GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision.
Source Code
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These source-code files were from the printout at the MIT Museum, with many thanks
to Deborah Douglas, the Museum's Curator of Science and Technology, for releasing
it to us. The printout was digitally photographed by Paul Fjeld. A team of
volunteers transcribed the source code manually from these images or, where
appropriate, modified already-transcribed but similar source Luminary 131 (Apollo 13)
source code to agree with the images from the printout. Note that the page images
presented online are of reduced quality, and that higher-quality images
are available. Report any conversion errors or legibility
problems in page images to info@sandroid.org.
Notations on the program listing read, in part:GAP: ASSEMBLE REVISION 001 OF AGC PROGRAM LMY99 BY NASA 2021112-061 16:27 JULY 14,1969Note that the date is the date of the printout, not the date of the program revision. |
016131,000002: ## Copyright: Public domain.
016132,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
016133,000004: ## Purpose: Part of the source code for Luminary 1A build 099.
016134,000005: ## It is part of the source code for the Lunar Module's (LM)
016135,000006: ## Apollo Guidance Computer (AGC), for Apollo 11.
016136,000007: ## Assembler: yaYUL
016137,000008: ## Contact: Ron Burkey <info@sandroid.org>.
016138,000009: ## Website: www.ibiblio.org/apollo.
016139,000010: ## Pages: 382-389
016140,000011: ## Mod history: 2009-05-17 RSB Adapted from the corresponding
016141,000012: ## Luminary131 file, using page
016142,000013: ## images from Luminary 1A.
016143,000014: ## 2016-12-14 RSB Proofed text comments with octopus/ProoferComments
016144,000015: ## and corrected the errors found.
016145,000016: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
016146,000017:
016147,000018: ## This source code has been transcribed or otherwise adapted from
016148,000019: ## digitized images of a hardcopy from the MIT Museum. The digitization
016149,000020: ## was performed by Paul Fjeld, and arranged for by Deborah Douglas of
016150,000021: ## the Museum. Many thanks to both. The images (with suitable reduction
016151,000022: ## in storage size and consequent reduction in image quality as well) are
016152,000023: ## available online at www.ibiblio.org/apollo. If for some reason you
016153,000024: ## find that the images are illegible, contact me at info@sandroid.org
016154,000025: ## about getting access to the (much) higher-quality images which Paul
016155,000026: ## actually created.
016156,000027: ##
016157,000028: ## Notations on the hardcopy document read, in part:
016158,000029: ##
016159,000030: ## Assemble revision 001 of AGC program LMY99 by NASA 2021112-61
016160,000031: ## 16:27 JULY 14, 1969
016161,000032:
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Page 382 |
016163,000034: # PROGRAM - IMU PERFORMANCE TESTS 4
016164,000035: # DATE - NOV 15, 1966
016165,000036: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
016166,000037: # MOD NO-ZERO
016167,000038:
016168,000039: # FUNCTIONAL DESCRIPTION
016169,000040:
016170,000041: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016171,000042: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016172,000043: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016173,000044:
016174,000045: # EARTHR,OGC ZERO,ERTHRVSE
016175,000046:
016176,000047: # NORMAL EXIT
016177,000048:
016178,000049: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
016179,000050:
016180,000051: # ALARMS
016181,000052:
016182,000053: # 1600 OVERFLOW IN DRIFT TEST
016183,000054: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016184,000055: # OUTPUT
016185,000056:
016186,000057: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
016187,000058:
016188,000059: # DEBRIS
016189,000060:
016190,000061: # ALL CENTRALS - ALL OF EBANK XSM
016191,000062:
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Page 383 |
016193,000064: 33,2045 BANK 33
016194,000065: 37,2000 SETLOC IMU4
016195,000066: 37,2000 BANK
016196,000067: 37,2500 COUNT* $$/P07
016197,000068:
016198,000069: 37,2500 E5,1642 EBANK= XSM
016199,000070:
016200,000071: 37,2500 00004 ESTIMS INHINT
016201,000072: 37,2501 31572 CAE 1SECXT
016202,000073: 37,2502 05173 TC TWIDDLE
016203,000074: 37,2503 E5,1642 EBANK= XSM
016204,000075: 37,2503 02536 ADRES ALLOOP
016205,000076: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016206,000077: 37,2505 54037 TS PIPAX
016207,000078: 37,2506 54040 TS PIPAY
016208,000079: 37,2507 54041 TS PIPAZ
016209,000080: 37,2510 00003 RELINT
016210,000081: 37,2511 33075 CA 77DECML
016211,000082: 37,2512 55571 TS ZERONDX
016212,000083: 37,2513 33076 CA ALXXXZ
016213,000084: 37,2514 02367 TC ZEROING
016214,000085: 37,2515 06037 TC INTPRET
016215,000086: 37,2516 77735 SLOAD
016216,000087: 37,2517 37057 SCHZEROS
016217,000088: 37,2520 25477 STOVL GCOMPSW -1
016218,000089: 37,2521 37070 INTVAL +2
016219,000090: 37,2522 26445 STOVL ALX1S
016220,000091: 37,2523 37057 SCHZEROS
016221,000092: 37,2524 00325 STORE DELVX
016222,000093: 37,2525 01472 STORE GCOMP
016223,000094: 37,2526 77735 SLOAD
016224,000095: 37,2527 02441 TORQNDX
016225,000096: 37,2530 50076 DCOMP BMN
016226,000097: 37,2531 76534 VERTSKIP
016227,000098: 37,2532 77624 CALL
016228,000099: 37,2533 76401 ERTHRVSE
016229,000100: 37,2534 77776 VERTSKIP EXIT
016230,000101: 37,2535 03035 TC SLEEPIE +1
016231,000102:
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Page 384 |
016233,000104: 37,2536 31576 ALLOOP CA OVFLOWCK
016234,000105: 37,2537 00006 EXTEND
016235,000106: 37,2540 12542 BZF +2
016236,000107: 37,2541 05261 TC TASKOVER
016237,000108: 37,2542 11530 CCS ALTIM
016238,000109: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016239,000110: 37,2544 55531 TS ALTIMS
016240,000111: 37,2545 40000 CS A
016241,000112: 37,2546 55530 TS ALTIM
016242,000113: 37,2547 44753 CS ONE
016243,000114: 37,2550 61562 AD GEOCOMPS
016244,000115: 37,2551 00006 EXTEND
016245,000116: 37,2552 12556 BZF +4
016246,000117: 37,2553 31412 CA LENGTHOT
016247,000118: 37,2554 00006 EXTEND
016248,000119: 37,2555 62562 BZMF +5
016249,000120: 37,2556 31572 CAE 1SECXT
016250,000121: 37,2557 05173 TC TWIDDLE
016251,000122: 37,2560 E5,1642 EBANK= XSM
016252,000123: 37,2560 02536 ADRES ALLOOP
016253,000124: 37,2561 34755 CAF ZERO
016254,000125: 37,2562 56037 XCH PIPAX
016255,000126: 37,2563 54324 TS DELVX
016256,000127: 37,2564 34755 CAF ZERO
016257,000128: 37,2565 56040 XCH PIPAY
016258,000129: 37,2566 54326 TS DELVY
016259,000130: 37,2567 34755 CAF ZERO
016260,000131: 37,2570 56041 XCH PIPAZ
016261,000132: 37,2571 54330 TS DELVZ
016262,000133: 37,2572 34736 SPECSTS CAF PRIO20
016263,000134: 37,2573 05105 TC FINDVAC
016264,000135: 37,2574 E5,1642 EBANK= XSM
016265,000136: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016266,000137:
016267,000138: 37,2576 05261 TC TASKOVER
016268,000139:
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Page 385 |
016270,000141: 37,2577 11562 ALFLT CCS GEOCOMPS
016271,000142: 37,2600 02602 TC +2
016272,000143: 37,2601 02604 TC NORMLOP
016273,000144: 37,2602 04616 TC BANKCALL
016274,000145: 37,2603 15263 CADR 1/PIPA
016275,000146: 37,2604 06037 NORMLOP TC INTPRET
016276,000147: 37,2605 77745 DLOAD
016277,000148: 37,2606 37066 INTVAL
016278,000149: 37,2607 24051 STOVL S1
016279,000150: 37,2610 00325 DELVX
016280,000151: 37,2611 76505 VXM VSL1
016281,000152: 37,2612 02643 XSM
016282,000153: 37,2613 57545 DLOAD DCOMP
016283,000154: 37,2614 00160 MPAC +3
016284,000155: 37,2615 16523 STODL DPIPAY
016285,000156: 37,2616 00162 MPAC +5
016286,000157: 37,2617 02527 STORE DPIPAZ
016287,000158:
016288,000159: 37,2620 76001 SETPD AXT,1
016289,000160: 37,2621 00001 0
016290,000161: 37,2622 00010 8D
016291,000162: 37,2623 57535 SLOAD DCOMP
016292,000163: 37,2624 02563 GEOCOMPS
016293,000164: 37,2625 77640 BMN
016294,000165: 37,2626 76772 PERFERAS
016295,000166: 37,2627 50135 ALCGKK SLOAD BMN
016296,000167: 37,2630 02532 ALTIMS
016297,000168: 37,2631 76644 ALFLT3
016298,000169: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016299,000170: 37,2633 00014 12D
016300,000171: 37,2634 02444 ALX1S
016301,000172: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016302,000173: 37,2636 02243 ALFDK +144D,1
016303,000174: 37,2637 77775 DEC -2 B-14
016304,000175: 37,2640 12545 STORE ALDK +10D,2
016305,000176: 37,2641 66104 TIX,2 SXA,1
016306,000177: 37,2642 76635 ALKCG2
016307,000178: 37,2643 02444 ALX1S
016308,000179:
016309,000180: 37,2644 77770 ALFLT3 AXT,1
016310,000181: 37,2645 00010 8D
016311,000182: 37,2646 41343 DELMLP DLOAD* DMP
016312,000183: 37,2647 02533 DPIPAY +8D,1
016313,000184: 37,2650 37100 PIPASC
016314,000185: 37,2651 43661 SLR BDSU*
016315,000186: 37,2652 21212 9D
016316,000187: 37,2653 02501 INTY +8D,1
016317,000188: 37,2654 06501 STORE INTY +8D,1
016318,000189: 37,2655 40725 PDDL DMP*
016319,000190: 37,2656 37102 VELSC
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Page 386 |
016321,000192: 37,2657 02521 VLAUN +8D,1
016322,000193: 37,2660 77732 SL2R
016323,000194: 37,2661 45425 DSU STADR
016324,000195: 37,2662 71216 STORE DELM +8D,1
016325,000196: 37,2663 06563 STORE DELM +10D,1
016326,000197: 37,2664 77100 TIX,1 AXT,2
016327,000198: 37,2665 76646 DELMLP
016328,000199: 37,2666 00004 4
016329,000200: 37,2667 56743 ALILP DLOAD* DMPR*
016330,000201: 37,2670 75324 ALK +4,2
016331,000202: 37,2671 75240 ALDK +4,2
016332,000203: 37,2672 12453 STORE ALK +4,2
016333,000204: 37,2673 77104 TIX,2 AXT,2
016334,000205: 37,2674 76667 ALILP
016335,000206: 37,2675 00010 8D
016336,000207: 37,2676 66140 ALKLP LXC,1 SXA,1
016337,000208: 37,2677 02445 CMPX1
016338,000209: 37,2700 02445 CMPX1
016339,000210: 37,2701 56743 DLOAD* DMPR*
016340,000211: 37,2702 02450 ALK +1,1
016341,000212: 37,2703 75216 DELM +8D,2
016342,000213: 37,2704 77613 DAD*
016343,000214: 37,2705 75276 INTY +8D,2
016344,000215: 37,2706 12501 STORE INTY +8D,2
016345,000216: 37,2707 42743 DLOAD* DAD*
016346,000217: 37,2710 75314 ALK +12D,2
016347,000218: 37,2711 75230 ALDK +12D,2
016348,000219: 37,2712 12463 STORE ALK +12D,2
016349,000220: 37,2713 42673 DMPR* DAD*
016350,000221: 37,2714 75216 DELM +8D,2
016351,000222: 37,2715 75266 INTY +16D,2
016352,000223: 37,2716 12511 STORE INTY +16D,2
016353,000224: 37,2717 40743 DLOAD* DMP*
016354,000225: 37,2720 37105 ALSK +1,1
016355,000226: 37,2721 75216 DELM +8D,2
016356,000227: 37,2722 42772 SL1R DAD*
016357,000228: 37,2723 75256 VLAUN +8D,2
016358,000229: 37,2724 12521 STORE VLAUN +8D,2
016359,000230: 37,2725 76104 TIX,2 AXT,1
016360,000231: 37,2726 76676 ALKLP
016361,000232: 37,2727 00010 8D
016362,000233:
016363,000234: 37,2730 64743 LOOSE DLOAD* PDDL*
016364,000235: 37,2731 02523 ACCWD +8D,1
016365,000236: 37,2732 02521 VLAUN +8D,1
016366,000237: 37,2733 55523 PDDL* VDEF
016367,000238: 37,2734 02531 POSNV +8D,1
016368,000239: 37,2735 76521 MXV VSL1
016369,000240: 37,2736 02001 TRANSM1
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Page 387 |
016371,000242: 37,2737 77745 DLOAD
016372,000243: 37,2740 00155 MPAC
016373,000244: 37,2741 06531 STORE POSNV +8D,1
016374,000245: 37,2742 77745 DLOAD
016375,000246: 37,2743 00160 MPAC +3
016376,000247: 37,2744 06521 STORE VLAUN +8D,1
016377,000248: 37,2745 77745 DLOAD
016378,000249: 37,2746 00162 MPAC +5
016379,000250: 37,2747 06523 STORE ACCWD +8D,1
016380,000251: 37,2750 77700 TIX,1
016381,000252: 37,2751 76730 LOOSE
016382,000253:
016383,000254: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016384,000255: 37,2753 00006 6
016385,000256: 37,2754 00002 2
016386,000257: 37,2755 57343 BOOP DLOAD* DMPR
016387,000258: 37,2756 02503 ANGX +2,1
016388,000259: 37,2757 37110 GEORGEJ
016389,000260: 37,2760 77722 SR2R
016390,000261: 37,2761 73406 PUSH SIN
016391,000262: 37,2762 56072 SL3R XAD,1
016392,000263: 37,2763 00046 X1
016393,000264: 37,2764 10021 STORE 16D,2
016394,000265: 37,2765 77745 DLOAD
016395,000266: 37,2766 77746 COS
016396,000267: 37,2767 10027 STORE 22D,2 # COSINES
016397,000268: 37,2770 77704 TIX,2
016398,000269: 37,2771 76755 BOOP
016399,000270:
016400,000271: 37,2772 77776 PERFERAS EXIT
016401,000272: 37,2773 35016 CA EBANK7
016402,000273: 37,2774 54003 TS EBANK
016403,000274: 37,2775 E7,1400 EBANK= ATIGINC
016404,000275: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016405,000276:
016406,000277: # CAUTION
016407,000278:
016408,000279: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016409,000280: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016410,000281:
016411,000282: 37,2776 E5,1400 EBANK= AZIMUTH
016412,000283: 37,2776 11412 CCS LENGTHOT
016413,000284: 37,2777 03034 TC SLEEPIE
016414,000285: 37,3000 11440 CCS TORQNDX
016415,000286: 37,3001 13003 TCF +2
016416,000287: 37,3002 03005 TC SETUPER1
016417,000288: 37,3003 30032 CA CDUX
016418,000289: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016419,000290:
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Page 388 |
016421,000292: 37,3005 06037 SETUPER1 TC INTPRET
016422,000293: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016423,000294: 37,3007 02473 ANGZ
016424,000295: 37,3010 02477 ANGY
016425,000296: 37,3011 55525 PDDL VDEF
016426,000297: 37,3012 02501 ANGX
016427,000298: 37,3013 74276 VCOMP VXSC
016428,000299: 37,3014 37110 GEORGEJ
016429,000300: 37,3015 74521 MXV VSR1
016430,000301: 37,3016 02643 XSM
016431,000302: 37,3017 02740 STORE OGC
016432,000303: 37,3020 77776 EXIT
016433,000304:
016434,000305: 37,3021 32475 CA OGCPL
016435,000306: 37,3022 04616 TC BANKCALL
016436,000307: 37,3023 17323 CADR IMUPULSE
016437,000308: 37,3024 02315 TC IMUSLLLG
016438,000309: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016439,000310: 37,3026 02263 TC VALMIS
016440,000311: 37,3027 06037 TC INTPRET
016441,000312: 37,3030 77624 CALL
016442,000313: 37,3031 76401 ERTHRVSE
016443,000314: 37,3032 77776 EXIT
016444,000315: 37,3033 02117 TC TORQUE
016445,000316:
016446,000317: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016447,000318: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016448,000319: 37,3036 02447 TC EARTHR*
016449,000320: 37,3037 05155 TC ENDOFJOB
016450,000321:
016451,000322: 37,3040 35014 SOMEERRR CA EBANK5
016452,000323: 37,3041 54003 TS EBANK
016453,000324: 37,3042 34753 CA ONE
016454,000325: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016455,000326: 37,3044 05567 TC ALARM
016456,000327: 37,3045 01600 OCT 1600
016457,000328: 37,3046 02270 TC ENDTEST1
016458,000329: 37,3047 33054 SOMERR2 CAF OCT1601
016459,000330: 37,3050 05744 TC VARALARM
016460,000331: 37,3051 05516 TC DOWNFLAG
016461,000332: 37,3052 00007 ADRES IMUSE
016462,000333: 37,3053 05155 TC ENDOFJOB
016463,000334:
016464,000335: 37,3054 01601 OCT1601 OCT 01601
016465,000336: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016466,000337: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 389 |
016468,000339: 37,3060 00000 00000 2DEC .00000000
016469,000340:
016470,000341: 37,3062 00000 OCT 00000
016471,000342: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016472,000343: 37,3064 00001 OCT 00001
016473,000344:
016474,000345: 37,3065 00004 INTVAL OCT 4
016475,000346: 37,3066 00002 OCT 2
016476,000347: 37,3067 00220 DEC 144 B-14
016477,000348: 37,3070 77776 DEC -1 B-14
016478,000349: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016479,000350:
016480,000351: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016481,000352:
016482,000353: 37,3075 00115 77DECML DEC 77 B-14
016483,000354: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016484,000355: 37,3077 04133 02265 PIPASC 2DEC .13055869
016485,000356:
016486,000357: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016487,000358:
016488,000359: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016489,000360:
016490,000361: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016491,000362:
016492,000363: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016493,000364:
016494,000365: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016495,000366:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc