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.

016485,000002:                                                                                                  ## Copyright:   Public domain.
016486,000003:                                                                                                  ## Filename:    IMU_PERFORMANCE_TESTS_4.agc
016487,000004:                                                                                                  ## Purpose:     Part of the reconstructed source code for LMY99 Rev 0,
016488,000005:                                                                                                  ##              otherwise known as Luminary Rev 99, the second release
016489,000006:                                                                                                  ##              of the Apollo Guidance Computer (AGC) software for Apollo 11.
016490,000007:                                                                                                  ##              It differs from LMY99 Rev 1 (the flown version) only in the
016491,000008:                                                                                                  ##              placement of a single label. The corrections shown here have
016492,000009:                                                                                                  ##              been verified to have the same bank checksums as AGC developer
016493,000010:                                                                                                  ##              Allan Klumpp's copy of Luminary Rev 99, and so are believed
016494,000011:                                                                                                  ##              to be accurate. This file is intended to be a faithful 
016495,000012:                                                                                                  ##              recreation, except that the code format has been changed to 
016496,000013:                                                                                                  ##              conform to the requirements of the yaYUL assembler rather than 
016497,000014:                                                                                                  ##              the original YUL assembler.
016498,000015:                                                                                                  ##
016499,000016:                                                                                                  ## Assembler:   yaYUL
016500,000017:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
016501,000018:                                                                                                  ## Website:     www.ibiblio.org/apollo.
016502,000019:                                                                                                  ## Pages:       382-389
016503,000020:                                                                                                  ## Mod history: 2009-05-17 RSB  Adapted from the corresponding 
016504,000021:                                                                                                  ##                              Luminary131 file, using page 
016505,000022:                                                                                                  ##                              images from Luminary 1A.
016506,000023:                                                                                                  ##              2016-12-14 RSB  Proofed text comments with octopus/ProoferComments
016507,000024:                                                                                                  ##                              and corrected the errors found.
016508,000025:                                                                                                  ##              2017-03-07 RSB  Comment-text error-fixes noted in proofing Luminary 116.
016509,000026:                                                                                                  ##              2017-08-01 MAS  Created from LMY99 Rev 1.
016510,000027: 
016511,000028:                                                                                                  ## This source code has been transcribed or otherwise adapted from
016512,000029:                                                                                                  ## digitized images of a hardcopy from the MIT Museum.  The digitization
016513,000030:                                                                                                  ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
016514,000031:                                                                                                  ## the Museum.  Many thanks to both.  The images (with suitable reduction
016515,000032:                                                                                                  ## in storage size and consequent reduction in image quality as well) are
016516,000033:                                                                                                  ## available online at www.ibiblio.org/apollo.  If for some reason you
016517,000034:                                                                                                  ## find that the images are illegible, contact me at info@sandroid.org
016518,000035:                                                                                                  ## about getting access to the (much) higher-quality images which Paul
016519,000036:                                                                                                  ## actually created.
016520,000037:                                                                                                  ##
016521,000038:                                                                                                  ## The code has been modified to match LMY99 Revision 0, otherwise
016522,000039:                                                                                                  ## known as Luminary Revision 99, the Apollo 11 software release preceeding
016523,000040:                                                                                                  ## the listing from which it was transcribed. It has been verified to
016524,000041:                                                                                                  ## contain the same bank checksums as AGC developer Allan Klumpp's listing
016525,000042:                                                                                                  ## of Luminary Revision 99 (for which we do not have scans).
016526,000043:                                                                                                  ##
016527,000044:                                                                                                  ## Notations on Allan Klumpp's listing read, in part:
016528,000045:                                                                                                  ##
016529,000046:                                                                                                  ##      ASSEMBLE REVISION 099 OF AGC PROGRAM LUMINARY BY NASA 2021112-51
016530,000047: 

Page 382

016532,000049:                                                                                                  #  PROGRAM -     IMU PERFORMANCE TESTS 4
016533,000050:                                                                                                  #  DATE -        NOV 15, 1966
016534,000051:                                                                                                  #  BY -          GEORGE SCHMIDT IL7-146 EXT 1126
016535,000052:                                                                                                  #  MOD NO-ZERO
016536,000053: 
016537,000054:                                                                                                  #  FUNCTIONAL DESCRIPTION
016538,000055: 
016539,000056:                                                                                                  #  THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS.  NO COMPASS
016540,000057:                                                                                                  #  IS DONE IN LEM.  FOR A DESCRIPTION OF THE FILTER SEE E-1973.  THIS
016541,000058:                                                                                                  #  SECTION IS ENTERED FROM IMU 2.  IT RETURNS THERE AT END OF TEST.
016542,000059: 
016543,000060:                                                                                                  #  EARTHR,OGC ZERO,ERTHRVSE
016544,000061: 
016545,000062:                                                                                                  #  NORMAL EXIT
016546,000063: 
016547,000064:                                                                                                  #  LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
016548,000065: 
016549,000066:                                                                                                  #  ALARMS
016550,000067: 
016551,000068:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST
016552,000069:                                                                                                  #  1601  BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016553,000070:                                                                                                  #        OUTPUT
016554,000071: 
016555,000072:                                                                                                  #  FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
016556,000073: 
016557,000074:                                                                                                  #  DEBRIS
016558,000075: 
016559,000076:                                                                                                  #  ALL CENTRALS - ALL OF EBANK XSM
016560,000077: 

Page 383

016562,000079: 33,2045                                           BANK     33                                    
016563,000080: 37,2000                                           SETLOC   IMU4                                  
016564,000081: 37,2000                                           BANK                                           
016565,000082: 37,2500                                           COUNT*   $$/P07                                
016566,000083: 
016567,000084: 37,2500  E5,1642                                  EBANK=   XSM                                   
016568,000085: 
016569,000086: 37,2500           00004        ESTIMS             INHINT                                         
016570,000087: 37,2501           31572                           CAE      1SECXT                                
016571,000088: 37,2502           05173                           TC       TWIDDLE                               
016572,000089: 37,2503  E5,1642                                  EBANK=   XSM                                   
016573,000090: 37,2503           02536                           ADRES    ALLOOP                                
016574,000091: 37,2504           34755                           CAF      ZERO                                  #  ZERO THE PIPAS
016575,000092: 37,2505           54037                           TS       PIPAX                                 
016576,000093: 37,2506           54040                           TS       PIPAY                                 
016577,000094: 37,2507           54041                           TS       PIPAZ                                 
016578,000095: 37,2510           00003                           RELINT                                         
016579,000096: 37,2511           33075                           CA       77DECML                               
016580,000097: 37,2512           55571                           TS       ZERONDX                               
016581,000098: 37,2513           33076                           CA       ALXXXZ                                
016582,000099: 37,2514           02367                           TC       ZEROING                               
016583,000100: 37,2515           06037                           TC       INTPRET                               
016584,000101: 37,2516           77735                           SLOAD                                          
016585,000102: 37,2517           37057                                    SCHZEROS                              
016586,000103: 37,2520           25477                           STOVL    GCOMPSW    -1                         
016587,000104: 37,2521           37070                                    INTVAL     +2                         
016588,000105: 37,2522           26445                           STOVL    ALX1S                                 
016589,000106: 37,2523           37057                                    SCHZEROS                              
016590,000107: 37,2524           00325                           STORE    DELVX                                 
016591,000108: 37,2525           01472                           STORE    GCOMP                                 
016592,000109: 37,2526           77735                           SLOAD                                          
016593,000110: 37,2527           02441                                    TORQNDX                               
016594,000111: 37,2530           50076                           DCOMP    BMN                                   
016595,000112: 37,2531           76534                                    VERTSKIP                              
016596,000113: 37,2532           77624                           CALL                                           
016597,000114: 37,2533           76401                                    ERTHRVSE                              
016598,000115: 37,2534           77776        VERTSKIP           EXIT                                           
016599,000116: 37,2535           03035                           TC       SLEEPIE    +1                         
016600,000117: 

Page 384

016602,000119: 37,2536           31576        ALLOOP             CA       OVFLOWCK                              
016603,000120: 37,2537           00006                           EXTEND                                         
016604,000121: 37,2540           12542                           BZF      +2                                    
016605,000122: 37,2541           05261                           TC       TASKOVER                              
016606,000123: 37,2542           11530                           CCS      ALTIM                                 
016607,000124: 37,2543           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
016608,000125: 37,2544           55531                           TS       ALTIMS                                
016609,000126: 37,2545           40000                           CS       A                                     
016610,000127: 37,2546           55530                           TS       ALTIM                                 
016611,000128: 37,2547           44753                           CS       ONE                                   
016612,000129: 37,2550           61562                           AD       GEOCOMPS                              
016613,000130: 37,2551           00006                           EXTEND                                         
016614,000131: 37,2552           12556                           BZF      +4                                    
016615,000132: 37,2553           31412                           CA       LENGTHOT                              
016616,000133: 37,2554           00006                           EXTEND                                         
016617,000134: 37,2555           62562                           BZMF     +5                                    
016618,000135: 37,2556           31572                           CAE      1SECXT                                
016619,000136: 37,2557           05173                           TC       TWIDDLE                               
016620,000137: 37,2560  E5,1642                                  EBANK=   XSM                                   
016621,000138: 37,2560           02536                           ADRES    ALLOOP                                
016622,000139: 37,2561           34755                           CAF      ZERO                                  
016623,000140: 37,2562           56037                           XCH      PIPAX                                 
016624,000141: 37,2563           54324                           TS       DELVX                                 
016625,000142: 37,2564           34755                           CAF      ZERO                                  
016626,000143: 37,2565           56040                           XCH      PIPAY                                 
016627,000144: 37,2566           54326                           TS       DELVY                                 
016628,000145: 37,2567           34755                           CAF      ZERO                                  
016629,000146: 37,2570           56041                           XCH      PIPAZ                                 
016630,000147: 37,2571           54330                           TS       DELVZ                                 
016631,000148: 37,2572           34736        SPECSTS            CAF      PRIO20                                
016632,000149: 37,2573           05105                           TC       FINDVAC                               
016633,000150: 37,2574  E5,1642                                  EBANK=   XSM                                   
016634,000151: 37,2574           02577 76065                     2CADR    ALFLT                                 #  START THE JOB
016635,000152: 
016636,000153: 37,2576           05261                           TC       TASKOVER                              
016637,000154: 

Page 385

016639,000156: 37,2577           11562        ALFLT              CCS      GEOCOMPS                              
016640,000157: 37,2600           02602                           TC       +2                                    
016641,000158: 37,2601           02604                           TC       NORMLOP                               
016642,000159: 37,2602           04616                           TC       BANKCALL                              
016643,000160: 37,2603           15263                           CADR     1/PIPA                                
016644,000161: 37,2604           06037        NORMLOP            TC       INTPRET                               
016645,000162: 37,2605           77745                           DLOAD                                          
016646,000163: 37,2606           37066                                    INTVAL                                
016647,000164: 37,2607           24051                           STOVL    S1                                    
016648,000165: 37,2610           00325                                    DELVX                                 
016649,000166: 37,2611           76505                           VXM      VSL1                                  
016650,000167: 37,2612           02643                                    XSM                                   
016651,000168: 37,2613           57545                           DLOAD    DCOMP                                 
016652,000169: 37,2614           00160                                    MPAC       +3                         
016653,000170: 37,2615           16523                           STODL    DPIPAY                                
016654,000171: 37,2616           00162                                    MPAC       +5                         
016655,000172: 37,2617           02527                           STORE    DPIPAZ                                
016656,000173: 
016657,000174: 37,2620           76001                           SETPD    AXT,1                                 
016658,000175: 37,2621           00001                                    0                                     
016659,000176: 37,2622           00010                                    8D                                    
016660,000177: 37,2623           57535                           SLOAD    DCOMP                                 
016661,000178: 37,2624           02563                                    GEOCOMPS                              
016662,000179: 37,2625           77640                           BMN                                            
016663,000180: 37,2626           76772                                    PERFERAS                              
016664,000181: 37,2627           50135        ALCGKK             SLOAD    BMN                                   
016665,000182: 37,2630           02532                                    ALTIMS                                
016666,000183: 37,2631           76644                                    ALFLT3                                
016667,000184: 37,2632           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
016668,000185: 37,2633           00014                                    12D                                   
016669,000186: 37,2634           02444                                    ALX1S                                 
016670,000187: 37,2635           62143        ALKCG2             DLOAD*   INCR,1                                
016671,000188: 37,2636           02243                                    ALFDK      +144D,1                    
016672,000189: 37,2637           77775                           DEC      -2         B-14                       
016673,000190: 37,2640           12545                           STORE    ALDK       +10D,2                     
016674,000191: 37,2641           66104                           TIX,2    SXA,1                                 
016675,000192: 37,2642           76635                                    ALKCG2                                
016676,000193: 37,2643           02444                                    ALX1S                                 
016677,000194: 
016678,000195: 37,2644           77770        ALFLT3             AXT,1                                          
016679,000196: 37,2645           00010                                    8D                                    
016680,000197: 37,2646           41343        DELMLP             DLOAD*   DMP                                   
016681,000198: 37,2647           02533                                    DPIPAY     +8D,1                      
016682,000199: 37,2650           37100                                    PIPASC                                
016683,000200: 37,2651           43661                           SLR      BDSU*                                 
016684,000201: 37,2652           21212                                    9D                                    
016685,000202: 37,2653           02501                                    INTY       +8D,1                      
016686,000203: 37,2654           06501                           STORE    INTY       +8D,1                      
016687,000204: 37,2655           40725                           PDDL     DMP*                                  
016688,000205: 37,2656           37102                                    VELSC                                 

Page 386

016690,000207: 37,2657           02521                                    VLAUN      +8D,1                      
016691,000208: 37,2660           77732                           SL2R                                           
016692,000209: 37,2661           45425                           DSU      STADR                                 
016693,000210: 37,2662           71216                           STORE    DELM       +8D,1                      
016694,000211: 37,2663           06563                           STORE    DELM       +10D,1                     
016695,000212: 37,2664           77100                           TIX,1    AXT,2                                 
016696,000213: 37,2665           76646                                    DELMLP                                
016697,000214: 37,2666           00004                                    4                                     
016698,000215: 37,2667           56743        ALILP              DLOAD*   DMPR*                                 
016699,000216: 37,2670           75324                                    ALK        +4,2                       
016700,000217: 37,2671           75240                                    ALDK       +4,2                       
016701,000218: 37,2672           12453                           STORE    ALK        +4,2                       
016702,000219: 37,2673           77104                           TIX,2    AXT,2                                 
016703,000220: 37,2674           76667                                    ALILP                                 
016704,000221: 37,2675           00010                                    8D                                    
016705,000222: 37,2676           66140        ALKLP              LXC,1    SXA,1                                 
016706,000223: 37,2677           02445                                    CMPX1                                 
016707,000224: 37,2700           02445                                    CMPX1                                 
016708,000225: 37,2701           56743                           DLOAD*   DMPR*                                 
016709,000226: 37,2702           02450                                    ALK        +1,1                       
016710,000227: 37,2703           75216                                    DELM       +8D,2                      
016711,000228: 37,2704           77613                           DAD*                                           
016712,000229: 37,2705           75276                                    INTY       +8D,2                      
016713,000230: 37,2706           12501                           STORE    INTY       +8D,2                      
016714,000231: 37,2707           42743                           DLOAD*   DAD*                                  
016715,000232: 37,2710           75314                                    ALK        +12D,2                     
016716,000233: 37,2711           75230                                    ALDK       +12D,2                     
016717,000234: 37,2712           12463                           STORE    ALK        +12D,2                     
016718,000235: 37,2713           42673                           DMPR*    DAD*                                  
016719,000236: 37,2714           75216                                    DELM       +8D,2                      
016720,000237: 37,2715           75266                                    INTY       +16D,2                     
016721,000238: 37,2716           12511                           STORE    INTY       +16D,2                     
016722,000239: 37,2717           40743                           DLOAD*   DMP*                                  
016723,000240: 37,2720           37105                                    ALSK       +1,1                       
016724,000241: 37,2721           75216                                    DELM       +8D,2                      
016725,000242: 37,2722           42772                           SL1R     DAD*                                  
016726,000243: 37,2723           75256                                    VLAUN      +8D,2                      
016727,000244: 37,2724           12521                           STORE    VLAUN      +8D,2                      
016728,000245: 37,2725           76104                           TIX,2    AXT,1                                 
016729,000246: 37,2726           76676                                    ALKLP                                 
016730,000247: 37,2727           00010                                    8D                                    
016731,000248: 
016732,000249: 37,2730           64743        LOOSE              DLOAD*   PDDL*                                 
016733,000250: 37,2731           02523                                    ACCWD      +8D,1                      
016734,000251: 37,2732           02521                                    VLAUN      +8D,1                      
016735,000252: 37,2733           55523                           PDDL*    VDEF                                  
016736,000253: 37,2734           02531                                    POSNV      +8D,1                      
016737,000254: 37,2735           76521                           MXV      VSL1                                  
016738,000255: 37,2736           02001                                    TRANSM1                               

Page 387

016740,000257: 37,2737           77745                           DLOAD                                          
016741,000258: 37,2740           00155                                    MPAC                                  
016742,000259: 37,2741           06531                           STORE    POSNV      +8D,1                      
016743,000260: 37,2742           77745                           DLOAD                                          
016744,000261: 37,2743           00160                                    MPAC       +3                         
016745,000262: 37,2744           06521                           STORE    VLAUN      +8D,1                      
016746,000263: 37,2745           77745                           DLOAD                                          
016747,000264: 37,2746           00162                                    MPAC       +5                         
016748,000265: 37,2747           06523                           STORE    ACCWD      +8D,1                      
016749,000266: 37,2750           77700                           TIX,1                                          
016750,000267: 37,2751           76730                                    LOOSE                                 
016751,000268: 
016752,000269: 37,2752           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
016753,000270: 37,2753           00006                                    6                                     
016754,000271: 37,2754           00002                                    2                                     
016755,000272: 37,2755           57343        BOOP               DLOAD*   DMPR                                  
016756,000273: 37,2756           02503                                    ANGX       +2,1                       
016757,000274: 37,2757           37110                                    GEORGEJ                               
016758,000275: 37,2760           77722                           SR2R                                           
016759,000276: 37,2761           73406                           PUSH     SIN                                   
016760,000277: 37,2762           56072                           SL3R     XAD,1                                 
016761,000278: 37,2763           00046                                    X1                                    
016762,000279: 37,2764           10021                           STORE    16D,2                                 
016763,000280: 37,2765           77745                           DLOAD                                          
016764,000281: 37,2766           77746                           COS                                            
016765,000282: 37,2767           10027                           STORE    22D,2                                 #  COSINES
016766,000283: 37,2770           77704                           TIX,2                                          
016767,000284: 37,2771           76755                                    BOOP                                  
016768,000285: 
016769,000286: 37,2772           77776        PERFERAS           EXIT                                           
016770,000287: 37,2773           35016                           CA       EBANK7                                
016771,000288: 37,2774           54003                           TS       EBANK                                 
016772,000289: 37,2775  E7,1400                                  EBANK=   ATIGINC                               
016773,000290: 37,2775           01400                           TC       ATIGINC                               #  GOTO ERASABLE TO CALCULATE ONLY TO RETN
016774,000291: 
016775,000292:                                                                                                  #                             CAUTION
016776,000293: 
016777,000294:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016778,000295:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016779,000296: 
016780,000297: 37,2776  E5,1400                                  EBANK=   AZIMUTH                               
016781,000298: 37,2776           11412                           CCS      LENGTHOT                              
016782,000299: 37,2777           03034                           TC       SLEEPIE                               
016783,000300: 37,3000           11440                           CCS      TORQNDX                               
016784,000301: 37,3001           13003                           TCF      +2                                    
016785,000302: 37,3002           03005                           TC       SETUPER1                              
016786,000303: 37,3003           30032                           CA       CDUX                                  
016787,000304: 37,3004           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING VD POSNS 2$4
016788,000305: 

Page 388

016790,000307: 37,3005           06037        SETUPER1           TC       INTPRET                               
016791,000308: 37,3006           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
016792,000309: 37,3007           02473                                    ANGZ                                  
016793,000310: 37,3010           02477                                    ANGY                                  
016794,000311: 37,3011           55525                           PDDL     VDEF                                  
016795,000312: 37,3012           02501                                    ANGX                                  
016796,000313: 37,3013           74276                           VCOMP    VXSC                                  
016797,000314: 37,3014           37110                                    GEORGEJ                               
016798,000315: 37,3015           74521                           MXV      VSR1                                  
016799,000316: 37,3016           02643                                    XSM                                   
016800,000317: 37,3017           02740                           STORE    OGC                                   
016801,000318: 37,3020           77776                           EXIT                                           
016802,000319: 
016803,000320: 37,3021           32475                           CA       OGCPL                                 
016804,000321: 37,3022           04616                           TC       BANKCALL                              
016805,000322: 37,3023           17323                           CADR     IMUPULSE                              
016806,000323: 37,3024           02315                           TC       IMUSLLLG                              
016807,000324: 37,3025           11440        GEOSTRT4           CCS      TORQNDX                               #  ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016808,000325: 37,3026           02263                           TC       VALMIS                                
016809,000326: 37,3027           06037                           TC       INTPRET                               
016810,000327: 37,3030           77624                           CALL                                           
016811,000328: 37,3031           76401                                    ERTHRVSE                              
016812,000329: 37,3032           77776                           EXIT                                           
016813,000330: 37,3033           02117                           TC       TORQUE                                
016814,000331: 
016815,000332: 37,3034           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
016816,000333: 37,3035           11440                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
016817,000334: 37,3036           02447                           TC       EARTHR*                               
016818,000335: 37,3037           05155                           TC       ENDOFJOB                              
016819,000336: 
016820,000337: 37,3040           35014        SOMEERRR           CA       EBANK5                                
016821,000338: 37,3041           54003                           TS       EBANK                                 
016822,000339: 37,3042           34753                           CA       ONE                                   
016823,000340: 37,3043           55576                           TS       OVFLOWCK                              #  STOP ALLOOP FROM CALLING ITSELF
016824,000341: 37,3044           05567                           TC       ALARM                                 
016825,000342: 37,3045           01600                           OCT      1600                                  
016826,000343: 37,3046           02270                           TC       ENDTEST1                              
016827,000344: 37,3047           33054        SOMERR2            CAF      OCT1601                               
016828,000345: 37,3050           05744                           TC       VARALARM                              
016829,000346: 37,3051           05516                           TC       DOWNFLAG                              
016830,000347: 37,3052           00007                           ADRES    IMUSE                                 
016831,000348: 37,3053           05155                           TC       ENDOFJOB                              
016832,000349: 
016833,000350: 37,3054           01601        OCT1601            OCT      01601                                 
016834,000351: 37,3055           06200        DEC585             OCT      06200                                 #  3200 B+14 ORDER IS IMPORTANT
016835,000352: 37,3056           00000 00000  SCHZEROS           2DEC     .00000000                             

Page 389

016837,000354: 37,3060           00000 00000                     2DEC     .00000000                             
016838,000355: 
016839,000356: 37,3062           00000                           OCT      00000                                 
016840,000357: 37,3063           00000        ONEDPP             OCT      00000                                 #  ORDER IS IMPORTANT
016841,000358: 37,3064           00001                           OCT      00001                                 
016842,000359: 
016843,000360: 37,3065           00004        INTVAL             OCT      4                                     
016844,000361: 37,3066           00002                           OCT      2                                     
016845,000362: 37,3067           00220                           DEC      144        B-14                       
016846,000363: 37,3070           77776                           DEC      -1         B-14                       
016847,000364: 37,3071           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
016848,000365: 
016849,000366: 37,3073           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
016850,000367: 
016851,000368: 37,3075           00115        77DECML            DEC      77         B-14                       
016852,000369: 37,3076           01443        ALXXXZ             GENADR   ALX1S      -1                         
016853,000370: 37,3077           04133 02265  PIPASC             2DEC     .13055869                             
016854,000371: 
016855,000372: 37,3101           57223 66451  VELSC              2DEC     -.52223476                            #  512/980.402
016856,000373: 
016857,000374: 37,3103           05427 12577  ALSK               2DEC     .17329931                             #  SSWAY VEL GAIN X 980.402/4096
016858,000375: 
016859,000376: 37,3105           77567 44202                     2DEC     -.00835370                            #  SSWAY ACCEL GAIN X 980.402/4096
016860,000377: 
016861,000378: 37,3107           24276 14066  GEORGEJ            2DEC     .63661977                             
016862,000379: 
016863,000380: 37,3111           23073 11773  GEORGEK            2DEC     .59737013                             
016864,000381: 

End of include-file IMU_PERFORMANCE_TESTS_4.agc.  Parent file is MAIN.agc