Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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015869,000002: ## Copyright: Public domain.
015870,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
015871,000004: ## Purpose: A section of LM131 revision 1.
015872,000005: ## It is part of the reconstructed source code for the final
015873,000006: ## release of the flight software for the Lunar Module's (LM)
015874,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
015875,000008: ## been reconstructed from a listing of Luminary 131 and a dump
015876,000009: ## of a core rope memory module B5, part number 2010802-171,
015877,000010: ## which is the only module different between LM131 revision 1
015878,000011: ## and Luminary 131. The executable generated from this source
015879,000012: ## has been verified against the module dump, so while the names,
015880,000013: ## comments, and ordering may not be exactly correct, the
015881,000014: ## resulting binary is.
015882,000015: ## Reference: pp. 384-391
015883,000016: ## Assembler: yaYUL
015884,000017: ## Contact: Ron Burkey <info@sandroid.org>.
015885,000018: ## Website: www.ibiblio.org/apollo/index.html
015886,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
015887,000020:
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Page 384
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015889,000022: # PROGRAM - IMU PERFORMANCE TESTS 4
015890,000023: # DATE - NOV 15, 1966
015891,000024: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
015892,000025: # MOD NO-ZERO
015893,000026:
015894,000027: # FUNCTIONAL DESCRIPTION
015895,000028:
015896,000029: # THIS SECTION CONSISTSOF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
015897,000030: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
015898,000031: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
015899,000032:
015900,000033: # EARTHR,OGC ZERO,ERTHRVSE
015901,000034:
015902,000035: # NORMAL EXIT
015903,000036:
015904,000037: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
015905,000038:
015906,000039: # ALARMS
015907,000040:
015908,000041: # 1600 OVERFLOW IN DRIFT TEST
015909,000042: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
015910,000043: # OUTPUT
015911,000044:
015912,000045: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
015913,000046:
015914,000047: # DEBRIS
015915,000048:
015916,000049: # ALL CENTRALS - ALL OF EBANK XSM
015917,000050:
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Page 385
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015919,000052: 33,2045 BANK 33
015920,000053: 37,2000 SETLOC IMU4
015921,000054: 37,2000 BANK
015922,000055: 37,2500 COUNT* $$/P07
015923,000056:
015924,000057: 37,2500 E5,1642 EBANK= XSM
015925,000058:
015926,000059: 37,2500 00004 ESTIMS INHINT
015927,000060: 37,2501 31572 CAE 1SECXT
015928,000061: 37,2502 05173 TC TWIDDLE
015929,000062: 37,2503 E5,1642 EBANK= XSM
015930,000063: 37,2503 02536 ADRES ALLOOP
015931,000064: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
015932,000065: 37,2505 54037 TS PIPAX
015933,000066: 37,2506 54040 TS PIPAY
015934,000067: 37,2507 54041 TS PIPAZ
015935,000068: 37,2510 00003 RELINT
015936,000069: 37,2511 33075 CA 77DECML
015937,000070: 37,2512 55571 TS ZERONDX
015938,000071: 37,2513 33076 CA ALXXXZ
015939,000072: 37,2514 02367 TC ZEROING
015940,000073: 37,2515 06042 TC INTPRET
015941,000074: 37,2516 77735 SLOAD
015942,000075: 37,2517 37057 SCHZEROS
015943,000076: 37,2520 25477 STOVL GCOMPSW -1
015944,000077: 37,2521 37070 INTVAL +2
015945,000078: 37,2522 26445 STOVL ALX1S
015946,000079: 37,2523 37057 SCHZEROS
015947,000080: 37,2524 00325 STORE DELVX
015948,000081: 37,2525 01472 STORE GCOMP
015949,000082: 37,2526 77735 SLOAD
015950,000083: 37,2527 02441 TORQNDX
015951,000084: 37,2530 50076 DCOMP BMN
015952,000085: 37,2531 76534 VERTSKIP
015953,000086: 37,2532 77624 CALL
015954,000087: 37,2533 76401 ERTHRVSE
015955,000088: 37,2534 77776 VERTSKIP EXIT
015956,000089: 37,2535 03035 TC SLEEPIE +1
015957,000090:
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Page 386
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015959,000092: 37,2536 31576 ALLOOP CA OVFLOWCK
015960,000093: 37,2537 00006 EXTEND
015961,000094: 37,2540 12542 BZF +2
015962,000095: 37,2541 05261 TC TASKOVER
015963,000096: 37,2542 11530 CCS ALTIM
015964,000097: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
015965,000098: 37,2544 55531 TS ALTIMS
015966,000099: 37,2545 40000 CS A
015967,000100: 37,2546 55530 TS ALTIM
015968,000101: 37,2547 44753 CS ONE
015969,000102: 37,2550 61562 AD GEOCOMPS
015970,000103: 37,2551 00006 EXTEND
015971,000104: 37,2552 12556 BZF +4
015972,000105: 37,2553 31412 CA LENGTHOT
015973,000106: 37,2554 00006 EXTEND
015974,000107: 37,2555 62562 BZMF +5
015975,000108: 37,2556 31572 CAE 1SECXT
015976,000109: 37,2557 05173 TC TWIDDLE
015977,000110: 37,2560 E5,1642 EBANK= XSM
015978,000111: 37,2560 02536 ADRES ALLOOP
015979,000112: 37,2561 34755 CAF ZERO
015980,000113: 37,2562 56037 XCH PIPAX
015981,000114: 37,2563 54324 TS DELVX
015982,000115: 37,2564 34755 CAF ZERO
015983,000116: 37,2565 56040 XCH PIPAY
015984,000117: 37,2566 54326 TS DELVY
015985,000118: 37,2567 34755 CAF ZERO
015986,000119: 37,2570 56041 XCH PIPAZ
015987,000120: 37,2571 54330 TS DELVZ
015988,000121: 37,2572 34736 SPECSTS CAF PRIO20
015989,000122: 37,2573 05105 TC FINDVAC
015990,000123: 37,2574 E5,1642 EBANK= XSM
015991,000124: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
015992,000125:
015993,000126: 37,2576 05261 TC TASKOVER
015994,000127:
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Page 387
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015996,000129: 37,2577 11562 ALFLT CCS GEOCOMPS
015997,000130: 37,2600 02602 TC +2
015998,000131: 37,2601 02604 TC NORMLOP
015999,000132: 37,2602 04616 TC BANKCALL
016000,000133: 37,2603 15271 CADR 1/PIPA
016001,000134: 37,2604 06042 NORMLOP TC INTPRET
016002,000135: 37,2605 77745 DLOAD
016003,000136: 37,2606 37066 INTVAL
016004,000137: 37,2607 24051 STOVL S1
016005,000138: 37,2610 00325 DELVX
016006,000139: 37,2611 76505 VXM VSL1
016007,000140: 37,2612 02643 XSM
016008,000141: 37,2613 57545 DLOAD DCOMP
016009,000142: 37,2614 00160 MPAC +3
016010,000143: 37,2615 16523 STODL DPIPAY
016011,000144: 37,2616 00162 MPAC +5
016012,000145: 37,2617 02527 STORE DPIPAZ
016013,000146:
016014,000147: 37,2620 76001 SETPD AXT,1
016015,000148: 37,2621 00001 0
016016,000149: 37,2622 00010 8D
016017,000150: 37,2623 57535 SLOAD DCOMP
016018,000151: 37,2624 02563 GEOCOMPS
016019,000152: 37,2625 77640 BMN
016020,000153: 37,2626 76772 PERFERAS
016021,000154: 37,2627 50135 ALCGKK SLOAD BMN
016022,000155: 37,2630 02532 ALTIMS
016023,000156: 37,2631 76644 ALFLT3
016024,000157: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016025,000158: 37,2633 00014 12D
016026,000159: 37,2634 02444 ALX1S
016027,000160: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016028,000161: 37,2636 02243 ALFDK +144D,1
016029,000162: 37,2637 77775 DEC -2 B-14
016030,000163: 37,2640 12545 STORE ALDK +10D,2
016031,000164: 37,2641 66104 TIX,2 SXA,1
016032,000165: 37,2642 76635 ALKCG2
016033,000166: 37,2643 02444 ALX1S
016034,000167:
016035,000168: 37,2644 77770 ALFLT3 AXT,1
016036,000169: 37,2645 00010 8D
016037,000170: 37,2646 41343 DELMLP DLOAD* DMP
016038,000171: 37,2647 02533 DPIPAY +8D,1
016039,000172: 37,2650 37100 PIPASC
016040,000173: 37,2651 43661 SLR BDSU*
016041,000174: 37,2652 21212 9D
016042,000175: 37,2653 02501 INTY +8D,1
016043,000176: 37,2654 06501 STORE INTY +8D,1
016044,000177: 37,2655 40725 PDDL DMP*
016045,000178: 37,2656 37102 VELSC
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Page 388
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016047,000180: 37,2657 02521 VLAUN +8D,1
016048,000181: 37,2660 77732 SL2R
016049,000182: 37,2661 45425 DSU STADR
016050,000183: 37,2662 71216 STORE DELM +8D,1
016051,000184: 37,2663 06563 STORE DELM +10D,1
016052,000185: 37,2664 77100 TIX,1 AXT,2
016053,000186: 37,2665 76646 DELMLP
016054,000187: 37,2666 00004 4
016055,000188: 37,2667 56743 ALILP DLOAD* DMPR*
016056,000189: 37,2670 75324 ALK +4,2
016057,000190: 37,2671 75240 ALDK +4,2
016058,000191: 37,2672 12453 STORE ALK +4,2
016059,000192: 37,2673 77104 TIX,2 AXT,2
016060,000193: 37,2674 76667 ALILP
016061,000194: 37,2675 00010 8D
016062,000195: 37,2676 66140 ALKLP LXC,1 SXA,1
016063,000196: 37,2677 02445 CMPX1
016064,000197: 37,2700 02445 CMPX1
016065,000198: 37,2701 56743 DLOAD* DMPR*
016066,000199: 37,2702 02450 ALK +1,1
016067,000200: 37,2703 75216 DELM +8D,2
016068,000201: 37,2704 77613 DAD*
016069,000202: 37,2705 75276 INTY +8D,2
016070,000203: 37,2706 12501 STORE INTY +8D,2
016071,000204: 37,2707 42743 DLOAD* DAD*
016072,000205: 37,2710 75314 ALK +12D,2
016073,000206: 37,2711 75230 ALDK +12D,2
016074,000207: 37,2712 12463 STORE ALK +12D,2
016075,000208: 37,2713 42673 DMPR* DAD*
016076,000209: 37,2714 75216 DELM +8D,2
016077,000210: 37,2715 75266 INTY +16D,2
016078,000211: 37,2716 12511 STORE INTY +16D,2
016079,000212: 37,2717 40743 DLOAD* DMP*
016080,000213: 37,2720 37105 ALSK +1,1
016081,000214: 37,2721 75216 DELM +8D,2
016082,000215: 37,2722 42772 SL1R DAD*
016083,000216: 37,2723 75256 VLAUN +8D,2
016084,000217: 37,2724 12521 STORE VLAUN +8D,2
016085,000218: 37,2725 76104 TIX,2 AXT,1
016086,000219: 37,2726 76676 ALKLP
016087,000220: 37,2727 00010 8D
016088,000221:
016089,000222: 37,2730 64743 LOOSE DLOAD* PDDL*
016090,000223: 37,2731 02523 ACCWD +8D,1
016091,000224: 37,2732 02521 VLAUN +8D,1
016092,000225: 37,2733 55523 PDDL* VDEF
016093,000226: 37,2734 02531 POSNV +8D,1
016094,000227: 37,2735 76521 MXV VSL1
016095,000228: 37,2736 02001 TRANSM1
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Page 389
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016097,000230: 37,2737 77745 DLOAD
016098,000231: 37,2740 00155 MPAC
016099,000232: 37,2741 06531 STORE POSNV +8D,1
016100,000233: 37,2742 77745 DLOAD
016101,000234: 37,2743 00160 MPAC +3
016102,000235: 37,2744 06521 STORE VLAUN +8D,1
016103,000236: 37,2745 77745 DLOAD
016104,000237: 37,2746 00162 MPAC +5
016105,000238: 37,2747 06523 STORE ACCWD +8D,1
016106,000239: 37,2750 77700 TIX,1
016107,000240: 37,2751 76730 LOOSE
016108,000241:
016109,000242: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016110,000243: 37,2753 00006 6
016111,000244: 37,2754 00002 2
016112,000245: 37,2755 57343 BOOP DLOAD* DMPR
016113,000246: 37,2756 02503 ANGX +2,1
016114,000247: 37,2757 37110 GEORGEJ
016115,000248: 37,2760 77722 SR2R
016116,000249: 37,2761 73406 PUSH SIN
016117,000250: 37,2762 56072 SL3R XAD,1
016118,000251: 37,2763 00046 X1
016119,000252: 37,2764 10021 STORE 16D,2
016120,000253: 37,2765 77745 DLOAD
016121,000254: 37,2766 77746 COS
016122,000255: 37,2767 10027 STORE 22D,2 # COSINES
016123,000256: 37,2770 77704 TIX,2
016124,000257: 37,2771 76755 BOOP
016125,000258:
016126,000259: 37,2772 77776 PERFERAS EXIT
016127,000260: 37,2773 35016 CA EBANK7
016128,000261: 37,2774 54003 TS EBANK
016129,000262: 37,2775 E7,1400 EBANK= ATIGINC
016130,000263: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016131,000264:
016132,000265: # CAUTION
016133,000266:
016134,000267: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016135,000268: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016136,000269:
016137,000270: 37,2776 E5,1400 EBANK= AZIMUTH
016138,000271: 37,2776 11412 CCS LENGTHOT
016139,000272: 37,2777 03034 TC SLEEPIE
016140,000273: 37,3000 11440 CCS TORQNDX
016141,000274: 37,3001 13003 TCF +2
016142,000275: 37,3002 03005 TC SETUPER1
016143,000276: 37,3003 30032 CA CDUX
016144,000277: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016145,000278:
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Page 390
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016147,000280: 37,3005 06042 SETUPER1 TC INTPRET
016148,000281: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016149,000282: 37,3007 02473 ANGZ
016150,000283: 37,3010 02477 ANGY
016151,000284: 37,3011 55525 PDDL VDEF
016152,000285: 37,3012 02501 ANGX
016153,000286: 37,3013 74276 VCOMP VXSC
016154,000287: 37,3014 37110 GEORGEJ
016155,000288: 37,3015 74521 MXV VSR1
016156,000289: 37,3016 02643 XSM
016157,000290: 37,3017 02740 STORE OGC
016158,000291: 37,3020 77776 EXIT
016159,000292:
016160,000293: 37,3021 32475 CA OGCPL
016161,000294: 37,3022 04616 TC BANKCALL
016162,000295: 37,3023 17314 CADR IMUPULSE
016163,000296: 37,3024 02315 TC IMUSLLLG
016164,000297: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016165,000298: 37,3026 02263 TC VALMIS
016166,000299: 37,3027 06042 TC INTPRET
016167,000300: 37,3030 77624 CALL
016168,000301: 37,3031 76401 ERTHRVSE
016169,000302: 37,3032 77776 EXIT
016170,000303: 37,3033 02117 TC TORQUE
016171,000304:
016172,000305: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016173,000306: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016174,000307: 37,3036 02447 TC EARTHR*
016175,000308: 37,3037 05155 TC ENDOFJOB
016176,000309:
016177,000310: 37,3040 35014 SOMEERRR CA EBANK5
016178,000311: 37,3041 54003 TS EBANK
016179,000312: 37,3042 34753 CA ONE
016180,000313: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016181,000314: 37,3044 05567 TC ALARM
016182,000315: 37,3045 01600 OCT 1600
016183,000316: 37,3046 02270 TC ENDTEST1
016184,000317: 37,3047 33054 SOMERR2 CAF OCT1601
016185,000318: 37,3050 05734 TC VARALARM
016186,000319: 37,3051 05516 TC DOWNFLAG
016187,000320: 37,3052 00007 ADRES IMUSE
016188,000321: 37,3053 05155 TC ENDOFJOB
016189,000322:
016190,000323: 37,3054 01601 OCT1601 OCT 01601
016191,000324: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016192,000325: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 391
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016194,000327: 37,3060 00000 00000 2DEC .00000000
016195,000328: 37,3062 00000 OCT 00000
016196,000329: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016197,000330: 37,3064 00001 OCT 00001
016198,000331:
016199,000332: 37,3065 00004 INTVAL OCT 4
016200,000333: 37,3066 00002 OCT 2
016201,000334: 37,3067 00220 DEC 144 B-14
016202,000335: 37,3070 77776 DEC -1 B-14
016203,000336: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016204,000337: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016205,000338:
016206,000339: 37,3075 00115 77DECML DEC 77 B-14
016207,000340: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016208,000341: 37,3077 04133 02265 PIPASC 2DEC .13055869
016209,000342: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016210,000343: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016211,000344: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016212,000345:
016213,000346: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016214,000347: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016215,000348:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc