Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 97 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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015793,000002: ## Copyright: Public domain.
015794,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
015795,000004: ## Purpose: A section of Luminary revision 97.
015796,000005: ## It is part of the reconstructed source code for the
015797,000006: ## second release of the flight software for the Lunar
015798,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015799,000008: ## It was created to fix two incorrect ephemeris constants in
015800,000009: ## Luminary 96, as described by anomaly report LNY-59.
015801,000010: ## The code has been recreated from a copy of Luminary 99
015802,000011: ## revision 001, using asterisks indicating changed lines in
015803,000012: ## the listing and Luminary Memos #83 and #85, which list
015804,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
015805,000014: ## code has been adapted such that the resulting bugger words
015806,000015: ## exactly match those specified for Luminary 97 in NASA drawing
015807,000016: ## 2021152D, which gives relatively high confidence that the
015808,000017: ## reconstruction is correct.
015809,000018: ## Reference: pp. 382-389
015810,000019: ## Assembler: yaYUL
015811,000020: ## Contact: Ron Burkey <info@sandroid.org>.
015812,000021: ## Website: www.ibiblio.org/apollo/index.html
015813,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
015814,000023:
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Page 382
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015816,000025: # PROGRAM - IMU PERFORMANCE TESTS 4
015817,000026: # DATE - NOV 15, 1966
015818,000027: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
015819,000028: # MOD NO-ZERO
015820,000029:
015821,000030: # FUNCTIONAL DESCRIPTION
015822,000031:
015823,000032: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
015824,000033: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
015825,000034: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
015826,000035:
015827,000036: # EARTHR,OGC ZERO,ERTHRVSE
015828,000037:
015829,000038: # NORMAL EXIT
015830,000039:
015831,000040: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
015832,000041:
015833,000042: # ALARMS
015834,000043:
015835,000044: # 1600 OVERFLOW IN DRIFT TEST
015836,000045: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
015837,000046: # OUTPUT
015838,000047:
015839,000048: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
015840,000049:
015841,000050: # DEBRIS
015842,000051:
015843,000052: # ALL CENTRALS - ALL OF EBANK XSM
015844,000053:
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Page 383
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015846,000055: 33,2045 BANK 33
015847,000056: 37,2000 SETLOC IMU4
015848,000057: 37,2000 BANK
015849,000058: 37,2500 COUNT* $$/P07
015850,000059:
015851,000060: 37,2500 E5,1642 EBANK= XSM
015852,000061:
015853,000062: 37,2500 00004 ESTIMS INHINT
015854,000063: 37,2501 31572 CAE 1SECXT
015855,000064: 37,2502 05173 TC TWIDDLE
015856,000065: 37,2503 E5,1642 EBANK= XSM
015857,000066: 37,2503 02536 ADRES ALLOOP
015858,000067: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
015859,000068: 37,2505 54037 TS PIPAX
015860,000069: 37,2506 54040 TS PIPAY
015861,000070: 37,2507 54041 TS PIPAZ
015862,000071: 37,2510 00003 RELINT
015863,000072: 37,2511 33075 CA 77DECML
015864,000073: 37,2512 55571 TS ZERONDX
015865,000074: 37,2513 33076 CA ALXXXZ
015866,000075: 37,2514 02367 TC ZEROING
015867,000076: 37,2515 06037 TC INTPRET
015868,000077: 37,2516 77735 SLOAD
015869,000078: 37,2517 37057 SCHZEROS
015870,000079: 37,2520 25477 STOVL GCOMPSW -1
015871,000080: 37,2521 37070 INTVAL +2
015872,000081: 37,2522 26445 STOVL ALX1S
015873,000082: 37,2523 37057 SCHZEROS
015874,000083: 37,2524 00325 STORE DELVX
015875,000084: 37,2525 01472 STORE GCOMP
015876,000085: 37,2526 77735 SLOAD
015877,000086: 37,2527 02441 TORQNDX
015878,000087: 37,2530 50076 DCOMP BMN
015879,000088: 37,2531 76534 VERTSKIP
015880,000089: 37,2532 77624 CALL
015881,000090: 37,2533 76401 ERTHRVSE
015882,000091: 37,2534 77776 VERTSKIP EXIT
015883,000092: 37,2535 03035 TC SLEEPIE +1
015884,000093:
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Page 384
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015886,000095: 37,2536 31576 ALLOOP CA OVFLOWCK
015887,000096: 37,2537 00006 EXTEND
015888,000097: 37,2540 12542 BZF +2
015889,000098: 37,2541 05261 TC TASKOVER
015890,000099: 37,2542 11530 CCS ALTIM
015891,000100: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
015892,000101: 37,2544 55531 TS ALTIMS
015893,000102: 37,2545 40000 CS A
015894,000103: 37,2546 55530 TS ALTIM
015895,000104: 37,2547 44753 CS ONE
015896,000105: 37,2550 61562 AD GEOCOMPS
015897,000106: 37,2551 00006 EXTEND
015898,000107: 37,2552 12556 BZF +4
015899,000108: 37,2553 31412 CA LENGTHOT
015900,000109: 37,2554 00006 EXTEND
015901,000110: 37,2555 62562 BZMF +5
015902,000111: 37,2556 31572 CAE 1SECXT
015903,000112: 37,2557 05173 TC TWIDDLE
015904,000113: 37,2560 E5,1642 EBANK= XSM
015905,000114: 37,2560 02536 ADRES ALLOOP
015906,000115: 37,2561 34755 CAF ZERO
015907,000116: 37,2562 56037 XCH PIPAX
015908,000117: 37,2563 54324 TS DELVX
015909,000118: 37,2564 34755 CAF ZERO
015910,000119: 37,2565 56040 XCH PIPAY
015911,000120: 37,2566 54326 TS DELVY
015912,000121: 37,2567 34755 CAF ZERO
015913,000122: 37,2570 56041 XCH PIPAZ
015914,000123: 37,2571 54330 TS DELVZ
015915,000124: 37,2572 34736 SPECSTS CAF PRIO20
015916,000125: 37,2573 05105 TC FINDVAC
015917,000126: 37,2574 E5,1642 EBANK= XSM
015918,000127: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
015919,000128:
015920,000129: 37,2576 05261 TC TASKOVER
015921,000130:
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Page 385
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015923,000132: 37,2577 11562 ALFLT CCS GEOCOMPS
015924,000133: 37,2600 02602 TC +2
015925,000134: 37,2601 02604 TC NORMLOP
015926,000135: 37,2602 04616 TC BANKCALL
015927,000136: 37,2603 15263 CADR 1/PIPA
015928,000137: 37,2604 06037 NORMLOP TC INTPRET
015929,000138: 37,2605 77745 DLOAD
015930,000139: 37,2606 37066 INTVAL
015931,000140: 37,2607 24051 STOVL S1
015932,000141: 37,2610 00325 DELVX
015933,000142: 37,2611 76505 VXM VSL1
015934,000143: 37,2612 02643 XSM
015935,000144: 37,2613 57545 DLOAD DCOMP
015936,000145: 37,2614 00160 MPAC +3
015937,000146: 37,2615 16523 STODL DPIPAY
015938,000147: 37,2616 00162 MPAC +5
015939,000148: 37,2617 02527 STORE DPIPAZ
015940,000149:
015941,000150: 37,2620 76001 SETPD AXT,1
015942,000151: 37,2621 00001 0
015943,000152: 37,2622 00010 8D
015944,000153: 37,2623 57535 SLOAD DCOMP
015945,000154: 37,2624 02563 GEOCOMPS
015946,000155: 37,2625 77640 BMN
015947,000156: 37,2626 76772 PERFERAS
015948,000157: 37,2627 50135 ALCGKK SLOAD BMN
015949,000158: 37,2630 02532 ALTIMS
015950,000159: 37,2631 76644 ALFLT3
015951,000160: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
015952,000161: 37,2633 00014 12D
015953,000162: 37,2634 02444 ALX1S
015954,000163: 37,2635 62143 ALKCG2 DLOAD* INCR,1
015955,000164: 37,2636 02243 ALFDK +144D,1
015956,000165: 37,2637 77775 DEC -2 B-14
015957,000166: 37,2640 12545 STORE ALDK +10D,2
015958,000167: 37,2641 66104 TIX,2 SXA,1
015959,000168: 37,2642 76635 ALKCG2
015960,000169: 37,2643 02444 ALX1S
015961,000170:
015962,000171: 37,2644 77770 ALFLT3 AXT,1
015963,000172: 37,2645 00010 8D
015964,000173: 37,2646 41343 DELMLP DLOAD* DMP
015965,000174: 37,2647 02533 DPIPAY +8D,1
015966,000175: 37,2650 37100 PIPASC
015967,000176: 37,2651 43661 SLR BDSU*
015968,000177: 37,2652 21212 9D
015969,000178: 37,2653 02501 INTY +8D,1
015970,000179: 37,2654 06501 STORE INTY +8D,1
015971,000180: 37,2655 40725 PDDL DMP*
015972,000181: 37,2656 37102 VELSC
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Page 386
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015974,000183: 37,2657 02521 VLAUN +8D,1
015975,000184: 37,2660 77732 SL2R
015976,000185: 37,2661 45425 DSU STADR
015977,000186: 37,2662 71216 STORE DELM +8D,1
015978,000187: 37,2663 06563 STORE DELM +10D,1
015979,000188: 37,2664 77100 TIX,1 AXT,2
015980,000189: 37,2665 76646 DELMLP
015981,000190: 37,2666 00004 4
015982,000191: 37,2667 56743 ALILP DLOAD* DMPR*
015983,000192: 37,2670 75324 ALK +4,2
015984,000193: 37,2671 75240 ALDK +4,2
015985,000194: 37,2672 12453 STORE ALK +4,2
015986,000195: 37,2673 77104 TIX,2 AXT,2
015987,000196: 37,2674 76667 ALILP
015988,000197: 37,2675 00010 8D
015989,000198: 37,2676 66140 ALKLP LXC,1 SXA,1
015990,000199: 37,2677 02445 CMPX1
015991,000200: 37,2700 02445 CMPX1
015992,000201: 37,2701 56743 DLOAD* DMPR*
015993,000202: 37,2702 02450 ALK +1,1
015994,000203: 37,2703 75216 DELM +8D,2
015995,000204: 37,2704 77613 DAD*
015996,000205: 37,2705 75276 INTY +8D,2
015997,000206: 37,2706 12501 STORE INTY +8D,2
015998,000207: 37,2707 42743 DLOAD* DAD*
015999,000208: 37,2710 75314 ALK +12D,2
016000,000209: 37,2711 75230 ALDK +12D,2
016001,000210: 37,2712 12463 STORE ALK +12D,2
016002,000211: 37,2713 42673 DMPR* DAD*
016003,000212: 37,2714 75216 DELM +8D,2
016004,000213: 37,2715 75266 INTY +16D,2
016005,000214: 37,2716 12511 STORE INTY +16D,2
016006,000215: 37,2717 40743 DLOAD* DMP*
016007,000216: 37,2720 37105 ALSK +1,1
016008,000217: 37,2721 75216 DELM +8D,2
016009,000218: 37,2722 42772 SL1R DAD*
016010,000219: 37,2723 75256 VLAUN +8D,2
016011,000220: 37,2724 12521 STORE VLAUN +8D,2
016012,000221: 37,2725 76104 TIX,2 AXT,1
016013,000222: 37,2726 76676 ALKLP
016014,000223: 37,2727 00010 8D
016015,000224:
016016,000225: 37,2730 64743 LOOSE DLOAD* PDDL*
016017,000226: 37,2731 02523 ACCWD +8D,1
016018,000227: 37,2732 02521 VLAUN +8D,1
016019,000228: 37,2733 55523 PDDL* VDEF
016020,000229: 37,2734 02531 POSNV +8D,1
016021,000230: 37,2735 76521 MXV VSL1
016022,000231: 37,2736 02001 TRANSM1
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Page 387
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016024,000233: 37,2737 77745 DLOAD
016025,000234: 37,2740 00155 MPAC
016026,000235: 37,2741 06531 STORE POSNV +8D,1
016027,000236: 37,2742 77745 DLOAD
016028,000237: 37,2743 00160 MPAC +3
016029,000238: 37,2744 06521 STORE VLAUN +8D,1
016030,000239: 37,2745 77745 DLOAD
016031,000240: 37,2746 00162 MPAC +5
016032,000241: 37,2747 06523 STORE ACCWD +8D,1
016033,000242: 37,2750 77700 TIX,1
016034,000243: 37,2751 76730 LOOSE
016035,000244:
016036,000245: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016037,000246: 37,2753 00006 6
016038,000247: 37,2754 00002 2
016039,000248: 37,2755 57343 BOOP DLOAD* DMPR
016040,000249: 37,2756 02503 ANGX +2,1
016041,000250: 37,2757 37110 GEORGEJ
016042,000251: 37,2760 77722 SR2R
016043,000252: 37,2761 73406 PUSH SIN
016044,000253: 37,2762 56072 SL3R XAD,1
016045,000254: 37,2763 00046 X1
016046,000255: 37,2764 10021 STORE 16D,2
016047,000256: 37,2765 77745 DLOAD
016048,000257: 37,2766 77746 COS
016049,000258: 37,2767 10027 STORE 22D,2 # COSINES
016050,000259: 37,2770 77704 TIX,2
016051,000260: 37,2771 76755 BOOP
016052,000261:
016053,000262: 37,2772 77776 PERFERAS EXIT
016054,000263: 37,2773 35016 CA EBANK7
016055,000264: 37,2774 54003 TS EBANK
016056,000265: 37,2775 E7,1400 EBANK= ATIGINC
016057,000266: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016058,000267:
016059,000268: # CAUTION
016060,000269:
016061,000270: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016062,000271: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016063,000272:
016064,000273: 37,2776 E5,1400 EBANK= AZIMUTH
016065,000274: 37,2776 11412 CCS LENGTHOT
016066,000275: 37,2777 03034 TC SLEEPIE
016067,000276: 37,3000 11440 CCS TORQNDX
016068,000277: 37,3001 13003 TCF +2
016069,000278: 37,3002 03005 TC SETUPER1
016070,000279: 37,3003 30032 CA CDUX
016071,000280: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016072,000281:
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Page 388
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016074,000283: 37,3005 06037 SETUPER1 TC INTPRET
016075,000284: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016076,000285: 37,3007 02473 ANGZ
016077,000286: 37,3010 02477 ANGY
016078,000287: 37,3011 55525 PDDL VDEF
016079,000288: 37,3012 02501 ANGX
016080,000289: 37,3013 74276 VCOMP VXSC
016081,000290: 37,3014 37110 GEORGEJ
016082,000291: 37,3015 74521 MXV VSR1
016083,000292: 37,3016 02643 XSM
016084,000293: 37,3017 02740 STORE OGC
016085,000294: 37,3020 77776 EXIT
016086,000295:
016087,000296: 37,3021 32475 CA OGCPL
016088,000297: 37,3022 04616 TC BANKCALL
016089,000298: 37,3023 17323 CADR IMUPULSE
016090,000299: 37,3024 02315 TC IMUSLLLG
016091,000300: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016092,000301: 37,3026 02263 TC VALMIS
016093,000302: 37,3027 06037 TC INTPRET
016094,000303: 37,3030 77624 CALL
016095,000304: 37,3031 76401 ERTHRVSE
016096,000305: 37,3032 77776 EXIT
016097,000306: 37,3033 02117 TC TORQUE
016098,000307:
016099,000308: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016100,000309: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016101,000310: 37,3036 02447 TC EARTHR*
016102,000311: 37,3037 05155 TC ENDOFJOB
016103,000312:
016104,000313: 37,3040 35014 SOMEERRR CA EBANK5
016105,000314: 37,3041 54003 TS EBANK
016106,000315: 37,3042 34753 CA ONE
016107,000316: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016108,000317: 37,3044 05567 TC ALARM
016109,000318: 37,3045 01600 OCT 1600
016110,000319: 37,3046 02270 TC ENDTEST1
016111,000320: 37,3047 33054 SOMERR2 CAF OCT1601
016112,000321: 37,3050 05744 TC VARALARM
016113,000322: 37,3051 05516 TC DOWNFLAG
016114,000323: 37,3052 00007 ADRES IMUSE
016115,000324: 37,3053 05155 TC ENDOFJOB
016116,000325:
016117,000326: 37,3054 01601 OCT1601 OCT 01601
016118,000327: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016119,000328: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 389
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016121,000330: 37,3060 00000 00000 2DEC .00000000
016122,000331:
016123,000332: 37,3062 00000 OCT 00000
016124,000333: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016125,000334: 37,3064 00001 OCT 00001
016126,000335:
016127,000336: 37,3065 00004 INTVAL OCT 4
016128,000337: 37,3066 00002 OCT 2
016129,000338: 37,3067 00220 DEC 144 B-14
016130,000339: 37,3070 77776 DEC -1 B-14
016131,000340: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016132,000341:
016133,000342: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016134,000343:
016135,000344: 37,3075 00115 77DECML DEC 77 B-14
016136,000345: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016137,000346: 37,3077 04133 02265 PIPASC 2DEC .13055869
016138,000347:
016139,000348: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016140,000349:
016141,000350: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016142,000351:
016143,000352: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016144,000353:
016145,000354: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016146,000355:
016147,000356: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016148,000357:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc