Source Code

These source-code files are part of a reconstructed copy of Luminary 178, the final release of the Apollo 14 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

The reconstruction began with source code of Zerlina 56, Luminary 210, and Luminary 131, previously transcribed from digitized copies of those programs. The code was created by combining the three, using Zerlina 56 as a base, since it was based off of Luminary 183. The differences between the three were carefully merged using the Luminary memos as a guide, with all changes made after Luminary 178 being backed out. The reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152N. Note that page numbers in the reconstructed code match those for the baseline log section mentioned in each file's changelog; the page numbers for a real Luminary 178 listing would be different.

Comments from the original source code are prefixed with a single '#' symbol, whereas comments added later are prefixed by "##" or "###". Report any errors noted by creating an issue report at the Virtual AGC project's GitHub repository.

032001,000002:                                                                                                  ## Copyright:   Public domain.
032002,000003:                                                                                                  ## Filename:    P40-P47.agc
032003,000004:                                                                                                  ## Purpose:     A section of Luminary revision 178.
032004,000005:                                                                                                  ##              It is part of the reconstructed source code for the final
032005,000006:                                                                                                  ##              release of the flight software for the Lunar Module's
032006,000007:                                                                                                  ##              (LM) Apollo Guidance Computer (AGC) for Apollo 14. The
032007,000008:                                                                                                  ##              code has been recreated from copies of Zerlina 56, Luminary
032008,000009:                                                                                                  ##              210, and Luminary 131, as well as many Luminary memos.
032009,000010:                                                                                                  ##              It has been adapted such that the resulting bugger words
032010,000011:                                                                                                  ##              exactly match those specified for Luminary 178 in NASA
032011,000012:                                                                                                  ##              drawing 2021152N, which gives relatively high confidence
032012,000013:                                                                                                  ##              that the reconstruction is correct.
032013,000014:                                                                                                  ## Reference:   pp. 738-770
032014,000015:                                                                                                  ## Assembler:   yaYUL
032015,000016:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
032016,000017:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
032017,000018:                                                                                                  ## Mod history: 2019-08-14 MAS  Created from Zerlina 56.
032018,000019:                                                                                                  ##              2019-09-08 MAS  Removed Zerlina-specific changes to
032019,000020:                                                                                                  ##                              restart points, and calls to PIPCYCLE.
032020,000021:                                                                                                  ##              2021-05-30 ABS  TGDCALC -> TGOCALC
032021,000022: 

Page 738

032023,000024:                                                                                                  #  PROGRAM DESCRIPTION  P40BOTH    DECEMBER 22, 1966
032024,000025:                                                                                                  #  MOD 03 BY PETER ADLER           MARCH 3, 1967
032025,000026:                                                                                                  #  CALLED VIA JOB FROM V37E
032026,000027: 
032027,000028:                                                                                                  #  FUNCTIONAL DESCRIPTION
032028,000029: 
032029,000030:                                                                                                  #           1)  TO COMPUTE A PREFERRED IMU ORIENTATION AND A PREFERRED VEHICLE ATTITUDE FOR A LM DPS
032030,000031:                                                                                                  #               THRUSTING MANEUVER.
032031,000032: 

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

032033,000034: 
032034,000035:                                                                                                  #           3)  TO DO THE VEHICLE MANEUVER TO THE THRUSTING ATTITUDE.
032035,000036: 
032036,000037:                                                                                                  #           4)  TO CONTROL THE PGNCS DURING COUNTDOWN, IGNITION, THRUSTING, AND THRUST TERMINATION OF A
032037,000038:                                                                                                  #               PGNCS CONTROLLED DPS MANEUVER.
032038,000039: 
032039,000040:                                                                                                  #           5)  IN POSTBURN--ZERO RENDEZVOUS COUNTER, MAINTAIN VG CALCULATIONS FOR POSSIBLE RCS MANEUVER,
032040,000041:                                                                                                  #                            SET MAXIMUM DEADBAND IN DAP, RESET STEERLAW CSTEER TO ZERO.
032041,000042: 
032042,000043:                                                                                                  #           NOTE:  P42, WHICH IS IN THIS LOG SECTION, DOES THE SAME FOR AN APS BURN, AND P41 DOES 1-3 FOR
032043,000044:                                                                                                  #                  RCS PLUS DISPLAYS PARAMETERS FOR MANUAL CONTROL.
032044,000045: 
032045,000046:                                                                                                  #  SUBROUTINES USED
032046,000047: 
032047,000048:                                                                                                  #           R02      IMU STATUS CHECK
032048,000049:                                                                                                  #           S40.1    COMPUTATION OF THRUST DIRECTION
032049,000050:                                                                                                  #           S40.13   LENGTH OF BURN
032050,000051:                                                                                                  #           S40.2,3  PREFERRED IMU ORIENATTION
032051,000052:                                                                                                  #           S40.8    X PRODUCT STEERING
032052,000053:                                                                                                  #           S40.9    LAMBERT VTOGAIN
032053,000054:                                                                                                  #           R60LEM   ATTITUDE MANEUVER
032054,000055:                                                                                                  #           LEMPREC  EXTRAPOLATE STATE VECTOR
032055,000056:                                                                                                  #           PREREAD  AVERAGE G, SERVICER
032056,000057:                                                                                                  #           ALLCOAST DAP COASTING INITIALIZATION
032057,000058:                                                                                                  #           CLOKTASK ERGO CLOCKJOB--COUNT DOWN
032058,000059:                                                                                                  #           PHASCHNG, INTPRET, FLAGUP, FLAGDOWN, WAITLIST, LONGCALL, GOFLASH, GOFLASHR, GOPERF1, ALARM,
032059,000060:                                                                                                  #           PRIOLARM, GOTOPOOH, ENDOFJOB, BANKCALL, SETMAXDB, SETMINDB, CHECKMM, FLATOUT, OUTFLAT,
032060,000061:                                                                                                  #           KILLTASK, SGNAGREE, TPAGREE, ETC.
032061,000062: 
032062,000063:                                                                                                  #  RESTARTS VIA GROUP 4
032063,000064: 
032064,000065:                                                                                                  #  DISPLAYS
032065,000066: 
032066,000067:                                                                                                  #           V50N25  203 A/P TO PGNCS, AUTO THROTTLE MODE, AUTO ATTITUDE CONTROL
032067,000068:                                                                                                  #           V06N40  TTI, VG, DELTAVM (DISPLAYED ONCE/SECOND BY CLOKTASK)
032068,000069:                                                                                                  #           V50N99  PLEASE PERFORM ENGINE ON ENABLE
032069,000070:                                                                                                  #           V06N40  TG (TIME TO GO TO CUTOFF), VG, DELTAVM--ONCE/SECOND
032070,000071:                                                                                                  #           V16N40  FINAL VALUES OF TG, VG, DELTAVM
032071,000072:                                                                                                  #           V16N85  COMP OF VG (BODY AXES) FOR POSS. RCS MANUAL MANEUVER
032072,000073:                                                                                                  #           V05N09  POSSIBLE ALARMS
032073,000074:                                                                                                  #           V50N07  PLEASE SELECT P00
032074,000075: 

Page 739

032076,000077:                                                                                                  #           VIA R30
032077,000078: 
032078,000079:                                                                                                  #           V06N44  HAPO, PERI, TFF
032079,000080:                                                                                                  #           V06N35  TIME TO PERIGEE, HMS
032080,000081: 
032081,000082:                                                                                                  #  ALARM OR ABORT EXIT MODES
032082,000083: 
032083,000084:                                                                                                  #           PROGRAM ALARM, FLASHING DISPLAY OF ALARM CODE 1706 IF P40 SELECTED WITH DESCENT UNIT STAGED.
032084,000085:                                                                                                  #           V34E (TERMINATE) IS THE ONLY RESPONSE ACCEPTED. TC GOTOPOOH.
032085,000086: 
032086,000087:                                                                                                  #           PROGRAM ALARM, FLASH CODE 1703:  TIG LESS THAN 45 SECS AWAY.  V34E=  GOTOPOOH OR V33E=  SLIP
032087,000088:                                                                                                  #           TIG BY 45 SECS.
032088,000089: 
032089,000090:                                                                                                  #  ERASABLE INITIALIZATION
032090,000091:                                                                                                  #  DEBRIS
032091,000092:                                                                                                  #  OUTPUT
032092,000093: 
032093,000094:                                                                                                  #           SEE SUBROUTINES E.G.:  S40.1, S40.2,3, S40.13, S40.8, S40.9, TRIMGIMB
032094,000095:                                                                                                  #           XDELVFLG = 1 FOR EXT DELV COMPUTATION
032095,000096:                                                                                                  #                    = 0 FOR AIMPT (LAMBERT) COMP
032096,000097: 
032097,000098: 27,2246                                           COUNT*   $$/P40                                
032098,000099: 27,2246  E7,1455                                  EBANK=   WHICH                                 
032099,000100: 
032100,000101: 36,3146                                           BANK     36                                    
032101,000102: 36,2000                                           SETLOC   P40S                                  
032102,000103: 36,2000                                           BANK                                           
032103,000104: 
032104,000105: 36,3146           05364        P40LM              TC       PHASCHNG                              
032105,000106: 36,3147           04024                           OCT      04024                                 
032106,000107: 
032107,000108: 36,3150           33132                           CAF      P40ADRES                              #  INITIALIZATION FOR BURNBABY.
032108,000109: 36,3151           55455                           TS       WHICH                                 
032109,000110: 
032110,000111: 36,3152           30106                           CA       FLGWRD10                              
032111,000112: 36,3153           74737                           MASK     APSFLBIT                              
032112,000113: 36,3154           10000                           CCS      A                                     
032113,000114: 36,3155           13120                           TCF      P40ALM                                
032114,000115: 36,3156           04616                           TC       BANKCALL                              #  GO DO IMU STATUS CHECK ROUTINE.
032115,000116: 36,3157           11241                           CADR     R02BOTH                               
032116,000117: 
032117,000118: 36,3160           40111                           CS       DAPBOOLS                              #  INITIALIZE DVMON
032118,000119: 36,3161           74737                           MASK     CSMDOCKD                              
032119,000120: 36,3162           10000                           CCS      A                                     
032120,000121: 36,3163           32022                           CAF      THRESH1                               
032121,000122: 36,3164           62023                           AD       THRESH3                               
032122,000123: 36,3165           55250                           TS       DVTHRUSH                              
032123,000124: 36,3166           34751                           CAF      FOUR                                  
032124,000125: 36,3167           55515                           TS       DVCNTR                                

Page 740

032126,000127: 36,3170           06042                           TC       INTPRET                               #  LOAD CONSTANTS FOR DPS BURN
032127,000128: 36,3171           43175                           VLOAD    CLEAR                                 #  LOAD F, MDOT, TDECAY
032128,000129: 36,3172           34001                                    FDPS                                  
032129,000130: 36,3173           02663                                    NOTHROTL                              
032130,000131: 36,3174           03735                           STORE    F                                     
032131,000132: 36,3175           77735                           SLOAD                                          
032132,000133: 36,3176           26002                                    DPSVEX                                
032133,000134: 36,3177           70476        P40IN              DCOMP    SR1                                   
032134,000135: 36,3200           37743                           STCALL   VEX                                   #  LOAD EXHAUST VELOCITY FOR TGO COMP.
032135,000136: 36,3201           56246                                    S40.1                                 #  COMPUTES UT AND VGTIG
032136,000137: 36,3202           77624                           CALL                                           
032137,000138: 36,3203           56413                                    S40.2,3                               #  COMPUTES PREFERRED IMU ORIENTATION
032138,000139: 36,3204           77776                           EXIT                                           
032139,000140: 
032140,000141: 36,3205           00004                           INHINT                                         
032141,000142: 36,3206           04674                           TC       IBNKCALL                              
032142,000143: 36,3207           40143                           CADR     PFLITEDB                              #  ZERO ATTITUDE ERRORS, SET DB TO ONE DEG.
032143,000144: 
032144,000145: 36,3210           03212                           TC       P40SXT4                               
032145,000146: 
032146,000147:                                                                                                  #                                               ***********************
032147,000148: 36,3211           12130                           TCF      BURNBABY                              
032148,000149:                                                                                                  #                                               ***********************
032149,000150: 
032150,000151: 36,3212           00006        P40SXT4            EXTEND                                         
032151,000152: 36,3213           23141                           QXCH     P40/RET                               
032152,000153: 36,3214           00003        P41MANU            RELINT                                         
032153,000154: 
032154,000155: 36,3215           05527                           TC       DOWNFLAG                              #  CLEAR 3AXISFLG -- R60 WILL USE VECPOINT.
032155,000156: 36,3216           00124                           ADRES    3AXISFLG                              
032156,000157: 
032157,000158: 36,3217           04616                           TC       BANKCALL                              
032158,000159: 36,3220           54125                           CADR     R60LEM                                #  DO ATTITUDE MANEUVER ROUTINE
032159,000160: 36,3221           01141                           TC       P40/RET                               
032160,000161: 
032161,000162: 
032162,000163: 36,3222  E7,1462                                  EBANK=   TRKMKCNT                              
032163,000164: 36,3222           30005        POSTBURN           CA       Z                                     
032164,000165: 36,3223           55162                           TS       DISPDEX                               
032165,000166: 36,3224           00006                           EXTEND                                         
032166,000167: 36,3225           32060                           DCA      ACADN85                               
032167,000168: 36,3226           53252                           DXCH     AVEGEXIT                              
032168,000169: 36,3227           33752                           CAF      V16N40                                
032169,000170: 36,3230           04616                           TC       BANKCALL                              
032170,000171: 36,3231           20636                           CADR     GOFLASHR                              
032171,000172: 36,3232           03255                           TC       TERM40                                
032172,000173: 36,3233           13240                           TCF      TIGNOW                                
032173,000174: 36,3234           03222                           TC       POSTBURN                              
032174,000175: 

Page 741

032176,000177: 36,3235           05364        P40PHS1            TC       PHASCHNG                              
032177,000178: 36,3236           00014                           OCT      00014                                 
032178,000179: 36,3237           15155                           TCF      ENDOFJOB                              
032179,000180: 
032180,000181: 36,3240           00004        TIGNOW             INHINT                                         
032181,000182: 36,3241           04674                           TC       IBNKCALL                              
032182,000183: 36,3242           40154                           CADR     ZATTEROR                              
032183,000184: 36,3243           04674                           TC       IBNKCALL                              
032184,000185: 36,3244           40141                           CADR     SETMINDB                              
032185,000186: 36,3245           00003                           RELINT                                         
032186,000187: 36,3246           33753                           CAF      V16N85B                               
032187,000188: 36,3247           04616                           TC       BANKCALL                              
032188,000189: 36,3250           20463                           CADR     REFLASHR                              
032189,000190: 36,3251           03255                           TC       TERM40                                
032190,000191: 36,3252           13255                           TCF      TERM40                                
032191,000192: 36,3253           03246                           TC       -5                                    
032192,000193: 
032193,000194: 36,3254           13235                           TCF      P40PHS1                               
032194,000195: 
032195,000196: 36,3255           00006        TERM40             EXTEND                                         
032196,000197: 36,3256           32110                           DCA      SERVCADR                              
032197,000198: 36,3257           53252                           DXCH     AVEGEXIT                              
032198,000199: 36,3260           34755                           CAF      ZERO                                  
032199,000200: 36,3261           55462                           TS       TRKMKCNT                              #       ZERO RENDZVS CNTERS
032200,000201: 36,3262           30005                           CA       Z                                     
032201,000202: 36,3263           55162                           TS       DISPDEX                               
032202,000203: 36,3264           00004                           INHINT                                         
032203,000204: 36,3265           04674                           TC       IBNKCALL                              
032204,000205: 36,3266           40115                           CADR     RESTORDB                              
032205,000206: 36,3267           00003                           RELINT                                         
032206,000207: 36,3270           06001                           TC       GOTOPOOH                              
032207,000208: 
032208,000209: 36,3271  E7,1455                                  EBANK=   WHICH                                 
032209,000210: 36,3271                                           COUNT*   $$/P41                                
032210,000211: 36,3271           33133        P41LM              CAF      P41ADRES                              #  INITIALIZATION FOR BURNBABY
032211,000212: 36,3272           55455                           TS       WHICH                                 
032212,000213: 
032213,000214: 36,3273           04616                           TC       BANKCALL                              
032214,000215: 36,3274           11241                           CADR     R02BOTH                               
032215,000216: 
032216,000217: 36,3275           34755                           CA       ZERO                                  #  ZERO DVTOTAL FOR NOUN 40 DISPLAY
032217,000218: 36,3276           55507                           TS       DVTOTAL                               
032218,000219: 36,3277           55510                           TS       DVTOTAL    +1                         
032219,000220: 36,3300           35017                           CAF      PRIO5                                 
032220,000221: 36,3301           55162                           TS       DISPDEX                               #  FOR SAFETY
032221,000222: 36,3302           05105                           TC       FINDVAC                               
032222,000223: 36,3303  E7,1700                                  EBANK=   VGPREV                                
032223,000224: 36,3303           03366 74067                     2CADR    DYNMDISP                              
032224,000225: 
032225,000226: 36,3305           05340                           TC       2PHSCHNG                              

Page 742

032227,000228: 36,3306           00116                           OCT      00116                                 #  GROUP 6 RESTART AT FKP5RST, PRIO 17
032228,000229: 36,3307           04024                           OCT      04024                                 #  GROUP 4 RESTART HERE, PRIO 13
032229,000230: 
032230,000231: 36,3310           06042                           TC       INTPRET                               #  BOTH LM
032231,000232: 36,3311           71214                           BON      DLOAD                                 #  IF NJETSFLAG IS SET, LOAD 2 JET F
032232,000233: 36,3312           00700                                    NJETSFLG                              
032233,000234: 36,3313           75317                                    P41FJET1                              
032234,000235: 36,3314           34017                                    FRCS4                                 #  IF NJETSFLAG IS CLEAR, LOAD 4 JET F
032235,000236: 
032236,000237: 36,3315           37735        P41FJET            STCALL   F                                     
032237,000238: 36,3316           75322                                    P41IN                                 
032238,000239: 
032239,000240: 36,3317           77745        P41FJET1           DLOAD                                          
032240,000241: 36,3320           34021                                    FRCS2                                 
032241,000242: 36,3321           03735                           STORE    F                                     
032242,000243: 
032243,000244: 36,3322           77624        P41IN              CALL                                           
032244,000245: 36,3323           56246                                    S40.1                                 #  BOTH
032245,000246: 36,3324           77624        P41NORM            CALL                                           
032246,000247: 36,3325           56413                                    S40.2,3                               #  CALCULATE PREFERRED IMU ORIENTATION AND
032247,000248: 36,3326           77776                           EXIT                                           #  SET PFRATFLG.
032248,000249: 
032249,000250: 36,3327           00004                           INHINT                                         
032250,000251: 36,3330           04674                           TC       IBNKCALL                              
032251,000252: 36,3331           40154                           CADR     ZATTEROR                              #  ZERO ATTITUDE ERRORS
032252,000253: 36,3332           04674                           TC       IBNKCALL                              
032253,000254: 36,3333           40141                           CADR     SETMINDB                              #  SET 0.3 DEGREE DEADBAND
032254,000255: 36,3334           03212                           TC       P40SXT4                               
032255,000256: 
032256,000257: 36,3335           06042                           TC       INTPRET                               
032257,000258: 36,3336           45175                           VLOAD    CALL                                  #  TRANSFORM VELOCITY-TO-BE-GAINED AT TIG
032258,000259: 36,3337           03701                                    VGTIG                                 #  FROM REFERENCE COORDINATES TO LM BODY-
032259,000260: 36,3340           57267                                    S41.1                                 #  AXIS COORDINATES FOR V16N85 DISPLAY.
032260,000261: 36,3341           03502                           STORE    VGBODY                                #  (SCALED AT 2 (+7) METERS/CENTISECOND)
032261,000262: 36,3342           77776                           EXIT                                           
032262,000263: 
032263,000264: 36,3343           33753                           CAF      V16N85B                               
032264,000265: 36,3344           04616                           TC       BANKCALL                              
032265,000266: 36,3345           20447                           CADR     GODSPRET                              
032266,000267: 
032267,000268: 
032268,000269: 36,3346           05340                           TC       2PHSCHNG                              
032269,000270: 36,3347           00076                           OCT      00076                                 #  GROUP 6 RESTARTS AT REDO6.7
032270,000271: 36,3350           04024                           OCT      04024                                 #  GROUP 4 RESTARTS HERE
032271,000272: 
032272,000273:                                                                                                  #                                               ***********************
032273,000274: 36,3351           12137                           TCF      B*RNB*B*                              
032274,000275:                                                                                                  #                                               ***********************
032275,000276: 

Page 743

032277,000278: 36,3352           34777        BLNKWAIT           CAF      1SEC                                  
032278,000279: 36,3353           04616                           TC       BANKCALL                              
032279,000280: 36,3354           01736                           CADR     DELAYJOB                              
032280,000281: 
032281,000282: 36,3355           31162        REDO6.7            CA       DISPDEX                               #  ON A RESTART, DO NOT PUT UP DISPLAY IF
032282,000283: 36,3356           64752                           AD       TWO                                   #  BLANKING (BETWEEN TIG-35 AND TIG-30)
032283,000284:                                                                                                  #                                               ***********************
032284,000285: 
032285,000286: 36,3357           00006                           EXTEND                                         
032286,000287: 36,3360           13352                           BZF      BLNKWAIT                              
032287,000288: 
032288,000289: 36,3361           33753                           CAF      V16N85B                               
032289,000290: 36,3362           04616                           TC       BANKCALL                              
032290,000291: 36,3363           20447                           CADR     GODSPRET                              
032291,000292: 
032292,000293: 36,3364           35017        FKP5RST            CAF      PRIO5                                 
032293,000294: 36,3365           05146                           TC       PRIOCHNG                              
032294,000295: 
032295,000296: 36,3366           31162        DYNMDISP           CA       DISPDEX                               #  A NON-POSITIVE DISPDEX INDICATES PAST
032296,000297: 36,3367           00006                           EXTEND                                         #  TIG-35, SO SERVICER WILL BE DOING THE
032297,000298: 36,3370           65155                           BZMF     ENDOFJOB                              #  UPDATING OF NOUN 85. STOP DYNMDISP.
032298,000299: 36,3371           00006                           EXTEND                                         
032299,000300: 36,3372           41442                           DCS      TIG                                   
032300,000301: 36,3373           53454                           DXCH     TTOGO                                 #  UPDATE TFI DISPLAY (NOUN 40)
032301,000302: 36,3374           00006                           EXTEND                                         
032302,000303: 36,3375           30025                           DCA      TIME2                                 
032303,000304: 36,3376           21454                           DAS      TTOGO                                 
032304,000305: 36,3377           06042                           TC       INTPRET                               
032305,000306: 36,3400           45175                           VLOAD    CALL                                  
032306,000307: 36,3401           03701                                    VGPREV                                
032307,000308: 36,3402           57267                                    S41.1                                 #  CONVERT VG FROM REF TO BODY
032308,000309: 36,3403           03502                           STORE    VGBODY                                
032309,000310: 36,3404           77776                           EXIT                                           
032310,000311: 36,3405           34777                           CAF      1SEC                                  
032311,000312: 36,3406           04616                           TC       BANKCALL                              
032312,000313: 36,3407           01736                           CADR     DELAYJOB                              
032313,000314: 36,3410           13366                           TCF      DYNMDISP                              #  RECYCLE ONCE A SECOND
032314,000315: 
032315,000316: 
032316,000317: 36,3411                                           COUNT    $$/P41                                
032317,000318: 32,2550                                           BANK     32                                    
032318,000319: 32,2000                                           SETLOC   P40S4                                 
032319,000320: 32,2000                                           BANK                                           
032320,000321: 
032321,000322: 32,2550           06042        CALCN85            TC       INTPRET                               
032322,000323: 32,2551           77624                           CALL                                           
032323,000324: 32,2552           75612                                    UPDATEVG                              
032324,000325: 32,2553           45175                           VLOAD    CALL                                  
032325,000326: 32,2554           03701                                    VGPREV                                

Page 744

032327,000328: 32,2555           57267                                    S41.1                                 
032328,000329: 32,2556           03502                           STORE    VGBODY                                
032329,000330: 32,2557           77776                           EXIT                                           
032330,000331: 32,2560           04635                           TC       POSTJUMP                              
032331,000332: 32,2561           65645                           CADR     SERVEXIT                              
032332,000333: 
032333,000334: 36,3411                                           BANK     36                                    
032334,000335: 36,2000                                           SETLOC   P40S                                  
032335,000336: 36,2000                                           BANK                                           
032336,000337: 
032337,000338: 36,3411                                           COUNT*   $$/P42                                
032338,000339: 36,3411  E7,1455                                  EBANK=   WHICH                                 
032339,000340: 
032340,000341: 36,3411           05364        P42LM              TC       PHASCHNG                              
032341,000342: 36,3412           04024                           OCT      04024                                 
032342,000343: 
032343,000344: 36,3413           33134                           CAF      P42ADRES                              #  INITIALIZATION FOR BURNBABY.
032344,000345: 36,3414           55455                           TS       WHICH                                 
032345,000346: 
032346,000347: 36,3415           40106                           CS       FLGWRD10                              
032347,000348: 36,3416           74737                           MASK     APSFLBIT                              
032348,000349: 36,3417           10000                           CCS      A                                     
032349,000350: 36,3420           03120                           TC       P40ALM                                
032350,000351: 36,3421           04616        P42STAGE           TC       BANKCALL                              
032351,000352: 36,3422           11241                           CADR     R02BOTH                               
032352,000353: 36,3423           36000                           CAF      THRESH2                               #  INITIALIZE DVMON
032353,000354: 36,3424           55250                           TS       DVTHRUSH                              
032354,000355: 36,3425           34751                           CAF      FOUR                                  
032355,000356: 36,3426           55515                           TS       DVCNTR                                
032356,000357: 
032357,000358: 36,3427           06042                           TC       INTPRET                               
032358,000359: 36,3430           77214                           SET      VLOAD                                 #  LOAD FAPS, MDOTAPS, AND ATDECAY INTO
032359,000360: 36,3431           01072                                    AVFLAG                                #  F, MDOT, AND TDECAY BY VECTOR LOAD.
032360,000361: 36,3432           34007                                    FAPS                                  
032361,000362: 36,3433           03735                           STORE    F                                     
032362,000363: 36,3434           52135                           SLOAD    GOTO                                  
032363,000364: 36,3435           26001                                    APSVEX                                
032364,000365: 36,3436           75177                                    P40IN                                 
032365,000366: 
032366,000367: 36,3437  E7,1455                                  EBANK=   WHICH                                 
032367,000368: 
032368,000369: 36,3437                                           COUNT*   $$/P47                                
032369,000370: 36,3437           04616        P47LM              TC       BANKCALL                              
032370,000371: 36,3440           11241                           CADR     R02BOTH                               
032371,000372: 36,3441           06042                           TC       INTPRET                               
032372,000373: 36,3442           77624                           CALRB                                          
032373,000374: 36,3443           27547                                    MIDTOAV2                              
032374,000375: 
032375,000376: 36,3444           30155                           CA       MPAC       +1                         
032376,000377: 36,3445           05204                           TC       TWIDDLE                               

Page 745

032378,000379: 36,3446           03450                           ADRES    STARTP47                              
032379,000380: 
032380,000381: 36,3447           15155                           TCF      ENDOFJOB                              
032381,000382: 
032382,000383: 36,3450           05364        STARTP47           TC       PHASCHNG                              
032383,000384: 36,3451           05014                           OCT      05014                                 
032384,000385: 36,3452           77777                           OCT      77777                                 
032385,000386: 
032386,000387: 36,3453           00006                           EXTEND                                         
032387,000388: 36,3454           33756                           DCA      ACADN83                               
032388,000389: 36,3455           53252                           DXCH     AVEGEXIT                              
032389,000390: 36,3456           34736                           CAF      PRIO20                                
032390,000391: 36,3457           05105                           TC       FINDVAC                               
032391,000392: 36,3460  E7,1622                                  EBANK=   DELVIMU                               
032392,000393: 36,3460           03514 74067                     2CADR    P47BODY                               
032393,000394: 
032394,000395: 36,3462           12344                           TCF      REDO4.2                               #  CHECKS PHASE 5 AND GOES TO PREREAD
032395,000396:                                                                                                  #  SEE TIG-30 IN BURNBABY.
032396,000397: 
032397,000398: 36,3463           06042        CALCN83            TC       INTPRET                               
032398,000399: 36,3464           53375                           VLOAD    VAD                                   
032399,000400: 36,3465           03502                                    DELVCTL                               
032400,000401: 36,3466           03527                                    DELVREF                               
032401,000402: 36,3467           03656                           STORE    DELVSIN                               #  TEMP STORAGE FOR RESTARTS
032402,000403: 36,3470           77624                           CALL                                           
032403,000404: 36,3471           57267                                    S41.1                                 
032404,000405: 36,3472           03623                           STORE    DELVIMU                               
032405,000406: 36,3473           77776                           EXIT                                           
032406,000407: 36,3474           05364                           TC       PHASCHNG                              
032407,000408: 36,3475           10035                           OCT      10035                                 #  REREADAC AND HERE
032408,000409: 
032409,000410: 36,3476           06042                           TC       INTPRET                               
032410,000411: 36,3477           77775                           VLOAD                                          
032411,000412: 36,3500           03656                                    DELVSIN                               
032412,000413: 36,3501           03502                           STORE    DELVCTL                               
032413,000414: 36,3502           77776                           EXIT                                           
032414,000415: 
032415,000416: 36,3503           04635                           TC       POSTJUMP                              
032416,000417: 36,3504           65645                           CADR     SERVEXIT                              
032417,000418: 
032418,000419: 36,3505           33754        P47BOD             CAF      V1683                                 
032419,000420: 36,3506           04616                           TC       BANKCALL                              
032420,000421: 36,3507           20636                           CADR     GOFLASHR                              
032421,000422: 36,3510           06001                           TC       GOTOPOOH                              
032422,000423: 36,3511           06001                           TC       GOTOPOOH                              
032423,000424: 
032424,000425: 36,3512           13514                           TCF      P47BODY                               
032425,000426: 
032426,000427: 36,3513           13235                           TCF      P40PHS1                               
032427,000428: 
032428,000429: 36,3514           06042        P47BODY            TC       INTPRET                               
032429,000430: 36,3515           77775                           VLOAD                                          

Page 746

032431,000432: 36,3516           06470                                    HI6ZEROS                              
032432,000433: 36,3517           03623                           STORE    DELVIMU                               
032433,000434: 36,3520           03502                           STORE    DELVCTL                               
032434,000435: 36,3521           77776                           EXIT                                           
032435,000436: 36,3522           03505                           TC       P47BOD                                
032436,000437: 
032437,000438: 36,3523                                           COUNT*   $$/P40                                
032438,000439: 36,3523           31517        IMPLBURN           CA       TGO        +1                         
032439,000440: 36,3524           03736                           TC       GETDT                                 
032440,000441: 36,3525           05204                           TC       TWIDDLE                               
032441,000442: 36,3526           03543                           ADRES    ENGOFTSK                              
032442,000443: 36,3527           05527                           TC       DOWNFLAG                              #  TURN OFF IGNFLAG
032443,000444: 36,3530           00153                           ADRES    IGNFLAG                               
032444,000445: 36,3531           05527                           TC       DOWNFLAG                              #  TURN OFF ASTNFLG
032445,000446: 36,3532           00154                           ADRES    ASTNFLAG                              
032446,000447: 36,3533           05527                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032447,000448: 36,3534           00044                           ADRES    IMPULSW                               
032448,000449: 36,3535           05364                           TC       PHASCHNG                              #  RESTART PROTECT ENGOFTSK (ENGINOFF)
032449,000450: 36,3536           40114                           OCT      40114                                 
032450,000451: 
032451,000452: 36,3537           05232                           TC       FIXDELAY                              #  WAIT HALF A SECOND
032452,000453: 36,3540           00062                           DEC      50         B-14                       
032453,000454: 
032454,000455: 36,3541           02652                           TC       NOULLAGE                              #  TURN OFF ULLAGE
032455,000456: 
032456,000457: 36,3542           05272                           TC       TASKOVER                              
032457,000458: 
032458,000459: 36,3543           04674        ENGOFTSK           TC       IBNKCALL                              #  THIS CODING ALLOWS ENGINOFF ET AL TO BE
032459,000460: 36,3544           75546                           CADR     ENGINOFF                              #  USED BOTH BY WAITLIST AND BY TC IBNKCALL
032460,000461: 36,3545           05272                           TC       TASKOVER                              
032461,000462: 
032462,000463: 36,3546           34644        ENGINOFF           CAF      PRIO12                                #  MUST BE LOWER PRIO THAN CLOCKJOB
032463,000464: 36,3547           05105                           TC       FINDVAC                               
032464,000465: 36,3550  E7,1462                                  EBANK=   TRKMKCNT                              
032465,000466: 36,3550           03222 74067                     2CADR    POSTBURN                              
032466,000467: 
032467,000468: 
032468,000469: 36,3552           34753        ENGINOF2           CAF      BIT1                                  
032469,000470: 36,3553           05214                           TC       WAITLIST                              
032470,000471: 36,3554  E6,1422                                  EBANK=   OMEGAQ                                
032471,000472: 36,3554           03607 74066                     2CADR    COASTSET                              
032472,000473: 
032473,000474: 36,3556           40103        ENGINOF1           CS       FLAGWRD7                              #  SET THE IDLE BIT.
032474,000475: 36,3557           74745                           MASK     IDLEFBIT                              
032475,000476: 36,3560           26103                           ADS      FLAGWRD7                              
032476,000477: 
032477,000478: 36,3561           02652                           TC       NOULLAGE                              
032478,000479: 
032479,000480: 36,3562           00006        ENGINOF4           EXTEND                                         
032480,000481: 36,3563           30025                           DCA      TIME2                                 

Page 747

032482,000483: 36,3564           53342                           DXCH     TEVENT                                
032483,000484: 
032484,000485: 36,3565           44745        ENGINOF3           CS       ENGONBIT                              #  INSURE ENGONFLG IS CLEAR.
032485,000486: 36,3566           70101                           MASK     FLAGWRD5                              
032486,000487: 36,3567           54101                           TS       FLAGWRD5                              
032487,000488: 36,3570           44355                           CS       PRIO30                                #  ENGINOF3 IS USED AS A PRE-ENGINE ARM
032488,000489: 36,3571           00006                           EXTEND                                         #  SUBROUTINE.
032489,000490: 36,3572           02011                           RAND     DSALMOUT                              
032490,000491: 36,3573           64736                           AD       PRIO20                                #  TURN OFF THE ENGINE - DPS OR APS
032491,000492: 36,3574           00006                           EXTEND                                         
032492,000493: 36,3575           01011                           WRITE    DSALMOUT                              
032493,000494: 
032494,000495: 36,3576           40111                           CS       DAPBOOLS                              #  TURN OFF TRIM GIMBAL
032495,000496: 36,3577           74736                           MASK     USEQRJTS                              
032496,000497: 36,3600           26111                           ADS      DAPBOOLS                              
032497,000498: 
032498,000499: 36,3601           44737                           CS       HIRTHROT                              #  ZERO AUTO-THROTTLE WHENEVER THE ENGINE
032499,000500: 36,3602           54055                           TS       THRUST                                #  IS TURNED OFF.
032500,000501: 36,3603           34750                           CAF      BIT4                                  #  THE HARDWARE DOES SO ONLY WHEN THE
032501,000502: 36,3604           00006                           EXTEND                                         #  ENGINE IS DISARMED.
032502,000503: 36,3605           05014                           WOR      CHAN14                                
032503,000504: 
032504,000505: 36,3606           04707                           TC       ISWRETRN                              
032505,000506: 36,3607           04674        COASTSET           TC       IBNKCALL                              #  DO DAP COASTING INITIALIZATION
032506,000507: 36,3610           40205                           CADR     ALLCOAST                              
032507,000508: 36,3611           05272                           TC       TASKOVER                              
032508,000509: 
032509,000510: 36,3612  E6,1422                                  EBANK=   OMEGAQ                                
032510,000511: 36,3612           45020        UPDATEVG           STQ      CALL                                  
032511,000512: 36,3613           03665                                    QTEMP1                                
032512,000513: 36,3614           56447                                    S40.8                                 #  X-PRODUCT STEERING
032513,000514: 36,3615           43014        S40RET             BON      BON                                   #  WILL RETURN HERE FROM S40.8
032514,000515: 36,3616           01307                                    XDELVFLG                              
032515,000516: 36,3617           03665                                    QTEMP1                                
032516,000517: 36,3620           03705                                    NORMSW                                
032517,000518: 36,3621           75634                                    180SETUP                              
032518,000519: 36,3622           45345                           DLOAD    DSU                                   
032519,000520: 36,3623           01234                                    PIPTIME                               
032520,000521: 36,3624           03763                                    TIGSAVE                               
032521,000522: 36,3625           50025                           DSU      BMN                                   
032522,000523: 36,3626           03432                                    TNEWA                                 
032523,000524: 36,3627           75657                                    GETRANS                               
032524,000525: 36,3630           43345                           DLOAD    DAD                                   
032525,000526: 36,3631           03763                                    TIGSAVE                               
032526,000527: 36,3632           03432                                    TNEWA                                 
032527,000528: 36,3633           03765                           STORE    TIGSAVEP                              
032528,000529: 36,3634           77776        180SETUP           EXIT                                           
032529,000530: 36,3635           10754                           CCS      PHASE2                                
032530,000531: 36,3636           13664                           TCF      NO.9                                  
032531,000532: 36,3637           34737                           CAF      PRIO10                                

Page 748

032533,000534: 36,3640           00004                           INHINT                                         
032534,000535: 36,3641           05105                           TC       FINDVAC                               
032535,000536: 36,3642  E7,1706                                  EBANK=   VG                                    
032536,000537: 36,3642           02707 56067                     2CADR    S40.9                                 #  LAMBERT VTOGAIN
032537,000538: 
032538,000539: 36,3644           05340                           TC       2PHSCHNG                              
032539,000540: 36,3645           00172                           OCT      00172                                 #  2.17SPOT FOR S40.9
032540,000541: 36,3646           10035                           OCT      10035                                 #  HERE AND REREADAC AFTER RESTART
032541,000542: 
032542,000543: 36,3647           06042        ENDSTEER           TC       INTPRET                               
032543,000544: 36,3650           77745                           DLOAD                                          
032544,000545: 36,3651           03765                                    TIGSAVEP                              
032545,000546: 36,3652           27763                           STOVL    TIGSAVE                               
032546,000547: 36,3653           01220                                    RN                                    
032547,000548: 36,3654           26323                           STOVL    RINIT                                 
032548,000549: 36,3655           01226                                    VN                                    
032549,000550: 36,3656           02331                           STORE    VINIT                                 
032550,000551: 36,3657           45345        GETRANS            DLOAD    DSU                                   
032551,000552: 36,3660           03631                                    TPASS4                                
032552,000553: 36,3661           01234                                    PIPTIME                               
032553,000554: 36,3662           37452                           STCALL   DELLT4                                
032554,000555: 36,3663           03665                                    QTEMP1                                
032555,000556: 
032556,000557: 36,3664           06042        NO.9               TC       INTPRET                               
032557,000558: 36,3665           77650                           GOTO                                           
032558,000559: 36,3666           03665                                    QTEMP1                                
032559,000560: 36,3667           06042        STEERING           TC       INTPRET                               
032560,000561: 
032561,000562: 36,3670           77624                           CALL                                           
032562,000563: 36,3671           75612                                    UPDATEVG                              
032563,000564: 36,3672           77776                           EXIT                                           
032564,000565: 
032565,000566: 36,3673  E7,1515                                  EBANK=   DVCNTR                                
032566,000567: 36,3673           00004        NSTEER             INHINT                                         
032567,000568: 36,3674           35016                           CA       EBANK7                                
032568,000569: 36,3675           54003                           TS       EBANK                                 
032569,000570: 36,3676           40076                           CS       FLAGWRD2                              #  CHECK IMPULSE SWITCH.  IT IS SET EITHER
032570,000571: 36,3677           74743                           MASK     IMPULBIT                              #  BY S40.13 IF TBURN<6 SECS OR BY S40.8 IF
032571,000572: 36,3700           10000                           CCS      A                                     #  STEERING IS ALMOST DONE.
032572,000573: 
032573,000574: 36,3701           13706                           TCF      +5                                    #  IMPULSW = 0    EXIT
032574,000575: 36,3702           40103                           CS       FLAGWRD7                              #  IMPULSW = 1    WHY?  CHECK IDLEFLAG
032575,000576: 36,3703           74745                           MASK     IDLEFBIT                              #      (IDLEFLAG = 0 --> DVMON ON)
032576,000577: 36,3704           10000                           CCS      A                                     
032577,000578: 36,3705           13710                           TCF      +3                                    #  DVMON ON-->THRUSTING-->IMPULSW VIA S40.8
032578,000579: 36,3706           04635                           TC       POSTJUMP                              #  DVMON OFF-->IMPULSW ON VIA S40.13-->EXIT
032579,000580: 36,3707           65645                           CADR     SERVEXIT                              
032580,000581: 
032581,000582: 36,3710           04674                           TC       IBNKCALL                              
032582,000583: 36,3711           40166                           CADR     STOPRATE                              
032583,000584: 

Page 749

032585,000586: 36,3712           05527                           TC       DOWNFLAG                              #  TURN OFF IMPULSW
032586,000587: 36,3713           00044                           ADRES    IMPULSW                               
032587,000588: 
032588,000589: 36,3714           05515                           TC       UPFLAG                                
032589,000590: 36,3715           00161                           ADRES    IDLEFLAG                              #  TURN OFF DVMON
032590,000591: 
032591,000592: 36,3716           00004                           INHINT                                         
032592,000593: 36,3717           00006                           EXTEND                                         
032593,000594: 36,3720           31442                           DCA      TIG                                   
032594,000595: 36,3721           52155                           DXCH     MPAC                                  
032595,000596: 36,3722           00006                           EXTEND                                         
032596,000597: 36,3723           40025                           DCS      TIME2                                 
032597,000598: 36,3724           20155                           DAS      MPAC                                  
032598,000599: 36,3725           07262                           TC       TPAGREE                               
032599,000600: 36,3726           30155                           CAE      MPAC       +1                         
032600,000601: 36,3727           03736                           TC       GETDT                                 
032601,000602: 36,3730           05204                           TC       TWIDDLE                               
032602,000603: 36,3731           03543                           ADRES    ENGOFTSK                              
032603,000604: 36,3732           05340                           TC       2PHSCHNG                              
032604,000605: 36,3733           40114                           OCT      40114                                 #  ENGOFTSK (ENGINOFF)
032605,000606: 36,3734           00035                           OCT      00035                                 #  SERVICER--REREADAC
032606,000607: 36,3735           15155                           TCF      ENDOFJOB                              
032607,000608: 
032608,000609: 36,3736           10000        GETDT              CCS      A                                     
032609,000610: 36,3737           13742                           TCF      +3                                    
032610,000611: 36,3740           13742                           TCF      +2                                    
032611,000612: 36,3741           34755                           CAF      ZERO                                  
032612,000613: 36,3742           64753                           AD       ONE                                   
032613,000614: 36,3743           56001                           XCH      L                                     
032614,000615: 36,3744           34755                           CAF      ZERO                                  
032615,000616: 36,3745           53517                           DXCH     TGO                                   
032616,000617: 36,3746           31517                           CA       TGO        +1                         
032617,000618: 36,3747           00002                           TC       Q                                     
032618,000619: 
032619,000620: 
032620,000621:                                                                                                  #  ************************************************************************
032621,000622: 
032622,000623: 36,3750           00000        5SECDP             OCT      00000                                 #  DON'T MOVE FROM JUST BEFORE 5SEC
032623,000624: 36,3751           00764        5SEC               DEC      500        B-14                       
032624,000625: 36,3752           04050        V16N40             VN       1640                                  
032625,000626: 36,3753           04125        V16N85B            VN       1685                                  
032626,000627: 36,3754           04123        V1683              VN       1683                                  
032627,000628: 36,3755     4777               SEC01              =        1SEC                                  
032628,000629: 36,3755  36,2057               ACADN85            =        P41TABLE   +2                         
032629,000630: 
032630,000631: 36,3755  E7,1622                                  EBANK=   DELVIMU                               
032631,000632: 36,3755           03463 74067  ACADN83            2CADR    CALCN83                               
032632,000633: 
032633,000634:                                                                                                  #  *************************************************
032634,000635: 

Page 750

032636,000637:                                                                                                  #  PROGRAM DESCRIPTION S40.1       DATE15NOV66
032637,000638:                                                                                                  #  MOD N02         LOG SECTION  P40-P47
032638,000639:                                                                                                  #  MOD BY ZELDIN AND ADAPTED BY TALAYCO
032639,000640:                                                                                                  #  FUNCTIONAL DESCRIPTION
032640,000641:                                                                                                  #           COMPUTE INITIAL THRUST DIRECTION(UT) AND INITIAL VALUE OF VG
032641,000642:                                                                                                  #           VECTOR(VGTIG).
032642,000643:                                                                                                  #  CALLING SEQUENCE
032643,000644:                                                                                                  #         L CALL
032644,000645:                                                                                                  #       L+1        S40.1
032645,000646:                                                                                                  #  NORMAL EXIT MODE
032646,000647:                                                                                                  #           AT L+2 OF CALLING SEQUENCE (GOTO L+2)  NORMAL RETURN OR
032647,000648:                                                                                                  #           ERROR RETURN IF NOSOFLAG =1
032648,000649:                                                                                                  #  SUBROUTINES CALLED
032649,000650:                                                                                                  #           LEMPREC
032650,000651:                                                                                                  #           INITVEL
032651,000652:                                                                                                  #           CALCGRAV
032652,000653:                                                                                                  #           MIDGIM
032653,000654:                                                                                                  #  ALARM OR ABORT EXIT MODES
032654,000655:                                                                                                  #       L+2 OF CALLING SEQUENCE,UNSOLVABLE CONIC IF NOSOFLAG=1
032655,000656:                                                                                                  #  ERASABLE INITIALIZATION REQUIRED
032656,000657:                                                                                                  #                  WEIGHT/G  ANTICIPATED VEHICLE MASS         DP  B16KGM
032657,000658:                                                                                                  #           XDELVFLG       1=DELTA-V MANEUVER,0=AIMPT STEER
032658,000659:                                                                                                  #            F         THRUST FOR ENGINE USED
032659,000660:                                                                                                  #        IF DELTA-V MANEUVER
032660,000661:                                                                                                  #           DELVSIN   SPECIFIED DELTA-V REQUIRED IN
032661,000662:                                                                                                  #                     INERTIAL COORDS. OF ACTIVE VEHICLE
032662,000663:                                                                                                  #                     AT TIME OF IGNITION                 VECTOR B7M/CS
032663,000664:                                                                                                  #           DELVSAB   MAG. OF DELVSIN                     DP     B7M/CS
032664,000665:                                                                                                  #           RTIG      POSITION AT TIME OF IGNITION       VECTOR B29M
032665,000666:                                                                                                  #           VTIG      VELOCITY AT TIME OF IGNITION       VECTOR B7M/CS
032666,000667:                                                                                                  #        IF AIMPT STEER
032667,000668:                                                                                                  #           TIG       TIME OF IGNITION                    DP     B28CS
032668,000669:                                                                                                  #           RTARG     POSITION TARGET TIME               VECTOR B29M
032669,000670:                                                                                                  #           CSTEER    C FOR STEER LAW                     DP     B2
032670,000671:                                                                                                  #           DLTARG    TARGET TIME-IGNITION TIME          DP     B28CS
032671,000672:                                                                                                  #  OUTPUT
032672,000673:                                                                                                  #        UT           DESIRED THRUST DIRECTION            VECT. B2M/(CS.CS)
032673,000674:                                                                                                  #        VGTIG        INITIAL VALUE OF VELOCITY
032674,000675:                                                                                                  #                     TO BE GAINED (INERT. COORD.)        VECTOR B7M/CS
032675,000676:                                                                                                  #        DELVLVC      VGTIG IN LOC. VERT. COORDS.                B7M/CS
032676,000677:                                                                                                  #           BDT   V REQUIRED AT TIG -V REQUIRED AT (TIG-2SEC)
032677,000678:                                                                                                  #           -GDT  FOR S40.13                                   VECT  B7M/CS
032678,000679:                                                                                                  #        RTIG         CALC IN S40.1B(AIMPT) FOR S40.2,3  VECTOR B29M
032679,000680:                                                                                                  #                     POSITION AT TIME OF IGNITION
032680,000681:                                                                                                  #  DEBRIS      QTEMP1
032681,000682:                                                                                                  #        MPAC, QPRET
032682,000683:                                                                                                  #        PUSHLIST
032683,000684: 14,2347                                           BANK     14                                    
032684,000685: 27,2000                                           SETLOC   P40S1                                 
032685,000686: 27,2000                                           BANK                                           
032686,000687: 

Page 751

032688,000689: 27,2246                                           COUNT*   $$/S40.1                              
032689,000690: 27,2246           71220        S40.1              STQ      DLOAD                                 
032690,000691: 27,2247           03632                                    QTEMP                                 
032691,000692: 27,2250           03442                                    TIG                                   
032692,000693: 27,2251           03763                           STORE    TIGSAVE                               
032693,000694: 27,2252           77614        DELVTEST           BOFF                                           
032694,000695: 27,2253           01347                                    XDELVFLG                              
032695,000696: 27,2254           56336                                    S40.1B                                
032696,000697: 27,2255           77201        CALCTHET           SETPD    VLOAD                                 
032697,000698: 27,2256           00001                                    0                                     
032698,000699: 27,2257           03650                                    VTIG                                  
032699,000700: 27,2260           02331                           STORE    VINIT                                 
032700,000701: 27,2261           53435                           VXV      UNIT                                  
032701,000702: 27,2262           03642                                    RTIG                                  
032702,000703: 27,2263           27673                           STOVL    UT                                    #  UP IN UT
032703,000704: 27,2264           03642                                    RTIG                                  
032704,000705: 27,2265           02323                           STORE    RINIT                                 
032705,000706: 27,2266           65236                           VSQ      PDDL                                  
032706,000707: 27,2267           00045                                    36D                                   
032707,000708: 27,2270           56205                           DMP      DDV                                   
032708,000709: 27,2271           16412                                    THETACON                              
032709,000710: 27,2272           41205                           DMP      DMP                                   
032710,000711: 27,2273           03664                                    DELVSAB                               
032711,000712: 27,2274           01244                                    WEIGHT/G                              
032712,000713: 27,2275           77671                           DDV                                            
032713,000714: 27,2276           03735                                    F                                     
032714,000715: 27,2277           24017                           STOVL    14D                                   
032715,000716: 27,2300           03656                                    DELVSIN                               
032716,000717: 
032717,000718: 27,2301           74241                           DOT      VXSC                                  
032718,000719: 27,2302           03673                                    UT                                    
032719,000720: 27,2303           03673                                    UT                                    
032720,000721: 27,2304           41552                           VSL2     PUSH                                  #  (DELTAV.UP)UP SCALED AT 2(+7) P.D.L. 0
032721,000722: 27,2305           65245                           BVSU     PDDL                                  #  DELTA VP SCALED AT 2(+7) P.D.L. 6
032722,000723: 27,2306           03656                                    DELVSIN                               
032723,000724: 27,2307           00017                                    14D                                   
032724,000725: 27,2310           63356                           SIN      PDVL                                  
032725,000726: 27,2311           00007                                    6D                                    
032726,000727: 27,2312           53435                           VXV      UNIT                                  
032727,000728: 27,2313           03673                                    UT                                    
032728,000729: 27,2314           45561                           VXSC     STADR                                 
032729,000730: 27,2315           50076                           STOVL    VGTIG                                 #  UNIT(VPXUP)SIN(THETAT/2) IN VGTIG.
032730,000731: 27,2316           65256                           UNIT     PDDL                                  #  UNIT(DELTA VP) IN P.D.L. 6
032731,000732: 27,2317           00017                                    14D                                   
032732,000733: 27,2320           74346                           COS      VXSC                                  
032733,000734: 27,2321           74255                           VAD      VXSC                                  
032734,000735: 27,2322           03701                                    VGTIG                                 
032735,000736: 27,2323           00045                                    36D                                   
032736,000737: 27,2324           53352                           VSL2     VAD                                   
032737,000738: 27,2325           77626                           STADR                                          

Page 752

032739,000740: 27,2326           74076                           STORE    VGTIG                                 #  VG IGNITION SCALED AT 2(+7)M/CS
032740,000741: 
032741,000742: 27,2327           77656                           UNIT                                           
032742,000743: 27,2330           27673                           STOVL    UT                                    #  THRUST DIRECTION SCALED AT 2(+1)
032743,000744: 27,2331           03701                                    VGTIG                                 
032744,000745: 27,2332           45006                           PUSH     CALL                                  
032745,000746: 27,2333           15741                                    GET.LVC                               #  VGTIG IN LV COOR AT 2(+7) M/CS IN DELVLVC
032746,000747: 27,2334           77650                           GOTO                                           
032747,000748: 27,2335           03632                                    QTEMP                                 
032748,000749: 27,2336           77745        S40.1B             DLOAD                                          
032749,000750: 27,2337           03442                                    TIG                                   
032750,000751: 27,2340           00041                           STORE    TDEC1                                 
032751,000752: 27,2341           77621                           BDSU                                           
032752,000753: 27,2342           03631                                    TPASS4                                
032753,000754: 27,2343           37452                           STCALL   DELLT4                                #  INTERCEPT TIME - TIG.
032754,000755: 27,2344           27056                                    LEMPREC                               
032755,000756: 27,2345           40375                           VLOAD    SETPD                                 #  LOAD STATE VECTOR AT TIG FOR INITVEL.
032756,000757: 27,2346           00001                                    RATT                                  
032757,000758: 27,2347           00001                                    0                                     
032758,000759: 27,2350           03642                           STORE    RTIG                                  
032759,000760: 27,2351           02323                           STORE    RINIT                                 
032760,000761: 27,2352           77656                           UNIT                                           
032761,000762: 27,2353           27537                           STOVL    UNIT/R/                               
032762,000763: 27,2354           00007                                    VATT                                  
032763,000764: 27,2355           03650                           STORE    VTIG                                  
032764,000765: 27,2356           02331                           STORE    VINIT                                 
032765,000766: 27,2357           65345                           DLOAD    PDDL                                  #  NUMIT = 0
032766,000767: 27,2360           06470                                    ZEROVECS                              
032767,000768: 27,2361           16406                                    EPS1                                  
032768,000769: 27,2362           43214                           BOFF     DAD                                   
032769,000770: 27,2363           03745                                    NORMSW                                
032770,000771: 27,2364           56366                                    SMALLEPS                              
032771,000772: 27,2365           16410                                    EPS2                                  #  EPSILON4 = 10 DEGREES OR 45 DEGREES.
032772,000773: 27,2366           66006        SMALLEPS           PUSH     SXA,1                                 
032773,000774: 27,2367           02776                                    RTX1                                  
032774,000775: 27,2370           45134                           SXA,2    CALL                                  
032775,000776: 27,2371           02777                                    RTX2                                  
032776,000777: 27,2372           22000                                    INITVEL                               
032777,000778: 27,2373           41575                           VLOAD    PUSH                                  
032778,000779: 27,2374           02366                                    DELVEET3                              #  VGTIG = VR - VN.
032779,000780: 27,2375           03701                           STORE    VGTIG                                 
032780,000781: 27,2376           77656                           UNIT                                           #  UT = UNIT (VGTIG)
032781,000782: 27,2377           17673                           STODL    UT                                    
032782,000783: 27,2400           00045                                    36D                                   
032783,000784: 27,2401           37664                           STCALL   VGDISP                                #  CONVERT VGTIG (IN PUSHLIST ) TO LOCAL
032784,000785: 27,2402           15741                                    GET.LVC                               #  VERTICAL COORDINATES.
032785,000786: 27,2403           77650                           GOTO                                           
032786,000787: 27,2404           03632                                    QTEMP                                 
032787,000788: 
032788,000789: 27,2405           00707 03434  EPS1               2DEC*    2.777777778 E-2*                       #  10 DEGREES AT 1 REVOLUTION.
032789,000790: 

Page 753

032791,000792: 27,2407           03070 34344  EPS2               2DEC*    9.722222222 E-2*                       #  35 DEGREES AT 1 REVOLUTION.
032792,000793: 
032793,000794: 27,2411           00024 13714  THETACON           2DEC     .31830989  B-8                        
032794,000795: 

Page 754

032796,000797:                                                                                                  #  SUBROUTINE NAME: S40.2,3        MOD. NO. 3 DATE: APRIL 4, 1967
032797,000798: 
032798,000799:                                                                                                  #  MODIFICATION BY: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
032799,000800: 
032800,000801:                                                                                                  #  MOD. NO. 4:  JULY 18, 1967:  PETER ADLER (MIT/IL)
032801,000802: 
032802,000803:                                                                                                  #  MOD. NO. 5:  OCTOBER 18, 1967:  PETER ADLER (MIT/IL)
032803,000804: 
032804,000805:                                                                                                  #  ORIGINALLY BY: SAYDEAN ZELDIN (MIT INSTRUMENTATION LAB) AND RICHARD TALAYCO (SYSTEM DEVELOPMENT CORP)
032805,000806: 
032806,000807:                                                                                                  #  S40.2,3 COMPUTES "POINTVSM" WHICH IS THE HALF-UNIT DESIRED THRUST VECTOR IN STABLE-MEMBER COORDINATES FROM "UT"
032807,000808:                                                                                                  #  WHICH IS THE SAME VECTOR IN REFERENCE COORDINATES.  IT DETERMINES THE CORRECT VALUES FOR "SCAXIS" USING THE +X
032808,000809:                                                                                                  #  AXIS FOR DPS, APS, AND RCS BURNS.  THE "WINGS-LEVEL HEADS-UP" LM ORIENTATION IS THEN COMPUTED IN REFERENCE
032809,000810:                                                                                                  #  COORDINATES.  THESE VECTORS ALSO DEFINE THE "PREFERRED IMU ORIENTATION".  UPON COMPLETION OF THIS CALCULATION,
032810,000811:                                                                                                  #  THE "PREFERRED ATTITUDE COMPUTED" FLAG IS SET (PFRATFLG).
032811,000812: 
032812,000813: 
032813,000814:                                                                                                  #  CALLING SEQUENCE:
032814,000815:                                                                                                  #                                          L        CALL                   INTERPRETIVE CALL.
032815,000816:                                                                                                  #                                          L +1            S40.2,3
032816,000817:                                                                                                  #                                          L +2    (RETURN)                GIMBAL ANGLE VECTOR IN MPAC.
032817,000818: 
032818,000819:                                                                                                  #  SUBROUTINES CALLED:  NONE.
032819,000820: 
032820,000821:                                                                                                  #  NORMAL RETURN:  L +2 (SEE CALLING SEQUENCE ABOVE).
032821,000822: 
032822,000823:                                                                                                  #  ALARM/ABORT MODES:  NONE.
032823,000824: 
032824,000825:                                                                                                  #  INPUT:
032825,000826: 
032826,000827:                                                                                                  #           1. REFSMMAT            MATRIX FROM REFERENCE TO STABLE-MEMBER COORDINATES SCALED AT 2.
032827,000828:                                                                                                  #           2. UT                  HALF-UNIT DESIRED THRUST DIRECTION.
032828,000829:                                                                                                  #           3. RTIG                POSITION AT TIG IN REFERENCE COORDINATES.
032829,000830: 
032830,000831:                                                                                                  #  OUTPUT:
032831,000832: 
032832,000833:                                                                                                  #           1. : XSCREF :          WINGS-LEVEL HEADS-UP LM ORIENTATION
032833,000834:                                                                                                  #              : YSCREF :          IN REFERENCE COORDINATES
032834,000835:                                                                                                  #              : ZSCREF :          (PREFERRED IMU ORIENTATION).
032835,000836:                                                                                                  #           2. POINTVSM            DESIRED THRUST DIRECTION IN STABLE-MEMBER COORDINATES.
032836,000837:                                                                                                  #           3. SCAXIS              HALF-UNIT OF AXIS TO ALIGN IN STABLE-MEMBER COORDINATES.
032837,000838:                                                                                                  #           4. PFRATFLG            INTERPRETIVE FLAG.  ON:  PREFERRED ORIENTATION COMPUTED; OFF:  NOT COMPUTED.
032838,000839: 
032839,000840:                                                                                                  #  DEBRIS:  NONE.
032840,000841: 

Page 755

032842,000843: 27,2413                                           COUNT*   $$/S40.2                              
032843,000844: 27,2413           77775        S40.2,3            VLOAD                                          #  UT: DESIRED THRUST DIRECTION (HALF-UNIT)
032844,000845: 27,2414           03673                                    UT                                    #  (PUT INTO TOP OF PUSH-DOWN-LIST.)
032845,000846: 27,2415           76521                           MXV      VSL1                                  #  TRANSFORM THRUST DIRECTION TO STABLE-
032846,000847: 27,2416           01732                                    REFSMMAT                              #  MEMBER FROM REFERENCE COORDS (RESCALE).
032847,000848: 27,2417           27773                           STOVL    POINTVSM                              #  SAVE FOR "VECPOINT" ROUTINE (LEMMANU).
032848,000849: 27,2420           06466                                    UNITX                                 #  SCAXIS SET TO +X, FOR P40 AND P42 AND
032849,000850: 27,2421           27765                           STOVL    SCAXIS                                #  FOR P41 IF RCS NOT -X,+Y,-Y,+Z,-Z.
032850,000851: 
032851,000852: 27,2422           03673                                    UT                                    #  ASSUME +X BURN ALWAYS, EVEN FOR RCS.
032852,000853: 27,2423           03607        PLUSX              STORE    XSCREF                                #  XSCREF = UT (DESIRED THRUST DIRECTION.)
032853,000854: 27,2424           53435                           VXV      UNIT                                  #  RTIG = POSITION AT TIME-OF-IGNITION.
032854,000855: 27,2425           03642                                    RTIG                                  #  YSCREF = UNIT(UT X RTIG)
032855,000856: 27,2426           46125                           PDDL     BHIZ                                  
032856,000857: 27,2427           00045                                    36D                                   #  TEST MAGNITUDE OF UT X RTIG
032857,000858: 27,2430           56441                                    FIXY                                  #  IF SMALL, USE UT X VTIG AS YSC
032858,000859: 27,2431           45575        STORY              VLOAD    STADR                                 
032859,000860: 27,2432           74162                           STORE    YSCREF                                
032860,000861: 27,2433           76435                           VXV      VSL1                                  #  COMPUTE (YSCREF X XSCREF),BUT FOR A
032861,000862: 27,2434           03607                                    XSCREF                                #  RIGHT HANDED SYSTEM, NEED (X CROSS Y).
032862,000863: 27,2435           77676                           VCOMP                                          #  ZSCREF = - (YSCREF X XSCREF)
032863,000864: 27,2436           03623                           STORE    ZSCREF                                #         = + (XSCREF X YSCREF)
032864,000865: 
032865,000866: 27,2437           43414                           SET      RVQ                                   
032866,000867: 27,2440           01073                                    PFRATFLG                              
032867,000868: 27,2441           47375        FIXY               VLOAD    VXV                                   #  IN THIS CASE,
032868,000869: 27,2442           03607                                    XSCREF                                #  YSCREF = UNIT(XSCREF X VTIG)
032869,000870: 27,2443           03650                                    VTIG                                  
032870,000871: 27,2444           41456                           UNIT     PUSH                                  
032871,000872: 27,2445           77650                           GOTO                                           
032872,000873: 27,2446           56431                                    STORY                                 
032873,000874: 

Page 756

032875,000876:                                                                                                  #  SUBROUTINE S40.8
032876,000877: 
032877,000878:                                                                                                  #  MODIFIED APRIL 3, 1968  BY  PETER ADLER   MIT/IL
032878,000879: 
032879,000880:                                                                                                  #  DESCRIPTION
032880,000881: 
032881,000882:                                                                                                  #       S40.8 UPDATES THE VELOCITY-TO-BE-GAINED VECTOR, VG, (AND FOR LAMBERT TARGETTED BURNS ALSO EXTRAPOLATES VG
032882,000883:                                                                                                  #  USING THE BDT VECTOR)  COMPUTES THE TIME FOR ISSUING THE ENGINE OFF COMMAND, TGO, AND CALLS THE ROUTINE
032883,000884:                                                                                                  #  "FINDCDUW", WHICH GENERATES THE STEERING COMMANDS FOR THE DAP.
032884,000885: 
032885,000886:                                                                                                  #  CALLING SEQUENCE
032886,000887: 
032887,000888:                                                                                                  #  L-1      CALL
032888,000889:                                                                                                  #  L               S40.8
032889,000890:                                                                                                  #  L+1                      INTERPRETIVE RETURN
032890,000891: 
032891,000892:                                                                                                  #  ALARM
032892,000893: 
032893,000894:                                                                                                  #       IF VG . DELVREF IS NEGATIVE (VG AND DELVREF OVER 90 DEGREES APART), BYPASS TGO AND STEERING COMPUTATIONS
032894,000895:                                                                                                  #  AND SET ALARM 1407.  RETURN TO CALLER NORMALLY.
032895,000896: 
032896,000897:                                                                                                  #  INPUT AND INITIALIZATION
032897,000898: 
032898,000899:                                                                                                  #  VGPREV          REFERENCE       2(7) M/CS
032899,000900:                                                                                                  #  DELVREF         REFERENCE       2(7) M/CS
032900,000901:                                                                                                  #  BDT             REFERENCE       2(7) M/CS
032901,000902:                                                                                                  #  TDECAY          TAIL-OFF TIME   2(28)  CS
032902,000903:                                                                                                  #  XDELVFLG        1 = EXTERNAL DELTA-V;  0 = LAMBERT (AIMPOINT)
032903,000904:                                                                                                  #  STEERSW         1 = DO STEERING AND TGO COMPUTATIONS; 0 = VG UPDATE ONLY
032904,000905:                                                                                                  #  FIRSTFLG        1 = GONE TO LAMBERT AT LEAST ONCE;  0 = HAVEN'T GONE TO LAMBERT YET
032905,000906: 
032906,000907:                                                                                                  #  NOTE:  VGTIG EQUALS VGPREV
032907,000908: 
032908,000909:                                                                                                  #  OUTPUT
032909,000910: 
032910,000911:                                                                                                  #  STEERSW         SEE INPUT
032911,000912:                                                                                                  #  IMPULSW         1 = ENGINE OFF IN TGO CENTISECONDS;  0 = CONTINUE BURN
032912,000913:                                                                                                  #  TGO             TIME TO CUT-OFF 2(28)   CS
032913,000914:                                                                                                  #  SEE FINDCDUW FOR STEERING OUTPUTS.
032914,000915: 
032915,000916:                                                                                                  #  SUBROUTINE CALLED
032916,000917: 
032917,000918:                                                                                                  #       FINDCDUW
032918,000919: 
032919,000920:                                                                                                  #  DEBRIS
032920,000921: 
032921,000922:                                                                                                  #       MPACS, PUSHLIST
032922,000923: 
032923,000924: 27,2447                                           COUNT*   $$/S40.8                              

Page 757

032925,000926: 27,2447           77614        S40.8              BOF                                            #  GENERATE VR IF NOT EXTERNAL DELTA-V BURN
032926,000927: 27,2450           01347                                    XDELVFLG                              
032927,000928: 27,2451           56731                                    RASTEER1                              
032928,000929: 27,2452           52375                           VLOAD    VSU                                   
032929,000930: 27,2453           03701                                    VGPREV                                
032930,000931: 27,2454           03527                                    DELVREF                               
032931,000932: 27,2455           03707        VGAIN*             STORE    VG                                    #  VELOCITY TO BE GAINED SCALED AT (7)M/CS
032932,000933: 27,2456           76521                           MXV      VSL1                                  
032933,000934: 27,2457           01732                                    REFSMMAT                              
032934,000935: 27,2460           03253                           STORE    UNFC/2                                
032935,000936: 27,2461           51575        BDTOK              VLOAD    ABVAL                                 
032936,000937: 27,2462           03707                                    VG                                    
032937,000938: 27,2463           03664                           STORE    VGDISP                                
032938,000939: 27,2464           77776                           EXIT                                           
032939,000940: 27,2465           05364                           TC       PHASCHNG                              
032940,000941: 27,2466           10035                           OCT      10035                                 
032941,000942: 27,2467           06042                           TC       INTPRET                               
032942,000943: 27,2470           77201        TGOCALC            SETPD    VLOAD                                 
032943,000944: 27,2471           00001                                    0                                     
032944,000945: 27,2472           03707                                    VG                                    
032945,000946: 27,2473           27701                           STOVL    VGPREV                                
032946,000947: 27,2474           03527                                    DELVREF                               
032947,000948: 27,2475           57414                           BOFF     VCOMP                                 
032948,000949: 27,2476           01344                                    STEERSW                               
032949,000950: 27,2477           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
032950,000951: 27,2500           77656                           UNIT                                           
032951,000952: 27,2501           41441                           DOT      PUSH                                  
032952,000953: 27,2502           03707                                    VG                                    
032953,000954: 27,2503           56244                           BPL      DDV                                   
032954,000955: 27,2504           51632                                    ALARMIT                               #  DELV IS MORE THAN 90 DEGREES FROM VG.
032955,000956: 27,2505           03743                                    VEX                                   
032956,000957: 27,2506           41215                           DAD      DMP                                   
032957,000958: 27,2507           06466                                    DPHALF                                
032958,000959: 27,2510           56261                           SR       DDV                                   
032959,000960: 27,2511           20613                                    10D                                   
032960,000961: 27,2512           00045                                    36D                                   
032961,000962: 27,2513           43205                           DMP      DAD                                   
032962,000963: 27,2514           16533                                    -FOURDT                               
032963,000964: 27,2515           03741                                    TDECAY                                
032964,000965: 27,2516           03517                           STORE    TGO                                   
032965,000966: 27,2517           77615                           DAD                                            
032966,000967: 27,2520           01234                                    PIPTIME                               
032967,000968: 27,2521           17442                           STODL    TIG                                   
032968,000969: 27,2522           03517                                    TGO                                   
032969,000970: 27,2523           51025                           DSU      BPL                                   
032970,000971: 27,2524           16535                                    FOURSECS                              #  400 CS
032971,000972: 27,2525           51636                                    GOFIND                                #  CALL TO FINDCDUW -2
032972,000973: 27,2526           43014                           SET      CLRGO                                 
032973,000974: 27,2527           01066                                    IMPULSW                               
032974,000975: 27,2530           01224                                    STEERSW                               
032975,000976: 27,2531           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
032976,000977: 

Page 758

032978,000979: 24,3632                                           BANK     24                                    
032979,000980: 24,2000                                           SETLOC   S40BNK                                
032980,000981: 24,2000                                           BANK                                           
032981,000982: 
032982,000983: 24,3632           77776        ALARMIT            EXIT                                           
032983,000984: 24,3633           05600                           TC       ALARM                                 
032984,000985: 24,3634           01407                           OCT      01407                                 #  SKIP TGO COMPUTATION BUT CALL FINDCDUW.
032985,000986: 24,3635           06042                           TC       INTPRET                               
032986,000987: 24,3636           77624        GOFIND             CALL                                           
032987,000988: 24,3637           61071                                    FINDCDUW   -2                         
032988,000989: 24,3640           77650                           GOTO                                           
032989,000990: 24,3641           75615                                    S40RET                                #  LOCATION FOLLOWING CALL TO S40.8
032990,000991: 
032991,000992: 27,2532                                           BANK     27                                    
032992,000993: 27,2000                                           SETLOC   P40S1                                 
032993,000994: 27,2000                                           BANK                                           
032994,000995: 
032995,000996: 27,2532           77715 77777  -FOURDT            2DEC     -800       B-18                       #  -4 (200 CS.)  B (-18)
032996,000997: 
032997,000998: 27,2534           00000 00620  FOURSECS           2DEC     400        B-28                       #  400 CS SCALED AT 2(+28) CS
032998,000999: 
032999,001000: 27,2536  E7,1742               2VEXHUST           =        VEX                                   
033000,001001: 

Page 759

033002,001003:                                                                                                  #  NAME     S40.13 - TIMEBURN
033003,001004:                                                                                                  #  FUNCTION        (1) DETERMINE WHETHER A GIVEN COMBINATION OF VELOCITY TO
033004,001005:                                                                                                  #                  BE GAINED AND ENGINE CHOICE RESULT IN A BURN TIME
033005,001006:                                                                                                  #                  SUFFICIENT TO ALLOW STEERING AT THE VEHICLE DURING THE
033006,001007:                                                                                                  #                  BURN
033007,001008:                                                                                                  #                  (2) THE MAGNITUDE OF THE RESULTING BURN TIME -- IF IT
033008,001009:                                                                                                  #                  IS SHORT --  AND THE ASSOCIATED TIME OF THE ENGINE OFF
033009,001010:                                                                                                  #                  SIGNAL
033010,001011:                                                                                                  #  CALLING SEQUENCE  VIA FINDVAC AS A NEW JOB
033011,001012:                                                                                                  #  INPUT           VGTIG VELOCITY TO BE GAINED VECTOR (METERS/CS) AT +7
033012,001013:                                                                                                  #                  WEIGHT/G MASS OF VEHICLE IN KGM AT +16
033013,001014:                                                                                                  #                  F  APS ENGINE THRUST IN M.NEWTONS AT +7
033014,001015:                                                                                                  #                  AND ALSO FOR RCS ENGINE
033015,001016:                                                                                                  #                  MDOT RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033016,001017:                                                                                                  #                  BURN IN KILOGRAMS/CS  AT +3 . THIS SCALING MAY
033017,001018:                                                                                                  #                  REQUIRE MODIFICATION FOR SATURN BURNS.
033018,001019:                                                                                                  #           ENG1FLAG     SWITCH TO DECIDE WHETHER APS OR DPS ENGINE IS USED
033019,001020:                                                                                                  #                   =0   DPS
033020,001021:                                                                                                  #                   =1   APS
033021,001022:                                                                                                  #  OUTPUT          IMPULSW  ZERO FOR STEERING
033022,001023:                                                                                                  #                           ONE FOR ATTITUDE HOLD
033023,001024:                                                                                                  #                  NOTHROTL  ZERO FOR THROTTLING
033024,001025:                                                                                                  #                            ONE  TO INHIBIT THROTTLING
033025,001026:                                                                                                  #                  TGO  TIME TO BURN IN CS
033026,001027:                                                                                                  #           THE QUANTITY M.NEWTON = 10000 NEWTONS WILL BE USED TO EXPRESS
033027,001028:                                                                                                  #                  FORCE
033028,001029: 
033029,001030: 27,2536  E7,1516                                  EBANK=   TGO                                   
033030,001031: 27,2536                                           COUNT*   $$/40.13                              
033031,001032: 27,2536           06042        S40.13             TC       INTPRET                               
033032,001033: 27,2537           43001                           SETPD    CLEAR                                 
033033,001034: 27,2540           00001                                    00D                                   
033034,001035: 27,2541           01266                                    IMPULSW                               #  ASSUME NO STEERING UNTIL FOUND OTHERWISE
033035,001036: 27,2542           51575                           VLOAD    ABVAL                                 
033036,001037: 27,2543           03701                                    VGTIG                                 #  VELOCITY TO BE GAINED AT +7
033037,001038: 27,2544           41325                           PDDL     DMP                                   #  00D = MAG OF VGTIG AT +7
033038,001039: 27,2545           16706                                    6.5SECS                               #  CORRECT VG FOR 6.5 SECONDS OF ULLAGE
033039,001040: 27,2546           34017                                    FRCS4                                 #  ASSUME 4 JET ULLAGE
033040,001041: 27,2547           72471                           DDV      SL1                                   #  SCALE
033041,001042: 27,2550           01244                                    WEIGHT/G                              
033042,001043: 27,2551           41421                           BDSU     PUSH                                  
033043,001044: 27,2552           43014                           BOFF     SET                                   
033044,001045: 27,2553           05342                                    APSFLAG                               
033045,001046: 27,2554           56624                                    S40.13D                               #  FOR DPS ENGINE
033046,001047: 27,2555           02463                                    NOTHROTL                              
033047,001048: 27,2556           56345                           DLOAD    DDV                                   #  00D = MAG OF VGTIG CORRECTED
033048,001049: 27,2557           16001                                    K1VAL                                 #  M.NEWTONS-CS AT +24
033049,001050: 27,2560           01244                                    WEIGHT/G                              
033050,001051: 27,2561           50021                           BDSU     BMN                                   

Page 760

033052,001053: 27,2562           00001                                    00D                                   
033053,001054: 27,2563           56606                                    S40.131                               #  TGO LESS THAN 100 CS
033054,001055: 27,2564           41325                           PDDL     DMP                                   #  02D = TEMP1 AT +7
033055,001056: 27,2565           03737                                    MDOT                                  
033056,001057: 
033057,001058:                                                                                                  #  MDOT REPRESENTS THE RATE OF DECREASE OF VEHICLE MASS DURING ENGINE
033058,001059:                                                                                                  #  BURN IN KILOGRAMS/CS .  WHEN  SATURN IS USED , THE SCALING MAY
033059,001060:                                                                                                  #  REQUIRE ADJUSTMENT
033060,001061: 
033061,001062: 27,2566           16676                                    3.5SEC                                #  350 CS AT +14
033062,001063: 27,2567           65221                           BDSU     PDDL                                  
033063,001064: 27,2570           01244                                    WEIGHT/G                              
033064,001065: 27,2571           03735                                    F                                     
033065,001066: 27,2572           60405                           DMP      SR2                                   #  SCALE
033066,001067: 27,2573           16700                                    5SECS                                 
033067,001068: 27,2574           41471                           DDV      PUSH                                  #  04D = TEMP2
033068,001069: 27,2575           51021                           BDSU     BPL                                   
033069,001070: 27,2576           00003                                    02D                                   
033070,001071: 27,2577           56624                                    S40.13D                               
033071,001072: 27,2600           55345                           DLOAD    BDDV                                  
033072,001073: 27,2601           43205                           DMP      DAD                                   
033073,001074: 27,2602           16700                                    5SECS                                 
033074,001075: 27,2603           16674                                    1SEC2D                                #  100 CS AT +14
033075,001076: 27,2604           77650                           GOTO                                           
033076,001077: 27,2605           56614                                    S40.132                               
033077,001078: 27,2606           41345        S40.131            DLOAD    DMP                                   
033078,001079: 27,2607           01244                                    WEIGHT/G                              
033079,001080: 27,2610           41542                           SR1      PUSH                                  
033080,001081: 27,2611           56215                           DAD      DDV                                   
033081,001082: 27,2612           16003                                    K2VAL                                 #  M.NEWTON CS AT +24
033082,001083: 27,2613           16005                                    K3VAL                                 #  M.NEWTON CS AT +10
033083,001084: 27,2614           77414        S40.132            SET      EXIT                                  
033084,001085: 27,2615           01066                                    IMPULSW                               
033085,001086: 27,2616           07262        S40.132*           TC       TPAGREE                               
033086,001087: 27,2617           30154                           CA       MPAC                                  
033087,001088: 27,2620           56001                           XCH      L                                     
033088,001089: 27,2621           34755                           CA       ZERO                                  
033089,001090: 27,2622           53517                           DXCH     TGO                                   
033090,001091: 27,2623           12646                           TCF      S40.134                               
033091,001092: 
033092,001093: 27,2624           41345        S40.13D            DLOAD    DMP                                   #  FOR DPS ENGINE
033093,001094: 27,2625           00001                                    00D                                   
033094,001095: 27,2626           01244                                    WEIGHT/G                              
033095,001096: 27,2627           43006                           PUSH     BON                                   
033096,001097: 27,2630           05302                                    APSFLAG                               
033097,001098: 27,2631           56667                                    APSTGO                                
033098,001099: 27,2632           43071                           DDV      CLEAR                                 
033099,001100: 27,2633           16007                                    S40.136                               
033100,001101: 27,2634           02663                                    NOTHROTL                              
033101,001102: 27,2635           41400                           BOV      PUSH                                  

Page 761

033103,001104: 27,2636           56651                                    S40.130V                              
033104,001105: 27,2637           51025        S40.137            DSU      BPL                                   
033105,001106: 27,2640           16702                                    6SEC                                  #  600.0 CS AT +14
033106,001107: 27,2641           56657                                    S40.138                               
033107,001108: 27,2642           52015                           DAD      GOTO                                  
033108,001109: 27,2643           16702                                    6SEC                                  
033109,001110: 27,2644           56614                                    S40.132                               
033110,001111: 27,2645           77776        S40.133            EXIT                                           
033111,001112: 27,2646           05364        S40.134            TC       PHASCHNG                              
033112,001113: 27,2647           00003                           OCT      00003                                 
033113,001114: 27,2650           05155                           TC       ENDOFJOB                              
033114,001115: 27,2651           40545        S40.130V           DLOAD    SR4                                   #  RECOMPUTE TGO IN TIME2 UNITS
033115,001116: 27,2652           77671                           DDV                                            
033116,001117: 27,2653           16011                                    S40.136_                              #  S40.136 SHIFTED LEFT 10
033117,001118: 27,2654           03517                           STORE    TGO                                   
033118,001119: 27,2655           77776                           EXIT                                           
033119,001120: 27,2656           12646                           TCF      S40.134                               #  REJOIN COMMON CODING FOR RESTART PROTECT
033120,001121: 
033121,001122: 27,2657           51025        S40.138            DSU      BPL                                   
033122,001123: 27,2660           16704                                    89SECS                                
033123,001124: 27,2661           56664                                    STORETGO                              
033124,001125: 27,2662           77614                           SET                                            
033125,001126: 27,2663           02463                                    NOTHROTL                              
033126,001127: 27,2664           77745        STORETGO           DLOAD                                          #  LOAD TGO AT 2(14)
033127,001128: 27,2665           77776                           EXIT                                           
033128,001129: 27,2666           12616                           TCF      S40.132*                              
033129,001130: 
033130,001131: 27,2667           62471        APSTGO             DDV      SL2                                   
033131,001132: 27,2670           34007                                    FAPS                                  
033132,001133: 27,2671           77650                           GOTO                                           
033133,001134: 27,2672           56665                                    STORETGO   +1                         
033134,001135: 27,2673           00144 00000  1SEC2D             2DEC     100.0      B-14                       #  100.0 CS AT +14
033135,001136: 
033136,001137: 27,2675           01274 00000  3.5SEC             2DEC     350.0      B-13                       #  350 CS AT +13
033137,001138: 
033138,001139: 27,2677           00764 00000  5SECS              2DEC     500.0      B-14                       #  500.0 CS AT +14
033139,001140: 
033140,001141: 27,2701           01130 00000  6SEC               2DEC     600.0      B-14                       #  600.0 CS AT +14
033141,001142: 
033142,001143: 27,2703           21304 00000  89SECS             2DEC     8900.0     B-14                       
033143,001144: 
033144,001145: 27,2705           00121 10000  6.5SECS            2DEC     650.       B-17                       #  ASSUME 6.5 SECONDS OF ULLAGE
033145,001146: 
033146,001147:                                                                                                  #  FUNCTION    (1) GENERATES REQUIRED VELOCITY AND VELOCITY-TO-BE-GAINED
033147,001148:                                                                                                  #              VECTORS FOR USE DURING AIMPOINT MANEUVERS EVERY TWO
033148,001149:                                                                                                  #              COMPUTATION CYCLES (4 SECONDS).
033149,001150:                                                                                                  #              (2) UPDATES THE B VECTOR WHICH IS USED IN THE FINAL
033150,001151:                                                                                                  #              CALCULATION OF EXTRAPOLATING THE VELOCITY-TO-BE-GAINED
033151,001152:                                                                                                  #              THROUGH ONE 2-SECOND INTERVAL INTO THE FUTURE.
033152,001153:                                                                                                  #  CALLING SEQ VIA FINDVAC AS NEW JOB.

Page 762

033154,001155:                                                                                                  #  INPUT       RN       - ACTIVE VEHICLE RADIUS VECTOR IN METERS AT +29.
033155,001156:                                                                                                  #              VN       - ACTIVE VEHICLE VELOCITY VECTOR IN METERS/CS AT +7
033156,001157:                                                                                                  #              VRPREV   - LAST COMPUTED VELOCITY REQUIRED VECTOR IN
033157,001158:                                                                                                  #                         METERS/CS AT +7.
033158,001159:                                                                                                  #              TIG      - TIME OF IGNITION IN CS AT +28.
033159,001160:                                                                                                  #              DLTARG   - COMPUTATION CYCLE INTERVAL = 200 CS AT +28.
033160,001161:                                                                                                  #              PIPTIME  - TIME OF RN AND VN IN CS AT +28.
033161,001162:                                                                                                  #              GDT/2    - HALF OF VELOCITY GAINED IN DELTA T TIME DUE TO
033162,001163:                                                                                                  #                         ACCERERATION OF GRAVITY IN METERS/CS AT +7.
033163,001164:                                                                                                  #              DELVREF  - CHANGE IN VELOCITY DURING LAST 2 SEC IN
033164,001165:                                                                                                  #                         METERS/CS AT +7.
033165,001166:                                                                                                  #  OUTPUT      VGPREV   - VELOCITY TO BE GAINED VECTOR IN METERS/CS AT +7.
033166,001167:                                                                                                  #              VGDISP   - MAG OF VGPREV FOR DISPLAY PURPOSES.
033167,001168:                                                                                                  #              VRPREV   - VELOCITY REQUIRED VECTOR IN METERS/CS AT +7.
033168,001169:                                                                                                  #              BDT      - B VECTOR IN METERS/CS AT +7.
033169,001170:                                                                                                  #  SUBROUTINES USED  -  INITVEL
033170,001171: 27,2707  E7,1700                                  EBANK=   VGPREV                                
033171,001172: 27,2707                                           COUNT*   $$/S40.9                              
033172,001173: 27,2707           06042        S40.9              TC       INTPRET                               
033173,001174: 27,2710           77601                           SETPD                                          
033174,001175: 27,2711           00001                                    00D                                   
033175,001176: 27,2712           71214                           SET      DLOAD                                 
033176,001177: 27,2713           01072                                    AVFLAG                                #  SET AVFLAG FOR LEM ACTIVE
033177,001178: 27,2714           06470                                    HI6ZEROS                              
033178,001179: 27,2715           77725                           PDDL                                           
033179,001180: 27,2716           16406                                    EPS1                                  
033180,001181: 27,2717           43214                           BOFF     DAD                                   #  EPSILON4 = 10 OR 45 DEGREES.
033181,001182: 27,2720           03745                                    NORMSW                                
033182,001183: 27,2721           56723                                    EPSSMALL                              
033183,001184: 27,2722           16410                                    EPS2                                  
033184,001185: 27,2723           45006        EPSSMALL           PUSH     CALL                                  
033185,001186: 27,2724           22002                                    HAVEGUES                              
033186,001187: 27,2725           77776        ENDS40.9           EXIT                                           
033187,001188: 27,2726           05364                           TC       PHASCHNG                              
033188,001189: 27,2727           00002                           OCT      2                                     
033189,001190: 27,2730           15155                           TCF      ENDOFJOB                              
033190,001191: 
033191,001192: 
033192,001193: 27,2731           51575        RASTEER1           VLOAD    ABVAL                                 
033193,001194: 27,2732           01220                                    RN                                    
033194,001195: 27,2733           53744                           LXC,2    SL*                                   
033195,001196: 27,2734           02777                                    RTX2                                  
033196,001197: 27,2735           57576                                    0,2                                   
033197,001198: 27,2736           27715                           STOVL    RMAG                                  
033198,001199: 27,2737           03444                                    RTARG                                 
033199,001200: 27,2740           47051                           VSU      RTB                                   
033200,001201: 27,2741           01220                                    RN                                    
033201,001202: 27,2742           21725                                    NORMUNX1                              
033202,001203: 27,2743           17656                           STODL    IC                                    
033203,001204: 27,2744           00045                                    36D                                   #  C(36D) = ABVAL(C)

Page 763

033205,001206: 27,2745           53674                           XAD,2    SL*                                   
033206,001207: 27,2746           00046                                    X1                                    
033207,001208: 27,2747           57576                                    0,2                                   
033208,001209: 27,2750           00037                           STORE    30D                                   
033209,001210: 27,2751           41301                           NORM     DMP                                   
033210,001211: 27,2752           00050                                    X2                                    
033211,001212: 27,2753           03715                                    RMAG                                  
033212,001213: 27,2754           57101                           NORM     XAD,2                                 
033213,001214: 27,2755           00047                                    X1                                    
033214,001215: 27,2756           00046                                    X1                                    
033215,001216: 27,2757           77734                           SXA,2                                          
033216,001217: 27,2760           03766                                    MUSCALE                               
033217,001218: 27,2761           17725                           STODL    R1C                                   #                          2(+58 -X)
033218,001219: 27,2762           00037                                    30D                                   
033219,001220: 27,2763           65342                           SR1      PDDL                                  
033220,001221: 27,2764           03715                                    RMAG                                  
033221,001222: 27,2765           65342                           SR1      PDDL                                  
033222,001223: 27,2766           03723                                    RTMAG                                 
033223,001224: 27,2767           43342                           SR1      DAD                                   
033224,001225: 27,2770           45415                           DAD      STADR                                 
033225,001226: 27,2771           74044                           STORE    SS                                    #  SS = (R1 + R2 +C )/2
033226,001227: 27,2772           41225                           DSU      DMP                                   
033227,001228: 27,2773           00037                                    30D                                   
033228,001229: 27,2774           03721                                    MU/A                                  
033229,001230: 27,2775           77621                           BDSU                                           
033230,001231: 27,2776           03717                                    MUASTEER                              
033231,001232: 27,2777           45325                           PDDL     DSU                                   
033232,001233: 27,3000           03733                                    SS                                    
033233,001234: 27,3001           03715                                    RMAG                                  
033234,001235: 27,3002           70501                           NORM     SR1                                   
033235,001236: 27,3003           00047                                    X1                                    
033236,001237: 27,3004           41271                           DDV      DMP                                   
033237,001238: 27,3005           03725                                    R1C                                   
033238,001239: 27,3006           53664                           XSU,2    SL*                                   
033239,001240: 27,3007           00046                                    X1                                    
033240,001241: 27,3010           57575                                    1,2                                   
033241,001242: 27,3011           77754                           LXA,2                                          
033242,001243: 27,3012           03766                                    MUSCALE                               
033243,001244: 27,3013           75366                           SQRT     SIGN                                  
033244,001245: 27,3014           02673                                    GEOMSGN                               
033245,001246: 27,3015           00041                           STORE    32D                                   #  + OR - A
033246,001247: 27,3016           41345                           DLOAD    DMP                                   
033247,001248: 27,3017           03733                                    SS                                    
033248,001249: 27,3020           03721                                    MU/A                                  
033249,001250: 27,3021           77621                           BDSU                                           
033250,001251: 27,3022           03717                                    MUASTEER                              
033251,001252: 27,3023           45325                           PDDL     DSU                                   
033252,001253: 27,3024           03733                                    SS                                    
033253,001254: 27,3025           03723                                    RTMAG                                 
033254,001255: 27,3026           70501                           NORM     SR1                                   

Page 764

033256,001257: 27,3027           00047                                    X1                                    
033257,001258: 27,3030           41271                           DDV      DMP                                   
033258,001259: 27,3031           03725                                    R1C                                   
033259,001260: 27,3032           53664                           XSU,2    SL*                                   
033260,001261: 27,3033           00046                                    X1                                    
033261,001262: 27,3034           57575                                    1,2                                   
033262,001263: 27,3035           65366                           SQRT     PDDL                                  #  -B (NO SIGN)
033263,001264: 27,3036           03733                                    SS                                    
033264,001265: 27,3037           56225                           DSU      DDV                                   
033265,001266: 27,3040           00037                                    30D                                   
033266,001267: 27,3041           03733                                    SS                                    
033267,001268: 27,3042           41566                           SQRT     PUSH                                  
033268,001269: 27,3043           67542                           SR1      ASIN                                  
033269,001270: 27,3044           65205                           DMP      PDDL                                  
033270,001271: 27,3045           17216                                    2PI+3                                 
033271,001272: 27,3046           56325                           PDDL     DDV                                   
033272,001273: 27,3047           00037                                    30D                                   
033273,001274: 27,3050           03733                                    SS                                    
033274,001275: 27,3051           77600                           BOV                                            
033275,001276: 27,3052           57053                                    +1                                    
033276,001277: 27,3053           41366                           SQRT     DMP                                   
033277,001278: 27,3054           44242                           SR3      BDSU                                  
033278,001279: 27,3055           65365                           SIGN     PDDL                                  
033279,001280: 27,3056           02673                                    GEOMSGN                               
033280,001281: 27,3057           17216                                    2PI+3                                 
033281,001282: 27,3060           45302                           SR2      DSU                                   
033282,001283: 27,3061           65205                           DMP      PDDL                                  
033283,001284: 27,3062           03733                                    SS                                    
033284,001285: 27,3063           03733                                    SS                                    
033285,001286: 27,3064           75442                           SR3      SQRT                                  
033286,001287: 27,3065           77605                           DMP                                            
033287,001288: 27,3066           52525                           PDDL     SL3                                   
033288,001289: 27,3067           03717                                    MUASTEER                              
033289,001290: 27,3070           55366                           SQRT     BDDV                                  
033290,001291: 27,3071           43225                           DSU      DAD                                   
033291,001292: 27,3072           03631                                    TPASS4                                
033292,001293: 27,3073           01234                                    PIPTIME                               
033293,001294: 27,3074           14037                           STODL    30D                                   
033294,001295: 27,3075           77765                           SIGN                                           
033295,001296: 27,3076           00037                                    30D                                   #  B WITH SIGN
033296,001297: 27,3077           00037                           STORE    30D                                   
033297,001298: 27,3100           77214                           BON      VLOAD                                 
033298,001299: 27,3101           03705                                    NORMSW                                
033299,001300: 27,3102           57123                                    180MESS                               
033300,001301: 27,3103           03656                                    IC                                    
033301,001302: 27,3104           53451                           VSU      UNIT                                  
033302,001303: 27,3105           03537                                    UNIT/R/                               
033303,001304: 27,3106           63361                           VXSC     PDVL                                  
033304,001305: 27,3107           00037                                    30D                                   
033305,001306: 27,3110           03656                                    IC                                    

Page 765

033307,001308: 27,3111           53455                           VAD      UNIT                                  
033308,001309: 27,3112           03537                                    UNIT/R/                               
033309,001310: 27,3113           53361        GETVRVG1           VXSC     VAD                                   
033310,001311: 27,3114           00041                                    32D                                   
033311,001312: 27,3115           53744        GETVRVG2           LXC,2    VSR*                                  
033312,001313: 27,3116           02777                                    RTX2                                  
033313,001314: 27,3117           57177                                    0          -1,2                       
033314,001315: 27,3120           02337                           STORE    VIPRIME                               
033315,001316: 27,3121           77650                           GOTO                                           
033316,001317: 27,3122           57166                                    ASTREND    -2                         
033317,001318: 27,3123           50375        180MESS            VLOAD    DOT                                   
033318,001319: 27,3124           03656                                    IC                                    
033319,001320: 27,3125           03537                                    UNIT/R/                               
033320,001321: 27,3126           77240                           BMN      VLOAD                                 
033321,001322: 27,3127           57146                                    NEGPROD                               
033322,001323: 27,3130           03656                                    IC                                    
033323,001324: 27,3131           63362                           VSR1     PDVL                                  
033324,001325: 27,3132           03537                                    UNIT/R/                               
033325,001326: 27,3133           53362                           VSR1     VAD                                   
033326,001327: 27,3134           77656                           UNIT                                           
033327,001328: 27,3135           57406                           PUSH     VCOMP                                 #  FOR A
033328,001329: 27,3136           75235                           VXV      SIGN                                  
033329,001330: 27,3137           02674                                    UN                                    
033330,001331: 27,3140           02673                                    GEOMSGN                               
033331,001332: 27,3141           74256                           UNIT     VXSC                                  
033332,001333: 27,3142           00037                                    30D                                   
033333,001334: 27,3143           77715                           PDVL                                           #  UNIT(IC-IR)     +-B
033334,001335: 27,3144           77650                           GOTO                                           
033335,001336: 27,3145           57113                                    GETVRVG1                              
033336,001337: 27,3146           74575        NEGPROD            VLOAD    VSR1                                  
033337,001338: 27,3147           03537                                    UNIT/R/                               
033338,001339: 27,3150           74515                           PDVL     VSR1                                  
033339,001340: 27,3151           03656                                    IC                                    
033340,001341: 27,3152           53451                           VSU      UNIT                                  
033341,001342: 27,3153           77606                           PUSH                                           
033342,001343: 27,3154           75235                           VXV      SIGN                                  
033343,001344: 27,3155           02674                                    UN                                    #  FOR B
033344,001345: 27,3156           02673                                    GEOMSGN                               
033345,001346: 27,3157           74256                           UNIT     VXSC                                  
033346,001347: 27,3160           00041                                    32D                                   
033347,001348: 27,3161           77715                           PDVL                                           
033348,001349: 27,3162           53361                           VXSC     VAD                                   
033349,001350: 27,3163           00037                                    30D                                   
033350,001351: 27,3164           77650                           GOTO                                           
033351,001352: 27,3165           57115                                    GETVRVG2                              
033352,001353: 27,3166           77651                           VSU                                            
033353,001354: 27,3167           03553                                    VN1                                   
033354,001355: 27,3170           02366        ASTREND            STORE    DELVEET3                              
033355,001356: 27,3171           53135        FIRSTTME           SLOAD    BZE                                   
033356,001357: 27,3172           03000                                    RTX2                                  

Page 766

033358,001359: 27,3173           57177                                    GETGOBL                               
033359,001360: 27,3174           52175                           VLOAD    GOTO                                  #  NO OBLATENESS COMP IF IN MOON SPHERE
033360,001361: 27,3175           02366                                    DELVEET3                              
033361,001362: 27,3176           57212                                    NOGOBL                                
033362,001363: 27,3177           53575        GETGOBL            VLOAD    UNIT                                  #  CALCULATE OBLATENESS TERM.
033363,001364: 27,3200           01220                                    RN                                    
033364,001365: 27,3201           45345                           DLOAD    DSU                                   
033365,001366: 27,3202           01234                                    PIPTIME                               #               2
033366,001367: 27,3203           03512                                    GOBLTIME                              #  G    = -(MU/R )(UNITGOBL)(T - TIG)
033367,001368: 27,3204           56205                           DMP      DDV                                   #   OBL
033368,001369: 27,3205           16023                                    EARTHMU                               
033369,001370: 27,3206           00043                                    34D                                   #  34D = /RN/ (2) FROM UNIT OPERATION.
033370,001371: 27,3207           53361                           VXSC     VAD                                   
033371,001372: 27,3210           03521                                    UNITGOBL                              
033372,001373: 27,3211           02366                                    DELVEET3                              #   OUTPUT FROM INITVEL  VG = VR - VN
033373,001374: 27,3212           02366        NOGOBL             STORE    DELVEET3                              #  VG = VR + GOBL - VN
033374,001375: 27,3213           77650                           GOTO                                           
033375,001376: 27,3214           56455                                    VGAIN*                                
033376,001377: 
033377,001378: 
033378,001379: 27,3215           31103 36652  2PI+3              2DEC     3.141592653 B-2                        
033379,001380: 
033380,001381: 

Page 767

033382,001383:                                                                                                  #  TRIMGIMB      (FORMERLY S40.6)
033383,001384:                                                                                                  #  MOD 0     24 FEB 67     PETER ADLER
033384,001385:                                                                                                  #  FUNCTION:
033385,001386:                                                                                                  #           TRIMS DPS ENGINE TO MINIMIZE THRUST/CG OFFSET. ENGINE IS GIMBALLED TO FULL + PITCH AND + ROLL (TO LOCK)
033386,001387:                                                                                                  #           FOR REFERENCE AND IS THEN BROUGHT BACK TO TRIM POSITION BY RUNNING FOR THE PROPER TIMES (TO BE
033387,001388:                                                                                                  #           SPECIFIED BY GAEC) IN - PITCH AND - ROLL.
033388,001389:                                                                                                  #  CALLING SEQUENCE:
033389,001390:                                                                                                  #           VIA WAITLIST FROM R03
033390,001391:                                                                                                  #  INPUT:
033391,001392:                                                                                                  #           PITTIME     TIME TO RUN FROM FULL + PITCH TO TRIM  (CS)
033392,001393:                                                                                                  #           ROLLTIME    TIME TO RUN FROM FULL + ROLL  TO TRIM  (CS)
033393,001394:                                                                                                  #  SUBROUTINES USED:
033394,001395:                                                                                                  #           WAITLIST, FIXDELAY, VARDELAY, FLAGUP, FLAGDOWN, NOVAC
033395,001396: 
033396,001397: 27,3217                                           COUNT*   $$/S40.6                              
033397,001398: 27,3217  E6,1401                                  EBANK=   ROLLTIME                              #  OCTAL MASKS:  PRIO5=05000 EBANK5=02400
033398,001399: 
033399,001400: 27,3217           05527        TRIMGIMB           TC       DOWNFLAG                              #  GMBDRVSW FLAG IS SET WHEN EITHER ROLL OR
033400,001401: 27,3220           00137                           ADRES    GMBDRVSW                              #  PITCH IS COMPLETED, WHICHEVER IS FIRST.
033401,001402: 
033402,001403: 27,3221           45017                           CS       PRIO5                                 #  TURN OFF - PITCH, - ROLL, IF ON.
033403,001404: 27,3222           00006                           EXTEND                                         
033404,001405: 27,3223           03012                           WAND     CHAN12                                
033405,001406: 27,3224           35014                           CAF      EBANK5                                #  TURN ON + PITCH, + ROLL.
033406,001407: 27,3225           00006                           EXTEND                                         
033407,001408: 27,3226           05012                           WOR      CHAN12                                
033408,001409: 27,3227           05232                           TC       FIXDELAY                              #  WAIT ONE MINUTE TO MAKE SURE ENGINE IS
033409,001410: 27,3230           13560                           DEC      6000       B-14                       #  AT FULL + PITCH AND FULL + ROLL
033410,001411: 27,3231           45014                           CS       EBANK5                                #  TURN OFF + PITCH, + ROLL.
033411,001412: 27,3232           00006                           EXTEND                                         
033412,001413: 27,3233           03012                           WAND     CHAN12                                
033413,001414: 27,3234           35017                           CAF      PRIO5                                 #  TURN ON - PITCH, - ROLL.
033414,001415: 27,3235           00006                           EXTEND                                         
033415,001416: 27,3236           05012                           WOR      CHAN12                                
033416,001417: 27,3237           31402                           CAE      PITTIME                               #  GET TIME TO SHUT OFF - PITCH AND SET UP
033417,001418: 27,3240           05204                           TC       TWIDDLE                               #  TWIDDLE-TASK TO TURN IT OFF THEN
033418,001419: 27,3241           03260                           ADRES    PITCHOFF                              
033419,001420: 
033420,001421: 27,3242           31401                           CAE      ROLLTIME                              #  GET TIME TO SHUT OFF - ROLL AND GO AWAY
033421,001422: 27,3243           05235                           TC       VARDELAY                              #  UNTIL THEN
033422,001423: 27,3244           44740                           CS       BIT12                                 
033423,001424: 27,3245           00006                           EXTEND                                         
033424,001425: 27,3246           03012                           WAND     CHAN12                                #  SHUT OFF ROLL
033425,001426: 27,3247           30102        ROLLOVER           CA       FLAGWRD6                              #  IF HERE INLINE (ROLL DONE) IS PITCH DONE
033426,001427: 27,3250           74742                           MASK     GMBDRBIT                              #  IF HERE FROM PITCHOFF, IS ROLL DONE?
033427,001428: 27,3251           00006                           EXTEND                                         
033428,001429: 27,3252           13264                           BZF      PITCHOFF   +4                         #  NO.  SET FLAG, ROLL OR PITCH DONE.
033429,001430: 27,3253           34737                           CAF      PRIO10                                #  RETURN TO R03
033430,001431: 27,3254           05072                           TC       NOVAC                                 
033431,001432: 27,3255  E7,1471                                  EBANK=   WHOCARES                              

Page 768

033433,001434: 27,3255           02330 02067                     2CADR    TRIMDONE                              
033434,001435: 
033435,001436: 27,3257           05272                           TC       TASKOVER                              
033436,001437: 27,3260           44742        PITCHOFF           CS       BIT10                                 
033437,001438: 27,3261           00006                           EXTEND                                         
033438,001439: 27,3262           03012                           WAND     CHAN12                                #  SHUT OFF PITCH
033439,001440: 27,3263           13247                           TCF      ROLLOVER                              #  SEE IF ROLL HAS FINISHED ALSO.
033440,001441: 27,3264           05515                           TC       UPFLAG                                #  ROLL DONE; OR PITCH DONE; BUT NOT BOTH.
033441,001442: 27,3265           00137                           ADRES    GMBDRVSW                              
033442,001443: 27,3266           05272                           TC       TASKOVER                              
033443,001444: 

Page 769

033445,001446:                                                                                                  #  SUBROUTINE NAME: S41.1          MOD. NO. 0  DATE: FEBRUARY 28, 1967
033446,001447: 
033447,001448:                                                                                                  #                          MOD. NO. 1  DATE: JANUARY 23, 1968: BY PETER ADLER (MIT/IL)
033448,001449: 
033449,001450:                                                                                                  #  AUTHOR: JONATHAN D. ADDELSTON (ADAMS ASSOCIATES)
033450,001451: 
033451,001452:                                                                                                  #  S41.1 PERFORMS THE COORDINATE SYSTEM TRANFORMATION FROM THE REFERENCE FRAME TO THE BODY OF THE LM.
033452,001453:                                                                                                  #  SPECIFICALLY, IT IS USED TO TRANSFORM A VELOCITY (SCALED AT 2(+7) METERS/CENTISECOND) FROM REFERENCE TO LM AXIS
033453,001454:                                                                                                  #  COORDINATES.  FIRST THE VECTOR IS TRANSFORMED TO THE STABLE MEMBER COORDINATES BY THE MATRIX REFSMMAT.  THIS
033454,001455:                                                                                                  #  LEAVES THE VECTOR IN MPAC, SCALED AT 2(+8) METERS/CENTISECOND.  THEN
033455,001456:                                                                                                  #  THE SUBROUTINE CDUTRIG IS CALLED TO SET UP THE DOUBLE-PRECISION CDU VECTOR ALONG WITH ITS SINES AND COSINES.
033456,001457:                                                                                                  #  THE VECTOR IS THEN TRANSFORMED FROM STABLE MEMBER COORDINATES TO SPACECRAFT (OR LM) COORDINATES BY THE
033457,001458:                                                                                                  #  SUBROUTINE *SMNB*.  FINALLY( THE VECTOR IS RESCALED TO 2(+7) METERS/CENTISECOND, AND CONTROL IS RETURNED TO THE
033458,001459:                                                                                                  #  CALLER WITH C(MPAC) = VELOCITY(LM).
033459,001460: 
033460,001461: 
033461,001462:                                                                                                  #  CALLING SEQUENCE:
033462,001463:                                                                                                  #                                          L        VLOAD  CALL
033463,001464:                                                                                                  #                                          L +1            VELOCITY(REF)   SCALED AT 2(+7)M/CS IN REFERENCE COORDS.
033464,001465:                                                                                                  #                                          L +2            S41.1
033465,001466:                                                                                                  #                                          L +3     STORE  VELOCITY(LM)    SCALED AT 2(+7)M/CS IN LM BODY AXIS SYS.
033466,001467: 
033467,001468:                                                                                                  #  SUBROUTINES CALLED:
033468,001469: 
033469,001470:                                                                                                  #           1.  CDUTRIG,
033470,001471:                                                                                                  #                  WHICH CALLS CDULOGIC.
033471,001472:                                                                                                  #           2.  *SMNB*
033472,001473: 
033473,001474:                                                                                                  #  NORMAL RETURN: L +3 (SEE CALLING SEQUENCE, ABOVE.)
033474,001475: 
033475,001476:                                                                                                  #  ALARM/ABORT MODES: NONE.
033476,001477: 
033477,001478:                                                                                                  #  RESTART PROTECTION: NONE.
033478,001479: 

Page 770

033480,001481:                                                                                                  #  INPUT:
033481,001482: 
033482,001483:                                                                                                  #           1.  REFSMMAT.
033483,001484:                                                                                                  #           2.  CDUX, CDUY, CDUZ.
033484,001485:                                                                                                  #           3.  VELOCITY (REF) IN MPAC.
033485,001486: 
033486,001487:                                                                                                  #  OUTPUT:
033487,001488: 
033488,001489:                                                                                                  #           1.  CDUSPOT:  DOUBLE PRECISION CDU VECTOR, ORDERED Y,Z,X.
033489,001490:                                                                                                  #           2.  SINCDU:   HALF SINES OF CDUSPOT COMPONENTS.
033490,001491:                                                                                                  #           3.  COSCDU:   HALF COSINES OF CDUSPOT COMPONENTS.
033491,001492:                                                                                                  #           4.  MPAC:     VELOCITY(LM) (SCALED AT 2(+7) METERS/CENTISECOND)
033492,001493: 
033493,001494:                                                                                                  #  DEBRIS: NONE.
033494,001495: 
033495,001496:                                                                                                  #  CHECKOUT STATUS:  CODED.
033496,001497: 
033497,001498: 27,3267                                           COUNT*   $$/S41.1                              
033498,001499: 27,3267           76521        S41.1              MXV      VSL1                                  #  CONVERT VECTOR IN MPAC FROM REF AT 2(+7)
033499,001500: 27,3270           01732                                    REFSMMAT                              #  TO SM AND RESCALE DUE TO HALFUNIT MATRIX
033500,001501: 27,3271           77650                           GOTO                                           #  CONVERT TO BODY AT 2(+7) USING PRESENT
033501,001502: 27,3272           47623                                    CDU*SMNB                              #  CDU ANGLES.  CDU*SMNB WILL RETURN
033502,001503:                                                                                                  #  VIA RVQ TO THE CALLER OF S41.1

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