GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were derived from scans of the
Colossus 237 (Apollo 8 Command Module) program listing from the private collection of original
AGC developer Fred Martin. Scanning was by Ron Burkey. Pre-existing Colossus 249
(Apollo 9 CM) source files were used as a template, and changes between Colossus 249
and Colossus 237 were manually transcribed by a team of volunteers. Note
that the page images
presented online are of reduced quality, and that additional images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 237 OF AGC PROGRAM COLOSSUS BY NASA 2021111-031 1:17 AUG. 24, 1968Note that the date is the date of the printout, not the date of the program revision. |
017837,000002: ## Copyright: Public domain.
017838,000003: ## Filename: KALCMANU_STEERING.agc
017839,000004: ## Purpose: Part of the source code for Colossus build 237.
017840,000005: ## This is for the Command Module's (CM) Apollo Guidance
017841,000006: ## Computer (AGC), for Apollo 8.
017842,000007: ## Assembler: yaYUL
017843,000008: ## Contact: Onno Hommes <ohommes@alumni.cmu.edu>
017844,000009: ## Website: www.ibiblio.org/apollo/index.html
017845,000010: ## Page Scans: www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017846,000011: ## Mod history: 2010-06-01 OH Adapted from corresponding Colossus 249 file.
017847,000012: ## 2010-12-04 JL Remove Colossus 249 header comments. Change
017848,000013: ## to double-hash page numbers.
017849,000014: ## 2011-01-27 JL Minor fixes.
017850,000015: ## 2016-08-14 RSB Added SBANKs for addressing discrepancies.
017851,000016: ## 2016-12-30 RSB Proofed comment text using octopus/ProoferComments,
017852,000017: ## and corrected errors found.
017853,000018: ## 2017-01-28 RSB WTIH -> WITH.
017854,000019: ## 2017-06-17 MAS Globally removed all SBANK= workarounds.
017855,000020:
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017857,000022: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017858,000023:
017859,000024: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017860,000025:
017861,000026: 15,2000 BANK 15
017862,000027:
017863,000028: 22,2000 SETLOC KALCMON1
017864,000029: 22,2000 BANK
017865,000030:
017866,000031: 22,3027 E6,1661 EBANK= BCDU
017867,000032:
017868,000033: 22,3027 COUNT 22/KALC
017869,000034:
017870,000035: 22,3027 41332 NEWDELHI CS HOLDFLAG # SEE IF MANEUVER HAS BEEN INTERRUPTED
017871,000036: 22,3030 00006 EXTEND # BY ASTRONAUT
017872,000037: 22,3031 62725 BZMF NOGO -2 # IF SO, TERMINATE KALCMANU
017873,000038: 22,3032 06006 NEWANGL TC INTPRET
017874,000039: 22,3033 75160 AXC,1 AXC,2
017875,000040: 22,3034 03320 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
017876,000041: 22,3035 03425 DEL # STABLE MEMBER AXES
017877,000042: 22,3036 77624 CALL
017878,000043: 22,3037 44304 MXM3
017879,000044: 22,3040 45575 VLOAD STADR
017880,000045: 22,3041 50442 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
017881,000046: 22,3042 77626 STADR
017882,000047: 22,3043 50450 STOVL MIS +6D
017883,000048: 22,3044 77626 STADR
017884,000049: 22,3045 74456 STORE MIS
017885,000050: 22,3046 45160 AXC,1 CALL
017886,000051: 22,3047 03320 MIS
017887,000052: 22,3050 44655 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
017888,000053: 22,3051 77634 RTB
017889,000054: 22,3052 45547 V1STO2S
017890,000055: 22,3053 03267 STORE NCDU # NEW CDU ANGLES
017891,000056: 22,3054 77414 BONCLR EXIT
017892,000057: 22,3055 01215 CALCMAN2
017893,000058: 22,3056 45142 MANUSTAT # TO START MANEUVER
017894,000059: 22,3057 34711 CAF TWO # +0 OTHERWISE
017895,000060: 22,3060 55664 INCRDCDU TS KSPNDX
017896,000061: 22,3061 60000 DOUBLE
017897,000062: 22,3062 55665 TS KDPNDX
017898,000063: 22,3063 51664 INDEX KSPNDX
017899,000064: 22,3064 31666 CA NCDU # NEW DESIRED CDU ANGLES
017900,000065: 22,3065 00006 EXTEND
017901,000066: 22,3066 51664 INDEX KSPNDX
017902,000067: 22,3067 21661 MSU BCDU # INITIAL S/C ANGLE OR PREVIOUS DESIRED
017903,000068: 22,3070 00006 EXTEND # CDU ANGLES
017904,000069: 22,3071 73141 MP DT/TAU
017905,000070: 22,3072 51665 INDEX KDPNDX
017906,000071: 22,3073 53576 DXCH DELCDUX # ANGLE INCREMENTS TO BE ADDED TO
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017908,000073: 22,3074 51664 INDEX KSPNDX # DCDU EVERY TENTH SEC
017909,000074: 22,3075 31666 CA NCDU # BY LEM DAP
017910,000075: 22,3076 51664 INDEX KSPNDX
017911,000076: 22,3077 57661 XCH BCDU
017912,000077: 22,3100 51665 INDEX KDPNDX
017913,000078: 22,3101 55646 TS CDUXD
017914,000079: 22,3102 11664 CCS KSPNDX
017915,000080: 22,3103 13060 TCF INCRDCDU # LOOP FOR THREE AXES
017916,000081:
017917,000082: 22,3104 00003 RELINT
017918,000083: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
017919,000084:
017920,000085: 22,3105 03115 TMANUCHK TC TIMECHK
017921,000086: 22,3106 13206 TCF CONTMANU
017922,000087: 22,3107 34712 CAF ONE
017923,000088: 22,3110 05140 MANUSTAL TC WAITLIST
017924,000089: 22,3111 E6,1661 EBANK= BCDU
017925,000090: 22,3111 03232 44106 2CADR MANUSTOP
017926,000091: 22,3113 00003 RELINT
017927,000092: 22,3114 15112 TCF ENDOFJOB
017928,000093:
017929,000094:
017930,000095: 22,3115 00006 TIMECHK EXTEND
017931,000096: 22,3116 40025 DCS TIME2
017932,000097: 22,3117 53673 DXCH TTEMP
017933,000098: 22,3120 00006 EXTEND
017934,000099: 22,3121 31717 DCA TM
017935,000100: 22,3122 21673 DAS TTEMP
017936,000101: 22,3123 11672 CCS TTEMP
017937,000102: 22,3124 00002 TC Q
017938,000103: 22,3125 13127 TCF +2
017939,000104: 22,3126 13137 TCF 2NDRETRN
017940,000105: 22,3127 11673 CCS TTEMP +1
017941,000106: 22,3130 00002 TC Q
017942,000107: 22,3131 13133 TCF MANUOFF
017943,000108: 22,3132 40000 COM
017944,000109: 22,3133 63205 MANUOFF AD ONESEC +1
017945,000110: 22,3134 00006 EXTEND
017946,000111: 22,3135 63137 BZMF 2NDRETRN
017947,000112: 22,3136 24002 INCR Q
017948,000113: 22,3137 24002 2NDRETRN INCR Q
017949,000114: 22,3140 00002 TC Q
017950,000115: 22,3141 03146 DT/TAU DEC .1
017951,000116:
017952,000117: 22,3142 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
017953,000118: 22,3143 00006 EXTEND # FOR AUTOMATIC MANEUVERS
017954,000119: 22,3144 30025 DCA TIME2
017955,000120: 22,3145 21717 DAS TM # TM+T0 MANEUVER COMPLETION TIME
017956,000121: 22,3146 00006 EXTEND
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017958,000123: 22,3147 43205 DCS ONESEC
017959,000124: 22,3150 21717 DAS TM # (TM+T0)-1
017960,000125: 22,3151 00004 INHINT
017961,000126: 22,3152 44712 CS ONE # ENABLE AUTOPILOT TO PERFORM
017962,000127: 22,3153 55332 TS HOLDFLAG # AUTOMATIC MANEUVERS
017963,000128: 22,3154 41130 CS RATEINDX # SEE IF MANEUVERING AT HIGH RATE
017964,000129: 22,3155 66211 AD SIX
017965,000130: 22,3156 00006 EXTEND
017966,000131: 22,3157 63161 BZMF HIGHGAIN
017967,000132: 22,3160 13164 TCF +4
017968,000133: 22,3161 41501 HIGHGAIN CS RCSFLAGS # IF SO, SET HIGH RATE FLAG (BIT 15 OF
017969,000134: 22,3162 74674 MASK BIT15 # RCSFLAGS)
017970,000135: 22,3163 27501 ADS RCSFLAGS
017971,000136: 22,3164 53711 DXCH BRATE # X-AXIS MANEUVER RATE
017972,000137: 22,3165 53526 DXCH WBODY
017973,000138: 22,3166 53713 DXCH BRATE +2 # Y-AXIS MANEUVER RATE
017974,000139: 22,3167 53530 DXCH WBODY1
017975,000140: 22,3170 53715 DXCH BRATE +4 # Z-AXIS MANEUVER RATE
017976,000141: 22,3171 53532 DXCH WBODY2
017977,000142: 22,3172 31675 CA BIASTEMP +1 # INSERT ATTITUDE ERROR BIASES
017978,000143: 22,3173 55564 TS BIAS # INTO AUTOPILOT
017979,000144: 22,3174 31677 CA BIASTEMP +3
017980,000145: 22,3175 55565 TS BIAS1
017981,000146: 22,3176 31701 CA BIASTEMP +5
017982,000147: 22,3177 55566 TS BIAS2
017983,000148: 22,3200 30025 CA TIME1
017984,000149: 22,3201 63205 AD ONESEC +1
017985,000150: 22,3202 57671 XCH NEXTIME
017986,000151: 22,3203 13057 TCF INCRDCDU -1
017987,000152:
017988,000153: 22,3204 00000 ONESEC DEC 0 B-14
017989,000154: 22,3205 00144 DEC 100 B-14
017990,000155:
017991,000156: 22,3206 00004 CONTMANU INHINT # CONTINUE WITH UPDATE PROCESS
017992,000157: 22,3207 40025 CS TIME1
017993,000158: 22,3210 61671 AD NEXTIME
017994,000159: 22,3211 10000 CCS A
017995,000160: 22,3212 64712 AD ONE
017996,000161: 22,3213 13216 TCF MANUCALL
017997,000162: 22,3214 64674 AD NEGMAX
017998,000163: 22,3215 40000 COM
017999,000164: 22,3216 05140 MANUCALL TC WAITLIST
018000,000165: 22,3217 E6,1661 EBANK= BCDU
018001,000166: 22,3217 03225 44106 2CADR UPDTCALL
018002,000167: 22,3221 00003 RELINT
018003,000168: 22,3222 33205 CAF ONESEC +1 # INCREMENT TIME FOR NEXT UPDATE
018004,000169: 22,3223 27671 ADS NEXTIME
018005,000170: 22,3224 15112 TCF ENDOFJOB
018006,000171:
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018008,000173: 22,3225 37663 UPDTCALL CAF PRIO26 # CALL FOR UPDATE
018009,000174: 22,3226 05042 TC FINDVAC # OF STEERING COMMANDS
018010,000175: 22,3227 E6,1661 EBANK= BCDU
018011,000176: 22,3227 03027 44106 2CADR NEWDELHI
018012,000177: 22,3231 05213 TC TASKOVER
018013,000178:
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018015,000180: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
018016,000181:
018017,000182: 22,3232 03256 MANUSTOP TC STOPYZ
018018,000183: 22,3233 03303 TC LOADYZ
018019,000184:
018020,000185: 22,3234 31155 ENDROLL CA CPHI
018021,000186: 22,3235 55646 TS CDUXD # SET CDUXD TO THE COMMANDED OUTER GIMBAL
018022,000187: 22,3236 03245 TC STOPRATE
018023,000188: 22,3237 31327 ENDMANU CA ATTPRIO # RESTORE USERS PRIORITY
018024,000189: 22,3240 54063 TS NEWPRIO
018025,000190:
018026,000191: 22,3241 34714 CA ZERO # ZERO ATTCADR
018027,000192: 22,3242 53326 DXCH ATTCADR
018028,000193:
018029,000194: 22,3243 05053 TC SPVAC # RETURN TO USER OF GOMANUR
018030,000195:
018031,000196: 22,3244 05213 TC TASKOVER
018032,000197:
018033,000198: 22,3245 34714 STOPRATE CAF ZERO
018034,000199: 22,3246 55575 TS DELCDUX
018035,000200: 22,3247 55576 TS DELCDUX +1 # ZERO ROLL INCREMENTAL ANGLES
018036,000201: 22,3250 55525 TS WBODY # RATE
018037,000202: 22,3251 55526 TS WBODY +1
018038,000203: 22,3252 55564 TS BIAS # BIAS
018039,000204:
018040,000205: 22,3253 44674 CS BIT15 # MAKE SURE HIGH RATE FLAG (BIT 15 OF
018041,000206: 22,3254 71501 MASK RCSFLAGS # RCSFLAGS) IS RESET.
018042,000207: 22,3255 55501 TS RCSFLAGS
018043,000208:
018044,000209: 22,3256 34714 STOPYZ CAF ZERO
018045,000210: 22,3257 55577 TS DELCDUY # ZERO PITCH, YAW
018046,000211: 22,3260 55600 TS DELCDUY +1 # INCREMENTAL ANGLES
018047,000212: 22,3261 55601 TS DELCDUZ
018048,000213: 22,3262 55602 TS DELCDUZ +1
018049,000214: 22,3263 55527 TS WBODY1 # RATES
018050,000215: 22,3264 55530 TS WBODY1 +1
018051,000216: 22,3265 55531 TS WBODY2
018052,000217: 22,3266 55532 TS WBODY2 +1
018053,000218: 22,3267 55565 TS BIAS1 # BIASES
018054,000219: 22,3270 55566 TS BIAS2
018055,000220: 22,3271 00002 TC Q
018056,000221:
018057,000222: 22,3272 30032 ZEROEROR CA CDUX # PICK UP CDU ANGLES AND STORE IN
018058,000223: 22,3273 55646 TS CDUXD # CDU DESIRED
018059,000224: 22,3274 30033 CA CDUY
018060,000225: 22,3275 55650 TS CDUYD
018061,000226: 22,3276 30034 CA CDUZ
018062,000227: 22,3277 55652 TS CDUZD
018063,000228: 22,3300 00002 TC Q
018064,000229:
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018066,000231: 22,3301 31155 LOADCDUD CA CPHI # STORE TERMINAL ANGLES INTO
018067,000232: 22,3302 55646 TS CDUXD # COMMAND ANGLES
018068,000233: 22,3303 31156 LOADYZ CA CTHETA
018069,000234: 22,3304 55650 TS CDUYD
018070,000235: 22,3305 31157 CA CPSI
018071,000236: 22,3306 55652 TS CDUZD
018072,000237: 22,3307 00002 TC Q
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc