Source Code
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These source-code files are part of a reconstructed copy of Luminary 96, the
original release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software.
The reconstruction began with reconstructed source code for Luminary 97. Changes
between revisions 96 and 97 were backed out, as described by anomal report LNY-59.
transcribed from a digitized copy of that program. The reconstruction was
verified by matching memory-bank checksums to those listed in drawing 2021152D.
Note that page numbers in the reconstructed code match those on the Luminary 099
revision 001 printout, although the added code would likely have changed page
numbers for a real Luminary 96 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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062077,000002: ## Copyright: Public domain.
062078,000003: ## Filename: KALMAN_FILTER.agc
062079,000004: ## Purpose: A section of Luminary revision 96.
062080,000005: ## It is part of the reconstructed source code for the
062081,000006: ## original release of the flight software for the Lunar
062082,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
062083,000008: ## The code has been recreated from a previously reconstructed
062084,000009: ## copy of Luminary 97 by undoing changes described in anomaly
062085,000010: ## report LNY-59. The code has been adapted such that the
062086,000011: ## resulting bugger words exactly match those specified for
062087,000012: ## Luminary 96 in NASA drawing 2021152D, which gives relatively
062088,000013: ## high confidence that the reconstruction is correct.
062089,000014: ## Reference: pp. 1470-1471
062090,000015: ## Assembler: yaYUL
062091,000016: ## Contact: Ron Burkey <info@sandroid.org>.
062092,000017: ## Website: www.ibiblio.org/apollo/index.html
062093,000018: ## Mod history: 2019-08-04 MAS Created from Luminary 97.
062094,000019:
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Page 1470
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062096,000021: 17,3744 E6,1522 EBANK= NO.UJETS
062097,000022: 16,3641 BANK 16
062098,000023: 16,2000 SETLOC DAPS1
062099,000024: 16,2000 BANK
062100,000025:
062101,000026: 16,3641 COUNT* $$/DAP
062102,000027:
062103,000028: 16,3641 34752 RATELOOP CA TWO
062104,000029: 16,3642 55744 TS DAPTEMP6
062105,000030: 16,3643 60000 DOUBLE
062106,000031: 16,3644 54002 TS Q
062107,000032: 16,3645 51744 INDEX DAPTEMP6
062108,000033: 16,3646 11524 CCS TJP
062109,000034: 16,3647 13651 TCF +2
062110,000035: 16,3650 13670 TCF LOOPRATE
062111,000036: 16,3651 63731 AD -100MST6
062112,000037: 16,3652 00006 EXTEND
062113,000038: 16,3653 63707 BZMF SMALLTJU
062114,000039: 16,3654 51744 INDEX DAPTEMP6
062115,000040: 16,3655 11524 CCS TJP
062116,000041: 16,3656 33731 CA -100MST6
062117,000042: 16,3657 13661 TCF +2
062118,000043: 16,3660 43731 CS -100MST6
062119,000044: 16,3661 51744 INDEX DAPTEMP6
062120,000045: 16,3662 27524 ADS TJP
062121,000046: 16,3663 51744 INDEX DAPTEMP6
062122,000047: 16,3664 11524 CCS TJP
062123,000048: 16,3665 43615 CS -100MS # 0.1 AT 1
062124,000049: 16,3666 13670 TCF +2
062125,000050: 16,3667 33615 CA -100MS
062126,000051: 16,3670 00006 LOOPRATE EXTEND
062127,000052: 16,3671 51744 INDEX DAPTEMP6
062128,000053: 16,3672 71521 MP NO.PJETS
062129,000054: 16,3673 30001 CA L
062130,000055: 16,3674 51744 INDEX DAPTEMP6
062131,000056: 16,3675 55737 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062132,000057: 16,3676 00006 EXTEND
062133,000058: 16,3677 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062134,000059: 16,3700 00006 EXTEND
062135,000060: 16,3701 63732 BZMF NEGTORK
062136,000061: 16,3702 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062137,000062: 16,3703 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062138,000063:
062139,000064: 16,3704 11744 CCS DAPTEMP6
062140,000065: 16,3705 13642 TCF RATELOOP +1
062141,000066: 16,3706 13716 TCF ROTORQUE
062142,000067: 16,3707 34755 SMALLTJU CA ZERO
062143,000068: 16,3710 51744 INDEX DAPTEMP6
062144,000069: 16,3711 57524 XCH TJP
062145,000070: 16,3712 00006 EXTEND
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Page 1471
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062147,000072: 16,3713 74760 MP ELEVEN # 10.24 PLUS
062148,000073: 16,3714 30001 CA L
062149,000074: 16,3715 13670 TCF LOOPRATE
062150,000075: 16,3716 31740 ROTORQUE CA DAPTEMP2
062151,000076: 16,3717 61741 AD DAPTEMP3
062152,000077: 16,3720 00006 EXTEND
062153,000078: 16,3721 71532 MP 1JACCR
062154,000079: 16,3722 55747 TS JETRATER
062155,000080: 16,3723 41741 CS DAPTEMP3
062156,000081: 16,3724 61740 AD DAPTEMP2
062157,000082: 16,3725 00006 EXTEND
062158,000083: 16,3726 71531 MP 1JACCQ
062159,000084: 16,3727 55746 TS JETRATEQ
062160,000085: 16,3730 12316 TCF BACKP
062161,000086: 16,3731 77537 -100MST6 DEC -160 B-14
062162,000087:
062163,000088: 16,3732 40000 NEGTORK COM
062164,000089: 16,3733 24002 INCR Q
062165,000090: 16,3734 13702 TCF STORTORK
062166,000091:
062167,000092:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc