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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062494,000002: ## Copyright: Public domain.
062495,000003: ## Filename: KALMAN_FILTER.agc
062496,000004: ## Purpose: A section of the reconstructed source code for Luminary 130.
062497,000005: ## This was the original program released for the Apollo 13 LM,
062498,000006: ## although several more revisions would follow. It has been
062499,000007: ## reconstructed from a listing of Luminary 131, from which it
062500,000008: ## differs on only two lines in P70-P71. The difference is
062501,000009: ## described in detail in Luminary memo #129, which was used
062502,000010: ## to perform the reconstruction. This file is intended to be a
062503,000011: ## faithful reconstruction, except that the code format has been
062504,000012: ## changed to conform to the requirements of the yaYUL assembler
062505,000013: ## rather than the original YUL assembler.
062506,000014: ## Reference: pp. 1462-1463
062507,000015: ## Contact: Ron Burkey <info@sandroid.org>.
062508,000016: ## Website: www.ibiblio.org/apollo/index.html
062509,000017: ## Mod history: 06/08/03 RSB. Began transcribing.
062510,000018: ## 05/14/05 RSB Corrected website reference above
062511,000019: ## 2017-01-06 RSB Page numbers now agree with those on the
062512,000020: ## original hardcopy, as opposed to the PDF page
062513,000021: ## numbers in 1701.pdf.
062514,000022: ## 2017-02-28 RSB Proofed comment text using octopus/ProoferComments.
062515,000023: ## 2018-09-04 MAS Copied from Luminary 131 for Luminary 130.
062516,000024:
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Page 1462
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062518,000026: 17,3777 E6,1522 EBANK= NO.UJETS
062519,000027: 16,3645 BANK 16
062520,000028: 16,2000 SETLOC DAPS1
062521,000029: 16,2000 BANK
062522,000030:
062523,000031: 16,3645 COUNT* $$/DAP
062524,000032:
062525,000033: 16,3645 34752 RATELOOP CA TWO
062526,000034: 16,3646 55743 TS DAPTEMP6
062527,000035: 16,3647 60000 DOUBLE
062528,000036: 16,3650 54002 TS Q
062529,000037: 16,3651 51743 INDEX DAPTEMP6
062530,000038: 16,3652 11524 CCS TJP
062531,000039: 16,3653 13655 TCF +2
062532,000040: 16,3654 13674 TCF LOOPRATE
062533,000041: 16,3655 63735 AD -100MST6
062534,000042: 16,3656 00006 EXTEND
062535,000043: 16,3657 63713 BZMF SMALLTJU
062536,000044: 16,3660 51743 INDEX DAPTEMP6
062537,000045: 16,3661 11524 CCS TJP
062538,000046: 16,3662 33735 CA -100MST6
062539,000047: 16,3663 13665 TCF +2
062540,000048: 16,3664 43735 CS -100MST6
062541,000049: 16,3665 51743 INDEX DAPTEMP6
062542,000050: 16,3666 27524 ADS TJP
062543,000051: 16,3667 51743 INDEX DAPTEMP6
062544,000052: 16,3670 11524 CCS TJP
062545,000053: 16,3671 43621 CS -100MS # 0.1 AT 1
062546,000054: 16,3672 13674 TCF +2
062547,000055: 16,3673 33621 CA -100MS
062548,000056: 16,3674 00006 LOOPRATE EXTEND
062549,000057: 16,3675 51743 INDEX DAPTEMP6
062550,000058: 16,3676 71521 MP NO.PJETS
062551,000059: 16,3677 30001 CA L
062552,000060: 16,3700 51743 INDEX DAPTEMP6
062553,000061: 16,3701 55736 TS DAPTEMP1 # SIGNED TORQUE AT 1 JET-SEC FOR FILTER
062554,000062: 16,3702 00006 EXTEND
062555,000063: 16,3703 74742 MP BIT10 # RESCALE TO 32; ONE BIT ABOUT 2 JET-MSEC
062556,000064: 16,3704 00006 EXTEND
062557,000065: 16,3705 63736 BZMF NEGTORK
062558,000066: 16,3706 50002 STORTORK INDEX Q # INCREMENT DOWNLIST REGISTER.
062559,000067: 16,3707 27513 ADS DOWNTORK # NOTE: NOT INITIALIZED; OVERFLOWS.
062560,000068:
062561,000069: 16,3710 11743 CCS DAPTEMP6
062562,000070: 16,3711 13646 TCF RATELOOP +1
062563,000071: 16,3712 13722 TCF ROTORQUE
062564,000072: 16,3713 34755 SMALLTJU CA ZERO
062565,000073: 16,3714 51743 INDEX DAPTEMP6
062566,000074: 16,3715 57524 XCH TJP
062567,000075: 16,3716 00006 EXTEND
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Page 1463
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062569,000077: 16,3717 74760 MP ELEVEN # 10.24 PLUS
062570,000078: 16,3720 30001 CA L
062571,000079: 16,3721 13674 TCF LOOPRATE
062572,000080: 16,3722 31737 ROTORQUE CA DAPTEMP2
062573,000081: 16,3723 61740 AD DAPTEMP3
062574,000082: 16,3724 00006 EXTEND
062575,000083: 16,3725 71532 MP 1JACCR
062576,000084: 16,3726 55746 TS JETRATER
062577,000085: 16,3727 41740 CS DAPTEMP3
062578,000086: 16,3730 61737 AD DAPTEMP2
062579,000087: 16,3731 00006 EXTEND
062580,000088: 16,3732 71531 MP 1JACCQ
062581,000089: 16,3733 55745 TS JETRATEQ
062582,000090: 16,3734 12316 TCF BACKP
062583,000091: 16,3735 77537 -100MST6 DEC -160 B-14
062584,000092:
062585,000093: 16,3736 40000 NEGTORK COM
062586,000094: 16,3737 24002 INCR Q
062587,000095: 16,3740 13706 TCF STORTORK
062588,000096:
062589,000097:
End of include-file KALMAN_FILTER.agc. Parent file is MAIN.agc