Source Code
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This is a reconstructed version of Luminary 130, the initial AGC program released
in November 1969 for the Apollo 13 LM. Three more releases
followed before the flown revision was finally manufactured in February 1970.
This reconstruction was created from a previous transcription of the original listing of
Luminary 131, combined with Luminary memo #129 which describes the small difference
between the Luminary 130 and 131. The reconstructed source code was verified by
matching memory-bank checksums to those listed for Luminary 130 in drawing 2021152G.
In this source code, program comments from the original (Luminary 131) code are
prefixed with '#', while those added later by the Virtual AGC project are prefixed
with '##'.
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016116,000002: ## Copyright: Public domain.
016117,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
016118,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
016119,000005: ## This was the original program released for the Apollo 13 LM,
016120,000006: ## although several more revisions would follow. It has been
016121,000007: ## reconstructed from a listing of Luminary 131, from which it
016122,000008: ## differs on only two lines in P70-P71. The difference is
016123,000009: ## described in detail in Luminary memo #129, which was used
016124,000010: ## to perform the reconstruction. This file is intended to be a
016125,000011: ## faithful reconstruction, except that the code format has been
016126,000012: ## changed to conform to the requirements of the yaYUL assembler
016127,000013: ## rather than the original YUL assembler.
016128,000014: ## Reference: pp. 384-391
016129,000015: ## Contact: Ron Burkey <info@sandroid.org>.
016130,000016: ## Website: www.ibiblio.org/apollo/index.html
016131,000017: ## Mod history: 05/11/03 RSB. Began transcribing.
016132,000018: ## 05/14/05 RSB. Corrected website reference above.
016133,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
016134,000020: ## original harcopy, as opposed to the PDF page
016135,000021: ## numbers in 1701.pdf.
016136,000022: ## 2017-02-23 RSB Proofed comment text using octopus/ProoferComments.
016137,000023: ## 2017-03-07 RSB Comment-text error-fixes noted in proofing Luminary 116.
016138,000024: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
016139,000025:
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Page 384
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016141,000027: # PROGRAM - IMU PERFORMANCE TESTS 4
016142,000028: # DATE - NOV 15, 1966
016143,000029: # BY - GEORGE SCHMIDT IL7-146 EXT 1126
016144,000030: # MOD NO-ZERO
016145,000031:
016146,000032: # FUNCTIONAL DESCRIPTION
016147,000033:
016148,000034: # THIS SECTION CONSISTSOF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
016149,000035: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
016150,000036: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
016151,000037:
016152,000038: # EARTHR,OGC ZERO,ERTHRVSE
016153,000039:
016154,000040: # NORMAL EXIT
016155,000041:
016156,000042: # LENGTHOT GOES TO ZERO - RETURN TO IMU PERF TESTS 2 CONTROL
016157,000043:
016158,000044: # ALARMS
016159,000045:
016160,000046: # 1600 OVERFLOW IN DRIFT TEST
016161,000047: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
016162,000048: # OUTPUT
016163,000049:
016164,000050: # FLASHING DISPLAY OF RESULTS - CONTROLLED IN IMU PERF TESTS 2
016165,000051:
016166,000052: # DEBRIS
016167,000053:
016168,000054: # ALL CENTRALS - ALL OF EBANK XSM
016169,000055:
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Page 385
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016171,000057: 33,2045 BANK 33
016172,000058: 37,2000 SETLOC IMU4
016173,000059: 37,2000 BANK
016174,000060: 37,2500 COUNT* $$/P07
016175,000061:
016176,000062: 37,2500 E5,1642 EBANK= XSM
016177,000063:
016178,000064: 37,2500 00004 ESTIMS INHINT
016179,000065: 37,2501 31572 CAE 1SECXT
016180,000066: 37,2502 05173 TC TWIDDLE
016181,000067: 37,2503 E5,1642 EBANK= XSM
016182,000068: 37,2503 02536 ADRES ALLOOP
016183,000069: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
016184,000070: 37,2505 54037 TS PIPAX
016185,000071: 37,2506 54040 TS PIPAY
016186,000072: 37,2507 54041 TS PIPAZ
016187,000073: 37,2510 00003 RELINT
016188,000074: 37,2511 33075 CA 77DECML
016189,000075: 37,2512 55571 TS ZERONDX
016190,000076: 37,2513 33076 CA ALXXXZ
016191,000077: 37,2514 02367 TC ZEROING
016192,000078: 37,2515 06042 TC INTPRET
016193,000079: 37,2516 77735 SLOAD
016194,000080: 37,2517 37057 SCHZEROS
016195,000081: 37,2520 25477 STOVL GCOMPSW -1
016196,000082: 37,2521 37070 INTVAL +2
016197,000083: 37,2522 26445 STOVL ALX1S
016198,000084: 37,2523 37057 SCHZEROS
016199,000085: 37,2524 00325 STORE DELVX
016200,000086: 37,2525 01472 STORE GCOMP
016201,000087: 37,2526 77735 SLOAD
016202,000088: 37,2527 02441 TORQNDX
016203,000089: 37,2530 50076 DCOMP BMN
016204,000090: 37,2531 76534 VERTSKIP
016205,000091: 37,2532 77624 CALL
016206,000092: 37,2533 76401 ERTHRVSE
016207,000093: 37,2534 77776 VERTSKIP EXIT
016208,000094: 37,2535 03035 TC SLEEPIE +1
016209,000095:
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Page 386
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016211,000097: 37,2536 31576 ALLOOP CA OVFLOWCK
016212,000098: 37,2537 00006 EXTEND
016213,000099: 37,2540 12542 BZF +2
016214,000100: 37,2541 05261 TC TASKOVER
016215,000101: 37,2542 11530 CCS ALTIM
016216,000102: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
016217,000103: 37,2544 55531 TS ALTIMS
016218,000104: 37,2545 40000 CS A
016219,000105: 37,2546 55530 TS ALTIM
016220,000106: 37,2547 44753 CS ONE
016221,000107: 37,2550 61562 AD GEOCOMPS
016222,000108: 37,2551 00006 EXTEND
016223,000109: 37,2552 12556 BZF +4
016224,000110: 37,2553 31412 CA LENGTHOT
016225,000111: 37,2554 00006 EXTEND
016226,000112: 37,2555 62562 BZMF +5
016227,000113: 37,2556 31572 CAE 1SECXT
016228,000114: 37,2557 05173 TC TWIDDLE
016229,000115: 37,2560 E5,1642 EBANK= XSM
016230,000116: 37,2560 02536 ADRES ALLOOP
016231,000117: 37,2561 34755 CAF ZERO
016232,000118: 37,2562 56037 XCH PIPAX
016233,000119: 37,2563 54324 TS DELVX
016234,000120: 37,2564 34755 CAF ZERO
016235,000121: 37,2565 56040 XCH PIPAY
016236,000122: 37,2566 54326 TS DELVY
016237,000123: 37,2567 34755 CAF ZERO
016238,000124: 37,2570 56041 XCH PIPAZ
016239,000125: 37,2571 54330 TS DELVZ
016240,000126: 37,2572 34736 SPECSTS CAF PRIO20
016241,000127: 37,2573 05105 TC FINDVAC
016242,000128: 37,2574 E5,1642 EBANK= XSM
016243,000129: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
016244,000130:
016245,000131: 37,2576 05261 TC TASKOVER
016246,000132:
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Page 387
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016248,000134: 37,2577 11562 ALFLT CCS GEOCOMPS
016249,000135: 37,2600 02602 TC +2
016250,000136: 37,2601 02604 TC NORMLOP
016251,000137: 37,2602 04616 TC BANKCALL
016252,000138: 37,2603 15271 CADR 1/PIPA
016253,000139: 37,2604 06042 NORMLOP TC INTPRET
016254,000140: 37,2605 77745 DLOAD
016255,000141: 37,2606 37066 INTVAL
016256,000142: 37,2607 24051 STOVL S1
016257,000143: 37,2610 00325 DELVX
016258,000144: 37,2611 76505 VXM VSL1
016259,000145: 37,2612 02643 XSM
016260,000146: 37,2613 57545 DLOAD DCOMP
016261,000147: 37,2614 00160 MPAC +3
016262,000148: 37,2615 16523 STODL DPIPAY
016263,000149: 37,2616 00162 MPAC +5
016264,000150: 37,2617 02527 STORE DPIPAZ
016265,000151:
016266,000152: 37,2620 76001 SETPD AXT,1
016267,000153: 37,2621 00001 0
016268,000154: 37,2622 00010 8D
016269,000155: 37,2623 57535 SLOAD DCOMP
016270,000156: 37,2624 02563 GEOCOMPS
016271,000157: 37,2625 77640 BMN
016272,000158: 37,2626 76772 PERFERAS
016273,000159: 37,2627 50135 ALCGKK SLOAD BMN
016274,000160: 37,2630 02532 ALTIMS
016275,000161: 37,2631 76644 ALFLT3
016276,000162: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
016277,000163: 37,2633 00014 12D
016278,000164: 37,2634 02444 ALX1S
016279,000165: 37,2635 62143 ALKCG2 DLOAD* INCR,1
016280,000166: 37,2636 02243 ALFDK +144D,1
016281,000167: 37,2637 77775 DEC -2 B-14
016282,000168: 37,2640 12545 STORE ALDK +10D,2
016283,000169: 37,2641 66104 TIX,2 SXA,1
016284,000170: 37,2642 76635 ALKCG2
016285,000171: 37,2643 02444 ALX1S
016286,000172:
016287,000173: 37,2644 77770 ALFLT3 AXT,1
016288,000174: 37,2645 00010 8D
016289,000175: 37,2646 41343 DELMLP DLOAD* DMP
016290,000176: 37,2647 02533 DPIPAY +8D,1
016291,000177: 37,2650 37100 PIPASC
016292,000178: 37,2651 43661 SLR BDSU*
016293,000179: 37,2652 21212 9D
016294,000180: 37,2653 02501 INTY +8D,1
016295,000181: 37,2654 06501 STORE INTY +8D,1
016296,000182: 37,2655 40725 PDDL DMP*
016297,000183: 37,2656 37102 VELSC
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Page 388
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016299,000185: 37,2657 02521 VLAUN +8D,1
016300,000186: 37,2660 77732 SL2R
016301,000187: 37,2661 45425 DSU STADR
016302,000188: 37,2662 71216 STORE DELM +8D,1
016303,000189: 37,2663 06563 STORE DELM +10D,1
016304,000190: 37,2664 77100 TIX,1 AXT,2
016305,000191: 37,2665 76646 DELMLP
016306,000192: 37,2666 00004 4
016307,000193: 37,2667 56743 ALILP DLOAD* DMPR*
016308,000194: 37,2670 75324 ALK +4,2
016309,000195: 37,2671 75240 ALDK +4,2
016310,000196: 37,2672 12453 STORE ALK +4,2
016311,000197: 37,2673 77104 TIX,2 AXT,2
016312,000198: 37,2674 76667 ALILP
016313,000199: 37,2675 00010 8D
016314,000200: 37,2676 66140 ALKLP LXC,1 SXA,1
016315,000201: 37,2677 02445 CMPX1
016316,000202: 37,2700 02445 CMPX1
016317,000203: 37,2701 56743 DLOAD* DMPR*
016318,000204: 37,2702 02450 ALK +1,1
016319,000205: 37,2703 75216 DELM +8D,2
016320,000206: 37,2704 77613 DAD*
016321,000207: 37,2705 75276 INTY +8D,2
016322,000208: 37,2706 12501 STORE INTY +8D,2
016323,000209: 37,2707 42743 DLOAD* DAD*
016324,000210: 37,2710 75314 ALK +12D,2
016325,000211: 37,2711 75230 ALDK +12D,2
016326,000212: 37,2712 12463 STORE ALK +12D,2
016327,000213: 37,2713 42673 DMPR* DAD*
016328,000214: 37,2714 75216 DELM +8D,2
016329,000215: 37,2715 75266 INTY +16D,2
016330,000216: 37,2716 12511 STORE INTY +16D,2
016331,000217: 37,2717 40743 DLOAD* DMP*
016332,000218: 37,2720 37105 ALSK +1,1
016333,000219: 37,2721 75216 DELM +8D,2
016334,000220: 37,2722 42772 SL1R DAD*
016335,000221: 37,2723 75256 VLAUN +8D,2
016336,000222: 37,2724 12521 STORE VLAUN +8D,2
016337,000223: 37,2725 76104 TIX,2 AXT,1
016338,000224: 37,2726 76676 ALKLP
016339,000225: 37,2727 00010 8D
016340,000226:
016341,000227: 37,2730 64743 LOOSE DLOAD* PDDL*
016342,000228: 37,2731 02523 ACCWD +8D,1
016343,000229: 37,2732 02521 VLAUN +8D,1
016344,000230: 37,2733 55523 PDDL* VDEF
016345,000231: 37,2734 02531 POSNV +8D,1
016346,000232: 37,2735 76521 MXV VSL1
016347,000233: 37,2736 02001 TRANSM1
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Page 389
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016349,000235: 37,2737 77745 DLOAD
016350,000236: 37,2740 00155 MPAC
016351,000237: 37,2741 06531 STORE POSNV +8D,1
016352,000238: 37,2742 77745 DLOAD
016353,000239: 37,2743 00160 MPAC +3
016354,000240: 37,2744 06521 STORE VLAUN +8D,1
016355,000241: 37,2745 77745 DLOAD
016356,000242: 37,2746 00162 MPAC +5
016357,000243: 37,2747 06523 STORE ACCWD +8D,1
016358,000244: 37,2750 77700 TIX,1
016359,000245: 37,2751 76730 LOOSE
016360,000246:
016361,000247: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
016362,000248: 37,2753 00006 6
016363,000249: 37,2754 00002 2
016364,000250: 37,2755 57343 BOOP DLOAD* DMPR
016365,000251: 37,2756 02503 ANGX +2,1
016366,000252: 37,2757 37110 GEORGEJ
016367,000253: 37,2760 77722 SR2R
016368,000254: 37,2761 73406 PUSH SIN
016369,000255: 37,2762 56072 SL3R XAD,1
016370,000256: 37,2763 00046 X1
016371,000257: 37,2764 10021 STORE 16D,2
016372,000258: 37,2765 77745 DLOAD
016373,000259: 37,2766 77746 COS
016374,000260: 37,2767 10027 STORE 22D,2 # COSINES
016375,000261: 37,2770 77704 TIX,2
016376,000262: 37,2771 76755 BOOP
016377,000263:
016378,000264: 37,2772 77776 PERFERAS EXIT
016379,000265: 37,2773 35016 CA EBANK7
016380,000266: 37,2774 54003 TS EBANK
016381,000267: 37,2775 E7,1400 EBANK= ATIGINC
016382,000268: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
016383,000269:
016384,000270: # CAUTION
016385,000271:
016386,000272: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
016387,000273: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
016388,000274:
016389,000275: 37,2776 E5,1400 EBANK= AZIMUTH
016390,000276: 37,2776 11412 CCS LENGTHOT
016391,000277: 37,2777 03034 TC SLEEPIE
016392,000278: 37,3000 11440 CCS TORQNDX
016393,000279: 37,3001 13003 TCF +2
016394,000280: 37,3002 03005 TC SETUPER1
016395,000281: 37,3003 30032 CA CDUX
016396,000282: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
016397,000283:
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Page 390
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016399,000285: 37,3005 06042 SETUPER1 TC INTPRET
016400,000286: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
016401,000287: 37,3007 02473 ANGZ
016402,000288: 37,3010 02477 ANGY
016403,000289: 37,3011 55525 PDDL VDEF
016404,000290: 37,3012 02501 ANGX
016405,000291: 37,3013 74276 VCOMP VXSC
016406,000292: 37,3014 37110 GEORGEJ
016407,000293: 37,3015 74521 MXV VSR1
016408,000294: 37,3016 02643 XSM
016409,000295: 37,3017 02740 STORE OGC
016410,000296: 37,3020 77776 EXIT
016411,000297:
016412,000298: 37,3021 32475 CA OGCPL
016413,000299: 37,3022 04616 TC BANKCALL
016414,000300: 37,3023 17314 CADR IMUPULSE
016415,000301: 37,3024 02315 TC IMUSLLLG
016416,000302: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
016417,000303: 37,3026 02263 TC VALMIS
016418,000304: 37,3027 06042 TC INTPRET
016419,000305: 37,3030 77624 CALL
016420,000306: 37,3031 76401 ERTHRVSE
016421,000307: 37,3032 77776 EXIT
016422,000308: 37,3033 02117 TC TORQUE
016423,000309:
016424,000310: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
016425,000311: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
016426,000312: 37,3036 02447 TC EARTHR*
016427,000313: 37,3037 05155 TC ENDOFJOB
016428,000314:
016429,000315: 37,3040 35014 SOMEERRR CA EBANK5
016430,000316: 37,3041 54003 TS EBANK
016431,000317: 37,3042 34753 CA ONE
016432,000318: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
016433,000319: 37,3044 05567 TC ALARM
016434,000320: 37,3045 01600 OCT 1600
016435,000321: 37,3046 02270 TC ENDTEST1
016436,000322: 37,3047 33054 SOMERR2 CAF OCT1601
016437,000323: 37,3050 05734 TC VARALARM
016438,000324: 37,3051 05516 TC DOWNFLAG
016439,000325: 37,3052 00007 ADRES IMUSE
016440,000326: 37,3053 05155 TC ENDOFJOB
016441,000327:
016442,000328: 37,3054 01601 OCT1601 OCT 01601
016443,000329: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
016444,000330: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
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Page 391
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016446,000332: 37,3060 00000 00000 2DEC .00000000
016447,000333: 37,3062 00000 OCT 00000
016448,000334: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
016449,000335: 37,3064 00001 OCT 00001
016450,000336:
016451,000337: 37,3065 00004 INTVAL OCT 4
016452,000338: 37,3066 00002 OCT 2
016453,000339: 37,3067 00220 DEC 144 B-14
016454,000340: 37,3070 77776 DEC -1 B-14
016455,000341: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
016456,000342: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
016457,000343:
016458,000344: 37,3075 00115 77DECML DEC 77 B-14
016459,000345: 37,3076 01443 ALXXXZ GENADR ALX1S -1
016460,000346: 37,3077 04133 02265 PIPASC 2DEC .13055869
016461,000347: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
016462,000348: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
016463,000349: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
016464,000350:
016465,000351: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
016466,000352: 37,3111 23073 11773 GEORGEK 2DEC .59737013
016467,000353:
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc