function ExecNode {
  if not HASNODE {
    print "No node to execute.".
    return.
  }

  SAS off.

  // begin the burn at leadT seconds before the node.
  local leadT is BurnTime(NEXTNODE:DELTAV:MAG / 2).
  local t is BurnTime(NEXTNODE:DELTAV:MAG).

  if willStage(NEXTNODE:DELTAV:MAG) {
    print "WARNING: kOS will stage during this node execution. Safe cancellation requires reboot.".
    when flameOut() then {
      print "Flameout detected. Staging.".
      stage.
    }
  }
  
  print "Adjusting heading".
  lock STEERING to LookDirUp(NEXTNODE:DELTAV, SHIP:FACING:TOPVECTOR).
  wait until VAng(SHIP:FACING:FOREVECTOR, STEERINGMANAGER:TARGET:FOREVECTOR) <= 0.1.

  print "Warping to node.".
  KUNIVERSE:TIMEWARP:WarpTo(NEXTNODE:TIME - leadT - 5).
  wait until NEXTNODE:ETA <= leadT.

  print "Executing burn.".
  local dvMin is NEXTNODE:DELTAV:MAG.
  lock THROTTLE to 1.0.
  wait t.
  lock THROTTLE to 0.0.

  unlock THROTTLE.
  unlock STEERING.
  SAS on.
  print "Node execution complete.".
}

// Calculate the time required to burn a given dV.
// Assumes a perfectly spherical Kerbal in a vacuum.
function BurnTime {
  parameter totaldV, s is STAGE:NUMBER.
  local totalT is 0.0.

  local lastStage is false.
  // We allow a small tolerance to deal with potential floating point errors.
  until totaldV <= 0.001 {
    local F is stageThrust().
    local Isp is stageISP().
    local m is stageMass(s).
    // TODO: handle node execution in atmosphere?
    local dV is min(totaldV, SHIP:StageDeltaV(s):VACUUM).
    local t is calcBurnTime(dV, m, Isp, F).
    print "DEBUG: " + dV + " m/s^2 in stage " + s + ", in " + t + " seconds.".
    set totaldV to totaldV - dV.
    set s to s - 1.
    set totalT to totalT + t.
  }

  print "DEBUG: Total Burn Time: " + totalT + " s.".
  return totalT.
}

// Convenience function to wrap the actual calculation for burn time.
function calcBurnTime {
  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.".
    return 0.
  }

  local g0 is CONSTANT:G0.
  return g0 * m * Isp * (1 - CONSTANT():E^(-dV/(g0*Isp))) / F.
}

// Calculate the ISP for a given stage.
// Defaults to current stage. Assumes your ship is designed so that
// engines are discarded immediately when they flame out.
function stageISP {
  parameter s is STAGE:NUMBER.

  local en is list().
  list ENGINES in en.

  local ispSum is 0.
  local eCount is 0.
  for e in en {
    if e:STAGE >= s and e:DECOUPLEDIN < s {
      set ispSum to ispSum + e:ISP.
      set eCount to eCount + 1.
    }
  }
  if eCount = 0 { return 0. }
  
  return ispSum / eCount.
}

// Calculates the total thrust for the given stage, in kN.
// Defaults to current stage. Assumes your ship is designed so that
// engines are discarded immediately when they flame out.
function stageThrust {
  parameter s is STAGE:NUMBER.

  local en is list().
  list ENGINES in en.

  local sum is 0.
  for e in en {
    if e:STAGE >= s and e:DECOUPLEDIN < s {
      set sum to sum + e:POSSIBLETHRUST.
    }
  }

  return sum.
}

// Determine mass at start of target stage.
// This can handle Delta V-style launchers but
// only if the central rocket remains in the stack
// for exactly two stages, one of which is the current stage.
// More complex staging with partially depleted tanks may produce
// undefined behavior.
function stageMass {
  parameter s is STAGE:NUMBER.

  local m is SHIP:MASS.
  if s = SHIP:STAGENUM { return m. }

  local ps is List().
  list PARTS in ps.
  for part in ps {
    if part:DECOUPLEDIN <= s {
      set m to m - part:MASS.
    } else if part:HasSuffix("AVAILABLETHRUST") and part:AVAILABLETHRUST > 0 {
      // This is an engine and it is currently active. Subtract the fuel
      // it will burn before the next stage.
      set m to m - (part:MAXMASSFLOW * SHIP:StageDeltaV(SHIP:STAGENUM):DURATION).
    }
  }

  return m.
}

function flameOut {
  local ens is List().
  list engines in ens.
  for en in ens {
    if en:FLAMEOUT {
      return true.
    }
  }
  return false.
}