Source Code
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This is an attempt to recreate Luminary 99 Rev 2, otherwise known as LUM99R2, from Luminary 99 Rev 1 and ephemeris data from Luminary 116. The differences are confined to the last 10-12 lines of the CONTROLLED CONSTANTS. Luminary 99 Rev 1 source-code was transcribed from a printout in the MIT Museum, while Luminary 116 source code was transcribed from a printout belonging to Don Eyles. AGC developer James Kernan, the "rope mother" for the Apollo 11 Lunar Module's AGC, explains as follows: "At the last minute, Dan Lickly, our chief engineer, appeared with ephemerides updates and it took two tries to get it right. The result was that we created Lum99 Revision 1 and Lum99 Revision 2." It is suspected that the former is what's in the MIT Museum, and the latter is what we are trying to recreate here. As for which revision actually flew in Apollo 11, all of the other available surviving evidence points to Rev 1 rather than to Rev 2, so we're just not sure! |
015743,000002: ## Copyright: Public domain.
015744,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
015745,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
015746,000005: ## It is part of the source code for the Lunar Module's (LM)
015747,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
015748,000007: ## Assembler: yaYUL
015749,000008: ## Contact: Ron Burkey <info@sandroid.org>.
015750,000009: ## Website: www.ibiblio.org/apollo.
015751,000010: ## Pages: 382-389
015752,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
015753,000012: ## Luminary131 file, using page
015754,000013: ## images from Luminary 1A.
015755,000014: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
015756,000015: ## and corrected the errors found.
015757,000016: ## 2017-03-03 RSB Snapshot of Luminary 99 Rev 1.
015758,000017: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
015759,000018:
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Page 382 |
015761,000020: # PROGRAM - IMU PERFORMANCE TESTS 4
015762,000021: # DATE - NOV 15, 1966
015763,000022: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
015764,000023: # MOD NO-ZERO
015765,000024:
015766,000025: # FUNCTIONAL DESCRIPTION
015767,000026:
015768,000027: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
015769,000028: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
015770,000029: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
015771,000030:
015772,000031: # EARTHR,OGC ZERO,ERTHRVSE
015773,000032:
015774,000033: # NORMAL EXIT
015775,000034:
015776,000035: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
015777,000036:
015778,000037: # ALARMS
015779,000038:
015780,000039: # 1600 OVERFLOW IN DRIFT TEST
015781,000040: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
015782,000041: # OUTPUT
015783,000042:
015784,000043: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
015785,000044:
015786,000045: # DEBRIS
015787,000046:
015788,000047: # ALL CENTRALS - ALL OF EBANK XSM
015789,000048:
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Page 383 |
015791,000050: 33,2045 BANK 33
015792,000051: 37,2000 SETLOC IMU4
015793,000052: 37,2000 BANK
015794,000053: 37,2500 COUNT* $$/P07
015795,000054:
015796,000055: 37,2500 E5,1642 EBANK= XSM
015797,000056:
015798,000057: 37,2500 00004 ESTIMS INHINT
015799,000058: 37,2501 31572 CAE 1SECXT
015800,000059: 37,2502 05173 TC TWIDDLE
015801,000060: 37,2503 E5,1642 EBANK= XSM
015802,000061: 37,2503 02536 ADRES ALLOOP
015803,000062: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
015804,000063: 37,2505 54037 TS PIPAX
015805,000064: 37,2506 54040 TS PIPAY
015806,000065: 37,2507 54041 TS PIPAZ
015807,000066: 37,2510 00003 RELINT
015808,000067: 37,2511 33075 CA 77DECML
015809,000068: 37,2512 55571 TS ZERONDX
015810,000069: 37,2513 33076 CA ALXXXZ
015811,000070: 37,2514 02367 TC ZEROING
015812,000071: 37,2515 06037 TC INTPRET
015813,000072: 37,2516 77735 SLOAD
015814,000073: 37,2517 37057 SCHZEROS
015815,000074: 37,2520 25477 STOVL GCOMPSW -1
015816,000075: 37,2521 37070 INTVAL +2
015817,000076: 37,2522 26445 STOVL ALX1S
015818,000077: 37,2523 37057 SCHZEROS
015819,000078: 37,2524 00325 STORE DELVX
015820,000079: 37,2525 01472 STORE GCOMP
015821,000080: 37,2526 77735 SLOAD
015822,000081: 37,2527 02441 TORQNDX
015823,000082: 37,2530 50076 DCOMP BMN
015824,000083: 37,2531 76534 VERTSKIP
015825,000084: 37,2532 77624 CALL
015826,000085: 37,2533 76401 ERTHRVSE
015827,000086: 37,2534 77776 VERTSKIP EXIT
015828,000087: 37,2535 03035 TC SLEEPIE +1
015829,000088:
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Page 384 |
015831,000090: 37,2536 31576 ALLOOP CA OVFLOWCK
015832,000091: 37,2537 00006 EXTEND
015833,000092: 37,2540 12542 BZF +2
015834,000093: 37,2541 05261 TC TASKOVER
015835,000094: 37,2542 11530 CCS ALTIM
015836,000095: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
015837,000096: 37,2544 55531 TS ALTIMS
015838,000097: 37,2545 40000 CS A
015839,000098: 37,2546 55530 TS ALTIM
015840,000099: 37,2547 44753 CS ONE
015841,000100: 37,2550 61562 AD GEOCOMPS
015842,000101: 37,2551 00006 EXTEND
015843,000102: 37,2552 12556 BZF +4
015844,000103: 37,2553 31412 CA LENGTHOT
015845,000104: 37,2554 00006 EXTEND
015846,000105: 37,2555 62562 BZMF +5
015847,000106: 37,2556 31572 CAE 1SECXT
015848,000107: 37,2557 05173 TC TWIDDLE
015849,000108: 37,2560 E5,1642 EBANK= XSM
015850,000109: 37,2560 02536 ADRES ALLOOP
015851,000110: 37,2561 34755 CAF ZERO
015852,000111: 37,2562 56037 XCH PIPAX
015853,000112: 37,2563 54324 TS DELVX
015854,000113: 37,2564 34755 CAF ZERO
015855,000114: 37,2565 56040 XCH PIPAY
015856,000115: 37,2566 54326 TS DELVY
015857,000116: 37,2567 34755 CAF ZERO
015858,000117: 37,2570 56041 XCH PIPAZ
015859,000118: 37,2571 54330 TS DELVZ
015860,000119: 37,2572 34736 SPECSTS CAF PRIO20
015861,000120: 37,2573 05105 TC FINDVAC
015862,000121: 37,2574 E5,1642 EBANK= XSM
015863,000122: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
015864,000123:
015865,000124: 37,2576 05261 TC TASKOVER
015866,000125:
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Page 385 |
015868,000127: 37,2577 11562 ALFLT CCS GEOCOMPS
015869,000128: 37,2600 02602 TC +2
015870,000129: 37,2601 02604 TC NORMLOP
015871,000130: 37,2602 04616 TC BANKCALL
015872,000131: 37,2603 15263 CADR 1/PIPA
015873,000132: 37,2604 06037 NORMLOP TC INTPRET
015874,000133: 37,2605 77745 DLOAD
015875,000134: 37,2606 37066 INTVAL
015876,000135: 37,2607 24051 STOVL S1
015877,000136: 37,2610 00325 DELVX
015878,000137: 37,2611 76505 VXM VSL1
015879,000138: 37,2612 02643 XSM
015880,000139: 37,2613 57545 DLOAD DCOMP
015881,000140: 37,2614 00160 MPAC +3
015882,000141: 37,2615 16523 STODL DPIPAY
015883,000142: 37,2616 00162 MPAC +5
015884,000143: 37,2617 02527 STORE DPIPAZ
015885,000144:
015886,000145: 37,2620 76001 SETPD AXT,1
015887,000146: 37,2621 00001 0
015888,000147: 37,2622 00010 8D
015889,000148: 37,2623 57535 SLOAD DCOMP
015890,000149: 37,2624 02563 GEOCOMPS
015891,000150: 37,2625 77640 BMN
015892,000151: 37,2626 76772 PERFERAS
015893,000152: 37,2627 50135 ALCGKK SLOAD BMN
015894,000153: 37,2630 02532 ALTIMS
015895,000154: 37,2631 76644 ALFLT3
015896,000155: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
015897,000156: 37,2633 00014 12D
015898,000157: 37,2634 02444 ALX1S
015899,000158: 37,2635 62143 ALKCG2 DLOAD* INCR,1
015900,000159: 37,2636 02243 ALFDK +144D,1
015901,000160: 37,2637 77775 DEC -2 B-14
015902,000161: 37,2640 12545 STORE ALDK +10D,2
015903,000162: 37,2641 66104 TIX,2 SXA,1
015904,000163: 37,2642 76635 ALKCG2
015905,000164: 37,2643 02444 ALX1S
015906,000165:
015907,000166: 37,2644 77770 ALFLT3 AXT,1
015908,000167: 37,2645 00010 8D
015909,000168: 37,2646 41343 DELMLP DLOAD* DMP
015910,000169: 37,2647 02533 DPIPAY +8D,1
015911,000170: 37,2650 37100 PIPASC
015912,000171: 37,2651 43661 SLR BDSU*
015913,000172: 37,2652 21212 9D
015914,000173: 37,2653 02501 INTY +8D,1
015915,000174: 37,2654 06501 STORE INTY +8D,1
015916,000175: 37,2655 40725 PDDL DMP*
015917,000176: 37,2656 37102 VELSC
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Page 386 |
015919,000178: 37,2657 02521 VLAUN +8D,1
015920,000179: 37,2660 77732 SL2R
015921,000180: 37,2661 45425 DSU STADR
015922,000181: 37,2662 71216 STORE DELM +8D,1
015923,000182: 37,2663 06563 STORE DELM +10D,1
015924,000183: 37,2664 77100 TIX,1 AXT,2
015925,000184: 37,2665 76646 DELMLP
015926,000185: 37,2666 00004 4
015927,000186: 37,2667 56743 ALILP DLOAD* DMPR*
015928,000187: 37,2670 75324 ALK +4,2
015929,000188: 37,2671 75240 ALDK +4,2
015930,000189: 37,2672 12453 STORE ALK +4,2
015931,000190: 37,2673 77104 TIX,2 AXT,2
015932,000191: 37,2674 76667 ALILP
015933,000192: 37,2675 00010 8D
015934,000193: 37,2676 66140 ALKLP LXC,1 SXA,1
015935,000194: 37,2677 02445 CMPX1
015936,000195: 37,2700 02445 CMPX1
015937,000196: 37,2701 56743 DLOAD* DMPR*
015938,000197: 37,2702 02450 ALK +1,1
015939,000198: 37,2703 75216 DELM +8D,2
015940,000199: 37,2704 77613 DAD*
015941,000200: 37,2705 75276 INTY +8D,2
015942,000201: 37,2706 12501 STORE INTY +8D,2
015943,000202: 37,2707 42743 DLOAD* DAD*
015944,000203: 37,2710 75314 ALK +12D,2
015945,000204: 37,2711 75230 ALDK +12D,2
015946,000205: 37,2712 12463 STORE ALK +12D,2
015947,000206: 37,2713 42673 DMPR* DAD*
015948,000207: 37,2714 75216 DELM +8D,2
015949,000208: 37,2715 75266 INTY +16D,2
015950,000209: 37,2716 12511 STORE INTY +16D,2
015951,000210: 37,2717 40743 DLOAD* DMP*
015952,000211: 37,2720 37105 ALSK +1,1
015953,000212: 37,2721 75216 DELM +8D,2
015954,000213: 37,2722 42772 SL1R DAD*
015955,000214: 37,2723 75256 VLAUN +8D,2
015956,000215: 37,2724 12521 STORE VLAUN +8D,2
015957,000216: 37,2725 76104 TIX,2 AXT,1
015958,000217: 37,2726 76676 ALKLP
015959,000218: 37,2727 00010 8D
015960,000219:
015961,000220: 37,2730 64743 LOOSE DLOAD* PDDL*
015962,000221: 37,2731 02523 ACCWD +8D,1
015963,000222: 37,2732 02521 VLAUN +8D,1
015964,000223: 37,2733 55523 PDDL* VDEF
015965,000224: 37,2734 02531 POSNV +8D,1
015966,000225: 37,2735 76521 MXV VSL1
015967,000226: 37,2736 02001 TRANSM1
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015969,000228: 37,2737 77745 DLOAD
015970,000229: 37,2740 00155 MPAC
015971,000230: 37,2741 06531 STORE POSNV +8D,1
015972,000231: 37,2742 77745 DLOAD
015973,000232: 37,2743 00160 MPAC +3
015974,000233: 37,2744 06521 STORE VLAUN +8D,1
015975,000234: 37,2745 77745 DLOAD
015976,000235: 37,2746 00162 MPAC +5
015977,000236: 37,2747 06523 STORE ACCWD +8D,1
015978,000237: 37,2750 77700 TIX,1
015979,000238: 37,2751 76730 LOOSE
015980,000239:
015981,000240: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
015982,000241: 37,2753 00006 6
015983,000242: 37,2754 00002 2
015984,000243: 37,2755 57343 BOOP DLOAD* DMPR
015985,000244: 37,2756 02503 ANGX +2,1
015986,000245: 37,2757 37110 GEORGEJ
015987,000246: 37,2760 77722 SR2R
015988,000247: 37,2761 73406 PUSH SIN
015989,000248: 37,2762 56072 SL3R XAD,1
015990,000249: 37,2763 00046 X1
015991,000250: 37,2764 10021 STORE 16D,2
015992,000251: 37,2765 77745 DLOAD
015993,000252: 37,2766 77746 COS
015994,000253: 37,2767 10027 STORE 22D,2 # COSINES
015995,000254: 37,2770 77704 TIX,2
015996,000255: 37,2771 76755 BOOP
015997,000256:
015998,000257: 37,2772 77776 PERFERAS EXIT
015999,000258: 37,2773 35016 CA EBANK7
016000,000259: 37,2774 54003 TS EBANK
016001,000260: 37,2775 E7,1400 EBANK= ATIGINC
016002,000261: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016003,000262:
016004,000263: # CAUTION
016005,000264:
016006,000265: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016007,000266: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016008,000267:
016009,000268: 37,2776 E5,1400 EBANK= AZIMUTH
016010,000269: 37,2776 11412 CCS LENGTHOT
016011,000270: 37,2777 03034 TC SLEEPIE
016012,000271: 37,3000 11440 CCS TORQNDX
016013,000272: 37,3001 13003 TCF +2
016014,000273: 37,3002 03005 TC SETUPER1
016015,000274: 37,3003 30032 CA CDUX
016016,000275: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016017,000276:
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016019,000278: 37,3005 06037 SETUPER1 TC INTPRET
016020,000279: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016021,000280: 37,3007 02473 ANGZ
016022,000281: 37,3010 02477 ANGY
016023,000282: 37,3011 55525 PDDL VDEF
016024,000283: 37,3012 02501 ANGX
016025,000284: 37,3013 74276 VCOMP VXSC
016026,000285: 37,3014 37110 GEORGEJ
016027,000286: 37,3015 74521 MXV VSR1
016028,000287: 37,3016 02643 XSM
016029,000288: 37,3017 02740 STORE OGC
016030,000289: 37,3020 77776 EXIT
016031,000290:
016032,000291: 37,3021 32475 CA OGCPL
016033,000292: 37,3022 04616 TC BANKCALL
016034,000293: 37,3023 17323 CADR IMUPULSE
016035,000294: 37,3024 02315 TC IMUSLLLG
016036,000295: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016037,000296: 37,3026 02263 TC VALMIS
016038,000297: 37,3027 06037 TC INTPRET
016039,000298: 37,3030 77624 CALL
016040,000299: 37,3031 76401 ERTHRVSE
016041,000300: 37,3032 77776 EXIT
016042,000301: 37,3033 02117 TC TORQUE
016043,000302:
016044,000303: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016045,000304: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016046,000305: 37,3036 02447 TC EARTHR*
016047,000306: 37,3037 05155 TC ENDOFJOB
016048,000307:
016049,000308: 37,3040 35014 SOMEERRR CA EBANK5
016050,000309: 37,3041 54003 TS EBANK
016051,000310: 37,3042 34753 CA ONE
016052,000311: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016053,000312: 37,3044 05567 TC ALARM
016054,000313: 37,3045 01600 OCT 1600
016055,000314: 37,3046 02270 TC ENDTEST1
016056,000315: 37,3047 33054 SOMERR2 CAF OCT1601
016057,000316: 37,3050 05744 TC VARALARM
016058,000317: 37,3051 05516 TC DOWNFLAG
016059,000318: 37,3052 00007 ADRES IMUSE
016060,000319: 37,3053 05155 TC ENDOFJOB
016061,000320:
016062,000321: 37,3054 01601 OCT1601 OCT 01601
016063,000322: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016064,000323: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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016066,000325: 37,3060 00000 00000 2DEC .00000000
016067,000326:
016068,000327: 37,3062 00000 OCT 00000
016069,000328: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016070,000329: 37,3064 00001 OCT 00001
016071,000330:
016072,000331: 37,3065 00004 INTVAL OCT 4
016073,000332: 37,3066 00002 OCT 2
016074,000333: 37,3067 00220 DEC 144 B-14
016075,000334: 37,3070 77776 DEC -1 B-14
016076,000335: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016077,000336:
016078,000337: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016079,000338:
016080,000339: 37,3075 00115 77DECML DEC 77 B-14
016081,000340: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016082,000341: 37,3077 04133 02265 PIPASC 2DEC .13055869
016083,000342:
016084,000343: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016085,000344:
016086,000345: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016087,000346:
016088,000347: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016089,000348:
016090,000349: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016091,000350:
016092,000351: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016093,000352:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc