Source Code
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These source-code files are part of a reconstructed copy of LM131 revision 1,
the final release of the Apollo 13 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The source reconstruction began with source code of Luminary 131 previously
transcribed from a digitized copy of that program. A dump of the flight spare
core rope memory module B5, part number 2010802-171, serial number RAY 411,
was obtained. This module is the only module different between Luminary 131
and LM131 revision 1. The dump was disassembled and all changes were incorporated
into these source files. Note that page numbers in the reconstructed code match
those on the Luminary 131 printout, although the changed code would likely have
changed page numbers for a real LM131 revision 1 listing.
Comments from the original source code are prefixed with a single '#' symbol,
whereas comments added later are prefixed by "##" or "###". Report any errors
noted by creating an
issue report at the Virtual AGC
project's GitHub repository.
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061932,000002: ## Copyright: Public domain.
061933,000003: ## Filename: KALMAN_FILTER.agc
061934,000004: ## Purpose: A section of LM131 revision 1.
061935,000005: ## It is part of the reconstructed source code for the final
061936,000006: ## release of the flight software for the Lunar Module's (LM)
061937,000007: ## Apollo Guidance Computer (AGC) for Apollo 13. The code has
061938,000008: ## been reconstructed from a listing of Luminary 131 and a dump
061939,000009: ## of a core rope memory module B5, part number 2010802-171,
061940,000010: ## which is the only module different between LM131 revision 1
061941,000011: ## and Luminary 131. The executable generated from this source
061942,000012: ## has been verified against the module dump, so while the names,
061943,000013: ## comments, and ordering may not be exactly correct, the
061944,000014: ## resulting binary is.
061945,000015: ## Reference: pp. 1462-1463
061946,000016: ## Assembler: yaYUL
061947,000017: ## Contact: Ron Burkey <info@sandroid.org>.
061948,000018: ## Website: www.ibiblio.org/apollo/index.html
061949,000019: ## Mod history: 2022-10-28 MAS Created from Luminary 131.
061950,000020:
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Page 1462
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061952,000022: 17,3777 E6,1522 EBANK= NO.UJETS
061953,000023: 16,3645 BANK 16
061954,000024: 16,2000 SETLOC DAPS1
061955,000025: 16,2000 BANK
061956,000026:
061957,000027: 16,3645 COUNT* $$/DAP
061958,000028:
061959,000029: 16,3645 34752 RATELOOP CA TWO
061960,000030: 16,3646 55743 TS DAPTEMP6
061961,000031: 16,3647 60000 DOUBLE
061962,000032: 16,3650 54002 TS Q
061963,000033: 16,3651 51743 INDEX DAPTEMP6
061964,000034: 16,3652 11524 CCS TJP
061965,000035: 16,3653 13655 TCF +2
061966,000036: 16,3654 13674 TCF LOOPRATE
061967,000037: 16,3655 63735 AD -100MST6
061968,000038: 16,3656 00006 EXTEND
061969,000039: 16,3657 63713 BZMF SMALLTJU
061970,000040: 16,3660 51743 INDEX DAPTEMP6
061971,000041: 16,3661 11524 CCS TJP
061972,000042: 16,3662 33735 CA -100MST6
061973,000043: 16,3663 13665 TCF +2
061974,000044: 16,3664 43735 CS -100MST6
061975,000045: 16,3665 51743 INDEX DAPTEMP6
061976,000046: 16,3666 27524 ADS TJP
061977,000047: 16,3667 51743 INDEX DAPTEMP6
061978,000048: 16,3670 11524 CCS TJP
061979,000049: 16,3671 43621 CS -100MS # 0.1 AT 1
061980,000050: 16,3672 13674 TCF +2
061981,000051: 16,3673 33621 CA -100MS
061982,000052: 16,3674 00006 LOOPRATE EXTEND
061983,000053: 16,3675 51743 INDEX DAPTEMP6
061984,000054: 16,3676 71521 MP NO.PJETS
061985,000055: 16,3677 30001 CA L
061986,000056: 16,3700 51743 INDEX DAPTEMP6
061987,000057: 16,3701 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
061988,000058: 16,3702 00006 EXTEND
061989,000059: 16,3703 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
061990,000060: 16,3704 00006 EXTEND
061991,000061: 16,3705 63736 BZMF NEGTORK
061992,000062: 16,3706 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
061993,000063: 16,3707 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
061994,000064:
061995,000065: 16,3710 11743 CCS DAPTEMP6
061996,000066: 16,3711 13646 TCF RATELOOP +1
061997,000067: 16,3712 13722 TCF ROTORQUE
061998,000068: 16,3713 34755 SMALLTJU CA ZERO
061999,000069: 16,3714 51743 INDEX DAPTEMP6
062000,000070: 16,3715 57524 XCH TJP
062001,000071: 16,3716 00006 EXTEND
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Page 1463
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062003,000073: 16,3717 74760 MP ELEVEN # 10.24 PLUS
062004,000074: 16,3720 30001 CA L
062005,000075: 16,3721 13674 TCF LOOPRATE
062006,000076: 16,3722 31737 ROTORQUE CA DAPTEMP2
062007,000077: 16,3723 61740 AD DAPTEMP3
062008,000078: 16,3724 00006 EXTEND
062009,000079: 16,3725 71532 MP 1JACCR
062010,000080: 16,3726 55746 TS JETRATER
062011,000081: 16,3727 41740 CS DAPTEMP3
062012,000082: 16,3730 61737 AD DAPTEMP2
062013,000083: 16,3731 00006 EXTEND
062014,000084: 16,3732 71531 MP 1JACCQ
062015,000085: 16,3733 55745 TS JETRATEQ
062016,000086: 16,3734 12316 TCF BACKP
062017,000087: 16,3735 77537 -100MST6 DEC -160 B-14
062018,000088:
062019,000089: 16,3736 40000 NEGTORK COM
062020,000090: 16,3737 24002 INCR Q
062021,000091: 16,3740 13706 TCF STORTORK
062022,000092:
062023,000093:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc