Source Code
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These source-code files are part of a reconstructed copy of Luminary 97, the
second release of the Apollo 11 Lunar Module (LM) Apollo Guidance Computer
(AGC) software. It was created to fix two incorrect ephemeris constants in
Luminary 96, as described by anomaly report LNY-59.
The reconstruction began with source code of Luminary 99 revision 1 previously
transcribed from a digitized copy of that program. The code was then updated
by undoing changes described in original Luminary memos 83 and 85, using asterisks
indicating changed lines in the listing as a guide. 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 97 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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062433,000002: ## Copyright: Public domain.
062434,000003: ## Filename: KALMAN_FILTER.agc
062435,000004: ## Purpose: A section of Luminary revision 97.
062436,000005: ## It is part of the reconstructed source code for the
062437,000006: ## second release of the flight software for the Lunar
062438,000007: ## Module's (LM) Apollo Guidance Computer (AGC) for Apollo 11.
062439,000008: ## It was created to fix two incorrect ephemeris constants in
062440,000009: ## Luminary 96, as described by anomaly report LNY-59.
062441,000010: ## The code has been recreated from a copy of Luminary 99
062442,000011: ## revision 001, using asterisks indicating changed lines in
062443,000012: ## the listing and Luminary Memos #83 and #85, which list
062444,000013: ## changes between Luminary 97 and 98, and 98 and 99. The
062445,000014: ## code has been adapted such that the resulting bugger words
062446,000015: ## exactly match those specified for Luminary 97 in NASA drawing
062447,000016: ## 2021152D, which gives relatively high confidence that the
062448,000017: ## reconstruction is correct.
062449,000018: ## Reference: pp. 1470-1471
062450,000019: ## Assembler: yaYUL
062451,000020: ## Contact: Ron Burkey <info@sandroid.org>.
062452,000021: ## Website: www.ibiblio.org/apollo/index.html
062453,000022: ## Mod history: 2019-07-28 MAS Created from Luminary 99.
062454,000023:
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Page 1470
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062456,000025: 17,3744 E6,1522 EBANK= NO.UJETS
062457,000026: 16,3641 BANK 16
062458,000027: 16,2000 SETLOC DAPS1
062459,000028: 16,2000 BANK
062460,000029:
062461,000030: 16,3641 COUNT* $$/DAP
062462,000031:
062463,000032: 16,3641 34752 RATELOOP CA TWO
062464,000033: 16,3642 55744 TS DAPTEMP6
062465,000034: 16,3643 60000 DOUBLE
062466,000035: 16,3644 54002 TS Q
062467,000036: 16,3645 51744 INDEX DAPTEMP6
062468,000037: 16,3646 11524 CCS TJP
062469,000038: 16,3647 13651 TCF +2
062470,000039: 16,3650 13670 TCF LOOPRATE
062471,000040: 16,3651 63731 AD -100MST6
062472,000041: 16,3652 00006 EXTEND
062473,000042: 16,3653 63707 BZMF SMALLTJU
062474,000043: 16,3654 51744 INDEX DAPTEMP6
062475,000044: 16,3655 11524 CCS TJP
062476,000045: 16,3656 33731 CA -100MST6
062477,000046: 16,3657 13661 TCF +2
062478,000047: 16,3660 43731 CS -100MST6
062479,000048: 16,3661 51744 INDEX DAPTEMP6
062480,000049: 16,3662 27524 ADS TJP
062481,000050: 16,3663 51744 INDEX DAPTEMP6
062482,000051: 16,3664 11524 CCS TJP
062483,000052: 16,3665 43615 CS -100MS # 0.1 AT 1
062484,000053: 16,3666 13670 TCF +2
062485,000054: 16,3667 33615 CA -100MS
062486,000055: 16,3670 00006 LOOPRATE EXTEND
062487,000056: 16,3671 51744 INDEX DAPTEMP6
062488,000057: 16,3672 71521 MP NO.PJETS
062489,000058: 16,3673 30001 CA L
062490,000059: 16,3674 51744 INDEX DAPTEMP6
062491,000060: 16,3675 55737 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062492,000061: 16,3676 00006 EXTEND
062493,000062: 16,3677 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062494,000063: 16,3700 00006 EXTEND
062495,000064: 16,3701 63732 BZMF NEGTORK
062496,000065: 16,3702 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062497,000066: 16,3703 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062498,000067:
062499,000068: 16,3704 11744 CCS DAPTEMP6
062500,000069: 16,3705 13642 TCF RATELOOP +1
062501,000070: 16,3706 13716 TCF ROTORQUE
062502,000071: 16,3707 34755 SMALLTJU CA ZERO
062503,000072: 16,3710 51744 INDEX DAPTEMP6
062504,000073: 16,3711 57524 XCH TJP
062505,000074: 16,3712 00006 EXTEND
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Page 1471
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062507,000076: 16,3713 74760 MP ELEVEN # 10.24 PLUS
062508,000077: 16,3714 30001 CA L
062509,000078: 16,3715 13670 TCF LOOPRATE
062510,000079: 16,3716 31740 ROTORQUE CA DAPTEMP2
062511,000080: 16,3717 61741 AD DAPTEMP3
062512,000081: 16,3720 00006 EXTEND
062513,000082: 16,3721 71532 MP 1JACCR
062514,000083: 16,3722 55747 TS JETRATER
062515,000084: 16,3723 41741 CS DAPTEMP3
062516,000085: 16,3724 61740 AD DAPTEMP2
062517,000086: 16,3725 00006 EXTEND
062518,000087: 16,3726 71531 MP 1JACCQ
062519,000088: 16,3727 55746 TS JETRATEQ
062520,000089: 16,3730 12316 TCF BACKP
062521,000090: 16,3731 77537 -100MST6 DEC -160 B-14
062522,000091:
062523,000092: 16,3732 40000 NEGTORK COM
062524,000093: 16,3733 24002 INCR Q
062525,000094: 16,3734 13702 TCF STORTORK
062526,000095:
062527,000096:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc