Source Code

This is a reconstruction of the AGC program Luminary 99 Rev 0. It was the second release of the Lunar Module flight software targeted for use in Apollo 11, after Luminary 97. A bug (which had been around since at least Apollo 10, Luminary 69) was discovered in Rev 0 shortly before the Apollo 11 flight, resulting in a last minute revision into Rev 1, which is what actually flew rather than the Rev 0 presented here. A hardcopy of Rev 0 is known to exist — it belonged to AGC developer Allan Klumpp for many years — but unfortunately the Virtual AGC Project has not had access to that hardcopy. Thus the code you see here had been reconstructed (we believe accurately) rather than transcribed. The first step of the reconstruction of the Rev 0 source code was the transcription of the Rev 1 source code from a hardcopy in the MIT Museum collection. The process of reverting the active portion of the source code (i.e., other than program comments) from Rev 1 to Rev 0 was very minor, consisting only of moving the position of the STARTSB1 label in FRESH START AND RESTART. Allan had previously given us the checksums of the memory banks of Rev 0, and we have verified the program presented here has checksums identical to all banks of Allan's listing of Rev 0. The notations on Allan's Rev 0 program listing read, in part:

	GAP:  ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-051

A single program comment is known to differ between Rev 0 and Rev 1, but these are harder to reconstruct and verify than changes to the active portion of the code. Thus it is possible that there are additional differences between the program comments in Rev 0 and Rev 1 that are unknown to us, and therefore are not reflected in the code presented here.

016044,000002:                                                                                                  ## Copyright:   Public domain.
016045,000003:                                                                                                  ## Filename:    IMU_PERFORMANCE_TESTS_2.agc
016046,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
016047,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
016048,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
016049,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
016050,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
016051,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
016052,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
016053,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
016054,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
016055,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
016056,000014:                                                                                                  ##              the original YUL assembler.
016057,000015:                                                                                                  ##
016058,000016:                                                                                                  ## Assembler:   yaYUL
016059,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016060,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
016061,000019:                                                                                                  ## Pages:       373-381
016062,000020:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
016063,000021:                                                                                                  ##                              Luminary131 file, using page 
016064,000022:                                                                                                  ##                              images from Luminary 1A.
016065,000023:                                                                                                  ##              2011-01-06 JL   Fixed pseudo-label indentation.
016066,000024:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
016067,000025:                                                                                                  ##                              and corrected the errors found.
016068,000026:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
016069,000027: 
016070,000028:                                                                                                  ## This source code has been transcribed or otherwise adapted from
016071,000029:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
016072,000030:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
016073,000031:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
016074,000032:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
016075,000033:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
016076,000034:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
016077,000035:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
016078,000036:                                                                                                  ## actually created.
016079,000037:                                                                                                  ##
016080,000038:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
016081,000039:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
016082,000040:                                                                                                  ## the listing from which it was transcribed. It has been verified to
016083,000041:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
016084,000042:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
016085,000043:                                                                                                  ##
016086,000044:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
016087,000045:                                                                                                  ##
016088,000046:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
016089,000047: 

Page 373

016091,000049:                                                                                                  #  NAME -        IMU PERFORMANCE TESTS 2
016092,000050: 
016093,000051:                                                                                                  #  DATE -        MARCH 20, 1967
016094,000052: 
016095,000053:                                                                                                  #  BY -          SYSTEM TEST GROUP 864-6900 EXT. 1274
016096,000054: 
016097,000055:                                                                                                  #  MODNO. -      ZERO
016098,000056: 
016099,000057:                                                                                                  #  FUNCTIONAL DESCRIPTION
016100,000058: 
016101,000059:                                                                                                  #  POSITIONING ROUTINES FOR THE IMU PERFORMANCE TESTS AS WELL AS SOME OF
016102,000060:                                                                                                  #  THE TESTS THEMSELVES.  FOR A DESCRIPTION OF THESE SUBROUTINES AND THE
016103,000061:                                                                                                  #  OPERATING PROCEDURES (TYPICALLY) SEE STG MEMO 685.  THEORETICAL REF. E-1973
016104,000062: 
016105,000063: 33,2045                                           BANK     33                                    
016106,000064: 37,2000                                           SETLOC   IMU2                                  
016107,000065: 37,2000                                           BANK                                           
016108,000066: 37,2002  E5,1416                                  EBANK=   POSITON                               
016109,000067: 37,2002                                           COUNT*   $$/P07                                
016110,000068: 
016111,000069: 37,2002           05311        REDO               TC       NEWMODEX                              
016112,000070: 37,2003           00007                           MM       07         B-14                       
016113,000071: 
016114,000072: 37,2004           02325        GEOIMUTT           TC       IMUZERR                               
016115,000073: 37,2005           34755        IMUBACK            CA       ZERO                                  
016116,000074: 37,2006           55414                           TS       NDXCTR                                
016117,000075: 37,2007           55440                           TS       TORQNDX                               
016118,000076: 37,2010           55441                           TS       TORQNDX    +1                         
016119,000077: 37,2011           55576                           TS       OVFLOWCK                              
016120,000078: 37,2012           34361        NBPOSPL            CA       DEC17                                 
016121,000079: 37,2013           55571                           TS       ZERONDX                               
016122,000080: 37,2014           32476                           CA       XNBADR                                
016123,000081: 37,2015           02367                           TC       ZEROING                               
016124,000082: 37,2016           34736                           CA       HALF                                  
016125,000083: 37,2017           55664                           TS       XNB                                   
016126,000084: 37,2020           06037        GUESS              TC       INTPRET                               
016127,000085: 37,2021           62545        LATAZCHK           DLOAD    SL2                                   
016128,000086: 37,2022           02403                                    LATITUDE                              
016129,000087: 37,2023           15047                           STODL    DSPTEM1    +1                         
016130,000088: 37,2024           02401                                    AZIMUTH                               
016131,000089: 37,2025           77434                           RTB      EXIT                                  
016132,000090: 37,2026           21614                                    1STO2S                                
016133,000091: 37,2027           56154                           XCH      MPAC                                  
016134,000092: 37,2030           55045                           TS       DSPTEM1                               
016135,000093: 37,2031           32473                           CAF      VN0641                                
016136,000094: 37,2032           04616                           TC       BANKCALL                              
016137,000095: 37,2033           20476                           CADR     GOFLASH                               
016138,000096: 37,2034           02270                           TC       ENDTEST1                              
016139,000097: 37,2035           02037                           TC       +2                                    
016140,000098: 37,2036           02031                           TC       -5                                    

Page 374

016142,000100: 37,2037           06037                           TC       INTPRET                               
016143,000101: 37,2040           47135                           SLOAD    RTB                                   
016144,000102: 37,2041           01046                                    DSPTEM1                               
016145,000103: 37,2042           21576                                    CDULOGIC                              
016146,000104: 37,2043           02401                           STORE    AZIMUTH                               
016147,000105: 37,2044           60535                           SLOAD    SR2                                   
016148,000106: 37,2045           01047                                    DSPTEM1    +1                         
016149,000107: 37,2046           02403                           STORE    LATITUDE                              
016150,000108: 37,2047           57546                           COS      DCOMP                                 
016151,000109: 37,2050           77752                           SL1                                            
016152,000110: 37,2051           16437                           STODL    WANGI                                 
016153,000111: 37,2052           02403                                    LATITUDE                              
016154,000112: 37,2053           72556                           SIN      SL1                                   
016155,000113: 37,2054           16435                           STODL    WANGO                                 
016156,000114: 37,2055           02401                                    AZIMUTH                               
016157,000115: 37,2056           73406                           PUSH     SIN                                   
016158,000116: 37,2057           02675                           STORE    YNB        +2                         
016159,000117: 37,2060           16705                           STODL    ZNB        +4                         
016160,000118: 37,2061           77746                           COS                                            
016161,000119: 37,2062           02677                           STORE    YNB        +4                         
016162,000120: 37,2063           77676                           DCOMP                                          
016163,000121: 37,2064           36703        POSGMBL            STCALL   ZNB        +2                         
016164,000122: 37,2065           47353                                    CALCGA                                
016165,000123: 37,2066           77776                           EXIT                                           
016166,000124: 37,2067           04616                           TC       BANKCALL                              
016167,000125: 37,2070           17000                           CADR     IMUCOARS                              
016168,000126: 37,2071           34736                           CAF      BIT14                                 #  IF BIT14 SET, GIMBAL LOCK
016169,000127: 37,2072           70077                           MASK     FLAGWRD3                              
016170,000128: 37,2073           00006                           EXTEND                                         
016171,000129: 37,2074           12076                           BZF      +2                                    
016172,000130: 37,2075           25414                           INCR     NDXCTR                                #  +1 IF IN GIMBAL LOCK, OTHERWISE 0
016173,000131: 37,2076           05516                           TC       DOWNFLAG                              
016174,000132: 37,2077           00056                           ADRES    GLOKFAIL                              #  RESET GIMBAL LOCK FLAG
016175,000133: 37,2100           02315                           TC       IMUSLLLG                              
016176,000134: 37,2101           11414                           CCS      NDXCTR                                #  IF ONE GO AND DO A PIPA TEST ONLY
016177,000135: 37,2102           02126                           TC       PIPACHK                               #  ALIGN AND MEASURE VERTICAL PIPA RATE
016178,000136: 37,2103           02320                           TC       FINIMUDD                              
016179,000137: 37,2104           00006                           EXTEND                                         
016180,000138: 37,2105           31575                           DCA      PERFDLAY                              
016181,000139: 37,2106           05277                           TC       LONGCALL                              #  DELAY WHILE SUSPENSION STABILIZES
016182,000140: 37,2107  E5,1416                                  EBANK=   POSITON                               
016183,000141: 37,2107           02113 76065                     2CADR    GOESTIMS                              
016184,000142: 
016185,000143: 37,2111           32116                           CA       ESTICADR                              
016186,000144: 37,2112           05133                           TC       JOBSLEEP                              
016187,000145: 37,2113           32116        GOESTIMS           CA       ESTICADR                              
016188,000146: 37,2114           05137                           TC       JOBWAKE                               
016189,000147: 37,2115           05261                           TC       TASKOVER                              
016190,000148: 37,2116           76500        ESTICADR           CADR     ESTIMS                                
016191,000149: 37,2117           34755        TORQUE             CA       ZERO                                  

Page 375

016193,000151: 37,2120           55050                           TS       DSPTEM2                               
016194,000152: 37,2121           31504                           CA       DRIFTI                                
016195,000153: 37,2122           55051                           TS       DSPTEM2    +1                         
016196,000154: 37,2123           51416                           INDEX    POSITON                               
016197,000155: 37,2124           55420                           TS       SOUTHDR    -1                         
016198,000156: 37,2125           02457                           TC       SHOW                                  
016199,000157: 
016200,000158: 37,2126           51414        PIPACHK            INDEX    NDXCTR                                #  PIPA TEST
016201,000159: 37,2127           02130                           TC       +1                                    
016202,000160: 37,2130           02447                           TC       EARTHR*                               
016203,000161: 37,2131           34361                           CA       DEC17                                 #  ALLOW PIP COUNTER TO OVERFLOW 17 TIMES
016204,000162: 37,2132           55476                           TS       DATAPL     +4                         #  IN THE ALLOTED TIME INTERVAL
016205,000163: 37,2133           32474                           CA       DEC58                                 
016206,000164: 37,2134           55412                           TS       LENGTHOT                              
016207,000165: 37,2135           34753                           CA       ONE                                   
016208,000166: 37,2136           55537                           TS       RESULTCT                              
016209,000167: 37,2137           34755                           CA       ZERO                                  
016210,000168: 37,2140           51415                           INDEX    PIPINDEX                              
016211,000169: 37,2141           54037                           TS       PIPAX                                 
016212,000170: 37,2142           55472                           TS       DATAPL                                
016213,000171: 37,2143           02332                           TC       CHECKG                                
016214,000172: 37,2144           00004                           INHINT                                         
016215,000173: 37,2145           34752                           CAF      TWO                                   
016216,000174: 37,2146           05173                           TC       TWIDDLE                               
016217,000175: 37,2147  E5,1642                                  EBANK=   XSM                                   
016218,000176: 37,2147           02151                           ADRES    PIPATASK                              
016219,000177: 37,2150           05155                           TC       ENDOFJOB                              
016220,000178: 
016221,000179: 37,2151           00006        PIPATASK           EXTEND                                         
016222,000180: 37,2152           27412                           DIM      LENGTHOT                              
016223,000181: 37,2153           31412                           CA       LENGTHOT                              
016224,000182: 37,2154           00006                           EXTEND                                         
016225,000183: 37,2155           62161                           BZMF     STARTPIP                              
016226,000184: 37,2156           34742                           CAF      BIT10                                 
016227,000185: 37,2157           05173                           TC       TWIDDLE                               
016228,000186: 37,2160  E5,1642                                  EBANK=   XSM                                   
016229,000187: 37,2160           02151                           ADRES    PIPATASK                              
016230,000188: 37,2161           34736        STARTPIP           CAF      PRIO20                                
016231,000189: 37,2162           05105                           TC       FINDVAC                               
016232,000190: 37,2163  E5,1642                                  EBANK=   XSM                                   
016233,000191: 37,2163           02166 76065                     2CADR    PIPJOBB                               
016234,000192: 
016235,000193: 37,2165           05261                           TC       TASKOVER                              
016236,000194: 
016237,000195: 37,2166           51414        PIPJOBB            INDEX    NDXCTR                                
016238,000196: 37,2167           02170                           TC       +1                                    
016239,000197: 37,2170           02447                           TC       EARTHR*                               
016240,000198: 37,2171           31412                           CA       LENGTHOT                              

Page 376

016242,000200: 37,2172           00006                           EXTEND                                         
016243,000201: 37,2173           62175                           BZMF     +2                                    
016244,000202: 37,2174           05155                           TC       ENDOFJOB                              
016245,000203: 
016246,000204: 37,2175           34756                           CA       FIVE                                  
016247,000205: 37,2176           55537                           TS       RESULTCT                              
016248,000206: 37,2177           02332                           TC       CHECKG                                
016249,000207: 37,2200           11473                           CCS      DATAPL     +1                         
016250,000208: 37,2201           02205                           TC       +4                                    
016251,000209: 37,2202           05705                           TC       CCSHOLE                               
016252,000210: 37,2203           41476                           CS       DATAPL     +4                         
016253,000211: 37,2204           55476                           TS       DATAPL     +4                         
016254,000212: 37,2205           00006                           EXTEND                                         
016255,000213: 37,2206           41473                           DCS      DATAPL                                
016256,000214: 37,2207           21477                           DAS      DATAPL     +4                         
016257,000215: 
016258,000216: 37,2210           06037                           TC       INTPRET                               
016259,000217: 37,2211           45345                           DLOAD    DSU                                   
016260,000218: 37,2212           02501                                    DATAPL     +6                         
016261,000219: 37,2213           02475                                    DATAPL     +2                         
016262,000220: 37,2214           45044                           BPL      CALL                                  
016263,000221: 37,2215           76217                                    AINGOTN                               
016264,000222: 37,2216           76275                                    OVERFFIX                              
016265,000223: 37,2217           56325        AINGOTN            PDDL     DDV                                   
016266,000224: 37,2220           02477                                    DATAPL     +4                         
016267,000225: 37,2221           47075                           DMPR     RTB                                   
016268,000226: 37,2222           37056                                    DEC585                                #  DEC585 HAS BEEN REDEFINED FOR LEM
016269,000227: 37,2223           21612                                    SGNAGREE                              
016270,000228: 37,2224           01051                           STORE    DSPTEM2                               
016271,000229: 37,2225           77776                           EXIT                                           
016272,000230: 37,2226           11414                           CCS      NDXCTR                                
016273,000231: 37,2227           02301                           TC       COAALIGN                              #  TAKE PLATFORM OUT OF GIMBAL LOCK
016274,000232: 37,2230           02457                           TC       SHOW                                  
016275,000233: 37,2231           32471        VERTDRFT           CA       3990DEC                               #  ABOUT 1 HOUR VERTICAL DRIFT TEST
016276,000234: 37,2232           55412                           TS       LENGTHOT                              
016277,000235: 37,2233           51416                           INDEX    POSITON                               
016278,000236: 37,2234           41417                           CS       SOUTHDR    -2                         
016279,000237: 37,2235           55442                           TS       DRIFTT                                
016280,000238: 37,2236           11415                           CCS      PIPINDEX                              #  OFFSET PLATFORM TO MISS PIP DEAD-ZONES
016281,000239: 37,2237           12245                           TCF      PON4                                  #  Z UP IN POS 4
016282,000240: 37,2240           44747        PON2               CS       BIT5                                  #  X UP
016283,000241: 37,2241           27565                           ADS      ERCOMP     +2                         
016284,000242: 37,2242           34747                           CA       BIT5                                  
016285,000243: 37,2243           27567                           ADS      ERCOMP     +4                         
016286,000244: 37,2244           12251                           TCF      PON                                   
016287,000245: 37,2245           44747        PON4               CS       BIT5                                  
016288,000246: 37,2246           27565                           ADS      ERCOMP     +2                         
016289,000247: 37,2247           34747                           CA       BIT5                                  
016290,000248: 37,2250           27563                           ADS      ERCOMP                                
016291,000249: 37,2251           02447        PON                TC       EARTHR*                               

Page 377

016293,000251: 37,2252           34755                           CA       ZERO                                  #  ALLOW ONLY SOUTH GYRO EARTH RATE COMPENS
016294,000252: 37,2253           55404                           TS       ERVECTOR                              
016295,000253: 37,2254           55405                           TS       ERVECTOR   +1                         
016296,000254: 37,2255           34733        GUESS1             CAF      POSMAX                                
016297,000255: 37,2256           55440                           TS       TORQNDX                               
016298,000256: 37,2257           55441                           TS       TORQNDX    +1                         
016299,000257: 37,2260           30032                           CA       CDUX                                  
016300,000258: 37,2261           55413                           TS       LOSVEC                                
016301,000259: 37,2262           02500                           TC       ESTIMS                                
016302,000260: 37,2263           31502        VALMIS             CA       DRIFTO                                
016303,000261: 37,2264           55051                           TS       DSPTEM2    +1                         
016304,000262: 37,2265           34755                           CA       ZERO                                  
016305,000263: 37,2266           55050                           TS       DSPTEM2                               
016306,000264: 37,2267           02457                           TC       SHOW                                  
016307,000265: 
016308,000266: 37,2270           05516        ENDTEST1           TC       DOWNFLAG                              
016309,000267: 37,2271           00007                           ADRES    IMUSE                                 
016310,000268: 37,2272           44755                           CS       ZERO                                  
016311,000269: 37,2273           05314                           TC       NEWMODEA                              
016312,000270: 37,2274           05472                           TC       ENDEXT                                
016313,000271: 

Page 378

016315,000273: 37,2275           43215        OVERFFIX           DAD      DAD                                   
016316,000274: 37,2276           06530                                    DPPOSMAX                              
016317,000275: 37,2277           37064                                    ONEDPP                                
016318,000276: 37,2300           77616                           RVQ                                            
016319,000277: 
016320,000278: 37,2301           00006        COAALIGN           EXTEND                                         #  COARSE ALIGN SUBROUTINE
016321,000279: 37,2302           23571                           QXCH     ZERONDX                               
016322,000280: 37,2303           34755                           CA       ZERO                                  
016323,000281: 37,2304           54321                           TS       THETAD                                
016324,000282: 37,2305           54322                           TS       THETAD     +1                         
016325,000283: 37,2306           54323                           TS       THETAD     +2                         
016326,000284: 37,2307           04616                           TC       BANKCALL                              
016327,000285: 37,2310           17000                           CADR     IMUCOARS                              
016328,000286: 37,2311           04616        ALIGNCOA           TC       BANKCALL                              
016329,000287: 37,2312           17716                           CADR     IMUSTALL                              
016330,000288: 37,2313           03047                           TC       SOMERR2                               
016331,000289: 37,2314           01571                           TC       ZERONDX                               
016332,000290: 
016333,000291: 37,2315           00006        IMUSLLLG           EXTEND                                         
016334,000292: 37,2316           23571                           QXCH     ZERONDX                               
016335,000293: 37,2317           02311                           TC       ALIGNCOA                              
016336,000294: 
016337,000295: 37,2320           00006        FINIMUDD           EXTEND                                         
016338,000296: 37,2321           23571                           QXCH     ZERONDX                               
016339,000297: 37,2322           04616                           TC       BANKCALL                              
016340,000298: 37,2323           17210                           CADR     IMUFINE                               
016341,000299: 37,2324           02311                           TC       ALIGNCOA                              
016342,000300: 
016343,000301: 37,2325           00006        IMUZERR            EXTEND                                         
016344,000302: 37,2326           23571                           QXCH     ZERONDX                               
016345,000303: 37,2327           04616                           TC       BANKCALL                              
016346,000304: 37,2330           16714                           CADR     IMUZERO                               
016347,000305: 37,2331           02311                           TC       ALIGNCOA                              
016348,000306: 
016349,000307: 37,2332           00006        CHECKG             EXTEND                                         #  PIP PULSE CATCHING ROUTINE
016350,000308: 37,2333           23417                           QXCH     QPLACE                                
016351,000309: 37,2334           02342                           TC       +6                                    
016352,000310: 37,2335           00003        CHECKG1            RELINT                                         
016353,000311: 37,2336           30067                           CA       NEWJOB                                
016354,000312: 37,2337           00006                           EXTEND                                         
016355,000313: 37,2340           62346                           BZMF     +6                                    
016356,000314: 37,2341           05122                           TC       CHANG1                                
016357,000315: 37,2342           00004                           INHINT                                         
016358,000316: 37,2343           51415                           INDEX    PIPINDEX                              
016359,000317: 37,2344           40037                           CS       PIPAX                                 
016360,000318: 37,2345           55571                           TS       ZERONDX                               
016361,000319: 37,2346           00004                           INHINT                                         

Page 379

016363,000321: 37,2347           51415                           INDEX    PIPINDEX                              
016364,000322: 37,2350           30037                           CA       PIPAX                                 
016365,000323: 37,2351           61571                           AD       ZERONDX                               
016366,000324: 37,2352           00006                           EXTEND                                         
016367,000325: 37,2353           12335                           BZF      CHECKG1                               
016368,000326: 37,2354           51415                           INDEX    PIPINDEX                              
016369,000327: 37,2355           30037                           CA       PIPAX                                 
016370,000328: 37,2356           51537                           INDEX    RESULTCT                              
016371,000329: 37,2357           55472                           TS       DATAPL                                
016372,000330: 37,2360           04102                           TC       FINETIME                              
016373,000331: 37,2361           51537                           INDEX    RESULTCT                              
016374,000332: 37,2362           55473                           TS       DATAPL     +1                         
016375,000333: 37,2363           51537                           INDEX    RESULTCT                              
016376,000334: 37,2364           23474                           LXCH     DATAPL     +2                         
016377,000335: 37,2365           00003                           RELINT                                         
016378,000336: 37,2366           01417        ENDCHKG            TC       QPLACE                                
016379,000337: 
016380,000338: 37,2367           54001        ZEROING            TS       L                                     
016381,000339: 37,2370           12372                           TCF      +2                                    
016382,000340: 37,2371           55571        ZEROING1           TS       ZERONDX                               
016383,000341: 37,2372           34755                           CAF      ZERO                                  
016384,000342: 37,2373           50001                           INDEX    L                                     
016385,000343: 37,2374           54000                           TS       0                                     
016386,000344: 37,2375           24001                           INCR     L                                     
016387,000345: 37,2376           11571                           CCS      ZERONDX                               
016388,000346: 37,2377           12371                           TCF      ZEROING1                              
016389,000347: 37,2400           00002                           TC       Q                                     
016390,000348: 

Page 380

016392,000350: 37,2401           65345        ERTHRVSE           DLOAD    PDDL                                  
016393,000351: 37,2402           37057                                    SCHZEROS                              #  PD24 = (SIN             -COS     0)(OMEG/MS)
016394,000352: 37,2403           02403                                    LATITUDE                              
016395,000353: 37,2404           57546                           COS      DCOMP                                 
016396,000354: 37,2405           73525                           PDDL     SIN                                   
016397,000355: 37,2406           02403                                    LATITUDE                              
016398,000356: 37,2407           74266                           VDEF     VXSC                                  
016399,000357: 37,2410           36001                                    OMEG/MS                               
016400,000358: 37,2411           02405                           STORE    ERVECTOR                              
016401,000359: 37,2412           77634                           RTB                                            
016402,000360: 37,2413           21573                                    LOADTIME                              
016403,000361: 37,2414           26433                           STOVL    TMARK                                 
016404,000362: 37,2415           37057                                    SCHZEROS                              
016405,000363: 37,2416           02564                           STORE    ERCOMP                                
016406,000364: 37,2417           77616                           RVQ                                            
016407,000365: 
016408,000366: 37,2420           47020        EARTHR             ITA      RTB                                   
016409,000367: 37,2421           00051                                    S2                                    
016410,000368: 37,2422           21573                                    LOADTIME                              
016411,000369: 37,2423           02431                           STORE    TEMPTIME                              
016412,000370: 37,2424           51025                           DSU      BPL                                   
016413,000371: 37,2425           02433                                    TMARK                                 
016414,000372: 37,2426           76431                                    ERTHR                                 
016415,000373: 37,2427           77624                           CALL                                           
016416,000374: 37,2430           76275                                    OVERFFIX                              
016417,000375: 37,2431           74261        ERTHR              SL       VXSC                                  
016418,000376: 37,2432           20212                                    9D                                    
016419,000377: 37,2433           02405                                    ERVECTOR                              
016420,000378: 37,2434           53321                           MXV      VAD                                   
016421,000379: 37,2435           02643                                    XSM                                   
016422,000380: 37,2436           02564                                    ERCOMP                                
016423,000381: 37,2437           16564                           STODL    ERCOMP                                
016424,000382: 37,2440           02431                                    TEMPTIME                              
016425,000383: 37,2441           02433                           STORE    TMARK                                 
016426,000384: 37,2442           47170                           AXT,1    RTB                                   
016427,000385: 37,2443           02563                           ECADR    ERCOMP                                
016428,000386: 37,2444           21705                                    PULSEIMU                              
016429,000387: 37,2445           77650                           GOTO                                           
016430,000388: 37,2446           00051                                    S2                                    
016431,000389: 
016432,000390: 37,2447           00006        EARTHR*            EXTEND                                         
016433,000391: 37,2450           23420                           QXCH     QPLACES                               
016434,000392: 37,2451           06037                           TC       INTPRET                               
016435,000393: 37,2452           77624                           CALL                                           
016436,000394: 37,2453           76420                                    EARTHR                                
016437,000395: 37,2454           77776                           EXIT                                           
016438,000396: 37,2455           02315                           TC       IMUSLLLG                              
016439,000397: 37,2456           01420                           TC       QPLACES                               
016440,000398: 
016441,000399: 37,2457           00006        SHOW               EXTEND                                         

Page 381

016443,000401: 37,2460           23417                           QXCH     QPLACE                                
016444,000402: 37,2461           31416        SHOW1              CA       POSITON                               
016445,000403: 37,2462           55052                           TS       DSPTEM2    +2                         
016446,000404: 37,2463           32472                           CA       VB06N98                               
016447,000405: 37,2464           04616                           TC       BANKCALL                              
016448,000406: 37,2465           20476                           CADR     GOFLASH                               
016449,000407: 37,2466           02270                           TC       ENDTEST1                              #  V34
016450,000408: 37,2467           01417                           TC       QPLACE                                #  V33
016451,000409: 37,2470           12461                           TCF      SHOW1                                 
016452,000410: 
016453,000411: 37,2471           07626        3990DEC            DEC      3990       B-14                       
016454,000412: 37,2472           01542        VB06N98            VN       0698                                  
016455,000413: 37,2473           01451        VN0641             VN       0641                                  
016456,000414: 37,2474     4361               DEC17              =        ND1                                   
016457,000415: 37,2474           00072        DEC58              DEC      58         B-14                       
016458,000416: 37,2475           02737        OGCPL              ECADR    OGC                                   
016459,000417: 37,2476     4777               1SECX              =        1SEC                                  
016460,000418: 37,2476           01664        XNBADR             GENADR   XNB                                   
016461,000419: 37,2477           01642        XSMADR             GENADR   XSM                                   
016462,000420:    4102                                           BLOCK    2                                     
016463,000421:    4102                                           COUNT*   $$/P07                                
016464,000422:    4102           00004        FINETIME           INHINT                                         #  RETURNS WITH INTERRUPT INHIBITED
016465,000423:    4103           00006                           EXTEND                                         
016466,000424:    4104           00004                           READ     LOSCALAR                              
016467,000425:    4105           54001                           TS       L                                     
016468,000426:    4106           00006                           EXTEND                                         
016469,000427:    4107           06004                           RXOR     LOSCALAR                              
016470,000428:    4110           00006                           EXTEND                                         
016471,000429:    4111           14115                           BZF      +4                                    
016472,000430:    4112           00006                           EXTEND                                         
016473,000431:    4113           00004                           READ     LOSCALAR                              
016474,000432:    4114           54001                           TS       L                                     
016475,000433:    4115           44733                 +4        CS       POSMAX                                
016476,000434:    4116           60001                           AD       L                                     
016477,000435:    4117           00006                           EXTEND                                         
016478,000436:    4120           14103                           BZF      FINETIME   +1                         
016479,000437:    4121           00006                           EXTEND                                         
016480,000438:    4122           00003                           READ     HISCALAR                              
016481,000439:    4123           00002                           TC       Q                                     
016482,000440: 

End of include-file IMU_PERFORMANCE_TESTS_2.agc.  Parent file is MAIN.agc