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. |
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:
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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:
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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
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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:
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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:
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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