,000990: 27,2540  E7,1516                                  EBANK=   TGO                                   
032644,000991: 27,2540                                           COUNT*   $$/40.13                              
032645,000992: 27,2540           06042        S40.13             TC       INTPRET                               
032646,000993: 27,2541           43001                           SETPD    CLEAR                                 
032647,000994: 27,2542           00001                                    00D                                   
032648,000995: 27,2543           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
032649,000996: 27,2544           51575                           VLOAD    ABVAL                                 
032650,000997: 27,2545           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
032651,000998: 27,2546           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
032652,000999: 27,2547           21006                                    4SEC(17)                              #  CORRECT VG FOR 4 SECS OF 2 JET ULLAGE
032653,001000: 27,2550           34021                                    FRCS2                                 
032654,001001: 27,2551           72471                           DDV      SL1                                   #  SCALE
032655,001002: 27,2552           01244                                    WEIGHT/G                              
032656,001003: 27,2553           41421                           BDSU     PUSH                                  
032657,001004: 27,2554           43014                           BOFF     SET                                   
032658,001005: 27,2555           05342                                    APSFLAG                               
032659,001006: 27,2556           56626                                    S40.13D                               #  FOR DPS ENGINE
032660,001007: 27,2557           02463                                    NOTHROTL                              
032661,001008: 27,2560           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED

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

032664,001011: 27,2561           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
032665,001012: 27,2562           01244                                    WEIGHT/G                              
032666,001013: 27,2563           50021                           BDSU     BMN                                   

Page 769

032668,001015: 27,2564           00001                                    00D                                   
032669,001016: 27,2565           56610                                    S40.131                               #  TGO LESS THAN 100 CS
032670,001017: 27,2566           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
032671,001018: 27,2567           03737                                    MDOT                                  
032672,001019: 
032673,001020:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
032674,001021:                                                                                                  #  BURN IN KILOGRAMS/CS.  WHEN SATURN IS USED, THE SCALING MAY
032675,001022:                                                                                                  #  REQUIRE ADJUSTMENT
032676,001023: 
032677,001024: 27,2570           16700                                    3.5SEC                                #  350 CS AT +14
032678,001025: 27,2571           65221                           BDSU     PDDL                                  
032679,001026: 27,2572           01244                                    WEIGHT/G                              
032680,001027: 27,2573           03735                                    F                                     
032681,001028: 27,2574           60405                           DMP      SR2                                   #  SCALE
032682,001029: 27,2575           16702                                    5SECS                                 
032683,001030: 27,2576           41471                           DDV      PUSH                                  #  04D = TEMP2
032684,001031: 27,2577           51021                           BDSU     BPL                                   
032685,001032: 27,2600           00003                                    02D                                   
032686,001033: 27,2601           56626                                    S40.13D                               
032687,001034: 27,2602           55345                           DLOAD    BDDV                                  
032688,001035: 27,2603           43205                           DMP      DAD                                   
032689,001036: 27,2604           16702                                    5SECS                                 
032690,001037: 27,2605           16676                                    1SEC2D                                #  100 CS AT +14
032691,001038: 27,2606           77650                           GOTO                                           
032692,001039: 27,2607           56616                                    S40.132                               
032693,001040: 27,2610           41345        S40.131            DLOAD    DMP                                   
032694,001041: 27,2611           01244                                    WEIGHT/G                              

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

032697,001044: 27,2612           41542                           SR1      PUSH                                  
032698,001045: 27,2613           56215                           DAD      DDV                                   
032699,001046: 27,2614           16003                                    K2VAL                                 #  M.NEWTON CS AT +24

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

032704,001051: 27,2615           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
032705,001052: 27,2616           77414        S40.132            SET      EXIT                                  
032706,001053: 27,2617           01066                                    IMPULSW                               
032707,001054: 27,2620           07262        S40.132*           TC       TPAGREE                               
032708,001055: 27,2621           30154                           CA       MPAC                                  

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

032711,001058: 27,2622           56001                           XCH      L                                     
032712,001059: 27,2623           34755                           CA       ZERO                                  

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

032715,001062: 27,2624           53517                           DXCH     TGO                                   
032716,001063: 27,2625           12650                           TCF      S40.134                               
032717,001064: 
032718,001065: 27,2626           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
032719,001066: 27,2627           00001                                    00D                                   
032720,001067: 27,2630           01244                                    WEIGHT/G                              
032721,001068: 27,2631           43006                           PUSH     BON                                   
032722,001069: 27,2632           05302                                    APSFLAG                               
032723,001070: 27,2633           56671                                    APSTGO                                
032724,001071: 27,2634           43071                           DDV      CLEAR                                 
032725,001072: 27,2635           16007                                    S40.136                               
032726,001073: 27,2636           02663                                    NOTHROTL                              
032727,001074: 27,2637           41400                           BOV      PUSH                                  

Page 770

032729,001076: 27,2640           56653                                    S40.130V                              
032730,001077: 27,2641           51025        S40.127            DSU      BPL                                   
032731,001078: 27,2642           16704                                    6SEC                                  #  600.0 CS AT +14
032732,001079: 27,2643           56661                                    S40.138                               
032733,001080: 27,2644           52015                           DAD      GOTO                                  
032734,001081: 27,2645           16704                                    6SEC                                  
032735,001082: 27,2646           56616                                    S40.132                               
032736,001083: 27,2647           77776        S40.133            EXIT                                           
032737,001084: 27,2650           05353        S40.134            TC       PHASCHNG                              
032738,001085: 27,2651           00003                           OCT      00003                                 
032739,001086: 27,2652           05155                           TC       ENDOFJOB                              
032740,001087: 27,2653           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
032741,001088: 27,2654           77671                           DDV                                            
032742,001089: 27,2655           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
032743,001090: 27,2656           03517                           STORE    TGO                                   
032744,001091: 27,2657           77776                           EXIT                                           
032745,001092: 27,2660           12650                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
032746,001093: 
032747,001094: 27,2661           51025        S40.138            DSU      BPL                                   
032748,001095: 27,2662           16706                                    89SECS                                
032749,001096: 27,2663           56666                                    STORETGO                              
032750,001097: 27,2664           77614                           SET                                            
032751,001098: 27,2665           02463                                    NOTHROTL                              
032752,001099: 27,2666           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
032753,001100: 27,2667           77776                           EXIT                                           
032754,001101: 27,2670           12620                           TCF      S40.132*                              
032755,001102: 
032756,001103: 27,2671           62471        APSTGO             DDV      SL2                                   
032757,001104: 27,2672           34007                                    FAPS                                  
032758,001105: 27,2673           77650                           GOTO                                           
032759,001106: 27,2674           56667                                    STORETGO   +1                         
032760,001107: 27,2675           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
032761,001108: 27,2677           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
032762,001109: 27,2701           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
032763,001110: 27,2703           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
032764,001111: 27,2705           21304 00000  89SECS             2DEC     8900.0     B-14                       
032765,001112: 
032766,001113:                                                                                                  #  FUNCTION              (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
032767,001114:                                                                                                  #                        VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
032768,001115:                                                                                                  #                        COMPUTATION CYCLES (4 SECONDS).
032769,001116:                                                                                                  #                        (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
032770,001117:                                                                                                  #                        CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
032771,001118:                                                                                                  #                        THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
032772,001119: 
032773,001120:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.
032774,001121: 
032775,001122:                                                                                                  #  INPUT                 RN      - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
032776,001123:                                                                                                  #                        VN      - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7

Page 771

032778,001125:                                                                                                  #                        VRPREV  - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
032779,001126:                                                                                                  #                                  METERS/CS AT +7.
032780,001127:                                                                                                  #                        TIG     - TIME OF IGNITION IN CS AT +28.
032781,001128:                                                                                                  #                        DLTARG  - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
032782,001129:                                                                                                  #                        PIPTIME - TIME OF RN AND VN IN CS AT +28.
032783,001130:                                                                                                  #                        GDT/2   - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
032784,001131:                                                                                                  #                                  ACCERERATION OF GRAVITY IN METERS/CS AT +7.
032785,001132:                                                                                                  #                        DELVREF - CHANGE IN VELOCITY DURING LAST 2 SEC IN
032786,001133:                                                                                                  #                                  METERS/CS AT +7.
032787,001134: 
032788,001135:                                                                                                  #  OUTPUT                VGPREV  - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
032789,001136:                                                                                                  #                        VGDISP  - MAG OF VGPREV FOR DISPLAY PURPOSES.
032790,001137:                                                                                                  #                        VRPREV  - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
032791,001138:                                                                                                  #                        BDT     - B VECTOR IN METERS/CS AT +7.
032792,001139: 
032793,001140:                                                                                                  #  SUBROUTINES USED      -       INITVEL
032794,001141: 
032795,001142: 27,2707  E7,1700                                  EBANK=   VGPREV                                
032796,001143: 27,2707                                           COUNT*   $$/S40.9                              
032797,001144: 27,2707           06042        S40.9              TC       INTPRET                               
032798,001145: 27,2710           77601                           SETPD                                          
032799,001146: 27,2711           00001                                    00D                                   
032800,001147: 27,2712           71214                           SET      DLOAD                                 
032801,001148: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
032802,001149: 27,2714           06524                                    HI6ZEROS                              
032803,001150: 27,2715           77725                           PDDL                                           
032804,001151: 27,2716           16406                                    EPS1                                  
032805,001152: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
032806,001153: 27,2720           03745                                    NORMSW                                
032807,001154: 27,2721           56723                                    EPSSMALL                              
032808,001155: 27,2722           16410                                    EPS2                                  
032809,001156: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
032810,001157: 27,2724           22002                                    HAVEGUES                              
032811,001158: 27,2725           77776        ENDS40.9           EXIT                                           
032812,001159: 27,2726           05353                           TC       PHASCHNG                              
032813,001160: 27,2727           00002                           OCT      2                                     
032814,001161: 27,2730           15155                           TCF      ENDOFJOB                              
032815,001162: 
032816,001163: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
032817,001164: 27,2732           01220                                    RN                                    
032818,001165: 27,2733           53744                           LXC,2    SL*                                   
032819,001166: 27,2734           02777                                    RTX2                                  
032820,001167: 27,2735           57576                                    0,2                                   
032821,001168: 27,2736           27715                           STOVL    RMAG                                  
032822,001169: 27,2737           03444                                    RTARG                                 
032823,001170: 27,2740           47051                           VSU      RTB                                   
032824,001171: 27,2741           01220                                    RN                                    
032825,001172: 27,2742           21725                                    NORMUNX1                              
032826,001173: 27,2743           17656                           STODL    IC                                    
032827,001174: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)
032828,001175: 27,2745           53674                           XAD,2    SL*                                   
032829,001176: 27,2746           00046                                    X1                                    

Page 772

032831,001178: 27,2747           57576                                    0,2                                   
032832,001179: 27,2750           00037                           STORE    30D                                   
032833,001180: 27,2751           41301                           NORM     DMP                                   
032834,001181: 27,2752           00050                                    X2                                    
032835,001182: 27,2753           03715                                    RMAG                                  
032836,001183: 27,2754           57101                           NORM     XAD,2                                 
032837,001184: 27,2755           00047                                    X1                                    
032838,001185: 27,2756           00046                                    X1                                    
032839,001186: 27,2757           77734                           SXA,2                                          
032840,001187: 27,2760           03766                                    MUSCALE                               
032841,001188: 27,2761           17725                           STODL    R1C                                   #                        2(+58 -X)
032842,001189: 27,2762           00037                                    30D                                   
032843,001190: 27,2763           65342                           SR1      PDDL                                  
032844,001191: 27,2764           03715                                    RMAG                                  
032845,001192: 27,2765           65342                           SR1      PDDL                                  
032846,001193: 27,2766           03723                                    RTMAG                                 
032847,001194: 27,2767           43342                           SR1      DAD                                   
032848,001195: 27,2770           45415                           DAD      STADR                                 
032849,001196: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 + C)/2
032850,001197: 27,2772           41225                           DSU      DMP                                   
032851,001198: 27,2773           00037                                    30D                                   
032852,001199: 27,2774           03721                                    MU/A                                  
032853,001200: 27,2775           77621                           BDSU                                           
032854,001201: 27,2776           03717                                    MUASTEER                              

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

032866,001213: 27,2777           45325                           PDDL     DSU                                   
032867,001214: 27,3000           03733                                    SS                                    

(S-R) is written in by hand.

032869,001216: 27,3001           03715                                    RMAG                                  
032870,001217: 27,3002           70501                           NORM     SR1                                   
032871,001218: 27,3003           00047                                    X1                                    

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

032877,001224: 27,3004           41271                           DDV      DMP                                   
032878,001225: 27,3005           03725                                    R1C                                   
032879,001226: 27,3006           53664                           XSU,2    SL*                                   
032880,001227: 27,3007           00046                                    X1                                    
032881,001228: 27,3010           57575                                    1,2                                   
032882,001229: 27,3011           77754                           LXA,2                                          
032883,001230: 27,3012           03766                                    MUSCALE                               

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

032889,001236: 27,3013           75366                           SQRT     SIGN                                  

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

032891,001238: 27,3014           02673                                    GEOMSGN                               
032892,001239: 27,3015           00041                           STORE    32D                                   #  + OR - A

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

032898,001245: 27,3016           41345                           DLOAD    DMP                                   
032899,001246: 27,3017           03733                                    SS                                    
032900,001247: 27,3020           03721                                    MU/A                                  

    μ S
μ - ___
    2 a

032906,001253: 27,3021           77621                           BDSU                                           
032907,001254: 27,3022           03717                                    MUASTEER                              
032908,001255: 27,3023           45325                           PDDL     DSU                                   
032909,001256: 27,3024           03733                                    SS                                    
032910,001257: 27,3025           03723                                    RTMAG                                 
032911,001258: 27,3026           70501                           NORM     SR1                                   
032912,001259: 27,3027           00047                                    X1                                    

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

032918,001265: 27,3030           41271                           DDV      DMP                                   
032919,001266: 

Page 773

032921,001268: 27,3031           03725                                    R1C                                   
032922,001269: 27,3032           53664                           XSU,2    SL*                                   
032923,001270: 27,3033           00046                                    X1                                    
032924,001271: 27,3034           57575                                    1,2                                   
032925,001272: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
032926,001273: 27,3036           03733                                    SS                                    
032927,001274: 27,3037           56225                           DSU      DDV                                   
032928,001275: 27,3040           00037                                    30D                                   
032929,001276: 27,3041           03733                                    SS                                    
032930,001277: 27,3042           41566                           SQRT     PUSH                                  

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

032932,001279: 27,3043           67542                           SR1      ASIN                                  
032933,001280: 27,3044           65205                           DMP      PDDL                                  
032934,001281: 27,3045           17216                                    2PI+3                                 
032935,001282: 27,3046           56325                           PDDL     DDV                                   
032936,001283: 27,3047           00037                                    30D                                   
032937,001284: 27,3050           03733                                    SS                                    

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

032939,001286: 27,3051           77600                           BOV                                            
032940,001287: 27,3052           57053                                    +1                                    

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

032942,001289: 27,3053           41366                           SQRT     DMP                                   
032943,001290: 27,3054           44242                           SR3      BDSU                                  

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

032945,001292: 27,3055           65365                           SIGN     PDDL                                  
032946,001293: 27,3056           02673                                    GEOMSGN                               
032947,001294: 27,3057           17216                                    2PI+3                                 

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

032949,001296: 27,3060           45302                           SR2      DSU                                   
032950,001297: 27,3061           65205                           DMP      PDDL                                  
032951,001298: 27,3062           03733                                    SS                                    
032952,001299: 27,3063           03733                                    SS                                    

S SQRT(S) = SQRT(S3)

032954,001301: 27,3064           75442                           SR3      SQRT                                  
032955,001302: 27,3065           77605                           DMP                                            
032956,001303: 27,3066           52525                           PDDL     SL3                                   
032957,001304: 27,3067           03717                                    MUASTEER                              

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

032965,001312: 27,3070           55366                           SQRT     BDDV                                  
032966,001313: 27,3071           43225                           DSU      DAD                                   
032967,001314: 27,3072           03631                                    TPASS4                                
032968,001315: 27,3073           01234                                    PIPTIME                               

(tM - t2 )

032970,001317: 27,3074           14037                           STODL    30D                                   
032971,001318: 27,3075           77765                           SIGN                                           
032972,001319: 27,3076           00037                                    30D                                   #  B WITH SIGN
032973,001320: 27,3077           00037                           STORE    30D                                   
032974,001321: 27,3100           77214                           BON      VLOAD                                 
032975,001322: 27,3101           03705                                    NORMSW                                
032976,001323: 27,3102           57123                                    180MESS                               
032977,001324: 27,3103           03656                                    IC                                    
032978,001325: 27,3104           53451                           VSU      UNIT                                  
032979,001326: 27,3105           03537                                    UNIT/R/                               

UNCM

032981,001328: 27,3106           63361                           VXSC     PDVL                                  

B UNCM

032983,001330: 27,3107           00037                                    30D                                   
032984,001331: 27,3110           03656                                    IC                                    
032985,001332: 27,3111           53455                           VAD      UNIT                                  

VNCP

032987,001334: 27,3112           03537                                    UNIT/R/                               

Page 774

032989,001336: 

A UNCP

032991,001338: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
032992,001339: 27,3114           00041                                    32D                                   
032993,001340: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
032994,001341: 27,3116           02777                                    RTX2                                  
032995,001342: 27,3117           57177                                    0          -1,2                       
032996,001343: 27,3120           02337                           STORE    VIPRIME                               
032997,001344: 27,3121           77650                           GOTO                                           
032998,001345: 27,3122           57166                                    ASTREND    -2                         
032999,001346: 27,3123           50375        180MESS            VLOAD    DOT                                   
033000,001347: 27,3124           03656                                    IC                                    
033001,001348: 27,3125           03537                                    UNIT/R/                               
033002,001349: 27,3126           77240                           BMN      VLOAD                                 
033003,001350: 27,3127           57146                                    NEGPROD                               
033004,001351: 27,3130           03656                                    IC                                    
033005,001352: 27,3131           63362                           VSR1     PDVL                                  
033006,001353: 27,3132           03537                                    UNIT/R/                               
033007,001354: 27,3133           53362                           VSR1     VAD                                   
033008,001355: 27,3134           77656                           UNIT                                           
033009,001356: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033010,001357: 27,3136           75235                           VXV      SIGN                                  
033011,001358: 27,3137           02674                                    UN                                    
033012,001359: 27,3140           02673                                    GEOMSGN                               
033013,001360: 27,3141           74256                           UNIT     VXSC                                  
033014,001361: 27,3142           00037                                    30D                                   
033015,001362: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)   +-B
033016,001363: 27,3144           77650                           GOTO                                           
033017,001364: 27,3145           57113                                    GETVRVG1                              
033018,001365: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033019,001366: 27,3147           03537                                    UNIT/R/                               
033020,001367: 27,3150           74515                           PDVL     VSR1                                  
033021,001368: 27,3151           03656                                    IC                                    
033022,001369: 27,3152           53451                           VSU      UNIT                                  
033023,001370: 27,3153           77606                           PUSH                                           
033024,001371: 27,3154           75235                           VXV      SIGN                                  
033025,001372: 27,3155           02674                                    UN                                    #  FOR B
033026,001373: 27,3156           02673                                    GEOMSGN                               
033027,001374: 27,3157           74256                           UNIT     VXSC                                  
033028,001375: 27,3160           00041                                    32D                                   
033029,001376: 27,3161           77715                           PDVL                                           
033030,001377: 27,3162           53361                           VXSC     VAD                                   
033031,001378: 27,3163           00037                                    30D                                   
033032,001379: 27,3164           77650                           GOTO                                           
033033,001380: 27,3165           57115                                    GETVRVG2                              
033034,001381: 27,3166           77651                           VSU                                            
033035,001382: 27,3167           03553                                    VN1                                   
033036,001383: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033037,001384: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033038,001385: 27,3172           03000                                    RTX2                                  
033039,001386: 27,3173           57177                                    GETGOBL                               
033040,001387: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE

Page 775

033042,001389: 27,3175           02366                                    DELVEET3                              
033043,001390: 27,3176           57212                                    NOGOBL                                

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

033046,001393: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033047,001394: 27,3200           01220                                    RN                                    
033048,001395: 27,3201           45345                           DLOAD    DSU                                   
033049,001396: 27,3202           01234                                    PIPTIME                               #               2
033050,001397: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T-TIG)
033051,001398: 27,3204           56205                           DMP      DDV                                   #   OBL
033052,001399: 27,3205           16023                                    EARTHMU                               
033053,001400: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033054,001401: 27,3207           53361                           VXSC     VAD                                   
033055,001402: 27,3210           03521                                    UNITGOBL                              
033056,001403: 27,3211           02366                                    DELVEET3                              #  OUTPUT FROM INITVEL VG = VR - VN
033057,001404: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033058,001405: 27,3213           77650                           GOTO                                           
033059,001406: 27,3214           56455                                    VGAIN*                                
033060,001407: 
033061,001408: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033062,001409: 

Page 776

033064,001411:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033065,001412:                                                                                                  #  MOD 0         24 FEB 67       PETER ADLER
033066,001413: 
033067,001414:                                                                                                  #  FUNCTION:
033068,001415:                                                                                                  #        TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET.  ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033069,001416:                                                                                                  #        FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033070,001417:                                                                                                  #        SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033071,001418: 
033072,001419:                                                                                                  #  CALLING SEQUENCE:
033073,001420:                                                                                                  #        VIA WAITLIST FROM R03
033074,001421: 
033075,001422:                                                                                                  #  INPUT:
033076,001423:                                                                                                  #        PITTIME         TIME TO RUN FROM FULL + PITCH TO TRIM (CS)
033077,001424:                                                                                                  #        ROLLTIME        TIME TO RUN FROM FULL + ROLL TO TRIM (CS)
033078,001425: 
033079,001426:                                                                                                  #  SUBROUTINES USED:
033080,001427:                                                                                                  #        WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033081,001428: 
033082,001429: 27,3217                                           COUNT*   $$/S40.6                              
033083,001430: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS: PRIO5=05000 EBANK5=02400
033084,001431: 
033085,001432: 27,3217           05516        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033086,001433: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033087,001434: 
033088,001435: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033089,001436: 27,3222           00006                           EXTEND                                         
033090,001437: 27,3223           03012                           WAND     CHAN12                                
033091,001438: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033092,001439: 27,3225           00006                           EXTEND                                         
033093,001440: 27,3226           05012                           WOR      CHAN12                                
033094,001441: 27,3227           05221                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033095,001442: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033096,001443: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033097,001444: 27,3232           00006                           EXTEND                                         
033098,001445: 27,3233           03012                           WAND     CHAN12                                
033099,001446: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033100,001447: 27,3235           00006                           EXTEND                                         
033101,001448: 27,3236           05012                           WOR      CHAN12                                
033102,001449: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033103,001450: 27,3240           05173                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033104,001451: 27,3241           03260                           ADRES    PITCHOFF                              
033105,001452: 
033106,001453: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033107,001454: 27,3243           05224                           TC       VARDELAY                              #  UNTIL THEN
033108,001455: 27,3244           44740                           CS       BIT12                                 
033109,001456: 27,3245           00006                           EXTEND                                         
033110,001457: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033111,001458: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033112,001459: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033113,001460: 27,3251           00006                           EXTEND                                         
033114,001461: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033115,001462: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033116,001463: 27,3254           05072                           TC       NOVAC                                 
033117,001464: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 777

033119,001466: 27,3255           02325 02067                     2CADR    TRIMDONE                              
033120,001467: 
033121,001468: 27,3257           05261                           TC       TASKOVER                              
033122,001469: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033123,001470: 27,3261           00006                           EXTEND                                         
033124,001471: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033125,001472: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033126,001473: 27,3264           05504                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033127,001474: 27,3265           00137                           ADRES    GMBDRVSW                              
033128,001475: 27,3266           05261                           TC       TASKOVER                              
033129,001476: 

Page 778

033131,001478:                                                                                                  #  SUBROUTINE NAME:  S41.1       MOD. NO. 0      DATE: FEBRUARY 28, 1967
033132,001479:                                                                                                  #  MOD. NO. 1    DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033133,001480: 
033134,001481:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033135,001482: 
033136,001483:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033137,001484:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033138,001485:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033139,001486:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033140,001487:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033141,001488:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033142,001489:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033143,001490:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033144,001491: 
033145,001492:                                                                                                  #  CALLING SEQUENCE:
033146,001493:                                                                                                  #        L       VLOAD   CALL
033147,001494:                                                                                                  #        L +1            VELOCITY(REF)           SCALED AT 2(+7) M/CS IN REFERENCE COORDS.
033148,001495:                                                                                                  #        L +2            S41.1
033149,001496:                                                                                                  #        L +3    STORE   VELOCITY(LM)            SCALED AT 2(+7) M/CS IN LM BODY AXIS SYS.
033150,001497: 
033151,001498:                                                                                                  #  SUBROUTINES CALLED:
033152,001499:                                                                                                  #        1.      CDUTRIG,
033153,001500:                                                                                                  #                        WHICH CALLS CDULOGIC.
033154,001501:                                                                                                  #        2.      *SMNB*
033155,001502: 
033156,001503:                                                                                                  #  NORMAL RETURN:  L +3 (SEE CALLING SEQUENCE, ABOVE.)
033157,001504: 
033158,001505:                                                                                                  #  ALARM/ABORT MODES:  NONE.
033159,001506: 
033160,001507:                                                                                                  #  RESTART PROTECTION:  NONE.
033161,001508: 

Page 779

033163,001510:                                                                                                  #  INPUT:
033164,001511:                                                                                                  #        1.      REFSMMAT.
033165,001512:                                                                                                  #        2.      CDUX, CDUY, CDUZ.
033166,001513:                                                                                                  #        3.      VELOCITY (REF) IN MPAC.
033167,001514: 
033168,001515:                                                                                                  #  OUTPUT:
033169,001516:                                                                                                  #        1.      CDUSPOT:        DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033170,001517:                                                                                                  #        2.      SINCDU:         HALF SINES OF CDUSPOT COMPONENTS.
033171,001518:                                                                                                  #        3.      COSCDU:         HALF COSINES OF CDUSPOT COMPONENTS.
033172,001519:                                                                                                  #        4.      MPAC:           VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033173,001520: 
033174,001521:                                                                                                  #  DEBRIS:  NONE.
033175,001522: 
033176,001523:                                                                                                  #  CHECKOUT STATUS:  CODED.
033177,001524: 
033178,001525: 27,3267                                           COUNT*   $$/S41.1                              
033179,001526: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033180,001527: 27,3270           01734                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033181,001528: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033182,001529: 27,3272           47650                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033183,001530:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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