Source Code

This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure!

014994,000002:                                                                                                  ## Copyright:   Public domain.
014995,000003:                                                                                                  ## Filename:    KALCMANU_STEERING.agc
014996,000004:                                                                                                  ## Purpose:     Part of the source code for Luminary 1A build 099.
014997,000005:                                                                                                  ##              It is part of the source code for the Lunar Module's (LM)
014998,000006:                                                                                                  ##              Apollo Guidance Computer (AGC), for Apollo 11.
014999,000007:                                                                                                  ## Assembler:   yaYUL
015000,000008:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
015001,000009:                                                                                                  ## Website:     www.ibiblio.org/apollo.
015002,000010:                                                                                                  ## Pages:       365-369
015003,000011:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
015004,000012:                                                                                                  ##                              Luminary131 file, using page 
015005,000013:                                                                                                  ##                              images from Luminary 1A.
015006,000014:                                                                                                  ##              2011-01-06 JL   Added missing comment characters.
015007,000015:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
015008,000016:                                                                                                  ##                              and corrected the errors found.
015009,000017:                                                                                                  ##              2017-03-03 RSB  Snapshot of Luminary 99 Rev 1. 
015010,000018:                                                                                                  ##              2017-03-07 RSB  Removed yaYUL workaround that no longer 
015011,000019:                                                                                                  ##                              seems to be needed.
015012,000020:                                                                                                  ##              2017-03-17 RSB  Comment-text fixes identified in diff'ing
015013,000021:                                                                                                  ##                              Luminary 99 vs Comanche 55.
015014,000022: 

Page 365

015016,000024:                                                                                                  #  GENERATION OF STEERING COMMANDS FOR DIGITAL AUTOPILOT FREE FALL MANEUVERS
015017,000025: 
015018,000026:                                                                                                  #  NEW COMMANDS WILL BE GENERATED EVERY ONE SECOND DURING THE MANEUVER
015019,000027: 
015020,000028: 22,3003  E6,1707                                  EBANK=   TTEMP                                 
015021,000029: 
015022,000030: 22,3003           04616        NEWDELHI           TC       BANKCALL                              #  CHECK FOR AUTO STABILIZATION
015023,000031: 22,3004           54262                           CADR     ISITAUTO                              #  ONLY
015024,000032: 22,3005           10000                           CCS      A                                     
015025,000033: 22,3006           12730                           TCF      NOGO       -2                         
015026,000034: 22,3007           06037        NEWANGL            TC       INTPRET                               
015027,000035: 22,3010           75160                           AXC,1    AXC,2                                 
015028,000036: 22,3011           03246                                    MIS                                   #  COMPUTE THE NEW MATRIX FROM S/C TO
015029,000037: 22,3012           02230                                    KEL                                   #  STABLE MEMBER AXES
015030,000038: 22,3013           77624                           CALL                                           
015031,000039: 22,3014           44312                                    MXM3                                  
015032,000040: 22,3015           45575                           VLOAD    STADR                                 
015033,000041: 22,3016           50514                           STOVL    MIS        +12D                       #  CALCULATE NEW DESIRED CDU ANGLES
015034,000042: 22,3017           77626                           STADR                                          
015035,000043: 22,3020           50522                           STOVL    MIS        +6D                        
015036,000044: 22,3021           77626                           STADR                                          
015037,000045: 22,3022           74530                           STORE    MIS                                   
015038,000046: 22,3023           45160                           AXC,1    CALL                                  
015039,000047: 22,3024           03246                                    MIS                                   
015040,000048: 22,3025           44654                                    DCMTOCDU                              #  PICK UP THE NEW CDU ANGLES FROM MATRIX
015041,000049: 22,3026           77634                           RTB                                            
015042,000050: 22,3027           21620                                    V1STO2S                               
015043,000051: 22,3030           03304                           STORE    NCDU                                  #  NEW CDU ANGLES
015044,000052: 22,3031           77414                           BONCLR   EXIT                                  
015045,000053: 22,3032           01215                                    CALCMAN2                              
015046,000054: 22,3033           45122                                    MANUSTAT                              #  TO START MANEUVER
015047,000055: 22,3034           34752                           CAF      TWO                                   #        +0 OTHERWISE
015048,000056: 22,3035           55272        INCRDCDU           TS       SPNDX                                 
015049,000057: 22,3036           51272                           INDEX    SPNDX                                 
015050,000058: 22,3037           31676                           CA       BCDU                                  #  INITIAL CDU ANGLES
015051,000059: 22,3040           00006                           EXTEND                                         #  OR PREVIOUS DESIRED CDU ANGLES
015052,000060: 22,3041           51272                           INDEX    SPNDX                                 
015053,000061: 22,3042           21703                           MSU      NCDU                                  
015054,000062: 22,3043           00006                           EXTEND                                         
015055,000063: 22,2000                                           SETLOC   KALCMON1                              
015056,000064: 22,2000                                           BANK                                           
015057,000065: 
015058,000066: 22,3044           73121                           MP       DT/TAU                                
015059,000067: 22,3045           10000                           CCS      A                                     #  CONVERT TO 2S COMPLEMENT
015060,000068: 22,3046           64753                           AD       ONE                                   
015061,000069: 22,3047           13051                           TCF      +2                                    
015062,000070: 22,3050           40000                           COM                                            
015063,000071: 22,3051           51272                           INDEX    SPNDX                                 
015064,000072: 22,3052           55640                           TS       DELDCDU                               #  ANGLE INCREMENTS TO BE ADDED TO
015065,000073: 22,3053           51272                           INDEX    SPNDX                                 #  CDUXD, CDUYD, CDUZD EVERY TENTH SECOND

Page 366

015067,000075: 22,3054           31703                           CA       NCDU                                  #  BY LEM DAP
015068,000076: 22,3055           51272                           INDEX    SPNDX                                 
015069,000077: 22,3056           57676                           XCH      BCDU                                  
015070,000078: 22,3057           51272                           INDEX    SPNDX                                 
015071,000079: 22,3060           55635                           TS       CDUXD                                 
015072,000080: 22,3061           11272                           CCS      SPNDX                                 
015073,000081: 22,3062           13035                           TCF      INCRDCDU                              #  LOOP FOR THREE AXES
015074,000082: 
015075,000083: 22,3063           00003                           RELINT                                         
015076,000084: 
015077,000085:                                                                                                  #  COMPARE PRESENT TIME WITH TIME TO TERMINATE MANEUVER
015078,000086: 
015079,000087: 22,3064           03075        TMANUCHK           TC       TIMECHK                               
015080,000088: 22,3065           13170                           TCF      CONTMANU                              
015081,000089: 22,3066           34753                           CAF      ONE                                   
015082,000090: 22,3067           00004        MANUSTAL           INHINT                                         #  END MAJOR PART OF MANEUVER WITHIN 1 SEC
015083,000091: 22,3070           05203                           TC       WAITLIST                              #  UNDER WAITLIST CALL TO MANUSTOP
015084,000092: 22,3071  E6,1707                                  EBANK=   TTEMP                                 
015085,000093: 22,3071           03213 44066                     2CADR    MANUSTOP                              
015086,000094: 
015087,000095: 22,3073           00003                           RELINT                                         
015088,000096: 22,3074           15155                           TCF      ENDOFJOB                              
015089,000097: 
015090,000098: 22,3075           00006        TIMECHK            EXTEND                                         
015091,000099: 22,3076           40025                           DCS      TIME2                                 
015092,000100: 22,3077           53710                           DXCH     TTEMP                                 
015093,000101: 22,3100           00006                           EXTEND                                         
015094,000102: 22,3101           31734                           DCA      TM                                    
015095,000103: 22,3102           21710                           DAS      TTEMP                                 
015096,000104: 22,3103           11707                           CCS      TTEMP                                 
015097,000105: 22,3104           00002                           TC       Q                                     
015098,000106: 22,3105           13107                           TCF      +2                                    
015099,000107: 22,3106           13117                           TCF      2NDRETRN                              
015100,000108: 22,3107           11710                           CCS      TTEMP      +1                         
015101,000109: 22,3110           00002                           TC       Q                                     
015102,000110: 22,3111           13113                           TCF      MANUOFF                               
015103,000111: 22,3112           40000                           COM                                            
015104,000112: 22,3113           63166        MANUOFF            AD       ONESEK     +1                         
015105,000113: 22,3114           00006                           EXTEND                                         
015106,000114: 22,3115           63117                           BZMF     2NDRETRN                              
015107,000115: 22,3116           24002                           INCR     Q                                     
015108,000116: 22,3117           24002        2NDRETRN           INCR     Q                                     
015109,000117: 22,3120           00002                           TC       Q                                     
015110,000118: 
015111,000119: 22,3121           03146        DT/TAU             DEC      .1                                    
015112,000120: 
015113,000121: 22,3122           77776        MANUSTAT           EXIT                                           #  INITIALIZATION ROUTINE
015114,000122: 22,3123           00006                           EXTEND                                         #  FOR AUTOMATIC MANEUVERS
015115,000123: 22,3124           30025                           DCA      TIME2                                 

Page 367

015117,000125: 22,3125           21734                           DAS      TM                                    #  TM+T0         MANEUVER COMPLETION TIME
015118,000126: 22,3126           00006                           EXTEND                                         
015119,000127: 22,3127           43166                           DCS      ONESEK                                
015120,000128: 22,3130           21734                           DAS      TM                                    #  (TM+T0)-1
015121,000129: 22,3131           00004                           INHINT                                         
015122,000130: 22,3132           34752                           CAF      TWO                                   
015123,000131: 22,3133           55701        RATEBIAS           TS       KSPNDX                                
015124,000132: 22,3134           60000                           DOUBLE                                         
015125,000133: 22,3135           55702                           TS       KDPNDX                                
015126,000134: 22,3136           50000                           INDEX    A                                     
015127,000135: 22,3137           31725                           CA       BRATE                                 
015128,000136: 22,3140           51701                           INDEX    KSPNDX                                #  STORE MANEUVER RATE IN
015129,000137: 22,3141           55643                           TS       OMEGAPD                               #  OMEGAPD, OMEGAQD, OMEGARD
015130,000138: 22,3142           00006                           EXTEND                                         
015131,000139: 22,3143           63145                           BZMF     +2                                    #  COMPUTE ATTITUDE ERROR
015132,000140: 22,3144           40000                           COM                                            #  OFFSET = (WX)ABS(WX)/2AJX
015133,000141: 22,3145           00006                           EXTEND                                         #  WHERE AJX= 2-JET ACCELERATION
015134,000142: 22,3146           73167                           MP       BIASCALE                              #  = -1/16
015135,000143: 22,3147           00006                           EXTEND                                         
015136,000144: 22,3150           51702                           INDEX    KDPNDX                                
015137,000145: 22,3151           71725                           MP       BRATE                                 
015138,000146: 22,3152           00006                           EXTEND                                         
015139,000147: 22,3153           51701                           INDEX    KSPNDX                                
015140,000148: 22,3154           11530                           DV       1JACC                                 #  = AJX         $ 90 DEG/SEC-SEC
015141,000149: 22,3155           51701                           INDEX    KSPNDX                                
015142,000150: 22,3156           55277                           TS       DELPEROR                              #                $ 180 DEG
015143,000151: 22,3157           11701                           CCS      KSPNDX                                
015144,000152: 22,3160           13133                           TCF      RATEBIAS                              
015145,000153: 
015146,000154: 22,3161           30025                           CA       TIME1                                 
015147,000155: 22,3162           63166                           AD       ONESEK     +1                         
015148,000156: 22,3163           57706                           XCH      NEXTIME                               
015149,000157: 22,3164           13034                           TCF      INCRDCDU   -1                         
015150,000158: 
015151,000159: 22,3165           00000        ONESEK             DEC      0          B-14                       
015152,000160: 22,3166           00144                           DEC      100        B-14                       
015153,000161: 
015154,000162: 22,3167           75777        BIASCALE           OCT      75777                                 #  = -1/16
015155,000163: 
015156,000164: 22,3170           40025        CONTMANU           CS       TIME1                                 #  RESET FOR NEXT DCDU UPDATE
015157,000165: 22,3171           61706                           AD       NEXTIME                               
015158,000166: 22,3172           10000                           CCS      A                                     
015159,000167: 22,3173           64753                           AD       ONE                                   
015160,000168: 22,3174           13177                           TCF      MANUCALL                              
015161,000169: 22,3175           64735                           AD       NEGMAX                                
015162,000170: 22,3176           40000                           COM                                            
015163,000171: 22,3177           00004        MANUCALL           INHINT                                         #  CALL FOR NEXT UPDATE VIA WAITLIST
015164,000172: 22,3200           05203                           TC       WAITLIST                              
015165,000173: 22,3201  E6,1707                                  EBANK=   TTEMP                                 
015166,000174: 22,3201           03206 44066                     2CADR    UPDTCALL                              

Page 368

015168,000176: 22,3203           33166                           CAF      ONESEK     +1                         #  INCREMENT TIME FOR NEXT UPDATE
015169,000177: 22,3204           27706                           ADS      NEXTIME                               
015170,000178: 22,3205           15155                           TCF      ENDOFJOB                              
015171,000179: 
015172,000180: 22,3206           37714        UPDTCALL           CAF      PRIO26                                #  SATELLITE PROGRAM TO CALL FOR UPDATE
015173,000181: 22,3207           05105                           TC       FINDVAC                               #  OF STEERING COMMANDS
015174,000182: 22,3210  E6,1707                                  EBANK=   TTEMP                                 
015175,000183: 22,3210           03003 44066                     2CADR    NEWDELHI                              
015176,000184: 
015177,000185: 22,3212           05261                           TC       TASKOVER                              
015178,000186: 

Page 369

015180,000188:                                                                                                  #  ROUTINE FOR TERMINATING AUTOMATIC MANEUVERS
015181,000189: 
015182,000190: 22,3213           34755        MANUSTOP           CAF      ZERO                                  #  ZERO MANEUVER RATES
015183,000191: 22,3214           55642                           TS       DELDCDU2                              
015184,000192: 22,3215           55645                           TS       OMEGARD                               
015185,000193: 22,3216           55301                           TS       DELREROR                              
015186,000194: 22,3217           55641                           TS       DELDCDU1                              
015187,000195: 22,3220           55644                           TS       OMEGAQD                               
015188,000196: 22,3221           55300                           TS       DELQEROR                              
015189,000197: 22,3222           30323                           CA       CPSI                                  #  SET DESIRED GIMBAL ANGLES TO
015190,000198: 22,3223           55637                           TS       CDUZD                                 #  DESIRED FINAL GIMBAL ANGLES
015191,000199: 22,3224           30322                           CA       CTHETA                                
015192,000200: 22,3225           55636                           TS       CDUYD                                 
015193,000201: 22,3226           30321        ENDROLL            CA       CPHI                                  #  NO FINAL YAW
015194,000202: 22,3227           55635                           TS       CDUXD                                 
015195,000203: 22,3230           34755                           CAF      ZERO                                  
015196,000204: 22,3231           55643                           TS       OMEGAPD                               #  I.E. MANEUVER DID NOT GO THRU
015197,000205: 22,3232           55640                           TS       DELDCDU                               #  GIMBAL LOCK ORIGINALLY
015198,000206: 22,3233           55277                           TS       DELPEROR                              
015199,000207: 22,3234           31311        GOODMANU           CA       ATTPRIO                               #  RESTORE USERS PRIO
015200,000208: 22,3235           54063                           TS       NEWPRIO                               
015201,000209: 
015202,000210: 22,3236           34755                           CA       ZERO                                  #  ZERO ATTCADR
015203,000211: 22,3237           53310                           DXCH     ATTCADR                               
015204,000212: 
015205,000213: 22,3240           05116                           TC       SPVAC                                 #  RETURN TO USER
015206,000214: 
015207,000215: 22,3241           05261                           TC       TASKOVER                              
015208,000216: 
015209,000217: 

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