Notations on the program listing read, in part:
GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note 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 transcribed from a printout in Don Eyles's personal
collection, scanned by archive.org, and financially sponsored by Linden Sims.
A team of volunteers performed the transcription and proof-reading. The scanned
page images are available at
the Virtual AGC Project website, as well as higher-quality (but much larger)
images at
the Virtual AGC Project's collection in the Internet Archive. Report any problems by creating
"issues" at
the Virtual AGC Project's GitHub Repository. Notations on the program listing read, in part: GAP: ASSEMBLE REVISION 56 OF AGC PROGRAM ZERLINA BY ZOROASTER 9:12 OCT. 21,1970Note that the date is the date of the printout, not the date of the program revision. |
017193,000002: ## Copyright: Public domain.
017194,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
017195,000004: ## Purpose: A log section of Zerlina 56, the final revision of
017196,000005: ## Don Eyles's offline development program for the variable
017197,000006: ## guidance period servicer. It also includes a new P66 with LPD
017198,000007: ## (Landing Point Designator) capability, based on an idea of John
017199,000008: ## Young's. Neither of these advanced features were actually flown,
017200,000009: ## but Zerlina was also the birthplace of other big improvements to
017201,000010: ## Luminary including the terrain model and new (Luminary 1E)
017202,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
017203,000012: ## and revision 56 includes all changes up to and including Luminary
017204,000013: ## 183. It is therefore quite close to the Apollo 14 program,
017205,000014: ## Luminary 178, where not modified with new features.
017206,000015: ## Reference: pp. 387-394
017207,000016: ## Assembler: yaYUL
017208,000017: ## Contact: Ron Burkey <info@sandroid.org>.
017209,000018: ## Website: www.ibiblio.org/apollo/index.html
017210,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
017211,000020: ## 2017-08-23 RSB Transcribed.
017212,000021:
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Page 387 |
017214,000023: # PROGRAM-IMU PERFORMANCE TESTS 4
017215,000024: # DATE-NOV 15,1966
017216,000025: # BY- GEORGE SCHMIDT IL7-146 EXT 1126
017217,000026: # MOD NO-ZERO
017218,000027:
017219,000028:
017220,000029: # FUNCTIONAL DESCRIPTION
017221,000030:
017222,000031: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
017223,000032: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
017224,000033: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
017225,000034:
017226,000035: # EARTHR,OGC ZERO,ERTHRVSE
017227,000036:
017228,000037: # NORMAL EXIT
017229,000038:
017230,000039: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
017231,000040:
017232,000041: # ALARMS
017233,000042:
017234,000043: # 1600 OVERFLOW IN DRIFT TEST
017235,000044: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
017236,000045: # OUTPUT
017237,000046:
017238,000047: # FLASHING DISPLAY OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
017239,000048:
017240,000049: # DEBRIS
017241,000050:
017242,000051: # ALL CENTRALS-ALL OF EBANK XSM
017243,000052:
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Page 388 |
017245,000054: 33,2031 BANK 33
017246,000055: 37,2000 SETLOC IMU4
017247,000056: 37,2000 BANK
017248,000057: 37,2500 COUNT* $$/P07
017249,000058:
017250,000059: 37,2500 E5,1642 EBANK= XSM
017251,000060:
017252,000061:
017253,000062: 37,2500 00004 ESTIMS INHINT
017254,000063: 37,2501 31572 CAE 1SECXT
017255,000064: 37,2502 05204 TC TWIDDLE
017256,000065: 37,2503 E5,1642 EBANK= XSM
017257,000066: 37,2503 02536 ADRES ALLOOP
017258,000067: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
017259,000068: 37,2505 54037 TS PIPAX
017260,000069: 37,2506 54040 TS PIPAY
017261,000070: 37,2507 54041 TS PIPAZ
017262,000071: 37,2510 00003 RELINT
017263,000072: 37,2511 33075 CA 77DECML
017264,000073: 37,2512 55571 TS ZERONDX
017265,000074: 37,2513 33076 CA ALXXXZ
017266,000075: 37,2514 02367 TC ZEROING
017267,000076: 37,2515 06051 TC INTPRET
017268,000077: 37,2516 77735 SLOAD
017269,000078: 37,2517 37057 SCHZEROS
017270,000079: 37,2520 25477 STOVL GCOMPSW -1
017271,000080: 37,2521 37070 INTVAL +2
017272,000081: 37,2522 26445 STOVL ALX1S
017273,000082: 37,2523 37057 SCHZEROS
017274,000083: 37,2524 00325 STORE DELVX
017275,000084: 37,2525 01472 STORE GCOMP
017276,000085: 37,2526 77735 SLOAD
017277,000086: 37,2527 02441 TORQNDX
017278,000087: 37,2530 50076 DCOMP BMN
017279,000088: 37,2531 76534 VERTSKIP
017280,000089: 37,2532 77624 CALL
017281,000090: 37,2533 76401 ERTHRVSE
017282,000091: 37,2534 77776 VERTSKIP EXIT
017283,000092: 37,2535 03035 TC SLEEPIE +1
017284,000093:
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Page 389 |
017286,000095: 37,2536 31576 ALLOOP CA OVFLOWCK
017287,000096: 37,2537 00006 EXTEND
017288,000097: 37,2540 12542 BZF +2
017289,000098: 37,2541 05272 TC TASKOVER
017290,000099: 37,2542 11530 CCS ALTIM
017291,000100: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
017292,000101: 37,2544 55531 TS ALTIMS
017293,000102: 37,2545 40000 CS A
017294,000103: 37,2546 55530 TS ALTIM
017295,000104: 37,2547 44753 CS ONE
017296,000105: 37,2550 61562 AD GEOCOMPS
017297,000106: 37,2551 00006 EXTEND
017298,000107: 37,2552 12556 BZF +4
017299,000108: 37,2553 31412 CA LENGTHOT
017300,000109: 37,2554 00006 EXTEND
017301,000110: 37,2555 62562 BZMF +5
017302,000111: 37,2556 31572 CAE 1SECXT
017303,000112: 37,2557 05204 TC TWIDDLE
017304,000113: 37,2560 E5,1642 EBANK= XSM
017305,000114: 37,2560 02536 ADRES ALLOOP
017306,000115: 37,2561 34755 CAF ZERO
017307,000116: 37,2562 56037 XCH PIPAX
017308,000117: 37,2563 54324 TS DELVX
017309,000118: 37,2564 34755 CAF ZERO
017310,000119: 37,2565 56040 XCH PIPAY
017311,000120: 37,2566 54326 TS DELVY
017312,000121: 37,2567 34755 CAF ZERO
017313,000122: 37,2570 56041 XCH PIPAZ
017314,000123: 37,2571 54330 TS DELVZ
017315,000124: 37,2572 34736 SPECSTS CAF PRIO20
017316,000125: 37,2573 05105 TC FINDVAC
017317,000126: 37,2574 E5,1642 EBANK= XSM
017318,000127: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
017319,000128:
017320,000129: 37,2576 05272 TC TASKOVER
017321,000130:
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Page 390 |
017323,000132: 37,2577 11562 ALFLT CCS GEOCOMPS
017324,000133: 37,2600 02602 TC +2
017325,000134: 37,2601 02604 TC NORMLOP
017326,000135: 37,2602 04616 TC BANKCALL
017327,000136: 37,2603 15271 CADR 1/PIPA
017328,000137: 37,2604 06051 NORMLOP TC INTPRET
017329,000138: 37,2605 77745 DLOAD
017330,000139: 37,2606 37066 INTVAL
017331,000140: 37,2607 24051 STOVL S1
017332,000141: 37,2610 00325 DELVX
017333,000142: 37,2611 76505 VXM VSL1
017334,000143: 37,2612 02643 XSM
017335,000144: 37,2613 57545 DLOAD DCOMP
017336,000145: 37,2614 00160 MPAC +3
017337,000146: 37,2615 16523 STODL DPIPAY
017338,000147: 37,2616 00162 MPAC +5
017339,000148: 37,2617 02527 STORE DPIPAZ
017340,000149:
017341,000150: 37,2620 76001 SETPD AXT,1
017342,000151: 37,2621 00001 0
017343,000152: 37,2622 00010 8D
017344,000153: 37,2623 57535 SLOAD DCOMP
017345,000154: 37,2624 02563 GEOCOMPS
017346,000155: 37,2625 77640 BMN
017347,000156: 37,2626 76772 PERFERAS
017348,000157: 37,2627 50135 ALCGKK SLOAD BMN
017349,000158: 37,2630 02532 ALTIMS
017350,000159: 37,2631 76644 ALFLT3
017351,000160: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
017352,000161: 37,2633 00014 12D
017353,000162: 37,2634 02444 ALX1S
017354,000163: 37,2635 62143 ALKCG2 DLOAD* INCR,1
017355,000164: 37,2636 02243 ALFDK +144D,1
017356,000165: 37,2637 77775 DEC -2 B-14
017357,000166: 37,2640 12545 STORE ALDK +10D,2
017358,000167: 37,2641 66104 TIX,2 SXA,1
017359,000168: 37,2642 76635 ALKCG2
017360,000169: 37,2643 02444 ALX1S
017361,000170:
017362,000171: 37,2644 77770 ALFLT3 AXT,1
017363,000172: 37,2645 00010 8D
017364,000173: 37,2646 41343 DELMLP DLOAD* DMP
017365,000174: 37,2647 02533 DPIPAY +8D,1
017366,000175: 37,2650 37100 PIPASC
017367,000176: 37,2651 43661 SLR BDSU*
017368,000177: 37,2652 21212 9D
017369,000178: 37,2653 02501 INTY +8D,1
017370,000179: 37,2654 06501 STORE INTY +8D,1
017371,000180: 37,2655 40725 PDDL DMP*
017372,000181: 37,2656 37102 VELSC
017373,000182:
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Page 391 |
017375,000184: 37,2657 02521 VLAUN +8D,1
017376,000185: 37,2660 77732 SL2R
017377,000186: 37,2661 45425 DSU STADR
017378,000187: 37,2662 71216 STORE DELM +8D,1
017379,000188: 37,2663 06563 STORE DELM +10D,1
017380,000189: 37,2664 77100 TIX,1 AXT,2
017381,000190: 37,2665 76646 DELMLP
017382,000191: 37,2666 00004 4
017383,000192: 37,2667 56743 ALILP DLOAD* DMPR*
017384,000193: 37,2670 75324 ALK +4,2
017385,000194: 37,2671 75240 ALDK +4,2
017386,000195: 37,2672 12453 STORE ALK +4,2
017387,000196: 37,2673 77104 TIX,2 AXT,2
017388,000197: 37,2674 76667 ALILP
017389,000198: 37,2675 00010 8D
017390,000199: 37,2676 66140 ALKLP LXC,1 SXA,1
017391,000200: 37,2677 02445 CMPX1
017392,000201: 37,2700 02445 CMPX1
017393,000202: 37,2701 56743 DLOAD* DMPR*
017394,000203: 37,2702 02450 ALK +1,1
017395,000204: 37,2703 75216 DELM +8D,2
017396,000205: 37,2704 77613 DAD*
017397,000206: 37,2705 75276 INTY +8D,2
017398,000207: 37,2706 12501 STORE INTY +8D,2
017399,000208: 37,2707 42743 DLOAD* DAD*
017400,000209: 37,2710 75314 ALK +12D,2
017401,000210: 37,2711 75230 ALDK +12D,2
017402,000211: 37,2712 12463 STORE ALK +12D,2
017403,000212: 37,2713 42673 DMPR* DAD*
017404,000213: 37,2714 75216 DELM +8D,2
017405,000214: 37,2715 75266 INTY +16D,2
017406,000215: 37,2716 12511 STORE INTY +16D,2
017407,000216: 37,2717 40743 DLOAD* DMP*
017408,000217: 37,2720 37105 ALSK +1,1
017409,000218: 37,2721 75216 DELM +8D,2
017410,000219: 37,2722 42772 SL1R DAD*
017411,000220: 37,2723 75256 VLAUN +8D,2
017412,000221: 37,2724 12521 STORE VLAUN +8D,2
017413,000222: 37,2725 76104 TIX,2 AXT,1
017414,000223: 37,2726 76676 ALKLP
017415,000224: 37,2727 00010 8D
017416,000225:
017417,000226:
017418,000227: 37,2730 64743 LOOSE DLOAD* PDDL*
017419,000228: 37,2731 02523 ACCWD +8D,1
017420,000229: 37,2732 02521 VLAUN +8D,1
017421,000230: 37,2733 55523 PDDL* VDEF
017422,000231: 37,2734 02531 POSNV +8D,1
017423,000232: 37,2735 76521 MXV VSL1
017424,000233: 37,2736 02001 TRANSM1
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017426,000235: 37,2737 77745 DLOAD
017427,000236: 37,2740 00155 MPAC
017428,000237: 37,2741 06531 STORE POSNV +8D,1
017429,000238: 37,2742 77745 DLOAD
017430,000239: 37,2743 00160 MPAC +3
017431,000240: 37,2744 06521 STORE VLAUN +8D,1
017432,000241: 37,2745 77745 DLOAD
017433,000242: 37,2746 00162 MPAC +5
017434,000243: 37,2747 06523 STORE ACCWD +8D,1
017435,000244: 37,2750 77700 TIX,1
017436,000245: 37,2751 76730 LOOSE
017437,000246:
017438,000247:
017439,000248: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
017440,000249: 37,2753 00006 6
017441,000250: 37,2754 00002 2
017442,000251: 37,2755 57343 BOOP DLOAD* DMPR
017443,000252: 37,2756 02503 ANGX +2,1
017444,000253: 37,2757 37110 GEORGEJ
017445,000254: 37,2760 77722 SR2R
017446,000255: 37,2761 73406 PUSH SIN
017447,000256: 37,2762 56072 SL3R XAD,1
017448,000257: 37,2763 00046 X1
017449,000258: 37,2764 10021 STORE 16D,2
017450,000259: 37,2765 77745 DLOAD
017451,000260: 37,2766 77746 COS
017452,000261: 37,2767 10027 STORE 22D,2 # COSINES
017453,000262: 37,2770 77704 TIX,2
017454,000263: 37,2771 76755 BOOP
017455,000264:
017456,000265: 37,2772 77776 PERFERAS EXIT
017457,000266: 37,2773 35016 CA EBANK7
017458,000267: 37,2774 54003 TS EBANK
017459,000268: 37,2775 E7,1400 EBANK= ATIGINC
017460,000269: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
017461,000270:
017462,000271: # CAUTION
017463,000272:
017464,000273: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
017465,000274: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
017466,000275:
017467,000276: 37,2776 E5,1400 EBANK= AZIMUTH
017468,000277: 37,2776 11412 CCS LENGTHOT
017469,000278: 37,2777 03034 TC SLEEPIE
017470,000279: 37,3000 11440 CCS TORQNDX
017471,000280: 37,3001 13003 TCF +2
017472,000281: 37,3002 03005 TC SETUPER1
017473,000282: 37,3003 30032 CA CDUX
017474,000283: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
017475,000284:
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Page 393 |
017477,000286: 37,3005 06051 SETUPER1 TC INTPRET
017478,000287: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
017479,000288: 37,3007 02473 ANGZ
017480,000289: 37,3010 02477 ANGY
017481,000290: 37,3011 55525 PDDL VDEF
017482,000291: 37,3012 02501 ANGX
017483,000292: 37,3013 74276 VCOMP VXSC
017484,000293: 37,3014 37110 GEORGEJ
017485,000294: 37,3015 74521 MXV VSR1
017486,000295: 37,3016 02643 XSM
017487,000296: 37,3017 02740 STORE OGC
017488,000297: 37,3020 77776 EXIT
017489,000298:
017490,000299:
017491,000300: 37,3021 32475 CA OGCPL
017492,000301: 37,3022 04616 TC BANKCALL
017493,000302: 37,3023 17270 CADR IMUPULSE
017494,000303: 37,3024 02315 TC IMUSLLLG
017495,000304: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
017496,000305: 37,3026 02263 TC VALMIS
017497,000306: 37,3027 06051 TC INTPRET
017498,000307: 37,3030 77624 CALL
017499,000308: 37,3031 76401 ERTHRVSE
017500,000309: 37,3032 77776 EXIT
017501,000310: 37,3033 02117 TC TORQUE
017502,000311:
017503,000312:
017504,000313: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
017505,000314: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
017506,000315: 37,3036 02447 TC EARTHR*
017507,000316: 37,3037 05155 TC ENDOFJOB
017508,000317:
017509,000318:
017510,000319: 37,3040 35014 SOMEERRR CA EBANK5
017511,000320: 37,3041 54003 TS EBANK
017512,000321: 37,3042 34753 CA ONE
017513,000322: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
017514,000323: 37,3044 05600 TC ALARM
017515,000324: 37,3045 01600 OCT 1600
017516,000325: 37,3046 02270 TC ENDTEST1
017517,000326: 37,3047 33054 SOMERR2 CAF OCT1601
017518,000327: 37,3050 05745 TC VARALARM
017519,000328: 37,3051 05527 TC DOWNFLAG
017520,000329: 37,3052 00007 ADRES IMUSE
017521,000330: 37,3053 05155 TC ENDOFJOB
017522,000331:
017523,000332: 37,3054 01601 OCT1601 OCT 01601
017524,000333: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
017525,000334: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
017526,000335:
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Page 394 |
017528,000337: 37,3060 00000 00000 2DEC .00000000
017529,000338: 37,3062 00000 OCT 00000
017530,000339: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
017531,000340: 37,3064 00001 OCT 00001
017532,000341:
017533,000342: 37,3065 00004 INTVAL OCT 4
017534,000343: 37,3066 00002 OCT 2
017535,000344: 37,3067 00220 DEC 144 B-14
017536,000345: 37,3070 77776 DEC -1 B-14
017537,000346: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
017538,000347: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
017539,000348:
017540,000349: 37,3075 00115 77DECML DEC 77 B-14
017541,000350: 37,3076 01443 ALXXXZ GENADR ALX1S -1
017542,000351: 37,3077 04133 02265 PIPASC 2DEC .13055869
017543,000352: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
017544,000353: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
017545,000354: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
017546,000355:
017547,000356:
017548,000357: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
017549,000358: 37,3111 23073 11773 GEORGEK 2DEC .59737013
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc