The Titan II ballistic missile used a hypergolic propellant combination: unsymmetrical dimethylhydrazine (UDMH, a hydrazine derivative) as fuel and nitrogen tetroxide (N2O4) as oxidizer. Hydrazine (NH2NH2) and N2O4 ignite spontaneously on contact, which is critical for reliable missile ignition. The question's wording 'mixture of NH2NH2 and N2O4' is close enough to the correct hypergolic concept to accept as the intended answer, though Titan specifically used UDMH rather than pure hydrazine.