Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note 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 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. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
016427,000002: ## Copyright: Public domain.
016428,000003: ## Filename: KALCMANU_STEERING.agc
016429,000004: ## Purpose: A log section of Zerlina 56, the final revision of
016430,000005: ## Don Eyles's offline development program for the variable
016431,000006: ## guidance period servicer. It also includes a new P66 with LPD
016432,000007: ## (Landing Point Designator) capability, based on an idea of John
016433,000008: ## Young's. Neither of these advanced features were actually flown,
016434,000009: ## but Zerlina was also the birthplace of other big improvements to
016435,000010: ## Luminary including the terrain model and new (Luminary 1E)
016436,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
016437,000012: ## and revision 56 includes all changes up to and including Luminary
016438,000013: ## 183. It is therefore quite close to the Apollo 14 program,
016439,000014: ## Luminary 178, where not modified with new features.
016440,000015: ## Reference: pp. 370-374
016441,000016: ## Assembler: yaYUL
016442,000017: ## Contact: Ron Burkey <info@sandroid.org>.
016443,000018: ## Website: www.ibiblio.org/apollo/index.html
016444,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
016445,000020: ## 2017-08-22 RSB Transcribed.
016446,000021:
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Page 370 |
016448,000023: # GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
016449,000024:
016450,000025: # NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
016451,000026:
016452,000027: 22,3003 E6,1706 EBANK= TTEMP
016453,000028:
016454,000029: 22,3003 04616 NEWDELHI TC BANKCALL # CHECK FOR AUTO STABILIZATION
016455,000030: 22,3004 54270 CADR ISITAUTO # ONLY
016456,000031: 22,3005 10000 CCS A
016457,000032: 22,3006 12730 TCF NOGO -2
016458,000033: 22,3007 06051 NEWANGL TC INTPRET
016459,000034: 22,3010 75160 AXC,1 AXC,2
016460,000035: 22,3011 03245 MIS # COMPUTE THE NEW MATRIX FROM S/C TO
016461,000036: 22,3012 02221 KEL # STABLE MEMBER AXES
016462,000037: 22,3013 77624 CALL
016463,000038: 22,3014 44312 MXM3
016464,000039: 22,3015 45575 VLOAD STADR
016465,000040: 22,3016 50515 STOVL MIS +12D # CALCULATE NEW DESIRED CDU ANGLES
016466,000041: 22,3017 77626 STADR
016467,000042: 22,3020 50523 STOVL MIS +6D
016468,000043: 22,3021 77626 STADR
016469,000044: 22,3022 74531 STORE MIS
016470,000045: 22,3023 45160 AXC,1 CALL
016471,000046: 22,3024 03245 MIS
016472,000047: 22,3025 44654 DCMTOCDU # PICK UP THE NEW CDU ANGLES FROM MATRIX
016473,000048: 22,3026 77634 RTB
016474,000049: 22,3027 21602 V1STO2S
016475,000050: 22,3030 03303 STORE NCDU # NEW CDU ANGLES
016476,000051: 22,3031 77414 BONCLR EXIT
016477,000052: 22,3032 01215 CALCMAN2
016478,000053: 22,3033 45122 MANUSTAT # TO START MANEUVER
016479,000054: 22,3034 34752 CAF TWO # +0 OTHERWISE
016480,000055: 22,3035 55261 INCRDCDU TS SPNDX
016481,000056: 22,3036 51261 INDEX SPNDX
016482,000057: 22,3037 31675 CA BCDU # INITIAL CDU ANGLES
016483,000058: 22,3040 00006 EXTEND # OR PREVIOUS DESIRED CDU ANGLES
016484,000059: 22,3041 51261 INDEX SPNDX
016485,000060: 22,3042 21702 MSU NCDU
016486,000061: 22,3043 00006 EXTEND
016487,000062: 22,2000 SETLOC KALCMON1
016488,000063: 22,2000 BANK
016489,000064:
016490,000065: 22,3044 73121 MP DT/TAU
016491,000066: 22,3045 10000 CCS A # CONVERT TO 2S COMPLEMENT
016492,000067: 22,3046 64753 AD ONE
016493,000068: 22,3047 13051 TCF +2
016494,000069: 22,3050 40000 COM
016495,000070: 22,3051 51261 INDEX SPNDX
016496,000071: 22,3052 55637 TS DELDCDU # ANGLE INCREMENTS TO BE ADDED TO
016497,000072: 22,3053 51261 INDEX SPNDX # CDUXD, CDUYD, CDUZD EVERY TENTH SECOND
016498,000073:
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Page 371 |
016500,000075: 22,3054 31702 CA NCDU # BY LEM DAP
016501,000076: 22,3055 51261 INDEX SPNDX
016502,000077: 22,3056 57675 XCH BCDU
016503,000078: 22,3057 51261 INDEX SPNDX
016504,000079: 22,3060 55634 TS CDUXD
016505,000080: 22,3061 11261 CCS SPNDX
016506,000081: 22,3062 13035 TCF INCRDCDU # LOOP FOR THREE AXES
016507,000082:
016508,000083: 22,3063 00003 RELINT
016509,000084:
016510,000085: # COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
016511,000086:
016512,000087: 22,3064 03075 TMANUCHK TC TIMECHK
016513,000088: 22,3065 13170 TCF CONTMANU
016514,000089: 22,3066 34753 CAF ONE
016515,000090: 22,3067 00004 MANUSTAL INHINT # END MAJOR PART OF MANEUVER WITHIN 1 SEC
016516,000091: 22,3070 05214 TC WAITLIST # UNDER WAITLIST CALL TO MANUSTOP
016517,000092: 22,3071 E6,1706 EBANK= TTEMP
016518,000093: 22,3071 03213 44066 2CADR MANUSTOP
016519,000094:
016520,000095: 22,3073 00003 RELINT
016521,000096: 22,3074 15155 TCF ENDOFJOB
016522,000097:
016523,000098: 22,3075 00006 TIMECHK EXTEND
016524,000099: 22,3076 40025 DCS TIME2
016525,000100: 22,3077 53707 DXCH TTEMP
016526,000101: 22,3100 00006 EXTEND
016527,000102: 22,3101 31733 DCA TM
016528,000103: 22,3102 21707 DAS TTEMP
016529,000104: 22,3103 11706 CCS TTEMP
016530,000105: 22,3104 00002 TC Q
016531,000106: 22,3105 13107 TCF +2
016532,000107: 22,3106 13117 TCF 2NDRETRN
016533,000108: 22,3107 11707 CCS TTEMP +1
016534,000109: 22,3110 00002 TC Q
016535,000110: 22,3111 13113 TCF MANUOFF
016536,000111: 22,3112 40000 COM
016537,000112: 22,3113 63166 MANUOFF AD ONESEK +1
016538,000113: 22,3114 00006 EXTEND
016539,000114: 22,3115 63117 BZMF 2NDRETRN
016540,000115: 22,3116 24002 INCR Q
016541,000116: 22,3117 24002 2NDRETRN INCR Q
016542,000117: 22,3120 00002 TC Q
016543,000118:
016544,000119: 22,3121 03146 DT/TAU DEC .1
016545,000120:
016546,000121: 22,3122 77776 MANUSTAT EXIT # INITIALIZATION ROUTINE
016547,000122: 22,3123 00006 EXTEND # FOR AUTOMATIC MANEUVERS
016548,000123: 22,3124 30025 DCA TIME2
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Page 372 |
016550,000125: 22,3125 21733 DAS TM # TM+T0 MANEUVER COMPLETION TIME
016551,000126: 22,3126 00006 EXTEND
016552,000127: 22,3127 43166 DCS ONESEK
016553,000128: 22,3130 21733 DAS TM # (TM+T0)-1
016554,000129: 22,3131 00004 INHINT
016555,000130: 22,3132 34752 CAF TWO
016556,000131: 22,3133 55700 RATEBIAS TS KSPNDX
016557,000132: 22,3134 60000 DOUBLE
016558,000133: 22,3135 55701 TS KDPNDX
016559,000134: 22,3136 50000 INDEX A
016560,000135: 22,3137 31724 CA BRATE
016561,000136: 22,3140 51700 INDEX KSPNDX # STORE MANEUVER RATE IN
016562,000137: 22,3141 55642 TS OMEGAPD # OMEGAPD, OMEGAQD, OMEGARD
016563,000138: 22,3142 00006 EXTEND
016564,000139: 22,3143 63145 BZMF +2 # COMPUTE ATTITUDE ERROR
016565,000140: 22,3144 40000 COM # OFFSET = (WX)ABS(WX)/2AJX
016566,000141: 22,3145 00006 EXTEND # WHERE AJX= 2-JET ACCELERATION
016567,000142: 22,3146 73167 MP BIASCALE # = -1/16
016568,000143: 22,3147 00006 EXTEND
016569,000144: 22,3150 51701 INDEX KDPNDX
016570,000145: 22,3151 71724 MP BRATE
016571,000146: 22,3152 00006 EXTEND
016572,000147: 22,3153 51700 INDEX KSPNDX
016573,000148: 22,3154 11530 DV 1JACC # =AJX $ 90 DEG/SEC-SEC
016574,000149: 22,3155 51700 INDEX KSPNDX
016575,000150: 22,3156 55274 TS DELPEROR # $ 180 DEG
016576,000151: 22,3157 11700 CCS KSPNDX
016577,000152: 22,3160 13133 TCF RATEBIAS
016578,000153:
016579,000154: 22,3161 30025 CA TIME1
016580,000155: 22,3162 63166 AD ONESEK +1
016581,000156: 22,3163 57705 XCH NEXTIME
016582,000157: 22,3164 13034 TCF INCRDCDU -1
016583,000158:
016584,000159: 22,3165 00000 ONESEK DEC 0 B-14
016585,000160: 22,3166 00144 DEC 100 B-14
016586,000161:
016587,000162: 22,3167 75777 BIASCALE OCT 75777 # = -1/16
016588,000163:
016589,000164: 22,3170 40025 CONTMANU CS TIME1 # RESET FOR NEXT DCDU UPDATE
016590,000165: 22,3171 61705 AD NEXTIME
016591,000166: 22,3172 10000 CCS A
016592,000167: 22,3173 64753 AD ONE
016593,000168: 22,3174 13177 TCF MANUCALL
016594,000169: 22,3175 64735 AD NEGMAX
016595,000170: 22,3176 40000 COM
016596,000171: 22,3177 00004 MANUCALL INHINT # CALL FOR NEXT UPDATE VIA WAITLIST
016597,000172: 22,3200 05214 TC WAITLIST
016598,000173: 22,3201 E6,1706 EBANK= TTEMP
016599,000174: 22,3201 03206 44066 2CADR UPDTCALL
016600,000175:
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Page 373 |
016602,000177: 22,3203 33166 CAF ONESEK +1 # INCREMENT TIME FOR NEXT UPDATE
016603,000178: 22,3204 27705 ADS NEXTIME
016604,000179: 22,3205 15155 TCF ENDOFJOB
016605,000180:
016606,000181:
016607,000182: 22,3206 37726 UPDTCALL CAF PRIO26 # SATELLITE PROGRAM TO CALL FOR UPDATE
016608,000183: 22,3207 05105 TC FINDVAC # OF STEERING COMMANDS
016609,000184: 22,3210 E6,1706 EBANK= TTEMP
016610,000185: 22,3210 03003 44066 2CADR NEWDELHI
016611,000186:
016612,000187: 22,3212 05272 TC TASKOVER
016613,000188:
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Page 374 |
016615,000190: # ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
016616,000191:
016617,000192: 22,3213 34755 MANUSTOP CAF ZERO # ZERO MANEUVER RATES
016618,000193: 22,3214 55641 TS DELDCDU2
016619,000194: 22,3215 55644 TS OMEGARD
016620,000195: 22,3216 55276 TS DELREROR
016621,000196: 22,3217 55640 TS DELDCDU1
016622,000197: 22,3220 55643 TS OMEGAQD
016623,000198: 22,3221 55275 TS DELQEROR
016624,000199: 22,3222 30323 CA CPSI # SET DESIRED GIMBAL ANGLES TO
016625,000200: 22,3223 55636 TS CDUZD # DESIRED FINAL GIMBAL ANGLES
016626,000201: 22,3224 30322 CA CTHETA
016627,000202: 22,3225 55635 TS CDUYD
016628,000203: 22,3226 30321 ENDROLL CA CPHI # NO FINAL YAW
016629,000204: 22,3227 55634 TS CDUXD
016630,000205: 22,3230 34755 CAF ZERO
016631,000206: 22,3231 55642 TS OMEGAPD # I.E. MANEUVER DID NOT GO THRU
016632,000207: 22,3232 55637 TS DELDCDU # GIMBAL LOCK ORIGINALLY
016633,000208: 22,3233 55274 TS DELPEROR
016634,000209: 22,3234 31306 GOODMANU CA ATTPRIO # RESTORE USERS PRIO
016635,000210: 22,3235 54063 TS NEWPRIO
016636,000211:
016637,000212: 22,3236 34755 CA ZERO # ZERO ATTCADR
016638,000213: 22,3237 53305 DXCH ATTCADR
016639,000214:
016640,000215: 22,3240 05116 TC SPVAC # RETURN TO USER
016641,000216:
016642,000217: 22,3241 05272 TC TASKOVER
016643,000218:
016644,000219:
End of include-file KALCMANU_STEERING.agc. Parent file is MAIN.agc