Source Code

These source-code files were obtained by digitally photographing the Colossus 237 program listing from the private collection of original AGC developer Fred Martin, and then modifying pre-existing Colossus 249 (Apollo 9) source files to incorporate changes. Note that the page images presented online are of reduced quality, and that additional 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 237 OF AGC PROGRAM COLOSSUS 
	BY NASA 2021111-031  1:17 AUG. 24, 1968

017755,000002:                                                                                                 #  Copyright:     Public domain.
017756,000003:                                                                                                 #  Filename:      KALCMANU_STEERING.agc
017757,000004:                                                                                                 #  Purpose:       Part of the source code for Colossus build 237.  
017758,000005:                                                                                                 #                 This is for the Command Module's (CM) Apollo Guidance
017759,000006:                                                                                                 #                 Computer (AGC), we believe for Apollo 8.
017760,000007:                                                                                                 #  Assembler:     yaYUL
017761,000008:                                                                                                 #  Contact:       Onno Hommes <ohommes@alumni.cmu.edu>
017762,000009:                                                                                                 #  Website:       www.ibiblio.org/apollo/index.html
017763,000010:                                                                                                 #  Page scans:    www.ibiblio.org/apollo/ScansForConversion/Colossus237/
017764,000011:                                                                                                 #  Mod history:   2010-06-01 OH   Adapted from corresponding Colossus 249 file.
017765,000012:                                                                                                 #                 2010-12-04 JL   Remove Colossus 249 header comments. Change 
017766,000013:                                                                                                 #                                 to double-hash page numbers.
017767,000014:                                                                                                 #                 2011-01-27 JL   Minor fixes.
017768,000015: 
017769,000016:                                                                                                 # # Page 405
017770,000017:                                                                                                 #  GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
017771,000018: 
017772,000019:                                                                                                 #  NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
017773,000020: 
017774,000021: 15,2000                                          BANK     15                                    
017775,000022: 
017776,000023: 22,2000                                          SETLOC   KALCMON1                              
017777,000024: 22,2000                                          BANK                                           
017778,000025: 
017779,000026: 22,3027  E6,1661                                 EBANK=   BCDU                                  
017780,000027: 
017781,000028: 22,3027                                          COUNT    22/KALC                               
017782,000029: 
017783,000030: 22,3027           41332        NEWDELHI          CS       HOLDFLAG                              #  SEE IF MANEUVER HAS BEEN INTERRUPTED
017784,000031: 22,3030           00006                          EXTEND                                         #  BY ASTRONAUT
017785,000032: 22,3031           62725                          BZMF     NOGO       -2                         #  IF SO, TERMINATE KALCMANU
017786,000033: 22,3032           06006        NEWANGL           TC       INTPRET                               
017787,000034: 22,3033           75160                          AXC,1    AXC,2                                 
017788,000035: 22,3034           03320                                   MIS                                   #  COMPUTE THE NEW MATRIX FROM S/C TO
017789,000036: 22,3035           03425                                   DEL                                   #  STABLE MEMBER AXES
017790,000037: 22,3036           77624                          CALL                                           
017791,000038: 22,3037           44304                                   MXM3                                  
017792,000039: 22,3040           45575                          VLOAD    STADR                                 
017793,000040: 22,3041           50442                          STOVL    MIS        +12D                       #  CALCULATE NEW DESIRED CDU ANGLES
017794,000041: 22,3042           77626                          STADR                                          
017795,000042: 22,3043           50450                          STOVL    MIS        +6D                        
017796,000043: 22,3044           77626                          STADR                                          
017797,000044: 22,3045           74456                          STORE    MIS                                   
017798,000045: 22,3046           45160                          AXC,1    CALL                                  
017799,000046: 22,3047           03320                                   MIS                                   
017800,000047: 22,3050           44655                                   DCMTOCDU                              #  PICK UP THE NEW CDU ANGLES FROM MATRIX
017801,000048: 22,3051           77634                          RTB                                            
017802,000049: 22,3052           45547                                   V1STO2S                               
017803,000050: 22,3053           03267                          STORE    NCDU                                  #  NEW CDU ANGLES
017804,000051: 22,3054           77414                          BONCLR   EXIT                                  
017805,000052: 22,3055           01215                                   CALCMAN2                              
017806,000053: 22,3056           45142                                   MANUSTAT                              #  TO START MANEUVER
017807,000054: 22,3057           34711                          CAF      TWO                                   #            +0 OTHERWISE
017808,000055: 22,3060           55664        INCRDCDU          TS       KSPNDX                                
017809,000056: 22,3061           60000                          DOUBLE                                         
017810,000057: 22,3062           55665                          TS       KDPNDX                                
017811,000058: 22,3063           51664                          INDEX    KSPNDX                                
017812,000059: 22,3064           31666                          CA       NCDU                                  #  NEW DESIRED CDU ANGLES
017813,000060: 22,3065           00006                          EXTEND                                         
017814,000061: 22,3066           51664                          INDEX    KSPNDX                                
017815,000062: 22,3067           21661                          MSU      BCDU                                  #  INITIAL S/C ANGLE OR PRVIOUS DESIRED
017816,000063: 22,3070           00006                          EXTEND                                         #  CDU ANGLES
017817,000064: 22,3071           73141                          MP       DT/TAU                                
017818,000065: 22,3072           51665                          INDEX    KDPNDX                                
017819,000066: 22,3073           53576                          DXCH     DELCDUX                               #  ANGEL INCREMENTS TO BE ADDED TO
017820,000067:                                                                                                 # # Page 406
017821,000068: 22,3074           51664                          INDEX    KSPNDX                                #  DCDU EVERY TENTH SEC
017822,000069: 22,3075           31666                          CA       NCDU                                  #  BY LEM DAP
017823,000070: 22,3076           51664                          INDEX    KSPNDX                                
017824,000071: 22,3077           57661                          XCH      BCDU                                  
017825,000072: 22,3100           51665                          INDEX    KDPNDX                                
017826,000073: 22,3101           55646                          TS       CDUXD                                 
017827,000074: 22,3102           11664                          CCS      KSPNDX                                
017828,000075: 22,3103           13060                          TCF      INCRDCDU                              #  LOOP FOR THREE AXES
017829,000076: 
017830,000077: 22,3104           00003                          RELINT                                         
017831,000078:                                                                                                 #  COMPARE PRESENT TIME WTIH TIME TO TERMINATE MANEUVER
017832,000079: 
017833,000080: 22,3105           03115        TMANUCHK          TC       TIMECHK                               
017834,000081: 22,3106           13206                          TCF      CONTMANU                              
017835,000082: 22,3107           34712                          CAF      ONE                                   
017836,000083: 22,3110           05140        MANUSTAL          TC       WAITLIST                              
017837,000084: 22,3111  E6,1661                                 EBANK=   BCDU                                  
017838,000085: 22,3111           03232 44066                    2CADR    MANUSTOP                              
017839,000086: 22,3113           00003                          RELINT                                         
017840,000087: 22,3114           15112                          TCF      ENDOFJOB                              
017841,000088: 
017842,000089: 
017843,000090: 22,3115           00006        TIMECHK           EXTEND                                         
017844,000091: 22,3116           40025                          DCS      TIME2                                 
017845,000092: 22,3117           53673                          DXCH     TTEMP                                 
017846,000093: 22,3120           00006                          EXTEND                                         
017847,000094: 22,3121           31717                          DCA      TM                                    
017848,000095: 22,3122           21673                          DAS      TTEMP                                 
017849,000096: 22,3123           11672                          CCS      TTEMP                                 
017850,000097: 22,3124           00002                          TC       Q                                     
017851,000098: 22,3125           13127                          TCF      +2                                    
017852,000099: 22,3126           13137                          TCF      2NDRETRN                              
017853,000100: 22,3127           11673                          CCS      TTEMP      +1                         
017854,000101: 22,3130           00002                          TC       Q                                     
017855,000102: 22,3131           13133                          TCF      MANUOFF                               
017856,000103: 22,3132           40000                          COM                                            
017857,000104: 22,3133           63205        MANUOFF           AD       ONESEC     +1                         
017858,000105: 22,3134           00006                          EXTEND                                         
017859,000106: 22,3135           63137                          BZMF     2NDRETRN                              
017860,000107: 22,3136           24002                          INCR     Q                                     
017861,000108: 22,3137           24002        2NDRETRN          INCR     Q                                     
017862,000109: 22,3140           00002                          TC       Q                                     
017863,000110: 22,3141           03146        DT/TAU            DEC      .1                                    
017864,000111: 
017865,000112: 22,3142           77776        MANUSTAT          EXIT                                           #  INITIALIZATION ROUTINE
017866,000113: 22,3143           00006                          EXTEND                                         #  FOR AUTOMATIC MANEUVERS
017867,000114: 22,3144           30025                          DCA      TIME2                                 
017868,000115: 22,3145           21717                          DAS      TM                                    #  TM+T0    MANEUVER COMPLETION TIME
017869,000116: 22,3146           00006                          EXTEND                                         
017870,000117:                                                                                                 # # Page 407
017871,000118: 22,3147           43205                          DCS      ONESEC                                
017872,000119: 22,3150           21717                          DAS      TM                                    #  (TM+T0)-1
017873,000120: 22,3151           00004                          INHINT                                         
017874,000121: 22,3152           44712                          CS       ONE                                   #  ENABLE AUTOPILOT TO PERFORM
017875,000122: 22,3153           55332                          TS       HOLDFLAG                              #  AUTOMATIC MANEUVERS
017876,000123: 22,3154           41130                          CS       RATEINDX                              #  SEE IF MANEUVERING AT HIGH RATE
017877,000124: 22,3155           66211                          AD       SIX                                   
017878,000125: 22,3156           00006                          EXTEND                                         
017879,000126: 22,3157           63161                          BZMF     HIGHGAIN                              
017880,000127: 22,3160           13164                          TCF      +4                                    
017881,000128: 22,3161           41501        HIGHGAIN          CS       RCSFLAGS                              #  IF SO, SET HIGH RATE FLAG (BIT 15 OF
017882,000129: 22,3162           74674                          MASK     BIT15                                 #  RCSFLAGS)
017883,000130: 22,3163           27501                          ADS      RCSFLAGS                              
017884,000131: 22,3164           53711                          DXCH     BRATE                                 #  X-AXIS MANEUVER RATE
017885,000132: 22,3165           53526                          DXCH     WBODY                                 
017886,000133: 22,3166           53713                          DXCH     BRATE      +2                         #  Y-AXIS MANEUVER RATE
017887,000134: 22,3167           53530                          DXCH     WBODY1                                
017888,000135: 22,3170           53715                          DXCH     BRATE      +4                         #  Z-AXIS MANEUVER RATE
017889,000136: 22,3171           53532                          DXCH     WBODY2                                
017890,000137: 22,3172           31675                          CA       BIASTEMP   +1                         #  INSERT ATTITUDE ERROR BIASES
017891,000138: 22,3173           55564                          TS       BIAS                                  #  INTO AUTOPILOT
017892,000139: 22,3174           31677                          CA       BIASTEMP   +3                         
017893,000140: 22,3175           55565                          TS       BIAS1                                 
017894,000141: 22,3176           31701                          CA       BIASTEMP   +5                         
017895,000142: 22,3177           55566                          TS       BIAS2                                 
017896,000143: 22,3200           30025                          CA       TIME1                                 
017897,000144: 22,3201           63205                          AD       ONESEC     +1                         
017898,000145: 22,3202           57671                          XCH      NEXTIME                               
017899,000146: 22,3203           13057                          TCF      INCRDCDU   -1                         
017900,000147: 
017901,000148: 22,3204           00000        ONESEC            DEC      0          B-14                       
017902,000149: 22,3205           00144                          DEC      100        B-14                       
017903,000150: 
017904,000151: 22,3206           00004        CONTMANU          INHINT                                         #  CONTINUE WITH UPDATE PROCESS
017905,000152: 22,3207           40025                          CS       TIME1                                 
017906,000153: 22,3210           61671                          AD       NEXTIME                               
017907,000154: 22,3211           10000                          CCS      A                                     
017908,000155: 22,3212           64712                          AD       ONE                                   
017909,000156: 22,3213           13216                          TCF      MANUCALL                              
017910,000157: 22,3214           64674                          AD       NEGMAX                                
017911,000158: 22,3215           40000                          COM                                            
017912,000159: 22,3216           05140        MANUCALL          TC       WAITLIST                              
017913,000160: 22,3217  E6,1661                                 EBANK=   BCDU                                  
017914,000161: 22,3217           03225 44066                    2CADR    UPDTCALL                              
017915,000162: 22,3221           00003                          RELINT                                         
017916,000163: 22,3222           33205                          CAF      ONESEC     +1                         #  INCREMENT TIME FOR NEXT UPDATE
017917,000164: 22,3223           27671                          ADS      NEXTIME                               
017918,000165: 22,3224           15112                          TCF      ENDOFJOB                              
017919,000166: 
017920,000167:                                                                                                 # # Page 408
017921,000168: 22,3225           37663        UPDTCALL          CAF      PRIO26                                #  CALL FOR UPDATE
017922,000169: 22,3226           05042                          TC       FINDVAC                               #  OF STEERING COMMANDS
017923,000170: 22,3227  E6,1661                                 EBANK=   BCDU                                  
017924,000171: 22,3227           03027 44066                    2CADR    NEWDELHI                              
017925,000172: 22,3231           05213                          TC       TASKOVER                              
017926,000173: 
017927,000174:                                                                                                 # # Page 409
017928,000175:                                                                                                 #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
017929,000176: 
017930,000177: 22,3232           03256        MANUSTOP          TC       STOPYZ                                
017931,000178: 22,3233           03303                          TC       LOADYZ                                
017932,000179: 
017933,000180: 22,3234           31155        ENDROLL           CA       CPHI                                  
017934,000181: 22,3235           55646                          TS       CDUXD                                 #  SET CDUXD TO THE COMMANDED OUTER GIMBAL
017935,000182: 22,3236           03245                          TC       STOPRATE                              
017936,000183: 22,3237           31327        ENDMANU           CA       ATTPRIO                               #  RESTORE USERS PRIORITY
017937,000184: 22,3240           54063                          TS       NEWPRIO                               
017938,000185: 
017939,000186: 22,3241           34714                          CA       ZERO                                  #  ZERO ATTCADR
017940,000187: 22,3242           53326                          DXCH     ATTCADR                               
017941,000188: 
017942,000189: 22,3243           05053                          TC       SPVAC                                 #  RETURN TO USER OF GOMANUR
017943,000190: 
017944,000191: 22,3244           05213                          TC       TASKOVER                              
017945,000192: 
017946,000193: 22,3245           34714        STOPRATE          CAF      ZERO                                  
017947,000194: 22,3246           55575                          TS       DELCDUX                               
017948,000195: 22,3247           55576                          TS       DELCDUX    +1                         #  ZERO ROLL INCREMENTAL ANGLES
017949,000196: 22,3250           55525                          TS       WBODY                                 #  RATE
017950,000197: 22,3251           55526                          TS       WBODY      +1                         
017951,000198: 22,3252           55564                          TS       BIAS                                  #  BIAS
017952,000199: 
017953,000200: 22,3253           44674                          CS       BIT15                                 #  MAKE SURE HIGH RATE FLAG (BIT 15 OF
017954,000201: 22,3254           71501                          MASK     RCSFLAGS                              #  RCSFLAGS) IS RESET.
017955,000202: 22,3255           55501                          TS       RCSFLAGS                              
017956,000203: 
017957,000204: 22,3256           34714        STOPYZ            CAF      ZERO                                  
017958,000205: 22,3257           55577                          TS       DELCDUY                               #  ZERO PITCH, YAW
017959,000206: 22,3260           55600                          TS       DELCDUY    +1                         #  INCREMENTAL ANGLES
017960,000207: 22,3261           55601                          TS       DELCDUZ                               
017961,000208: 22,3262           55602                          TS       DELCDUZ    +1                         
017962,000209: 22,3263           55527                          TS       WBODY1                                #  RATES
017963,000210: 22,3264           55530                          TS       WBODY1     +1                         
017964,000211: 22,3265           55531                          TS       WBODY2                                
017965,000212: 22,3266           55532                          TS       WBODY2     +1                         
017966,000213: 22,3267           55565                          TS       BIAS1                                 #  BIASES
017967,000214: 22,3270           55566                          TS       BIAS2                                 
017968,000215: 22,3271           00002                          TC       Q                                     
017969,000216: 
017970,000217: 22,3272           30032        ZEROEROR          CA       CDUX                                  #  PICK UP CDU ANGLES AND STORE IN
017971,000218: 22,3273           55646                          TS       CDUXD                                 #  CDU DESIRED
017972,000219: 22,3274           30033                          CA       CDUY                                  
017973,000220: 22,3275           55650                          TS       CDUYD                                 
017974,000221: 22,3276           30034                          CA       CDUZ                                  
017975,000222: 22,3277           55652                          TS       CDUZD                                 
017976,000223: 22,3300           00002                          TC       Q                                     
017977,000224: 
017978,000225:                                                                                                 # # Page 410
017979,000226: 22,3301           31155        LOADCDUD          CA       CPHI                                  #  STORE TERMINAL ANGLES INTO
017980,000227: 22,3302           55646                          TS       CDUXD                                 #  COMMAND ANGLES
017981,000228: 22,3303           31156        LOADYZ            CA       CTHETA                                
017982,000229: 22,3304           55650                          TS       CDUYD                                 
017983,000230: 22,3305           31157                          CA       CPSI                                  
017984,000231: 22,3306           55652                          TS       CDUZD                                 
017985,000232: 22,3307           00002                          TC       Q                                     

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