Source Code

033848,000001: 033849,000002: 033850,000003: 033851,000004: 033852,000005: 033853,000006: 033854,000007: 033855,000008: 033856,000009: 033857,000010: 033858,000011: 033859,000012: 033860,000013: 033861,000014: 033862,000015: 033863,000016: 033864,000017: 033865,000018: 033866,000019: 033867,000020: 033868,000021: 033869,000022: 033870,000023: 033871,000024: 033872,000025: 033873,000026: 033874,000027: 033875,000028: 32,2776 033876,000029: 32,2000 033877,000030: 32,2000 033878,000031: 033879,000032: 32,2776 E7,1621 033880,000033: 033881,000034: 033882,000035: 033883,000036: 033884,000037: 033885,000038: 32,2776 033886,000039: < 033888,000041: 32,2777 033889,000042: 033890,000043: 32,3000 033891,000044: 32,3001 033892,000045: 033893,000046: 32,3002 033894,000047: 32,3003 033895,000048: 033896,000049: 32,3004 033897,000050: 32,3005 033898,000051: 32,3006 033899,000052: 32,3007 033900,000053: 033901,000054: 32,3010 033902,000055: 32,3011 033903,000056: 033904,000057: 32,3012 033905,000058: 32,3013 033906,000059: 033907,000060: 32,3014 033908,000061: 32,3015 033909,000062: 32,3016 033910,000063: # Copyright: Public domain. # Filename: THE_LUNAR_LANDING.agc # Purpose: Part of the source code for Luminary 1A build 099. # It is part of the source code for the Lunar Module's (LM) # Apollo Guidance Computer (AGC), for Apollo 11. # Assembler: yaYUL # Contact: Hartmuth Gutsche<hgutsche@xplornet.com>. # Website: www.ibiblio.org/apollo. # Pages: 785-792 # Mod history: 2009-05-20 HG Transcribed from page images. # This source code has been transcribed or otherwise adapted from # digitized images of a hardcopy from the MIT Museum. The digitization # was performed by Paul Fjeld, and arranged for by Deborah Douglas of # the Museum. Many thanks to both. The images (with suitable reduction # in storage size and consequent reduction in image quality as well) are # available online at www.ibiblio.org/apollo. If for some reason you # find that the images are illegible, contact me at info@sandroid.org # about getting access to the (much) higher-quality images which Paul # actually created. # Notations on the hardcopy document read, in part: # Assemble revision 001 of AGC program LMY99 by NASA 2021112-61 # 16:27 JULY 14, 1969 # Page 785 BANK 32 SETLOC F2DPS*32 BANK EBANK= E2DPS # ************************************* # P63: THE LUNAR LANDING, BRAKING PHASE # ************************************* COUNT* $$/P63 /a>033887,000040: 32,2776 05353 P63LM TC PHASCHNG 04024 OCT 04024 04616 TC BANKCALL # DO IMU STATUS CHECK ROUTINE R02 11254 CADR R02BOTH 33253 CAF P63ADRES # INITIALIZE WHICH FOR BURNBABY 55455 TS WHICH 32000 CAF DPSTHRSH # INITIALIZE DVMON 55251 TS DVTHRUSH 34751 CAF FOUR 55515 TS DVCNTR 44753 CS ONE # INITIALIZE WCHPHASE AND FLPASS0 55351 TS WCHPHASE 34755 CA ZERO 55623 TS FLPASS0 44736 CS BIT14 00006 EXTEND 03012 WAND CHAN12 # REMOVE TRACK-ENABLE DISCRETE. 759">033911,000064: 32,3017 06037 FLAGORGY TC INTPRET # DIONYSIAN FLAG WAVING 43014 CLEAR CLEAR 02663 NOTHROTL 03271 REDFLAG 43014 CLEAR SET 05660 LRBYPASS 03067 MUNFLAG 43014 CLEAR CLEAR 00266 P25FLAG # TERMINATE P25 IF IT IS RUNNING. 00270 RNDVZFLG # TERMINATE P20 IF IT IS RUNNING. # ******************************** >033924,000077: 32,3031 77201 IGNALG SETPD VLOAD # FIRST SET UP INPUTS FOR RP-TO-R: # Page 786 00001 0 # AT 0D LANDING SITE IN MOON FIXED FRAME 02023 RLS # AT 6D ESTIMATED TIME OF LANDING 41525 PDDL PUSH # MPAC NON-ZERO TO INDICATE LUNAR CASE 02401 TLAND 37625 STCALL TPIP # ALSO SET TPIP FOR FIRST GUIDANCE PASS 55716 RP-TO-R 64312 VSL4 MXV 01734 REFSMMAT 37635 STCALL LAND 46432 GUIDINIT # GUIDINIT INITIALIZES WM AND /LAND/ 45345 DLOAD DSU 02401 TLAND 25260 GUIDDURN 34041 STCALL TDEC1 # INTEGRATE STATE FORWARD TO THAT TIME 27057 LEMPREC 77331 SSP VLOAD 03647 NIGNLOOP 00050 40D 06520 UNITX 26603 STOVL CG 06516 UNITY 26611 STOVL CG +6 06514 UNITZ 16617 STODL CG +14 25256 99999CON 27665 STOVL DELTAH # INITIALIZE DELTAH FOR V16N68 DISPLAY 06522 ZEROVECS 17254 STODL UNFC/2 # INITIALIZE TRIM VELOCITY CORRECTION TERM 06522 HI6ZEROS 03643 STORE TTF/8 F50">033957,000110: 32,3070 77745 IGNALOOP DLOAD 00015 TAT 27561 STOVL PIPTIME1 00017 RATT1 64312 VSL4 MXV 01734 REFSMMAT 37521 STCALL R 67130 MUNGRAV 35237 STCALL GDT/2 62454 ?GUIDSUB # WHICH DELIVERS N PASSES OF GUIDANCE # DDUMCALC IS PROGRAMMED AS FOLLOWS: # 2 ___ # (RIGNZ - RGU )/16 + 16(RGU )KIGNY/B8 + (RGU - RIGNX)KIGNX/B4 + (ABVAL(VGU) - VIGN)KIGNV/B4 # 2 1 0 # DDUM = ------------------------------------------------------------------------------------------- # 10 # 2 (VGU - 16 VGU KIGNX/B4) # 2 0 # Page 787 new page is actually one line earlier but this would put the indices on a seperate line # disconnected from their respective variables # THE NUMERATOR IS SCALED IN METERS AT 2(28). THE DENOMINATOR IS A VELOCITY IN UNITS OF 2(10) M/CS. # THE QUOTIENT IS THUS A TIME IN UNITS OF 2(18) CENTISECONDS. THE FINAL SHIFT RESCALES TO UNITS OF 2(28) CS. # THERE IS NO DAMPING FACTOR. THE CONSTANTS KIGNX/B4, KIGNY/B8 AND KIGNV/B4 ARE ALL NEGATIVE IN SIGN. C43">033982,000135: 32,3102 55646 DDUMCALC TS NIGNLOOP 06037 TC INTPRET 57345 DLOAD DMPR # FORM DENOMINATOR FIRST 03627 VGU 02501 KIGNX/B4 44232 SL4R BDSU 03633 VGU +4 45325 PDDL DSU 02477 RIGNZ 02643 RGU +4 65222 SR4R PDDL 02641 RGU +2 57316 DSQ DMPR 02503 KIGNY/B8 65232 SL4R PDDL 02637 RGU 57225 DSU DMPR 02475 RIGNX 02501 KIGNX/B4 51515 PDVL ABVAL 03627 VGU 57225 DSU DMPR 02473 VIGN 02505 KIGNV/B4 43215 DAD DAD 56215 DAD DDV 77661 SRR 21613 10D 43206 PUSH DAD 03561 PIPTIME1 14041 STODL TDEC1 # STORE NEW GUESS FOR NEXT INTEGRATION 45246 ABS DSU 25262 DDUMCRIT 45040 BMN CALL 65163 DDUMGOOD 27414 INTSTALL 43014 SET SET 01473 INTYPFLG 00063 MOONFLAG 77745 DLOAD 03561 PIPTIME1 25517 STOVL TET # HOPEFULLY ?GUIDSUB DID NOT 00017 RATT1 # CLOBBER RATT1 AND VATT1 # Page 788 25535 STOVL RCV 00025 VATT1 35543 STCALL VCV 27107 INTEGRVS 77650 GOTO 65070 IGNALOOP F44">034034,000187: 32,3163 54335 DDUMGOOD SLOAD SR 03423 ZOOMTIME 20617 14D 77621 BDSU 00041 TDEC1 27442 STOVL TIG # COMPUTE DISTANCE LANDING SITE WILL BE 03527 V # OUT OF LM'S ORBITAL PLANE AT IGNITION: 53435 VXV UNIT # SIGN IS + IF LANDING SITE IS TO THE 03521 R # RIGHT, NORTH; - IF TO THE LEFT, SOUTH. 72441 DOT SL1 03635 LAND 4">034045,000198: 32,3176 26627 R60INIT STOVL OUTOFPLN # INITIALIZATION FOR CALCMANU 03254 UNFC/2 02631 STORE R60VSAVE # STORE UNFC/2 TEMPORARILY IN R60SAVE 77776 EXIT # ******************************************* 254">034051,000204: 32,3202 05353 IGNALGRT TC PHASCHNG # PREVENT REPEATING IGNALG 04024 OCT 04024 F4B">034054,000207: 32,3204 44362 ASTNCLOK CS ASTNDEX 04616 TC BANKCALL 74664 CADR STCLOK2 15155 TCF ENDOFJOB # RETURN IN NEW JOB AND IN EBANK FIVE 4">034059,000212: 32,3210 06037 ASTNRET TC INTPRET 47131 SSP RTB # GO PICK UP DISPLAY AT END OF R51: 02747 QMAJ # "PROCEED" WILL DO A FINE ALIGNMENT 65215 FCADR P63SPOT2 # "ENTER" WILL RETURN TO P63SPOT2 31135 R51P63 432">034064,000217: 32,3215 53575 P63SPOT2 VLOAD UNIT # INITIALIZE KALCMANU FOR BURN ATTITUDE 02631 R60VSAVE 27773 STOVL POINTVSM 06520 UNITX 03765 STORE SCAXIS 77776 EXIT 35016 CAF EBANK7 54003 TS EBANK 00004 INHINT 04674 TC IBNKCALL 40142 CADR PFLITEDB # Page 789 00003 RELINT 04616 TC BANKCALL 54123 CADR R60LEM 05353 TC PHASCHNG # PREVENT RECALLING R60 04024 OCT 04024 433">034086,000239: 32,3235 34746 P63SPOT3 CA BIT6 # IS THE LR ANTENNA IN POSITION 1 YET 00006 EXTEND 02033 RAND CHAN33 00006 EXTEND 13247 BZF P63SPOT4 # BRANCH IF ANTENNA ALREADY IN POSITION 1 33254 CAF CODE500 # ASTRONAUT: PLEASE CRANK THE 04616 TC BANKCALL # SILLY THING AROUND 20623 CADR GOPERF1 16001 TCF GOTOP00H # TERMINATE 13235 TCF P63SPOT3 # PROCEED SEE IF HE'S LYING 434">034098,000251: 32,3247 04616 P63SPOT4 TC BANKCALL # ENTER INITIALIZE LANDING RADAR 67721 CADR SETPOS1 04635 TC POSTJUMP # OFF TO SEE THE WIZARD ... 74126 CADR BURNBABY # --------------------------------- # CONSTANTS FOR P63LM AND IGNALG 553">034108,000261: 32,3253 02076 P63ADRES GENADR P63TABLE 8">034110,000263: 32,3254 4362 ASTNDEX = MD1 # OCT 25: INDEX FOR CLOKTASK 0">034112,000265: 32,3254 00500 CODE500 OCT 00500 F4E">034114,000267: 32,3255 00035 30373 99999CON 2DEC 30479.7 B-24 24E">034116,000269: 32,3257 00004 01610 GUIDDURN 2DEC +66440 B-28 # GUIDDURN +6.64400314 E+2 954">034117,000270: 32,3261 00000 00010 DDUMCRIT 2DEC +8 B-28 # CRITERION FOR IGNALG CONVERGENCE # Page 790 # -------------------------------- # Page 791 # ************************* # P68: LANDING CONFIRMATION # ************************* BANK 31 SETLOC F2DPS*31 BANK COUNT* $$/P6567 E4B">034133,000286: 31,2144 05353 LANDJUNK TC PHASCHNG 04024 OCT 04024 00004 INHINT 04616 TC BANKCALL # ZERO ATTITUDE ERROR 40153 CADR ZATTEROR 04616 TC BANKCALL # SET 5 DEGREE DEADBAND 40127 CADR SETMAXDB 06037 TC INTPRET # TO INTERPRETIVE AS TIME IS NOT CRITICAL 43014 SET CLEAR 04067 SURFFLAG 04666 LETABORT 77214 SET VLOAD 05062 APSFLAG 01221 RN 16032 STODL ALPHAV 01235 PIPTIME 45014 SET CALL 01463 LUNAFLAG 26351 LAT-LONG 77201 SETPD VLOAD # COMPUTE RLS AND STORE IT AWAY 00001 0 01221 RN 65352 VSL2 PDDL 01235 PIPTIME 45006 PUSH CALL 51670 R-TO-RP 02023 STORE RLS 77776 EXIT 32215 CAF V06N43* # ASTRONAUT: NOW LOOK WHERE TO ENDED UP 04616 TC BANKCALL 20476 CADR GOFLASH 16001 TCF GOTOP00H # TERMINATE 12206 TCF +2 # PROCEED 12200 TCF -5 # RECYCLE 06037 TC INTPRET # Page 792 77775 VLOAD # INITIALIZE GSAV AND (USING REFMF) 06520 UNITX # YNBSAV, ZNBSAV AND ATTFLAG FOR P57 36231 STCALL GSAV 33506 REFMF 77776 EXIT 16001 TCF GOTOP00H # ASTRONAUT: PLEASE SELECT P57 A">034181,000334: 31,2215 01453 V06N43* VN 0643 THE_LUNAR_LANDING.agc. Parent file is MAIN.agc