Source Code
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These source code files are a reconstruction of Sundance, the Apollo 9 LM (Lunar Module) AGC
(Apollo Guidance Computer) flight software, created from binary dumps of original core rope
program modules, as follows:
Since only binary dumps (rather than listings) of Sundance are available as source material, all comments and labels are approximate. They have been taken from other AGC programs where possible, or, in some places, written from scratch to match what we believe would have been in the original listing. |
014165,000002: ## Copyright: Public domain.
014166,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
014167,000004: ## Purpose: A section of a reconstructed, mixed version of Sundance
014168,000005: ## It is part of the reconstructed source code for the Lunar
014169,000006: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 9.
014170,000007: ## No original listings of this program are available;
014171,000008: ## instead, this file was created via disassembly of dumps
014172,000009: ## of various revisions of Sundance core rope modules.
014173,000010: ## Assembler: yaYUL
014174,000011: ## Contact: Ron Burkey <info@sandroid.org>.
014175,000012: ## Website: www.ibiblio.org/apollo/index.html
014176,000013: ## Mod history: 2020-06-17 MAS Created from Luminary 69.
014177,000014:
014178,000015: ## Sundance 306
014179,000016:
014180,000017: # PROGRAM-IMU PERFORMANCE TESTS 4
014181,000018: # DATE-NOV 15, 1966
014182,000019: # BY-GEORGE SCHMIDT IL7-146 EXT 1126
014183,000020: # MOD NO-ZERO
014184,000021:
014185,000022: # FUNCTIONAL DESCRIPTION
014186,000023:
014187,000024: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
014188,000025: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
014189,000026: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
014190,000027:
014191,000028: # EARTHR,OGC ZERO,ERTHRVSE
014192,000029:
014193,000030: # NORMAL EXIT
014194,000031:
014195,000032: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
014196,000033:
014197,000034: # ALARMS
014198,000035:
014199,000036: # 1600 OVERFLOW IN DRIFT TEST
014200,000037: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
014201,000038: # OUTPUT
014202,000039:
014203,000040: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
014204,000041:
014205,000042: # DEBRIS
014206,000043:
014207,000044: # ALL CENTRALS - ALL OF EBANK XSM
014208,000045:
014209,000046: 33,2000 BANK 33
014210,000047: 37,2000 SETLOC IMU4
014211,000048: 37,2000 BANK
014212,000049: 37,2477 COUNT* $$/P07
014213,000050:
014214,000051: 37,2477 E5,1642 EBANK= XSM
014215,000052:
014216,000053: 37,2477 00004 ESTIMS INHINT
014217,000054: 37,2500 31572 CAE 1SECXT
014218,000055: 37,2501 05243 TC TWIDDLE
014219,000056: 37,2502 E5,1642 EBANK= XSM
014220,000057: 37,2502 02535 ADRES ALLOOP
014221,000058: 37,2503 35030 CAF ZERO # ZERO THE PIPAS
014222,000059: 37,2504 54037 TS PIPAX
014223,000060: 37,2505 54040 TS PIPAY
014224,000061: 37,2506 54041 TS PIPAZ
014225,000062: 37,2507 00003 RELINT
014226,000063: 37,2510 33061 CA 77DECML
014227,000064: 37,2511 55571 TS ZERONDX
014228,000065: 37,2512 33062 CA ALXXXZ
014229,000066: 37,2513 02364 TC ZEROING
014230,000067: 37,2514 06014 TC INTPRET
014231,000068: 37,2515 77735 SLOAD
014232,000069: 37,2516 37043 SCHZEROS
014233,000070: 37,2517 25477 STOVL GCOMPSW -1
014234,000071: 37,2520 37054 INTVAL +2
014235,000072: 37,2521 26445 STOVL ALX1S
014236,000073: 37,2522 37043 SCHZEROS
014237,000074: 37,2523 01212 STORE DELVX
014238,000075: 37,2524 01472 STORE GCOMP
014239,000076: 37,2525 77735 SLOAD
014240,000077: 37,2526 02441 TORQNDX
014241,000078: 37,2527 50076 DCOMP BMN
014242,000079: 37,2530 76533 VERTSKIP
014243,000080: 37,2531 77624 CALL
014244,000081: 37,2532 76376 ERTHRVSE
014245,000082: 37,2533 77776 VERTSKIP EXIT
014246,000083: 37,2534 03030 TC SLEEPIE +1
014247,000084:
014248,000085: 37,2535 11530 ALLOOP CCS ALTIM
014249,000086: 37,2536 30000 CA A # SHOULD NEVER HIT THIS LOCATION
014250,000087: 37,2537 55531 TS ALTIMS
014251,000088: 37,2540 40000 CS A
014252,000089: 37,2541 55530 TS ALTIM
014253,000090: 37,2542 45026 CS ONE
014254,000091: 37,2543 61562 AD GEOCOMPS
014255,000092: 37,2544 00006 EXTEND
014256,000093: 37,2545 12551 BZF +4
014257,000094: 37,2546 31412 CA LENGTHOT
014258,000095: 37,2547 00006 EXTEND
014259,000096: 37,2550 62555 BZMF +5
014260,000097: 37,2551 31572 CAE 1SECXT
014261,000098: 37,2552 05243 TC TWIDDLE
014262,000099: 37,2553 E5,1642 EBANK= XSM
014263,000100: 37,2553 02535 ADRES ALLOOP
014264,000101: 37,2554 35030 CAF ZERO
014265,000102: 37,2555 56037 XCH PIPAX
014266,000103: 37,2556 55211 TS DELVX
014267,000104: 37,2557 35030 CAF ZERO
014268,000105: 37,2560 56040 XCH PIPAY
014269,000106: 37,2561 55213 TS DELVY
014270,000107: 37,2562 35030 CAF ZERO
014271,000108: 37,2563 56041 XCH PIPAZ
014272,000109: 37,2564 55215 TS DELVZ
014273,000110: 37,2565 35011 SPECSTS CAF PRIO20
014274,000111: 37,2566 05155 TC FINDVAC
014275,000112: 37,2567 E5,1642 EBANK= XSM
014276,000113: 37,2567 02572 76065 2CADR ALFLT # START THE JOB
014277,000114:
014278,000115: 37,2571 05321 TC TASKOVER
014279,000116:
014280,000117: 37,2572 11562 ALFLT CCS GEOCOMPS
014281,000118: 37,2573 02575 TC +2
014282,000119: 37,2574 02577 TC NORMLOP
014283,000120: 37,2575 04655 TC BANKCALL
014284,000121: 37,2576 15277 CADR 1/PIPA
014285,000122: 37,2577 06014 NORMLOP TC INTPRET
014286,000123: 37,2600 77745 DLOAD
014287,000124: 37,2601 37052 INTVAL
014288,000125: 37,2602 24051 STOVL S1
014289,000126: 37,2603 01212 DELVX
014290,000127: 37,2604 76505 VXM VSL1
014291,000128: 37,2605 02643 XSM
014292,000129: 37,2606 57545 DLOAD DCOMP
014293,000130: 37,2607 00160 MPAC +3
014294,000131: 37,2610 16523 STODL DPIPAY
014295,000132: 37,2611 00162 MPAC +5
014296,000133: 37,2612 02527 STORE DPIPAZ
014297,000134:
014298,000135: 37,2613 76001 SETPD AXT,1
014299,000136: 37,2614 00001 0
014300,000137: 37,2615 00010 8D
014301,000138: 37,2616 57535 SLOAD DCOMP
014302,000139: 37,2617 02563 GEOCOMPS
014303,000140: 37,2620 77640 BMN
014304,000141: 37,2621 76765 PERFERAS
014305,000142: 37,2622 50135 ALCGKK SLOAD BMN
014306,000143: 37,2623 02532 ALTIMS
014307,000144: 37,2624 76637 ALFLT3
014308,000145: 37,2625 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
014309,000146: 37,2626 00014 12D
014310,000147: 37,2627 02444 ALX1S
014311,000148: 37,2630 62143 ALKCG2 DLOAD* INCR,1
014312,000149: 37,2631 02243 ALFDK +144D,1
014313,000150: 37,2632 77775 DEC -2 B-14
014314,000151: 37,2633 12545 STORE ALDK +10D,2
014315,000152: 37,2634 66104 TIX,2 SXA,1
014316,000153: 37,2635 76630 ALKCG2
014317,000154: 37,2636 02444 ALX1S
014318,000155:
014319,000156: 37,2637 77770 ALFLT3 AXT,1
014320,000157: 37,2640 00010 8D
014321,000158: 37,2641 41343 DELMLP DLOAD* DMP
014322,000159: 37,2642 02533 DPIPAY +8D,1
014323,000160: 37,2643 37064 PIPASC
014324,000161: 37,2644 43661 SLR BDSU*
014325,000162: 37,2645 21212 9D
014326,000163: 37,2646 02501 INTY +8D,1
014327,000164: 37,2647 06501 STORE INTY +8D,1
014328,000165: 37,2650 40725 PDDL DMP*
014329,000166: 37,2651 37066 VELSC
014330,000167: 37,2652 02521 VLAUN +8D,1
014331,000168: 37,2653 77732 SL2R
014332,000169: 37,2654 45425 DSU STADR
014333,000170: 37,2655 71216 STORE DELM +8D,1
014334,000171: 37,2656 06563 STORE DELM +10D,1
014335,000172: 37,2657 77100 TIX,1 AXT,2
014336,000173: 37,2660 76641 DELMLP
014337,000174: 37,2661 00004 4
014338,000175: 37,2662 56743 ALILP DLOAD* DMPR*
014339,000176: 37,2663 75324 ALK +4,2
014340,000177: 37,2664 75240 ALDK +4,2
014341,000178: 37,2665 12453 STORE ALK +4,2
014342,000179: 37,2666 77104 TIX,2 AXT,2
014343,000180: 37,2667 76662 ALILP
014344,000181: 37,2670 00010 8D
014345,000182: 37,2671 66140 ALKLP LXC,1 SXA,1
014346,000183: 37,2672 02445 CMPX1
014347,000184: 37,2673 02445 CMPX1
014348,000185: 37,2674 56743 DLOAD* DMPR*
014349,000186: 37,2675 02450 ALK +1,1
014350,000187: 37,2676 75216 DELM +8D,2
014351,000188: 37,2677 77613 DAD*
014352,000189: 37,2700 75276 INTY +8D,2
014353,000190: 37,2701 12501 STORE INTY +8D,2
014354,000191: 37,2702 42743 DLOAD* DAD*
014355,000192: 37,2703 75314 ALK +12D,2
014356,000193: 37,2704 75230 ALDK +12D,2
014357,000194: 37,2705 12463 STORE ALK +12D,2
014358,000195: 37,2706 42673 DMPR* DAD*
014359,000196: 37,2707 75216 DELM +8D,2
014360,000197: 37,2710 75266 INTY +16D,2
014361,000198: 37,2711 12511 STORE INTY +16D,2
014362,000199: 37,2712 40743 DLOAD* DMP*
014363,000200: 37,2713 37071 ALSK +1,1
014364,000201: 37,2714 75216 DELM +8D,2
014365,000202: 37,2715 42772 SL1R DAD*
014366,000203: 37,2716 75256 VLAUN +8D,2
014367,000204: 37,2717 12521 STORE VLAUN +8D,2
014368,000205: 37,2720 76104 TIX,2 AXT,1
014369,000206: 37,2721 76671 ALKLP
014370,000207: 37,2722 00010 8D
014371,000208:
014372,000209: 37,2723 64743 LOOSE DLOAD* PDDL*
014373,000210: 37,2724 02523 ACCWD +8D,1
014374,000211: 37,2725 02521 VLAUN +8D,1
014375,000212: 37,2726 55523 PDDL* VDEF
014376,000213: 37,2727 02531 POSNV +8D,1
014377,000214: 37,2730 76521 MXV VSL1
014378,000215: 37,2731 02001 TRANSM1
014379,000216: 37,2732 77745 DLOAD
014380,000217: 37,2733 00155 MPAC
014381,000218: 37,2734 06531 STORE POSNV +8D,1
014382,000219: 37,2735 77745 DLOAD
014383,000220: 37,2736 00160 MPAC +3
014384,000221: 37,2737 06521 STORE VLAUN +8D,1
014385,000222: 37,2740 77745 DLOAD
014386,000223: 37,2741 00162 MPAC +5
014387,000224: 37,2742 06523 STORE ACCWD +8D,1
014388,000225: 37,2743 77700 TIX,1
014389,000226: 37,2744 76723 LOOSE
014390,000227:
014391,000228: 37,2745 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
014392,000229: 37,2746 00006 6
014393,000230: 37,2747 00002 2
014394,000231: 37,2750 57343 BOOP DLOAD* DMPR
014395,000232: 37,2751 02503 ANGX +2,1
014396,000233: 37,2752 37074 GEORGEJ
014397,000234: 37,2753 77722 SR2R
014398,000235: 37,2754 73406 PUSH SIN
014399,000236: 37,2755 56072 SL3R XAD,1
014400,000237: 37,2756 00046 X1
014401,000238: 37,2757 10021 STORE 16D,2
014402,000239: 37,2760 77745 DLOAD
014403,000240: 37,2761 77746 COS
014404,000241: 37,2762 10027 STORE 22D,2 # COSINES
014405,000242: 37,2763 77704 TIX,2
014406,000243: 37,2764 76750 BOOP
014407,000244:
014408,000245: 37,2765 77776 PERFERAS EXIT
014409,000246: 37,2766 35066 CA EBANK7
014410,000247: 37,2767 54003 TS EBANK
014411,000248: 37,2770 E7,1400 EBANK= ATIGINC
014412,000249: 37,2770 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
014413,000250:
014414,000251: # CAUTION
014415,000252:
014416,000253: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
014417,000254: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
014418,000255:
014419,000256: 37,2771 E5,1400 EBANK= AZIMUTH
014420,000257: 37,2771 11412 CCS LENGTHOT
014421,000258: 37,2772 03027 TC SLEEPIE
014422,000259: 37,2773 11440 CCS TORQNDX
014423,000260: 37,2774 12776 TCF +2
014424,000261: 37,2775 03000 TC SETUPER1
014425,000262: 37,2776 30032 CA CDUX
014426,000263: 37,2777 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
014427,000264:
014428,000265: 37,3000 06014 SETUPER1 TC INTPRET
014429,000266: 37,3001 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
014430,000267: 37,3002 02473 ANGZ
014431,000268: 37,3003 02477 ANGY
014432,000269: 37,3004 55525 PDDL VDEF
014433,000270: 37,3005 02501 ANGX
014434,000271: 37,3006 74276 VCOMP VXSC
014435,000272: 37,3007 37074 GEORGEJ
014436,000273: 37,3010 74521 MXV VSR1
014437,000274: 37,3011 02643 XSM
014438,000275: 37,3012 02740 STORE OGC
014439,000276: 37,3013 77776 EXIT
014440,000277:
014441,000278: 37,3014 32472 CA OGCPL
014442,000279: 37,3015 04655 TC BANKCALL
014443,000280: 37,3016 17234 CADR IMUPULSE
014444,000281: 37,3017 02312 TC IMUSLLLG
014445,000282: 37,3020 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
014446,000283: 37,3021 02260 TC VALMIS
014447,000284: 37,3022 06014 TC INTPRET
014448,000285: 37,3023 77624 CALL
014449,000286: 37,3024 76376 ERTHRVSE
014450,000287: 37,3025 77776 EXIT
014451,000288: 37,3026 02114 TC TORQUE
014452,000289:
014453,000290: 37,3027 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
014454,000291: 37,3030 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
014455,000292: 37,3031 02444 TC EARTHR*
014456,000293: 37,3032 05225 TC ENDOFJOB
014457,000294:
014458,000295: 37,3033 05646 SOMEERRR TC ALARM
014459,000296: 37,3034 01600 OCT 1600
014460,000297: 37,3035 02265 TC ENDTEST1
014461,000298: 37,3036 05646 SOMERR2 TC ALARM
014462,000299: 37,3037 01601 OCT 1601
014463,000300: 37,3040 02265 TC ENDTEST1
014464,000301:
014465,000302: 37,3041 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
014466,000303: 37,3042 00000 00000 SCHZEROS 2DEC .00000000
014467,000304: 37,3044 00000 00000 2DEC .00000000
014468,000305:
014469,000306: 37,3046 00000 OCT 00000
014470,000307: 37,3047 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
014471,000308: 37,3050 00001 OCT 00001
014472,000309:
014473,000310: 37,3051 00004 INTVAL OCT 4
014474,000311: 37,3052 00002 OCT 2
014475,000312: 37,3053 00220 DEC 144 B-14
014476,000313: 37,3054 77776 DEC -1 B-14
014477,000314: 37,3055 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
014478,000315:
014479,000316: 37,3057 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
014480,000317:
014481,000318: 37,3061 00115 77DECML DEC 77 B-14
014482,000319: 37,3062 01443 ALXXXZ GENADR ALX1S -1
014483,000320: 37,3063 04133 02265 PIPASC 2DEC .13055869
014484,000321:
014485,000322: 37,3065 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
014486,000323:
014487,000324: 37,3067 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
014488,000325:
014489,000326: 37,3071 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
014490,000327:
014491,000328: 37,3073 24276 14066 GEORGEJ 2DEC .63661977
014492,000329:
014493,000330: 37,3075 23073 11773 GEORGEK 2DEC .59737013
014494,000331:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc