GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 20'35 OCT. 28,1968Note 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 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 20'35 OCT. 28,1968Note that the date is the date of the printout, not the date of the program revision. |
015333,000002: ## Copyright: Public domain.
015334,000003: ## Filename: KALCMANU_STEERING.agc
015335,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
015336,000005: ## It is part of the source code for the Lunar Module's (LM)
015337,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
015338,000007: ## Assembler: yaYUL
015339,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015340,000009: ## Website: www.ibiblio.org/apollo.
015341,000010: ## Pages: 365-369
015342,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015343,000012: ## Luminary131 file, using page
015344,000013: ## images from Luminary 1A.
015345,000014: ## 2011-01-06 JL Added missing comment characters.
015346,000015: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015347,000016: ## and corrected the errors found.
015348,000017: ## 2017-03-07 RSB Removed yaYUL workaround that no longer
015349,000018: ## seems to be needed.
015350,000019: ## 2017-03-17 RSB Comment-text fixes identified in diff'ing
015351,000020: ## Luminary 99 vs Comanche 55.
015352,000021:
015353,000022: ## This source code has been transcribed or otherwise adapted from
015354,000023: ## digitized images of a hardcopy from the MIT Museum. The digitization
015355,000024: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
015356,000025: ## the Museum. Many thanks to both. The images (with suitable reduction
015357,000026: ## in storage size and consequent reduction in image quality as well) are
015358,000027: ## available online at www.ibiblio.org/apollo. If for some reason you
015359,000028: ## find that the images are illegible, contact me at info@sandroid.org
015360,000029: ## about getting access to the (much) higher-quality images which Paul
015361,000030: ## actually created.
015362,000031: ##
015363,000032: ## Notations on the hardcopy document read, in part:
015364,000033: ##
015365,000034: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
015366,000035: ## 16:27 JULY 14, 1969
015367,000036:
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Page 365 |
015369,000038: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015370,000039:
015371,000040: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015372,000041:
015373,000042: 22,3003 E6,1707 EBANK= TTEMP
015374,000043:
015375,000044: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
015376,000045: 22,3004 54262 CADR ISITAUTO # ONLY
015377,000046: 22,3005 10000 CCS A
015378,000047: 22,3006 12730 TCF NOGO -2
015379,000048: 22,3007 06037 NEWANGL TC INTPRET
015380,000049: 22,3010 75160 AXC,1 AXC,2
015381,000050: 22,3011 03246 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
015382,000051: 22,3012 02230 KEL # STABLE MEMBER AXES
015383,000052: 22,3013 77624 CALL
015384,000053: 22,3014 44312 MXM3
015385,000054: 22,3015 45575 VLOAD STADR
015386,000055: 22,3016 50514 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
015387,000056: 22,3017 77626 STADR
015388,000057: 22,3020 50522 STOVL MIS +6D
015389,000058: 22,3021 77626 STADR
015390,000059: 22,3022 74530 STORE MIS
015391,000060: 22,3023 45160 AXC,1 CALL
015392,000061: 22,3024 03246 MIS
015393,000062: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
015394,000063: 22,3026 77634 RTB
015395,000064: 22,3027 21620 V1STO2S
015396,000065: 22,3030 03304 STORE NCDU # NEW CDU ANGLES
015397,000066: 22,3031 77414 BONCLR EXIT
015398,000067: 22,3032 01215 CALCMAN2
015399,000068: 22,3033 45122 MANUSTAT # TO START MANEUVER
015400,000069: 22,3034 34752 CAF TWO # +0 OTHERWISE
015401,000070: 22,3035 55272 INCRDCDU TS SPNDX
015402,000071: 22,3036 51272 INDEX SPNDX
015403,000072: 22,3037 31676 CA BCDU # INITIAL CDU ANGLES
015404,000073: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
015405,000074: 22,3041 51272 INDEX SPNDX
015406,000075: 22,3042 21703 MSU NCDU
015407,000076: 22,3043 00006 EXTEND
015408,000077: 22,2000 SETLOC KALCMON1
015409,000078: 22,2000 BANK
015410,000079:
015411,000080: 22,3044 73121 MP DT/TAU
015412,000081: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
015413,000082: 22,3046 64753 AD ONE
015414,000083: 22,3047 13051 TCF +2
015415,000084: 22,3050 40000 COM
015416,000085: 22,3051 51272 INDEX SPNDX
015417,000086: 22,3052 55640 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
015418,000087: 22,3053 51272 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
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Page 366 |
015420,000089: 22,3054 31703 CA NCDU # BY LEM DAP
015421,000090: 22,3055 51272 INDEX SPNDX
015422,000091: 22,3056 57676 XCH BCDU
015423,000092: 22,3057 51272 INDEX SPNDX
015424,000093: 22,3060 55635 TS CDUXD
015425,000094: 22,3061 11272 CCS SPNDX
015426,000095: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
015427,000096:
015428,000097: 22,3063 00003 RELINT
015429,000098:
015430,000099: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015431,000100:
015432,000101: 22,3064 03075 TMANUCHK TC TIMECHK
015433,000102: 22,3065 13170 TCF CONTMANU
015434,000103: 22,3066 34753 CAF ONE
015435,000104: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
015436,000105: 22,3070 05203 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
015437,000106: 22,3071 E6,1707 EBANK= TTEMP
015438,000107: 22,3071 03213 44066 2CADR MANUSTOP
015439,000108:
015440,000109: 22,3073 00003 RELINT
015441,000110: 22,3074 15155 TCF ENDOFJOB
015442,000111:
015443,000112: 22,3075 00006 TIMECHK EXTEND
015444,000113: 22,3076 40025 DCS TIME2
015445,000114: 22,3077 53710 DXCH TTEMP
015446,000115: 22,3100 00006 EXTEND
015447,000116: 22,3101 31734 DCA TM
015448,000117: 22,3102 21710 DAS TTEMP
015449,000118: 22,3103 11707 CCS TTEMP
015450,000119: 22,3104 00002 TC Q
015451,000120: 22,3105 13107 TCF +2
015452,000121: 22,3106 13117 TCF 2NDRETRN
015453,000122: 22,3107 11710 CCS TTEMP +1
015454,000123: 22,3110 00002 TC Q
015455,000124: 22,3111 13113 TCF MANUOFF
015456,000125: 22,3112 40000 COM
015457,000126: 22,3113 63166 MANUOFF AD ONESEK +1
015458,000127: 22,3114 00006 EXTEND
015459,000128: 22,3115 63117 BZMF 2NDRETRN
015460,000129: 22,3116 24002 INCR Q
015461,000130: 22,3117 24002 2NDRETRN INCR Q
015462,000131: 22,3120 00002 TC Q
015463,000132:
015464,000133: 22,3121 03146 DT/TAU DEC .1
015465,000134:
015466,000135: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
015467,000136: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
015468,000137: 22,3124 30025 DCA TIME2
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Page 367 |
015470,000139: 22,3125 21734 DAS TM # TM+T0 MANEUVER COMPLETION TIME
015471,000140: 22,3126 00006 EXTEND
015472,000141: 22,3127 43166 DCS ONESEK
015473,000142: 22,3130 21734 DAS TM # (TM+T0)-1
015474,000143: 22,3131 00004 INHINT
015475,000144: 22,3132 34752 CAF TWO
015476,000145: 22,3133 55701 RATEBIAS TS KSPNDX
015477,000146: 22,3134 60000 DOUBLE
015478,000147: 22,3135 55702 TS KDPNDX
015479,000148: 22,3136 50000 INDEX A
015480,000149: 22,3137 31725 CA BRATE
015481,000150: 22,3140 51701 INDEX KSPNDX # STORE MANEUVER RATE IN
015482,000151: 22,3141 55643 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
015483,000152: 22,3142 00006 EXTEND
015484,000153: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
015485,000154: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
015486,000155: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
015487,000156: 22,3146 73167 MP BIASCALE # = -1/16
015488,000157: 22,3147 00006 EXTEND
015489,000158: 22,3150 51702 INDEX KDPNDX
015490,000159: 22,3151 71725 MP BRATE
015491,000160: 22,3152 00006 EXTEND
015492,000161: 22,3153 51701 INDEX KSPNDX
015493,000162: 22,3154 11530 DV 1JACC # = AJX $ 90 DEG/SEC-SEC
015494,000163: 22,3155 51701 INDEX KSPNDX
015495,000164: 22,3156 55277 TS DELPEROR # $ 180 DEG
015496,000165: 22,3157 11701 CCS KSPNDX
015497,000166: 22,3160 13133 TCF RATEBIAS
015498,000167:
015499,000168: 22,3161 30025 CA TIME1
015500,000169: 22,3162 63166 AD ONESEK +1
015501,000170: 22,3163 57706 XCH NEXTIME
015502,000171: 22,3164 13034 TCF INCRDCDU -1
015503,000172:
015504,000173: 22,3165 00000 ONESEK DEC 0 B-14
015505,000174: 22,3166 00144 DEC 100 B-14
015506,000175:
015507,000176: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
015508,000177:
015509,000178: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
015510,000179: 22,3171 61706 AD NEXTIME
015511,000180: 22,3172 10000 CCS A
015512,000181: 22,3173 64753 AD ONE
015513,000182: 22,3174 13177 TCF MANUCALL
015514,000183: 22,3175 64735 AD NEGMAX
015515,000184: 22,3176 40000 COM
015516,000185: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
015517,000186: 22,3200 05203 TC WAITLIST
015518,000187: 22,3201 E6,1707 EBANK= TTEMP
015519,000188: 22,3201 03206 44066 2CADR UPDTCALL
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Page 368 |
015521,000190: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
015522,000191: 22,3204 27706 ADS NEXTIME
015523,000192: 22,3205 15155 TCF ENDOFJOB
015524,000193:
015525,000194: 22,3206 37714 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
015526,000195: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
015527,000196: 22,3210 E6,1707 EBANK= TTEMP
015528,000197: 22,3210 03003 44066 2CADR NEWDELHI
015529,000198:
015530,000199: 22,3212 05261 TC TASKOVER
015531,000200:
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Page 369 |
015533,000202: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015534,000203:
015535,000204: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
015536,000205: 22,3214 55642 TS DELDCDU2
015537,000206: 22,3215 55645 TS OMEGARD
015538,000207: 22,3216 55301 TS DELREROR
015539,000208: 22,3217 55641 TS DELDCDU1
015540,000209: 22,3220 55644 TS OMEGAQD
015541,000210: 22,3221 55300 TS DELQEROR
015542,000211: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
015543,000212: 22,3223 55637 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
015544,000213: 22,3224 30322 CA CTHETA
015545,000214: 22,3225 55636 TS CDUYD
015546,000215: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
015547,000216: 22,3227 55635 TS CDUXD
015548,000217: 22,3230 34755 CAF ZERO
015549,000218: 22,3231 55643 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
015550,000219: 22,3232 55640 TS DELDCDU # GIMBAL LOCK ORIGINALLY
015551,000220: 22,3233 55277 TS DELPEROR
015552,000221: 22,3234 31311 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
015553,000222: 22,3235 54063 TS NEWPRIO
015554,000223:
015555,000224: 22,3236 34755 CA ZERO # ZERO ATTCADR
015556,000225: 22,3237 53310 DXCH ATTCADR
015557,000226:
015558,000227: 22,3240 05116 TC SPVAC # RETURN TO USER
015559,000228:
015560,000229: 22,3241 05261 TC TASKOVER
015561,000230:
015562,000231:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc