Source Code

These source-code files were transcribed from a printout in Don Eyles's personal collection, scanned by archive.org, and financially sponsored by Linden Sims. A team of volunteers performed the transcription and proof-reading. The scanned page images are available at the Virtual AGC Project website, as well as higher-quality (but much larger) images at the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating "issues" at the Virtual AGC Project's GitHub Repository.

Notations on the program listing read, in part:

	GAP:  ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER
	9:12 OCT. 21,1970
Note that the date is the date of the printout, not the date of the program revision.

016422,000002:                                                                                                  ## Copyright:   Public domain.
016423,000003:                                                                                                  ## Filename:    KALCMANU_STEERING.agc
016424,000004:                                                                                                  ## Purpose:     A log section of Zerlina 56, the final revision of
016425,000005:                                                                                                  ##              Don Eyles's offline development program for the variable 
016426,000006:                                                                                                  ##              guidance period servicer. It also includes a new P66 with LPD 
016427,000007:                                                                                                  ##              (Landing Point Designator) capability, based on an idea of John 
016428,000008:                                                                                                  ##              Young's. Neither of these advanced features were actually flown,
016429,000009:                                                                                                  ##              but Zerlina was also the birthplace of other big improvements to
016430,000010:                                                                                                  ##              Luminary including the terrain model and new (Luminary 1E)
016431,000011:                                                                                                  ##              analog display programs. Zerlina was branched off of Luminary 145,
016432,000012:                                                                                                  ##              and revision 56 includes all changes up to and including Luminary
016433,000013:                                                                                                  ##              183. It is therefore quite close to the Apollo 14 program,
016434,000014:                                                                                                  ##              Luminary 178, where not modified with new features.
016435,000015:                                                                                                  ## Reference:   pp. 370-374
016436,000016:                                                                                                  ## Assembler:   yaYUL
016437,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016438,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
016439,000019:                                                                                                  ## Mod history: 2017-07-28 MAS  Created from Luminary 210.
016440,000020:                                                                                                  ##              2017-08-22 RSB  Transcribed.
016441,000021: 

Page 370

016443,000023:                                                                                                  #  GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
016444,000024: 
016445,000025:                                                                                                  #  NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
016446,000026: 
016447,000027: 22,3003  E6,1706                                  EBANK=   TTEMP                                 
016448,000028: 
016449,000029: 22,3003           04616        NEWDELHI           TC       BANKCALL                              #  CHECK FOR AUTO STABILIZATION
016450,000030: 22,3004           54270                           CADR     ISITAUTO                              #  ONLY
016451,000031: 22,3005           10000                           CCS      A                                     
016452,000032: 22,3006           12730                           TCF      NOGO       -2                         
016453,000033: 22,3007           06051        NEWANGL            TC       INTPRET                               
016454,000034: 22,3010           75160                           AXC,1    AXC,2                                 
016455,000035: 22,3011           03245                                    MIS                                   #  COMPUTE THE NEW MATRIX FROM S/C TO
016456,000036: 22,3012           02221                                    KEL                                   #  STABLE MEMBER AXES
016457,000037: 22,3013           77624                           CALL                                           
016458,000038: 22,3014           44312                                    MXM3                                  
016459,000039: 22,3015           45575                           VLOAD    STADR                                 
016460,000040: 22,3016           50515                           STOVL    MIS        +12D                       #  CALCULATE NEW DESIRED CDU ANGLES
016461,000041: 22,3017           77626                           STADR                                          
016462,000042: 22,3020           50523                           STOVL    MIS        +6D                        
016463,000043: 22,3021           77626                           STADR                                          
016464,000044: 22,3022           74531                           STORE    MIS                                   
016465,000045: 22,3023           45160                           AXC,1    CALL                                  
016466,000046: 22,3024           03245                                    MIS                                   
016467,000047: 22,3025           44654                                    DCMTOCDU                              #  PICK UP THE NEW CDU ANGLES FROM MATRIX
016468,000048: 22,3026           77634                           RTB                                            
016469,000049: 22,3027           21602                                    V1STO2S                               
016470,000050: 22,3030           03303                           STORE    NCDU                                  #  NEW CDU ANGLES
016471,000051: 22,3031           77414                           BONCLR   EXIT                                  
016472,000052: 22,3032           01215                                    CALCMAN2                              
016473,000053: 22,3033           45122                                    MANUSTAT                              #  TO START MANEUVER
016474,000054: 22,3034           34752                           CAF      TWO                                   #           +0 OTHERWISE
016475,000055: 22,3035           55261        INCRDCDU           TS       SPNDX                                 
016476,000056: 22,3036           51261                           INDEX    SPNDX                                 
016477,000057: 22,3037           31675                           CA       BCDU                                  #  INITIAL CDU ANGLES
016478,000058: 22,3040           00006                           EXTEND                                         #  OR PREVIOUS DESIRED CDU ANGLES
016479,000059: 22,3041           51261                           INDEX    SPNDX                                 
016480,000060: 22,3042           21702                           MSU      NCDU                                  
016481,000061: 22,3043           00006                           EXTEND                                         
016482,000062: 22,2000                                           SETLOC   KALCMON1                              
016483,000063: 22,2000                                           BANK                                           
016484,000064: 
016485,000065: 22,3044           73121                           MP       DT/TAU                                
016486,000066: 22,3045           10000                           CCS      A                                     #  CONVERT TO 2S COMPLEMENT
016487,000067: 22,3046           64753                           AD       ONE                                   
016488,000068: 22,3047           13051                           TCF      +2                                    
016489,000069: 22,3050           40000                           COM                                            
016490,000070: 22,3051           51261                           INDEX    SPNDX                                 
016491,000071: 22,3052           55637                           TS       DELDCDU                               #  ANGLE INCREMENTS TO BE ADDED TO
016492,000072: 22,3053           51261                           INDEX    SPNDX                                 #  CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
016493,000073: 

Page 371

016495,000075: 22,3054           31702                           CA       NCDU                                  #  BY LEM DAP
016496,000076: 22,3055           51261                           INDEX    SPNDX                                 
016497,000077: 22,3056           57675                           XCH      BCDU                                  
016498,000078: 22,3057           51261                           INDEX    SPNDX                                 
016499,000079: 22,3060           55634                           TS       CDUXD                                 
016500,000080: 22,3061           11261                           CCS      SPNDX                                 
016501,000081: 22,3062           13035                           TCF      INCRDCDU                              #  LOOP FOR THREE AXES
016502,000082: 
016503,000083: 22,3063           00003                           RELINT                                         
016504,000084: 
016505,000085:                                                                                                  #  COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
016506,000086: 
016507,000087: 22,3064           03075        TMANUCHK           TC       TIMECHK                               
016508,000088: 22,3065           13170                           TCF      CONTMANU                              
016509,000089: 22,3066           34753                           CAF      ONE                                   
016510,000090: 22,3067           00004        MANUSTAL           INHINT                                         #  END MAJOR PART OF MANEUVER WITHIN 1 SEC
016511,000091: 22,3070           05214                           TC       WAITLIST                              #  UNDER WAITLIST CALL TO MANUSTOP
016512,000092: 22,3071  E6,1706                                  EBANK=   TTEMP                                 
016513,000093: 22,3071           03213 44066                     2CADR    MANUSTOP                              
016514,000094: 
016515,000095: 22,3073           00003                           RELINT                                         
016516,000096: 22,3074           15155                           TCF      ENDOFJOB                              
016517,000097: 
016518,000098: 22,3075           00006        TIMECHK            EXTEND                                         
016519,000099: 22,3076           40025                           DCS      TIME2                                 
016520,000100: 22,3077           53707                           DXCH     TTEMP                                 
016521,000101: 22,3100           00006                           EXTEND                                         
016522,000102: 22,3101           31733                           DCA      TM                                    
016523,000103: 22,3102           21707                           DAS      TTEMP                                 
016524,000104: 22,3103           11706                           CCS      TTEMP                                 
016525,000105: 22,3104           00002                           TC       Q                                     
016526,000106: 22,3105           13107                           TCF      +2                                    
016527,000107: 22,3106           13117                           TCF      2NDRETRN                              
016528,000108: 22,3107           11707                           CCS      TTEMP      +1                         
016529,000109: 22,3110           00002                           TC       Q                                     
016530,000110: 22,3111           13113                           TCF      MANUOFF                               
016531,000111: 22,3112           40000                           COM                                            
016532,000112: 22,3113           63166        MANUOFF            AD       ONESEK     +1                         
016533,000113: 22,3114           00006                           EXTEND                                         
016534,000114: 22,3115           63117                           BZMF     2NDRETRN                              
016535,000115: 22,3116           24002                           INCR     Q                                     
016536,000116: 22,3117           24002        2NDRETRN           INCR     Q                                     
016537,000117: 22,3120           00002                           TC       Q                                     
016538,000118: 
016539,000119: 22,3121           03146        DT/TAU             DEC      .1                                    
016540,000120: 
016541,000121: 22,3122           77776        MANUSTAT           EXIT                                           #  INITIALIZATION ROUTINE
016542,000122: 22,3123           00006                           EXTEND                                         #  FOR AUTOMATIC MANEUVERS
016543,000123: 22,3124           30025                           DCA      TIME2                                 

Page 372

016545,000125: 22,3125           21733                           DAS      TM                                    #  TM+T0    MANEUVER COMPLETION TIME
016546,000126: 22,3126           00006                           EXTEND                                         
016547,000127: 22,3127           43166                           DCS      ONESEK                                
016548,000128: 22,3130           21733                           DAS      TM                                    #  (TM+T0)-1
016549,000129: 22,3131           00004                           INHINT                                         
016550,000130: 22,3132           34752                           CAF      TWO                                   
016551,000131: 22,3133           55700        RATEBIAS           TS       KSPNDX                                
016552,000132: 22,3134           60000                           DOUBLE                                         
016553,000133: 22,3135           55701                           TS       KDPNDX                                
016554,000134: 22,3136           50000                           INDEX    A                                     
016555,000135: 22,3137           31724                           CA       BRATE                                 
016556,000136: 22,3140           51700                           INDEX    KSPNDX                                #  STORE MANEUVER RATE IN
016557,000137: 22,3141           55642                           TS       OMEGAPD                               #  OMEGAPD, OMEGAQD, OMEGARD
016558,000138: 22,3142           00006                           EXTEND                                         
016559,000139: 22,3143           63145                           BZMF     +2                                    #  COMPUTE ATTITUDE ERROR
016560,000140: 22,3144           40000                           COM                                            #  OFFSET = (WX)ABS(WX)/2AJX
016561,000141: 22,3145           00006                           EXTEND                                         #  WHERE AJX= 2-JET ACCELERATION
016562,000142: 22,3146           73167                           MP       BIASCALE                              #  = -1/16
016563,000143: 22,3147           00006                           EXTEND                                         
016564,000144: 22,3150           51701                           INDEX    KDPNDX                                
016565,000145: 22,3151           71724                           MP       BRATE                                 
016566,000146: 22,3152           00006                           EXTEND                                         
016567,000147: 22,3153           51700                           INDEX    KSPNDX                                
016568,000148: 22,3154           11530                           DV       1JACC                                 #  =AJX  $ 90 DEG/SEC-SEC
016569,000149: 22,3155           51700                           INDEX    KSPNDX                                
016570,000150: 22,3156           55274                           TS       DELPEROR                              #      $ 180 DEG
016571,000151: 22,3157           11700                           CCS      KSPNDX                                
016572,000152: 22,3160           13133                           TCF      RATEBIAS                              
016573,000153: 
016574,000154: 22,3161           30025                           CA       TIME1                                 
016575,000155: 22,3162           63166                           AD       ONESEK     +1                         
016576,000156: 22,3163           57705                           XCH      NEXTIME                               
016577,000157: 22,3164           13034                           TCF      INCRDCDU   -1                         
016578,000158: 
016579,000159: 22,3165           00000        ONESEK             DEC      0          B-14                       
016580,000160: 22,3166           00144                           DEC      100        B-14                       
016581,000161: 
016582,000162: 22,3167           75777        BIASCALE           OCT      75777                                 #  = -1/16
016583,000163: 
016584,000164: 22,3170           40025        CONTMANU           CS       TIME1                                 #  RESET FOR NEXT DCDU UPDATE
016585,000165: 22,3171           61705                           AD       NEXTIME                               
016586,000166: 22,3172           10000                           CCS      A                                     
016587,000167: 22,3173           64753                           AD       ONE                                   
016588,000168: 22,3174           13177                           TCF      MANUCALL                              
016589,000169: 22,3175           64735                           AD       NEGMAX                                
016590,000170: 22,3176           40000                           COM                                            
016591,000171: 22,3177           00004        MANUCALL           INHINT                                         #  CALL FOR NEXT UPDATE VIA WAITLIST
016592,000172: 22,3200           05214                           TC       WAITLIST                              
016593,000173: 22,3201  E6,1706                                  EBANK=   TTEMP                                 
016594,000174: 22,3201           03206 44066                     2CADR    UPDTCALL                              
016595,000175: 

Page 373

016597,000177: 22,3203           33166                           CAF      ONESEK     +1                         #  INCREMENT TIME FOR NEXT UPDATE
016598,000178: 22,3204           27705                           ADS      NEXTIME                               
016599,000179: 22,3205           15155                           TCF      ENDOFJOB                              
016600,000180: 
016601,000181: 
016602,000182: 22,3206           37726        UPDTCALL           CAF      PRIO26                                #  SATELLITE PROGRAM TO CALL FOR UPDATE
016603,000183: 22,3207           05105                           TC       FINDVAC                               #  OF STEERING COMMANDS
016604,000184: 22,3210  E6,1706                                  EBANK=   TTEMP                                 
016605,000185: 22,3210           03003 44066                     2CADR    NEWDELHI                              
016606,000186: 
016607,000187: 22,3212           05272                           TC       TASKOVER                              
016608,000188: 

Page 374

016610,000190:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
016611,000191: 
016612,000192: 22,3213           34755        MANUSTOP           CAF      ZERO                                  #  ZERO MANEUVER RATES
016613,000193: 22,3214           55641                           TS       DELDCDU2                              
016614,000194: 22,3215           55644                           TS       OMEGARD                               
016615,000195: 22,3216           55276                           TS       DELREROR                              
016616,000196: 22,3217           55640                           TS       DELDCDU1                              
016617,000197: 22,3220           55643                           TS       OMEGAQD                               
016618,000198: 22,3221           55275                           TS       DELQEROR                              
016619,000199: 22,3222           30323                           CA       CPSI                                  #  SET DESIRED GIMBAL ANGLES TO
016620,000200: 22,3223           55636                           TS       CDUZD                                 #  DESIRED FINAL GIMBAL ANGLES
016621,000201: 22,3224           30322                           CA       CTHETA                                
016622,000202: 22,3225           55635                           TS       CDUYD                                 
016623,000203: 22,3226           30321        ENDROLL            CA       CPHI                                  #  NO FINAL YAW
016624,000204: 22,3227           55634                           TS       CDUXD                                 
016625,000205: 22,3230           34755                           CAF      ZERO                                  
016626,000206: 22,3231           55642                           TS       OMEGAPD                               #  I.E. MANEUVER DID NOT GO THRU
016627,000207: 22,3232           55637                           TS       DELDCDU                               #  GIMBAL LOCK ORIGINALLY
016628,000208: 22,3233           55274                           TS       DELPEROR                              
016629,000209: 22,3234           31306        GOODMANU           CA       ATTPRIO                               #  RESTORE USERS PRIO
016630,000210: 22,3235           54063                           TS       NEWPRIO                               
016631,000211: 
016632,000212: 22,3236           34755                           CA       ZERO                                  #  ZERO ATTCADR
016633,000213: 22,3237           53305                           DXCH     ATTCADR                               
016634,000214: 
016635,000215: 22,3240           05116                           TC       SPVAC                                 #  RETURN TO USER
016636,000216: 
016637,000217: 22,3241           05272                           TC       TASKOVER                              
016638,000218: 
016639,000219: 

End of include-file KALCMANU_STEERING.agc.  Parent file is MAIN.agc