GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note 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 from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality 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 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
015259,000002: ## Copyright: Public domain.
015260,000003: ## Filename: GIMBAL_LOCK_AVOIDANCE.agc
015261,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
015262,000005: ## It is part of the source code for the Lunar Module's (LM)
015263,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
015264,000007: ## Assembler: yaYUL
015265,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015266,000009: ## Website: www.ibiblio.org/apollo.
015267,000010: ## Pages: 364
015268,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015269,000012: ## Luminary131 file, using page
015270,000013: ## images from Luminary 1A.
015271,000014: ## 2010-12-31 JL Fixed page number comment.
015272,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015273,000016: ## but no errors found.
015274,000017: ## 2017-08-22 RSB Fixed comment-text typo identified in ZERLINA 56.
015275,000018: ##
015276,000019: ## This source code has been transcribed or otherwise adapted from
015277,000020: ## digitized images of a hardcopy from the MIT Museum. The digitization
015278,000021: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
015279,000022: ## the Museum. Many thanks to both. The images (with suitable reduction
015280,000023: ## in storage size and consequent reduction in image quality as well) are
015281,000024: ## available online at www.ibiblio.org/apollo. If for some reason you
015282,000025: ## find that the images are illegible, contact me at info@sandroid.org
015283,000026: ## about getting access to the (much) higher-quality images which Paul
015284,000027: ## actually created.
015285,000028: ##
015286,000029: ## Notations on the hardcopy document read, in part:
015287,000030: ##
015288,000031: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
015289,000032: ## 16:27 JULY 14, 1969
015290,000033:
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Page 364 |
015292,000035: 15,2050 BANK 15
015293,000036:
015294,000037: 22,2000 SETLOC KALCMON1
015295,000038: 22,2000 BANK
015296,000039:
015297,000040: # DETECTING GIMBAL LOCK
015298,000041: 22,2744 22,2744 LOCSKIRT EQUALS NOGIMLOC
015299,000042:
015300,000043: 22,2744 77614 NOGIMLOC SET
015301,000044: 22,2745 01074 CALCMAN3
015302,000045: 22,2746 70740 WCALC LXC,1 DLOAD*
015303,000046: 22,2747 01325 RATEINDX # CHOOSE THE DESIRED MANEUVER RATE
015304,000047: 22,2750 04772 ARATE,1 # FROM A LIST OF FOUR
015305,000048: 22,2751 45002 SR4 CALL # COMPUTE THE INCREMENTAL ROTATION MATRIX
015306,000049: 22,2752 44527 DELCOMP # DEL CORRESPONDING TO A 1 SEC ROTATION
015307,000050: # ABOUT COF
015308,000051: 22,2753 74343 DLOAD* VXSC
015309,000052: 22,2754 04772 ARATE,1
015310,000053: 22,2755 03271 COF
015311,000054: 22,2756 17326 STODL BRATE # COMPONENT MANEUVER RATES 45 DEG/SEC
015312,000055: 22,2757 03336 AM
015313,000056: 22,2760 55605 DMP DDV*
015314,000057: 22,2761 05002 ANGLTIME
015315,000058: 22,2762 04772 ARATE,1
015316,000059: 22,2763 77661 SR
015317,000060: 22,2764 20606 5
015318,000061: 22,2765 03334 STORE TM # MANEUVER EXECUTION TIME SCALED AS T2
015319,000062: 22,2766 77614 SETGO
015320,000063: 22,2767 01035 CALCMAN2 # 0(OFF) = CONTINUE MANEUVER
015321,000064: 22,2770 45010 NEWANGL +1 # 1(ON) = START MANEUVER
015322,000065:
015323,000066: # THE FOUR SELECTABLE FREE FALL MANEUVER RATES SELECTED BY
015324,000067: # LOADING RATEINDX WITH 0, 2, 4, 6, RESPECTIVELY
015325,000068:
015326,000069: 22,2771 00221 24255 ARATE 2DEC .0088888888 # = 0.2 DEG/SEC $ 22.5 DEG/SEC
015327,000070:
015328,000071: 22,2773 00554 02660 2DEC .0222222222 # = 0.5 DEG/SEC $ 22.5 DEG/SEC
015329,000072:
015330,000073: 22,2775 02660 13301 2DEC .0888888888 # = 2.0 DEG/SEC $ 22.5 DEG/SEC
015331,000074:
015332,000075: 22,2777 16161 30707 2DEC .4444444444 # = 10.0 DEG/SEC $ 22.5 DEG/SEC
015333,000076:
015334,000077: 22,3001 00003 04000 ANGLTIME 2DEC .0001907349 # = 100B-19 FUDGE FACTOR TO CONVERT
015335,000078: # MANEUVER ANGLE TO MANEUVER TIME
015336,000079:
015337,000080:
End of include-file GIMBAL_LOCK_AVOIDANCE.agc. Parent file is MAIN.agc