the upper stage and payload to rotate rapidly. On restart, the Centaur cartwheeled out of control and left its payload in a useless orbit. This failure was found to be the result of an incorrectly programmed equation in the guidance computer. The error caused the roll rate gyro data to be ignored by the flight computer. See also Comparison of heavy lift launch systems List of Titan launches, Titan I, II, III & IV References External links USAF Titan IVB Fact Sheet Titan IV Ignition Videos Cassini Huygens Aboard a Titan IV-B Launch Videos Early Lunar Access Lockheed Martin 2005 in spaceflight Titan (rocket family)