Some well known software packages have been developed at SOL during the last
30 years. They include algorithms for sparse linear equations (SYMMLQ,
MINRES, LSQR, LUSOL) and various optimization solvers (MINOS, NPSOL, SNOPT,
PDCO, SpaseLoc). We give a personal history of these codes and some of their
scientific applications, including optimal trajectories for aircraft,
spacecraft, and autonomous vehicles.