Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
052532,000002: ## Copyright: Public domain.
052533,000003: ## Filename: INFLIGHT_ALIGNMENT_ROUTINES.agc
052534,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
052535,000005: ## It is part of the source code for the Lunar Module's (LM)
052536,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
052537,000007: ## Assembler: yaYUL
052538,000008: ## Contact: Ron Burkey <info@sandroid.org>.
052539,000009: ## Website: www.ibiblio.org/apollo.
052540,000010: ## Pages: 1249-1258
052541,000011: ## Mod history: 2009-05-26 RSB Adapted from the corresponding
052542,000012: ## Luminary131 file, using page
052543,000013: ## images from Luminary 1A.
052544,000014: ## 2016-12-17 RSB Proofed text comments with octopus/ProoferComments
052545,000015: ## and corrected the errors found.
052546,000016: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
052547,000017: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
052548,000018: ## Luminary 99 vs Comanche 55.
052549,000019:
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Page 1249 |
052551,000021: 22,3773 BANK 22
052552,000022: 23,2000 SETLOC INFLIGHT
052553,000023: 23,2000 BANK
052554,000024:
052555,000025: 23,3247 E5,1642 EBANK= XSM
052556,000026:
052557,000027: # CALCGTA COMPUTES THE GYRO TORQUE ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052558,000028:
052559,000029: # THE INPUT IS THE DESIRED STABLE MEMBER COORDINATES REFERRED TO PRESENT STABLE MEMBER COORDINATES. THE THREE
052560,000030: # HALF-UNIT VECTORS ARE STORED AT XDC, YDC, AND ZDC.
052561,000031:
052562,000032: # THE OUTPUTS ARE THE THREE GYRO TORQUING ANGLES TO BE APPLIED TO THE Y, Z, AND X GYROS AND ARE STORED DP AT IGC,
052563,000033: # MGC, AND OGC RESPECTIVELY.
052564,000034:
052565,000035: 23,3247 COUNT* $$/INFLT
052566,000036: 23,3247 71220 CALCGTA ITA DLOAD # PUSHDOWN 00-03, 16D-27D, 34D-37D
052567,000037: 23,3250 00051 S2 # XDC = (XD1 XD2 XD3)
052568,000038: 23,3251 02665 XDC # YDC = (YD1 YD2 YD3)
052569,000039: 23,3252 65325 PDDL PDDL # ZDC = (ZD1 ZD2 ZD3)
052570,000040: 23,3253 06522 HI6ZEROS
052571,000041: 23,3254 02671 XDC +4
052572,000042: 23,3255 55476 DCOMP VDEF
052573,000043: 23,3256 77656 UNIT
052574,000044: 23,3257 14027 STODL ZPRIME # ZP = UNIT(-XD3 0 XD1) = (ZP1 ZP2 ZP3)
052575,000045: 23,3260 00027 ZPRIME
052576,000046:
052577,000047: 23,3261 77742 SR1
052578,000048: 23,3262 14023 STODL SINTH # SIN(IGC) = ZP1
052579,000049: 23,3263 00033 ZPRIME +4
052580,000050: 23,3264 77742 SR1
052581,000051: 23,3265 34021 STCALL COSTH # COS(IGC) = ZP3
052582,000052: 23,3266 47320 ARCTRIG
052583,000053:
052584,000054: 23,3267 16742 STODL IGC # Y GYRO TORQUING ANGLE FRACTION OF REV.
052585,000055: 23,3270 02667 XDC +2
052586,000056: 23,3271 77742 SR1
052587,000057: 23,3272 14023 STODL SINTH # SIN(MGC) = XD2
052588,000058: 23,3273 00027 ZPRIME
052589,000059:
052590,000060: 23,3274 65205 DMP PDDL
052591,000061: 23,3275 02671 XDC +4 # PD00 = (ZP1)(XD3)
052592,000062: 23,3276 00033 ZPRIME +4
052593,000063:
052594,000064: 23,3277 45205 DMP DSU
052595,000065: 23,3300 02665 XDC # MPAC = (ZP3)(XD1)
052596,000066: 23,3301 77626 STADR
052597,000067: 23,3302 43756 STCALL COSTH # COS(MGC) = MPAC - PD00
052598,000068: 23,3303 47320 ARCTRIG
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Page 1250 |
052600,000070: 23,3304 26744 STOVL MGC # Z GYRO TORQUING ANGLE FRACTION OF REV.
052601,000071: 23,3305 00027 ZPRIME
052602,000072: 23,3306 77641 DOT
052603,000073: 23,3307 02701 ZDC
052604,000074: 23,3310 24021 STOVL COSTH # COS(OGC) = ZP . ZDC
052605,000075: 23,3311 00027 ZPRIME
052606,000076: 23,3312 77641 DOT
052607,000077: 23,3313 02673 YDC
052608,000078: 23,3314 34023 STCALL SINTH # SIN(OGC) = ZP . YDC
052609,000079: 23,3315 47320 ARCTRIG
052610,000080:
052611,000081: 23,3316 36740 STCALL OGC # X GYRO TORQUING ANGLE FRACTION OF REV.
052612,000082: 23,3317 00051 S2
052613,000083:
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Page 1251 |
052615,000085: # ARCTRIG COMPUTES AN ANGLE GIVEN THE SINE AND COSINE OF THIS ANGLE.
052616,000086:
052617,000087: # THE INPUTS ARE SIN/4 AND COS/4 STORED DP AT SINTH AND COSTH.
052618,000088:
052619,000089: # THE OUTPUT IS THE CALCULATED ANGLE BETWEEN +.5 AND -.5 REVOLUTIONS AND STORED AT THETA. THE OUTPUT IS ALSO
052620,000090: # AVAILABLE AT MPAC.
052621,000091:
052622,000092: 23,3320 51545 ARCTRIG DLOAD ABS # PUSHDOWN 16D-21D
052623,000093: 23,3321 00023 SINTH
052624,000094: 23,3322 50025 DSU BMN
052625,000095: 23,3323 07534 QTSN45 # ABS(SIN/4) - SIN(45)/4
052626,000096: 23,3324 47333 TRIG1 # IF (-45,45) OR (135,-135)
052627,000097:
052628,000098: 23,3325 72545 DLOAD SL1 # (45,135) OR (-135,-45)
052629,000099: 23,3326 00021 COSTH
052630,000100: 23,3327 75326 ACOS SIGN
052631,000101: 23,3330 00023 SINTH
052632,000102: 23,3331 00025 STORE THETA # X = ARCCOS(COS) WITH SIGN(SIN)
052633,000103: 23,3332 77616 RVQ
052634,000104:
052635,000105: 23,3333 72545 TRIG1 DLOAD SL1 # (-45,45) OR (135,-135)
052636,000106: 23,3334 00023 SINTH
052637,000107: 23,3335 77736 ASIN
052638,000108: 23,3336 14025 STODL THETA # X = ARCSIN(SIN) WITH SIGN(SIN)
052639,000109: 23,3337 00021 COSTH
052640,000110: 23,3340 77640 BMN
052641,000111: 23,3341 47344 TRIG2 # IF (135,-135)
052642,000112:
052643,000113: 23,3342 43545 DLOAD RVQ
052644,000114: 23,3343 00025 THETA # X = ARCSIN(SIN) (-45,45)
052645,000115:
052646,000116: 23,3344 75345 TRIG2 DLOAD SIGN # (135,-135)
052647,000117: 23,3345 06520 HIDPHALF
052648,000118: 23,3346 00023 SINTH
052649,000119: 23,3347 77625 DSU
052650,000120: 23,3350 00025 THETA
052651,000121: 23,3351 00025 STORE THETA # X = .5 WITH SIGN(SIN) - ARCSIN(SIN)
052652,000122: 23,3352 77616 RVQ # (+) - (+) OR (-) - (-)
052653,000123:
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Page 1252 |
052655,000125: # SMNB, NBSM, AND AXISROT, WHICH USED TO APPEAR HERE, HAVE BEEN
052656,000126: # COMBINED IN A ROUTINE CALLED AX*SR*T, WHICH APPEARS AMONG THE POWERED
052657,000127: # FLIGHT SUBROUTINES.
052658,000128:
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Page 1253 |
052660,000130: # CALCGA COMPUTES THE CDU DRIVING ANGLES REQUIRED TO BRING THE STABLE MEMBER INTO THE DESIRED ORIENTATION.
052661,000131:
052662,000132: # THE INPUTS ARE 1) THE NAVIGATION BASE COORDINATES REFERRED TO ANY COORDINATE SYSTEM. THE THREE HALF-UNIT
052663,000133: # VECTORS ARE STORED AT XNB, YNB, AND ZNB. 2) THE DESIRED STABLE MEMBER COORDINATES REFERRED TO THE SAME
052664,000134: # COORDINATE SYSTEM ARE STORED AT XSM, YSM, AND ZSM.
052665,000135:
052666,000136: # THE OUTPUTS ARE THE THREE CDU DRIVING ANGLES AND ARE STORED SP AT THETAD, THETAD +1, AND THETAD +2.
052667,000137:
052668,000138: 23,3353 77601 CALCGA SETPD # PUSHDOWN 00-05, 16D-21D, 34D-37D
052669,000139: 23,3354 00001 0
052670,000140: 23,3355 47375 VLOAD VXV
052671,000141: 23,3356 02665 XNB # XNB = OGA (OUTER GIMBAL AXIS)
052672,000142: 23,3357 02651 YSM # YSM = IGA (INNER GIMBAL AXIS)
052673,000143: 23,3360 41456 UNIT PUSH # PD0 = UNIT(OGA X IGA) = MGA
052674,000144:
052675,000145: 23,3361 44041 DOT ITA
052676,000146: 23,3362 02701 ZNB
052677,000147: 23,3363 00051 S2
052678,000148: 23,3364 24021 STOVL COSTH # COS(OG) = MGA . ZNB
052679,000149: 23,3365 00001 0
052680,000150: 23,3366 77641 DOT
052681,000151: 23,3367 02673 YNB
052682,000152: 23,3370 34023 STCALL SINTH # SIN(OG) = MGA . YNB
052683,000153: 23,3371 47320 ARCTRIG
052684,000154: 23,3372 26740 STOVL OGC
052685,000155: 23,3373 00001 0
052686,000156:
052687,000157: 23,3374 50235 VXV DOT # PROVISION FOR MG ANGLE OF 90 DEGREES
052688,000158: 23,3375 02665 XNB
052689,000159: 23,3376 02651 YSM
052690,000160: 23,3377 77752 SL1
052691,000161: 23,3400 24021 STOVL COSTH # COS(MG) = IGA . (MGA X OGA)
052692,000162: 23,3401 02651 YSM
052693,000163: 23,3402 77641 DOT
052694,000164: 23,3403 02665 XNB
052695,000165: 23,3404 34023 STCALL SINTH # SIN(MG) = IGA . OGA
052696,000166: 23,3405 47320 ARCTRIG
052697,000167: 23,3406 02744 STORE MGC
052698,000168:
052699,000169: 23,3407 45246 ABS DSU
052700,000170: 23,3410 07536 .166...
052701,000171: 23,3411 77644 BPL
052702,000172: 23,3412 47431 GIMLOCK1 # IF ANGLE GREATER THAN 60 DEGREES
052703,000173:
052704,000174: 23,3413 50375 CALCGA1 VLOAD DOT
052705,000175: 23,3414 02657 ZSM
052706,000176: 23,3415 00001 0
052707,000177: 23,3416 24021 STOVL COSTH # COS(IG) = ZSM . MGA
052708,000178: 23,3417 02643 XSM
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Page 1254 |
052710,000180: 23,3420 45441 DOT STADR
052711,000181: 23,3421 43754 STCALL SINTH # SIN(IG) = XSM . MGA
052712,000182: 23,3422 47320 ARCTRIG
052713,000183:
052714,000184: 23,3423 26742 STOVL IGC
052715,000185: 23,3424 02740 OGC
052716,000186: 23,3425 77634 RTB
052717,000187: 23,3426 21620 V1STO2S
052718,000188: 23,3427 34322 STCALL THETAD
052719,000189: 23,3430 00051 S2
052720,000190:
052721,000191: 23,3431 77776 GIMLOCK1 EXIT
052722,000192: 23,3432 05567 TC ALARM
052723,000193: 23,3433 00401 OCT 00401
052724,000194: 23,3434 05504 TC UPFLAG # GIMBAL LOCK HAS OCCURED
052725,000195: 23,3435 00056 ADRES GLOKFAIL
052726,000196:
052727,000197: 23,3436 06037 TC INTPRET
052728,000198: 23,3437 77650 GOTO
052729,000199: 23,3440 47413 CALCGA1
052730,000200:
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Page 1255 |
052732,000202: # AXISGEN COMPUTES THE COORDINATES OF ONE COORDINATE SYSTEM REFERRED TO ANOTHER COORDINATE SYSTEM.
052733,000203:
052734,000204: # THE INPUTS ARE 1) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM A STORED AT STARAD. 2) THE STAR2 VECTOR
052735,000205: # REFERRED TO COORDINATE SYSTEM A STORED AT STARAD +6. 3) THE STAR1 VECTOR REFERRED TO COORDINATE SYSTEM B STORED
052736,000206: # AT LOCATION 6 OF THE VAC AREA. 4) THE STAR2 VECTOR REFERRED TO COORDINATE SYSTEM B STORED AT LOCATION 12D OF
052737,000207: # THE VAC AREA.
052738,000208:
052739,000209: # THE OUTPUT DEFINES COORDINATE SYSTEM A REFERRED TO COORDINATE SYSTEM B. THE THREE HALF-UNIT VECTORS ARE STORED
052740,000210: # AT LOCATIONS XDC, XDC +6, XDC +12D, AND STARAD, STARAD +6, STARAD +12D.
052741,000211:
052742,000212: 23,3441 66370 AXISGEN AXT,1 SSP # PUSHDOWN 00-30D, 34D-37D
052743,000213: 23,3442 02714 STARAD +6
052744,000214: 23,3443 00051 S1
052745,000215: 23,3444 02700 STARAD -6
052746,000216:
052747,000217: 23,3445 77601 SETPD
052748,000218: 23,3446 00001 0
052749,000219: 23,3447 46773 AXISGEN1 VLOAD* VXV* # 06D UA = S1
052750,000220: 23,3450 02723 STARAD +12D,1 # STARAD +00D UB = S1
052751,000221: 23,3451 02731 STARAD +18D,1
052752,000222: 23,3452 77656 UNIT # 12D VA = UNIT(S1 X S2)
052753,000223: 23,3453 06731 STORE STARAD +18D,1 # STARAD +06D VB = UNIT(S1 X S2)
052754,000224: 23,3454 77773 VLOAD*
052755,000225: 23,3455 02723 STARAD +12D,1
052756,000226:
052757,000227: 23,3456 76433 VXV* VSL1
052758,000228: 23,3457 02731 STARAD +18D,1 # 18D WA = UA X VA
052759,000229: 23,3460 06737 STORE STARAD +24D,1 # STARAD +12D WB = UB X VB
052760,000230:
052761,000231: 23,3461 77700 TIX,1
052762,000232: 23,3462 47447 AXISGEN1
052763,000233:
052764,000234: 23,3463 66160 AXC,1 SXA,1
052765,000235: 23,3464 00006 6
052766,000236: 23,3465 00036 30D
052767,000237:
052768,000238: 23,3466 66370 AXT,1 SSP
052769,000239: 23,3467 00022 18D
052770,000240: 23,3470 00051 S1
052771,000241: 23,3471 00006 6
052772,000242:
052773,000243: 23,3472 66374 AXT,2 SSP
052774,000244: 23,3473 00006 6
052775,000245: 23,3474 00052 S2
052776,000246: 23,3475 00002 2
052777,000247:
052778,000248: 23,3476 76720 AXISGEN2 XCHX,1 VLOAD*
052779,000249: 23,3477 00036 30D # X1=-6 X2=+6 X1=-6 X2=+4 X1=-6 X2=+2
052780,000250: 23,3500 00001 0,1
052781,000251:
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Page 1256 |
052783,000253: 23,3501 62757 VXSC* PDVL* # J=(UA)(UB1) J=(UA)(UB2) J=(UA)(UB3)
052784,000254: 23,3502 75062 STARAD +6,2
052785,000255: 23,3503 00007 6,1
052786,000256: 23,3504 77757 VXSC*
052787,000257: 23,3505 75054 STARAD +12D,2
052788,000258: 23,3506 30031 STOVL* 24D # K=(VA)(VB1) J=(VA)(VB2) J=(VA)(VB3)
052789,000259: 23,3507 00015 12D,1
052790,000260:
052791,000261: 23,3510 53357 VXSC* VAD
052792,000262: 23,3511 75046 STARAD +18D,2 # L=(WA)(WB1) J=(WA)(WB2) J=(WA)(WB3)
052793,000263: 23,3512 76455 VAD VSL1
052794,000264: 23,3513 00031 24D
052795,000265: 23,3514 53520 XCHX,1 UNIT
052796,000266: 23,3515 00036 30D
052797,000267: 23,3516 06707 STORE XDC +18D,1 # XDC = L+J+K YDC = L+J+K ZDC = L+J+K
052798,000268:
052799,000269: 23,3517 77700 TIX,1
052800,000270: 23,3520 47521 AXISGEN3
052801,000271:
052802,000272: 23,3521 77704 AXISGEN3 TIX,2
052803,000273: 23,3522 47476 AXISGEN2
052804,000274:
052805,000275: 23,3523 77775 VLOAD
052806,000276: 23,3524 02665 XDC
052807,000277: 23,3525 26707 STOVL STARAD
052808,000278: 23,3526 02673 YDC
052809,000279: 23,3527 26715 STOVL STARAD +6
052810,000280: 23,3530 02701 ZDC
052811,000281: 23,3531 02723 STORE STARAD +12D
052812,000282:
052813,000283: 23,3532 77616 RVQ
052814,000284:
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Page 1257 |
052816,000286: 23,3533 05520 26075 QTSN45 2DEC .1768
052817,000287:
052818,000288: 23,3535 05252 25253 .166... 2DEC .1666666667
052819,000289:
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Page 1258 Empty page |
052822,000292:
End of include-file INFLIGHT_ALIGNMENT_ROUTINES.agc. Parent file is MAIN.agc