Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note 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 derive from a printout of Luminary 210 (Apollo 15-17
Lunar Module guidance computer program), from the personal library of
original AGC developer Don Eyles, digitally photographed at archive.org,
financially sponsored by Jim Lawton, and transcribed to source code by a
team of volunteers. This colorized, syntax-highlighted form was created
by assembling that transcribed source code. Note that the full page images
are available on the
Virtual AGC project page at archive.org, while reduced-size images
are presented at the VirtualAGC project website. Report or fix any
transcription errors at
the Virtual AGC project code repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 210 OF AGC PROGRAM LUMINARY BY NASA 2021112-161 17:11 MAR. 19,1971Note that the date is the date of the printout, not the date of the program revision. |
034310,000002: ## Copyright: Public domain. 034311,000003: ## Filename: THE_LUNAR_LANDING.agc 034312,000004: ## Purpose: A section of Luminary revision 210. 034313,000005: ## It is part of the source code for the Lunar Module's (LM) 034314,000006: ## Apollo Guidance Computer (AGC) for Apollo 15-17. 034315,000007: ## This file is intended to be a faithful transcription, except 034316,000008: ## that the code format has been changed to conform to the 034317,000009: ## requirements of the yaYUL assembler rather than the 034318,000010: ## original YUL assembler. 034319,000011: ## Reference: pp. 781-788 034320,000012: ## Assembler: yaYUL 034321,000013: ## Contact: Ron Burkey <info@sandroid.org>. 034322,000014: ## Website: www.ibiblio.org/apollo/index.html 034323,000015: ## Mod history: 2016-11-17 JL Created from Luminary131 version. 034324,000016: ## 2016-11-29 HG Transcribed 034325,000017: ## 2016-12-07 HG Fix P00 -> POO 034326,000018: ## 2016-12-25 RSB Comment-text proofed using ProoferComments 034327,000019: ## and corrected errors found. 034328,000020: ## 2017-03-13 RSB Comment-text fixes noted in proofing Luminary 116. 034329,000021:
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034331,000023: 32,2602 BANK 32 034332,000024: 32,2000 SETLOC F2DPS*32 034333,000025: 32,2000 BANK 034334,000026: 034335,000027: 32,2602 E7,1621 EBANK= E2DPS 034336,000028: 034337,000029: # **************************************** 034338,000030: # P63: THE LUNAR LANDING, BRAKING PHASE 034339,000031: # **************************************** 034340,000032: 034341,000033: 32,2602 COUNT* $$/P63 034342,000034: 034343,000035: 32,2602 05355 P63LM TC PHASCHNG 034344,000036: 32,2603 04024 OCT 04024 034345,000037: 034346,000038: 32,2604 04607 TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02 034347,000039: 32,2605 33757 CADR R02BOTH 034348,000040: 034349,000041: 32,2606 33063 CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY 034350,000042: 32,2607 55455 TS WHICH 034351,000043: 034352,000044: 32,2610 32000 CAF DPSTHRSH # INITIALIZE DVMON 034353,000045: 32,2611 55250 TS DVTHRUSH 034354,000046: 32,2612 34742 CAF FOUR 034355,000047: 32,2613 55515 TS DVCNTR 034356,000048: 034357,000049: 32,2614 44744 CS ONE # INITIALIZE WCHPHASE AND FLPASSO 034358,000050: 32,2615 55346 TS WCHPHASE 034359,000051: 034360,000052: 32,2616 34746 CA ZERO 034361,000053: 32,2617 55623 TS FLPASS0 034362,000054: 034363,000055: 32,2620 44727 CS BIT14 034364,000056: 32,2621 00006 EXTEND 034365,000057: 32,2622 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE. 034366,000058: 034367,000059: 32,2623 06060 FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING 034368,000060: 32,2624 77614 CLEAR 034369,000061: 32,2625 00664 NOTERFLG # PERMIT TERRAIN MODEL 034370,000062: 32,2626 43014 CLEAR CLEAR 034371,000063: 32,2627 02663 NOTHROTL 034372,000064: 32,2630 03271 REDFLAG 034373,000065: 32,2631 43014 CLEAR SET 034374,000066: 32,2632 05660 LRBYPASS 034375,000067: 32,2633 03067 MUNFLAG 034376,000068: 32,2634 43014 CLEAR CLEAR 034377,000069: 32,2635 00266 P25FLAG # TERMINATE P25 IF IT IS RUNNING. 034378,000070: 32,2636 00270 RNDVZFLG # TERMINATE P20 IF IT IS RUNNING 034379,000071: 034380,000072: # **************************************** 034381,000073:
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034383,000075: 32,2637 77201 IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R:- 034384,000076: 32,2640 00001 0 # AT 0D LANDING SITE IN MOON FIXED FRAME 034385,000077: 32,2641 02021 RLS # AT 6D ESTIMATED TIME OF LANDING 034386,000078: 32,2642 41525 PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE 034387,000079: 32,2643 02027 TLAND 034388,000080: 32,2644 37625 STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS 034389,000081: 32,2645 55716 RP-TO-R 034390,000082: 32,2646 64312 VSL4 MXV 034391,000083: 32,2647 01732 REFSMMAT 034392,000084: 32,2650 37635 STCALL LAND 034393,000085: 32,2651 71346 GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/ 034394,000086: 32,2652 45345 DLOAD DSU 034395,000087: 32,2653 02027 TLAND 034396,000088: 32,2654 25070 GUIDDURN 034397,000089: 32,2655 34041 STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME 034398,000090: 32,2656 27115 LEMPREC 034399,000091: 32,2657 77331 SSP VLOAD 034400,000092: 32,2660 03647 NIGNLOOP 034401,000093: 32,2661 00050 40D 034402,000094: 32,2662 06503 UNITX 034403,000095: 32,2663 26572 STOVL CG 034404,000096: 32,2664 06501 UNITY 034405,000097: 32,2665 26600 STOVL CG +6 034406,000098: 32,2666 06477 UNITZ 034407,000099: 32,2667 16606 STODL CG +14 034408,000100: 32,2670 25066 99999CON 034409,000101: 32,2671 27665 STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY 034410,000102: 32,2672 06505 ZEROVECS 034411,000103: 32,2673 17252 STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM 034412,000104: 32,2674 06505 HI6ZEROS 034413,000105: 32,2675 17643 STODL TTF/8 034414,000106: 32,2676 25074 HLROFFF 034415,000107: 32,2677 03452 STORE HLROFF # LR CUTOFF ALTITUDE. 034416,000108: 32,2700 77745 IGNALOOP DLOAD 034417,000109: 32,2701 00015 TAT 034418,000110: 32,2702 27561 STOVL PIPTIME1 034419,000111: 32,2703 00017 RATT1 034420,000112: 32,2704 64312 VSL4 MXV 034421,000113: 32,2705 01732 REFSMMAT 034422,000114: 32,2706 37521 STCALL R 034423,000115: 32,2707 67037 MUNGRAV 034424,000116: 32,2710 35236 STCALL GDT/2 034425,000117: 32,2711 62417 ?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE 034426,000118: 034427,000119: # DDUMCALC IS PROGRAMMED AS FOLLOWS:- 034428,000120: # 2 - 034429,000121: # (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4 034430,000122: # 2 1 0 034431,000123: # DDUM = ------------------------------------------------------------------------------------------- 034432,000124:
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034434,000126: # 10 034435,000127: # 2 (VGU - 16 VGU KIGNX/B4) 034436,000128: # 2 0 034437,000129: 034438,000130: # THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS. 034439,000131: # THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS. 034440,000132: # THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN. 034441,000133: 034442,000134: 32,2712 55646 DDUMCALC TS NIGNLOOP 034443,000135: 32,2713 06060 TC INTPRET 034444,000136: 32,2714 57345 DLOAD DMPR # FORM DENOMINATOR FIRST 034445,000137: 32,2715 03627 VGU 034446,000138: 32,2716 02465 KIGNX/B4 034447,000139: 32,2717 44232 SL4R BDSU 034448,000140: 32,2720 03633 VGU +4 034449,000141: 32,2721 45325 PDDL DSU 034450,000142: 32,2722 02463 RIGNZ 034451,000143: 32,2723 02630 RGU +4 034452,000144: 32,2724 65222 SR4R PDDL 034453,000145: 32,2725 02626 RGU +2 034454,000146: 32,2726 57316 DSQ DMPR 034455,000147: 32,2727 02467 KIGNY/B8 034456,000148: 32,2730 65232 SL4R PDDL 034457,000149: 32,2731 02624 RGU 034458,000150: 32,2732 57225 DSU DMPR 034459,000151: 32,2733 02461 RIGNX 034460,000152: 32,2734 02465 KIGNX/B4 034461,000153: 32,2735 51515 PDVL ABVAL 034462,000154: 32,2736 03627 VGU 034463,000155: 32,2737 57225 DSU DMPR 034464,000156: 32,2740 02457 VIGN 034465,000157: 32,2741 02471 KIGNV/B4 034466,000158: 32,2742 43215 DAD DAD 034467,000159: 32,2743 56215 DAD DDV 034468,000160: 32,2744 77661 SRR 034469,000161: 32,2745 21613 10D 034470,000162: 034471,000163: 32,2746 43206 PUSH DAD 034472,000164: 32,2747 03561 PIPTIME1 034473,000165: 32,2750 14041 STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION 034474,000166: 32,2751 45246 ABS DSU 034475,000167: 32,2752 25072 DDUMCRIT 034476,000168: 32,2753 45040 BMN CALL 034477,000169: 32,2754 64773 DDUMGOOD 034478,000170: 32,2755 27447 INTSTALL 034479,000171: 32,2756 43014 SET SET 034480,000172: 32,2757 01473 INTYPFLG 034481,000173: 32,2760 00063 MOONFLAG 034482,000174: 32,2761 77745 DLOAD 034483,000175: 32,2762 03561 PIPTIME1 034484,000176:
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034486,000178: 32,2763 25517 STOVL TET # HOPEFULLY ?GUIDSUB DID NOT 034487,000179: 32,2764 00017 RATT1 # CLOBBER RATT1 AND VATT1 034488,000180: 32,2765 25535 STOVL RCV 034489,000181: 32,2766 00025 VATT1 034490,000182: 32,2767 35543 STCALL VCV 034491,000183: 32,2770 27145 INTEGRVS 034492,000184: 32,2771 77650 GOTO 034493,000185: 32,2772 64700 IGNALOOP 034494,000186: 034495,000187: 32,2773 53575 DDUMGOOD VLOAD UNIT # INITIALIZE KALCMANU 034496,000188: 32,2774 03252 UNFC/2 034497,000189: 32,2775 27773 STOVL POINTVSM 034498,000190: 32,2776 06503 UNITX 034499,000191: 32,2777 27765 STOVL SCAXIS # NEXT COMPUTE DISTANCE LANDING SITE IS 034500,000192: 32,3000 03527 V # OUT OF LM'S ORBITAL PLANE AT IGNITION: 034501,000193: 32,3001 53435 VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE 034502,000194: 32,3002 03521 R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH. 034503,000195: 32,3003 72441 DOT SL1 034504,000196: 32,3004 03635 LAND 034505,000197: 32,3005 16614 STODL OUTOFPLN # NEXT COMPUTE TIG 034506,000198: 32,3006 03423 ZOOMTIME 034507,000199: 32,3007 44261 SR BDSU 034508,000200: 32,3010 20617 14D 034509,000201: 32,3011 00041 TDEC1 034510,000202: 32,3012 03442 STORE TIG 034511,000203: 32,3013 77776 EXIT 034512,000204: # **************************************** 034513,000205: 034514,000206: 32,3014 05355 IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG 034515,000207: 32,3015 04024 OCT 04024 034516,000208: 034517,000209: 32,3016 44353 ASTNCLOK CS ASTNDEX 034518,000210: 32,3017 04607 TC BANKCALL 034519,000211: 32,3020 74663 CADR STCLOK2 034520,000212: 32,3021 15146 TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE 034521,000213: 034522,000214: 32,3022 35007 ASTNRET CAF EBANK7 034523,000215: 32,3023 54003 TS EBANK 034524,000216: 034525,000217: 32,3024 00004 INHINT 034526,000218: 32,3025 04665 TC IBNKCALL 034527,000219: 32,3026 40143 CADR PFLITEDB 034528,000220: 32,3027 00003 RELINT 034529,000221: 034530,000222: 32,3030 04607 TC BANKCALL 034531,000223: 32,3031 54125 CADR R60LEM 034532,000224: 034533,000225: 32,3032 05355 TC PHASCHNG # PREVENT RECALLING R60 034534,000226: 32,3033 04024 OCT 04024 034535,000227:
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034537,000229: 32,3034 34737 P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET 034538,000230: 32,3035 00006 EXTEND 034539,000231: 32,3036 02033 RAND CHAN33 034540,000232: 32,3037 00006 EXTEND 034541,000233: 32,3040 13046 BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1 034542,000234: 034543,000235: 32,3041 33064 CAF CODE500 # ASTRONAUT: PLEASE CRANK THE 034544,000236: 32,3042 04607 TC BANKCALL # SILLY THING AROUND 034545,000237: 32,3043 20635 CADR GOPERF1 034546,000238: 32,3044 16001 TCF GOTOPOOH # TERMINATE 034547,000239: 32,3045 13034 TCF P63SPOT3 # PROCEED SEE IF HE'S LYING 034548,000240: 034549,000241: 32,3046 34743 P63SPOT4 CAF TWO # ENTER INITIALIZE LANDING RADAR 034550,000242: 32,3047 55674 TS STILBADH 034551,000243: 32,3050 55675 TS STILBADV 034552,000244: 32,3051 34746 CAF ZERO 034553,000245: 32,3052 55670 TS LRLCTR 034554,000246: 32,3053 55672 TS LRMCTR 034555,000247: 32,3054 55671 TS LRRCTR 034556,000248: 32,3055 55673 TS LRSCTR 034557,000249: 32,3056 55462 TS VSELECT 034558,000250: 034559,000251: 32,3057 34742 CA FOUR # INITIALIZE COUNTER TO ISSUE 511 034560,000252: 32,3060 55622 TS 511CTR # ALARM AFTER 10 SECONDS 034561,000253: 034562,000254: 32,3061 04626 TC POSTJUMP # OFF TO SEE THE WIZARD... 034563,000255: 32,3062 74130 CADR BURNBABY 034564,000256: 034565,000257: # ---------------------------------------- 034566,000258: 034567,000259: # CONSTANTS FOR P63LM AND IGNALG 034568,000260: 034569,000261: 32,3063 02100 P63ADRES GENADR P63TABLE 034570,000262: 034571,000263: 32,3064 4353 ASTNDEX = MD1 # OCT 25; INDEX FOR CLOKTASK 034572,000264: 034573,000265: 32,3064 00500 CODE500 OCT 00500 034574,000266: 034575,000267: 32,3065 00035 30373 99999CON 2DEC 30479.7 B-24 034576,000268: 034577,000269: 32,3067 00004 01610 GUIDDURN 2DEC +66440 B-28 # GUIDDURN +6.64400314E+ 2 034578,000270: 32,3071 00000 00010 DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE 034579,000271:
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034581,000273: 32,3073 00364 HLROFFF DEC 15.24 B-10 # LOADED DP, BUT LOW ORDER DOESN'T MATTER 034582,000274: # ---------------------------------------- 034583,000275:
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034585,000277: # **************************************** 034586,000278: # P68: LANDING CONFIRMATION 034587,000279: # **************************************** 034588,000280: 034589,000281: 34,3271 BANK 34 034590,000282: 34,2000 SETLOC F2DPS*34 034591,000283: 34,2000 BANK 034592,000284: 034593,000285: 34,3271 COUNT* $$/P6567 034594,000286: 034595,000287: 34,3271 05355 LANDJUNK TC PHASCHNG 034596,000288: 34,3272 04024 OCT 04024 034597,000289: 034598,000290: 34,3273 00004 INHINT 034599,000291: 34,3274 04607 TC BANKCALL # ZERO ATTITUDE ERROR 034600,000292: 34,3275 40154 CADR ZATTEROR 034601,000293: 034602,000294: 34,3276 06060 TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL 034603,000295: 34,3277 77614 SET # PREVENT RCS JET FIRINGS IF MODE CONT IS 034604,000296: 34,3300 06460 PULSEFLG # IN ATT HOLD 034605,000297: 34,3301 43014 SET CLEAR 034606,000298: 34,3302 04067 SURFFLAG 034607,000299: 34,3303 04666 LETABORT 034608,000300: 34,3304 77214 SET VLOAD 034609,000301: 34,3305 05062 APSFLAG 034610,000302: 34,3306 01220 RN 034611,000303: 34,3307 16032 STODL ALPHAV 034612,000304: 34,3310 01234 PIPTIME 034613,000305: 34,3311 45014 SET CALL 034614,000306: 34,3312 01463 LUNAFLAG 034615,000307: 34,3313 26406 LAT-LONG 034616,000308: 34,3314 77201 SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY 034617,000309: 34,3315 00001 0 034618,000310: 34,3316 01220 RN 034619,000311: 34,3317 65352 VSL2 PDDL 034620,000312: 34,3320 01234 PIPTIME 034621,000313: 34,3321 45006 PUSH CALL 034622,000314: 34,3322 51644 R-TO-RP 034623,000315: 34,3323 02021 STORE RLS 034624,000316: 34,3324 77776 EXIT 034625,000317: 34,3325 33345 CAF V06N43* # ASTRONAUT: NOW LOOK WHERE YOU ENDED UP 034626,000318: 34,3326 04607 TC BANKCALL 034627,000319: 34,3327 20471 CADR GOFLASH 034628,000320: 34,3330 16001 TCF GOTOPOOH # TERMINATE 034629,000321: 34,3331 13333 TCF +2 # PROCEED 034630,000322: 34,3332 13325 TCF -5 # RECYCLE 034631,000323: 034632,000324: 34,3333 06060 TC INTPRET 034633,000325: 34,3334 64375 VLOAD MXV # INITIALIZE GSAV AND (USING REFMF) 034634,000326:
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034636,000328: 34,3335 01220 RN # YNBSAV, ZNBSAV AND ATTFLAG FOR P57 034637,000329: 34,3336 01732 REFSMMAT 034638,000330: 34,3337 45056 UNIT CALL 034639,000331: 34,3340 47640 CDU*SMNB 034640,000332: 34,3341 36222 STCALL GSAV 034641,000333: 34,3342 33470 REFMF 034642,000334: 34,3343 77776 EXIT 034643,000335: 034644,000336: 34,3344 16001 TCF GOTOPOOH # ASTRONAUT: PLEASE SELECT P57 034645,000337: 034646,000338: 034647,000339: 34,3345 01453 V06N43* VN 0643 End of include-file THE_LUNAR_LANDING.agc. Parent file is MAIN.agc