diff --git a/execnode.ks b/execnode.ks
index dd5f0fa..db3bed3 100644
--- a/execnode.ks
+++ b/execnode.ks
@@ -15,18 +15,25 @@ wait until NEXTNODE:ETA <= (t/2).
 // todo: pid loop here or nah? overshoot would be tricky to deal with...
 print "Executing burn.".
 
+local dvMin is NEXTNODE:DELTAV:MAG.
 local throt is 1.0.
 lock THROTTLE to throt.
-local dvLast is NEXTNODE:DELTAV:MAG.
+
+// debug
+print "dVMin   = " + dvMin.
+print "dV = " + NEXTNODE:DELTAV:MAG.
 
 // Execute the burn, throttling down by half every time we're
 // consuming more than 25% of our dV in one update.
-until NEXTNODE:DELTAV:MAG <= 0.25 {
-  local dvRem is NEXTNODE:DELTAV:MAG.
-  if dvRem < dvLast * 0.75 {
-    set throt to throt / 2.
+until NEXTNODE:DELTAV:MAG <= 0.25 or dVMin < NEXTNODE:DELTAV:MAG {
+  // debug
+  print "dVMin = " + dvMin.
+  print "dV = " + NEXTNODE:DELTAV:MAG.
+
+  if NEXTNODE:DELTAV:MAG < dVMin {
+    set dvMin to NEXTNODE:DELTAV:MAG.
   }
-  set dvLast to dvRem.
+  
   wait 0.001.
 }
 
@@ -34,3 +41,8 @@ unlock THROTTLE.
 unlock STEERING.
 SAS on.
 print "Node execution complete.".
+
+// debug
+print "Final dVMin = " + dvMin.
+print "Final dV = " + NEXTNODE:DELTAV:MAG.
+
diff --git a/launch.ks b/launch.ks
index 6cc02e5..09ce17d 100644
--- a/launch.ks
+++ b/launch.ks
@@ -45,11 +45,13 @@ wait until vectorangle(
   STEERINGMANAGER:TARGET:FOREVECTOR)
   < 0.5.
 
-// then wait until Prograde catches up.
-wait until vectorangle(
-  SHIP:SRFPROGRADE:FOREVECTOR,
-  STEERINGMANAGER:TARGET:FOREVECTOR)
-  < 0.5.
+// then wait until Prograde catches up (or passes us).
+local targetPitch is GetPitch(STEERINGMANAGER:TARGET:FOREVECTOR).
+wait until GetPitch(SHIP:SRFPROGRADE:FOREVECTOR) <= targetPitch.
+// wait until vectorangle(
+//   SHIP:SRFPROGRADE:FOREVECTOR,
+//   STEERINGMANAGER:TARGET:FOREVECTOR)
+//   < 0.5.
 
 print "Locking to prograde, letting gravity do the hard work.".
 lock STEERING to GetAscentVector(MINIMUM_PITCH).
diff --git a/lib/throttle.ks b/lib/throttle.ks
index 70e19a9..a60720e 100644
--- a/lib/throttle.ks
+++ b/lib/throttle.ks
@@ -1,7 +1,8 @@
 // Functions for calculating thrust values.
 @lazyglobal off.
 
-local G is 9.81.
+// point gravity for TWR calculations.
+local G is 0.
 lock G to SHIP:BODY:MU / ((SHIP:BODY:RADIUS+SHIP:ALTITUDE)^2).
 
 // Returns the throttle value you should use to achieve the
@@ -22,25 +23,21 @@ function TWR {
 
 // Calculate the time required to burn a given dV at a given altitude.
 // Must be called while in the same SOI as the burn itself.
+// Assumes a perfectly spherical Kerbal in a vacuum.
 function BurnTime {
-  parameter dV, a, m is SHIP:MASS, s is STAGE:NUMBER.
+  parameter dV, m is SHIP:MASS, s is STAGE:NUMBER.
 
-  local Gb is SHIP:BODY:MU / ((SHIP:BODY:RADIUS+a)^2).
   local f is stageThrust().           // Engine Thrust (kg * m/s²)
   local Isp is stageISP().            // Engine ISP (s)
   
-  // debug
-  print "Calculating burn time.".
-  print "dV = " + dV.
-  print "f = " + f.
-  print "m = " + m.
-  print "e = " + e.
-  print "Isp = " + Isp.
-  print "Gb = " + Gb.
-  // end debug
-
-  if dV > SHIP:STAGEDELTAV(s) {
-    local t is burnTimeCalc(SHIP:STAGEDELTAV(s), m, Gb, Isp, f).
+  local dVs is SHIP:StageDeltaV(s):VACUUM.
+  if dV > dVs {
+    // TODO: not 100% this is needed vs using DeltaV:DURATION.
+    // Docs suggest DeltaV:DURATION is not entirely reliable, however.
+    // For now we're logging both values for comparison.
+    local t is burnTimeCalc(dVs, m, Isp, f).
+    print "Computed stage burn time = " + t.
+    print "KSC-estimated stage burn time = " + SHIP:StageDeltaV(s):DURATION.
 
     local parts is list().
     for part in parts {
@@ -49,15 +46,15 @@ function BurnTime {
       }
     }
 
-    return t + BurnTime(dV - SHIP:STAGEDELTAV(s), a, m, s - 1).
+    return t + BurnTime(dV - SHIP:STAGEDELTAV(s):VACUUM, m, s - 1).
   }
 
-  return burnTimeCalc(dV, m, Gb, Isp, f).
+  return burnTimeCalc(dV, m, Isp, f).
 }
 
 // Convenience function to wrap the actual calculation for burn time.
 function burnTimeCalc {
-  parameter dV, m, Gb, Isp, f.
+  parameter dV, m, Isp, f.
 
   if f = 0 {
     print "WARNING: Tried to calculate burn time with a thrust of 0. Returning 0. Your calculations are probably wrong.".
@@ -69,7 +66,8 @@ function burnTimeCalc {
   // which is suggested at https://www.reddit.com/r/Kos/comments/lev9pw/getting_burntime_from_next_stage/gmig0hl/?context=8&depth=9
   // are they equivalent? Is one better than the other? This one doesn't require
   // knowing final mass, which is nice.
-  return Gb * m * Isp * (1 - CONSTANT():E^(-dV/(Gb*Isp))) / f.
+  local g0 is CONSTANT:G0.
+  return g0 * m * Isp * (1 - CONSTANT():E^(-dV/(g0*Isp))) / f.
 }
 
 // Calculate the ISP for a given stage.
diff --git a/ui/rocket.ks b/ui/rocket.ks
index 0f6b588..d16df54 100644
--- a/ui/rocket.ks
+++ b/ui/rocket.ks
@@ -1,4 +1,13 @@
+runoncepath("/lib/navigation").
+
 function launchButtonPressed {
+  // adjust torque settings here...
+  local oldEpsilon is STEERINGMANAGER:TORQUEEPSILONMAX.
+  set STEERINGMANAGER:TORQUEEPSILONMAX to maxEpsilon:TEXT:ToNumber().
+
+  local oldStopTime is STEERINGMANAGER:MAXSTOPPINGTIME.
+  set STEERINGMANAGER:MAXSTOPPINGTIME to maxStopTime:TEXT:ToNumber().
+
   run "launch"(
     targetApo:TEXT:ToNumber(),
     gravTurnStart:TEXT:ToNumber(),
@@ -6,67 +15,99 @@ function launchButtonPressed {
     initialPitch:TEXT:ToNumber(),
     minimumPitch:TEXT:ToNumber()
   ).
+
+  set STEERINGMANAGER:TORQUEEPSILONMAX to oldEpsilon.
+  set STEERINGMANAGER:MAXSTOPPINGTIME to oldStopTime..
 }
 
-function nodeButtonPressed {
+function executeNode {
   run "execnode".
 }
 
-local termOn is false.
-function terminalButtonPressed {
-  if termOn {
-    CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Close Terminal").
-    set termOn to false.
-  } else {
-    CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
-    set termOn to true.    
-  }
+function showLaunchMenu {
+  stk:ShowOnly(launchMenu).
 }
 
 // Main UI.
-local interface is gui(200).
+local interface is gui(250, 300).
 set interface:X to 200.
-set interface:Y to 800.
+set interface:Y to 700.
 
-// Launch button
-local hBox is interface:AddHBox().
-hBox:AddLabel("Initial Pitch").
-local initialPitch is hBox:AddTextField("85").
+// Main menu elements in here.
+local box is interface:AddVBox().
 
-local hBox is interface:AddHBox().
-hBox:AddLabel("Minimum Pitch").
-local minimumPitch is hBox:AddTextField("5").
+local btn is box:AddButton("TERM").
+set btn:TOGGLE to true.
+set btn:ONTOGGLE to {
+  parameter activate.
 
-local hBox is interface:AddHBox().
-hBox:AddLabel("Gravity Turn @").
-local gravTurnStart is hBox:AddTextField("8000").
+  if activate {
+    CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Open Terminal").
+  } else {
+    CORE:PART:GETMODULE("kOSProcessor"):DOEVENT("Close Terminal").
+  }  
+}.
 
-local hBox is interface:AddHBox().
-hBox:AddLabel("Gravity Pitch").
-local gravPitch is hBox:AddTextField("75").
+set btn to box:AddButton("LAUNCH").
+set btn:onClick to showLaunchMenu@.
 
-local hBox is interface:AddHBox().
-hBox:AddLabel("Target Apoapsis").
-local targetApo is hBox:AddTextField("80000").
+set btn to box:AddButton("CIRC").
+set btn:onClick to { add CreateCircularizationNode(). }.
 
-local launchButton is interface:AddButton("Launch").
-set launchButton:onClick to launchButtonPressed@.
+set btn to box:AddButton("EXECNODE").
+set btn:onClick to executeNode@.
 
-local nodeButton is interface:AddButton("Execute Node").
-set nodeButton:onClick to nodeButtonPressed@.
+local stk is interface:AddStack().
 
-local termButton is interface:AddButton("Terminal").
-set termButton:onClick to terminalButtonPressed@.
+// Launch menu
+local launchMenu is stk:AddVLayout().
 
-// debug
-function circButtonPressed {
-  runpath("/lib/navigation").
-  add CreateCircularizationNode().
-}
-local cButton is interface:AddButton("Circularize").
-set cButton:onClick to circButtonPressed@.
-// end debug
+set btn to launchMenu:AddButton("Execute").
+set btn:onClick to launchButtonPressed@.
+
+local launchConfig is box:AddScrollBox().
+// set launchConfig:STYLE:WIDTH to 300.
+// set launchConfig:STYLE:HEIGHT to 800.
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Target Apoapsis").
+local targetApo is sbox:AddTextField("80000").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Atmo TWR").
+local targetTWR is sbox:AddTextField("1.6").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Initial Pitch").
+local initialPitch is sBox:AddTextField("85").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Minimum Pitch").
+local minimumPitch is sbox:AddTextField("5").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Gravity Turn Alt").
+local gravTurnStart is sbox:AddTextField("8000").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Gravity Turn Pitch").
+local gravPitch is sbox:AddTextField("75").
+
+launchConfig:AddSpacing(5).
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Torque Epsilon Max").
+local maxEpsilon is sbox:AddTextField("0.001").
+
+set sbox to launchConfig:AddHBox().
+sbox:AddLabel("Max Stopping Time").
+local maxStopTime is sbox:AddTextField("2.0").
+
+// End Launch Menu
 
 interface:show().
 
+
+
+
 wait until false.