# Copyright: Public domain. # Filename: ASCENT_GUIDANCE.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 . # Website: www.ibiblio.org/apollo. # Pages: 843-856 # Mod history: 2009-05-23 HG Transcribed from page images. # 2009-06-05 RSB Fixed a couple of typos. # 2009-06-07 RSB Corrected a typo. # # 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 843 BANK 34 SETLOC ASCFILT BANK EBANK= DVCNTR COUNT* $$/ASENT ATMAG TC PHASCHNG OCT 00035 TC INTPRET BON FLRCS ASCENT DLOAD DSU ABDVCONV MINABDV BMN CLEAR ASCTERM4 SURFFLAG CLEAR SLOAD RENDWFLG BIT3H DDV EXIT ABDVCONV DXCH MPAC DXCH 1/DV3 DXCH 1/DV2 DXCH 1/DV1 DXCH 1/DV0 TC INTPRET DLOAD DAD 1/DV0 1/DV1 DAD DAD 1/DV2 1/DV3 DMP DMP VE 2SEC(9) SL3 PDDL TBUP SR1 DAD DSU 6SEC(18) STODL TBUP VE SR1 DDV TBUP STCALL AT # Page 844 ASCENT BIT3H OCT 4 # Page 845 BANK 30 SETLOC ASENT BANK COUNT* $$/ASENT ASCENT VLOAD ABVAL R STOVL /R/MAG ZAXIS1 DOT SL1 V # Z.V = ZDOT*2(-8). STOVL ZDOT # ZDOT*2(-7) ZAXIS1 VXV VSL1 UNIT/R/ # Z X UR = LAXIS*2(-2) STORE LAXIS # LAXIS*2(-1) DOT SL1 V # L.V = YDOT*2(-8). STCALL YDOT # YDOT * 2(-7) YCOMP VLOAD GDT1/2 # LOAD GDT1/2*2(-7) M/CS. V/SC DOT 2SEC(18) UNIT/R/ # G.UR*2(9) = GR*2(9). PDVL VXV # STORE IN PDL(0) UNIT/R/ # LOAD UNIT/R/ *2(-1) V # UR*2(-1) X V*2(-7) = H/R*2(-8). VSQ DDV # H(2)/R(2)*2(-16). /R/MAG # H(2)/R(3)*2(9). SL1 DAD STADR STODL GEFF # GEFF*2(10)m/CS/CS. ZDOTD DSU ZDOT STORE DZDOT # DZDOT = (ZDOTD - ZDOT) * 2(7) M/CS. VXSC PDDL ZAXIS1 YDOTD DSU YDOT STORE DYDOT # DYDOT = (YDOTD - YDOT) *2(7) M/CS. VXSC PDDL LAXIS RDOTD # Page 846 DSU RDOT STORE DRDOT # DRDOT = (RDOTD - RDOT) * 2(7) M/CS. VXSC VAD UNIT/R/ VAD VSL1 STADR STORE VGVECT # VG = (DRDOT)R + (DVDOT)L + (DZDOT)Z. DLOAD DMP # LOAD TGO TGO # TGO GEFF GEFF VXSC VSL1 UNIT/R/ # TGO GEFF UR BVSU VGVECT # COMPENSATED FOR GEFF STORE VGVECT # STORE FOR DOWNLINK MXV VSL1 # GET VGBODY FOR N85 DISPLAY XNBPIP STOVL VGBODY VGVECT ABVAL BOFF # MAGNITUDE OF VGVECT FLRCS # IF FLRCS=0,D0 NORMAL GUIDANCE MAINENG DDV # USE TGO=VG/AT WITH RCS AT/RCS STCALL TGO # THIS WILL BE USED ON NEXT CYCLE ASCTERM2 MAINENG DDV PUSH # VG/VE IN PDL(0) (2) VE DMP BDSU # 1 - KT VG/VE KT1 NEARONE DMP DMP # TBUP VG(1-KT VG/VE)/VE (0) TBUP # = TGO DSU # COMPENSATE FOR TAILOFF TTO STORE TGO SR DCOMP 11D STODL TTOGO # TGO *2(-28) CS TGO BON DSU IDLEFLAG T2TEST 4SEC(17) # ( TGO - 4 )*2(-17) CS. BMN ENGOFF T2TEST DLOAD TGO DSU BMN # IF TGO - T2 NEG., GO TO CMPONENT # Page 847 T2A CMPONENT DLOAD DSU TBUP TGO DDV CALL # 1- TGO/TBUP TBUP LOGSUB SL PUSH # -L IN PDL(0) (2) 5 BDDV BDSU # -TGO/L*2(-17) TGO TBUP # TBUP + TGO/L = D12*2(-17) PUSH BON # STORE IN PDL(2) (4) FLPC # IF FLPC = 1, GO TO CONST NORATES DLOAD DSU TGO T3 BPL SET # FLPC=1 RATES FLPC NORATES DLOAD HI6ZEROS STORE PRATE # B = 0 STORE YRATE # D = 0 GOTO CONST # GO TO CONST RATES DLOAD DSU TGO 02D # TGO - D12 = D21*2(-17) PUSH SL1 # IN PDL(4) (6) BDSU SL3 # (1/2TGO - D21)*2(-13) = E * 2(-13) TGO # (8) PDDL DMP # IN PDL(6) TGO RDOT # RDOT TGO * 2(-24) DAD DSU # R + RDOT TGO /R/MAG # R + RDOT TGO - RCO RCO # MPAC = -DR *2(-24). PDDL DMP # -DR IN PDL(8) (10) DRDOT 04D # D21 DRDOT*2(-24) DAD SL2 # (D21 DRDOT-DR)*2(-22) (8) DDV DDV 06D # (D21 DRDOT-DR)/E*2(-9) TGO STORE PRATE # B * 2(8) BMN DLOAD # B>0 NOT PERMITTED CHKBMAG #Page 848 HI6ZEROS STCALL PRATE PROK CHKBMAG SR4 DDV # B*2(4) TBUP # (B / TAU) * 2(21) DSU BPL PRLIMIT # ( B / TAU ) = 2(21) MAX. PROK DLOAD DMP PRLIMIT TBUP # B MAX. * 2(4) SL4 # BMAX*2(8) STORE PRATE PROK DLOAD TGO DMP DAD # YDOT TGO YDOT Y # Y + YDOT TGO DSU PDDL # Y + YDOT TGO - YCO YCO # MPAC = - DY*(-24.) IN PDL(8) (10) DYDOT DMP DAD # D21 DYDOT - DY (8) 04D SL2 DDV # (D21 DYDOT - DY)/E*2(-9) DDV SETPD # (D21 DYDOT - DY)/E TGO*2(8) TGO # = D*2(8) 04 STORE YRATE CONST DLOAD DMP # LOAD B*2(8) PRATE # B D12*2(-9) 02D PDDL DDV # D12 B IN PDL(4) (6) DRDOT # LOAD DRDOT*2(-7) 00D # -DRDOT/L*2(-7) SR2 DSU # (-DRDOT/L-D12 B)=A*2(-9) (4) STADR STODL PCONS YRATE # D*2(8) DMP PDDL # D12 D,EXCH WITH -L IN PDL(0) (2,2) BDDV SR2 # -DYDOT/L*2(-9) DYDOT DSU # (-DYDOT/L-D12 D)=C*2(-9) 00D STORE YCONS CMPONENT SETPD DLOAD 00D 100CS DMP PRATE # B(T-T0)*2(-9) DAD DDV # (A+B(T-T0))*2(-9) # Page 849 PCONS # (A+B(T-T0))/TBUP*2(8) TBUP SL1 DSU GEFF # ATR*2(9) STODL ATR 100CS DMP DAD YRATE YCONS # (C+D(T-T0))*2(-9) DDV SL1 TBUP STORE ATY # ATY*2(9) VXSC PDDL # ATY UY*2(8) (6) LAXIS ATR VXSC VAD UNIT/R/ VSL1 PUSH # AH*2(9) IN PDL(0) (6) ABVAL PDDL # AH(2) IN PDL(34) AT # AHMAG IN PDL(6) (8) DSQ DSU # (AT(2)-AH(2))*2(18) 34D # =ATP2*2(18) PDDL PUSH # (12) AT DSQ DSU # (AT(2)KR(2)-AH(2))*2(18) (10) 34D # =ATP3*2(18) BMN DLOAD # IF ATP3 NEG,GO TO NO-ATP NO-ATP # LOAD ATP2, IF ATP3 POS 8D SQRT GOTO # ATP*2(9) AIMER NO-ATP DLOAD BDDV # KR AT/AH = KH (8) 6D VXSC # KH AG*2(9) 00D STODL 00D # STORE NEW AH IN PDL(0) HI6ZEROS AIMER SIGN DZDOT STORE ATP VXSC ZAXIS1 # ATP ZAXIS *2(8). VSL1 VAD # AT*2(0) 00D STORE UNFC/2 # WILL BE OVERWRITTEN IF IN VERT. RISE. SETPD BON 00D FLPI P12RET BON # Page 850 FLVR CHECKALT MAINLINE VLOAD VCOMP UNIT/R/ STODL UNWC/2 TXO DSU BPL PIPTIME ASCTERM BON ROTFLAG ANG1CHEK CLRXFLAG CLEAR CLEAR NOR29FLG # START r29 IN ASCENT PHASE. XOVINFLG # ALLOW X-AXIS OVERRIDE ASCTERM EXIT CA FLAGWRD9 MASK FLRCSBIT CCS A TCF ASCTERM3 TC INTPRET CALL FINDCDUW -2 ASCTERM1 EXIT +1 CA FLAGWRD9 # INSURE THAT THE NOUN 63 DISPLAY IS MASK FLRCSBIT # BYPASSED IF WE ARE IN THE RCS TRIMMING CCS A # MODE OF OPERATION TCF ASCTERM3 CA FLAGWRD8 # BYPASS DISPLAYS IF ENGINE FAILURE IS MASK FLUNDBIT # INDICATED. CCS A TCF ASCTERM3 CAF V06N63* TC BANKCALL CADR GODSPR TCF ASCTERM3 ASCTERM2 EXIT ASCTERM3 TCF ENDOFJOB ASCTERM4 EXIT INHINT TC IBNKCALL # NO GUIDANCE THIS CYCLE -- HENCE ZERO CADR ZATTEROR # THE DAP COMMANDED ERRORS. TCF ASCTERM1 +1 CHECKALT DLOAD DSU /R/MAG /LAND/ DSU BMN # IF H LT 25K CHECK Z AXIS ORIENTATION 25KFT CHECKYAW # Page 851 EXITVR CLEAR BON FLVR ROTFLAG MAINLINE DLOAD DAD PIPTIME 10SECS STCALL TXO MAINLINE EXITVR1 CLRGO ROTFLAG EXITVR SETLOC ASENT1 BANK COUNT* $$/ASENT ANG1CHEK VLOAD DOT UNFC/2 XNBPIP DSU BPL COSTHET1 OFFROT VLOAD DOT XNBPIP UNIT/R/ DSU BMN COSTHET2 KEEPVR1 OFFROT CLRGO ROTFLAG CLRXFLAG BANK 7 SETLOC ASENT2 BANK COUNT* $$/ASENT SETXFLAG = CHECKYAW CHECKYAW SET XOVINFLG # PROHIBIT X-AXIS OVERRIDE DLOAD VXSC ATY LAXIS PDDL VXSC ATP ZAXIS1 VAD UNIT PUSH DOT # Page 852 YNBPIP ABS DSU SIN5DEG BPL DLOAD KEEPVR RDOT DSU BPL 40FPS EXITVR1 GOTO KEEPVR BANK 5 SETLOC ASENT3 BANK COUNT* $$/ASENT SIN5DEG 2DEC 0.08716 B-2 40FPS 2DEC 0.12192 B-7 BANK 14 SETLOC ASENT4 BANK COUNT* $$/ASENT KEEPVR VLOAD STADR # RECALL LOSVEC FROM PUSHLIST STORE UNWC/2 KEEPVR1 VLOAD UNIT/R/ STCALL UNFC/2 ASCTERM ENGOFF RTB LOADTIME DSU DAD PIPTIME TTOGO DCOMP EXIT TC TPAGREE # FORCE SIGN AGREEMENT ON MPAC, MPAC +1. CAF EBANK7 TS EBANK EBANK= TGO INHINT CCS MPAC +1 TCF +3 # C(A) = DT - 1 BIT TCF +2 # C(A) = 0 CAF ZERO # C(A) = 0 AD BIT1 # C(A) = 1 BIT OR DT. # Page 853 TS ENGOFFDT TC TWIDDLE ADRES ENGOFF1 TC PHASCHNG OCT 47014 -GENADR ENGOFFDT EBANK= TGO 2CADR ENGOFF1 TC INTPRET SET GOTO IDLEFLAG # DISABLE DELTA-V MONITOR T2TEST ENGOFF1 TC IBNKCALL # SHUT OFF THE ENGINE. CADR ENGINOF2 CAF PRIO17 # SET UP A JOB FOR THE ASCENT GUIDANCE TC FINDVAC # POSTBURN LOGIC. EBANK= WHICH 2CADR CUTOFF TC PHASCHNG OCT 07024 OCT 17000 EBANK= TGO 2CADR CUTOFF TCF TASKOVER CUTOFF TC UPFLAG # SET FLRCS FLAG. ADRES FLRCS -5 CAF V16N63 TC BANKCALL CADR GOFLASH TCF +3 TCF CUTOFF1 TCF -5 +3 TC POSTJUMP CADR TERMASC CUTOFF1 INHINT TC IBNKCALL # ZERO ATTITUDE ERRORS BEFORE REDUCINT DB. CADR ZATTEROR TC IBNKCALL CADR SETMINDB TC POSTJUMP CADR CUTOFF2 # Page 854 V16N63 VN 1663 BANK 30 SETLOC ASENT5 BANK COUNT* $$/ASENT CUTOFF2 TC PHASCHNG OCT 04024 CAF V16N85C TC BANKCALL CADR GOFLASH TCF TERMASC TCF +2 # PROCEED TCF CUTOFF2 TERMASC TC PHASCHNG OCT 04024 INHINT # RESTORE DEADBAND DESIRED BY ASTRONAUT. TC IBNKCALL CADR RESTORDB TC DOWNFLAG # DISALLOW ABORTS AT THIS TIME. ADRES LETABORT TCF GOTOP00H V16N85C VN 1685 BANK 27 SETLOC ASENT1 BANK COUNT* $$/ASENT YCOMP VLOAD DOT UNIT/R/ QAXIS SL2 DMP RCO STORE Y RVQ BANK 30 SETLOC ASENT BANK # Page 855 100CS EQUALS 2SEC(18) T2A EQUALS 2SEC(17) 4SEC(17) 2DEC 400 B-17 2SEC(17) 2DEC 200 B-17 T3 2DEC 1000 B-17 6SEC(18) 2DEC 600 B-18 BIT4H OCT 10 2SEC(9) 2DEC 200 B-9 V06N63* VN 0663 V06N76 VN 0676 V06N33A VN 0633 BANK 33 SETLOC ASENT6 BANK COUNT* $$/ASENT KT1 2DEC 0.5000 PRLIMIT 2DEC -.0639 # (B/TBUP)MIN=-.1FT.SEC(-3) MINABDV 2DEC .0356 B-5 # 10 PERCENT BIGGER THAN GRAVITY 1/DV0 = MASS1 # Page 856 # THE LOGARITHM SUBROUTINE BANK 24 SETLOC FLOGSUB BANK # INPUT ..... X IN MPAC # OUTPUT ..... -LOG(X) IN MPAC LOGSUB NORM BDSU MPAC +6 NEARONE EXIT TC POLY DEC 6 2DEC .0000000060 2DEC -.0312514377 2DEC -.0155686771 2DEC -.0112502068 2DEC -.0018545108 2DEC -.0286607906 2DEC .0385598563 2DEC -.0419361902 CAF ZERO TS MPAC +2 EXTEND DCA CLOG2/32 DXCH MPAC DXCH BUF +1 CA MPAC +6 TC SHORTMP DXCH MPAC +1 DXCH MPAC DXCH BUF +1 DAS MPAC TC INTPRET DCOMP RVQ CLOG2/32 2DEC .0216608494