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. |
017188,000002: ## Copyright: Public domain.
017189,000003: ## Filename: IMU_PERFORMANCE_TESTS_4.agc
017190,000004: ## Purpose: A log section of Zerlina 56, the final revision of
017191,000005: ## Don Eyles's offline development program for the variable
017192,000006: ## guidance period servicer. It also includes a new P66 with LPD
017193,000007: ## (Landing Point Designator) capability, based on an idea of John
017194,000008: ## Young's. Neither of these advanced features were actually flown,
017195,000009: ## but Zerlina was also the birthplace of other big improvements to
017196,000010: ## Luminary including the terrain model and new (Luminary 1E)
017197,000011: ## analog display programs. Zerlina was branched off of Luminary 145,
017198,000012: ## and revision 56 includes all changes up to and including Luminary
017199,000013: ## 183. It is therefore quite close to the Apollo 14 program,
017200,000014: ## Luminary 178, where not modified with new features.
017201,000015: ## Reference: pp. 387-394
017202,000016: ## Assembler: yaYUL
017203,000017: ## Contact: Ron Burkey <info@sandroid.org>.
017204,000018: ## Website: www.ibiblio.org/apollo/index.html
017205,000019: ## Mod history: 2017-07-28 MAS Created from Luminary 210.
017206,000020: ## 2017-08-23 RSB Transcribed.
017207,000021:
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Page 387 |
017209,000023: # PROGRAM-IMU PERFORMANCE TESTS 4
017210,000024: # DATE-NOV 15,1966
017211,000025: # BY- GEORGE SCHMIDT IL7-146 EXT 1126
017212,000026: # MOD NO-ZERO
017213,000027:
017214,000028:
017215,000029: # FUNCTIONAL DESCRIPTION
017216,000030:
017217,000031: # THIS SECTION CONSISTS OF THE FILTER FOR THE GYRO DRIFT TESTS. NO COMPASS
017218,000032: # IS DONE IN LEM. FOR A DESCRIPTION OF THE FILTER SEE E-1973. THIS
017219,000033: # SECTION IS ENTERED FROM IMU 2. IT RETURNS THERE AT END OF TEST.
017220,000034:
017221,000035: # EARTHR,OGC ZERO,ERTHRVSE
017222,000036:
017223,000037: # NORMAL EXIT
017224,000038:
017225,000039: # LENGTHOT GOES TO ZERO-RETURN TO IMU PERF TESTS 2 CONTROL
017226,000040:
017227,000041: # ALARMS
017228,000042:
017229,000043: # 1600 OVERFLOW IN DRIFT TEST
017230,000044: # 1601 BAD IMU MODING IN ANY ROUTINE THAT USES IMUSTALL
017231,000045: # OUTPUT
017232,000046:
017233,000047: # FLASHING DISPLAY OF RESULTS-CONTROLLED IN IMU PERF TESTS 2
017234,000048:
017235,000049: # DEBRIS
017236,000050:
017237,000051: # ALL CENTRALS-ALL OF EBANK XSM
017238,000052:
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Page 388 |
017240,000054: 33,2031 BANK 33
017241,000055: 37,2000 SETLOC IMU4
017242,000056: 37,2000 BANK
017243,000057: 37,2500 COUNT* $$/P07
017244,000058:
017245,000059: 37,2500 E5,1642 EBANK= XSM
017246,000060:
017247,000061:
017248,000062: 37,2500 00004 ESTIMS INHINT
017249,000063: 37,2501 31572 CAE 1SECXT
017250,000064: 37,2502 05204 TC TWIDDLE
017251,000065: 37,2503 E5,1642 EBANK= XSM
017252,000066: 37,2503 02536 ADRES ALLOOP
017253,000067: 37,2504 34755 CAF ZERO # ZERO THE PIPAS
017254,000068: 37,2505 54037 TS PIPAX
017255,000069: 37,2506 54040 TS PIPAY
017256,000070: 37,2507 54041 TS PIPAZ
017257,000071: 37,2510 00003 RELINT
017258,000072: 37,2511 33075 CA 77DECML
017259,000073: 37,2512 55571 TS ZERONDX
017260,000074: 37,2513 33076 CA ALXXXZ
017261,000075: 37,2514 02367 TC ZEROING
017262,000076: 37,2515 06051 TC INTPRET
017263,000077: 37,2516 77735 SLOAD
017264,000078: 37,2517 37057 SCHZEROS
017265,000079: 37,2520 25477 STOVL GCOMPSW -1
017266,000080: 37,2521 37070 INTVAL +2
017267,000081: 37,2522 26445 STOVL ALX1S
017268,000082: 37,2523 37057 SCHZEROS
017269,000083: 37,2524 00325 STORE DELVX
017270,000084: 37,2525 01472 STORE GCOMP
017271,000085: 37,2526 77735 SLOAD
017272,000086: 37,2527 02441 TORQNDX
017273,000087: 37,2530 50076 DCOMP BMN
017274,000088: 37,2531 76534 VERTSKIP
017275,000089: 37,2532 77624 CALL
017276,000090: 37,2533 76401 ERTHRVSE
017277,000091: 37,2534 77776 VERTSKIP EXIT
017278,000092: 37,2535 03035 TC SLEEPIE +1
017279,000093:
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Page 389 |
017281,000095: 37,2536 31576 ALLOOP CA OVFLOWCK
017282,000096: 37,2537 00006 EXTEND
017283,000097: 37,2540 12542 BZF +2
017284,000098: 37,2541 05272 TC TASKOVER
017285,000099: 37,2542 11530 CCS ALTIM
017286,000100: 37,2543 30000 CA A # SHOULD NEVER HIT THIS LOCATION
017287,000101: 37,2544 55531 TS ALTIMS
017288,000102: 37,2545 40000 CS A
017289,000103: 37,2546 55530 TS ALTIM
017290,000104: 37,2547 44753 CS ONE
017291,000105: 37,2550 61562 AD GEOCOMPS
017292,000106: 37,2551 00006 EXTEND
017293,000107: 37,2552 12556 BZF +4
017294,000108: 37,2553 31412 CA LENGTHOT
017295,000109: 37,2554 00006 EXTEND
017296,000110: 37,2555 62562 BZMF +5
017297,000111: 37,2556 31572 CAE 1SECXT
017298,000112: 37,2557 05204 TC TWIDDLE
017299,000113: 37,2560 E5,1642 EBANK= XSM
017300,000114: 37,2560 02536 ADRES ALLOOP
017301,000115: 37,2561 34755 CAF ZERO
017302,000116: 37,2562 56037 XCH PIPAX
017303,000117: 37,2563 54324 TS DELVX
017304,000118: 37,2564 34755 CAF ZERO
017305,000119: 37,2565 56040 XCH PIPAY
017306,000120: 37,2566 54326 TS DELVY
017307,000121: 37,2567 34755 CAF ZERO
017308,000122: 37,2570 56041 XCH PIPAZ
017309,000123: 37,2571 54330 TS DELVZ
017310,000124: 37,2572 34736 SPECSTS CAF PRIO20
017311,000125: 37,2573 05105 TC FINDVAC
017312,000126: 37,2574 E5,1642 EBANK= XSM
017313,000127: 37,2574 02577 76065 2CADR ALFLT # START THE JOB
017314,000128:
017315,000129: 37,2576 05272 TC TASKOVER
017316,000130:
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Page 390 |
017318,000132: 37,2577 11562 ALFLT CCS GEOCOMPS
017319,000133: 37,2600 02602 TC +2
017320,000134: 37,2601 02604 TC NORMLOP
017321,000135: 37,2602 04616 TC BANKCALL
017322,000136: 37,2603 15271 CADR 1/PIPA
017323,000137: 37,2604 06051 NORMLOP TC INTPRET
017324,000138: 37,2605 77745 DLOAD
017325,000139: 37,2606 37066 INTVAL
017326,000140: 37,2607 24051 STOVL S1
017327,000141: 37,2610 00325 DELVX
017328,000142: 37,2611 76505 VXM VSL1
017329,000143: 37,2612 02643 XSM
017330,000144: 37,2613 57545 DLOAD DCOMP
017331,000145: 37,2614 00160 MPAC +3
017332,000146: 37,2615 16523 STODL DPIPAY
017333,000147: 37,2616 00162 MPAC +5
017334,000148: 37,2617 02527 STORE DPIPAZ
017335,000149:
017336,000150: 37,2620 76001 SETPD AXT,1
017337,000151: 37,2621 00001 0
017338,000152: 37,2622 00010 8D
017339,000153: 37,2623 57535 SLOAD DCOMP
017340,000154: 37,2624 02563 GEOCOMPS
017341,000155: 37,2625 77640 BMN
017342,000156: 37,2626 76772 PERFERAS
017343,000157: 37,2627 50135 ALCGKK SLOAD BMN
017344,000158: 37,2630 02532 ALTIMS
017345,000159: 37,2631 76644 ALFLT3
017346,000160: 37,2632 72174 ALKCG AXT,2 LXA,1 # LOADS SLOPES AND TIME CONSTANTS AT RQST
017347,000161: 37,2633 00014 12D
017348,000162: 37,2634 02444 ALX1S
017349,000163: 37,2635 62143 ALKCG2 DLOAD* INCR,1
017350,000164: 37,2636 02243 ALFDK +144D,1
017351,000165: 37,2637 77775 DEC -2 B-14
017352,000166: 37,2640 12545 STORE ALDK +10D,2
017353,000167: 37,2641 66104 TIX,2 SXA,1
017354,000168: 37,2642 76635 ALKCG2
017355,000169: 37,2643 02444 ALX1S
017356,000170:
017357,000171: 37,2644 77770 ALFLT3 AXT,1
017358,000172: 37,2645 00010 8D
017359,000173: 37,2646 41343 DELMLP DLOAD* DMP
017360,000174: 37,2647 02533 DPIPAY +8D,1
017361,000175: 37,2650 37100 PIPASC
017362,000176: 37,2651 43661 SLR BDSU*
017363,000177: 37,2652 21212 9D
017364,000178: 37,2653 02501 INTY +8D,1
017365,000179: 37,2654 06501 STORE INTY +8D,1
017366,000180: 37,2655 40725 PDDL DMP*
017367,000181: 37,2656 37102 VELSC
017368,000182:
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Page 391 |
017370,000184: 37,2657 02521 VLAUN +8D,1
017371,000185: 37,2660 77732 SL2R
017372,000186: 37,2661 45425 DSU STADR
017373,000187: 37,2662 71216 STORE DELM +8D,1
017374,000188: 37,2663 06563 STORE DELM +10D,1
017375,000189: 37,2664 77100 TIX,1 AXT,2
017376,000190: 37,2665 76646 DELMLP
017377,000191: 37,2666 00004 4
017378,000192: 37,2667 56743 ALILP DLOAD* DMPR*
017379,000193: 37,2670 75324 ALK +4,2
017380,000194: 37,2671 75240 ALDK +4,2
017381,000195: 37,2672 12453 STORE ALK +4,2
017382,000196: 37,2673 77104 TIX,2 AXT,2
017383,000197: 37,2674 76667 ALILP
017384,000198: 37,2675 00010 8D
017385,000199: 37,2676 66140 ALKLP LXC,1 SXA,1
017386,000200: 37,2677 02445 CMPX1
017387,000201: 37,2700 02445 CMPX1
017388,000202: 37,2701 56743 DLOAD* DMPR*
017389,000203: 37,2702 02450 ALK +1,1
017390,000204: 37,2703 75216 DELM +8D,2
017391,000205: 37,2704 77613 DAD*
017392,000206: 37,2705 75276 INTY +8D,2
017393,000207: 37,2706 12501 STORE INTY +8D,2
017394,000208: 37,2707 42743 DLOAD* DAD*
017395,000209: 37,2710 75314 ALK +12D,2
017396,000210: 37,2711 75230 ALDK +12D,2
017397,000211: 37,2712 12463 STORE ALK +12D,2
017398,000212: 37,2713 42673 DMPR* DAD*
017399,000213: 37,2714 75216 DELM +8D,2
017400,000214: 37,2715 75266 INTY +16D,2
017401,000215: 37,2716 12511 STORE INTY +16D,2
017402,000216: 37,2717 40743 DLOAD* DMP*
017403,000217: 37,2720 37105 ALSK +1,1
017404,000218: 37,2721 75216 DELM +8D,2
017405,000219: 37,2722 42772 SL1R DAD*
017406,000220: 37,2723 75256 VLAUN +8D,2
017407,000221: 37,2724 12521 STORE VLAUN +8D,2
017408,000222: 37,2725 76104 TIX,2 AXT,1
017409,000223: 37,2726 76676 ALKLP
017410,000224: 37,2727 00010 8D
017411,000225:
017412,000226:
017413,000227: 37,2730 64743 LOOSE DLOAD* PDDL*
017414,000228: 37,2731 02523 ACCWD +8D,1
017415,000229: 37,2732 02521 VLAUN +8D,1
017416,000230: 37,2733 55523 PDDL* VDEF
017417,000231: 37,2734 02531 POSNV +8D,1
017418,000232: 37,2735 76521 MXV VSL1
017419,000233: 37,2736 02001 TRANSM1
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Page 392 |
017421,000235: 37,2737 77745 DLOAD
017422,000236: 37,2740 00155 MPAC
017423,000237: 37,2741 06531 STORE POSNV +8D,1
017424,000238: 37,2742 77745 DLOAD
017425,000239: 37,2743 00160 MPAC +3
017426,000240: 37,2744 06521 STORE VLAUN +8D,1
017427,000241: 37,2745 77745 DLOAD
017428,000242: 37,2746 00162 MPAC +5
017429,000243: 37,2747 06523 STORE ACCWD +8D,1
017430,000244: 37,2750 77700 TIX,1
017431,000245: 37,2751 76730 LOOSE
017432,000246:
017433,000247:
017434,000248: 37,2752 76174 AXT,2 AXT,1 # EVALUATE SINES AND COSINES
017435,000249: 37,2753 00006 6
017436,000250: 37,2754 00002 2
017437,000251: 37,2755 57343 BOOP DLOAD* DMPR
017438,000252: 37,2756 02503 ANGX +2,1
017439,000253: 37,2757 37110 GEORGEJ
017440,000254: 37,2760 77722 SR2R
017441,000255: 37,2761 73406 PUSH SIN
017442,000256: 37,2762 56072 SL3R XAD,1
017443,000257: 37,2763 00046 X1
017444,000258: 37,2764 10021 STORE 16D,2
017445,000259: 37,2765 77745 DLOAD
017446,000260: 37,2766 77746 COS
017447,000261: 37,2767 10027 STORE 22D,2 # COSINES
017448,000262: 37,2770 77704 TIX,2
017449,000263: 37,2771 76755 BOOP
017450,000264:
017451,000265: 37,2772 77776 PERFERAS EXIT
017452,000266: 37,2773 35016 CA EBANK7
017453,000267: 37,2774 54003 TS EBANK
017454,000268: 37,2775 E7,1400 EBANK= ATIGINC
017455,000269: 37,2775 01400 TC ATIGINC # GOTO ERASABLE TO CALCULATE ONLY TO RETN
017456,000270:
017457,000271: # CAUTION
017458,000272:
017459,000273: # THE ERASABLE PROGRAM THAT DOES THE CALCULATIONS MUST BE LOADED
017460,000274: # BEFORE ANY ATTEMPT IS MADE TO RUN THE IMU PERFORMANCE TEST
017461,000275:
017462,000276: 37,2776 E5,1400 EBANK= AZIMUTH
017463,000277: 37,2776 11412 CCS LENGTHOT
017464,000278: 37,2777 03034 TC SLEEPIE
017465,000279: 37,3000 11440 CCS TORQNDX
017466,000280: 37,3001 13003 TCF +2
017467,000281: 37,3002 03005 TC SETUPER1
017468,000282: 37,3003 30032 CA CDUX
017469,000283: 37,3004 55414 TS LOSVEC +1 # FOR TROUBLESHOOTING VD POSNS 2$4
017470,000284:
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Page 393 |
017472,000286: 37,3005 06051 SETUPER1 TC INTPRET
017473,000287: 37,3006 65345 DLOAD PDDL # ANGLES FROM DRIFT TEST ONLY
017474,000288: 37,3007 02473 ANGZ
017475,000289: 37,3010 02477 ANGY
017476,000290: 37,3011 55525 PDDL VDEF
017477,000291: 37,3012 02501 ANGX
017478,000292: 37,3013 74276 VCOMP VXSC
017479,000293: 37,3014 37110 GEORGEJ
017480,000294: 37,3015 74521 MXV VSR1
017481,000295: 37,3016 02643 XSM
017482,000296: 37,3017 02740 STORE OGC
017483,000297: 37,3020 77776 EXIT
017484,000298:
017485,000299:
017486,000300: 37,3021 32475 CA OGCPL
017487,000301: 37,3022 04616 TC BANKCALL
017488,000302: 37,3023 17270 CADR IMUPULSE
017489,000303: 37,3024 02315 TC IMUSLLLG
017490,000304: 37,3025 11440 GEOSTRT4 CCS TORQNDX # ONLY POSITIVE IF IN VERTICAL DRIFT TEST
017491,000305: 37,3026 02263 TC VALMIS
017492,000306: 37,3027 06051 TC INTPRET
017493,000307: 37,3030 77624 CALL
017494,000308: 37,3031 76401 ERTHRVSE
017495,000309: 37,3032 77776 EXIT
017496,000310: 37,3033 02117 TC TORQUE
017497,000311:
017498,000312:
017499,000313: 37,3034 55412 SLEEPIE TS LENGTHOT # TEST NOT OVER-DECREMENT LENGTHOT
017500,000314: 37,3035 11440 CCS TORQNDX # ARE WE DOING VERTDRIFT
017501,000315: 37,3036 02447 TC EARTHR*
017502,000316: 37,3037 05155 TC ENDOFJOB
017503,000317:
017504,000318:
017505,000319: 37,3040 35014 SOMEERRR CA EBANK5
017506,000320: 37,3041 54003 TS EBANK
017507,000321: 37,3042 34753 CA ONE
017508,000322: 37,3043 55576 TS OVFLOWCK # STOP ALLOOP FROM CALLING ITSELF
017509,000323: 37,3044 05600 TC ALARM
017510,000324: 37,3045 01600 OCT 1600
017511,000325: 37,3046 02270 TC ENDTEST1
017512,000326: 37,3047 33054 SOMERR2 CAF OCT1601
017513,000327: 37,3050 05745 TC VARALARM
017514,000328: 37,3051 05527 TC DOWNFLAG
017515,000329: 37,3052 00007 ADRES IMUSE
017516,000330: 37,3053 05155 TC ENDOFJOB
017517,000331:
017518,000332: 37,3054 01601 OCT1601 OCT 01601
017519,000333: 37,3055 06200 DEC585 OCT 06200 # 3200 B+14 ORDER IS IMPORTANT
017520,000334: 37,3056 00000 00000 SCHZEROS 2DEC .00000000
017521,000335:
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017523,000337: 37,3060 00000 00000 2DEC .00000000
017524,000338: 37,3062 00000 OCT 00000
017525,000339: 37,3063 00000 ONEDPP OCT 00000 # ORDER IS IMPORTANT
017526,000340: 37,3064 00001 OCT 00001
017527,000341:
017528,000342: 37,3065 00004 INTVAL OCT 4
017529,000343: 37,3066 00002 OCT 2
017530,000344: 37,3067 00220 DEC 144 B-14
017531,000345: 37,3070 77776 DEC -1 B-14
017532,000346: 37,3071 35730 00035 SOUPLY 2DEC .93505870 # INITIAL GAINS FOR PIP OUTPUTS
017533,000347: 37,3073 10317 17550 2DEC .26266423 # INITIAL GAINS/4 FOR ERECTION ANGLES
017534,000348:
017535,000349: 37,3075 00115 77DECML DEC 77 B-14
017536,000350: 37,3076 01443 ALXXXZ GENADR ALX1S -1
017537,000351: 37,3077 04133 02265 PIPASC 2DEC .13055869
017538,000352: 37,3101 57223 66451 VELSC 2DEC -.52223476 # 512/980.402
017539,000353: 37,3103 05427 12577 ALSK 2DEC .17329931 # SSWAY VEL GAIN X 980.402/4096
017540,000354: 37,3105 77567 44202 2DEC -.00835370 # SSWAY ACCEL GAIN X 980.402/4096
017541,000355:
017542,000356:
017543,000357: 37,3107 24276 14066 GEORGEJ 2DEC .63661977
017544,000358: 37,3111 23073 11773 GEORGEK 2DEC .59737013
End of include-file IMU_PERFORMANCE_TESTS_4.agc. Parent file is MAIN.agc