Source Code

These source-code files are part of a reconstructed copy of Luminary 98, a development version of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer (AGC) software.

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 memo 85, using asterisks indicating changed lines in the listing as a guide. While no listing of this version is known to exist, nor are the memory-bank checksums available, the reconstruction is believed to be correct because it was an an intermediate step in reconstructing Luminary 97 whose reconstruction was verified by matching memory-bank checksums to those listed in drawing 2021152G. 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 98 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.

015651,000002:                                                                                                  ## Copyright:   Public domain.
015652,000003:                                                                                                  ## Filename:    IMU_PERFORMANCE_TESTS_4.agc
015653,000004:                                                                                                  ## Purpose:     A section of Luminary revision 98.
015654,000005:                                                                                                  ##              It is part of the reconstructed source code for the a
015655,000006:                                                                                                  ##              development version of the flight software for the Lunar 
015656,000007:                                                                                                  ##              Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
015657,000008:                                                                                                  ##              The code has been recreated from a copy of Luminary 99
015658,000009:                                                                                                  ##              revision 001, using asterisks indicating changed lines in
015659,000010:                                                                                                  ##              the listing and Luminary Memo #85, which lists changes between
015660,000011:                                                                                                  ##              Luminary 98 and 99.
015661,000012:                                                                                                  ## Reference:   pp. 382-389
015662,000013:                                                                                                  ## Assembler:   yaYUL
015663,000014:                                                                                                  ## Contact:     Ron Burkey <info@sandroid.org>.
015664,000015:                                                                                                  ## Website:     www.ibiblio.org/apollo/index.html
015665,000016:                                                                                                  ## Mod history: 2019-07-28 MAS  Created from Luminary 99.
015666,000017: 

Page 382

015668,000019:                                                                                                  #  PROGRAM -     IMU PERFORMANCE TESTS 4
015669,000020:                                                                                                  #  DATE -        NOV 15, 1966
015670,000021:                                                                                                  #  BY -          GEORGE SCHMIDT IL7-146 EXT 1126
015671,000022:                                                                                                  #  MOD NO-ZERO
015672,000023: 
015673,000024:                                                                                                  #  FUNCTIONAL DESCRIPTION
015674,000025: 
015675,000026:                                                                                                  #  THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS.  NO COMPASS
015676,000027:                                                                                                  #  IS DONE IN LEM.  FOR A DESCRIPTION OF THE FILTER SEE E-1973.  THIS
015677,000028:                                                                                                  #  SECTION IS ENTERED FROM IMU 2.  IT RETURNS THERE AT END OF TEST.
015678,000029: 
015679,000030:                                                                                                  #  EARTHR,OGC ZERO,ERTHRVSE
015680,000031: 
015681,000032:                                                                                                  #  NORMAL EXIT
015682,000033: 
015683,000034:                                                                                                  #  LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
015684,000035: 
015685,000036:                                                                                                  #  ALARMS
015686,000037: 
015687,000038:                                                                                                  #  1600  OVERFLOW IN DRIFT TEST
015688,000039:                                                                                                  #  1601  BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
015689,000040:                                                                                                  #        OUTPUT
015690,000041: 
015691,000042:                                                                                                  #  FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
015692,000043: 
015693,000044:                                                                                                  #  DEBRIS
015694,000045: 
015695,000046:                                                                                                  #  ALL CENTRALS - ALL OF EBANK XSM
015696,000047: 

Page 383

015698,000049: 33,2045                                           BANK     33                                    
015699,000050: 37,2000                                           SETLOC   IMU4                                  
015700,000051: 37,2000                                           BANK                                           
015701,000052: 37,2500                                           COUNT*   $$/P07                                
015702,000053: 
015703,000054: 37,2500  E5,1642                                  EBANK=   XSM                                   
015704,000055: 
015705,000056: 37,2500           00004        ESTIMS             INHINT                                         
015706,000057: 37,2501           31572                           CAE      1SECXT                                
015707,000058: 37,2502           05173                           TC       TWIDDLE                               
015708,000059: 37,2503  E5,1642                                  EBANK=   XSM                                   
015709,000060: 37,2503           02536                           ADRES    ALLOOP                                
015710,000061: 37,2504           34755                           CAF      ZERO                                  #  ZERO THE PIPAS
015711,000062: 37,2505           54037                           TS       PIPAX                                 
015712,000063: 37,2506           54040                           TS       PIPAY                                 
015713,000064: 37,2507           54041                           TS       PIPAZ                                 
015714,000065: 37,2510           00003                           RELINT                                         
015715,000066: 37,2511           33075                           CA       77DECML                               
015716,000067: 37,2512           55571                           TS       ZERONDX                               
015717,000068: 37,2513           33076                           CA       ALXXXZ                                
015718,000069: 37,2514           02367                           TC       ZEROING                               
015719,000070: 37,2515           06037                           TC       INTPRET                               
015720,000071: 37,2516           77735                           SLOAD                                          
015721,000072: 37,2517           37057                                    SCHZEROS                              
015722,000073: 37,2520           25477                           STOVL    GCOMPSW    -1                         
015723,000074: 37,2521           37070                                    INTVAL     +2                         
015724,000075: 37,2522           26445                           STOVL    ALX1S                                 
015725,000076: 37,2523           37057                                    SCHZEROS                              
015726,000077: 37,2524           00325                           STORE    DELVX                                 
015727,000078: 37,2525           01472                           STORE    GCOMP                                 
015728,000079: 37,2526           77735                           SLOAD                                          
015729,000080: 37,2527           02441                                    TORQNDX                               
015730,000081: 37,2530           50076                           DCOMP    BMN                                   
015731,000082: 37,2531           76534                                    VERTSKIP                              
015732,000083: 37,2532           77624                           CALL                                           
015733,000084: 37,2533           76401                                    ERTHRVSE                              
015734,000085: 37,2534           77776        VERTSKIP           EXIT                                           
015735,000086: 37,2535           03035                           TC       SLEEPIE    +1                         
015736,000087: 

Page 384

015738,000089: 37,2536           31576        ALLOOP             CA       OVFLOWCK                              
015739,000090: 37,2537           00006                           EXTEND                                         
015740,000091: 37,2540           12542                           BZF      +2                                    
015741,000092: 37,2541           05261                           TC       TASKOVER                              
015742,000093: 37,2542           11530                           CCS      ALTIM                                 
015743,000094: 37,2543           30000                           CA       A                                     #  SHOULD NEVER HIT THIS LOCATION
015744,000095: 37,2544           55531                           TS       ALTIMS                                
015745,000096: 37,2545           40000                           CS       A                                     
015746,000097: 37,2546           55530                           TS       ALTIM                                 
015747,000098: 37,2547           44753                           CS       ONE                                   
015748,000099: 37,2550           61562                           AD       GEOCOMPS                              
015749,000100: 37,2551           00006                           EXTEND                                         
015750,000101: 37,2552           12556                           BZF      +4                                    
015751,000102: 37,2553           31412                           CA       LENGTHOT                              
015752,000103: 37,2554           00006                           EXTEND                                         
015753,000104: 37,2555           62562                           BZMF     +5                                    
015754,000105: 37,2556           31572                           CAE      1SECXT                                
015755,000106: 37,2557           05173                           TC       TWIDDLE                               
015756,000107: 37,2560  E5,1642                                  EBANK=   XSM                                   
015757,000108: 37,2560           02536                           ADRES    ALLOOP                                
015758,000109: 37,2561           34755                           CAF      ZERO                                  
015759,000110: 37,2562           56037                           XCH      PIPAX                                 
015760,000111: 37,2563           54324                           TS       DELVX                                 
015761,000112: 37,2564           34755                           CAF      ZERO                                  
015762,000113: 37,2565           56040                           XCH      PIPAY                                 
015763,000114: 37,2566           54326                           TS       DELVY                                 
015764,000115: 37,2567           34755                           CAF      ZERO                                  
015765,000116: 37,2570           56041                           XCH      PIPAZ                                 
015766,000117: 37,2571           54330                           TS       DELVZ                                 
015767,000118: 37,2572           34736        SPECSTS            CAF      PRIO20                                
015768,000119: 37,2573           05105                           TC       FINDVAC                               
015769,000120: 37,2574  E5,1642                                  EBANK=   XSM                                   
015770,000121: 37,2574           02577 76065                     2CADR    ALFLT                                 #  START THE JOB
015771,000122: 
015772,000123: 37,2576           05261                           TC       TASKOVER                              
015773,000124: 

Page 385

015775,000126: 37,2577           11562        ALFLT              CCS      GEOCOMPS                              
015776,000127: 37,2600           02602                           TC       +2                                    
015777,000128: 37,2601           02604                           TC       NORMLOP                               
015778,000129: 37,2602           04616                           TC       BANKCALL                              
015779,000130: 37,2603           15263                           CADR     1/PIPA                                
015780,000131: 37,2604           06037        NORMLOP            TC       INTPRET                               
015781,000132: 37,2605           77745                           DLOAD                                          
015782,000133: 37,2606           37066                                    INTVAL                                
015783,000134: 37,2607           24051                           STOVL    S1                                    
015784,000135: 37,2610           00325                                    DELVX                                 
015785,000136: 37,2611           76505                           VXM      VSL1                                  
015786,000137: 37,2612           02643                                    XSM                                   
015787,000138: 37,2613           57545                           DLOAD    DCOMP                                 
015788,000139: 37,2614           00160                                    MPAC       +3                         
015789,000140: 37,2615           16523                           STODL    DPIPAY                                
015790,000141: 37,2616           00162                                    MPAC       +5                         
015791,000142: 37,2617           02527                           STORE    DPIPAZ                                
015792,000143: 
015793,000144: 37,2620           76001                           SETPD    AXT,1                                 
015794,000145: 37,2621           00001                                    0                                     
015795,000146: 37,2622           00010                                    8D                                    
015796,000147: 37,2623           57535                           SLOAD    DCOMP                                 
015797,000148: 37,2624           02563                                    GEOCOMPS                              
015798,000149: 37,2625           77640                           BMN                                            
015799,000150: 37,2626           76772                                    PERFERAS                              
015800,000151: 37,2627           50135        ALCGKK             SLOAD    BMN                                   
015801,000152: 37,2630           02532                                    ALTIMS                                
015802,000153: 37,2631           76644                                    ALFLT3                                
015803,000154: 37,2632           72174        ALKCG              AXT,2    LXA,1                                 #  LOADS SLOPES AND TIME CONSTANTS AT RQST
015804,000155: 37,2633           00014                                    12D                                   
015805,000156: 37,2634           02444                                    ALX1S                                 
015806,000157: 37,2635           62143        ALKCG2             DLOAD*   INCR,1                                
015807,000158: 37,2636           02243                                    ALFDK      +144D,1                    
015808,000159: 37,2637           77775                           DEC      -2         B-14                       
015809,000160: 37,2640           12545                           STORE    ALDK       +10D,2                     
015810,000161: 37,2641           66104                           TIX,2    SXA,1                                 
015811,000162: 37,2642           76635                                    ALKCG2                                
015812,000163: 37,2643           02444                                    ALX1S                                 
015813,000164: 
015814,000165: 37,2644           77770        ALFLT3             AXT,1                                          
015815,000166: 37,2645           00010                                    8D                                    
015816,000167: 37,2646           41343        DELMLP             DLOAD*   DMP                                   
015817,000168: 37,2647           02533                                    DPIPAY     +8D,1                      
015818,000169: 37,2650           37100                                    PIPASC                                
015819,000170: 37,2651           43661                           SLR      BDSU*                                 
015820,000171: 37,2652           21212                                    9D                                    
015821,000172: 37,2653           02501                                    INTY       +8D,1                      
015822,000173: 37,2654           06501                           STORE    INTY       +8D,1                      
015823,000174: 37,2655           40725                           PDDL     DMP*                                  
015824,000175: 37,2656           37102                                    VELSC                                 

Page 386

015826,000177: 37,2657           02521                                    VLAUN      +8D,1                      
015827,000178: 37,2660           77732                           SL2R                                           
015828,000179: 37,2661           45425                           DSU      STADR                                 
015829,000180: 37,2662           71216                           STORE    DELM       +8D,1                      
015830,000181: 37,2663           06563                           STORE    DELM       +10D,1                     
015831,000182: 37,2664           77100                           TIX,1    AXT,2                                 
015832,000183: 37,2665           76646                                    DELMLP                                
015833,000184: 37,2666           00004                                    4                                     
015834,000185: 37,2667           56743        ALILP              DLOAD*   DMPR*                                 
015835,000186: 37,2670           75324                                    ALK        +4,2                       
015836,000187: 37,2671           75240                                    ALDK       +4,2                       
015837,000188: 37,2672           12453                           STORE    ALK        +4,2                       
015838,000189: 37,2673           77104                           TIX,2    AXT,2                                 
015839,000190: 37,2674           76667                                    ALILP                                 
015840,000191: 37,2675           00010                                    8D                                    
015841,000192: 37,2676           66140        ALKLP              LXC,1    SXA,1                                 
015842,000193: 37,2677           02445                                    CMPX1                                 
015843,000194: 37,2700           02445                                    CMPX1                                 
015844,000195: 37,2701           56743                           DLOAD*   DMPR*                                 
015845,000196: 37,2702           02450                                    ALK        +1,1                       
015846,000197: 37,2703           75216                                    DELM       +8D,2                      
015847,000198: 37,2704           77613                           DAD*                                           
015848,000199: 37,2705           75276                                    INTY       +8D,2                      
015849,000200: 37,2706           12501                           STORE    INTY       +8D,2                      
015850,000201: 37,2707           42743                           DLOAD*   DAD*                                  
015851,000202: 37,2710           75314                                    ALK        +12D,2                     
015852,000203: 37,2711           75230                                    ALDK       +12D,2                     
015853,000204: 37,2712           12463                           STORE    ALK        +12D,2                     
015854,000205: 37,2713           42673                           DMPR*    DAD*                                  
015855,000206: 37,2714           75216                                    DELM       +8D,2                      
015856,000207: 37,2715           75266                                    INTY       +16D,2                     
015857,000208: 37,2716           12511                           STORE    INTY       +16D,2                     
015858,000209: 37,2717           40743                           DLOAD*   DMP*                                  
015859,000210: 37,2720           37105                                    ALSK       +1,1                       
015860,000211: 37,2721           75216                                    DELM       +8D,2                      
015861,000212: 37,2722           42772                           SL1R     DAD*                                  
015862,000213: 37,2723           75256                                    VLAUN      +8D,2                      
015863,000214: 37,2724           12521                           STORE    VLAUN      +8D,2                      
015864,000215: 37,2725           76104                           TIX,2    AXT,1                                 
015865,000216: 37,2726           76676                                    ALKLP                                 
015866,000217: 37,2727           00010                                    8D                                    
015867,000218: 
015868,000219: 37,2730           64743        LOOSE              DLOAD*   PDDL*                                 
015869,000220: 37,2731           02523                                    ACCWD      +8D,1                      
015870,000221: 37,2732           02521                                    VLAUN      +8D,1                      
015871,000222: 37,2733           55523                           PDDL*    VDEF                                  
015872,000223: 37,2734           02531                                    POSNV      +8D,1                      
015873,000224: 37,2735           76521                           MXV      VSL1                                  
015874,000225: 37,2736           02001                                    TRANSM1                               

Page 387

015876,000227: 37,2737           77745                           DLOAD                                          
015877,000228: 37,2740           00155                                    MPAC                                  
015878,000229: 37,2741           06531                           STORE    POSNV      +8D,1                      
015879,000230: 37,2742           77745                           DLOAD                                          
015880,000231: 37,2743           00160                                    MPAC       +3                         
015881,000232: 37,2744           06521                           STORE    VLAUN      +8D,1                      
015882,000233: 37,2745           77745                           DLOAD                                          
015883,000234: 37,2746           00162                                    MPAC       +5                         
015884,000235: 37,2747           06523                           STORE    ACCWD      +8D,1                      
015885,000236: 37,2750           77700                           TIX,1                                          
015886,000237: 37,2751           76730                                    LOOSE                                 
015887,000238: 
015888,000239: 37,2752           76174                           AXT,2    AXT,1                                 #  EVALUATE SINES AND COSINES
015889,000240: 37,2753           00006                                    6                                     
015890,000241: 37,2754           00002                                    2                                     
015891,000242: 37,2755           57343        BOOP               DLOAD*   DMPR                                  
015892,000243: 37,2756           02503                                    ANGX       +2,1                       
015893,000244: 37,2757           37110                                    GEORGEJ                               
015894,000245: 37,2760           77722                           SR2R                                           
015895,000246: 37,2761           73406                           PUSH     SIN                                   
015896,000247: 37,2762           56072                           SL3R     XAD,1                                 
015897,000248: 37,2763           00046                                    X1                                    
015898,000249: 37,2764           10021                           STORE    16D,2                                 
015899,000250: 37,2765           77745                           DLOAD                                          
015900,000251: 37,2766           77746                           COS                                            
015901,000252: 37,2767           10027                           STORE    22D,2                                 #  COSINES
015902,000253: 37,2770           77704                           TIX,2                                          
015903,000254: 37,2771           76755                                    BOOP                                  
015904,000255: 
015905,000256: 37,2772           77776        PERFERAS           EXIT                                           
015906,000257: 37,2773           35016                           CA       EBANK7                                
015907,000258: 37,2774           54003                           TS       EBANK                                 
015908,000259: 37,2775  E7,1400                                  EBANK=   ATIGINC                               
015909,000260: 37,2775           01400                           TC       ATIGINC                               #  GOTO ERASABLE TO CALCULATE ONLY TO RETN
015910,000261: 
015911,000262:                                                                                                  #                             CAUTION
015912,000263: 
015913,000264:                                                                                                  #  THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
015914,000265:                                                                                                  #  BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
015915,000266: 
015916,000267: 37,2776  E5,1400                                  EBANK=   AZIMUTH                               
015917,000268: 37,2776           11412                           CCS      LENGTHOT                              
015918,000269: 37,2777           03034                           TC       SLEEPIE                               
015919,000270: 37,3000           11440                           CCS      TORQNDX                               
015920,000271: 37,3001           13003                           TCF      +2                                    
015921,000272: 37,3002           03005                           TC       SETUPER1                              
015922,000273: 37,3003           30032                           CA       CDUX                                  
015923,000274: 37,3004           55414                           TS       LOSVEC     +1                         #  FOR TROUBLESHOOTING VD POSNS 2$4
015924,000275: 

Page 388

015926,000277: 37,3005           06037        SETUPER1           TC       INTPRET                               
015927,000278: 37,3006           65345                           DLOAD    PDDL                                  #  ANGLES FROM DRIFT TEST ONLY
015928,000279: 37,3007           02473                                    ANGZ                                  
015929,000280: 37,3010           02477                                    ANGY                                  
015930,000281: 37,3011           55525                           PDDL     VDEF                                  
015931,000282: 37,3012           02501                                    ANGX                                  
015932,000283: 37,3013           74276                           VCOMP    VXSC                                  
015933,000284: 37,3014           37110                                    GEORGEJ                               
015934,000285: 37,3015           74521                           MXV      VSR1                                  
015935,000286: 37,3016           02643                                    XSM                                   
015936,000287: 37,3017           02740                           STORE    OGC                                   
015937,000288: 37,3020           77776                           EXIT                                           
015938,000289: 
015939,000290: 37,3021           32475                           CA       OGCPL                                 
015940,000291: 37,3022           04616                           TC       BANKCALL                              
015941,000292: 37,3023           17323                           CADR     IMUPULSE                              
015942,000293: 37,3024           02315                           TC       IMUSLLLG                              
015943,000294: 37,3025           11440        GEOSTRT4           CCS      TORQNDX                               #  ONLY POSITIVE IF IN VERTICAL DRIFT TEST
015944,000295: 37,3026           02263                           TC       VALMIS                                
015945,000296: 37,3027           06037                           TC       INTPRET                               
015946,000297: 37,3030           77624                           CALL                                           
015947,000298: 37,3031           76401                                    ERTHRVSE                              
015948,000299: 37,3032           77776                           EXIT                                           
015949,000300: 37,3033           02117                           TC       TORQUE                                
015950,000301: 
015951,000302: 37,3034           55412        SLEEPIE            TS       LENGTHOT                              #  TEST NOT OVER-DECREMENT LENGTHOT
015952,000303: 37,3035           11440                           CCS      TORQNDX                               #  ARE WE DOING VERTDRIFT
015953,000304: 37,3036           02447                           TC       EARTHR*                               
015954,000305: 37,3037           05155                           TC       ENDOFJOB                              
015955,000306: 
015956,000307: 37,3040           35014        SOMEERRR           CA       EBANK5                                
015957,000308: 37,3041           54003                           TS       EBANK                                 
015958,000309: 37,3042           34753                           CA       ONE                                   
015959,000310: 37,3043           55576                           TS       OVFLOWCK                              #  STOP ALLOOP FROM CALLING ITSELF
015960,000311: 37,3044           05567                           TC       ALARM                                 
015961,000312: 37,3045           01600                           OCT      1600                                  
015962,000313: 37,3046           02270                           TC       ENDTEST1                              
015963,000314: 37,3047           33054        SOMERR2            CAF      OCT1601                               
015964,000315: 37,3050           05744                           TC       VARALARM                              
015965,000316: 37,3051           05516                           TC       DOWNFLAG                              
015966,000317: 37,3052           00007                           ADRES    IMUSE                                 
015967,000318: 37,3053           05155                           TC       ENDOFJOB                              
015968,000319: 
015969,000320: 37,3054           01601        OCT1601            OCT      01601                                 
015970,000321: 37,3055           06200        DEC585             OCT      06200                                 #  3200 B+14 ORDER IS IMPORTANT
015971,000322: 37,3056           00000 00000  SCHZEROS           2DEC     .00000000                             

Page 389

015973,000324: 37,3060           00000 00000                     2DEC     .00000000                             
015974,000325: 
015975,000326: 37,3062           00000                           OCT      00000                                 
015976,000327: 37,3063           00000        ONEDPP             OCT      00000                                 #  ORDER IS IMPORTANT
015977,000328: 37,3064           00001                           OCT      00001                                 
015978,000329: 
015979,000330: 37,3065           00004        INTVAL             OCT      4                                     
015980,000331: 37,3066           00002                           OCT      2                                     
015981,000332: 37,3067           00220                           DEC      144        B-14                       
015982,000333: 37,3070           77776                           DEC      -1         B-14                       
015983,000334: 37,3071           35730 00035  SOUPLY             2DEC     .93505870                             #  INITIAL GAINS FOR PIP OUTPUTS
015984,000335: 
015985,000336: 37,3073           10317 17550                     2DEC     .26266423                             #  INITIAL GAINS/4 FOR ERECTION ANGLES
015986,000337: 
015987,000338: 37,3075           00115        77DECML            DEC      77         B-14                       
015988,000339: 37,3076           01443        ALXXXZ             GENADR   ALX1S      -1                         
015989,000340: 37,3077           04133 02265  PIPASC             2DEC     .13055869                             
015990,000341: 
015991,000342: 37,3101           57223 66451  VELSC              2DEC     -.52223476                            #  512/980.402
015992,000343: 
015993,000344: 37,3103           05427 12577  ALSK               2DEC     .17329931                             #  SSWAY VEL GAIN X 980.402/4096
015994,000345: 
015995,000346: 37,3105           77567 44202                     2DEC     -.00835370                            #  SSWAY ACCEL GAIN X 980.402/4096
015996,000347: 
015997,000348: 37,3107           24276 14066  GEORGEJ            2DEC     .63661977                             
015998,000349: 
015999,000350: 37,3111           23073 11773  GEORGEK            2DEC     .59737013                             
016000,000351: 

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